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) :
sonar2n.add_interface(Interface('sonar2', s2net, power=120))
sonar2n.add_agent(SensorForwardAgent(sonar2n.get_uid(), 'sonar', 'sonar2'))
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, use_event_channel=True))
radarn.add_interface(Interface('radar1', r1net, power=12000))
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('sonar1', s1net, power=12000))
#groundst.add_interface(Interface('sonar2', s2net, power=12000))
#groundst.add_interface(Interface('radar1', r1net, power=12000))
groundst.add_interface(Interface('ais1', aisnet, power=12000))
#groundst.add_agent(CorrelationAgent(groundst.get_uid(), 0.1, 0.001, 'sonar1', 'sonar2', 'radar1', 'ais1'))
groundst.add_agent(DivertAgent(len(world.get_entities()), 'ais1'))
world.add_entity(groundst)
if __name__ == '__main__' :
sim = Simulation(world)
def quit(signal, frame) :
print 'Stopping...'
sim.stop()
sys.exit(0)
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.sonarsensor import SonarSensor
from ahoy.util.units import *
world = World()
node = Node(0)
node.add_sensor('radar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=2))
#node.set_position(39.95324, -75.13752, 0) #west pylon
node.set_position(39.95102, -75.13517, 0) #middle river
#node.set_position(42.67205, -86.83878, 0)
world.add_entity(node)
node1 = Node(1)
node1.set_position(39.94302, -75.13753, 0)
node1.set_parameter('sonar_level', 25)
world.add_entity(node1)
if __name__ == '__main__' :
sim = Simulation(world)
def quit(signal, frame) :
print 'Stopping...'
sim.stop()
sys.exit(0)
sonar1n.add_interface(Interface('sonar1', s1net, power=120))
sonar1n.add_agent(SensorForwardAgent(sonar1n.get_uid(), 'sonar', 'sonar1'))
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=120, use_event_channel=True))
sonar2n.add_interface(Interface('sonar2', s2net, power=120))
sonar2n.add_agent(SensorForwardAgent(sonar2n.get_uid(), 'sonar', 'sonar2'))
world.add_entity(sonar2n)
'''
# Red Bank Battlefield (nw part of land sticking out south of navy yard)
sonar3n = Node(902)
sonar3n.set_position(39.872596,-75.190008, 0)
#sonar3n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=120, use_event_channel=True))
sonar3n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=120, use_event_channel=True))
sonar3n.add_interface(Interface('sonar3', s3net, power=120))
#sonar3n.add_agent(SensorForwardAgent(sonar3n.get_uid(), 'sonar', 'sonar3'))
world.add_entity(sonar3n)
# 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, use_event_channel=True))
radarn.add_interface(Interface('radar1', r1net, power=12000))
#radarn.add_agent(SensorForwardAgent(radarn.get_uid(), 'radar', 'radar1'))
world.add_entity(radarn)
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.add_network(r1net)
# SW tip of airport
sonar1n = Node(901)
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=120, use_event_channel=True))
sonar1n.add_interface(Interface('sonar1', s1net, power=120))
#sonar1n.add_agent(SensorForwardAgent(sonar1n.get_uid(), 'sonar', 'sonar1'))
world.add_entity(sonar1n)
#print 'sonar1n id: ', sonar1n.get_uid()
# Eastern bank of river, north of 76 bridge to NJ
sonar2n = Node(902)
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=120, use_event_channel=True))
sonar2n.add_interface(Interface('sonar2', s2net, power=120))
#sonar2n.add_agent(SensorForwardAgent(sonar2n.get_uid(), 'sonar', 'sonar2'))
world.add_entity(sonar2n)
# On pier of naval yard
uavnet = Network('uavnet',LogLossComms())
world.add_network(uavnet)
# Make sensor interfaces
s1net = Network('sonar1n', LogLossComms())
world.add_network(s1net)
s2net = Network('sonar2n', LogLossComms())
world.add_network(s2net)
s3net = Network('sonar3n', LogLossComms())
world.add_network(s3net)
r1net = Network('radar1n', LogLossComms())
world.add_network(r1net)
# SW tip of airport
sonar1n = Node(901)
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))
sonar1n.add_interface(Interface('sonar1', s1net, power=120))
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))
sonar2n.add_interface(Interface('sonar2', s2net, power=120))
world.add_entity(sonar2n)
# Red Bank Battlefield (nw part of land sticking out south of navy yard)
sonar3n = Node(902)
sonar3n.set_position(39.872596,-75.190008, 0)
sonar3n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=120, use_event_channel=True))
from ahoy.action import Action
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])
from ahoy.util.units import *
world = World()
wlan = Network('wlan0', LogLossComms())
world.add_network(wlan)
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)],
from ahoy.sensors.camerasensor import CameraSensor
from ahoy.util.units import *
from ahoy.agents.sensorforwardagent import SensorForwardAgent
from ahoy.sensors.camerasensor import CameraSensor
world = World()
wlan = Network('wlan0', LogLossComms())
uavnet = Network('uavnet',LogLossComms())
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)
# Red Bank Battlefield (nw part of land sticking out south of navy yard)
sonar3n = Node(902)
sonar3n.set_position(39.872596,-75.190008, 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]
