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
Controls.addAgent("f", 20, 10, 50) # these agents are not created
Controls.addAgent("g")
Controls.addAgent("h", 39)
Controls.addAgent("i", 22, 30, 1)
Controls.addAgent("j")
Controls.start()
##################################
################# wire the network
##################################
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)
Controls.addAgent('f',20,10,50)
Controls.addAgent('g')
Controls.addAgent('h',39)
Controls.addAgent('i',22,30,1)
Controls.addAgent('j')
"""
#time.sleep(1); # concurent modification exception
Controls.start()
"""
Notes about agents: (see screenshot to this script)
Friction sensor [dots]
-measures [binary] presence of ANY OBJECT (including grass)
-black and blue lines gere
-road=0, everything other=1
Distance sensor [lines]
-measures [continuous] distance to the nearest OBSTACLE (not grass, not road)
Note: value 0 to sensor properties should add 0 sendors now
"""
#addAgent(name,numSensors, maxDistance, frictionSensor)
Controls.addAgent('a',4, 70 ,0)
Controls.start()
#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)
# make neural network and connect it to the smart neuron
A=net.make('PositionData',neurons=10,dimensions=2,radius=20)
net.connect(input,simulator.getAgent('a').getTermination())
################# 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/manyAgents.svg')
Controls.addAgent('a',4)
Controls.addAgent('b',18)
Controls.addAgent('c',18,30,50)
Controls.addAgent('d')
Controls.addAgent('e',8)
Controls.addAgent('f',20,10,50)
Controls.addAgent('g')
Controls.addAgent('h',39)
Controls.addAgent('i',22,30,1)
Controls.addAgent('j')
Controls.start()
##################################
################# wire the network
"""
Notes about agents: (see screenshot to this script)
Friction sensor [dots]
-measures [binary] presence of ANY OBJECT (including grass)
-black and blue lines gere
-road=0, everything other=1
Distance sensor [lines]
-measures [continuous] distance to the nearest OBSTACLE (not grass, not road)
Note: value 0 to sensor properties should add 0 sendors now
"""
#addAgent(name,numSensors, maxDistance, frictionSensor)
Controls.addAgent('a',12, 0 ,40)
Controls.start()
#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)
# make neural network and connect it to the smart neuron
A=net.make('PositionData',neurons=10,dimensions=2,radius=20)
net.connect(input,simulator.getAgent('a').getTermination())
from nengoros.comm.rosutils import RosUtils as RosUtils
from nengoros.modules.impl.vivae.impl import SimulationControls as Controls
Controls = simulator.getControls(); # this starts the control services..
Controls.stop()
Controls.destroy()
#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.init()
"""
Controls.addAgent('a',4)
Controls.addAgent('b',18)
Controls.addAgent('c',18,30,50)
Controls.addAgent('d')
Controls.addAgent('e',8)
Controls.addAgent('f',20,10,50)
Controls.addAgent('g')
Controls.addAgent('h',39)
Controls.addAgent('i',22,30,1)
Controls.addAgent('j')
"""
#time.sleep(1); # concurent modification exception
Controls.start()
# run vivae
g = NodeGroup("vivae", True); # create default independent group of nodes
g.addNC(vv, "vivaeSimulator", "native");# add vivae ControlsServer (node which handles the simulation)
g.addNC(modemCl,"modem","modem") # add a default modem..
g.startGroup() # start group normally
time.sleep(2) # give it some time to init services
modem = g.getModem()
simulator = VivaeNeuron('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
Controls.loadMap('data/scenarios/arena2.svg')
Controls.addAgent('a',4)
Controls.start()
# run minMax node
g = NodeGroup('minMaxFinder', True);# create independent group called..
g.addNC(minmax, "MinMax","java"); # start java node and name it finder
g.addNC(modemCl,"Modem", "modem") # add modem to the group
g.startGroup()
modem = g.getModem()
neuron = NeuralModule('MinMaxFinder', modem) # construct the smart neuron
neuron.createEncoder("ann2rosFloatArr", "float",4) # termination = input of neuron (4xfloat)
neuron.createDecoder("ros2annFloatArr", "float",2) # origin = output of neuron (min and max)
minmaxN=net.add(neuron) # add it into the network
# make neural ensemble
