Merged in nengo_loihi (pull request #137)

[NUIT-225] Added nengo_loihi implementation

Approved-by: Ugo Albanese

hbp_nrp_cleserver/hbp_nrp_cleserver/server/ROSCLEServer.py

@@ -328,7 +328,6 @@ class ROSCLEServer(SimulationServer):
 
         tf_framework.TransferFunction.excepthook = self.__tf_except_hook
 
-
         tf_framework.TF_API.set_ros_cle_server(self)
 
         if self.timeout_type == TimeoutType.SIMULATION:

hbp_nrp_cleserver/hbp_nrp_cleserver/server/ROSCLESimulationFactory.py

@@ -188,6 +188,8 @@ class ROSCLESimulationFactory(object):
                 assembly = ServerConfigurations.SynchronousSpinnakerSimulation
             elif sim_config.simulation_type is SimulationType.NENGO_SYNC:
                 assembly = ServerConfigurations.SynchronousNengoSimulation
+            elif sim_config.simulation_type is SimulationType.NENGO_LOIHI_SYNC:
+                assembly = ServerConfigurations.SynchronousNengoLoihiSimulation
             elif sim_config.simulation_type is SimulationType.ROBOT_ROS_SYNC:
                 assembly = ServerConfigurations.SynchronousRobotRosNest
             elif sim_config.simulation_type is SimulationType.NEST_DIRECT_SYNC:

hbp_nrp_cleserver/hbp_nrp_cleserver/server/ServerConfigurations.py

@@ -27,6 +27,8 @@ by a class that adopts the SimulationAssembly API.
 """
 
 from hbp_nrp_cleserver.server.CLEGazeboSimulationAssembly import CLEGazeboSimulationAssembly
+import logging
+logger = logging.getLogger(__name__)
 
 
 def unused(_):
@@ -96,25 +98,38 @@ def brain_direct_nest_adapters():
     return braincomm, braincontrol
 
 
-def brain_nengo_adapters():
+def brain_nengo_adapters(loihi=False):
     """
     Creates the adapter components for the neural simulator, configuration with Nengo
 
+    :param: loihi: Indicates whether the backend is loihi
     :return: A tuple of the communication and control adapter for the neural simulator
     """
     # pylint: disable=unused-variable
     try:
-        import nengo # pylint: disable=unused-import
+        if loihi:
+            ex_msg = ("nengo_loihi does not seem to be installed on this machine. "
+                      "Please install nengo_loihi in order to use it in the NRP. "
+                      "Make sure that the loihi board is connected and works.")
+            import nengo_loihi  # pylint: disable=unused-import
+            logger.warn("Warning! "
+                        "If no loihi board is found by Nengo, "
+                        "the simulation will use the CPU as a backend."
+                        "Please make sure that your loihi board is connected and works.")
+        else:
+            ex_msg = ("Nengo does not seem to be installed on this machine. "
+                      "Please install Nengo in order to use it in the NRP "
+                      "or use a different server.")
+            import nengo  # pylint: disable=unused-import
+
     except ImportError:
-        raise Exception("Nengo does not seem to be installed on this machine. "
-                        "Please install Nengo in order to use it in the NRP "
-                        "or use a different server.")
+        raise Exception(ex_msg)
 
     from hbp_nrp_cle.brainsim.nengo.NengoSimulationState import NengoSimulationState
     from hbp_nrp_cle.brainsim.nengo.NengoControlAdapter import NengoControlAdapter
     from hbp_nrp_cle.brainsim.nengo.NengoCommunicationAdapter import NengoCommunicationAdapter
-    sim_state = NengoSimulationState()
-    brain_control = NengoControlAdapter(sim_state)
+    sim_state = NengoSimulationState(loihi)
+    brain_control = NengoControlAdapter(sim_state, loihi)
     brain_comm = NengoCommunicationAdapter(sim_state)
     return brain_comm, brain_control
 
@@ -248,6 +263,29 @@ class SynchronousRobotRosNest(CLEGazeboSimulationAssembly):
         return brain_nest_adapters()
 
 
+class SynchronousNengoLoihiSimulation(CLEGazeboSimulationAssembly):
+    """
+    This class represents a synchronous simulation assembly using Nengo as the neural simulator
+    synchronous to Gazebo and loihi as a hardware backend
+    """
+
+    def _create_robot_adapters(self):
+        """
+        Creates the adapter components for the robot side
+
+        :return: A tuple of the communication and control adapter for the robot side
+        """
+        return robot_gazebo_ros_adapters()
+
+    def _create_brain_adapters(self):
+        """
+        Creates the adapter components for the neural simulator
+
+        :return: A tuple of the communication and control adapter for the neural simulator
+        """
+        return brain_nengo_adapters(loihi=True)
+
+
 class SynchronousNengoSimulation(CLEGazeboSimulationAssembly):
     """
     This class represents a synchronous simulation assembly using Nengo as the neural simulator

hbp_nrp_cleserver/requirements.txt

@@ -6,7 +6,9 @@ hbp-nrp-backend
 pyxb==1.2.6
 Jinja2>=2.11.2
 defusedxml==0.6.0
-nengo==2.8.0
+nengo==3.1.0
+# the version of nengo_loihi compatible with nxsdk 1.0.0
+nengo-loihi @ git+https://github.com/nengo/nengo-loihi.git@00ef8e3c8309cf347a8e02d6367bba583ee33932
 future
 RestrictedPython==3.6.0; python_version=="2.7"
 RestrictedPython>=4.0;  python_version >= "3.0"
\ No newline at end of file

hbp_nrp_commons/hbp_nrp_commons/sim_config/SimConfig.py

@@ -64,6 +64,7 @@ class SimulationType(Enum):  # pragma: no cover
     NEST_DIST = 0x11000002
     SPINNAKER_SYNC = 0x11000003
     NENGO_SYNC = 0x11000004
+    NENGO_LOIHI_SYNC = 0x11000005
     ROBOT_ROS_SYNC = 0x11000006
     NEST_DIRECT_SYNC = 0x11000007
 
@@ -316,6 +317,8 @@ class SimConfig(object):
                 bibi_parser.SimulationMode.SynchronousSpinnakerSimulation:
                     SimulationType.SPINNAKER_SYNC,
                 bibi_parser.SimulationMode.SynchronousNengoSimulation: SimulationType.NENGO_SYNC,
+                bibi_parser.SimulationMode.SynchronousNengoLoihiSimulation: \
+                    SimulationType.NENGO_LOIHI_SYNC,
                 bibi_parser.SimulationMode.SynchronousRobotRosNest: SimulationType.ROBOT_ROS_SYNC,
                 bibi_parser.SimulationMode.SynchronousDirectNestSimulation:
                     SimulationType.NEST_DIRECT_SYNC,