def __init__(self):
# TODO: get rid of current_step attribute in favor of querying seq
self._manta = Manta()
self._midi_source = MIDISource("MantaSeq")
self._seq = Seq()
self._manta.set_led_enable(PAD_AND_BUTTON, True)
self.step_duration = 0.125
# the first step should get executed on the first process() call
self.next_step_timestamp = time.time()
self.current_step = 0
self.note_offs = {}
self.running = False
self.start_stop_button = 0
self.shift_button = 1
self._state = MantaSeqIdleState(self)
self.pad_leds = [MantaSeqPadLED(i, self._manta) for i in range(48)]
self._global_cc1 = 0
self._global_cc2 = 0
# store the notenum and value of the last selected note, which will
# be assigned to new steps
self._selected_note = None
self._selected_cc1 = None
self._selected_cc2 = None
Aflap_r = 30 / 57.3
Atwist_r = 30 / 57.3
dphi_r = pi / 2
Aflbias_r = 0
Atwbias_r = 0
action[0:11] = [
frez, Aflap_l, Atwist_l, dphi_l, Aflbias_l, Atwbias_l, Aflap_r,
Atwist_r, dphi_r, Aflbias_r, Atwbias_r
]
return action
if __name__ == "__main__":
# 定义仿真环境
env = Manta()
done = False # 初始化训练状态
# 状态量state介绍
# 设为 x,y,z,vartheta,psi,gamma,vx,vy,vz,wx,wy,wz
# 其中，x,y,z为航行器在惯性系下的三轴位置，x沿航行器纵轴指向头部，y沿航行器中纵剖面指向上，z轴按右手定则指向右
# vartheta,psi,gamma分别为航行器欧拉角形式的姿态角，俯仰角、偏航角和滚动角
# vx,vy,vz分别为航行器惯性系下三轴速度
# wx,wy,wz分别为航行器体轴系下三轴角速度
# 初始状态state0=[0,-5,0,0,0,0,0.1,0,0,0,0,0]
# 环境初始化
state = env.reset(tend=T_END)
# 临时变量，用于周期性运动的执行机构的动作记录，action定义同
action_old = (
0.5, # 胸鳍运动频率，保持0.5Hz，设左右胸鳍频率相同且摆扭同频
class MantaSeq(object):
def __init__(self):
# TODO: get rid of current_step attribute in favor of querying seq
self._manta = Manta()
self._midi_source = MIDISource("MantaSeq")
self._seq = Seq()
self._manta.set_led_enable(PAD_AND_BUTTON, True)
self.step_duration = 0.125
# the first step should get executed on the first process() call
self.next_step_timestamp = time.time()
self.current_step = 0
self.note_offs = {}
self.running = False
self.start_stop_button = 0
self.shift_button = 1
self._state = MantaSeqIdleState(self)
self.pad_leds = [MantaSeqPadLED(i, self._manta) for i in range(48)]
self._global_cc1 = 0
self._global_cc2 = 0
# store the notenum and value of the last selected note, which will
# be assigned to new steps
self._selected_note = None
self._selected_cc1 = None
self._selected_cc2 = None
def cleanup(self):
self._manta.set_led_enable(PAD_AND_BUTTON, False)
def start(self):
self.running = True
self.next_step_timestamp = time.time()
def stop(self):
self.running = False
def _get_step_color(self, step_num):
if step_num == self.current_step:
return RED
elif self._seq.steps[step_num].velocity > 0:
return AMBER
else:
return OFF
def _send_midi_cc(self, cc_num, value):
self._midi_source.send(make_cc(cc_num, value))
def _send_midi_note(self, note_num, velocity):
# remove from note_offs dict if present
self.note_offs.pop(note_num, None)
midi_note = make_note(note_num, velocity)
self._midi_source.send(midi_note)
def _schedule_note_off(self, note_num, timestamp):
self.note_offs[note_num] = timestamp
def set_pad_highlight(self, pad_num, highlight):
self.pad_leds[pad_num].highlight(highlight)
def set_pad_active(self, pad_num, active):
self.pad_leds[pad_num].active(active)
def set_pad_intensity(self, pad_num, intensity):
self.pad_leds[pad_num].intensity(intensity)
def process(self):
now = time.time()
events = self._manta.process()
for event in events:
if isinstance(event, PadVelocityEvent):
self._process_pad_velocity_event(event)
if isinstance(event, ButtonVelocityEvent):
self._process_button_velocity_event(event)
elif isinstance(event, PadValueEvent):
self._process_pad_value_event(event)
elif isinstance(event, SliderValueEvent):
self._process_slider_value_event(event)
# send any pending note_offs
for note_num, timestamp in self.note_offs.items():
if now >= timestamp:
# send_midi_note will take care of removing the note
# from the list
self._send_midi_note(note_num, 0)
self.set_pad_intensity(pad_from_note(note_num), 0)
# if it's time for another step, do it
if self.running and now >= self.next_step_timestamp:
last_step = self.current_step
self.current_step = self._seq.current_step_index
step_obj = self._seq.step()
if step_obj.velocity > 0:
self._send_midi_note(step_obj.note, step_obj.velocity)
note_off_timestamp = self.next_step_timestamp + (step_obj.duration * self.step_duration)
self._schedule_note_off(step_obj.note, note_off_timestamp)
self.set_pad_intensity(pad_from_note(step_obj.note), step_obj.velocity)
self._send_midi_cc(1, self._combine_cc(self._global_cc1, step_obj.cc1))
self._send_midi_cc(2, self._combine_cc(self._global_cc2, step_obj.cc2))
# update the step LEDs (previous and current)
self.set_pad_highlight(last_step, False)
self.set_pad_highlight(self.current_step, True)
# remember which step we turned on so we can turn it off next time
# around
self.next_step_timestamp += self.step_duration
def _combine_cc(self, glob, step):
"""
combines the global cc (glob) with the per-step cc (step)
"""
return int(glob + step / 127.0 * (127 - glob))
# most of the events get deferred to the state, as they're state-dependent
def _process_pad_velocity_event(self, event):
if row_from_pad(event.pad_num) < 2:
if event.velocity > 0:
self._state.process_step_press(event.pad_num)
else:
self._state.process_step_release(event.pad_num)
else:
self._state.process_note_velocity(event.pad_num, event.velocity)
def _process_button_velocity_event(self, event):
if event.button_num == self.start_stop_button:
if event.velocity > 0:
self.stop() if self.running else self.start()
elif event.button_num == self.shift_button:
if event.velocity > 0:
self._state.process_shift_press()
else:
self._state.process_shift_release()
def _process_pad_value_event(self, event):
# pad value messages are ignored for step selection pads
if event.pad_num > 15:
self._state.process_note_value(event.pad_num, event.value)
def _process_slider_value_event(self, event):
if event.touched:
self._state.process_slider_value(event.slider_num, event.value)
else:
self._state.process_slider_release(event.slider_num)