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implementation_simu.py
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import matplotlib as mpl
from FLS import FLS
from FlightPattern import FlightPattern
from Controller import Controller
from util import *
from config import Config
# matplotlib.use('TkAgg')
# mpl.use('macosx')
def run_LAX(fls_num, config, iteration, c_step, speed_error, heading_error, delta, fresh_rate=True,
wirte_traj=0, max_step=float('inf')):
normal_vector = config.normal_vector / np.linalg.norm(config.normal_vector)
flight_pattern = FlightPattern(config.center, config.radius, config.dist_to_opening, config.v_Dest,
config.slot_num, config.time_step, normal_vector)
# init_formation = generate_points(-config.spaceconfig, config.spaceconfig, -config.spaceconfig, config.spaceconfig,
# config.init_altitudeconfig, config.init_altitudeconfig, fls_num, 2 * config.fls_sizeconfig)
init_formation = np.array([[0, 0, 0.0], [-1, 0, 0.], [0, -1, 0.0], [-1, -1, 0.0], [0, 1, 0.0]])
# slot_assignment = flight_pattern.assign_slot(fls_num)
# slot_assignment = flight_pattern.assign_slot(fls_num, [0, 3, 1, 2, 4])
# Initialize swarm with flss
flss = [FLS(i, init_formation[i], [np.random.uniform(0, 2 * np.pi), np.random.uniform(0, 2 * np.pi)], 0,
config.time_step, [1.5, 0], [1, 1], slot_ID=-1) for i in range(fls_num)]
ctrller = Controller(flss, flight_pattern, config.time_step, delta)
# ctrller.predict_slots(config.v_Dest)
def update_control(config, show_animation=False, axis=None):
# ctrller.update_FLS_swarm(config)
end_flag, deltas = ctrller.update_FLSs_linear_fp(config, speed_error, heading_error, c_step)
# positions = swarm.get_positions()
if show_animation and axis is not None:
paths = ctrller.get_paths()
slots = ctrller.get_slots()
axis.cla()
# draw_cylinder(axis, config.center, config.radius, 20)
for i, path in enumerate(paths):
path = np.array(path)
axis.plot(path[:, 0], path[:, 1], path[:, 2], linewidth=2, alpha=0.8) # Draw the path
if ctrller.flss[i].state == StateTypes.SYNC:
axis.scatter(path[-1, 0], path[-1, 1], path[-1, 2], s=20, c='g')
elif ctrller.flss[i].state == StateTypes.EXIT:
axis.scatter(path[-1, 0], path[-1, 1], path[-1, 2], s=20, c='c')
elif ctrller.flss[i].state.value >= StateTypes.END.value:
axis.scatter(path[-1, 0], path[-1, 1], path[-1, 2], s=20, c='r')
else:
axis.scatter(path[-1, 0], path[-1, 1], path[-1, 2], s=20, c='b') # Draw FLSs
# draw_sphere(ax, path[-1], config.fls_size, 'b', 0.6)
axis.scatter(slots[0:, 0], slots[0:, 1], slots[0:, 2], c='c', marker='o')
# for slot_pos in slots:
# draw_ring(axis, slot_pos, config.fls_size, 0.03, 'c', alpha=0.6)
# starting_point = config.center
# end_point = starting_point + config.normal_vector
# x_values = [starting_point[0], end_point[0]]
# y_values = [starting_point[1], end_point[1]]
# z_values = [starting_point[2], end_point[2]]
# axis.plot(x_values, y_values, z_values, label='Vector', color='blue')
axis.set_xlim(-config.space, config.space)
axis.set_ylim(-config.space, config.space)
axis.set_zlim(0, (config.center[2] + config.dist_to_opening) * 1.1)
# axis.set_xlabel('X', fontname='Times New Roman')
# axis.set_ylabel('Y', fontname='Times New Roman')
# axis.set_zlabel('Z', fontname='Times New Roman')
axis.set_aspect('equal', adjustable='box')
ax.view_init(elev=30, azim=180, roll=0)
axis.grid(True)
axis.xaxis.pane.set_alpha(0.0)
axis.yaxis.pane.set_alpha(0.0)
# axis.zaxis.pane.set_alpha(0.0)
# axis.xaxis.line.set_color((1.0, 1.0, 1.0, 0.0))
# axis.yaxis.line.set_color((1.0, 1.0, 1.0, 0.0))
# axis.zaxis.line.set_color((1.0, 1.0, 1.0, 0.0))
# Hide axes ticks
axis.set_xticks([])
axis.set_yticks([])
axis.set_zticks([])
# axis.quiver(0.5, 0.0, 0.5, 0.5, 0, 0, color='red', arrow_length_ratio=0.1, label='X')
# axis.quiver(0.5, 0.0, 0.5, 0, 1.0, 0, color='green', arrow_length_ratio=0.1, label='Y')
# axis.quiver(0.5, 0.0, 0.5, 0, 0, 0.5, color='blue', arrow_length_ratio=0.1, label='Z')
# print(f"Dist To Destination: {np.linalg.norm(slots[0] - positions[0]):.2f}")
positions = ctrller.get_positions()
colliding_counter = get_collision_num(positions, 2 * config.fls_size)
# metrics = ctrller.get_behavior()
# print(f"D: {metrics[0]:.2f}, P: {metrics[1]:.2f}, M: {metrics[2]:.2f}, Collisions: {colliding_counter}")
return end_flag, colliding_counter, positions, deltas
if fresh_rate > 0:
fig = plt.figure()
fig.suptitle(f'Slot Speed: {config.v_Dest:.1f}, Radius: {config.radius:.1f}')
manager = plt.get_current_fig_manager()
manager.full_screen_toggle()
ax = fig.add_subplot(111, projection='3d')
time_lable = fig.text(0.1, 0.9, f"Time: {0:.2f}", fontsize=12, color='k')
collision_lable = fig.text(0.1, 0.8, f"Collisions: {0:.0f}", fontsize=16, color='k')
deltas = [None for _ in flss]
# speed_label = fig.text(0.1, 0.25,
# f" FLS 1: {flss[0].velocity:.2f}m/s\n{deltas[0]}\n FLS 2: {flss[1].velocity:.2f}m/s\n{deltas[1]}\n FLS 3: {flss[2].velocity:.2f}m/s\n{deltas[2]}\n "
# f"FLS 4: {flss[3].velocity:.2f}m/s\n{deltas[3]}\n FLS 5: {flss[4].velocity:.2f}m/s\n{deltas[4]}",
# fontsize=12, color='k', fontname='Times New Roman')
step = 0
end_flag = False
traj_file_name = f'./results/traj_{config.v_Dest:.1f}_{config.speed_range[0]:.1f}_{config.radius:.1f}_test.csv'
if wirte_traj > 0:
positions = ctrller.get_positions_full()
write_tractory(traj_file_name, positions,
f'{step * config.time_step:.2f}')
quit_num = 0
while quit_num < len(flss):
if step == iteration:
for fID in range(len(flss)):
flss[fID].land()
elif step > iteration:
quit_count = 0
for fls in flss:
if fls.state == StateTypes.QUIT:
quit_count += 1
quit_num = max([quit_count, quit_num])
step += 1
if step >= max_step:
step = float('inf')
break
collisions = 0
if fresh_rate > 0 and (step % fresh_rate) == 0:
end_flag, collisions_num, positions, new_deltas = update_control(config, True, ax)
collisions = max([collisions_num, collisions])
time_lable.set_text(f"Time: {step * config.time_step:.2f}")
collision_lable.set_text(f"Collisions: {collisions_num:.0f}")
# for i in range(len(deltas)):
# if new_deltas[i] is None:
# continue
#
# if deltas[i] is None or (deltas[i] == ' ' and new_deltas[i] != ' ') or (
# deltas[i] != ' ' and new_deltas[i] == ' ' and flss[i].velocity > 0):
# deltas[i] = new_deltas[i]
# #
# speed_label.set_text(
# f"FLS 1: {flss[0].velocity:.2f} m/s\n{deltas[0]}\n\n FLS 2: {flss[1].velocity:.2f} m/s\n{deltas[1]}\n\n FLS 3: {flss[2].velocity:.2f} m/s\n{deltas[2]}\n\n "
# f"FLS 4: {flss[3].velocity:.2f} m/s\n{deltas[3]}\n\n FLS 5: {flss[4].velocity:.2f} m/s\n{deltas[4]}")
# print(flss[0].velocity, f"Time: {step * config.time_step:.2f}")
# draw_opening(ax, np.array([1.01, 0.63, 1]), 0.06, color='dimgrey', alpha=0.8)
# fig.savefig(f'./results/frames/{step:.0f}.png', dpi=300)
plt.draw()
plt.pause(config.time_step)
else:
end_flag, collisions_num, positions, _ = update_control(config)
collisions = max([collisions_num, collisions])
if wirte_traj and (step % wirte_traj) == 0:
skip_list = []
# for fls in flss:
# if fls.state == StateTypes.DYN and fls.velocity == 0:
# skip_list.append(fls.ID)
positions = ctrller.get_positions_full()
write_tractory(traj_file_name, positions,
f'{step * config.time_step:.2f}', skip_list)
if fresh_rate > 0:
plt.show()
plt.close('all')
return step, collisions
if __name__ == "__main__":
# params = {
# 'gamma_Acc': 0.25, 'd_v_0': 1.0, 'l_Acc': 2.5,
# 'gamma_z': 0.25, 'd_z_0': 1.25, 'a_z': 1.0, 'L_z_2': 1.75,
# 'gamma_Ali': 0.4, 'd_Ali_0': 1.0, 'l_Ali': 2.5, 'alpha_Ali': 1.0,
# 'gamma_Att': 0.25, 'd_Att_0': 1.25, 'l_Att': 2.75, 'alpha_Att': 1.0,
# 'gamma_perp': 0.5, 'gamma_parallel': 0.5, 'sigma_z': 1,
# 'gamma_w': 1.2, 'e_w1': 1.25, 'e_w2': 0.0, 'l_w': 2.5,
# 'center': np.array([0, 0, 0.8]), 'radius': 5, 'dist_to_opening': 0.2, 'normal_vector': np.array([0, 0, 1]),
# 'gamma_Dest_h': 2, 'gamma_Dest_v': 0.4, 'l_Dest': 3, 'alfa_Dest_d': 2, 'alfa_Dest_v': 1,
# 'v_Dest': 0.6, 'slot_num': 5,
# 'time_step': 1/30, 'fls_size': 0.15/2,
# 'path_policy': 0,
# 'space': 1.5, 'init_altitude': 0.1
# }
# init_formations = np.array([[5, 0, 10]])
fls_num = 5
duration = 1 #minutes
iterations = duration * 60 / Config.time_step
deltas = [0.1]
c_steps = [float('inf')]
errors = np.array([[0, 0]])
np.random.seed(4)
delta = 0.1
Config.center = [0, 0, 1.2]
opt_step, collisions = run_LAX(fls_num, Config, iterations, float('inf'), 0, 0, delta,
fresh_rate=Config.fresh_rate, wirte_traj=Config.wirte_traj)
print(f"Total Collision: {collisions}")