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QuadrotorFlyTest.py
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QuadrotorFlyTest.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""This file is used for testing the QuadrotorFly
By xiaobo
Contact [email protected]
Created on 五月 06 17:13 2019
"""
# Copyright (C)
#
# This file is part of QuadrotorFly
#
# GWpy is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GWpy is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GWpy. If not, see <http://www.gnu.org/licenses/>.
import numpy as np
import QuadrotorFlyModel as Qfm
import QuadrotorFlyGui as Qfg
import MemoryStore
import matplotlib.pyplot as plt
from enum import Enum
import enum
import StateEstimator
import CamDown
import time
import cv2
"""
********************************************************************************************************
**-------------------------------------------------------------------------------------------------------
** Compiler : python 3.6
** Module Name: QuadrotorFlyTest
** Module Date: 2019/5/6
** Module Auth: xiaobo
** Version : V0.1
** Description: 'Replace the content between'
**-------------------------------------------------------------------------------------------------------
** Reversion :
** Modified By:
** Date :
** Content :
** Notes :
********************************************************************************************************/
"""
class TestPara(Enum):
Test_Module_Dynamic = enum.auto()
Test_Module_Dynamic_Sensor = enum.auto()
Test_Module_Dynamic_CamDown = enum.auto()
D2R = Qfm.D2R
testFlag = TestPara.Test_Module_Dynamic_Sensor
if testFlag == TestPara.Test_Module_Dynamic:
print("QuadrotorFly Dynamic Test: ")
# define the quadrotor parameters
uavPara = Qfm.QuadParas()
# define the simulation parameters
simPara = Qfm.QuadSimOpt(init_mode=Qfm.SimInitType.rand,
init_att=np.array([10., 10., 0]), init_pos=np.array([0, 3, 0]))
# define the data capture
record = MemoryStore.DataRecord()
record.clear()
# define the first uav
quad1 = Qfm.QuadModel(uavPara, simPara)
# define the second uav
quad2 = Qfm.QuadModel(uavPara, simPara)
# gui init
gui = Qfg.QuadrotorFlyGui([quad1, quad2])
# simulation begin
for i in range(1000):
# set the reference
ref = np.array([0., 0., 1., 0.])
# update the first uav
stateTemp = quad1.observe()
action2, oil = quad1.get_controller_pid(stateTemp, ref)
quad1.step(action2)
# update the second uav
action2, oil2 = quad2.get_controller_pid(quad2.observe(), ref)
quad2.step(action2)
# gui render
gui.render()
# store data
record.buffer_append((stateTemp, action2))
# Data_recorder 0.3+ store episode data with independent deque
record.episode_append()
# draw result
data = record.get_episode_buffer()
bs = data[0]
ba = data[1]
t = range(0, record.count)
fig1 = plt.figure(2)
plt.clf()
# draw position
plt.subplot(3, 1, 1)
plt.plot(t, bs[t, 6] / D2R, label='roll')
plt.plot(t, bs[t, 7] / D2R, label='pitch')
plt.plot(t, bs[t, 8] / D2R, label='yaw')
plt.ylabel('Attitude $(\circ)$', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
# draw position
plt.subplot(3, 1, 2)
plt.plot(t, bs[t, 0], label='x')
plt.plot(t, bs[t, 1], label='y')
plt.ylabel('Position (m)', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
# draw altitude
plt.subplot(3, 1, 3)
plt.plot(t, bs[t, 2], label='z')
plt.ylabel('Altitude (m)', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
plt.show()
elif testFlag == TestPara.Test_Module_Dynamic_Sensor:
# from QuadrotorFly import QuadrotorFlyModel as Qfm
q1 = Qfm.QuadModel(Qfm.QuadParas(), Qfm.QuadSimOpt(init_mode=Qfm.SimInitType.fixed, enable_sensor_sys=True,
init_pos=np.array([5, -4, 0]), init_att=np.array([0, 0, 5])))
# init the estimator
s1 = StateEstimator.KalmanFilterSimple()
# set the init state of estimator
s1.reset(q1.state)
# simulation period
t = np.arange(0, 30, 0.01)
ii_len = len(t)
stateRealArr = np.zeros([ii_len, 12])
stateEstArr = np.zeros([ii_len, 12])
meaArr = np.zeros([ii_len, 3])
# set the bias
s1.gyroBias = q1.imu0.gyroBias
s1.accBias = q1.imu0.accBias
s1.magRef = q1.mag0.para.refField
print(s1.gyroBias, s1.accBias)
for ii in range(ii_len):
# wait for start
if ii < 100:
sensor_data1 = q1.observe()
_, oil = q1.get_controller_pid(q1.state)
action = np.ones(4) * oil
q1.step(action)
stateEstArr[ii] = s1.update(sensor_data1, q1.ts)
stateRealArr[ii] = q1.state
else:
sensor_data1 = q1.observe()
action, oil = q1.get_controller_pid(s1.state, np.array([0, 0, 3, 0]))
q1.step(action)
stateEstArr[ii] = s1.update(sensor_data1, q1.ts)
stateRealArr[ii] = q1.state
import matplotlib.pyplot as plt
plt.figure(1)
ylabelList = ['roll', 'pitch', 'yaw', 'rate_roll', 'rate_pit', 'rate_yaw']
for ii in range(6):
plt.subplot(6, 1, ii + 1)
plt.plot(t, stateRealArr[:, 6 + ii] / D2R, '-b', label='real')
plt.plot(t, stateEstArr[:, 6 + ii] / D2R, '-g', label='est')
plt.legend()
plt.ylabel(ylabelList[ii])
# plt.show()
ylabelList = ['p_x', 'p_y', 'p_z', 'vel_x', 'vel_y', 'vel_z']
plt.figure(2)
for ii in range(6):
plt.subplot(6, 1, ii + 1)
plt.plot(t, stateRealArr[:, ii], '-b', label='real')
plt.plot(t, stateEstArr[:, ii], '-g', label='est')
plt.legend()
plt.ylabel(ylabelList[ii])
plt.show()
elif testFlag == TestPara.Test_Module_Dynamic_CamDown:
import matplotlib.pyplot as plt
from QuadrotorFlyModel import QuadModel, QuadSimOpt, QuadParas, StructureType, SimInitType
D2R = np.pi / 180
video_write_flag = True
print("PID controller test: ")
uavPara = QuadParas(structure_type=StructureType.quad_x)
simPara = QuadSimOpt(init_mode=SimInitType.fixed, enable_sensor_sys=False,
init_att=np.array([5., -5., 0]), init_pos=np.array([5, -5, 0]))
quad1 = QuadModel(uavPara, simPara)
record = MemoryStore.DataRecord()
record.clear()
step_cnt = 0
# init the camera
cam1 = CamDown.CamDown(render_mode=CamDown.CamDownPara.Render_Mode_Gpu)
cam1.load_ground_img()
print('Load img completed!')
if video_write_flag:
v_format = cv2.VideoWriter_fourcc(*'MJPG')
out1 = cv2.VideoWriter('Data/img/test.avi', v_format, 1 / quad1.uavPara.ts, (cam1.imgVertical, cam1.imgHorizon))
for i in range(1000):
if i == 0:
time_start = time.time()
ref = np.array([0., 0., 3., 0.])
stateTemp = quad1.observe()
# get image
pos_0 = quad1.position * 1000
att_0 = quad1.attitude
img1 = cam1.get_img_by_state(pos_0, att_0)
# file_name = 'Data/img/test_' + str(i) + '.jpg'
# cv2.imwrite(file_name, img1)
if video_write_flag:
out1.write(img1)
action2, oil = quad1.get_controller_pid(stateTemp, ref)
print('action: ', action2)
action2 = np.clip(action2, 0.1, 0.9)
quad1.step(action2)
record.buffer_append((stateTemp, action2))
step_cnt = step_cnt + 1
time_end = time.time()
print('time cost:', str(time_end - time_start))
record.episode_append()
if video_write_flag:
out1.release()
print('Quadrotor structure type', quad1.uavPara.structureType)
# quad1.reset_states()
print('Quadrotor get reward:', quad1.get_reward())
data = record.get_episode_buffer()
bs = data[0]
ba = data[1]
t = range(0, record.count)
# mpl.style.use('seaborn')
fig1 = plt.figure(1)
plt.clf()
plt.subplot(3, 1, 1)
plt.plot(t, bs[t, 6] / D2R, label='roll')
plt.plot(t, bs[t, 7] / D2R, label='pitch')
plt.plot(t, bs[t, 8] / D2R, label='yaw')
plt.ylabel('Attitude $(\circ)$', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
plt.subplot(3, 1, 2)
plt.plot(t, bs[t, 0], label='x')
plt.plot(t, bs[t, 1], label='y')
plt.ylabel('Position (m)', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
plt.subplot(3, 1, 3)
plt.plot(t, bs[t, 2], label='z')
plt.ylabel('Altitude (m)', fontsize=15)
plt.legend(fontsize=15, bbox_to_anchor=(1, 1.05))
plt.show()