def _fly_path(client: airsim.MultirotorClient, path: List[Vector3r],
velocity: float, timeout_sec: float) -> None:
waypoint_count = len(path)
assert waypoint_count >= 2 # FIXME handle corner cases
first_point, *middle_points, final_point = [
Vec3.from_Vector3r(waypoint) for waypoint in path
]
client.moveToPositionAsync(*first_point, velocity, timeout_sec).join()
for next_pos in middle_points:
# https://github.com/Microsoft/AirSim/issues/1677
# https://github.com/Microsoft/AirSim/issues/2974
future = client.moveToPositionAsync(*next_pos, velocity, timeout_sec)
curr_pos = Vec3.from_Vector3r(client.simGetVehiclePose().position)
# "spin lock" until we are close to the next point
while not Vec3.all_close(curr_pos, next_pos,
eps=CONFIRMATION_DISTANCE):
curr_pos = Vec3.from_Vector3r(client.simGetVehiclePose().position)
time.sleep(WAIT_TIME)
# FIXME slow down instead of calling `.join()`... otherwise we're just
# using the high level controller in fact (and remove `.sleep()`)
future.join() # wait for AirSim's API to also recognize we've arrived
time.sleep(0.5) # FIXME stopping for some time minimizes overshooting
client.moveToPositionAsync(*final_point, velocity, timeout_sec).join()
def _move_by_positions(client: airsim.MultirotorClient,
args: argparse.Namespace) -> None:
for position, orientation in args.viewpoints:
_pitch, _roll, yaw = airsim.to_eularian_angles(
airsim.Quaternionr(*orientation))
client.moveToPositionAsync(
*position,
args.flight_velocity,
drivetrain=airsim.DrivetrainType.MaxDegreeOfFreedom,
yaw_mode=airsim.YawMode(is_rate=False, yaw_or_rate=yaw),
).join()
client.hoverAsync().join()
time.sleep(2)
def _fly_path2(client: airsim.MultirotorClient, path: List[Vector3r],
velocity: float, timeout_sec: float) -> None:
# NOTE testing changes to _fly_path (the same FIXMEs apply)
assert len(path) >= 2
first_point, *middle_points, final_point = [
Vec3.from_Vector3r(waypoint) for waypoint in path
]
client.moveToPositionAsync(*first_point, velocity, timeout_sec).join()
for next_pos, next_next_pos in zip(middle_points,
middle_points[1:] + [final_point]):
future = client.moveToPositionAsync(*next_pos, velocity, timeout_sec)
curr_pos = Vec3.from_Vector3r(client.simGetVehiclePose().position)
while not Vec3.all_close(curr_pos, next_pos,
eps=CONFIRMATION_DISTANCE):
curr_pos = Vec3.from_Vector3r(client.simGetVehiclePose().position)
time.sleep(WAIT_TIME)
# TODO Interpolate between "no slowdown" before the next waypoint
# and a "full stop" if the turning angle is too high:
#
# No stop ... Full stop
#
# curr next next_next curr next
# o -------> o -------> o o -------> o
# \___/ ... \__ |
# θ = 180 θ = 90 |
# v
# o
# next_next
curr_to_next = next_pos - curr_pos
next_to_next_next = next_next_pos - next_pos
theta = Vec3.angle_between(curr_to_next, next_to_next_next)
ff.log_debug(f"θ = {theta}")
if theta > 1.0:
client.cancelLastTask()
future = client.moveToPositionAsync(*next_pos, 1, timeout_sec)
future.join()
time.sleep(0.2)
client.moveToPositionAsync(*final_point, velocity, timeout_sec).join()
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.z is not None and args.z > 0:
print("Warning: AirSim uses NED coordinates, meaning +z is down")
print(" (to fly upwards use negative z values)\n")
state = client.getMultirotorState()
start_pos = {
'NED': get_NED_coords(client, state),
'UE4': get_UE4_coords(client, state)
} # obs.: UE4's PlayerStart coordinates correspond to ~(0, 0, 0) in AirSim's NED system
coords_format = "({:.2f} {:.2f} {:.2f})"
print("Starting position (NED): {}".format(coords_format).format(
*start_pos['NED']))
if args.verbose:
print("Starting position (UE4): {}".format(coords_format).format(
*start_pos['UE4']))
if args.relative:
if args.z is None:
args.z = 0
xyz = tuple(
sum(axis)
for axis in zip(start_pos['NED'], (args.x, args.y, args.z)))
else:
if args.z is None:
args.z = start_pos['NED'][2] # keep the same altitude
xyz = (args.x, args.y, args.z)
if state.landed_state == airsim.LandedState.Landed:
print(f"\nlanded_state = {state.landed_state} (Landed)")
print("[ff] Taking off... ", end="", flush=True)
client.takeoffAsync().join()
print("done.")
else:
# NOTE .exe environments seem to always return Landed
print(f"\nlanded_state = {state.landed_state} (Flying)")
client.hoverAsync().join()
if args.teleport:
print("[ff] Teleporting to {}... ".format(coords_format).format(*xyz),
end="",
flush=True)
pose = airsim.Pose()
pose.position = airsim.Vector3r(*xyz)
client.simSetVehiclePose(pose, ignore_collision=True)
time.sleep(4) # wait a few seconds after teleporting
else:
print("[ff] Moving to {}... ".format(coords_format).format(*xyz),
end="",
flush=True)
client.moveToPositionAsync(*xyz, args.velocity).join()
print("done.")
print(f"[ff] Hovering for {args.wait_sec} seconds... ", end="", flush=True)
client.hoverAsync().join()
time.sleep(args.wait_sec)
print("done.\n")
state = client.getMultirotorState()
print("[ff] Ending position (NED): {}".format(coords_format).format(
*get_NED_coords(client, state)))
if args.verbose:
print("[ff] Ending position (UE4): {}".format(coords_format).format(
*get_UE4_coords(client, state)))
def teleport(client: airsim.MultirotorClient,
to: Pose,
ignore_collision: bool = True) -> None:
# HACK see https://github.com/Microsoft/AirSim/issues/1618#issuecomment-689152817
client.simSetVehiclePose(to, ignore_collision)
client.moveToPositionAsync(*ff.to_xyz_tuple(to.position), velocity=1)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
initial_pose = client.simGetVehiclePose()
if args.verbose:
ff.print_pose(initial_pose, airsim.to_eularian_angles)
ff.log(client.simGetCameraInfo(camera_name=CAPTURE_CAMERA))
if args.flush or (args.capture_dir and not args.debug):
client.simFlushPersistentMarkers()
camera_poses = []
for camera in args.trajectory:
position = convert_uavmvs_to_airsim_position(
camera.position, translation=args.offset, scaling=args.scale
)
orientation = quaternion_orientation_from_eye_to_look_at(position, LOOK_AT_TARGET)
camera_poses.append(Pose(position, orientation))
if args.debug:
camera_positions = [pose.position for pose in camera_poses]
client.simPlotPoints(camera_positions, Rgba.Blue, is_persistent=True)
client.simPlotLineStrip(camera_positions, Rgba.Cyan, thickness=2.5, is_persistent=True)
airsim_record = []
def do_stuff_at_uavmvs_viewpoint(i, pose):
nonlocal client, camera_poses, airsim_record
log_string = f"({i}/{len(camera_poses)})"
p, q = pose.position, pose.orientation
if args.debug:
log_string += f" position = {to_xyz_str(p)}"
client.simPlotTransforms([pose], scale=100, is_persistent=True)
# client.simPlotArrows([p], [LOOK_AT_TARGET], Rgba.White, thickness=3.0, duration=10)
elif args.capture_dir:
path = f"{args.prefix}pose{args.suffix}_{i:0{len(str(len(camera_poses)))}}.png"
path = os.path.join(args.capture_dir, path)
airsim.write_png(path, AirSimImage.get_mono(client, CAPTURE_CAMERA))
log_string += f' saved image to "{path}"'
record_line = AirSimRecord.make_line_string(p, q, time_stamp=str(i), image_file=path)
airsim_record.append(record_line)
ff.log(log_string)
if IS_CV_MODE:
for i, camera_pose in enumerate(camera_poses):
client.simSetVehiclePose(camera_pose, ignore_collision=True)
do_stuff_at_uavmvs_viewpoint(i, camera_pose)
time.sleep(CV_SLEEP_SEC)
else:
client.moveToZAsync(z=-10, velocity=VELOCITY).join() # XXX avoid colliding on take off
client.hoverAsync().join()
mean_position_error = 0.0
for i, camera_pose in enumerate(camera_poses):
client.moveToPositionAsync(
*to_xyz_tuple(camera_pose.position),
velocity=VELOCITY,
drivetrain=DrivetrainType.MaxDegreeOfFreedom,
yaw_mode=YawMode(is_rate=False, yaw_or_rate=YAW_N),
).join()
with pose_at_simulation_pause(client) as real_pose:
# NOTE when we pre-compute the viewpoint's camera orientation, we use the
# expected drone position, which (should be close, but) is not the actual
# drone position. Hence, we could experiment with using fake orientation:
# quaternion_orientation_from_eye_to_look_at(real_pose.position, LOOK_AT_TARGET)
fake_pose = Pose(real_pose.position, camera_pose.orientation)
client.simSetVehiclePose(fake_pose, ignore_collision=True)
client.simContinueForFrames(1) # NOTE ensures pose change
do_stuff_at_uavmvs_viewpoint(i, fake_pose)
client.simSetVehiclePose(real_pose, ignore_collision=True)
position_error = real_pose.position.distance_to(camera_pose.position)
mean_position_error += position_error
ff.log_debug(f"{position_error = }")
mean_position_error /= len(camera_poses)
ff.log_debug(f"{mean_position_error = }")
if airsim_record:
print_to_file = args.record_path is not None
file = open(args.record_path, "w") if print_to_file else None
print(AirSimRecord.make_header_string(), file=(file if print_to_file else sys.stdout))
for line in airsim_record:
print(line, file=(file if print_to_file else sys.stdout))
if print_to_file:
file.close()
ff.log_info(f'Saved AirSim record to "{args.record_path}"')
class Drone(Thread):
def __init__(self, telemetry: Telemetry):
super(Drone, self).__init__()
self.daemon = True
self._exit = False
self.telemetry = telemetry
self.client: Optional[MultirotorClient] = None
self.connect()
self.controller = Controller(self.client, self.telemetry)
self.collision_type = CollisionType.NONE
def run(self):
while not self._exit:
try:
self._process()
except BufferError:
pass
except KeyboardInterrupt:
self.shutdown()
def _process(self):
self.update_telemetry()
if self.is_collision():
self.process_collision()
elif self.telemetry.collision_mode:
self.stop_collision()
else:
self.controller.check_progress()
time.sleep(0.1)
def shutdown(self):
self._exit = True
self.client.enableApiControl(False)
self.client.reset()
def connect(self):
self.client = MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.getBarometerData()
# region TELEMETRY
def update_telemetry(self):
multirotor_state = self.client.getMultirotorState()
self.telemetry.landed_state = multirotor_state.landed_state
self.telemetry.ned_position = multirotor_state.kinematics_estimated.position
self.telemetry.linear_velocity = multirotor_state.kinematics_estimated.linear_velocity
self.telemetry.gps_position = self.client.getGpsData().gnss.geo_point
self.telemetry.gps_home = self.client.getHomeGeoPoint()
self.telemetry.quaternion = self.client.simGetVehiclePose().orientation
self.get_front_camera_image()
self.get_bottom_camera_image()
def get_bottom_camera_image(self):
self.client.simSetCameraOrientation('0',
Quaternionr(0.0, -0.7, 0.0, 0.5))
bottom_camera_data = self.client.simGetImages([
airsim.ImageRequest("0",
airsim.ImageType.DepthPlanner,
pixels_as_float=True)
])
self.telemetry.terrain_collision.process_image(bottom_camera_data[0])
def get_front_camera_image(self):
self.client.simSetCameraOrientation('0',
Quaternionr(0.0, 0.0, 0.0, 1.0))
front_camera_data = self.client.simGetImages([
airsim.ImageRequest("0",
airsim.ImageType.DepthPlanner,
pixels_as_float=True)
])
self.telemetry.wall_collision.process_image(front_camera_data[0])
# endregion
# region COLLISION
def is_collision(self):
collision = (self.telemetry.wall_collision.collision
or self.telemetry.terrain_collision.collision)
return collision
def process_collision(self):
wall_collision = self.telemetry.wall_collision.collision
terrain_collision = self.telemetry.terrain_collision.collision
if wall_collision:
if terrain_collision:
self.wall_collision()
self.collision_type = CollisionType.BOTH
else:
self.wall_collision()
self.collision_type = CollisionType.WALL
else:
if terrain_collision:
self.terrain_collision()
self.collision_type = CollisionType.TERRAIN
else:
self.collision_type = CollisionType.NONE
def wall_collision(self):
if (self.collision_type != CollisionType.WALL
and self.collision_type != CollisionType.BOTH):
self.telemetry.collision_mode = True
self.client.moveToZAsync(-500, settings.COLLISION_SPEED)
def terrain_collision(self):
if self.collision_type != CollisionType.TERRAIN:
if self.telemetry.ned_position.z_val < -8:
self.telemetry.collision_mode = True
target = self.telemetry.target_position
actual = self.telemetry.ned_position
self.client.moveToPositionAsync(target.x_val, target.y_val,
actual.z_val - 1,
settings.COLLISION_SPEED)
def stop_collision(self):
self.controller.send_position()
self.telemetry.collision_mode = False
