from ahoy.events.communication import CommunicationSendEvent from ahoy.conditions.srccondition import SourceCondition from ahoy.agents.aisship import AISShip from ahoy.agents.smallship import SmallShip from ahoy.sensors.radarsensor import RadarSensor from ahoy.sensors.sonarsensor import SonarSensor from ahoy.util.units import * world = World() wlan = Network("wlan0", LogLossComms()) world.add_network(wlan) for i in range(0, 5): n = Node(i) n.add_interface(Interface("wlan0", wlan, power=120)) ship = AISShip((i + 21), 0.0203, "localhost", 12346, "wlan0") 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)
from ahoy.agents.aisship import AISShip 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)
from ahoy.agents.tanker import Tanker 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)
from ahoy.agents.aisship import AISShip 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)
# Make sensor interfaces s1net = Network('sonar1n', LogLossComms()) world.add_network(s1net) s2net = Network('sonar2n', LogLossComms()) world.add_network(s2net) s3net = Network('sonar3n', LogLossComms()) world.add_network(s3net) r1net = Network('radar1n', LogLossComms()) world.add_network(r1net) # SW tip of airport sonar1n = Node(901) sonar1n.set_position(39.8560599677, -75.255277528, 0) sonar1n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=2)) sonar1n.add_interface(Interface('sonar1', s1net, power=120)) world.add_entity(sonar1n) # Eastern bank of river, north of 76 bridge to NJ sonar2n = Node(len(world.get_entities())) sonar2n.set_position(39.9103365806, -75.1257383781, 0) sonar2n.add_sensor('sonar', SonarSensor(source_level=220, source_bw=10, array_size=360, interval=5, min_snr=2)) 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)
from ahoy.interface import Interface from ahoy.agents.comms import CommsAgent from ahoy.network import Network from ahoy.tcpforward import TcpForward from ahoy.action import Action from ahoy.actions.move import MoveAction from ahoy.condition import Condition from ahoy.events.communication import CommunicationSendEvent from ahoy.conditions.srccondition import SourceCondition world = World() wlan = Network('wlan0') world.add_network(wlan) n1 = Node(0) n1.add_interface(Interface('wlan0', n1, wlan, 100)) ca1 = CommsAgent(n1, 1, 2, False) n1.add_agent(ca1) n1.set_position(39.9534, -75.1912, 0.02) world.add_entity(n1) n2 = Node(1) n2.add_interface(Interface('wlan0', n2, wlan, 100)) ca2 = CommsAgent(n2, 2, 1, True) n2.add_agent(ca2) n2.set_position(39.9534, -75.1912, 0.02) world.add_entity(n2)
world.add_network(wlan) heli_areas = [ (39.9558, -75.1386, 39.9475, -75.1314), (39.9468, -75.1396, 39.9419, -75.1314), (39.9410, -75.1420, 39.9360, -75.1321), (39.9330, -75.1418, 39.9281, -75.1311) ] for i, loc in enumerate(heli_areas) : heli = Node(i) heli.set_position(loc[0], loc[1], feet(i * 100)) nw = (loc[0], loc[1]) se = (loc[2], loc[3]) heli.add_agent(RectangleSurveilAgent(i, nw, se, feet(150))) heli.add_interface(Interface('wlan0', wlan, power=120)) world.add_entity(heli) radar = Node(len(world.get_entities())) radar.set_position(39.9485, -75.1325, 0) radar.add_sensor('radar', RadarSensor(watts(6000), 25, 1, 5, 1, 3/360.0, 1, use_event_channel=True)) world.add_entity(radar) paths = [ [feet(15), (39.9545, -75.1358, 0), (39.9432, -75.1363, 0), (39.9273, -75.1348, 0)], [feet(100), (39.9534, -75.1320, 0), (39.9374, -75.1367, 0), (39.9263, -75.1322, 0)], [feet(25), (39.9281, -75.1385, 0), (39.9416, -75.1393, 0), (39.9591, -75.1341, 0)], [feet(50), (39.9268, -75.1322, 0), (39.9333, -75.1340, 0), (39.9482, -75.1337, 0), (39.9583, -75.1322, 0)] ] for path in paths :
from ahoy.agents.sensorforwardagent import SensorForwardAgent from ahoy.sensors.camerasensor import CameraSensor 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__' :
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)) 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_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('aisn', aisnet, power=12000)) groundst.add_agent(DivertAgent(len(world.get_entities()),'aisn')) world.add_entity(groundst) #create tanker tanknode = Node(len(world.get_entities())) tanknode.add_interface(Interface('aisn',aisnet,power=120)) tanknode.add_agent(Tanker(80,0.08,'aisn',pathfile)) world.add_entity(tanknode) active = [[39.890750000000004, -75.196423312500002], [39.883578125, -75.195800625000004], [39.878743749999998, -75.196907624999994], [39.873325000000001, -75.202165874999992], [39.869075000000002, -75.208600312499996], [39.8930875, -75.193794187500004], [39.888784375, -75.193725000000001], [39.886287500000002, -75.196215749999993], [39.885490625000003, -75.193309874999997], [39.882303125, -75.192272062499995], [39.881718750000005, -75.198222187499994], [39.880125, -75.201612374999996], [39.877787500000004, -75.204725812500001], [39.875450000000001, -75.207008999999999], [39.872740624999999, -75.211437000000004], [39.876512500000004, -75.201681562499999], [39.869871875000001, -75.204379875000001], [39.86981875, -75.214204499999994], [39.875396875, -75.197599499999995], [39.879062500000003, -75.191856937499992], [39.867587499999999, -75.220292999999998], [39.866631250000005, -75.215934187499997], [39.863975000000003, -75.213581812499996], [39.863709374999999, -75.219808687499992], [39.864931249999998, -75.226589062499997], [39.892609374999999, -75.201197249999993], [39.894893750000001, -75.203480437500005], [39.894309374999999, -75.207285749999997], [39.896646875000002, -75.208600312499996], [39.898293750000001, -75.213305062499998], [39.900950000000002, -75.212889937499995], [39.872475000000001, -75.207147374999991], [39.870350000000002, -75.199744312500002], [39.875450000000001, -75.193863374999992], [39.872262500000005, -75.196077375000002], [39.861637500000001, -75.218632499999998], [39.861212500000001, -75.226727437500003], [39.862275000000004, -75.232262437499998]] for loc in active : #for i in range(0,len(active),2) : # loc = active[i] chem = Node(len(world.get_entities()))