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;
# this is launch command which calls the RosRun with name of ControlsServer as parameter
#vvv = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]
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)
"""
modem = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"
# custom modem here
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)
net=nef.Network('Vivae tests')
net.add_to_nengo() # here: delete old (toplevel) network and replace it with the newly CREATED one
modemCl = "nengoros.comm.nodeFactory.modem.impl.DefaultModem"; # commands to launch default modem, vivae simulator, minmax
vv = ["./sb/../../../../simulators/vivae/build/install/vivae/bin/vivae","vivae.ros.simulatorControlsServer.ControlsServer"]
minmax = "resender.mpt.F2FPubSub";
# 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()
