class Simulator(object):
def __init__(self):
self._drone = SimpleVirtualDrone()
self._controller = SimpleController(self._drone, log=True)
self._loop = asyncio.get_event_loop()
#self._drone.set_init([0., 0., 0.], [0., 0., 1.])
self.started = asyncio.Future()
# self._AOO = []
# self._drone.dt = 5e-4
# self._drone.noise_z = 1e-10
@asyncio.coroutine
def run(self):
logger.info('starting simulation...')
yield from self._controller.arm()
self._loop.call_soon_threadsafe(
self._loop.create_task,
self._controller.start()
)
self.started.set_result(True)
logger.info('started.')
@asyncio.coroutine
def get_data(self):
pos = list(self._drone.pos)
ori = list(self._drone.rot.flatten())
# oori = ori[:, 2]
# self._AOO.append(self._drone.acc_sensor[2])
# self._AOO.append(oori)
return pos, ori
@asyncio.coroutine
def stop(self):
yield from self._controller.stop()
yield from self._drone.stop()
def __init__(self):
self._drone = SimpleVirtualDrone()
self._controller = SimpleController(self._drone, log=True)
self._loop = asyncio.get_event_loop()
#self._drone.set_init([0., 0., 0.], [0., 0., 1.])
self.started = asyncio.Future()
