def run_sim(street_1: DecalRoad):
brewer = BeamNGBrewer(street_1.nodes)
waypoint_goal = BeamNGWaypoint('waypoint_goal', get_node_coords(street_1.nodes[-1]))
vehicle = brewer.setup_vehicle()
camera = brewer.setup_scenario_camera()
beamng = brewer.beamng
brewer.setup_road_nodes(street_1.nodes)
maps.beamng_map.generated().write_items(brewer.decal_road.to_json() + '\n' + waypoint_goal.to_json())
cameras = BeamNGCarCameras()
brewer.vehicle_start_pose = brewer.road_points.vehicle_start_pose()
#brewer.vehicle_start_pose = BeamNGPose()
sim_data_collector = TrainingDataCollectorAndWriter(vehicle, beamng, street_1, cameras)
brewer.bring_up()
print('bring up ok')
script = calculate_script(brewer.road_points.middle)
# Trick: we start from the road center
vehicle.ai_set_script(script[4:])
#vehicle.ai_drive_in_lane(True)
beamng.pause()
beamng.step(1)
def start():
for idx in range(1000):
if (idx * 0.05 * STEPS) > 3.:
sim_data_collector.collect_and_write_current_data()
dist = 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()
class BeamNGNvidiaOob(BeamNGEvaluator):
def __init__(self, config: BeamNGConfig):
self.config = config
self.brewer: BeamNGBrewer = None
self.model_file = str(folders.trained_models_colab.joinpath(config.keras_model_file))
if not os.path.exists(self.model_file):
raise Exception(f'File {self.model_file} does not exist!')
self.model = None
def evaluate(self, members: List[BeamNGMember]):
for member in members:
if not member.needs_evaluation():
log.info(f'{member} is already evaluated. skipping')
continue
counter = 20
attempt = 0
while True:
attempt += 1
if attempt == counter:
raise Exception('Exhausted attempts')
if attempt > 1:
log.info(f'RETRYING TO run simulation {attempt}')
self._close()
else:
log.info(f'{member} BeamNG evaluation start')
if attempt > 2:
time.sleep(5)
sim = self._run_simulation(member.sample_nodes)
if sim.info.success:
break
member.distance_to_boundary = sim.min_oob_distance()
log.info(f'{member} BeamNG evaluation completed')
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 end_iteration(self):
try:
if self.config.beamng_close_at_iteration:
self._close()
else:
if self.brewer:
self.brewer.beamng.stop_scenario()
except Exception as ex:
log.debug('end_iteration() failed:')
traceback.print_exception(type(ex), ex, ex.__traceback__)
def _close(self):
if self.brewer:
try:
self.brewer.beamng.close()
except Exception as ex:
log.debug('beamng.close() failed:')
traceback.print_exception(type(ex), ex, ex.__traceback__)
self.brewer = None
