def SetParametersFromFile(self, filename):
"""
Input ICAROUS parameters from a .parm text file
:param filename: path to .parm parameter file
"""
params = LoadIcarousParams(filename)
self.SetParameters(params)
def launch_arducopter(self):
waypoints,_,_ = ReadFlightplanFile(os.path.join(icarous_home,
self.scenario["waypoint_file"]))
start_point = ','.join(str(x) for x in waypoints[0][0:3]+[0])
# Set up parameters for SITL
sitl_param_file = self.scenario.get("sitl_parameter_file", sitl_default)
sitl_params = LoadIcarousParams(os.path.join(icarous_home, sitl_param_file))
icarous_param_file = self.scenario["parameter_file"]
icarous_params = LoadIcarousParams(os.path.join(icarous_home, icarous_param_file))
icarous_params.update(self.scenario["param_adjustments"])
sitl_params["WPNAV_SPEED"] = icarous_params["DEF_WP_SPEED"]*100
filename = "sitlparams-%d" % self.spacecraft_id
sitl_param_file = os.path.join(self.output_dir, filename)
with open(sitl_param_file, 'w') as f:
for param_id, param_value in sitl_params.items():
f.write("%-16s %f\n" % (param_id, param_value))
# Launch SITL
arguments = ["sim_vehicle.py", "-v", "ArduCopter",
"-l", str(start_point),
"--add-param-file", sitl_param_file,
"--use-dir", "sitl_files",
"-I", str(self.spacecraft_id)]
logname = "sitl-%d-%f.tlog" % (self.spacecraft_id, time.time())
logfile = os.path.join(self.output_dir, logname)
arguments += ["-m", "--logfile="+logfile]
subprocess.Popen(arguments, stdout=subprocess.DEVNULL)
if self.verbose:
print("Waiting several seconds to allow ArduCopter to start up")
time.sleep(60)
def RunScenario(scenario,
verbose=0,
fasttime=True,
use_python=False,
out=None,
output_dir="sim_output"):
"""
Run an ICAROUS scenario
:param scenario: dictionary defining scenario inputs
:param verbose: control printouts (0: none, 1: some, 2+: more)
:param fasttime: run simulation in fasttime (pycarous only)
:param use_python: run simulation with pycarous (override scenario inputs)
:param out: port number to forward MAVLink data for visualization
(use out=None to turn off MAVLink output)
:param output_dir: location to save log files
"""
# Clear out existing logs
ClearLogs(pycarous_log_dir)
ClearLogs(cFS_log_dir)
# Set python option for each vehicle
for v in scenario["vehicles"]:
if use_python:
v["python"] = True
if not v.get("python", scenario.get("python", False)):
fasttime = False
# Create simulation environment
sim_time_limit = scenario.get("time_limit", 1000)
sim = SimEnvironment(verbose=verbose,
fasttime=fasttime,
time_limit=sim_time_limit)
if "merge_fixes" in scenario:
sim.InputMergeFixes(os.path.join(icarous_home,
scenario["merge_fixes"]))
sim.AddWind(scenario.get("wind", [(0, 0)]))
sitl_running = False
# Add Icarous instances to simulation environment
num_vehicles = len(scenario["vehicles"])
for v in scenario["vehicles"]:
v = dict(list(scenario.items()) + list(v.items()))
cpu_id = v.get("cpu_id", len(sim.icInstances) + 1)
spacecraft_id = cpu_id - 1
callsign = v.get("name", "vehicle%d" % spacecraft_id)
fp_file = os.path.join(icarous_home, v["waypoint_file"])
HomePos = GetHomePosition(fp_file)
daa_file = os.path.join(icarous_home,
v.get("daa_file", default_daa_file))
# Initialize Icarous class
python = v.get("python", False)
if python:
os.chdir("../pycarous")
ic = Icarous(HomePos,
simtype="UAM_VTOL",
vehicleID=spacecraft_id,
callsign=callsign,
verbose=verbose,
fasttime=fasttime,
daaConfig=daa_file)
else:
sim.fasttime = False
try:
shutil.copyfile(daa_file,
icarous_exe + "/../ram/DaidalusQuadConfig.txt")
except shutil.SameFileError:
pass
apps = v.get("apps", default_apps)
sitl = v.get("sitl", False)
if sitl:
if "arducopter" not in apps:
apps.append("arducopter")
if "rotorsim" in apps:
apps.remove("rotorsim")
sitl_running |= sitl
ic = IcarousRunner(HomePos,
vehicleID=spacecraft_id,
callsign=callsign,
verbose=verbose,
apps=apps,
sitl=sitl,
out=out)
# Set parameters
param_file = os.path.join(icarous_home, v["parameter_file"])
params = LoadIcarousParams(param_file)
if v.get("param_adjustments"):
params.update(v["param_adjustments"])
params["RESSPEED"] = params["DEF_WP_SPEED"]
ic.SetParameters(params)
# Input flight plan
eta = v.get("eta", False)
ic.InputFlightplanFromFile(fp_file, eta=eta)
# Input geofences
if v.get("geofence_file"):
gf_file = os.path.join(icarous_home, v["geofence_file"])
ic.InputGeofence(gf_file)
# Input simulated traffic
for tf in v["traffic"]:
traf_id = num_vehicles + len(sim.tfList)
sim.AddTraffic(traf_id, HomePos, *tf)
delay = v.get("delay", 0)
time_limit = min(sim_time_limit, v.get("time_limit", sim_time_limit))
sim.AddIcarousInstance(ic, delay, time_limit)
# Run the simulation
sim.RunSimulation()
# Shut down SITL if necessary
if sitl_running:
subprocess.call(["pkill", "-9", "arducopter"])
subprocess.call(["pkill", "-9", "mavproxy"])
# Collect the log files
os.chdir(output_dir)
sim.WriteLog()
os.chdir(sim_home)
CollectLogs(pycarous_log_dir, output_dir)
CollectLogs(cFS_log_dir, output_dir)
def SetParametersFromFile(self,filename):
params = LoadIcarousParams(filename)
self.SetParameters(params)