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())
world.add_network(s1net)
s2net = Network('sonar2n', LogLossComms())
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())
world.add_network(s1net)
s2net = Network('sonar2n', LogLossComms())
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)
# world.add_entity(n)
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)
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('aisn', aisnet, power=12000))
groundst.add_interface(Interface('uavnet', uavnet, power=12000))
groundst.add_agent(CorrelationAgent(groundst.get_uid(), 0.5, 0.45, 'aisn'))
#groundst.add_agent(DivertAgent(len(world.get_entities()),'aisn'))
world.add_entity(groundst)
#create tanker
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)
if __name__ == '__main__' :
sim = Simulation(world)
for loc in inactive :
chem = Node(len(world.get_entities()))
chem.add_sensor('chemical', ChemicalSensor(interval=9000))
chem.set_position(loc[0], loc[1], 0)
world.add_entity(chem)
chemspill = Node(len(world.get_entities()))
chemspill.set_position(39.892223,-75.196788, 0) #immediately east of I-95 bridge, on water
chemspill.add_agent( ChemicalSpillAnnounceAgent(2, 1, 20, 0.05) ) #ID, interval, announce time, spill rate in km/s
world.add_entity(chemspill)
#AIS Ships
for i in range(0, 16):
n = Node(len(world.get_entities()))
n.add_interface(Interface('aisn', aisnet, power=120))
ship = AISShip(n.get_uid(), 0.0203, 'localhost', 12348, 'aisn')
n.add_agent(ship)
world.add_entity(n)
if __name__ == '__main__' :
sim = Simulation(world)
def quit(signal, frame) :
print 'Stopping...'
sim.stop()
sys.exit(0)
signal.signal(signal.SIGINT, quit)
sim.start(2)
while True :
