def __init__(self, client, max_episode_steps):
#self.client = xp.XPlaneConnect(clientAddr,xpHost,xpPort,clientPort,timeout ,max_episode_steps)
self.client = client
#print(parameters)
envSpace = envSpaces.xplane_space()
self.ControlParameters = parameters.getParameters()
self.action_space = envSpace._action_space()
self.observation_space = envSpace._observation_space()
self.episode_steps = self.ControlParameters.episodeStep
self.max_episode_steps = max_episode_steps
def __init__(self, xpHost, xpPort, timeout):
XplaneEnv.CLIENT = None
envSpace = envSpaces.xplane_space()
self.ControlParameters = parameters.getParameters()
self.action_space = envSpace._action_space()
self.observation_space = envSpace._observation_space()
self.ControlParameters.episodeStep = 0
self.max_episode_steps = 1000
self.statelength = 10
self.actions = [0, 0, 0, 0, 0]
self.test = False
try:
XplaneEnv.CLIENT = initial.connect(xpHost='127.0.0.1',
xpPort=49009,
timeout=1000)
except:
print("connection error. Check your paramters")
print('I am client', XplaneEnv.CLIENT)
def __init__(self,clientAddr, xpHost, xpPort , clientPort, timeout=3000 ,max_episode_steps=303,test=False):
#CLIENT = client
XplaneEnv.CLIENT = None
#print(parameters)
envSpace = envSpaces.xplane_space()
self.ControlParameters = parameters.getParameters()
self.action_space = envSpace._action_space()
self.observation_space = envSpace._observation_space()
#self.episode_steps = 0
self.ControlParameters.episodeStep =0
self.max_episode_steps = max_episode_steps
self.statelength = 10
self.actions = [0,0,0,0]
self.test=test
try:
XplaneEnv.CLIENT = initial.connect(clientAddr,xpHost,xpPort,clientPort,timeout ,max_episode_steps)
except:
print("connection error. Check your paramters")
print('I am client', XplaneEnv.CLIENT )
def __init__(self,
clientAddr,
xpHost,
xpPort,
clientPort,
timeout=3000,
max_episode_steps=5000,
test=False):
XplaneENV.CLIENT = None
EnvSpace = envSpaces.xplane_space()
self.ControlParameters = parameters.getParameters()
# self.action_space = spaces.Box(np.array([-1, -1, -1, -1 / 4]), np.array([1, 1, 1, 1]))
self.action_space = spaces.Box(np.array([-1, -1, -1, -1, 0, 0, -0.5]),
np.array([1, 1, 1, 1, 1, 1, 1.5]))
# self.action_space = spaces.Box(np.array([0, 0, 0, 0, 0, 0, -0.5]), np.array([1, 1, 1, 1, 1, 1, 1.5]))
# self.action_space = spaces.Dict({"Latitudinal_Stick": spaces.Box(low=-1, high=1, shape=()),
# "Longitudinal_Stick": spaces.Box(low=-1, high=1, shape=()),
# "Rudder_Pedals": spaces.Box(low=-1, high=1, shape=()),
# "Throttle": spaces.Box(low=-1, high=1, shape=()),
# "Gear": spaces.Discrete(2),
# "Flaps": spaces.Box(low=0, high=1, shape=()),
# "Speedbrakes": spaces.Box(low=-0.5, high=1.5, shape=())})
# self.observation_space = spaces.Box(
# np.array([-360, -360, 0, -290, -100, -360, -360, -1000, -1300, -1000, -1000]),
# np.array([360, 360, 8500, 290, 100, 360, 360, 1000, 1300, 1000, 1000]))
self.observation_space = spaces.Dict({
"Latitude":
spaces.Box(low=0, high=360, shape=()),
"Longitude":
spaces.Box(low=0, high=360, shape=()),
"Altitude":
spaces.Box(low=0, high=8500, shape=()),
"Pitch":
spaces.Box(low=-290, high=290, shape=()),
"Roll":
spaces.Box(low=-100, high=100, shape=()),
"Heading":
spaces.Box(low=0, high=360, shape=()),
"gear":
spaces.Discrete(2),
"speed":
spaces.Box(low=-2205, high=2205, shape=()),
"waypoint_lat":
spaces.Box(low=0, high=360, shape=()),
"waypoint_lon":
spaces.Box(low=0, high=360, shape=()),
"waypoint_alt":
spaces.Box(low=0, high=8500, shape=())
})
# "yoke_pitch_ratio": spaces.Box(low=-2.5, high=2.5, shape=()),
# "yoke_roll_ratio": spaces.Box(low=-300, high=300, shape=()),
# "yoke_heading_ratio": spaces.Box(low=-180, high=180, shape=()),
# "alpha": spaces.Box(low=-100, high=100, shape=()),
# "wing_sweep_ratio": spaces.Box(low=-100, high=100, shape=()),
# "flap_ratio": spaces.Box(low=-100, high=100, shape=()))
# "speed": spaces.Box(low=-2205, high=2205, shape=())})
self.ControlParameters.episodeStep = 0
self.max_episode_steps = max_episode_steps
self.stateLength = 10
self.actions = [0, 0, 0, 0]
self.test = test
self.waypoints = []
self.last_waypoints = []
self.waypoint_goal = 1
try:
XplaneENV.CLIENT = Initial.connect(clientAddr, xpHost, xpPort,
clientPort, timeout,
max_episode_steps)
except:
print("connection error, check if xplane is running")
raise Exception("connection error, check if xplane is running")
print("I am client: ", XplaneENV.CLIENT)
# Increase simulation speed
XplaneENV.CLIENT.sendDREF('sim/time/sim_speed', 500)
# Get starting position
self.start_position = XplaneENV.CLIENT.getPOSI()
self.ControlParameters.stateAircraftPosition = list(
XplaneENV.CLIENT.getPOSI())
self.previous_position = self.start_position