def run_sim(nodes):
print(nodes)
brewer = BeamNGBrewer(road_nodes=nodes)
beamng = brewer.beamng
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(nodes[-1]))
maps.install_map_if_needed()
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() +
'\n' + waypoint_goal.to_json())
vehicle = brewer.setup_vehicle()
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
#camera = brewer.setup_scenario_camera()
street_1 = brewer.decal_road
sim_data_collector = TrainingDataCollectorAndWriter(
vehicle, beamng, street_1)
brewer.bring_up()
steps = 5
def start():
for idx in range(1000):
if (idx * 0.05 * steps) > 3.:
sim_data_collector.collect_and_write_current_data()
dist = points_distance(sim_data_collector.last_state.pos,
waypoint_goal.position)
if dist < 15.0:
beamng.resume()
break
# one step is 0.05 seconds (5/100)
beamng.step(steps)
try:
start()
finally:
beamng.close()
def _run_simulation(self, nodes) -> SimulationData:
if not self.brewer:
self.brewer = BeamNGBrewer()
self.vehicle = self.brewer.setup_vehicle()
self.camera = self.brewer.setup_scenario_camera()
brewer = self.brewer
brewer.setup_road_nodes(nodes)
beamng = brewer.beamng
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(nodes[-1]))
maps.install_map_if_needed()
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() + '\n' + waypoint_goal.to_json())
cameras = BeamNGCarCameras()
vehicle_state_reader = VehicleStateReader(self.vehicle, beamng, additional_sensors=cameras.cameras_array)
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
steps = brewer.params.beamng_steps
simulation_id = time.strftime('%Y-%m-%d--%H-%M-%S', time.localtime())
name = self.config.simulation_name.replace('$(id)', simulation_id)
sim_data_collector = SimulationDataCollector(self.vehicle, beamng, brewer.decal_road, brewer.params,
vehicle_state_reader=vehicle_state_reader,
camera=self.camera,
simulation_name=name)
sim_data_collector.get_simulation_data().start()
try:
brewer.bring_up()
from keras.models import load_model
if not self.model:
self.model = load_model(self.model_file)
predict = NvidiaPrediction(self.model, self.config)
iterations_count = 1000
idx = 0
while True:
idx += 1
if idx >= iterations_count:
sim_data_collector.save()
raise Exception('Timeout simulation ', sim_data_collector.name)
sim_data_collector.collect_current_data(oob_bb=False)
last_state: SimulationDataRecord = sim_data_collector.states[-1]
if points_distance(last_state.pos, waypoint_goal.position) < 15.0:
break
if last_state.is_oob:
break
img = vehicle_state_reader.sensors['cam_center']['colour'].convert('RGB')
steering_angle, throttle = predict.predict(img, last_state)
self.vehicle.control(throttle=throttle, steering=steering_angle, brake=0)
beamng.step(steps)
sim_data_collector.get_simulation_data().end(success=True)
except Exception as ex:
sim_data_collector.get_simulation_data().end(success=False, exception=ex)
traceback.print_exception(type(ex), ex, ex.__traceback__)
finally:
if self.config.simulation_save:
sim_data_collector.save()
try:
sim_data_collector.take_car_picture_if_needed()
except:
pass
self.end_iteration()
return sim_data_collector.simulation_data
def _run_simulation(self, the_test) -> SimulationData:
if not self.brewer:
self.brewer = BeamNGBrewer(beamng_home=self.beamng_home,
beamng_user=self.beamng_user)
self.vehicle = self.brewer.setup_vehicle()
# For the execution we need the interpolated points
nodes = the_test.interpolated_points
brewer = self.brewer
brewer.setup_road_nodes(nodes)
beamng = brewer.beamng
waypoint_goal = BeamNGWaypoint('waypoint_goal',
get_node_coords(nodes[-1]))
# TODO Make sure that maps points to the right folder !
if self.beamng_user is not None:
beamng_levels = LevelsFolder(
os.path.join(self.beamng_user, 'levels'))
maps.beamng_levels = beamng_levels
maps.beamng_map = maps.beamng_levels.get_map('tig')
# maps.print_paths()
maps.install_map_if_needed()
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() +
'\n' + waypoint_goal.to_json())
vehicle_state_reader = VehicleStateReader(self.vehicle,
beamng,
additional_sensors=None)
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
steps = brewer.params.beamng_steps
simulation_id = time.strftime('%Y-%m-%d--%H-%M-%S', time.localtime())
name = 'beamng_executor/sim_$(id)'.replace('$(id)', simulation_id)
sim_data_collector = SimulationDataCollector(
self.vehicle,
beamng,
brewer.decal_road,
brewer.params,
vehicle_state_reader=vehicle_state_reader,
simulation_name=name)
# TODO: Hacky - Not sure what's the best way to set this...
sim_data_collector.oob_monitor.tolerance = self.oob_tolerance
sim_data_collector.get_simulation_data().start()
try:
#start = timeit.default_timer()
brewer.bring_up()
# iterations_count = int(self.test_time_budget/250)
# idx = 0
brewer.vehicle.ai_set_aggression(self.risk_value)
# TODO This does not seem to take any effect...
brewer.vehicle.ai_set_speed(self.maxspeed, mode='limit')
brewer.vehicle.ai_drive_in_lane(True)
brewer.vehicle.ai_set_waypoint(waypoint_goal.name)
while True:
# idx += 1
# assert idx < iterations_count, "Timeout Simulation " + str(sim_data_collector.name)
sim_data_collector.collect_current_data(oob_bb=True)
last_state: SimulationDataRecord = sim_data_collector.states[
-1]
# Target point reached
if points_distance(last_state.pos,
waypoint_goal.position) < 8.0:
break
assert self._is_the_car_moving(
last_state), "Car is not moving fast enough " + str(
sim_data_collector.name)
assert not last_state.is_oob, "Car drove out of the lane " + str(
sim_data_collector.name)
beamng.step(steps)
sim_data_collector.get_simulation_data().end(success=True)
#end = timeit.default_timer()
#run_elapsed_time = end-start
#run_elapsed_time = float(last_state.timer)
self.total_elapsed_time = self.get_elapsed_time()
except AssertionError as aex:
sim_data_collector.save()
# An assertion that trigger is still a successful test execution, otherwise it will count as ERROR
sim_data_collector.get_simulation_data().end(success=True,
exception=aex)
traceback.print_exception(type(aex), aex, aex.__traceback__)
except Exception as ex:
sim_data_collector.save()
sim_data_collector.get_simulation_data().end(success=False,
exception=ex)
traceback.print_exception(type(ex), ex, ex.__traceback__)
finally:
sim_data_collector.save()
try:
sim_data_collector.take_car_picture_if_needed()
except:
pass
self.end_iteration()
return sim_data_collector.simulation_data
import random
from time import sleep
from typing import Tuple, List
import numpy as np
from self_driving.beamng_brewer import BeamNGBrewer
from udacity_integration.beamng_car_cameras import BeamNGCarCameras
from self_driving.road_generator import RoadGenerator
from self_driving.beamng_tig_maps import maps
from self_driving.beamng_waypoint import BeamNGWaypoint
from self_driving.decal_road import DecalRoad
from udacity_integration.training_data_collector_and_writer import TrainingDataCollectorAndWriter
from self_driving.utils import get_node_coords
maps.install_map_if_needed()
STEPS = 5
# x is -y and *angle direction is reversed*
def get_rotation(road: DecalRoad):
v1 = road.nodes[0][:2]
v2 = road.nodes[1][:2]
v = np.subtract(v1, v2)
deg = np.degrees(np.arctan2([v[0]], [v[1]]))
return (0, 0, deg)
def get_script_point(p1, p2) -> Tuple[Tuple, Tuple]:
a = np.subtract(p2[0:2], p1[0:2])
# calculate the vector which length is half the road width