import sys
import signal
from ahoy.world import World
from ahoy.commsengines.logloss import LogLossComms
from ahoy.simulation import Simulation
from ahoy.entities.node import Node
from ahoy.sensors.chemicalsensor import ChemicalSensor
from ahoy.events.chemical import ChemicalSpillEvent
from ahoy.agents.chemspillannounce import ChemicalSpillAnnounceAgent
world = World()
node = Node(0)
node.add_sensor('chemical', ChemicalSensor(interval=1, use_event_channel=True))
node.set_position(39.883531, -75.193963, 0) #sw of navy yard
world.add_entity(node)
node1 = Node(1)
node1.add_sensor('chemical', ChemicalSensor(interval=1, use_event_channel=True))
node1.set_position(39.890776,-75.195594, 0) #w of navy yard
world.add_entity(node1)
node2 = Node(2)
node2.set_position(39.892223,-75.196788, 0) #immediately east of I-95 bridge, on water
node2.add_agent( ChemicalSpillAnnounceAgent(2, 1, 4, 0.1) ) #ID, interval, announce time, spill rate in km/s
world.add_entity(node2)
if __name__ == '__main__' :
sim = Simulation(world)
def quit(signal, frame) :
from ahoy.agents.smallship import SmallShip
from ahoy.sensors.radarsensor import RadarSensor
from ahoy.sensors.sonarsensor import SonarSensor
from ahoy.util.units import *
world = World()
wlan = Network("wlan0", LogLossComms())
world.add_network(wlan)
for i in range(0, 5):
n = Node(i)
n.add_interface(Interface("wlan0", wlan, power=120))
ship = AISShip((i + 21), 0.0203, "localhost", 12346, "wlan0")
n.add_agent(ship)
world.add_entity(n)
if __name__ == "__main__":
sim = Simulation(world)
def quit(signal, frame):
print "Stopping..."
sim.stop()
sys.exit(0)
signal.signal(signal.SIGINT, quit)
sim.start(2)
while True:
pass
from ahoy.agents.sensorforwardagent import SensorForwardAgent
from ahoy.sensors.radarsensor import RadarSensor
from ahoy.sensors.sonarsensor import SonarSensor
from ahoy.agents.correlationagent import CorrelationAgent
from ahoy.util.units import *
world = World()
aisnet = Network('aisn', LogLossComms())
world.add_network(aisnet)
for i in range(0, 6):
n = Node(len(world.get_entities()))
n.add_interface(Interface('ais1', aisnet, power=120))
ship = AISShip(n.get_uid(), 0.0203, 'localhost', 12346, 'ais1')
n.add_agent(ship)
world.add_entity(n)
path = "agents/paths/path"
for i in range(8,12):
n = Node(len(world.get_entities()))
ship = SmallShip(n.get_uid(), i, 0.03, path + str(i) + ".dat")
n.add_agent(ship)
world.add_entity(n)
"""
# Make sensor interfaces
s1net = Network('sonar1n', LogLossComms())
world.add_network(s1net)
s2net = Network('sonar2n', LogLossComms())
world.add_network(s2net)
r1net = Network('radar1n', LogLossComms())
world = World()
wlan = Network('wlan0', LogLossComms())
tnet = Network('tnet',LogLossComms())
world.add_network(wlan)
world.add_network(tnet)
path = "agents/paths/path"
pathfile = "agents/paths/tpaths.dat"
tanknode = Node(len(world.get_entities()))
#uavnode.set_position(39.8656978,-75.21841399, 0.0001)
tanknode.add_interface(Interface('tnet',tnet,power=120))
tanknode.add_agent(Tanker(tanknode.get_uid(),0.08,'tnet',pathfile))
world.add_entity(tanknode)
threatnode = Node(len(world.get_entities()))
tagent = ThreatShip(threatnode.get_uid(),0.10,pathfile)
tagent.follow(tanknode.get_uid())
threatnode.add_agent(tagent)
world.add_entity(threatnode)
#for i in range(0,4):
# n = Node(i+100)
# ship = SmallShip(i+200, i, 0.03, path + str(i) + ".dat")
# n.add_agent(ship)
# world.add_entity(n)
# Make sensor interfaces
from ahoy.sensors.radarsensor import RadarSensor
from ahoy.sensors.sonarsensor import SonarSensor
from ahoy.agents.correlationagent import CorrelationAgent
#from ahoy.agents.histcorragent import HistoryCorrelationAgent
from ahoy.util.units import *
world = World()
aisnet = Network('aisn', LogLossComms())
world.add_network(aisnet)
for i in range(0, 2):
n = Node(len(world.get_entities()))
n.add_interface(Interface('ais1', aisnet, power=120))
ship = AISShip(n.get_uid(), 0.0203, 'localhost', 12347, 'ais1')
n.add_agent(ship)
world.add_entity(n)
path = "agents/paths/path"
for i in range(9,11):
n = Node(len(world.get_entities()))
ship = SmallShip(n.get_uid(), i, 0.03, path + str(i) + ".dat")
n.add_agent(ship)
world.add_entity(n)
# Make sensor interfaces
s1net = Network('sonar1n', LogLossComms())
world.add_network(s1net)
s2net = Network('sonar2n', LogLossComms())
world.add_network(s2net)
r1net = Network('radar1n', LogLossComms())
from ahoy.actions.move import MoveAction
from ahoy.condition import Condition
from ahoy.events.communication import CommunicationSendEvent
from ahoy.conditions.srccondition import SourceCondition
world = World()
wlan = Network('wlan0')
world.add_network(wlan)
n1 = Node(0)
n1.add_interface(Interface('wlan0', n1, wlan, 100))
ca1 = CommsAgent(n1, 1, 2, False)
n1.add_agent(ca1)
n1.set_position(39.9534, -75.1912, 0.02)
world.add_entity(n1)
n2 = Node(1)
n2.add_interface(Interface('wlan0', n2, wlan, 100))
ca2 = CommsAgent(n2, 2, 1, True)
n2.add_agent(ca2)
n2.set_position(39.9534, -75.1912, 0.02)
world.add_entity(n2)
act = MoveAction(n1,1,1,0)
con = SourceCondition(2)
ca1.add_behavior([con,CommunicationSendEvent,act])
act2 = MoveAction(n2,-1,-1,2)
heli_areas = [
(39.9558, -75.1386, 39.9475, -75.1314),
(39.9468, -75.1396, 39.9419, -75.1314),
(39.9410, -75.1420, 39.9360, -75.1321),
(39.9330, -75.1418, 39.9281, -75.1311)
]
for i, loc in enumerate(heli_areas) :
heli = Node(i)
heli.set_position(loc[0], loc[1], feet(i * 100))
nw = (loc[0], loc[1])
se = (loc[2], loc[3])
heli.add_agent(RectangleSurveilAgent(i, nw, se, feet(150)))
heli.add_interface(Interface('wlan0', wlan, power=120))
world.add_entity(heli)
radar = Node(len(world.get_entities()))
radar.set_position(39.9485, -75.1325, 0)
radar.add_sensor('radar', RadarSensor(watts(6000), 25, 1, 5, 1, 3/360.0, 1, use_event_channel=True))
world.add_entity(radar)
paths = [
[feet(15), (39.9545, -75.1358, 0), (39.9432, -75.1363, 0), (39.9273, -75.1348, 0)],
[feet(100), (39.9534, -75.1320, 0), (39.9374, -75.1367, 0), (39.9263, -75.1322, 0)],
[feet(25), (39.9281, -75.1385, 0), (39.9416, -75.1393, 0), (39.9591, -75.1341, 0)],
[feet(50), (39.9268, -75.1322, 0), (39.9333, -75.1340, 0), (39.9482, -75.1337, 0), (39.9583, -75.1322, 0)]
]
for path in paths :
e = Scripted(len(world.get_entities()), path[2:], path[0], 0)
world.add_network(wlan)
world.add_network(uavnet)
path = "agents/paths/path"
pathfile = "agents/paths/tpaths.dat"
uavnode = Node(1)
uavnode.set_position(39.8661,-75.2549, 0.0001)
#uavnode.set_position(39.8656978,-75.21841399, 0.0001)
uavnode.add_interface(Interface('uavnet',uavnet,power=120))
uavnode.add_sensor('camera', CameraSensor(1.75,0.25,use_event_channel=True))
uavnode.add_agent(SensorForwardAgent(uavnode.get_uid(),'camera','uavnet'))
uavnode.add_agent(UAV(8,1.0,0.045,0.015))
world.add_entity(uavnode)
for i in range(0,9):
n = Node(i+100)
ship = SmallShip(i+200, i, 0.02, path + str(i) + ".dat")
n.add_agent(ship)
world.add_entity(n)
if __name__ == '__main__' :
sim = Simulation(world)
def quit(signal, frame) :
print 'Stopping...'
sim.stop()
sys.exit(0)
sonar3n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=120, use_event_channel=True))
world.add_entity(sonar3n)
# On pier of naval yard
radarn = Node(903)
radarn.set_position(39.886597, -75.166043, 0)
radarn.add_sensor('radar', RadarSensor(trans_power=watts(6000), trans_freq=25, gain=1, aperature=5, prop_fact=1, dwell_time=3/360.0, angle=1, use_event_channel=True))
radarn.add_agent(SensorForwardAgent(radarn.get_uid(), 'radar', 'radar1'))
world.add_entity(radarn)
'''
# Ground station
groundst = Node(len(world.get_entities()))
groundst.set_position(39.887911, -75.187533, 0)
groundst.add_interface(Interface('aisn', aisnet, power=12000))
groundst.add_agent(DivertAgent(len(world.get_entities()),'aisn'))
world.add_entity(groundst)
#create tanker
tanknode = Node(len(world.get_entities()))
tanknode.add_interface(Interface('aisn',aisnet,power=120))
tanknode.add_agent(Tanker(80,0.08,'aisn',pathfile))
world.add_entity(tanknode)
active = [[39.890750000000004, -75.196423312500002], [39.883578125, -75.195800625000004], [39.878743749999998, -75.196907624999994], [39.873325000000001, -75.202165874999992], [39.869075000000002, -75.208600312499996], [39.8930875, -75.193794187500004], [39.888784375, -75.193725000000001], [39.886287500000002, -75.196215749999993], [39.885490625000003, -75.193309874999997], [39.882303125, -75.192272062499995], [39.881718750000005, -75.198222187499994], [39.880125, -75.201612374999996], [39.877787500000004, -75.204725812500001], [39.875450000000001, -75.207008999999999], [39.872740624999999, -75.211437000000004], [39.876512500000004, -75.201681562499999], [39.869871875000001, -75.204379875000001], [39.86981875, -75.214204499999994], [39.875396875, -75.197599499999995], [39.879062500000003, -75.191856937499992], [39.867587499999999, -75.220292999999998], [39.866631250000005, -75.215934187499997], [39.863975000000003, -75.213581812499996], [39.863709374999999, -75.219808687499992], [39.864931249999998, -75.226589062499997], [39.892609374999999, -75.201197249999993], [39.894893750000001, -75.203480437500005], [39.894309374999999, -75.207285749999997], [39.896646875000002, -75.208600312499996], [39.898293750000001, -75.213305062499998], [39.900950000000002, -75.212889937499995], [39.872475000000001, -75.207147374999991], [39.870350000000002, -75.199744312500002], [39.875450000000001, -75.193863374999992], [39.872262500000005, -75.196077375000002], [39.861637500000001, -75.218632499999998], [39.861212500000001, -75.226727437500003], [39.862275000000004, -75.232262437499998]]
for loc in active :
#for i in range(0,len(active),2) :
# loc = active[i]
chem = Node(len(world.get_entities()))
chem.add_sensor('chemical', ChemicalSensor(interval=1, use_event_channel='hey aaron i think this is broken'))
chem.set_position(loc[0], loc[1], 0)
from ahoy.sensors.sonarsensor import SonarSensor
from ahoy.entities.scripted import Scripted
from ahoy.agents.rectanglesurveil import RectangleSurveilAgent
from ahoy.commsengines.logloss import LogLossComms
from ahoy.tcpforward import TcpForward
from ahoy.network import Network
from ahoy.interface import Interface
from ahoy.util.units import *
world = World()
# SW tip of airport
sonar1n = Node(len(world.get_entities()))
sonar1n.set_position(39.8560599677, -75.255277528, 0)
sonar1n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=2))
world.add_entity(sonar1n)
# Eastern bank of river, north of 76 bridge to NJ
sonar2n = Node(len(world.get_entities()))
sonar2n.set_position(39.9103365806, -75.1257383781, 0)
sonar2n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=2))
world.add_entity(sonar2n)
# On pier of naval yard
radarn = Node(len(world.get_entities()))
radarn.set_position(39.886597, -75.166043, 0)
radarn.add_sensor('radar', RadarSensor(trans_power=watts(6000), trans_freq=25, gain=1, aperature=5, prop_fact=1, dwell_time=3/360.0, angle=1))
world.add_entity(sonar2n)
if __name__ == '__main__' :
sim = Simulation(world)
