def step(self, action):
# TODO Check if action is in action_space
# TODO return info - debug information
self.time_start("step", "start")
car_controls = fsds.CarControls()
car_controls.steering = action[0]
car_controls.throttle = 0
car_controls.brake = 0
if action[1] > 0:
car_controls.throttle = action[1]
else:
car_controls.brake = action[2]
self.client.setCarControls(car_controls)
network_thread = threading.Thread(target=self.getAllSimData_async)
network_thread.start()
# time.sleep(0.3)
#self.getAllSimData()
#print(self.kinematics)
#new_state = self.compute_state()
reward, done = self.compute_reward()
info = "" # TODO : Add timing data here
#return new_state.flatten(), reward, done, info
network_thread.join()
self.kinematics, self.kinematics, self.gps_data, self.lidar_data, self.referee_state, self.images, self.cones, self.lidar_pc, self.state = self.network_data
self.time_start("step", "finish")
#self.time_print()
self.log("reward : " + str(reward))
return self.state, reward, done, info
def main():
while True:
# 20 hz
#plt.pause(0.05)
#plt.clf()
#plt.axis([-cones_range_cutoff, cones_range_cutoff, -2, cones_range_cutoff])
cones = find_cones()
get_camera()
if len(cones) == 0:
continue
car_controls = fsds.CarControls()
car_controls.steering = calculate_steering(cones)
car_controls.throttle = calculate_throttle()
car_controls.brake = 0
client.setCarControls(car_controls)
def step(self, action):
# TODO Check if action is in action_space
# TODO return info - debug information
car_controls = fsds.CarControls()
car_controls.steering = action[0]
car_controls.throttle = 0
car_controls.brake = 0
if action[1] > 0:
car_controls.throttle = action[1]
else:
car_controls.brake = action[1] * -1
self.client.setCarControls(car_controls)
# time.sleep(0.3)
new_state = self.compute_state()
reward, done = self.compute_reward()
info = self.client.getCarState()
#return new_state.flatten(), reward, done, info
return new_state, reward, done, info
import time
import fsds
import numpy as np
# connect to the AirSim simulator
client = fsds.FSDSClient()
# Check network connection, exit if not connected
client.confirmConnection()
# After enabling api controll only the api can controll the car.
# Direct keyboard and joystick into the simulator are disabled.
client.enableApiControl(True)
# Data stucture for controlling the car
car_controls = fsds.CarControls()
# -1 is full steering left, +1 is full right, 0 is neutral
car_controls.steering = -0.7
# 0 is no throttle, 1 is full throttle
car_controls.throttle = 0
# 0 brake is no break, 1 is full break
car_controls.brake = 0
while (True):
# Get the car state
car_state = client.getCarState()
print('car speed (m/s): {0}'.format(car_state.speed))
