def update():
global reward, idx_mc, reset_bool, connected, obs, prev_obs, done_count, final_obs, done, delete_dict
if connected:
# Bluesky first timestep starts with update step, so use the reset_bool to determine wheter a reset has occured or not. Then create environment agents.
if reset_bool:
#Randomize starting location depending on boundaries in settings.
aclat = np.random.rand(settings.n_ac) * (settings.max_lat - settings.min_lat) + settings.min_lat
aclon = np.random.rand(settings.n_ac) * (settings.max_lon - settings.min_lon) + settings.min_lon
achdg = np.random.randint(1, 360, settings.n_ac)
acalt = np.ones(settings.n_ac) * 7620
# acspd = np.ones(settings.n_ac) * 300
print('Created ', str(settings.n_ac), ' random aircraft, resetted!')
traf.create(n=settings.n_ac, aclat=aclat, aclon=aclon, achdg=achdg, #360 * np.random.rand(1)
acspd=150, acalt=acalt, actype='B777')#settings.acspd)
reset_bool = False
return
# print('After action HDG: ' + str(traf.hdg[0]))
obs = calc_state()
reward, done = calc_reward()
for agent_id in done.keys():
if done[agent_id] and not delete_dict[agent_id]:
traf.delete(traf.id2idx(agent_id))
print('Deleted ', agent_id)
done_count += 1
final_obs[agent_id] = obs[agent_id]
delete_dict[agent_id] = True
idx_mc += 1
client_mc.log_returns(eid, reward, done, info=[])
if idx_mc == 500 or done_count == settings.n_ac:
for agent_id in done.keys():
if not done[agent_id]:
final_obs[agent_id] = obs[agent_id]
print('total reward', reward)
print('Done with Episode: ', eid)
client_mc.end_episode(eid, final_obs)
sim.reset()
def update(self):
if not self.connected:
return
# t1 = time.time()
if settings.opensky_ownonly:
states = self.get_states(ownonly=True)
if states is None:
return
else:
# Get states from OpenSky. If all states fails try getting own states only.
states = self.get_states()
if states is None:
if self.authenticated:
states = self.get_states(ownonly=True)
if states is None:
return
# Current time
curtime = time.time()
# States contents:
icao24, acid, orig, time_pos, last_contact, lon, lat, geo_alt, on_gnd, \
spd, hdg, vspd, sensors, baro_alt, squawk, spi, pos_src = states[:17]
# Relevant params as numpy arrays
lat = np.array(lat, dtype=np.float64)
lon = np.array(lon, dtype=np.float64)
alt = np.array(baro_alt, dtype=np.float64)
hdg = np.array(hdg, dtype=np.float64)
vspd = np.array(vspd, dtype=np.float64)
spd = np.array(spd, dtype=np.float64)
acid = np.array([i.strip() for i in acid], dtype=np.str_)
icao24 = np.array(icao24, dtype=np.str_)
idx = np.array(traf.id2idx(acid))
# Split between already existing and new aircraft
newac = idx == -1
other = np.logical_not(newac)
# Filter out invalid entries
valid = np.logical_not(np.logical_or.reduce(
[np.isnan(x) for x in [lat, lon, alt, hdg, vspd, spd]]))
newac = np.logical_and(newac, valid)
other = np.logical_and(other, valid)
n_new = np.count_nonzero(newac)
n_oth = np.count_nonzero(other)
# t2 = time.time()
# Create new aircraft
if n_new:
actype = [actypes.get(str(i), 'B744') for i in icao24[newac]]
traf.create(n_new, actype, alt[newac], spd[newac], None,
lat[newac], lon[newac], hdg[newac], acid[newac])
self.my_ac[-n_new:] = True
# t3 = time.time()
# Update the rest
if n_oth:
traf.move(idx[other], lat[other], lon[other], alt[other], hdg[other], \
spd[other], vspd[other])
self.upd_time[idx[other]] = curtime
# t4 = time.time()
# remove aircraft with no message for less than 1 minute
# opensky already filters
delidx = np.where(np.logical_and(self.my_ac, curtime - self.upd_time > 10))[0]
if len(delidx) > 0:
traf.delete(delidx)
def update(self):
if not self.connected:
return
# t1 = time.time()
# Get states from OpenSky. If all states fails try getting own states only.
states = self.get_states()
if states is None:
if self.authenticated:
states = self.get_states(ownonly=True)
if states is None:
return
# Current time
curtime = time.time()
# States contents:
icao24, acid, orig, time_pos, last_contact, lon, lat, geo_alt, on_gnd, \
spd, hdg, vspd, sensors, baro_alt, squawk, spi, pos_src = states[:17]
# Relevant params as numpy arrays
lat = np.array(lat, dtype=np.float64)
lon = np.array(lon, dtype=np.float64)
alt = np.array(baro_alt, dtype=np.float64)
hdg = np.array(hdg, dtype=np.float64)
vspd = np.array(vspd, dtype=np.float64)
spd = np.array(spd, dtype=np.float64)
acid = np.array([i.strip() for i in acid], dtype=np.str_)
icao24 = np.array(icao24, dtype=np.str_)
idx = np.array(traf.id2idx(acid))
# Split between already existing and new aircraft
newac = idx == -1
other = np.logical_not(newac)
# Filter out invalid entries
valid = np.logical_not(np.logical_or.reduce(
[np.isnan(x) for x in [lat, lon, alt, hdg, vspd, spd]]))
newac = np.logical_and(newac, valid)
other = np.logical_and(other, valid)
n_new = np.count_nonzero(newac)
n_oth = np.count_nonzero(other)
# t2 = time.time()
# Create new aircraft
if n_new:
actype = [actypes.get(str(i), 'B744') for i in icao24[newac]]
traf.create(n_new, actype, alt[newac], spd[newac], None,
lat[newac], lon[newac], hdg[newac], acid[newac])
self.my_ac[-n_new:] = True
# t3 = time.time()
# Update the rest
if n_oth:
traf.move(idx[other], lat[other], lon[other], alt[other], hdg[other], \
spd[other], vspd[other])
self.upd_time[idx[other]] = curtime
# t4 = time.time()
# remove aircraft with no message for less than 1 minute
# opensky already filters
delidx = np.where(np.logical_and(self.my_ac, curtime - self.upd_time > 10))[0]
if len(delidx) > 0:
traf.delete(delidx)
def update():
global connected, reset_bool, done, done_count, delete_dict, idx_mc, obs
# global reward, idx_mc, reset_bool, connected, obs, prev_obs, done_count, final_obs, done, delete_dict
if connected:
# Bluesky first timestep starts with update step, so use the reset_bool to determine wheter a reset has
# occured or not. Then create environment agents.
if reset_bool:
# Randomize starting location depending on boundaries in settings.
aclat, aclon = latlon_randomizer(settings)
achdg = np.random.randint(1, 360, settings.n_ac)
acalt = np.ones(settings.n_ac) * 5000 * ft
# Create equal distribution of destinations
dest_idx = destination_creator(settings)
# print('Heading destination', dest_hdg)
# print('Destination idx', dest_idx)
# dest_idx = np.random.randint(3, size=settings.n_ac) + 1
if not settings.evaluate:
print('Created ', str(settings.n_ac),
' random aircraft, resetted!')
traf.create(
n=settings.n_ac,
aclat=aclat,
aclon=aclon,
achdg=achdg, # 360 * np.random.rand(1)
acspd=250 * kts,
acalt=acalt,
actype='B737-800',
dest=dest_idx) # settings.acspd)
ilsgate('garbage')
reset_bool = False
# n_ac_neighbours = 1
return
# Calculate observations, current amount of n_ac_neighbours and info dict. Info dict is used in the centralized
# variant to correctly insert other agent actions.
obs, n_ac_neighbours, info = calc_state()
# Calculate reward depending on current obs, and check if episode/agents are done.
reward, done = calc_reward(n_ac_neighbours)
# Delete agents that are set to done.
for agent_id in done.keys():
if agent_id in delete_dict:
if done[agent_id] and not delete_dict[agent_id]:
traf.delete(traf.id2idx(agent_id))
print('Deleted ', agent_id)
done_count += 1
delete_dict[agent_id] = True
# Track nr of timesteps
idx_mc += 1
save_metrics()
# Return observations and rewards
client_mc.log_returns(eid, reward, info, done)
# Check if episode is done either by horizon or all a/c landed, but more likely crashed into each other.
if not settings.evaluate:
if idx_mc >= settings.max_timesteps or done_count >= (
settings.n_ac - settings.n_neighbours - 1):
print('Done with Episode: ', eid)
client_mc.end_episode(eid, obs)
time.sleep(0.5)
sim.reset()