from bluesky.network.client import Client
from bluesky.network.server import Server
myclient = Client()
myclient.connect(event_port=11000, stream_port=11001)
myclient.subscribe(b'ACDATA')
def on_event(eventname, eventdata, sender_id):
print('Event received:', eventname)
print(eventdata)
print(sender_id)
def on_stream(streamname, data, sender_id):
print('Stream data received:', streamname)
print(data['lat'])
flag = True
return flag
flag = False
myclient.event_received.connect(on_event)
flag = myclient.stream_received.connect(on_stream)
myclient.receive()
# print(myclient.servers[myclient.host_id]['nodes'][0])
# diffnode = myclient.servers[myclient.host_id]['nodes'][1]
# myclient.actnode(diffnode)
def __init__(self, **kwargs):
def on_event(eventname, eventdata, sender_id):
print(eventdata)
print(sender_id)
def on_stream(streamname, data, sender_id):
print('Stream data received:', streamname)
self.received_data = True
self.data = data
## Enable client server interface
self.NodeID = kwargs['NodeID']
self.received_data = False
myclient = Client()
myclient.connect(event_port=11000, stream_port=11001)
myclient.receive()
myclient.actnode(
myclient.servers[myclient.host_id]['nodes'][self.NodeID])
myclient.subscribe(b'ACDATA')
myclient.stream_received.connect(on_stream)
myclient.event_received.connect(on_event)
while not self.received_data:
myclient.receive()
self.nm = 1852
self.ep = 0
self.los = 5 * 1.05 # [nm] Horizontal separation minimum for resolution
self.wpt_reached = 5
# observation is a array of 4 collums [latitude,longitude,hdg,dist_plane,dist_waypoint] Real values, so not yet normalized
self.min_hdg = 0 #0
self.max_hdg = 360 #360
self.min_lat = -1
self.max_lat = 1
self.min_lon = -1
self.max_lon = 1
# max values based upon size of latlon box
self.min_dist_plane = self.los * 0.95
self.max_dist_plane = 125
self.min_dist_waypoint = self.wpt_reached * 0.95
self.max_dist_waypoint = 125
# define observation bounds
self.low_obs = np.array([
self.min_lat, self.min_lon,
normalizer(self.min_hdg, 'HDGToNorm', self.min_hdg, self.max_hdg),
normalizer(self.min_dist_plane, 'DistToNorm', self.min_dist_plane,
self.max_dist_plane),
normalizer(self.min_dist_waypoint, 'DistToNorm',
self.min_dist_waypoint, self.max_dist_waypoint)
])
self.high_obs = np.array([
self.max_lat, self.max_lon,
normalizer(self.max_hdg, 'HDGToNorm', self.min_hdg, self.max_hdg),
normalizer(self.max_dist_plane, 'DistToNorm', self.min_dist_plane,
self.max_dist_plane),
normalizer(self.max_dist_waypoint, 'DistToNorm',
self.min_dist_waypoint, self.max_dist_waypoint)
])
self.viewer = None
# Initialize bluesky
self.mode = 'sim-detached'
self.discovery = ('--discoverable' in sys.argv
or self.mode[-8:] == 'headless')
# Check if alternate config file is passed or a default scenfile
self.cfgfile = ''
self.scnfile = '/synthetics/super/super3.scn'
bs.init(self.mode,
discovery=self.discovery,
cfgfile=self.cfgfile,
scnfile=self.scnfile)
bs.sim.fastforward()
self.observation_space = spaces.Box(low=self.low_obs,
high=self.high_obs,
dtype=np.float32)
# self.action_space = spaces.Discrete(360)
self.action_space = spaces.Box(low=-1,
high=1,
shape=(1, ),
dtype=np.float32)