def airSimCommunicator(self):
while (self.remaining > 0):
time.sleep(0.02)
self.remaining -= 0.02
kpDur = numpy.array([self.f(xi) for xi in self.keyPressDurations])
max_ = numpy.sqrt(numpy.sqrt(500))
throttle = (kpDur[0] - kpDur[1]) / max_ * 0.5
yaw = (kpDur[2] - kpDur[3]) / max_ * 0.5
pitch = (kpDur[4] - kpDur[5]) / max_ * 0.5
roll = (kpDur[6] - kpDur[7]) / max_ * 0.5
rcdata = airsim.RCData(0,
pitch=pitch,
roll=roll,
throttle=throttle,
yaw=yaw,
is_initialized=True,
is_valid=True)
global client
client.moveByRC(rcdata)
# debug
self.historicalValues = numpy.c_[self.historicalValues,
[throttle, yaw, pitch, roll]]
def _step(self, action):
assert self.action_space.contains(
action), "%r (%s) invalid" % (action, type(action))
self.addToLog('action', action)
self.stepN += 1
airgym.moveByRC(rcdata=airsim.RCData(roll=action[0],
pitch=action[1],
yaw=action[2],
throttle=action[3],
is_initialized=True,
is_valid=True))
collided = airgym.take_action(action)
now = airgym.getPosition()
track = airgym.goal_direction(self.goal, now)
if collided == True:
done = True
reward = -100.0
distance = np.sqrt(
np.power((self.goal[0] - now.x_val), 2) +
np.power((self.goal[1] - now.y_val), 2))
elif collided == 99:
done = True
reward = 0.0
distance = np.sqrt(
np.power((self.goal[0] - now.x_val), 2) +
np.power((self.goal[1] - now.y_val), 2))
else:
done = False
reward, distance = self.computeReward(now, track)
# Youuuuu made it
if distance < 3:
done = True
reward = 100.0
self.addToLog('reward', reward)
rewardSum = np.sum(self.allLogs['reward'])
self.addToLog('distance', distance)
self.addToLog('track', track)
# Terminate the episode on large cumulative amount penalties,
# since drone probably got into an unexpected loop of some sort
if rewardSum < -100:
done = True
sys.stdout.write(
"\r\x1b[K{}/{}==>reward/depth: {:.1f}/{:.1f} \t {:.0f} {:.0f}".
format(self.episodeN, self.stepN, reward, rewardSum, track,
action))
sys.stdout.flush()
info = {"x_pos": now.x_val, "y_pos": now.y_val}
self.state = airgym.getMultirotorState()
return self.state, reward, done, info
def thread_obdelava(q):
global hist
global histVhod
global done
chunkN = 0
while(True):
try:
data = q.get()
vhod = normaliziraj_vektorsko(numpy.fromstring(data, numpy.int16))
vhod = vhod.flatten()[0:vhod.size:2]
# najprej iscemo prvi vzorec manjsi od -0.5, nato alterniramo med manjsi/vecji
vecOd05 = False
threshhold = -0.5
downs = numpy.zeros(9)
ups = numpy.zeros(9)
kanal = 0
for i in range(0, CHUNK, 1):
if (kanal >= 9):
break
if (vecOd05):
if (vhod[i] > threshhold):
ups[kanal] = i
#prepare for next
kanal += 1
vecOd05 = False
i += 5
else:
if (vhod[i] < threshhold):
downs[kanal] = i
# prepare for next
vecOd05 = True
i += 5
kanali = numpy.zeros(8)
for i in range(0, 8, 1):
kanali[i] = downs[i + 1] - ups[i]
MAX_KANAL = 71
MIN_KANAL = 26
RANGE = MAX_KANAL - MIN_KANAL
global client
# throttle = (kanali[2] - MIN_KANAL)/RANGE-0.5
# print(throttle)
client.moveByRC(rcdata=airsim.RCData(throttle=(kanali[2] - MIN_KANAL)/RANGE-0.5, yaw=(kanali[3] - MIN_KANAL)/RANGE-0.5, pitch=(
kanali[1] - MIN_KANAL)/RANGE - 0.5, roll=(kanali[0] - MIN_KANAL)/RANGE - 0.5, is_initialized=True, is_valid=True))
hist = numpy.c_[hist, kanali.T]
for k in range(CHUNK):
histVhod[k + chunkN * CHUNK] = vhod[k]
chunkN += 1
q.task_done()
except Exception as e:
logging.exception("error get")
break
return None
For connecting to the AirSim drone environment and testing API functionality
"""
import setup_path
import airsim
import os
import tempfile
import pprint
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)
client.moveByManualAsync(vx_max=1E6, vy_max=1E6, z_min=-1E6, duration=1E10)
airsim.wait_key(
'Manual mode is setup. Press any key to send RC data to takeoff')
client.moveByRC(rcdata=airsim.RCData(
pitch=0.0, throttle=1.0, is_initialized=True, is_valid=True))
airsim.wait_key('Set Yaw and pitch to 0.5')
client.moveByRC(rcdata=airsim.RCData(
roll=1100, throttle=2000, yaw=0.0, is_initialized=True, is_valid=True))
if (thread_obd is not None):
done = True
thread_obd.join()
q.join()
al = autolander.AutoLander(0.55, 13, 0.4)
altitude = client.simGetVehiclePose().z_val
historicalAltitudes.append(altitude)
now = timer()
al.addHeightMeasurement(now - start, altitude)
throttle = al.thrust / 13 - 0.5
client.moveByRC(
airsim.RCData(throttle=throttle,
is_initialized=True,
is_valid=True))
time.sleep(0.002)
stream.stop_stream()
stream.close()
p.terminate()
keyRecorder.poor_mans_destructor()
plt.plot(histVhod)
plt.show()
plt.plot(historicalAltitudes)
plt.show()
for i in range(8):