[v.2012.02.29.1]
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------------- Maeden Socket Communication -----------
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All communication between the Maeden simulator and an agent controller
is done through the standard socket layer.  Sockets provide
versatility in the Maeden Simulator so that controllers written in
different languages can still interact with Maeden.  The Grid class
provides the code for the server socket that accepts connections from
agent controllers.  Maeden listens on port number 7237, known within
the Java code as MAEDENPORT.

Once a connection is established, the socket is used for two-way
communication between the environment server and the agent controller;
sending sensory data from server to agent and sending actions from
agent to server (see Sensory-Motor Interface README).  Agent
controllers are given ID's starting with 0 according to the order in
which they contact the server.  There is currently a soft limit of 10
agents in a single simulation because of the format sensory
information is conveyed.  Raising this limit will require
modifications to the server code.

Initial Handshake.  When first establishing a socket connection, the
agent controller must first "sign in" as either a client "base" agent
or as a "helper" agent.  (It is assumed that helper agents do not
attempt to use the food, thereby terminating the simulation.)  To sign
in, each agent sends the string either "base" or "helper", followed by
a newline character.  (All communications over the socket are
terminated by newlines.)  After receiving the agent's role, the Grid
server sends the agent's ID on a single line (newline terminated).
Having completed the initial handshake/registration, the server makes
the first sensory packet available and the agent controller may enter
a sense/think/act cycle.  Note, sensory packets are sent after each
agent action and should be consumed in their entirety.

Once the simulation is ended (either the food is eaten or the last
base agent or client dies), each socket is closed in the method
Grid.cleanClose().  All buffers are exited (for the agent) and the
sockets are closed (for the agent and the Grid server socket).  [If
the user overrides the default behavior where eating the food
terminates the simulator, then the server must be killed manually.]

To connect to the server socket (in Java):
try{
    gridSocket = new Socket([hostname], MAEDENPORT);
} catch(UnknownHostException e) {
} catch(IOException e) {
}