def batch(self, filename):
# The contents of the scenario file are meant as a batch list: send to server and clear stack
result = stack.openfile(filename)
if result:
scentime, scencmd = stack.get_scendata()
self.send_event(b'BATCH', (scentime, scencmd))
self.reset()
return result
def batch(self, filename):
# The contents of the scenario file are meant as a batch list: send to server and clear stack
result = stack.openfile(filename)
if result:
scentime, scencmd = stack.get_scendata()
self.send_event(b'BATCH', (scentime, scencmd))
self.reset()
return result
def batch(self, filename):
# The contents of the scenario file are meant as a batch list: send to manager and clear stack
result = stack.openfile(filename)
scentime, scencmd = stack.get_scendata()
if result is True:
manager.sendEvent(BatchEvent(scentime, scencmd))
self.reset()
return result
def preupdate():
# print('settings {}'.format(CONF.conf))
# First run the environment must be initialized to get the first state ready before model inference can take place.
if sim.simt < CONF.update_interval*1.5:
new_state = env.init()
elif traf.ntraf!=0:
# Construct new state
state, reward, new_state, done = env.step()
agent.update_cum_reward(reward)
agent.update_replay_memory(state, reward, done, new_state)
# if agent.replay_memory.num_experiences > agent.batch_size:
# print('memory_size', agent.replay_memory.num_experiences)
if agent.replay_memory.num_experiences > 1000 or agent.replay_memory.num_experiences == agent.memory_size:
# agent.train_no_batch()
agent.train()
# agent.write_summaries(reward)
# Now get observation without the deleted aircraft for acting. Otherwise an error occurs because the deleted
# aircraft no longer exists in the stack.
new_state = env.get_observation()
collision = env.check_collision()
if traf.ntraf!=0 and not collision:
action = agent.act(new_state)
env.action_command(action)
# if collision:
# agent.cum_reward = -200
# Check if all aircraft in simulation landed and there are no more scenario commands left
if (env.get_done() and len(stack.get_scendata()[0])==0) or collision or env.step_num>200:
print(env.get_done(), len(stack.get_scendata()[0]), collision, env.step_num>170)
# Reset environment states and agent states
if env.episode % CONF.test_freq==0:
agent.save_models(env.episode)
env.reset()
agent.reset()
def step(self):
''' Perform a simulation timestep. '''
# When running at a fixed rate, or when in hold/init,
# increment system time with sysdt and calculate remainder to sleep.
if not self.ffmode or not self.state == bs.OP:
remainder = self.syst - time.time()
if remainder > MINSLEEP:
time.sleep(remainder)
elif self.ffstop is not None and self.simt >= self.ffstop:
if self.benchdt > 0.0:
bs.scr.echo('Benchmark complete: %d samples in %.3f seconds.' % \
(bs.scr.samplecount, time.time() - self.bencht))
self.benchdt = -1.0
self.pause()
else:
self.op()
if self.state == bs.OP:
# Plugins pre-update
plugin.preupdate(self.simt)
# Update screen logic
bs.scr.update()
# Simulation starts as soon as there is traffic, or pending commands
if self.state == bs.INIT:
if self.syst < 0.0:
self.syst = time.time()
if bs.traf.ntraf > 0 or len(stack.get_scendata()[0]) > 0:
self.op()
if self.benchdt > 0.0:
self.fastforward(self.benchdt)
self.bencht = time.time()
if self.state == bs.OP:
stack.checkfile(self.simt)
# Always update stack
stack.process()
if self.state == bs.OP:
bs.traf.update(self.simt, self.simdt)
# Update plugins
plugin.update(self.simt)
# Update Plotter
plotter.update(self.simt)
# Update loggers
datalog.postupdate()
# Update sim and UTC time for the next timestep
self.simt += self.simdt
self.utc += datetime.timedelta(seconds=self.simdt)
# Always update syst
self.syst += self.sysdt
# Inform main of our state change
if not self.state == self.prevstate:
self.sendState()
self.prevstate = self.state
def step(self):
''' Perform a simulation timestep. '''
# When running at a fixed rate, or when in hold/init,
# increment system time with sysdt and calculate remainder to sleep.
if not self.ffmode or not self.state == bs.OP:
remainder = self.syst - time.time()
if remainder > MINSLEEP:
time.sleep(remainder)
elif self.ffstop is not None and self.simt >= self.ffstop:
if self.benchdt > 0.0:
bs.scr.echo('Benchmark complete: %d samples in %.3f seconds.' % \
(bs.scr.samplecount, time.time() - self.bencht))
self.benchdt = -1.0
self.pause()
else:
self.op()
if self.state == bs.OP:
# Plugins pre-update
plugin.preupdate(self.simt)
# Update screen logic
bs.scr.update()
# Simulation starts as soon as there is traffic, or pending commands
if self.state == bs.INIT:
if self.syst < 0.0:
self.syst = time.time()
if bs.traf.ntraf > 0 or len(stack.get_scendata()[0]) > 0:
self.op()
if self.benchdt > 0.0:
self.fastforward(self.benchdt)
self.bencht = time.time()
if self.state == bs.OP:
stack.checkfile(self.simt)
# Always update stack
stack.process()
if self.state == bs.OP:
bs.traf.update(self.simt, self.simdt)
# Update plugins
plugin.update(self.simt)
# Update Plotter
plotter.update(self.simt)
# Update loggers
datalog.postupdate()
# Update sim and UTC time for the next timestep
self.simt += self.simdt
self.utc += datetime.timedelta(seconds=self.simdt)
# Always update syst
self.syst += self.sysdt
# Inform main of our state change
if not self.state == self.prevstate:
self.sendState()
self.prevstate = self.state
def doWork(self):
self.syst = int(time.time() * 1000.0)
# Send list of stack functions available in this sim to gui at start
stackdict = {
cmd: val[0][len(cmd) + 1:]
for cmd, val in stack.cmddict.items()
}
manager.sendEvent(StackInitEvent(stackdict))
while self.running:
if self.state == Simulation.op:
# Plugins pre-update
plugin.preupdate(self.simt)
# Datalog pre-update (communicate current sim time to loggers)
datalog.preupdate(self.simt)
# Update screen logic
bs.scr.update()
# Simulation starts as soon as there is traffic, or pending commands
if self.state == Simulation.init:
if bs.traf.ntraf > 0 or len(stack.get_scendata()[0]) > 0:
self.start()
if self.benchdt > 0.0:
self.fastforward(self.benchdt)
self.bencht = time.time()
if self.state == Simulation.op:
stack.checkfile(self.simt)
# Always update stack
stack.process()
if self.state == Simulation.op:
bs.traf.update(self.simt, self.simdt)
# Update metrics
# self.metric.update()
# Update plugins
plugin.update(self.simt)
# Update loggers
datalog.postupdate()
# Update time for the next timestep
self.simt += self.simdt
# Update clock
self.simtclock = (self.deltclock + self.simt) % onedayinsec
# Process Qt events
manager.processEvents()
# When running at a fixed rate, or when in hold/init, increment
# system time with sysdt and calculate remainder to sleep
if not self.ffmode or not self.state == Simulation.op:
self.syst += self.sysdt
remainder = self.syst - int(1000.0 * time.time())
if remainder > 0:
QThread.msleep(remainder)
# If running in fast-time with an end-time that has passed, go back to
# real-time running.
elif self.ffstop is not None and self.simt >= self.ffstop:
# If this fast-time section was part of a benchmark, send
# message with benchmark results
if self.benchdt > 0.0:
bs.scr.echo(
'Benchmark complete: %d samples in %.3f seconds.' %
(bs.scr.samplecount, time.time() - self.bencht))
self.benchdt = -1.0
self.pause()
else:
self.start()
# Inform main of our state change
if not self.state == self.prevstate:
self.sendState()
self.prevstate = self.state
