def buildExperiment(net,wa,wb,wc,visibility=False):
#simName = util.randomString(20);
#simName = print(''.join(random.choice(string.ascii_uppercase) for i in range(20)))
simName = ''.join(random.choice(string.ascii_uppercase) for i in range(20))
net.add_to_nengo()
numsensors=4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = vivae.init(net,"data/scenarios/test/walls.svg", True)
#simulator = oneAgent(net,agentName='a',numSensors=numsensors,maxDistance=120, frictionDistance=0,nameSpace=simName,visible=visibility);
v = simulator.getControls()
#vivae = simulator.getControls();
v.addAgent('a',2*numsensors, 120 ,0)
v.callStartSimulation()
# Input->LI
controller = net.add(EventGenerator('Turn',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('Go Straight'));
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=True):
numsensors = 4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = vivae.init(net, "data/scenarios/test/walls.svg", True)
# simulator = oneAgent(net,agentName='a',numSensors=numsensors,maxDistance=120, frictionDistance=0,nameSpace=simName,visible=visibility);
v = simulator.getControls()
v.addAgent("a", 2 * numsensors, 120, 0)
v.callSetVisibility(False)
v.callStartSimulation()
# 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 make(net,name='Vivae Simulator', mapName="data/scenarios/arena1.svg", numSensors=4, maxdist=30,frictdist=50,independent=True, useQuick=True):
numSensors = numSensors*2
simulator = vivae.init(net, mapName, True)
v = simulator.getControls()
v.callSetVisibility(True)
agentNames = ['a','b','c','d','e','f','g','h','i','j','k','l','m']
# run as many agents as map can hold (up to a-m)
for i in range(0, len(agentNames)):
print 'adding this guy '+agentNames[i]
v.tryToAddAgent(agentNames[i], numSensors, maxdist, frictdist)
print 'starting the vivae simulation'
v.callStartSimulation()
print 'Vivae is started.'
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()
#################################################################################
net=nef.Network('Vivae - hardwired PI controller for agent')
net.add_to_nengo()
numsensors=4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = vivae.init(net,'data/scenarios/test/wallsII.svg', True)
v = simulator.getControls()
v.addAgent('a',2*numsensors, 120 ,0)
v.callStartSimulation()
controller = net.add(Controller('Agent controller', 2*numsensors+1,2,0)); # build controller
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"
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()
################################################################################# here is the script
net=nef.Network('Vivae - hardwired control for agent')
net.add_to_nengo()
numsensors=4 # number of agents sensors (if changed, need to read correct values in the Controller)
simulator = vivae.init(net,"data/scenarios/test/walls.svg", True)
v = simulator.getControls()
v.addAgent('a',2*numsensors, 120 ,0)
v.callStartSimulation()
controller = net.add(Controller('Agent controller',2*numsensors+1, 2, 0 )); # build controller
net.connect(simulator.getAgent('a').getOrigin(),controller.getTermination('inputs')) # connect agent with controller
net.connect(controller.getOrigin('outputs'), simulator.getAgent('a').getTermination())
saver = net.add(DataSaver('saver')) # save data??
t=0.5;
dt=0.001;
print "OK, configuration done. Simulating network for "+repr(t)+" seconds and saving data to files"
