def test_posctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_posctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
# prepare flight path
positions = (
(0,0,0),
(2,2,2),
(2,-2,2),
(-2,-2,2),
(2,2,2))
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, 2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
def test_clients():
manual_input = ManualInput()
client = DonkeyClient(address=(host, port))
client.collecting = False
client.hardReset()
client.initCar()
client.reset()
client.collecting = True
client.telemetrie = []
while len(client.telemetrie) < 10:
time.sleep(0.1)
last_printed_index = 0
while True:
if manual_input.q == 1:
client.collecting = False
break
current_telemetrie = client.telemetrie[len(client.telemetrie) - 1]
manual_input.loop(current_telemetrie.img)
if (len(client.telemetrie) % 20 == 0):
index = len(client.telemetrie)
if last_printed_index != index:
print(current_telemetrie.pos_x, ",", current_telemetrie.pos_y,
",", current_telemetrie.pos_z)
last_printed_index = index
if manual_input.e == 1:
th1 = 0.8
if fabs(current_telemetrie.cte) > 0.5:
th1 = 0.2
elif fabs(current_telemetrie.cte) > 1:
th1 = 0.5
elif fabs(current_telemetrie.cte) > 2:
th1 = 0.3
client.send_controls(-current_telemetrie.cte / 2.0, th1)
else:
client.send_controls(manual_input.st, manual_input.th)
with open(telemetry_data + str(time.time_ns()) + '.pk',
'wb') as episode_file:
episode_file.write(zlib.compress(pickle.dumps(client.telemetrie)))
time.sleep(1.0)
client.stop()
def __init__(self, vae):
self.stackSize = 2
self.latent_dim = vae.zsize
self.vae = vae
self.client = DonkeyClient(address=(host, port))
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
# stacked self.stackSize latest observations images encoded = latent_dim(picture) + (steering + throttle + speed) + (accel x,y,z) + gyro (x,y,z,w)
self.observation_space = spaces.Box(
low=0.0,
high=1.0,
shape=(self.stackSize, self.latent_dim + 3 + 3 + 4 + 3),
dtype=np.float32)
self.seed()
self.index = 0
self.manual_input = None
if enable_manual_input_during_training:
self.manual_input = ManualInput()
self.reward_accumulator = 1
def test_posctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_posctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed,
"flag_armed is not set after 2 seconds")
# prepare flight path
positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2))
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1],
positions[i][2], 120)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while (count < timeout):
if (not self.is_at_position(2, 2, 2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
def test_attctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_attctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set after 2 seconds")
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
quaternion = quaternion_from_euler(0.15, 0.15, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
throttle.data = 0.6
# does it cross expected boundaries in X seconds?
count = 0
timeout = 120
while(count < timeout):
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pubAtt.publish(att)
self.pubThr.publish(throttle)
if (self.localPosition.pose.position.x > 5
and self.localPosition.pose.position.z > 5
and self.localPosition.pose.position.y < -5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to cross boundaries")
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed, self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
def test_manual_input(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/actuator_armed', actuator_armed,
self.actuator_armed_callback)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
man_in = ManualInput()
# Test arming
man_in.arm()
self.assertEquals(self.actuator_status.armed, True, "did not arm")
# Test posctl
man_in.posctl()
self.assertTrue(self.control_mode.flag_control_position_enabled,
"flag_control_position_enabled is not set")
# Test offboard
man_in.offboard()
self.assertTrue(self.control_mode.flag_control_offboard_enabled,
"flag_control_offboard_enabled is not set")
def test_attctl(self):
# FIXME: this must go ASAP when arming is implemented
manIn = ManualInput()
manIn.arm()
manIn.offboard_attctl()
self.assertTrue(self.arm(), "Could not arm")
self.rateSec.sleep()
self.rateSec.sleep()
self.assertTrue(self.controlMode.flag_armed,
"flag_armed is not set after 2 seconds")
# set some attitude and thrust
att = PoseStamped()
att.header = Header()
att.header.frame_id = "base_footprint"
att.header.stamp = rospy.Time.now()
quaternion = quaternion_from_euler(0.15, 0.15, 0)
att.pose.orientation = Quaternion(*quaternion)
throttle = Float64()
throttle.data = 0.6
# does it cross expected boundaries in X seconds?
count = 0
timeout = 120
while (count < timeout):
# update timestamp for each published SP
att.header.stamp = rospy.Time.now()
self.pubAtt.publish(att)
self.pubThr.publish(throttle)
if (self.localPosition.pose.position.x > 5
and self.localPosition.pose.position.z > 5
and self.localPosition.pose.position.y < -5):
break
count = count + 1
self.rate.sleep()
self.assertTrue(count < timeout, "took too long to cross boundaries")
def test_posctl(self):
manIn = ManualInput()
# arm and go into offboard
manIn.arm()
manIn.offboard()
self.assertTrue(self.controlMode.flag_armed, "flag_armed is not set")
self.assertTrue(self.controlMode.flag_control_offboard_enabled, "flag_control_offboard_enabled is not set")
self.assertTrue(self.controlMode.flag_control_position_enabled, "flag_control_position_enabled is not set")
# prepare flight path
positions = (
(0,0,0),
(2,2,-2),
(2,-2,-2),
(-2,-2,-2),
(2,2,-2))
# flight path assertion
self.fpa = FlightPathAssertion(positions, 1, 0)
self.fpa.start()
for i in range(0, len(positions)):
self.reach_position(positions[i][0], positions[i][1], positions[i][2], 120)
self.assertFalse(self.fpa.failed, "breached flight path tunnel (%d)" % i)
# does it hold the position for Y seconds?
positionHeld = True
count = 0
timeout = 50
while(count < timeout):
if(not self.is_at_position(2, 2, -2, 0.5)):
positionHeld = False
break
count = count + 1
self.rate.sleep()
self.assertTrue(count == timeout, "position could not be held")
self.fpa.stop()
class RLEnv(gym.Env):
def __init__(self, vae):
self.stackSize = 2
self.latent_dim = vae.zsize
self.vae = vae
self.client = DonkeyClient(address=(host, port))
self.action_space = spaces.Box(low=np.array([-1, -1]),
high=np.array([1, 1]),
dtype=np.float32)
# stacked self.stackSize latest observations images encoded = latent_dim(picture) + (steering + throttle + speed) + (accel x,y,z) + gyro (x,y,z,w)
self.observation_space = spaces.Box(
low=0.0,
high=1.0,
shape=(self.stackSize, self.latent_dim + 3 + 3 + 4 + 3),
dtype=np.float32)
self.seed()
self.index = 0
self.manual_input = None
if enable_manual_input_during_training:
self.manual_input = ManualInput()
self.reward_accumulator = 1
def step(self, action):
"""
:param action: (np.ndarray)
:return: (np.ndarray, float, bool, dict)
"""
if self.manual_input is not None and len(self.client.telemetrie) > 2:
self.manual_input.loop(
self.client.telemetrie[len(self.client.telemetrie) - 1].img)
throttle = action[1] # * 0.35 + 0.65
throttle = min(1, throttle + 0.5) # bias forward
steering = action[0]**3 # make steering exponential
if self.manual_input is not None:
printstr = str(throttle) + " " + str(steering) + " "
if self.manual_input.th == 1:
throttle = 1
steering = 0
if self.manual_input.th == -1:
throttle = -1
if self.manual_input.st == 1:
steering = 1
if self.manual_input.st == -1:
steering = -1
if self.manual_input.e == 1:
print(printstr, throttle, steering)
steering = steering
self.client.send_controls(steering, throttle)
return self.observe(steering, throttle)
def reset(self, soft=True):
if soft:
self.client.softReset()
else:
self.client.reset()
observation, reward, done, info = self.observe()
return observation
def get_observation(self, data=None, index=None):
if index is None:
while len(self.client.telemetrie
) < self.stackSize or self.index == len(
self.client.telemetrie) - 1:
time.sleep(0.01)
index = len(self.client.telemetrie) - 1
if self.index + 3 < index:
print("lost frames " + str(index - self.index - 1))
self.index = index
if data is None:
data = self.client.telemetrie
if data[index].obs is not None:
return data[index].obs, index
stack = data[index - self.stackSize + 1:index + 1]
imgs = np.asarray([o.img for o in stack])
tele = np.asarray([[
o.steering_angle, o.throttle, o.speed / 40.0, o.accel_x / 20.0,
o.accel_y / 20.0, o.accel_z / 20.0, o.gyro_x, o.gyro_y, o.gyro_z,
o.gyro_w, o.euler[0], o.euler[1], o.euler[2]
] for o in stack])
z = self.vae.encode_to_z_numpy(imgs)
imgEncoded = z # self.vae.encode(imgs).numpy()
obs = np.concatenate([imgEncoded, tele], axis=1)
data[index].obs = obs
del imgEncoded
del tele
del imgs
del stack
del data
return obs, index
def observe(self, steering=0, throttle=0):
observation, index = self.get_observation()
reward = calc_reward(self.client.telemetrie, index, steering, throttle)
self.reward_accumulator = self.reward_accumulator * 0.9 + reward * 0.1
done = index > 100 and (self.reward_accumulator < 0
or self.client.telemetrie[index].speed < 2)
if done:
reward = -1
info = {
"telemetry":
self.client.telemetrie[index],
"action":
np.asarray([
self.client.telemetrie[index].steering_angle,
self.client.telemetrie[index].throttle
])
}
return observation, reward, done, info
def close(self):
self.client.stop()
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
