def MainLoop():
# =============================================================================
# Start the mainloop (and possible other threads)
# =============================================================================
splash.show()
plugin.init()
stack.init()
sim.start()
scr.init()
# Main loop for tmx object
while not sim.mode == sim.end:
sim.update() # Update sim
scr.update() # GUI update
# Restart traffic simulation:
if sim.mode == sim.init:
sim.reset()
scr.objdel() # Delete user defined objects
# After the simulation is done, close the gui
sim.stop()
pg.quit()
print 'BlueSky normal end.'
return
def MainLoop():
# =============================================================================
# Start the mainloop (and possible other threads)
# =============================================================================
splash.show()
plugin.init()
stack.init()
sim.start()
scr.init()
# Main loop for tmx object
while not sim.mode == sim.end:
sim.update() # Update sim
scr.update() # GUI update
# Restart traffic simulation:
if sim.mode == sim.init:
sim.reset()
scr.objdel() # Delete user defined objects
# After the simulation is done, close the gui
sim.stop()
pg.quit()
print('BlueSky normal end.')
return
def wall():
''' WALL: create a conflict with several aircraft flying in a wall formation
'''
sim.reset()
mperdeg = 111319.
distance = 0.6 # in degrees lat/lon, for now
hsep = traf.cd.rpz # [m] horizontal separation minimum
hseplat = hsep / mperdeg
wallsep = 1.1 # factor of extra space in the wall
traf.cre(acid="OWNSHIP",
actype="WALL",
aclat=0,
aclon=-distance,
achdg=90,
acalt=20000 * ft,
acspd=200)
for i in range(20):
acid = "OTHER" + str(i)
traf.cre(acid=acid,
actype="WALL",
aclat=(i - 10) * hseplat * wallsep,
aclon=distance,
achdg=270,
acalt=20000 * ft,
acspd=200)
return True
def floor():
''' FLOOR: create a conflict with several aircraft flying
in a floor formation.
'''
sim.reset()
mperdeg = 111319.
altdif = 3000 # ft
hsep = traf.cd.rpz # [m] horizontal separation minimum
floorsep = 1.1 # factor of extra spacing in the floor
hseplat = hsep / mperdeg * floorsep
traf.cre(acid="OWNSHIP",
actype="FLOOR",
aclat=-1,
aclon=0,
achdg=90,
acalt=(20000 + altdif) * ft,
acspd=200)
idx = traf.id.index("OWNSHIP")
traf.selvs[idx] = -10
traf.selalt[idx] = 20000 - altdif
for i in range(20):
acid = "OTH" + str(i)
traf.cre(acid=acid,
actype="FLOOR",
aclat=-1,
aclon=(i - 10) * hseplat,
achdg=90,
acalt=20000 * ft,
acspd=200)
return True
def col(numac: int,
angle: int,
radius: float = 1.0,
alt: 'alt' = 1e5,
spd: 'spd' = 300.0,
actype: 'txt' = 'B747'):
''' COL: create a conflict with several aircraft flying in two columns
angled towards each other.
'''
sim.reset()
mperdeg = 111319.
hsep = traf.cd.rpz # [m] horizontal separation minimum
hseplat = hsep / mperdeg
matsep = 1.1 # factor of extra space in the formation
hseplat = hseplat * matsep
aclat = radius * np.cos(np.deg2rad(angle)) # [deg]
aclon = radius * np.sin(np.deg2rad(angle))
latsep = abs(hseplat * np.cos(np.deg2rad(angle))) # [deg]
lonsep = abs(hseplat * np.sin(np.deg2rad(angle)))
traf.cre(acid="ANG0",
actype=actype,
aclat=aclat,
aclon=aclon,
achdg=180 + angle,
acalt=alt * ft,
acspd=spd)
traf.cre(acid="ANG1",
actype=actype,
aclat=aclat,
aclon=-aclon,
achdg=180 - angle,
acalt=alt * ft,
acspd=spd)
for i in range(1, numac): # Create a/c
aclat = aclat + latsep
aclon = aclon + lonsep
traf.cre(acid="ANG" + str(i * 2),
actype=actype,
aclat=aclat,
aclon=aclon,
achdg=180 + angle,
acalt=alt * ft,
acspd=spd)
traf.cre(acid="ANG" + str(i * 2 + 1),
actype=actype,
aclat=aclat,
aclon=-aclon,
achdg=180 - angle,
acalt=alt * ft,
acspd=spd)
def matrix(size: int):
''' MATRIX: create a conflict with several aircraft
flying in a matrix formation.
'''
sim.reset()
mperdeg = 111319.
hsep = traf.cd.rpz # [m] horizontal separation minimum
hseplat = hsep / mperdeg
matsep = 1.1 # factor of extra space in the matrix
hseplat = hseplat * matsep
vel = 200 # m/s
# degrees latlon flown in 5 minutes
extradist = (vel * 1.1) * 5 * 60 / mperdeg
for i in range(size):
acidn = "NORTH" + str(i)
traf.cre(acid=acidn,
actype="MATRIX",
aclat=hseplat * (size - 1.) / 2 + extradist,
aclon=(i - (size - 1.) / 2) * hseplat,
achdg=180,
acalt=20000 * ft,
acspd=vel)
acids = "SOUTH" + str(i)
traf.cre(acid=acids,
actype="MATRIX",
aclat=-hseplat * (size - 1.) / 2 - extradist,
aclon=(i - (size - 1.) / 2) * hseplat,
achdg=0,
acalt=20000 * ft,
acspd=vel)
acide = "EAST" + str(i)
traf.cre(acid=acide,
actype="MATRIX",
aclat=(i - (size - 1.) / 2) * hseplat,
aclon=hseplat * (size - 1.) / 2 + extradist,
achdg=270,
acalt=20000 * ft,
acspd=vel)
acidw = "WEST" + str(i)
traf.cre(acid=acidw,
actype="MATRIX",
aclat=(i - (size - 1.) / 2) * hseplat,
aclon=-hseplat * (size - 1.) / 2 - extradist,
achdg=90,
acalt=20000 * ft,
acspd=vel)
def funnel(size: int):
''' FUNNEL: create a funnel conflict. '''
sim.reset()
# traf.asas=CASASfunnel.Dbconf(300., 5.*nm, 1000.*ft)
mperdeg = 111319.
distance = 0.90 #this is in degrees lat/lon, for now
alt = 20000 #meters
spd = 200 #kts
numac = 8 #number of aircraft
for i in range(numac):
angle = np.pi / 2 / numac * i + np.pi / 4
acid = "SUP" + str(i)
traf.cre(acid=acid,
actype="SUPER",
aclat=distance * -np.cos(angle),
aclon=distance * -np.sin(angle),
achdg=90,
acalt=alt,
acspd=spd)
# the factor 1.01 is so that the funnel doesn't collide with itself
separation = traf.cd.rpz * 1.01 #[m]
sepdeg = separation / np.sqrt(2.) / mperdeg #[deg]
for f_row in range(1):
for f_col in range(15):
opening = (size + 1) / 2. * separation / mperdeg
Coldeg = sepdeg * f_col #[deg]
Rowdeg = sepdeg * f_row #[deg]
acid1 = "FUNN" + str(f_row) + "-" + str(f_col)
acid2 = "FUNL" + str(f_row) + "-" + str(f_col)
traf.cre(acid=acid1,
actype="FUNNEL",
aclat=Coldeg + Rowdeg + opening,
aclon=-Coldeg + Rowdeg + 0.5,
achdg=0,
acalt=alt,
acspd=0)
traf.cre(acid=acid2,
actype="FUNNEL",
aclat=-Coldeg - Rowdeg - opening,
aclon=-Coldeg + Rowdeg + 0.5,
achdg=0,
acalt=alt,
acspd=0)
def simple():
''' SIMPLE: Generate a simple 2-aircraft conflict. '''
sim.reset()
traf.cre(acid="OWNSHIP",
actype="GENERIC",
aclat=-.5,
aclon=0,
achdg=0,
acalt=5000 * ft,
acspd=200)
traf.cre(acid="INTRUDER",
actype="GENERIC",
aclat=0,
aclon=.5,
achdg=270,
acalt=5000 * ft,
acspd=200)
return True
def takeover(numac: int):
''' TAKEOVER: create a conflict with several aircraft overtaking eachother
'''
sim.reset()
mperdeg = 111319.
vsteps = 50 # [m/s]
for v in range(vsteps, vsteps * (numac + 1), vsteps): # m/s
acid = "OT" + str(v)
distancetofly = v * 5 * 60 # m
degtofly = distancetofly / mperdeg
traf.cre(acid=acid,
actype="OT",
aclat=0,
aclon=-degtofly,
achdg=90,
acalt=20000 * ft,
acspd=v)
return True
def update():
global first_time, done, delete_dict, done_count
if first_time:
done = dict.fromkeys(traf.id)
delete_dict = dict.fromkeys(traf.id, False)
first_time = False
for id in traf.id:
if id not in done:
done[id] = False
if id not in delete_dict:
delete_dict[id] = False
dest_lat_lon = [(52.6, 4.73), (52.3, 4.36), (52.33, 5.19), (51.52, 5.33),
(51.8, 5.06), (51.82, 5.75), (52.30, 6.0)]
# dest_lat_lon[-dest]
if done.keys():
for agent_id in done.keys():
# Initialize reward to 0.
done[agent_id] = False
# First check if goal area is reached
idx = traf.id2idx(agent_id)
dest = traf.dest_temp[idx]
dest_lat, dest_lon = dest_lat_lon[-dest]
dist = geo.kwikdist(traf.lat[idx], traf.lon[idx], dest_lat,
dest_lon)
if dist <= 5:
done[agent_id] = True
done_count += 1
for agent_id in done.keys():
if agent_id in delete_dict:
if done[agent_id] and not delete_dict[agent_id]:
traf.delete(traf.id2idx(agent_id))
print('Deleted ', agent_id)
delete_dict[agent_id] = True
save_metrics()
if done_count >= 125:
sim.reset()
return
def simpled():
''' SIMPLED: Generate a simple 2-aircraft conflict
with random speed and distance. '''
sim.reset()
ds = random.uniform(0.92, 1.08)
dd = random.uniform(0.92, 1.08)
traf.cre(acid="OWNSHIP",
actype="GENERIC",
aclat=-.5 * dd,
aclon=0,
achdg=0,
acalt=20000 * ft,
acspd=200 * ds)
traf.cre(acid="INTRUDER",
actype="GENERIC",
aclat=0,
aclon=.5 / dd,
achdg=270,
acalt=20000 * ft,
acspd=200 / ds)
return True
def update():
global reward, idx_mc, reset_bool, connected, obs, prev_obs, done_count, final_obs, done, delete_dict
if connected:
# Bluesky first timestep starts with update step, so use the reset_bool to determine wheter a reset has occured or not. Then create environment agents.
if reset_bool:
#Randomize starting location depending on boundaries in settings.
aclat = np.random.rand(settings.n_ac) * (settings.max_lat - settings.min_lat) + settings.min_lat
aclon = np.random.rand(settings.n_ac) * (settings.max_lon - settings.min_lon) + settings.min_lon
achdg = np.random.randint(1, 360, settings.n_ac)
acalt = np.ones(settings.n_ac) * 7620
# acspd = np.ones(settings.n_ac) * 300
print('Created ', str(settings.n_ac), ' random aircraft, resetted!')
traf.create(n=settings.n_ac, aclat=aclat, aclon=aclon, achdg=achdg, #360 * np.random.rand(1)
acspd=150, acalt=acalt, actype='B777')#settings.acspd)
reset_bool = False
return
# print('After action HDG: ' + str(traf.hdg[0]))
obs = calc_state()
reward, done = calc_reward()
for agent_id in done.keys():
if done[agent_id] and not delete_dict[agent_id]:
traf.delete(traf.id2idx(agent_id))
print('Deleted ', agent_id)
done_count += 1
final_obs[agent_id] = obs[agent_id]
delete_dict[agent_id] = True
idx_mc += 1
client_mc.log_returns(eid, reward, done, info=[])
if idx_mc == 500 or done_count == settings.n_ac:
for agent_id in done.keys():
if not done[agent_id]:
final_obs[agent_id] = obs[agent_id]
print('total reward', reward)
print('Done with Episode: ', eid)
client_mc.end_episode(eid, final_obs)
sim.reset()
def gensuper(numac: int):
''' SUPER: Generate a circular super conflict.
Arguments:
-numac: The number of aircraft in the conflict.
'''
sim.reset()
distance = 0.50 #this is in degrees lat/lon, for now
alt = 20000 * ft #ft
spd = 200 #kts
for i in range(numac):
angle = 2 * np.pi / numac * i
acid = "SUP" + str(i)
traf.cre(acid=acid,
actype="SUPER",
aclat=distance * -np.cos(angle),
aclon=distance * np.sin(angle),
achdg=360.0 - 360.0 / numac * i,
acalt=alt,
acspd=spd)
return True
def sphere(numac: int):
''' SUPER: Generate a spherical super conflict,
with 3 layers of superconflicts.
Arguments:
-numac: The number of aircraft in each layer.
'''
sim.reset()
distance = 0.5 # this is in degrees lat/lon, for now
distancenm = distance * 111319. / 1852
alt = 20000 # ft
spd = 150 # kts
vs = 4 # m/s
timetoimpact = distancenm / spd * 3600 # seconds
altdifference = vs * timetoimpact # m
midalt = alt
lowalt = alt - altdifference
highalt = alt + altdifference
hispd = eas2tas(spd, highalt)
mispd = eas2tas(spd, midalt)
lospd = eas2tas(spd, lowalt)
hispd = spd
mispd = spd
lospd = spd
for i in range(numac):
angle = np.pi * (2. / numac * i)
lat = distance * -np.cos(angle)
lon = distance * np.sin(angle)
track = np.degrees(-angle)
acidl = "SPH" + str(i) + "LOW"
traf.cre(acid=acidl,
actype="SUPER",
aclat=lat,
aclon=lon,
achdg=track,
acalt=lowalt * ft,
acspd=lospd)
acidm = "SPH" + str(i) + "MID"
traf.cre(acid=acidm,
actype="SUPER",
aclat=lat,
aclon=lon,
achdg=track,
acalt=midalt * ft,
acspd=mispd)
acidh = "SPH" + str(i) + "HIG"
traf.cre(acid=acidh,
actype="SUPER",
aclat=lat,
aclon=lon,
achdg=track,
acalt=highalt * ft,
acspd=hispd)
idxl = traf.id.index(acidl)
idxh = traf.id.index(acidh)
traf.vs[idxl] = vs
traf.vs[idxh] = -vs
traf.selvs[idxl] = vs
traf.selvs[idxh] = -vs
traf.selalt[idxl] = highalt
traf.selalt[idxh] = lowalt
return True
def update():
global connected, reset_bool, done, done_count, delete_dict, idx_mc, obs
# global reward, idx_mc, reset_bool, connected, obs, prev_obs, done_count, final_obs, done, delete_dict
if connected:
# Bluesky first timestep starts with update step, so use the reset_bool to determine wheter a reset has
# occured or not. Then create environment agents.
if reset_bool:
# Randomize starting location depending on boundaries in settings.
aclat, aclon = latlon_randomizer(settings)
achdg = np.random.randint(1, 360, settings.n_ac)
acalt = np.ones(settings.n_ac) * 5000 * ft
# Create equal distribution of destinations
dest_idx = destination_creator(settings)
# print('Heading destination', dest_hdg)
# print('Destination idx', dest_idx)
# dest_idx = np.random.randint(3, size=settings.n_ac) + 1
if not settings.evaluate:
print('Created ', str(settings.n_ac),
' random aircraft, resetted!')
traf.create(
n=settings.n_ac,
aclat=aclat,
aclon=aclon,
achdg=achdg, # 360 * np.random.rand(1)
acspd=250 * kts,
acalt=acalt,
actype='B737-800',
dest=dest_idx) # settings.acspd)
ilsgate('garbage')
reset_bool = False
# n_ac_neighbours = 1
return
# Calculate observations, current amount of n_ac_neighbours and info dict. Info dict is used in the centralized
# variant to correctly insert other agent actions.
obs, n_ac_neighbours, info = calc_state()
# Calculate reward depending on current obs, and check if episode/agents are done.
reward, done = calc_reward(n_ac_neighbours)
# Delete agents that are set to done.
for agent_id in done.keys():
if agent_id in delete_dict:
if done[agent_id] and not delete_dict[agent_id]:
traf.delete(traf.id2idx(agent_id))
print('Deleted ', agent_id)
done_count += 1
delete_dict[agent_id] = True
# Track nr of timesteps
idx_mc += 1
save_metrics()
# Return observations and rewards
client_mc.log_returns(eid, reward, info, done)
# Check if episode is done either by horizon or all a/c landed, but more likely crashed into each other.
if not settings.evaluate:
if idx_mc >= settings.max_timesteps or done_count >= (
settings.n_ac - settings.n_neighbours - 1):
print('Done with Episode: ', eid)
client_mc.end_episode(eid, obs)
time.sleep(0.5)
sim.reset()
