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;
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)
"""
Controls.addAgent('d')
Controls.addAgent('e',8)
vv = "vivae.ros.simulatorControlsServer.ControlsServer" # actual Vivae simulator, provies services
g = NodeGroup("vivae", True)
# create default group of nodes
g.addNC(vv, "vivaeSimulator", "java")
# add vivae ControlsServer (node that handles simulation)
g.addNC(modem, "modem", "modem") # add default modem..
g.startGroup() # start group normally
##################################
################# get modem, create smart neuron with inputs/outputs
modem = g.getModem()
simulator = NeuralModule("VivaeTest", modem) # create NeuralModule which is able to add/remove agents
Controls = simulator.getControls()
# this starts the control services..
many = net.add(simulator) # add it to the Nengo network
time.sleep(2) # give it some time to init services
# Controls.loadMap('data/scenarios/arena2.svg')
# Controls.loadMap('data/scenarios/ushape.svg')
# Controls.loadMap('data/scenarios/arena1.svg')
Controls.loadMap("data/scenarios/arena1.svg")
Controls.addAgent("a", 4)
Controls.addAgent("b", 18)
Controls.addAgent("c", 18, 30, 50)
Controls.addAgent("d") # adding more agents than is in the simulation
Controls.addAgent("e", 8) # will result just in error message in console
