def initVivae(numsensors):
modem = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # custom modem here
server = "vivae.ros.simulatorControlsServer.ControlsServer" # call Vivae as a thread in Java from this process
# Call Vivae as an external process
#server = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]
# create group of nodes
g = NodeGroup("vivae", True); # create default group of nodes
g.addNC(server, "vivaeSimulator", "java"); # run the simulator..
g.addNC(modem,"modem","modem") # add default modem..
g.startGroup() # start group normally
modem = g.getModem()
#time.sleep(3) # if the process is native, it takes longer time to init the services !!
simulator = NeuralModule('VivaeSimulator',modem) # create NeuralModule which is able to add/remove agents
vivae = simulator.getControls(); # this starts the control services..
vivae.setVisible(True); # make simulation window visible..
many=net.add(simulator) # add it to the Nengo network
vivae.loadMap('data/scenarios/test/wallsII.svg')
#addAgent(name,numSensors, maxDistance, frictionSensor) (note that you will actually get numSensors+1 floats +(speed))
vivae.addAgent('a',2*numsensors, 120 ,0)
vivae.start()
return simulator;
def initVivae(numsensors):
modem = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"
# custom modem here
server = "vivae.ros.simulatorControlsServer.ControlsServer" # call Vivae as a thread in Java from this process
# Call Vivae as an external process
#server = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]
# create group of nodes
g = NodeGroup("vivae", True)
# create default group of nodes
g.addNC(server, "vivaeSimulator", "java")
# run the simulator..
g.addNC(modem, "modem", "modem") # add default modem..
g.startGroup() # start group normally
modem = g.getModem()
#time.sleep(3) # if the process is native, it takes longer time to init the services !!
simulator = NeuralModule(
'VivaeSimulator',
modem) # create NeuralModule which is able to add/remove agents
vivae = simulator.getControls()
# this starts the control services..
vivae.setVisible(True)
# make simulation window visible..
many = net.add(simulator) # add it to the Nengo network
vivae.loadMap('data/scenarios/test/wallsII.svg')
#addAgent(name,numSensors, maxDistance, frictionSensor) (note that you will actually get numSensors+1 floats +(speed))
vivae.addAgent('a', 2 * numsensors, 120, 0)
vivae.start()
return simulator
def initVivae(modem,server):
# create group of nodes
g = NodeGroup("vivae", True); # create default group of nodes
g.addNC(server, "vivaeSimulator", "java"); # run the simulator..
g.addNC(modem,"modem","modem") # add default modem..
g.startGroup() # start group normally
modem = g.getModem()
#time.sleep(3) # if the process is native, it takes longer time to init the services !!
simulator = NeuralModule('VivaeTest',modem) # create NeuralModule which is able to add/remove agents
vivae = simulator.getControls(); # this starts the control services..
vivae.setVisible(True); # make simulation window visible..
many=net.add(simulator) # add it to the Nengo network
vivae.loadMap('data/scenarios/test/walls.svg')
#addAgent(name,numSensors, maxDistance, frictionSensor)
vivae.addAgent('a',8, 120 ,0)
vivae.start()
return simulator;
################# define the group and start it
modem = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # custom modem here
# this is launch command which calls the RosRun with name of ControlsServer as parameter
#vvv = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]
vvv = "vivae.ros.simulatorControlsServer.ControlsServer" # actual Vivae simulator, provies services
# create group of nodes
g = NodeGroup("vivae", True); # create default group of nodes
g.addNC(vvv, "vivaeSimulator", "java"); # run the simulator..
g.addNC(modem,"modem","modem") # add default modem..
g.startGroup() # start group normally
##################################
modem = g.getModem()
time.sleep(3) # if the process is native, it takes longer time to init the services !!
simulator = NeuralModule('VivaeTest',modem) # create NeuralModule which is able to add/remove agents
Controls = simulator.getControls(); # this starts the control services..
Controls.setVisible(False);
many=net.add(simulator) # add it to the Nengo network
#Controls.loadMap('data/scenarios/arena2.svg')
#Controls.loadMap('data/scenarios/ushape.svg')
Controls.loadMap('data/scenarios/arena1.svg')
#Controls.loadMap('data/scenarios/manyAgents.svg')
Controls.addAgent('a',4)
Controls.addAgent('b',18)
Controls.addAgent('c',18,30,50)
################# define the group and start it
turtlesim = "../testnodes/turtlesim/turtlesim_node" # turtle under this project
act = "resender.turtle.Controller"
modemCls = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"
# custom modem here
##################################
################# turtle 1
g = NodeGroup("zelvicka", True)
g.addNC(turtlesim, "zelva", "native")
# start native node called zelva
g.addNC(modemCls, "turtlemodem", "modem")
g.startGroup()
modem = g.getModem()
bigneuron = NeuralModule("TurtleController", modem)
bigneuron.createDecoder("turtle1/pose", "pose") # origin
bigneuron.createDecoder("turtle1/color_sensor", "color") # origin
bigneuron.createEncoder("turtle1/command_velocity", "velocity") # termination
many = net.add(bigneuron)
# Create a white noise input function with parameters: baseFreq, maxFreq (rad/s), RMS, Seed
input = FunctionInput("Randomized input", [FourierFunction(0.5, 10, 6, 12), FourierFunction(2, 11, 5, 17)], Units.UNK)
# Add the input node to the network and connect it to the smart enuron
net.add(input)
net.connect(input, many.getTermination("turtle1/command_velocity"))
# make neural network and connect it to the smart neuron
A = net.make("PositionData", neurons=10, dimensions=5, radius=20)
net.connect(many.getOrigin("turtle1/pose"), A)
# make neural network and connect it to the smart neuron
B = net.make("ColorData", neurons=10, dimensions=3, radius=120) # RGB values observed in range of 100
##################################
################# define the group and start it
turtlesim = "../testnodes/turtlesim/turtlesim_node" # turtle under this project
act = "resender.turtle.Controller";
modemCls = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # custom modem here
##################################
################# turtle 1
g = NodeGroup("zelvicka", True);
g.addNC(turtlesim, "zelva", "native"); # start native node called zelva
g.addNC(modemCls,"turtlemodem","modem")
g.startGroup()
modem = g.getModem()
bigneuron = NeuralModule('TurtleController',modem)
bigneuron.createDecoder("turtle1/pose", "pose") # origin
bigneuron.createDecoder("turtle1/color_sensor", "color") # origin
bigneuron.createEncoder("turtle1/command_velocity", "velocity") # termination
many=net.add(bigneuron)
#Create a white noise input function with parameters: baseFreq, maxFreq (rad/s), RMS, Seed
input=FunctionInput('Randomized input', [FourierFunction(.5, 10, 6, 12),
FourierFunction(2, 11, 5, 17)],
Units.UNK)
# Add the input node to the network and connect it to the smart enuron
net.add(input)
net.connect(input,many.getTermination('turtle1/command_velocity'))
# make neural network and connect it to the smart neuron
A=net.make('PositionData',neurons=10,dimensions=5,radius=20)
net.connect(many.getOrigin('turtle1/pose'),A)
act = "resender.turtle.Controller";
modem = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # add a default model to the turtle
# create group with a name
g = NodeGroup("zelvicka", True); # create group of ROS nodes (equals to one neural subsystem)
g.addNC(turtlesim, "zelva", "native"); # add Node Configuration (turtle) to the group of nodes
g.addNC(modem,"turtlemodem","modem") # add modem configuration to the group
g.addNC(rosnodetester,"rosnodetest","native") # teeeeeeeeeeeeeeeeest
g.startGroup() # start all nodes in the group
##################################
################# get modem, create neural subsystem with inputs/outputs
modem = g.getModem() # get neuron
module = SmartNeuron('TurtleController',modem) # create a module in Nengo with turtle modem
# 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
module.createDecoder("turtle1/color_sensor", "color") # origin
module.createEncoder("turtle1/command_velocity", "velocity") # termination
# build the subsystem in Nengo, thats it
subsystem=net.add(module)
