messageToSend = 'RESPOND' + ' ' + str(motherWalkResponse /paramIKWalk) + ' ' + str(0) + ' ' + str(0) + ' ' + str(simulationTime) + ' ' + str(motherRecResponse[0] /paramIKReach2) + ' ' + str(motherRecResponse[1] /paramIKReach2) + ' ' + str(motherRecResponse[2] /paramIKReach2)
else:
motherPullResponse = np.array(baWristInit - motherWrist)
messageToSend = 'RESPOND' + ' ' + str(motherWalkResponse /paramIKWalk) + ' ' + str(0) + ' ' + str(0) + ' ' + str(simulationTime) + ' ' + str(motherPullResponse[0] /paramIKReach1) + ' ' + str(motherPullResponse[1] /paramIKReach1) + ' ' + str(motherPullResponse[2] /paramIKReach1)
intActivity[0] = intActivity[0] + paramIntIncPull
else:
messageToSend = 'DO_NOTHING'
motherEpisodeStatus = 'END'
elif(motherEpisodeStatus == 'END'):
print "MOTHER END"
messageToSend = 'DO_NOTHING'
timer2 = timer2 +1
if(timer2 > paramTimer2):
runEpisode = 0
motherFile.close()
win32file.WriteFile(p, bytearray(messageToSend, 'utf-8'))
if(numEpisodes < paramEpNum):
#pyp.plot(rnnActivityAUX)
#pyp.show()
#pyp.plot(intActivity)
#pyp.show()
motherWeights = uf.motherLearnWeights(motherWeights) # should be involved in intActivity 'growth' over time
## End program / pipes
animMessage = win32file.ReadFile(p, 4096)[1]
win32file.WriteFile(p, bytearray('STOP', 'utf-8'))
#pyp.plot(rnnActivityAUX)
#pyp.show()
print("Last message received")
win32file.CloseHandle(p)
