def initialize_vehicle_type(self):
if self.isDrone is False:
# Connect to the AirSim simulator and begin:
print('Initializing Car Client')
self.client = client.CarClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
print('Initialization DONE!')
else:
print('Initializing Drone Client')
self.client = client.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
print('Initialization DONE!')
def init_vehicle(self):
# Set Drive Commands to zero initially
self._throttle = 0 # Used as a constant gain factor for the action throttle.
self._steering = 0 # Each action lasts this many seconds
self._brake = 0
self.THROTTLE_INC = .10
self.THROTTLE_DEC = -.10
self.BRAKE_INC = .10
self.BRAKE_DEC = -.20
self.STEER_LEFT_INC = -.10
self.STEER_RIGHT_INC = .10
# Connect to the AirSim simulator and begin:
print('Initializing Car Client')
self.client = client.CarClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
print('Initialization DONE!')
print("Setting Camera Views")
orien = Vector3r(0, 0, 0)
self.client.simSetCameraOrientation(0, orien) #radians
orien = Vector3r(0, .12, -np.pi/9)
self.client.simSetCameraOrientation(1, orien)
orien = Vector3r(0, .12, np.pi/9)
self.client.simSetCameraOrientation(2, orien)
# Reset Collion Flags
print("Setting Camera Views DONE!")
# Set up GUI Video Feeder
num_video_feeds = np.sum(np.array(self.image_mask_FC_FR_FL, dtype = np.int)) * self.IMG_STEP
GUIConn, self.simEnvDataConn = multiprocessing.Pipe()
self.app = AirSimGUI.CarGUI(GUIConn, vehicle_names = [self.vehicle_name],
num_video_feeds = num_video_feeds, isRGB = self.isRGB, isNormal = self.isNormal)
def __init__(self,
vehicle_names,
image_mask_FC_FR_FL=[True, False, False],
reward_function=car_racing_rewarding_function,
mode="rgb_normal"):
self.vehicle_names = vehicle_names
# Set reward function
self.reward_function = reward_function
# Set Environment Return options
self.mode = mode
self.mode
# Set Drive Commands to zero initially
self._throttle = dict.fromkeys(
self.vehicle_names,
0) # Used as a constant gain factor for the action throttle.
self._steering = dict.fromkeys(
self.vehicle_names, 0) # Each action lasts this many seconds
self._brake = dict.fromkeys(self.vehicle_names, 0)
self.THROTTLE_INC = .10
self.THROTTLE_DEC = -.10
self.BRAKE_INC = .10
self.BRAKE_DEC = -.20
self.STEER_LEFT_INC = -.10
self.STEER_RIGHT_INC = .10
# The number of INERTIAL state variables to keep track of
self.count_inertial_state_variables = 15 # Posx, Posy, PosZ, Vx, Vy, Vz, Ax, Ay, Az, AngVelx, AngVely, AngVelz, AngAccx, AngAccy, AngAccz
# Throttle up, throttle down, increase brake, decrease break, left_steer, right_steer, No action
self.count_car_actions = 7
# Initialize the current inertial state to zero
self.current_inertial_states = dict.fromkeys(
self.vehicle_names,
np.array(np.zeros(self.count_inertial_state_variables)))
# Initialize the IMAGE variables -- We Take in Front Center, Right, Left
self.images_rgb = dict.fromkeys(self.vehicle_names, 0)
self.images_rgba = dict.fromkeys(self.vehicle_names, 0)
self.image_mask_rgb = np.array(
[[0 + 3 * i, 1 + 3 * i, 2 + 3 * i]
for m, i in zip(image_mask_FC_FR_FL, range(3)) if m]).reshape(-1)
self.image_mask_rgba = np.array(
[[0 + 4 * i, 1 + 4 * i, 2 + 4 * i]
for m, i in zip(image_mask_FC_FR_FL, range(3)) if m]).reshape(-1)
self.image_mask_FC_FR_FL = image_mask_FC_FR_FL
self.initial_position = dict.fromkeys(self.vehicle_names, 0)
self.initial_velocity = dict.fromkeys(self.vehicle_names, 0)
# Connect to the AirSim simulator and begin:
print('Initializing Car Client')
self.client = client.CarClient()
self.client.confirmConnection()
for vn in self.vehicle_names:
self.client.enableApiControl(True, vn)
orien = Vector3r(0, 0, 0)
self.client.simSetCameraOrientation(0,
orien.to_Quaternionr(),
vehicle_name=vn) #radians
orien = Vector3r(0, .12, -np.pi / 9)
self.client.simSetCameraOrientation(1, orien, vehicle_name=vn)
orien = Vector3r(0, .12, np.pi / 9)
self.client.simSetCameraOrientation(2, orien, vehicle_name=vn)
# Reset Collion Flags
print('Initialization Complete!')
# Timing Operations Initialize
self.dt = 0
self.tic = 0
self.toc = 0
def __init__(self,
vehicle_name="Car1",
action_duration=.08,
image_mask_FC_FR_FL=[True, True, True],
sim_mode="rgb",
IMG_HEIGHT=128,
IMG_WIDTH=128,
IMG_STEP=3):
# Set Environment Return options
self.action_duration = action_duration
self.mode = sim_mode
# Set Drive Commands to zero initially
self._throttle = 0 # Used as a constant gain factor for the action throttle.
self._steering = 0 # Each action lasts this many seconds
self._brake = 0
# Simulator Image setup
self.IMG_HEIGHT = IMG_HEIGHT
self.IMG_WIDTH = IMG_WIDTH
isRGB = False
IMG_CHANNELS = 1
if 'rgb' in self.mode:
isRGB = True
IMG_CHANNELS = 3
isNormal = False
if 'normal' in self.mode:
isNormal = True
self.IMG_CHANNELS = IMG_CHANNELS
self.IMG_STEP = IMG_STEP
self.IMG_VIEWS = np.sum(np.array(image_mask_FC_FR_FL, dtype=np.int))
# Initialize the container that holds the sequence of images from the simulator
self.obs4 = np.zeros(
(self.IMG_HEIGHT, self.IMG_WIDTH,
self.IMG_CHANNELS * self.IMG_STEP * self.IMG_VIEWS))
# The number of INERTIAL state variables to keep track of
self.count_inertial_state_variables = 15 # Posx, Posy, PosZ, Vx, Vy, Vz, Ax, Ay, Az, AngVelx, AngVely, AngVelz, AngAccx, AngAccy, AngAccz
# Throttle up, throttle down, increase brake, decrease break, left_steer, right_steer, No action
self.count_car_actions = 7
# Initialize the current inertial state to zero
self.current_inertial_state = np.array(
np.zeros(self.count_inertial_state_variables))
# Initialize the IMAGE variables -- We Take in Front Center, Right, Left
self.images_rgb = None
self.images_rgba = None
self.image_mask_rgb = np.array(
[[0 + 3 * i, 1 + 3 * i, 2 + 3 * i]
for m, i in zip(image_mask_FC_FR_FL, range(3)) if m]).reshape(-1)
self.image_mask_rgba = np.array(
[[0 + 4 * i, 1 + 4 * i, 2 + 4 * i]
for m, i in zip(image_mask_FC_FR_FL, range(3)) if m]).reshape(-1)
self.image_mask_FC_FR_FL = image_mask_FC_FR_FL
# Connect to the AirSim simulator and begin:
print('Initializing Car Client')
self.client = client.CarClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
print('Initialization DONE!')
print("Setting Camera Views")
orien = Vector3r(0, 0, 0)
self.client.simSetCameraOrientation("0", orien) #radians
orien = Vector3r(0, .12, -np.pi / 9)
self.client.simSetCameraOrientation("1", orien)
orien = Vector3r(0, .12, np.pi / 9)
self.client.simSetCameraOrientation("2", orien)
# Reset Collion Flags
print("Setting Camera Views DONE!")
# Set up GUI Video Feeder
self.gui_data = {'obs': None, 'state': None, 'meta': None}
self.vehicle_name = vehicle_name
num_video_feeds = np.sum(
np.array(self.image_mask_FC_FR_FL, dtype=np.int)) * IMG_STEP
GUIConn, self.simEnvDataConn = multiprocessing.Pipe()
self.app = AirSimGUI.CarGUI(GUIConn,
vehicle_names=[vehicle_name],
num_video_feeds=num_video_feeds,
isRGB=isRGB,
isNormal=isNormal)
# Timing Operations Initialize
self.time_to_do_action = 0
self.time_to_grab_images = 0
self.time_to_grab_states = 0
self.time_to_calc_reward = 0
self.time_to_step = 0
self.extra_metadata = None
def launch_simulator(self):
self.check_accesstoken()
# Abort if simulator is already running
if self.simulation_process is not None:
abort(400, description='Simulation already running.')
# Get team config
teamId = request.json['id']
self.mission = request.json['mission']
self.track = request.json['track']
self.competition_mode = request.json['competition_mode']
for obj in self.team_config['teams']:
if obj['id'] == teamId:
self.team = obj
# Create log file. Create logs directory if it does not exist
filename = 'logs/{}_{}_{}.txt'.format(
str(datetime.now().strftime("%d-%m-%Y_%H%M%S")),
self.team['name'].lower().replace(' ', '-'), self.mission)
if not os.path.exists(os.path.dirname(filename)):
try:
os.makedirs(os.path.dirname(filename))
except OSError as exc: # Guard against race condition
if exc.errno != errno.EEXIST:
raise
# Write to log file
self.log_file = open(filename, 'w')
self.log("created logfile " + filename)
self.finished_signal_received = False
# Write team specific car settings to settings.json
filename = os.path.realpath(
os.path.dirname(__file__)) + '/../settings.json'
with open(filename, 'w') as file:
json.dump(self.team['car_settings'],
file,
sort_keys=True,
indent=4,
separators=(',', ': '))
try:
# Launch Unreal Engine simulator
proc = subprocess.Popen(
['../simulator/FSDS.exe', '/Game/' + self.track + '?listen'])
time.sleep(5)
# Create connection with airsim car client
self.client_airsim = airsim.CarClient()
self.client_airsim.confirmConnection()
# Get referee state
ref = self.client_airsim.getRefereeState()
self.doo_count = ref.doo_counter
self.lap_times = ref.laps
# Start referee state listener
self.referee_state_timer = Timer(1.5, self.referee_state_listener)
self.referee_state_timer.start()
self.simulation_process = proc
self.log('Launched simulator. {} {} {}'.format(
self.team['name'], self.track, self.mission))
return {}
except:
e = sys.exc_info()[0]
print("Error while launching simulator", e)
self.shutdown_process(proc)
raise