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quadrotor.py
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import numpy as np
from os import path
import rlschool
import sim
import time
import math
import random
class Quadrotor(object):
def __init__(self):
sim.simxFinish(-1)
self.clientID = None
self.forward_distance = 0 #前
self.back_distance = 0 #后
self.left_distance = 0 #左
self.right_distance = 0 #右
self.max_sensor_distance = 20 #右
self.train_flag = 1 #1=train,0=eval or test
self.test_goal_num = 9
self.target_position_handle = None #
self.step_size = 0.1
self.position = None
self.target_position = None
self.Quadricopter_target = None
self.start_connection()#连接
self.laser_sensors_init()
self.object_init()
self.get_position()
#self.close()
self.first_dis1 = cau_dis2(self.target_position, self.position)
#print(f"最初距离为{self.first_dis1}")
self.lastdis = self.first_dis1
def start_connection(self):
self.clientID = sim.simxStart('127.0.0.1',19997,True,True,5000,5) # start a connection
if self.clientID != -1:
print ('Connected to remote API server')
else:
print ('Failed connecting to remote API server')
def laser_sensors_init(self):
[returnCode, signalValue1] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime1',sim.simx_opmode_streaming)
[returnCode, signalValue2] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime2',sim.simx_opmode_streaming)
[returnCode, signalValue3] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime3',sim.simx_opmode_streaming)
[returnCode, signalValue4] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime4',sim.simx_opmode_streaming)
time.sleep(0.1)
def read_laser_sensors(self):
[returnCode_1, signalValue1] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime1',sim.simx_opmode_buffer)
self.forward_distance = sim.simxUnpackFloats(signalValue1)[1] if (returnCode_1 == 0) else self.max_sensor_distance
[returnCode_2, signalValue2] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime2',sim.simx_opmode_buffer)
self.back_distance = sim.simxUnpackFloats(signalValue2)[1] if (returnCode_2 == 0) else self.max_sensor_distance
[returnCode_3, signalValue3] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime3',sim.simx_opmode_buffer)
self.left_distance = sim.simxUnpackFloats(signalValue3)[1] if (returnCode_3 == 0) else self.max_sensor_distance
[returnCode_4, signalValue4] = sim.simxGetStringSignal(self.clientID,'measuredDataAtThisTime4',sim.simx_opmode_buffer)
self.right_distance = sim.simxUnpackFloats(signalValue4)[1] if (returnCode_4 == 0) else self.max_sensor_distance
def object_init(self):
if(self.train_flag):
gogogo = random.randint(1,8)
goal_name = 'Goal' + str(gogogo)
else:
gogogo = self.test_goal_num
goal_name = 'Goal' + str(gogogo)
self.test_goal_num += 1
if(self.test_goal_num == 13):
self.test_goal_num = 9
print(goal_name,end='')
err_code, self.target_position_handle = sim.simxGetObjectHandle(self.clientID, goal_name, sim.simx_opmode_blocking)
if err_code != sim.simx_return_ok:
print("Something is wrong!!!")
ret, self.target_position = sim.simxGetObjectPosition(self.clientID, self.target_position_handle, -1, sim.simx_opmode_blocking)
if ret != sim.simx_return_ok:
print("Something is wrong!!!")
err_code, self.Quadricopter_target = sim.simxGetObjectHandle(self.clientID,"Quadricopter_target", sim.simx_opmode_blocking)
def step(self, action):
#判断是否结束游戏，给出奖励
u = np.argmax(action) + 1
if(u == 1):
self.go_forward()
elif(u == 2):
self.go_back()
elif(u == 3):
self.go_left()
elif(u == 4):
self.go_right()
time.sleep(0.1)
'''
step1:判断有没有到达目的地
'''
self.get_position()
self.read_laser_sensors()
dis = cau_dis2(self.position,self.target_position)
if(dis < 0.51):
costs = 500
return self._get_obs(), costs, True, {}
'''
step2:判断有没有十分接近墙壁，如果贴近就危险
'''
if( dis > 19.8 ):
costs = -500
#print("太远了!!!")
return self._get_obs(), costs, True, {}
#print(self.lastdis,dis)
costs = (math.pow((20 - dis), 2) - math.pow((20 - self.lastdis), 2))
#(self.lastdis - dis) * 100
self.lastdis = dis
#print(action, costs)
return self._get_obs(), costs, False, {}
def reset(self):
self.stopflag = sim.simxStopSimulation(self.clientID, sim.simx_opmode_blocking)
time.sleep(4)
self.startflag = sim.simxStartSimulation(self.clientID, sim.simx_opmode_blocking)
#time.sleep(1)
self.laser_sensors_init()
self.object_init()
self.get_position()
self.read_laser_sensors()
self.first_dis1 = cau_dis2(self.target_position, self.position)
self.lastdis = self.first_dis1
print(f" 最初距离为{self.first_dis1}")
return self._get_obs()
'''
def _get_obs(self):
return np.array([(self.target_position[0] - self.position[0]), (self.target_position[1] - self.position[1]),
self.forward_distance, self.back_distance, self.left_distance, self.right_distance
] )
'''
def _get_obs(self):
return np.array([(self.target_position[0] - self.position[0]), (self.target_position[1] - self.position[1])])
def get_position(self):
ret, self.position = sim.simxGetObjectPosition(self.clientID, self.Quadricopter_target, -1, sim.simx_opmode_blocking)
if ret != sim.simx_return_ok:
print("Something is wrong!!!")
def go_forward(self):
sim.simxSetObjectPosition(
self.clientID, self.Quadricopter_target, -1,
[self.position[0] + self.step_size, self.position[1], self.position[2]],
sim.simx_opmode_oneshot
)
def go_back(self):
sim.simxSetObjectPosition(
self.clientID, self.Quadricopter_target, -1,
[self.position[0] - self.step_size, self.position[1], self.position[2]],
sim.simx_opmode_oneshot
)
def go_left(self):
sim.simxSetObjectPosition(
self.clientID, self.Quadricopter_target, -1,
[self.position[0], self.position[1] + self.step_size, self.position[2]],
sim.simx_opmode_oneshot
)
def go_right(self):
sim.simxSetObjectPosition(
self.clientID, self.Quadricopter_target, -1,
[self.position[0], self.position[1] - self.step_size, self.position[2]],
sim.simx_opmode_oneshot
)
def close(self):
sim.simxGetPingTime(self.clientID)
self.stopflag = sim.simxStopSimulation(self.clientID, sim.simx_opmode_blocking)
#sim.simxStopSimulation(self.clientID, sim.simx_opmode_oneshot)
sim.simxFinish(self.clientID)
def cau_dis1(pos1,pos2):
return math.sqrt( math.pow(pos1[0] - pos2[0], 2) + math.pow(pos1[1] - pos2[1], 2))
def cau_dis2(pos1,pos2):
return abs(pos1[0] - pos2[0]) + abs(pos1[1] - pos2[1])