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| import airsimneurips | |
| import threading | |
| import time | |
| import random | |
| class ReproduceResetRaceCondition(): | |
| def __init__(self, drone_name = "drone_1"): | |
| self.airsim_client = airsimneurips.MultirotorClient() | |
| self.airsim_client_2 = airsimneurips.MultirotorClient() | |
| self.airsim_client_3 = airsimneurips.MultirotorClient() | |
| self.drone_name = drone_name | |
| self.is_thread_active = False | |
| self.min_episode_duration = 4.0 | |
| self.max_episode_duration = 10.0 | |
| self.thread_reset_episode = threading.Thread(target=self.repeat_timer, args=(self.reset_episode, self.min_episode_duration, self.max_episode_duration)) | |
| self.is_thread_active = False | |
| def repeat_timer(self, callback, period_min, period_max): | |
| while self.is_thread_active: | |
| callback() | |
| time.sleep(random.uniform(period_min, period_max)) | |
| def load_level(self, level_name, sleep_sec = 2.0): | |
| self.level_name = level_name | |
| self.airsim_client.simLoadLevel(self.level_name) | |
| self.airsim_client.confirmConnection() # failsafe | |
| time.sleep(sleep_sec) # let the environment load completely | |
| def start_race(self, tier): | |
| print(time.time(), 'called start race') | |
| self.airsim_client.simStartRace(tier) | |
| def reset_episode(self): | |
| print(time.time(), 'called reset, followed by simResetRace') | |
| self.airsim_client.reset() | |
| time.sleep(0.1) | |
| self.airsim_client.simResetRace() | |
| time.sleep(0.1) | |
| self.airsim_client.enableApiControl(vehicle_name=self.drone_name) | |
| self.airsim_client.arm(vehicle_name=self.drone_name) | |
| self.airsim_client.simStartRace(tier=1) | |
| def initialize_drone(self): | |
| self.airsim_client.enableApiControl(vehicle_name=self.drone_name) | |
| self.airsim_client.arm(vehicle_name=self.drone_name) | |
| # set default values for trajectory tracker gains | |
| traj_tracker_gains = airsimneurips.TrajectoryTrackerGains(kp_cross_track = 5.0, kd_cross_track = 0.0, | |
| kp_vel_cross_track = 3.0, kd_vel_cross_track = 0.0, | |
| kp_along_track = 0.4, kd_along_track = 0.0, | |
| kp_vel_along_track = 0.04, kd_vel_along_track = 0.0, | |
| kp_z_track = 2.0, kd_z_track = 0.0, | |
| kp_vel_z = 0.4, kd_vel_z = 0.0, | |
| kp_yaw = 3.0, kd_yaw = 0.1) | |
| self.airsim_client.setTrajectoryTrackerGains(traj_tracker_gains, vehicle_name=self.drone_name) | |
| time.sleep(0.2) | |
| def start_threads(self): | |
| if not self.is_thread_active: | |
| self.is_thread_active = True | |
| self.thread_reset_episode.start() | |
| print("Started threads") | |
| def stop_threads(self): | |
| if self.is_thread_active: | |
| self.is_thread_active = False | |
| self.thread_reset_episode.start() | |
| print("Stopped threads.") | |
| if __name__ == "__main__": | |
| reproducer = ReproduceResetRaceCondition('drone_1') | |
| reproducer.load_level('ZhangJiaJie_Medium') | |
| reproducer.initialize_drone() | |
| reproducer.start_race(3) | |
| time.sleep(5) | |
| reproducer.start_threads() | |
| time.sleep(3600) | |
| reproducer.stop_threads() |
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