import nef
from ca.nengo.math.impl import FourierFunction
from ca.nengo.model.impl import FunctionInput
from ca.nengo.model import Units
from ctu.nengoros.modules.impl import DefaultNeuralModule as NeuralModule
from ctu.nengoros.modules.impl import DefaultAsynNeuralModule as AsynNeuralModule
from ctu.nengoros.comm.nodeFactory import NodeGroup as NodeGroup
from ctu.nengoros.comm.rosutils import RosUtils as RosUtils
# creates nef network and adds it to nengo (this must be first in the script)
net=nef.Network('Random Turtle Control Demo')
net.add_to_nengo() # here: delete old (toplevel) network and replace it with the newly CREATED one
##################################
#RosUtils.setAutorun(False) # Do we want to autorun roscore and rxgraph? (tru by default)
RosUtils.prefferJroscore(False) # Turlte prefers roscore before jroscore (don't know why..)
##################################
turtlesim = "rosrun turtlesim turtlesim_node" # command to start turtle installed in ROS
act = "resender.turtle.Controller";
g = NodeGroup("Turtlesim", True); # create group of ROS nodes (equals to one neural subsystem)
g.addNode(turtlesim, "Turtlesim", "native"); # add Node Configuration (turtle) to the group of nodes
module = NeuralModule('TurtleController', g)
# configure modem, that is:
# -createDecoder = create origin (output) of Nengo module
# -what comes from ROS modules is decoded and passed to the output of subsystem in Nengo
# -createEncoder = create termination (input) of Nengo module
# -what comes from ANN in Nengo is encoded into messages and sent to ROS modules
# modem should be able to encode/decode (all) messages used in own NodeGroup
module.createDecoder("turtle1/pose", "pose") # origin
from design.ea.matrix.hnn import HNNWMatrixEA as EA
from design.ea.matrix.hnn.impl import HNNInd as Ind
from hanns import inFactory
import modules
from modules import mathNodes
from modules import routing
from hanns import spiketofloat
from hanns import floattospike
import inspect
import os
from ca.nengo.model.impl import NetworkImpl, NoiseFactory, FunctionInput, NetworkArrayImpl
from ctu.nengoros.comm.rosutils import RosUtils as RosUtils
RosUtils.prefferJroscore(False)
actualIn=0;
actualOut=0;
# how to read input and output weights from individual in java
def setInW(w):
useDesigned = False
if (useDesigned):
#w = ind.getMatrix().get2DInMatrixNo(actualIn);
w = ind.m.getRange(0,16);
else:
for i in range(len(w)):
for j in range(len(w[i])):
w[i][j]=0.2
return w;
def setOutW(w): # TODO: support for multidimensional outputs
