## adds the fsds package located the parent directory to the pyhthon path
sys.path.insert(0, os.path.abspath(os.path.join(os.getenv("HOME"), "Formula-Student-Driverless-Simulator/python")))
import fsds
import qlearn
import SimEnv
import datetime
import time
import argparse
parser = argparse.ArgumentParser(description='Q Learning based Optimal Control')
parser.add_argument("--name", help="Name of the checkpoints folder, defaults to timestamp", default=datetime.datetime.fromtimestamp(time.time()).isoformat())
args = parser.parse_args()
print(args)
# connect to the simulator
client = fsds.FSDSClient()
# Check network connection, exit if not connected
client.confirmConnection()
# After enabling setting trajectory setpoints via the api.
client.enableApiControl(True)
env = SimEnv.Env(client)
qlearn.start_learning(env, args.name)
def launch_simulator(self):
# Abort if simulator is already running
if self.simulation_process is not None:
print(400, 'Simulation already running.')
# Get team config
self.mission = MISSIONS[0] # request.json['mission']
self.track = TRACKS[0] # request.json['track']
# Create log file. Create logs directory if it does not exist
filename = 'logs/{}_{}_{}.txt'.format(
str(datetime.now().strftime("%d-%m-%Y_%H%M%S")), "DDQ",
self.mission)
simfilename = 'logs/{}_{}_{}_SIM.txt'.format(
str(datetime.now().strftime("%d-%m-%Y_%H%M%S")), "DDQ",
self.mission)
if not os.path.exists(os.path.dirname(filename)):
try:
os.makedirs(os.path.dirname(filename))
except OSError as exc: # Guard against race condition
if exc.errno != errno.EEXIST:
raise
# Write to log file
self.log_file = open(filename, 'w')
self.log("created logfile " + filename)
self.finished_signal_received = False
# Write team specific car settings to settings.json
#filename = os.path.realpath(os.path.dirname(__file__)) + '/../settings.json'
#with open(filename, 'w') as file:
# json.dump(self.team['car_settings'], file, sort_keys=True, indent=4, separators=(',', ': '))
proc = None
try:
# Launch Unreal Engine simulator
#proc = subprocess.Popen(['../simulator/FSDS.exe', '/Game/'+self.track+'?listen'])
simfile = open(simfilename, 'w')
proc = subprocess.Popen(
[self.executable, '/Game/' + self.track + '?listen'],
stdout=simfile)
time.sleep(15)
# Create connection with airsim car client
self.client = fsds.FSDSClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.getAllSimData()
self.compute_track_boundaries()
# Get referee state
self.doo_count = self.referee_state.doo_counter
self.lap_times = self.referee_state.laps
# Start referee state listener
#self.referee_state_timer = Timer(1.5, self.referee_state_listener)
#self.referee_state_timer.start()
self.simulation_process = proc
self.log('Launched simulator. {} {} {}'.format(
"DDQ", self.track, self.mission))
return {}
except Exception as e:
#e = sys.exc_info()[0]
print("Error while launching simulator", e)
print(e)
self.shutdown_process(proc)
exit(1)
raise