def move(self, goal_dist, callback=None, erase=True):
"""
same thing as moveTo
"""
if erase:
self.goal_dist = []
self.goal_dist.append(Distance(goal_dist, callback))
motion.move(goal_dist, self.private_move_callback)
def mainloop(j, sx, ex, srange, erange, ups, ls):
k2 = translate(j, sx, ex, srange, erange)
y2 = 150
# put your y2 equation here
te3, te4 = move(k2, y2)
alpha = translate(te3, 0, 180, ups.sp, ups.ep)
beta = translate(te4 - 90, 0, 180, ls.sp, ls.ep)
return alpha, beta
def callback(data):
motion.move(data.data)
def _move(self):
delta_x, delta_y = motion.move(self.speed, self.angle)
self.center_x += delta_x
self.center_y += delta_y
import socket
from motion import click, move
# UDP_IP = "127.0.0.1"
UDP_IP = "0.0.0.0"
UDP_PORT = 5005
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
sock.bind((UDP_IP, UDP_PORT))
while True:
data, _ = sock.recvfrom(16)
print("received message:", data)
message = data.decode()
tab = message.split(' ')
# x, y, cl (int, int 0/1)
x, y, cl = int(tab[0]), int(tab[1]), int(tab[2])
move(x, y)
if cl == 1:
click()
import motion
import socket
CONNECTION_LIST = [] # list of socket clients
REVC_BUFFER = 4096
PORT = 8080
HOST = '192.168.1.108'
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
s.bind(HOST, PORT)
except socket.error as msg:
print "Bind failed. Error code: " + str(msg[0] + "Message" + msg[1])
exit(1)
s.listen(5)
print "socket binds successfully, and is listening now."
conn, addr = s.accept()
print "Connected with " + addr[0] + str(addr[1])
while True:
s.close()
motion.move("fr")
# outputs.remove(s)
# else:
# s.send(next_msg)
for s in exceptional:
inputs.remove(s)
if s in outputs:
outputs.remove(s)
s.close()
del message_queues[s]
rightTurn = [0.0, 0.0, 0.40]
leftTurn = [0.0, 0.0, -0.40]
walkForward = [0.8, 0.0, 0.0]
standing = False
if (message == "StandIsGo" and not standing):
posture.goToPosture("StandInit", 1.0)
standing = True
elif (message == "WalkIsGo"):
motion.move(walkForward[0], walkForward[1], walkForward[2])
elif (message == "WalkIsStop"):
motion.move(0, 0, 0.0)
elif (message == "TurnRight"):
print(message)
motion.post.moveTo(rightTurn[0], rightTurn[1], rightTurn[2])
elif (message == "TurnLeft"):
print(message)
motion.post.moveTo(leftTurn[0], leftTurn[1], leftTurn[2])
elif (message == "Sit"):
posture.goToPosture("Sit", 1.0)
def simulate_learning(neurons, receptors, nrns_sd, rctrs_sd, arena):
"""
Run simulation for 40 seconds based on network topology encoded in
individual.
@param individual: Binary string encoding network topology.
@param arena: The arena object in which the simulation is carried
out.
@param n_step: Number of steps the simulation is divided in.
@param t_step: Number of milliseconds in each step.
@param reset: bool triggering the reset of the nest kernel.
"""
global simtime
simdata = create_empty_data_lists()
if data['init'] == 'random':
simdata['x_init'], simdata['y_init'], theta_init = \
select_random_pose(arena)
x_cur = simdata['x_init']
y_cur = simdata['y_init']
theta_cur = theta_init
err_l, err_r = 0, 0
simdata['rctr_nrn_trace'].append(np.zeros((18, 10)))
simdata['nrn_nrn_trace'].append(np.zeros((10, 10)))
motor_spks = nrns_sd[6:]
for t in range(n_step):
ev.update_refratory_perioud()
simdata['traj'].append((x_cur, y_cur))
px = network.set_receptors_firing_rate(x_cur, y_cur, theta_cur,
err_l, err_r)
simdata['pixel_values'].append(px)
# Run simulation for time-step
nest.Simulate(t_step)
simtime += t_step
motor_firing_rates = network.get_motor_neurons_firing_rates(motor_spks)
v_l_act, v_r_act, v_t, w_t, err_l, err_r, col, v_l_des, v_r_des = \
motion.update_wheel_speeds(x_cur, y_cur, theta_cur, motor_firing_rates)
# Save dsired and actual speeds
simdata['speed_log'].append((v_l_act, v_r_act))
simdata['desired_speed_log'].append((v_l_des, v_r_des))
# Save motor neurons firing rates
simdata['motor_fr'].append(motor_firing_rates)
# Save linear and angualr velocities
simdata['linear_velocity_log'].append(v_t)
simdata['angular_velocity_log'].append(w_t)
# Move robot according to the read-out speeds from motor neurons
x_cur, y_cur, theta_cur = motion.move(x_cur, y_cur, theta_cur, v_t,
w_t)
nrns_st, rctrs_st = learning.get_spike_times(nrns_sd, rctrs_sd)
rec_nrn_tags, nrn_nrn_tags, rctr_t, nrn_t, pt = \
learning.get_eligibility_trace(nrns_st, rctrs_st, simtime,
simdata['rctr_nrn_trace'][t], simdata['nrn_nrn_trace'][t])
print simtime
simdata['rctr_nrn_trace'].append(rec_nrn_tags)
simdata['nrn_nrn_trace'].append(nrn_nrn_tags)
# Stop simulation if collision occurs
if col:
simdata['speed_log'].extend((0, 0) for k in range(t, 400))
break
simdata['fitness'] = ev.get_fitness_value(simdata['speed_log'])
return simdata, rctr_t, nrn_t, pt, col
def simulate_evolution(individual, arena, n_step, t_step, reset=True):
"""
Run simulation for 40 seconds based on network topology encoded in
individual.
@param individual: Binary string encoding network topology.
@param arena: The arena object in which the simulation is carried
out.
@param n_step: Number of steps the simulation is divided in.
@param t_step: Number of milliseconds in each step.
@param reset: bool triggering the reset of the nest kernel.
"""
# Reset nest kernel just in case it was not reset & adjust
# resolution.
nest.ResetKernel()
nest.SetKernelStatus({'resolution': 1.0, 'local_num_threads': 4})
nest.set_verbosity('M_ERROR')
if data['init'] == 'random':
x, y, theta = select_random_pose(arena)
simdata = create_empty_data_lists()
simdata['x_init'] = x_init
simdata['y_init'] = y_init
simdata['theta_init'] = theta_init
motor_spks = network.create_evolutionary_network(individual, data['model'])
x_cur = x_init
y_cur = y_init
theta_cur = theta_init
err_l, err_r = 0, 0
for t in range(n_step):
# Save current position in trajectory list
simdata['traj'].append((x_cur, y_cur))
# Add nioise to
network.update_refratory_perioud(data['model'])
# Set receptors' firing probability
px = network.set_receptors_firing_rate(x_cur, y_cur, theta_cur,
err_l, err_r, arena)
simdata['pixel_values'].append(px)
# Run simulation for 100 ms
nest.Simulate(t_step)
motor_firing_rates = network.get_motor_neurons_firing_rates(motor_spks)
# Get desired and actual speeds
col, speed_dict = motion.update_wheel_speeds(x_cur, y_cur, theta_cur,
motor_firing_rates, t_step,
arena)
# Stop simulation if collision occurs
if col:
simdata['speed_log'].extend((0, 0) for k in range(t, 400))
break
# Save simulation data
simdata['speed_log'].append((speed_dict['actual_left'],
speed_dict['actual_right']))
simdata['desired_speed_log'].append((speed_dict['desired_left'],
speed_dict['desired_right']))
simdata['motor_fr'].append(motor_firing_rates)
simdata['linear_velocity_log'].append(speed_dict['linear'])
simdata['angular_velocity_log'].append(speed_dict['angular'])
# Move robot according to the read-out speeds from motor neurons
x_cur, y_cur, theta_cur = motion.move(x_cur, y_cur, theta_cur,
speed_dict['linear'], speed_dict['angular'], t_step/1000.)
# Calculate individual's fitness value
simdata['fitness'] = ev.get_fitness_value(simdata['speed_log'])
# Get average number of spikes per second for each neuron
simdata['average_spikes'] = network.get_average_spikes_per_second()
# Get Voltmeter data
simdata['voltmeter_data'] = network.get_voltmeter_data()
if reset:
nest.ResetKernel()
return simdata
