def ExchangeArrivalTimes(self):
""" Exchange V2V communications between the Icarous instances """
arrTimes = []
log = []
for ic in self.icInstances:
if ic.arrTime is not None:
arrTimes.append(ic.arrTime)
for arr in arrTimes:
fid = arr.intersectionID
if fid <= 0:
continue
avail = False
for g in log:
if fid == g[0].intersectionID:
avail = True
g.append(arr)
if not avail:
log.append([arr])
for lg in log:
if len(lg) == 0:
continue
datalog = LogData()
datalog.intersectionID = lg[0].intersectionID
datalog.nodeRole = 1
datalog.totalNodes = len(lg)
mg = MergerData * MAX_NODES
datalog.log = mg(*lg)
for ic in self.icInstances:
if ic.arrTime is None:
continue
if ic.arrTime.intersectionID == datalog.intersectionID:
ic.InputMergeLogs(datalog, self.commDelay)
def ExchangeV2VData(self):
""" Exchange V2V communications between the Icarous instances """
# Transmit all V2V data
for ic in self.icInstances:
# Do not broadcast if running SBN
if "SBN" in ic.apps:
continue
if not ic.missionStarted or ic.missionComplete:
continue
# broadcast position data to all other vehicles in the airspace
tfdata = V2Vdata("INTRUDER", {
"callsign": ic.callsign,
"pos": ic.position,
"vel": ic.velocity
})
ic.transmitter.transmit(self.current_time, ic.position, tfdata)
# Gather logs to be exchanged for merging activity
log = {}
for ic in self.icInstances:
if ic.arrTime is not None:
intsid = ic.arrTime.intersectionID
if intsid in log.keys():
log[intsid].append(ic.arrTime)
else:
log[intsid] = [ic.arrTime]
# Transmit all merger log data
for lg in log:
datalog = LogData()
datalog.intersectionID = log[lg][0].intersectionID
datalog.nodeRole = 1
datalog.totalNodes = len(log[lg])
mg = MergerData * MAX_NODES
datalog.log = mg(*log[lg])
for ic in self.icInstances:
# Do not broadcast if running SBN
if "SBN" in ic.apps:
continue
mergelog = V2Vdata("MERGER", datalog)
ic.transmitter.transmit(self.current_time, ic.position,
mergelog)
# Receive all V2V data
for ic in self.icInstances:
if not ic.missionStarted or ic.missionComplete:
continue
received_msgs = ic.receiver.receive(self.current_time, ic.position)
data = [m.data for m in received_msgs]
ic.InputV2VData(data)
self.comm_channel.flush()
def __init__(self, initialPos, simtype="UAS_ROTOR", vehicleID = 0,
fasttime = True, verbose=0,callsign = "SPEEDBIRD",
monitor="DAIDALUS",
daaConfig="data/DaidalusQuadConfig.txt"):
self.fasttime = fasttime
self.callsign = callsign
self.verbose = verbose
self.home_pos = [initialPos[0], initialPos[1], initialPos[2]]
self.traffic = []
if simtype == "UAM_VTOL":
self.ownship = VehicleSim(vehicleID,0.0,0.0,0.0,0.0,0.0,0.0)
else:
from quadsim import QuadSim
self.ownship = QuadSim()
self.vehicleID = vehicleID
self.Cog = Cognition(callsign)
self.Guidance = Guidance(GuidanceParam())
self.Geofence = GeofenceMonitor([3,2,2,20,20])
self.Trajectory = Trajectory(callsign)
self.tfMonitor = TrafficMonitor(callsign,daaConfig,False,monitor)
self.Merger = Merger(callsign,vehicleID)
# Aircraft data
self.flightplan1 = []
self.etaFP1 = False
self.etaFP2 = False
self.flightplan2 = []
self.controlInput = [0.0,0.0,0.0]
self.fenceList = []
self.guidanceMode = GuidanceMode.NOOP
# Merger
self.arrTime = None
self.logLatency = 0
self.prevLogUpdate = 0
self.mergerLog = LogData()
self.position = self.home_pos
self.velocity = [0.0,0.0,0.0]
self.trkgsvs = [0.0,0.0,0.0]
self.localPos = []
self.ownshipLog = {"t": [], "position": [], "velocityNED": [], "positionNED": [],
"trkbands": [], "gsbands": [], "altbands": [], "vsbands": [],
"localPlans": [], "localFences": [], "commandedVelocityNED": []}
self.trafficLog = {}
self.emergbreak = False
if self.fasttime:
self.currTime = 0
else:
self.currTime = time.time()
self.numSecPlan = 0
self.plans = []
self.fences = []
self.mergeFixes = []
self.localPlans = []
self.localFences= []
self.localMergeFixes = []
self.daa_radius = 0
self.startSent = False
self.nextWP1 = 1
self.nextWP2 = 1
self.numFences = 0
self.resSpeed = 0
self.defaultWPSpeed = 1
self.missionComplete = False
self.fphases = -1
self.land = False
self.activePlan = "Plan0"
self.windFrom = 0
self.windSpeed = 0
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 = []