from ahoy.conditions.srccondition import SourceCondition
from ahoy.agents.aisship import AISShip
from ahoy.agents.smallship import SmallShip
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.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())
from ahoy.conditions.srccondition import SourceCondition
from ahoy.agents.aisship import AISShip
from ahoy.agents.smallship import SmallShip
from ahoy.agents.divertagent import DivertAgent
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())
from ahoy.sensors.camerasensor import CameraSensor
from ahoy.agents.threat import ThreatShip
from ahoy.agents.tanker import Tanker
from ahoy.agents.correlationagent import CorrelationAgent
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)
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))
sonar3n.add_interface(Interface('sonar3', s3net, power=120))
world.add_entity(sonar3n)
# On pier of naval yard
radarn = Node(903)
radarn.set_position(39.886597, -75.166043, 0)
(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)
e.set_position(*path[1])
world.add_entity(e)
'''
# 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) :
from ahoy.world import World
from ahoy.entities.node import Node
from ahoy.sensors.radarsensor import RadarSensor
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)
