def AddTraffic(self, idx, home, rng, brng, alt, speed, heading, crate,
transmitter="GroundTruth",delay=0.0):
"""
Add a simulated virtual traffic vehicle to the simulation environment
:param idx: traffic vehicle id
:param home: home position (lat [deg], lon [deg], alt [m])
:param rng: starting distance from home position [m]
:param brng: starting bearing from home position [deg], 0 is North
:param alt: starting altitude [m]
:param speed: traffic speed [m/s]
:param heading: traffic heading [deg], 0 is North
:param crate: traffic climbrate [m/s]
:param transmitter: A Transmitter to send V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no Transmitter
"""
tx = rng*np.sin(brng*np.pi/180)
ty = rng*np.cos(brng*np.pi/180)
tz = alt
tvx = speed*np.sin(heading*np.pi/180)
tvy = speed*np.cos(heading*np.pi/180)
tvz = crate
traffic = UamVtolSim(idx, home, tx, ty, tz, tvx, tvy, tvz)
traffic.InputCommand(heading, speed, crate)
traffic.delay = delay
self.tfList.append(traffic)
# Create a transmitter for V2V communications
traffic.transmitter = get_transmitter(transmitter, idx, self.comm_channel)
return traffic
def __init__(self,
home_pos,
callsign="SPEEDBIRD",
vehicleID=0,
verbose=1,
logRateHz=5,
fasttime=True,
simtype="UAS_ROTOR",
monitor="DAIDALUS",
daaConfig="data/DaidalusQuadConfig.txt"):
"""
Initialize pycarous
:param fasttime: when fasttime is True, simulation will run in fasttime
:param simtype: string defining vehicle model: UAS_ROTOR, UAM_VTOL, ...
:param monitor: string defining DAA module: DAIDALUS, ACAS, ...
:param daaConfig: DAA module configuration file
Other parameters are defined in parent class, see IcarousInterface.py
"""
super().__init__(home_pos, callsign, vehicleID, verbose)
self.simType = "pycarous"
self.fasttime = fasttime
if self.fasttime:
self.currTime = 0
else:
self.currTime = time.time()
# Initialize vehicle sim
if simtype == "UAM_VTOL":
from vehiclesim import UamVtolSim
self.ownship = UamVtolSim(self.vehicleID, home_pos)
elif simtype == "UAS_ROTOR":
from vehiclesim import QuadSim
self.ownship = QuadSim(self.vehicleID, home_pos)
elif simtype == "UAM_SPQ":
from vehiclesim import SixPassengerQuadSim
self.ownship = SixPassengerQuadSim(self.vehicleID, home_pos)
# Merger data
self.arrTime = None
self.logLatency = 0
self.prevLogUpdate = 0
self.localMergeFixes = []
# Flight plan data
self.flightplan1 = []
self.flightplan2 = []
self.etaFP1 = False
self.etaFP2 = False
self.nextWP1 = 1
self.nextWP2 = 1
self.plans = []
self.localPlans = []
self.activePlan = "Plan0"
self.numSecPlan = 0
self.repair = False
# Geofence data
self.fences = []
self.localFences = []
self.numFences = 0
# Other aircraft data
self.daaConfig = daaConfig
self.emergbreak = False
self.daa_radius = 0
self.turnRate = 0
self.fphases = -1
self.land = False
self.ditch = False
self.loopcount = 0
self.windFrom = 0.0
self.windSpeed = 0.0
self.defaultWPSpeed = 1.0
self.mergeLogs = {}
self.intersectionID = -2
self.arrData = None
opts = {}
opts['callsign'] = self.callsign
opts['daaConfig'] = self.daaConfig
opts['daaLog'] = True
opts['verbose'] = verbose
opts['vehicleID'] = self.vehicleID
self.core = AutonomyStack(opts)
def __init__(self, home_pos, callsign="SPEEDBIRD", vehicleID=0, verbose=1,
logRateHz=5, fasttime=True, simtype="UAS_ROTOR",
monitor="DAIDALUS", daaConfig="data/DaidalusQuadConfig.txt"):
"""
Initialize pycarous
:param fasttime: when fasttime is True, simulation will run in fasttime
:param simtype: string defining vehicle model: UAS_ROTOR, UAM_VTOL, ...
:param monitor: string defining DAA module: DAIDALUS, ACAS, ...
:param daaConfig: DAA module configuration file
Other parameters are defined in parent class, see IcarousInterface.py
"""
super().__init__(home_pos, callsign, vehicleID, verbose)
self.simType = "pycarous"
self.fasttime = fasttime
if self.fasttime:
self.currTime = 0
else:
self.currTime = time.time()
# Initialize vehicle sim
if simtype == "UAM_VTOL":
from vehiclesim import UamVtolSim
self.ownship = UamVtolSim(self.vehicleID, home_pos)
elif simtype == "UAS_ROTOR":
from vehiclesim import QuadSim
self.ownship = QuadSim(self.vehicleID, home_pos)
elif simtype == "UAM_SPQ":
from vehiclesim import SixPassengerQuadSim
self.ownship = SixPassengerQuadSim(self.vehicleID, home_pos)
# Initialize ICAROUS apps
self.Cog = Cognition(self.callsign)
self.Guidance = Guidance(GuidanceParam())
self.Geofence = GeofenceMonitor([3, 2, 2, 20, 20])
self.Trajectory = Trajectory(self.callsign)
self.tfMonitor = TrafficMonitor(self.callsign, daaConfig, False, monitor)
self.Merger = Merger(self.callsign, self.vehicleID)
# Merger data
self.arrTime = None
self.logLatency = 0
self.prevLogUpdate = 0
self.mergerLog = LogData()
self.localMergeFixes = []
# Fligh plan data
self.flightplan1 = []
self.flightplan2 = []
self.etaFP1 = False
self.etaFP2 = False
self.nextWP1 = 1
self.nextWP2 = 1
self.plans = []
self.localPlans = []
self.activePlan = "Plan0"
self.numSecPlan = 0
# Geofence data
self.fences = []
self.localFences= []
self.numFences = 0
# Other aircraft data
self.guidanceMode = GuidanceMode.NOOP
self.emergbreak = False
self.daa_radius = 0
self.turnRate = 0
self.fphases = -1
self.land = False
self.ditch = False
self.loopcount = 0
#teste
self.fp = []