def main():
userChoice = "" #User choice variable
# before the game start the main menu pops up asking if you want to start a new game, continue, help, or quit the game
game.greetings()
while 1: #Main while loop
print(fight.hilight("\nWhat are you trying to do home boy??",'36',1))
userChoice = game.usermove(defchoice, 0) #Gets user choice
if userChoice == 'a': #Gets into a random fight
fight.fight("street", int(game.parse("Level"))*80, int(game.parse("Level"))*150)
elif userChoice == 'b': #Robs chances could also lead into a fight
robnrest.rob("street")
elif userChoice == 'c': #Misison
#Makes sure user really wants to go into a mission
sure = raw_input(fight.hilight("Are you sure you want to go into the mission? Most mission are hard unless you're a certain level... Check the help for more info ",'31',1)+fight.hilight("[Press Y if you want to start the mission and any other key to run away like a wimp] ",'33',0)).lower()
if sure == 'y': #If user is sure call on the mission function
mission.mission(int(game.parse("Mission")))
time.sleep(2)
elif userChoice == 'd': #Shows shop
shop.showshop(0)
elif userChoice == 'e': #Rests and restores hp
robnrest.rest()
elif userChoice == 'i': #Shows character info
game.displayfile("character.txt")
elif userChoice == 'q':
game.initopts() #Quits out of the game
def push_new_mission():
mission_list.append(
mission(ui_main.name.text(), ui_main.start_time.dateTime(),
ui_main.start_time.dateTime(), ui_main.end_time.dateTime(),
ui_main.description.toPlainText()))
last_mission_number = mission.count - mission.delete_count - 1
print(last_mission_number)
print(type(mission_list[last_mission_number].date_start))
set_table_item(last_mission_number)
return mission.id
def read_mission(a_list):
serial_number = 0
for mission_detail_list in a_list:
new_mission = mission(
mission_detail_list[0],
QtCore.QDateTime.fromString(mission_detail_list[2]),
QtCore.QDateTime.fromString(mission_detail_list[2]),
QtCore.QDateTime.fromString(mission_detail_list[3]),
mission_detail_list[1])
mission_list.append(new_mission)
set_table_item(serial_number)
mission_number_list.append(serial_number)
serial_number += 1
mission.id = serial_number - 1
mission.count = serial_number - 1
return 0
def main(x=initial_x,ax=init_figure("guerledan.png",[-200,200,-100,100])):
""" boucle principale """
x_hat = x.copy() # position estimée
# cap = 0
for t in arange(0,150,dt):
clear(ax)
point = mission(x)
x_hat[2,0],x_hat[3,0],x_hat[4,0] = x[2,0],x[3,0],x[4,0]
get_position(x_hat,point) # màj position avec slam
u = controller(x,point)
xdot,δs=f(x,u)
x = x + dt*xdot
security(ax,x_hat)
for centre_bouee in liste_centre_bouee:
draw_disk(centre_bouee,2,ax,"orange",α=0.8)
for centre_bouee in liste_centre_bouee:
draw_disk(centre_bouee,rayon_gps_bouee,ax,"cyan",α=0.2)
draw_arrow(-175,50,ψ,2*awind,'white')
draw_sailboat(x,δs,u[0,0],ψ,awind,str(t))
draw_sailboat(x_hat,δs,u[0,0],ψ,awind,str(round(t,2)),color='green', color_chassis= "yellow")
return None
"""
#“Code is more often read than written.” --Guido Van Rossum
# author : Simone Azeglio
import MalmoPython
import time
from cli import parse_args
from mission import mission
if __name__ == "__main__":
mazeXMLFile, alg, out = parse_args()
m = mission()
m.load(mazeXMLFile)
while True:
m.start()
# initialize action
action = ''
# Loop until mission ends:
try:
while m.is_running():
time.sleep(0.1)
# get observation --> return what the agent can see
observations = m.get_observation()
if action == '' or observations.at_junction(
): #Decide a new move
def __init__(self):
super(TopLevelSystem, self).__init__()
print('running...')
# add design variables
self.add('indep1', IndepVarComp('range', 50.0))
self.add('indep2', IndepVarComp('rProp', 30.0))
self.add('indep3', IndepVarComp('cruiseSpeed', 50.0))
self.add('indep4', IndepVarComp('batteryMass', 11.70))
self.add('indep5', IndepVarComp('motorMass', 3.00))
self.add('indep6', IndepVarComp('mtom', 6.500))
self.add(
'indep7', IndepVarComp('vehicle', u'helicopter')
) # TypeError: In subproblem 'subprob': Type <type 'str'> of source 'indep7.vehicle' must be the same as type <type 'unicode'> of target 'ConfigWeight.Vehicle'.
# design variable scaling - this is CRITICAL or else the COBYLA optimizer WILL NOT WORK
self.add('scale2', ExecComp('scaled = orig*0.1'))
self.add('scale3', ExecComp('scaled = orig*1.0'))
self.add('scale4', ExecComp('scaled = orig*10.0'))
self.add('scale5', ExecComp('scaled = orig*10.0'))
self.add('scale6', ExecComp('scaled = orig*100.0'))
self.connect('indep2.rProp', 'scale2.orig')
self.connect('indep3.cruiseSpeed', 'scale3.orig')
self.connect('indep4.batteryMass', 'scale4.orig')
self.connect('indep5.motorMass', 'scale5.orig')
self.connect('indep6.mtom', 'scale6.orig')
# add components
self.add('MassToWeight', mass_2_weight())
self.add('CruisePower', CruisePower())
self.add('HoverPower', HoverPower())
self.add('LoiterPower', loiter_power())
self.add('SimpleMission', mission())
self.add('ReserveMission', mission())
self.add('WireMass', wire_mass())
self.add('PropMass', prop_mass())
self.add('PropMass_Tail', prop_mass())
self.add('FuselageMass', fuselage_mass())
self.add('ConfigWeight', config_weight())
self.add('ToolingCost', tooling_cost())
self.add('OperatingCost', operating_cost())
# add component constants - Q. is there a better way to do this?
self.add('simpleMissionConst1', IndepVarComp('hops', 1.0))
self.add('simpleMissionConst2', IndepVarComp('loiterTime', 0.0))
self.add('reserveMissionConst1', IndepVarComp('hops', 2.0))
self.add('reserveMissionConst2', IndepVarComp('loiterTime', 1020.0))
self.add('wingMassConst1', IndepVarComp('winglet', 0.2))
self.add('wingMassConst2', IndepVarComp('fc', 0.4))
self.add('canardMassConst1', IndepVarComp('winglet', 0.0))
self.add('canardMassConst2', IndepVarComp('fc', 0.6))
#self.add('wireMassConst1', IndepVarComp('fuselageLength', 5.0))
self.add('wireMassConst2', IndepVarComp('fuselageHeight', 2.0))
self.add('wireMassConst3', IndepVarComp('span', 0.0))
self.add('wireMassConst4', IndepVarComp('xmotor', 0.0))
#self.add('fuselageMassConst1', IndepVarComp('length', 5.0)) # Not needed for Helicopter configuration
self.add('fuselageMassConst2', IndepVarComp('width', 1.0))
self.add('fuselageMassConst3', IndepVarComp('height', 2.0))
self.add('fuselageMassConst4', IndepVarComp('span', 1.0))
self.add('configWeightConst1', IndepVarComp('payload_mass', 113.398))
self.add('costBuildupConst1', IndepVarComp('partsPerTool', 1000.0))
# add constraint equations
self.add('con1',
ExecComp('c1 = (mBattery*230.0*0.95/1000.0) - EReserve'))
self.add('con2',
ExecComp('c2 = mMotors*5.0 - hoverPower_PMax / 1000.0'))
self.add('con3', ExecComp('c3 = mtow*9.8 - mass_W'))
self.add(
'con4',
ExecComp(
'c4 = (0.5*1.0/3.0*mass_rotor*(hoverPower_Vtip**2.0)) - (0.5*mass_m*(hoverPower_VAutoRotation**2.0))'
))
# connect components - as Jonathan pointed out, the alternative is to use a consistent naming convetion and promote variables. This is a pain without a wrapper *cough* OpenMETA *cough*.
self.connect('scale6.scaled',
'MassToWeight.mass') # MassToWeight inputs
self.connect('scale2.scaled',
'CruisePower.rProp') # CruisePower inputs
self.connect('scale3.scaled', 'CruisePower.V')
self.connect('indep7.vehicle', 'CruisePower.Vehicle')
self.connect('MassToWeight.weight', 'CruisePower.W')
self.connect('CruisePower.omega',
'HoverPower.cruisePower_omega') # HoverPower inputs
self.connect('scale2.scaled', 'HoverPower.rProp')
self.connect('indep7.vehicle', 'HoverPower.Vehicle')
self.connect('MassToWeight.weight', 'HoverPower.W')
self.connect('CruisePower.B', 'LoiterPower.B') # LoiterPower inputs
self.connect('CruisePower.AR', 'LoiterPower.cruiseOutputAR')
self.connect('CruisePower.Cd0', 'LoiterPower.cruiseOutputCd0')
self.connect('CruisePower.e', 'LoiterPower.cruiseOutputE')
self.connect('CruisePower.etaMotor',
'LoiterPower.cruiseOutputEtaMotor')
self.connect('CruisePower.etaProp', 'LoiterPower.cruiseOutputEtaProp')
self.connect('CruisePower.omega', 'LoiterPower.cruiseOutputOmega')
self.connect('CruisePower.PCruise', 'LoiterPower.cruiseOutputP')
self.connect('CruisePower.PBattery',
'LoiterPower.cruiseOutputPBattery')
self.connect('CruisePower.SCdFuse', 'LoiterPower.cruiseOutputSCdFuse')
self.connect('CruisePower.sigma', 'LoiterPower.cruiseOutputSigma')
self.connect('CruisePower.SRef', 'LoiterPower.cruiseOutputSRef')
self.connect('scale2.scaled', 'LoiterPower.rProp')
self.connect('scale3.scaled', 'LoiterPower.V')
self.connect('indep7.vehicle', 'LoiterPower.Vehicle')
self.connect('MassToWeight.weight', 'LoiterPower.W')
self.connect(
'CruisePower.PBattery',
'SimpleMission.cruiseOutput_PBattery') # SimpleMission inputs
self.connect('simpleMissionConst1.hops', 'SimpleMission.hops')
self.connect('HoverPower.hoverPower_PBattery',
'SimpleMission.hoverOutput_PBattery')
self.connect('simpleMissionConst2.loiterTime',
'SimpleMission.loiterTime')
self.connect('indep1.range', 'SimpleMission.range')
self.connect('scale2.scaled', 'SimpleMission.rProp')
self.connect('scale3.scaled', 'SimpleMission.V')
self.connect('indep7.vehicle', 'SimpleMission.Vehicle')
self.connect(
'CruisePower.PBattery',
'ReserveMission.cruiseOutput_PBattery') # ReserveMission inputs
self.connect('reserveMissionConst1.hops', 'ReserveMission.hops')
self.connect('HoverPower.hoverPower_PBattery',
'ReserveMission.hoverOutput_PBattery')
self.connect('LoiterPower.PBattery',
'ReserveMission.loiterOutput_PBattery')
self.connect('reserveMissionConst2.loiterTime',
'ReserveMission.loiterTime')
self.connect('indep1.range', 'ReserveMission.range')
self.connect('scale2.scaled', 'ReserveMission.rProp')
self.connect('scale3.scaled', 'ReserveMission.V')
self.connect('indep7.vehicle', 'ReserveMission.Vehicle')
self.add('WireMassInput1', ExecComp('length = 1.5+1.25*rProp'))
self.connect('scale2.scaled', 'WireMassInput1.rProp')
self.connect('wireMassConst2.fuselageHeight',
'WireMass.fuselageHeight') # WireMass inputs
self.connect('WireMassInput1.length', 'WireMass.fuselageLength')
self.connect('HoverPower.hoverPower_PMaxBattery', 'WireMass.power')
self.connect('wireMassConst4.xmotor', 'WireMass.xmotor')
self.connect('wireMassConst3.span', 'WireMass.span')
self.connect('scale2.scaled', 'PropMass.rProp') # PropMass inputs
self.connect('HoverPower.TMax', 'PropMass.thrust')
self.add('PropMassInput1', ExecComp('R = rProp/5.0'))
self.add('PropMassInput2',
ExecComp('T = 1.5*hoverOutput_QMax/(1.25*rProp)'))
self.connect('scale2.scaled', 'PropMassInput1.rProp')
self.connect('HoverPower.QMax', 'PropMassInput2.hoverOutput_QMax')
self.connect('scale2.scaled', 'PropMassInput2.rProp')
self.connect('PropMassInput1.R',
'PropMass_Tail.rProp') # PropMass_Tail inputs
self.connect('PropMassInput2.T', 'PropMass_Tail.thrust')
self.add('FuselageMassInput1', ExecComp('length = 1.5+1.25*rProp'))
self.connect('scale2.scaled', 'FuselageMassInput1.rProp')
self.connect('FuselageMassInput1.length',
'FuselageMass.length') # FuselageMass inputs
self.connect('fuselageMassConst2.width', 'FuselageMass.width')
self.connect('fuselageMassConst3.height', 'FuselageMass.height')
self.connect('fuselageMassConst4.span', 'FuselageMass.span')
self.connect('MassToWeight.weight', 'FuselageMass.weight')
self.connect('FuselageMass.mass',
'ConfigWeight.fuselage_mass') # ConfigWeight inputs
self.connect('HoverPower.hoverPower_PMax',
'ConfigWeight.hoverOutput_PMax')
self.connect('scale4.scaled', 'ConfigWeight.mBattery')
self.connect('scale5.scaled', 'ConfigWeight.mMotors')
self.connect('scale6.scaled', 'ConfigWeight.mtow')
self.connect('configWeightConst1.payload_mass', 'ConfigWeight.payload')
self.connect('PropMass.mass', 'ConfigWeight.prop_mass')
self.connect('PropMass_Tail.mass', 'ConfigWeight.prop_mass_tail')
self.connect('scale2.scaled', 'ConfigWeight.rProp')
self.connect('indep7.vehicle', 'ConfigWeight.Vehicle')
self.connect('WireMass.mass', 'ConfigWeight.wire_mass')
self.connect('CruisePower.bRef',
'ToolingCost.cruiseOutput_bRef') # ToolingCost inputs
self.connect('CruisePower.cRef', 'ToolingCost.cruiseOutput_cRef')
self.connect('costBuildupConst1.partsPerTool',
'ToolingCost.partsPerTool')
self.connect('scale2.scaled', 'ToolingCost.rProp')
self.connect('indep7.vehicle', 'ToolingCost.Vehicle')
self.connect('SimpleMission.E',
'OperatingCost.E') # OperatingCost inputs
self.connect('SimpleMission.t', 'OperatingCost.flightTime')
self.connect('scale4.scaled', 'OperatingCost.mass_battery')
self.connect('scale5.scaled', 'OperatingCost.mass_motors')
self.connect('ConfigWeight.mass_structural',
'OperatingCost.mass_structural')
self.connect('scale2.scaled', 'OperatingCost.rProp')
self.connect('ToolingCost.toolCostPerVehicle',
'OperatingCost.toolingCost')
self.connect('indep7.vehicle', 'OperatingCost.Vehicle')
self.connect('ReserveMission.E', 'con1.EReserve') # Constraint inputs
self.connect('scale4.scaled', 'con1.mBattery')
self.connect('HoverPower.hoverPower_PMax', 'con2.hoverPower_PMax')
self.connect('scale5.scaled', 'con2.mMotors')
self.connect('ConfigWeight.mass_W', 'con3.mass_W')
self.connect('scale6.scaled', 'con3.mtow')
self.connect('ConfigWeight.mass_rotor', 'con4.mass_rotor')
self.connect('HoverPower.hoverPower_Vtip', 'con4.hoverPower_Vtip')
self.connect('HoverPower.hoverPower_VAutoRotation',
'con4.hoverPower_VAutoRotation')
def __init__(self):
super(TopLevelSystem, self).__init__()
print('running...')
# add design variables - Q. is this even needed?
self.add('indep1', IndepVarComp('range', 10000.0))
self.add('indep2', IndepVarComp('rProp', 1.0))
self.add('indep3', IndepVarComp('cruiseSpeed', 50.0))
self.add('indep4', IndepVarComp('batteryMass', 117.0))
self.add('indep5', IndepVarComp('motorMass', 30.0))
self.add('indep6', IndepVarComp('mtom', 650.0))
self.add('indep7', IndepVarComp('vehicle', u'tiltwing')) # TypeError: In subproblem 'subprob': Type <type 'str'> of source 'indep7.vehicle' must be the same as type <type 'unicode'> of target 'ConfigWeight.Vehicle'.
# add components
self.add('MassToWeight', mass_2_weight())
self.add('CruisePower', CruisePower())
self.add('HoverPower', HoverPower())
self.add('LoiterPower', loiter_power())
self.add('SimpleMission', mission())
self.add('ReserveMission', mission())
self.add('WingMass', wing_mass()) # TEMPORARY
self.add('CanardMass', wing_mass()) # TEMPORARY
self.add('WireMass', wire_mass())
self.add('ConfigWeight', config_weight())
self.add('ToolingCost', tooling_cost())
self.add('OperatingCost', operating_cost())
# add component constants - Q. is there a better way to do this?
self.add('simpleMissionConst1', IndepVarComp('hops', 1.0))
self.add('simpleMissionConst2', IndepVarComp('loiterTime', 0.0))
self.add('reserveMissionConst1', IndepVarComp('hops', 2.0))
self.add('reserveMissionConst2', IndepVarComp('loiterTime', 1020.0))
self.add('wingMassConst1', IndepVarComp('winglet', 0.2))
self.add('wingMassConst2', IndepVarComp('fc', 0.4))
self.add('canardMassConst1', IndepVarComp('winglet', 0.0))
self.add('canardMassConst2', IndepVarComp('fc', 0.6))
self.add('wireMassConst1', IndepVarComp('fuselageLength', 5.0))
self.add('wireMassConst2', IndepVarComp('fuselageHeight', 1.65))
self.add('configWeightConst1', IndepVarComp('payload_mass', 114.0))
self.add('configWeightConst2', IndepVarComp('fuselage_mass', 55.0))
self.add('configWeightConst3', IndepVarComp('prop_mass', 14.0))
#self.add('configWeightConst4', IndepVarComp('wing_mass', 40.0)) # TEMPORARY: This constant is a workaround until I add wing_mass.py back
#self.add('configWeightConst5', IndepVarComp('canard_mass', 38.0)) # TEMPORARY: This constant is a workaround until I add wing_mass.py back
self.add('costBuildupConst1', IndepVarComp('partsPerTool', 1000.0))
# add constraint equations
self.add('con1', ExecComp('c = (mBattery*230.0*0.95/1000.0) - EReserve'))
self.add('con2', ExecComp('c = mMotors*5.0 - hoverPower_PMax / 1000.0'))
self.add('con3', ExecComp('c = mtow*9.8 - mass_W'))
#self.add('con4', ExecComp('c = 0.5*1.0/3.0*mass_rotor*hoverPower_Vtip**2.0 - 0.5*mass_m*hoverPower_VAutoRotation**2.0')) # Helicopter only - doesn't work for this version
# connect components
self.connect('indep6.mtom', 'MassToWeight.mass') # MassToWeight inputs
self.connect('indep2.rProp', 'CruisePower.rProp') # CruisePower inputs
self.connect('indep3.cruiseSpeed', 'CruisePower.V')
self.connect('indep7.vehicle', 'CruisePower.Vehicle')
self.connect('MassToWeight.weight', 'CruisePower.W')
self.connect('CruisePower.omega', 'HoverPower.cruisePower_omega') # HoverPower inputs
self.connect('indep2.rProp', 'HoverPower.rProp')
self.connect('indep7.vehicle', 'HoverPower.Vehicle')
self.connect('MassToWeight.weight', 'HoverPower.W')
self.connect('CruisePower.B', 'LoiterPower.B') # LoiterPower inputs
self.connect('CruisePower.AR', 'LoiterPower.cruiseOutputAR')
self.connect('CruisePower.Cd0', 'LoiterPower.cruiseOutputCd0')
self.connect('CruisePower.e', 'LoiterPower.cruiseOutputE')
self.connect('CruisePower.etaMotor', 'LoiterPower.cruiseOutputEtaMotor')
self.connect('CruisePower.etaProp', 'LoiterPower.cruiseOutputEtaProp')
self.connect('CruisePower.omega', 'LoiterPower.cruiseOutputOmega')
self.connect('CruisePower.PCruise', 'LoiterPower.cruiseOutputP')
self.connect('CruisePower.PBattery', 'LoiterPower.cruiseOutputPBattery')
self.connect('CruisePower.SCdFuse', 'LoiterPower.cruiseOutputSCdFuse')
self.connect('CruisePower.sigma', 'LoiterPower.cruiseOutputSigma')
self.connect('CruisePower.SRef', 'LoiterPower.cruiseOutputSRef')
self.connect('indep2.rProp', 'LoiterPower.rProp')
self.connect('indep3.cruiseSpeed', 'LoiterPower.V')
self.connect('indep7.vehicle', 'LoiterPower.Vehicle')
self.connect('MassToWeight.weight', 'LoiterPower.W')
self.connect('CruisePower.PBattery', 'SimpleMission.cruiseOutput_PBattery') # SimpleMission inputs
self.connect('simpleMissionConst1.hops', 'SimpleMission.hops')
self.connect('HoverPower.hoverPower_PBattery', 'SimpleMission.hoverOutput_PBattery')
self.connect('simpleMissionConst2.loiterTime', 'SimpleMission.loiterTime')
self.connect('indep1.range', 'SimpleMission.range')
self.connect('indep2.rProp', 'SimpleMission.rProp')
self.connect('indep3.cruiseSpeed', 'SimpleMission.V')
self.connect('indep7.vehicle', 'SimpleMission.Vehicle')
self.connect('CruisePower.PBattery', 'ReserveMission.cruiseOutput_PBattery') # ReserveMission inputs
self.connect('reserveMissionConst1.hops', 'ReserveMission.hops')
self.connect('HoverPower.hoverPower_PBattery', 'ReserveMission.hoverOutput_PBattery')
self.connect('LoiterPower.PBattery', 'ReserveMission.loiterOutput_PBattery')
self.connect('reserveMissionConst2.loiterTime', 'ReserveMission.loiterTime')
self.connect('indep1.range', 'ReserveMission.range')
self.connect('indep2.rProp', 'ReserveMission.rProp')
self.connect('indep3.cruiseSpeed', 'ReserveMission.V')
self.connect('indep7.vehicle', 'ReserveMission.Vehicle')
self.connect('CruisePower.cRef', 'WingMass.chord') # WingMass inputs # TEMPORARY
self.connect('wingMassConst2.fc', 'WingMass.fc')
self.connect('indep2.rProp', 'WingMass.rProp')
self.connect('CruisePower.bRef', 'WingMass.span')
self.connect('HoverPower.TMax', 'WingMass.thrust')
self.connect('MassToWeight.weight', 'WingMass.W')
self.connect('wingMassConst1.winglet', 'WingMass.winglet')
self.connect('CruisePower.cRef', 'CanardMass.chord') # CanardMass inputs # TEMPORARY
self.connect('canardMassConst2.fc', 'CanardMass.fc')
self.connect('indep2.rProp', 'CanardMass.rProp')
self.connect('CruisePower.bRef', 'CanardMass.span')
self.connect('HoverPower.TMax', 'CanardMass.thrust')
self.connect('MassToWeight.weight', 'CanardMass.W')
self.connect('canardMassConst1.winglet', 'CanardMass.winglet')
self.connect('wireMassConst2.fuselageHeight', 'WireMass.fuselageHeight') # WireMass inputs
self.connect('wireMassConst1.fuselageLength', 'WireMass.fuselageLength')
self.connect('HoverPower.hoverPower_PMax', 'WireMass.power')
self.connect('indep2.rProp', 'WireMass.rProp')
self.connect('CruisePower.bRef', 'WireMass.span')
self.connect('CanardMass.mass', 'ConfigWeight.canard_mass') # ConfigWeight inputs # TEMPORARY
self.connect('configWeightConst2.fuselage_mass', 'ConfigWeight.fuselage_mass')
self.connect('HoverPower.hoverPower_PMax', 'ConfigWeight.hoverOutput_PMax')
self.connect('indep4.batteryMass', 'ConfigWeight.mBattery')
self.connect('indep5.motorMass', 'ConfigWeight.mMotors')
self.connect('indep6.mtom', 'ConfigWeight.mtow')
self.connect('configWeightConst1.payload_mass', 'ConfigWeight.payload')
self.connect('configWeightConst3.prop_mass', 'ConfigWeight.prop_mass')
self.connect('indep2.rProp', 'ConfigWeight.rProp')
self.connect('indep7.vehicle', 'ConfigWeight.Vehicle')
self.connect('WingMass.mass', 'ConfigWeight.wing_mass') # TEMPORARY
self.connect('WireMass.mass', 'ConfigWeight.wire_mass')
self.connect('CruisePower.bRef', 'ToolingCost.cruiseOutput_bRef') # ToolingCost inputs
self.connect('CruisePower.cRef', 'ToolingCost.cruiseOutput_cRef')
self.connect('costBuildupConst1.partsPerTool', 'ToolingCost.partsPerTool')
self.connect('indep2.rProp', 'ToolingCost.rProp')
self.connect('indep7.vehicle', 'ToolingCost.Vehicle')
self.connect('SimpleMission.E', 'OperatingCost.E') # OperatingCost inputs
self.connect('SimpleMission.t', 'OperatingCost.flightTime')
self.connect('indep4.batteryMass', 'OperatingCost.mass_battery')
self.connect('indep5.motorMass', 'OperatingCost.mass_motors')
self.connect('ConfigWeight.mass_structural', 'OperatingCost.mass_structural')
self.connect('indep2.rProp', 'OperatingCost.rProp')
self.connect('ToolingCost.toolCostPerVehicle', 'OperatingCost.toolingCost')
self.connect('indep7.vehicle', 'OperatingCost.Vehicle')
self.connect('ReserveMission.E', 'con1.EReserve') # Constraint inputs
self.connect('indep4.batteryMass', 'con1.mBattery')
self.connect('HoverPower.hoverPower_PMax', 'con2.hoverPower_PMax')
self.connect('indep5.motorMass', 'con2.mMotors')
self.connect('ConfigWeight.mass_W', 'con3.mass_W')
self.connect('indep6.mtom', 'con3.mtow')
if __name__ == "__main__":
import boat
import mission
import environment
import display
my_visual = display.display()
my_boat = boat.boat()
x = np.array([-5, -5, -3.5, -2, -2, 2, 2, 3.5, 5, 5, 2, 2, -2, -2, -5
]) / 10 * 0.7
y = np.array([-5, 4, 5, 4, 0, 0, 4, 5, 4, -5, -5, 0, 0, -5, -5]) / 10
my_boat.hullshape = np.array([x, y])
# my_boat.hullshape = my_boat.hullshape * np.array([0.3, 0.5]).reshape(2, 1)
mission_name = "./data/missions/increasingangle.txt"
my_mission = mission.mission(survey_line_filename=mission_name)
my_fitness = mission.fitness(my_mission,
gate_length=0.5,
offline_importance=0.5)
my_fitness.current_gate_num = 0
my_environment = environment.environment()
my_environment.get_currents = lambda xy: [0, 0]
my_simulator = simulator(
boat=my_boat,
fitness=my_fitness,
environment=my_environment,
visual=my_visual,
)
for i in range(50):
if my_simulator.visual.running:
from pymavlink import mavutil
import config
import guided_check
import mission_loader
from mission import mission
from takeoff import takeoff
config.init()
config.vehicle.mode = VehicleMode(
"GUIDED") #uncomment this if using SITL comment if not
guided_check.check()
if config.vehicle.mode == VehicleMode("GUIDED"):
takeoff(3)
time.sleep(1)
mission()
else:
print("RC Interrupt")
print("Mode changed to: %s" % config.vehicle.mode)
print("Closing vehicle object")
config.vehicle.close()
# Shut down simulator if it was started.
if config.sitl:
config.sitl.stop()
print("Completed")
def __init__(self):
super(TopLevelSystem, self).__init__()
print('running...')
# add design variables
self.add('indep1', IndepVarComp('range', 50.0))
self.add('indep2', IndepVarComp('rProp', 100.0))
self.add('indep3', IndepVarComp('cruiseSpeed', 50.0))
self.add('indep4', IndepVarComp('batteryMass', 11.70))
self.add('indep5', IndepVarComp('motorMass', 3.00))
self.add('indep6', IndepVarComp('mtom', 6.500))
self.add(
'indep7', IndepVarComp('vehicle', u'tiltwing')
) # TypeError: In subproblem 'subprob': Type <type 'str'> of source 'indep7.vehicle' must be the same as type <type 'unicode'> of target 'ConfigWeight.Vehicle'.
# design variable scaling - this is CRITICAL or else the COBYLA optimizer WILL NOT WORK
self.add('scale2', ExecComp('scaled = orig*0.01'))
self.add('scale3', ExecComp('scaled = orig*1.0'))
self.add('scale4', ExecComp('scaled = orig*10.0'))
self.add('scale5', ExecComp('scaled = orig*10.0'))
self.add('scale6', ExecComp('scaled = orig*100.0'))
self.connect('indep2.rProp', 'scale2.orig')
self.connect('indep3.cruiseSpeed', 'scale3.orig')
self.connect('indep4.batteryMass', 'scale4.orig')
self.connect('indep5.motorMass', 'scale5.orig')
self.connect('indep6.mtom', 'scale6.orig')
# add components
self.add('MassToWeight', mass_2_weight())
self.add('CruisePower', CruisePower())
self.add('HoverPower', HoverPower())
self.add('LoiterPower', loiter_power())
self.add('SimpleMission', mission())
self.add('ReserveMission', mission())
self.add('WingMass', wing_mass())
self.add('CanardMass', wing_mass())
self.add('WireMass', wire_mass())
self.add('FuselageMass', fuselage_mass())
self.add('ConfigWeight', config_weight())
self.add('ToolingCost', tooling_cost())
self.add('OperatingCost', operating_cost())
# add component constants - Q. is there a better way to do this?
self.add('simpleMissionConst1', IndepVarComp('hops', 1.0))
self.add('simpleMissionConst2', IndepVarComp('loiterTime', 0.0))
self.add('reserveMissionConst1', IndepVarComp('hops', 2.0))
self.add('reserveMissionConst2', IndepVarComp('loiterTime', 1020.0))
self.add('wingMassConst1', IndepVarComp('winglet', 0.2))
self.add('wingMassConst2', IndepVarComp('fc', 0.4))
self.add('canardMassConst1', IndepVarComp('winglet', 0.0))
self.add('canardMassConst2', IndepVarComp('fc', 0.6))
self.add('wireMassConst1', IndepVarComp('fuselageLength', 5.0))
self.add('wireMassConst2', IndepVarComp('fuselageHeight', 1.65))
self.add('fuselageMassConst1', IndepVarComp('length', 5.0))
self.add('fuselageMassConst2', IndepVarComp('width', 1.0))
self.add('fuselageMassConst3', IndepVarComp('height', 1.65))
self.add('configWeightConst1', IndepVarComp('payload_mass', 114.0))
#self.add('configWeightConst2', IndepVarComp('fuselage_mass', 55.0)) # TEMPORARY: This constant is a workaround until I add fuselage_mass.py
self.add(
'configWeightConst3', IndepVarComp('prop_mass', 2.5)
) # TEMPORARY: This constant is a workaround until I add prop_mass.py
#self.add('configWeightConst4', IndepVarComp('wing_mass', 40.0)) # TEMPORARY: This constant is a workaround until I add wing_mass.py
#self.add('configWeightConst5', IndepVarComp('canard_mass', 38.0)) # TEMPORARY: This constant is a workaround until I add wing_mass.py
self.add('costBuildupConst1', IndepVarComp('partsPerTool', 1000.0))
# add constraint equations
self.add('con1',
ExecComp('c1 = (mBattery*230.0*0.95/1000.0) - EReserve'))
self.add('con2',
ExecComp('c2 = mMotors*5.0 - hoverPower_PMax / 1000.0'))
self.add('con3', ExecComp('c3 = mtow*9.8 - mass_W'))
#self.add('con4', ExecComp('c4 = 0.5*1.0/3.0*mass_rotor*hoverPower_Vtip**2.0 - 0.5*mass_m*hoverPower_VAutoRotation**2.0')) # Helicopter only - doesn't work for this version
self.add(
'con5', ExecComp('c5 = ((1.0/3.0)*mtow) - mBattery')
) # "Most transport aircraft have a maximum fuel weight that is roughly 1/3 of the maximum takeoff weight..."
# connect components - as Jonathan pointed out, the alternative is to use a consistent naming convetion and promote variables. This is a pain without a wrapper *cough* OpenMETA *cough*.
self.connect('scale6.scaled',
'MassToWeight.mass') # MassToWeight inputs
self.connect('scale2.scaled',
'CruisePower.rProp') # CruisePower inputs
self.connect('scale3.scaled', 'CruisePower.V')
self.connect('indep7.vehicle', 'CruisePower.Vehicle')
self.connect('MassToWeight.weight', 'CruisePower.W')
self.connect('CruisePower.omega',
'HoverPower.cruisePower_omega') # HoverPower inputs
self.connect('scale2.scaled', 'HoverPower.rProp')
self.connect('indep7.vehicle', 'HoverPower.Vehicle')
self.connect('MassToWeight.weight', 'HoverPower.W')
self.connect('CruisePower.B', 'LoiterPower.B') # LoiterPower inputs
self.connect('CruisePower.AR', 'LoiterPower.cruiseOutputAR')
self.connect('CruisePower.Cd0', 'LoiterPower.cruiseOutputCd0')
self.connect('CruisePower.e', 'LoiterPower.cruiseOutputE')
self.connect('CruisePower.etaMotor',
'LoiterPower.cruiseOutputEtaMotor')
self.connect('CruisePower.etaProp', 'LoiterPower.cruiseOutputEtaProp')
self.connect('CruisePower.omega', 'LoiterPower.cruiseOutputOmega')
self.connect('CruisePower.PCruise', 'LoiterPower.cruiseOutputP')
self.connect('CruisePower.PBattery',
'LoiterPower.cruiseOutputPBattery')
self.connect('CruisePower.SCdFuse', 'LoiterPower.cruiseOutputSCdFuse')
self.connect('CruisePower.sigma', 'LoiterPower.cruiseOutputSigma')
self.connect('CruisePower.SRef', 'LoiterPower.cruiseOutputSRef')
self.connect('scale2.scaled', 'LoiterPower.rProp')
self.connect('scale3.scaled', 'LoiterPower.V')
self.connect('indep7.vehicle', 'LoiterPower.Vehicle')
self.connect('MassToWeight.weight', 'LoiterPower.W')
self.connect(
'CruisePower.PBattery',
'SimpleMission.cruiseOutput_PBattery') # SimpleMission inputs
self.connect('simpleMissionConst1.hops', 'SimpleMission.hops')
self.connect('HoverPower.hoverPower_PBattery',
'SimpleMission.hoverOutput_PBattery')
self.connect('simpleMissionConst2.loiterTime',
'SimpleMission.loiterTime')
self.connect('indep1.range', 'SimpleMission.range')
self.connect('scale2.scaled', 'SimpleMission.rProp')
self.connect('scale3.scaled', 'SimpleMission.V')
self.connect('indep7.vehicle', 'SimpleMission.Vehicle')
self.connect(
'CruisePower.PBattery',
'ReserveMission.cruiseOutput_PBattery') # ReserveMission inputs
self.connect('reserveMissionConst1.hops', 'ReserveMission.hops')
self.connect('HoverPower.hoverPower_PBattery',
'ReserveMission.hoverOutput_PBattery')
self.connect('LoiterPower.PBattery',
'ReserveMission.loiterOutput_PBattery')
self.connect('reserveMissionConst2.loiterTime',
'ReserveMission.loiterTime')
self.connect('indep1.range', 'ReserveMission.range')
self.connect('scale2.scaled', 'ReserveMission.rProp')
self.connect('scale3.scaled', 'ReserveMission.V')
self.connect('indep7.vehicle', 'ReserveMission.Vehicle')
self.connect('CruisePower.cRef', 'WingMass.chord') # WingMass inputs
self.connect('wingMassConst2.fc', 'WingMass.fc')
self.connect('scale2.scaled', 'WingMass.rProp')
self.connect('CruisePower.bRef', 'WingMass.span')
self.connect('HoverPower.TMax', 'WingMass.thrust')
self.connect('MassToWeight.weight', 'WingMass.W')
self.connect('wingMassConst1.winglet', 'WingMass.winglet')
self.connect('CruisePower.cRef',
'CanardMass.chord') # CanardMass inputs
self.connect('canardMassConst2.fc', 'CanardMass.fc')
self.connect('scale2.scaled', 'CanardMass.rProp')
self.connect('CruisePower.bRef', 'CanardMass.span')
self.connect('HoverPower.TMax', 'CanardMass.thrust')
self.connect('MassToWeight.weight', 'CanardMass.W')
self.connect('canardMassConst1.winglet', 'CanardMass.winglet')
self.connect('wireMassConst2.fuselageHeight',
'WireMass.fuselageHeight') # WireMass inputs
self.connect('wireMassConst1.fuselageLength',
'WireMass.fuselageLength')
self.connect('HoverPower.hoverPower_PMaxBattery',
'WireMass.power') # Make sure this is actually correct
self.connect('scale2.scaled', 'WireMass.rProp')
self.connect('CruisePower.bRef', 'WireMass.span')
self.connect('fuselageMassConst1.length',
'FuselageMass.length') # FuselageMass inputs
self.connect('fuselageMassConst2.width', 'FuselageMass.width')
self.connect('fuselageMassConst3.height', 'FuselageMass.height')
self.connect('CruisePower.bRef', 'FuselageMass.span')
self.connect('MassToWeight.weight', 'FuselageMass.weight')
self.connect('CanardMass.mass',
'ConfigWeight.canard_mass') # ConfigWeight inputs
self.connect('FuselageMass.mass', 'ConfigWeight.fuselage_mass')
self.connect('HoverPower.hoverPower_PMax',
'ConfigWeight.hoverOutput_PMax')
self.connect('scale4.scaled', 'ConfigWeight.mBattery')
self.connect('scale5.scaled', 'ConfigWeight.mMotors')
self.connect('scale6.scaled', 'ConfigWeight.mtow')
self.connect('configWeightConst1.payload_mass', 'ConfigWeight.payload')
self.connect('configWeightConst3.prop_mass', 'ConfigWeight.prop_mass')
self.connect('scale2.scaled', 'ConfigWeight.rProp')
self.connect('indep7.vehicle', 'ConfigWeight.Vehicle')
self.connect('WingMass.mass', 'ConfigWeight.wing_mass')
self.connect('WireMass.mass', 'ConfigWeight.wire_mass')
self.connect('CruisePower.bRef',
'ToolingCost.cruiseOutput_bRef') # ToolingCost inputs
self.connect('CruisePower.cRef', 'ToolingCost.cruiseOutput_cRef')
self.connect('costBuildupConst1.partsPerTool',
'ToolingCost.partsPerTool')
self.connect('scale2.scaled', 'ToolingCost.rProp')
self.connect('indep7.vehicle', 'ToolingCost.Vehicle')
self.connect('SimpleMission.E',
'OperatingCost.E') # OperatingCost inputs
self.connect('SimpleMission.t', 'OperatingCost.flightTime')
self.connect('scale4.scaled', 'OperatingCost.mass_battery')
self.connect('scale5.scaled', 'OperatingCost.mass_motors')
self.connect('ConfigWeight.mass_structural',
'OperatingCost.mass_structural')
self.connect('scale2.scaled', 'OperatingCost.rProp')
self.connect('ToolingCost.toolCostPerVehicle',
'OperatingCost.toolingCost')
self.connect('indep7.vehicle', 'OperatingCost.Vehicle')
self.connect('ReserveMission.E', 'con1.EReserve') # Constraint inputs
self.connect('scale4.scaled', 'con1.mBattery')
self.connect('HoverPower.hoverPower_PMax', 'con2.hoverPower_PMax')
self.connect('scale5.scaled', 'con2.mMotors')
self.connect('ConfigWeight.mass_W', 'con3.mass_W')
self.connect('scale6.scaled', 'con3.mtow')
self.connect('scale4.scaled', 'con5.mBattery')
self.connect('scale6.scaled', 'con5.mtow')