def buildExperiment(net,wa,wb,wc,visibility=False):
simName = util.randomString(20);
net.add_to_nengo()
numsensors=4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = oneAgent(net,agentName='a',numSensors=numsensors,maxDistance=120, frictionDistance=0,nameSpace=simName,visible=visibility);
vivae = simulator.getControls();
# Input->LI
controller = net.add(EventGenerator('Agent controller',numsensors*2+1,2,1)); # event generator
input = net.make_input('bias1',[1]) # should result in 0, 0, .33
net.connect(input, controller.getTermination('params'))
net.connect(simulator.getAgent('a').getOrigin(),controller.getTermination('inputs')) # connect agent with controller
# LII->LIII->Output
input2 = net.make_input('bias2',[1])
summer = net.add(Summer('Summator'));
net.connect(input2,summer.getTermination('inputBias'));
net.connect(controller.getOrigin('outputs'),summer.getTermination('inputData'))
net.connect(summer.getOrigin('outputs'),simulator.getAgent('a').getTermination())
saver = net.add(SpeedSaver('avg'))
net.connect(simulator.getAgent('a').getOrigin(),saver.getTermination('data'));
#saver = net.add(DataSaver('saver')) # save data ??
return simulator
def buildExperiment(net, wa, wb, wc, visibility=False):
numsensors = 4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = oneAgent(net,
agentName='a',
numSensors=numsensors,
maxDistance=120,
frictionDistance=0,
nameSpace=simName,
visible=visibility,
mapName='data/scenarios/test/wallsIII.svg')
vivae = simulator.getControls()
# Input->LI
controller = net.add(
EventGenerator('Agent controller', numsensors * 2 + 1, 2, 1))
# event generator
input = net.make_input('bias1', [1]) # should result in 0, 0, .33
net.connect(input, controller.getTermination('params'))
net.connect(
simulator.getAgent('a').getOrigin(),
controller.getTermination('inputs')) # connect agent with controller
# LII->LIII->Output
input2 = net.make_input('bias2', [1])
summer = net.add(Summer('Summator'))
net.connect(input2, summer.getTermination('inputBias'))
net.connect(controller.getOrigin('outputs'),
summer.getTermination('inputData'))
net.connect(summer.getOrigin('outputs'),
simulator.getAgent('a').getTermination())
saver = net.add(SpeedSaver('avg'))
net.connect(
simulator.getAgent('a').getOrigin(), saver.getTermination('data'))
#saver = net.add(DataSaver('saver')) # save data ??
return simulator
def buildExperiment(net, wa, wb, wc, visibility=False):
numsensors = 4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = oneAgent(
net,
agentName="a",
numSensors=numsensors,
maxDistance=120,
frictionDistance=0,
nameSpace=simName,
visible=visibility,
mapName="data/scenarios/test/wallsIII.svg",
)
vivae = simulator.getControls()
# Input->LI
controller = net.add(EventGenerator("Agent controller", numsensors * 2 + 1, 2, 1))
# event generator
input = net.make_input("bias1", [1]) # should result in 0, 0, .33
net.connect(input, controller.getTermination("params"))
net.connect(
simulator.getAgent("a").getOrigin(), controller.getTermination("inputs")
) # connect agent with controller
# LII->LIII->Output
input2 = net.make_input("bias2", [1])
summer = net.add(Summer("Summator"))
net.connect(input2, summer.getTermination("inputBias"))
net.connect(controller.getOrigin("outputs"), summer.getTermination("inputData"))
net.connect(summer.getOrigin("outputs"), simulator.getAgent("a").getTermination())
saver = net.add(SpeedSaver("avg"))
net.connect(simulator.getAgent("a").getOrigin(), saver.getTermination("data"))
# saver = net.add(DataSaver('saver')) # save data ??
return simulator
sensorydata = simulator.getAgent('a').getOrigin().getValues().getValues(); # columns: time, [distance sensors from the left, friction sensors from the left]
actuatordata = controller.getOrigin('outputs').getValues().getValues(); # columns: time, left_wheel, right_wheel
i.write('%1.3f,%s\n'%(self.t,list(sensorydata)))
o.write('%1.3f,%s\n'%(self.t,list(actuatordata)))
i.close()
o.close()
#################################################################################
simName = util.randomString(20);
net=nef.Network('Vivae - Turning controller for agent')
net.add_to_nengo()
numsensors=4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = oneAgent(net,agentName='a',numSensors=numsensors,maxDistance=120, frictionDistance=0,nameSpace=simName);
vivae = simulator.getControls();
#controller = net.add(Controller('Agent controller',2*numsensors+1,2,0)); # build controller
controller = net.add(TurnGenerator('Agent controller',2*numsensors+1,2,3)); # build explicit controller
input=net.make_input('input',[20, 0.0, 0.33])
net.connect(input,controller.getTermination('params'))
net.connect(simulator.getAgent('a').getOrigin(),controller.getTermination('inputs')) # connect agent with controller
net.connect(controller.getOrigin('outputs'), simulator.getAgent('a').getTermination()) # connect controller to the agent
#saver = net.add(DataSaver('saver')) # save data ??
t=2;
dt=0.001;
print "OK, configuration done. Simulating network for "+repr(t)+" seconds"
