diff --git a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc index 6d357e2..c725a5d 100644 Binary files a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc and b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/names.cpython-38.pyc differ diff --git a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc index 265e676..5acfa6d 100644 Binary files a/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc and b/src/ThirdP/rotors_simulator/rotors_gazebo/scripts/__pycache__/substitution_args.cpython-38.pyc differ diff --git a/src/avoidbench/avoid_manage/CMakeLists.txt b/src/avoidbench/avoid_manage/CMakeLists.txt index ec95fbe..b937001 100644 --- a/src/avoidbench/avoid_manage/CMakeLists.txt +++ b/src/avoidbench/avoid_manage/CMakeLists.txt @@ -58,6 +58,20 @@ target_link_libraries(avoid_manage_node stdc++fs ) +cs_add_library(rl_test + src/rl_test.cpp +) + +cs_add_executable(rl_test_node + src/avoid_manage_node.cpp +) + +target_link_libraries(rl_test_node + rl_test + ${OpenCV_LIBRARIES} + stdc++fs +) + catkin_install_python(PROGRAMS scripts/plot_metrics.py scripts/avoid_manage.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/src/avoidbench/avoid_manage/include/avoid_manage.hpp b/src/avoidbench/avoid_manage/include/avoid_manage.hpp index 3574507..b153f07 100644 --- a/src/avoidbench/avoid_manage/include/avoid_manage.hpp +++ b/src/avoidbench/avoid_manage/include/avoid_manage.hpp @@ -2,7 +2,7 @@ #pragma once #include - +#include // ros #include #include @@ -116,10 +116,12 @@ class AvoidManage { nav_msgs::Odometry drone_pose; int mission_id; int trial_id; + int maps_tried_id; std::string cfg_; quadrotor_common::QuadStateEstimate received_state_est_; std::vector iter_times; ros::Time mission_start_time; + std::string quad_name; // Flightmare(Unity3D) SceneID scene_id_{UnityScene::WAREHOUSE}; @@ -146,6 +148,8 @@ class AvoidManage { double baseline; bool perform_sgm_; std::vector env_range, env_origin; + + std::ofstream debug_out; void getMissionParam(avoidlib::mission_parameter* const m_param, const int &m_id); void resetGazebo(const Eigen::Vector3d &pos, const double yaw); diff --git a/src/avoidbench/avoid_manage/launch/pilot/iris.launch b/src/avoidbench/avoid_manage/launch/pilot/iris.launch new file mode 100644 index 0000000..677f95d --- /dev/null +++ b/src/avoidbench/avoid_manage/launch/pilot/iris.launch @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch b/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch index 66547f7..416556c 100644 --- a/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch +++ b/src/avoidbench/avoid_manage/launch/pilot/rotors_gazebo.launch @@ -98,15 +98,12 @@ + - - diff --git a/src/avoidbench/avoid_manage/launch/pilot/test_rl.launch b/src/avoidbench/avoid_manage/launch/pilot/test_rl.launch new file mode 100644 index 0000000..cc148c0 --- /dev/null +++ b/src/avoidbench/avoid_manage/launch/pilot/test_rl.launch @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/avoidbench/avoid_manage/params/task_indoor.yaml b/src/avoidbench/avoid_manage/params/task_indoor.yaml index 856850a..098e7ba 100644 --- a/src/avoidbench/avoid_manage/params/task_indoor.yaml +++ b/src/avoidbench/avoid_manage/params/task_indoor.yaml @@ -21,7 +21,7 @@ camera: height: 480 baseline: 0.12 pitch_angle_deg: 0.0 # camera pitch angle in degrees - perform_sgm: false + perform_sgm: true drone: length: 0.5 @@ -29,8 +29,8 @@ drone: flight_number: 30 mission: - seed: 32 - trials: 1 + seed: 28 + trials: 18 start_area: [16, 1.6] start_origin: [0, -1.8] radius_area: 3.0 diff --git a/src/avoidbench/avoid_manage/params/task_outdoor.yaml b/src/avoidbench/avoid_manage/params/task_outdoor.yaml index 771e06d..fc82bd7 100644 --- a/src/avoidbench/avoid_manage/params/task_outdoor.yaml +++ b/src/avoidbench/avoid_manage/params/task_outdoor.yaml @@ -29,9 +29,9 @@ drone: flight_number: 30 mission: - trials: 2 + trials: 28 # seed: 8 8 32 64 256 500 - seed: 32 #20 32 128 200 50 + seed: 128 #20 32 64 100 128 200 50 start_area: [40, 6.0] start_origin: [0, 3.0] radius_area: 3.5 diff --git a/src/avoidbench/avoid_manage/scripts/avoid_manage.py b/src/avoidbench/avoid_manage/scripts/avoid_manage.py index 30bdf6d..31beaf6 100644 --- a/src/avoidbench/avoid_manage/scripts/avoid_manage.py +++ b/src/avoidbench/avoid_manage/scripts/avoid_manage.py @@ -4,6 +4,7 @@ import sys import math import random +import time import numpy as np from enum import Enum from ruamel.yaml import YAML @@ -41,6 +42,7 @@ def __init__(self): self.iter_time = [] self.mission_id = 0 self.trial_id = 0 + self.maps_tried_id = 0 self.cv_bridge = CvBridge() self.loadParams() self.p_m = mission_parameter() @@ -279,6 +281,7 @@ def MissionProcess(self, event): self.force_hover_pub_.publish(hover) self.mission.cal_time = self.iter_time self.iter_time = [] + self.mission.trial_id = self.trial_id self.metrics.setMissions(self.mission) rospy.sleep(1.0) self.trial_id = self.trial_id + 1 @@ -318,7 +321,6 @@ def getMissionParam(self, m_id): random.seed(self.seed) self.get_seed = True rand = random.random() - print("rand: ", rand) if self.env_id == 3: area_id = random.randint(0, 3) @@ -359,6 +361,11 @@ def getMissionParam(self, m_id): self.if_update_map = True return print("update env") + # make sure every mission has the same complexity map when benchmark different algos + self.maps_tried_id = self.maps_tried_id+1 + random.seed(self.seed * self.maps_tried_id) + rand = random.random() + self.p_m.trials = self.trials_ self.p_m.m_radius = self.radius_origin + self.radius_area*rand self.p_m.m_seed = random.randint(0, 200) diff --git a/src/avoidbench/avoid_manage/src/.Rhistory b/src/avoidbench/avoid_manage/src/.Rhistory new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/avoid_manage/src/avoid_manage.cpp b/src/avoidbench/avoid_manage/src/avoid_manage.cpp index cc5c8b7..2b1ceb5 100644 --- a/src/avoidbench/avoid_manage/src/avoid_manage.cpp +++ b/src/avoidbench/avoid_manage/src/avoid_manage.cpp @@ -10,6 +10,7 @@ AvoidManage::AvoidManage(const ros::NodeHandle &nh, const ros::NodeHandle &pnh) start_time(0.0), mission_id(0), trial_id(0), + maps_tried_id(0), mission_state(Mission_state::PREPARING) { // load parameters if (!loadParams()) { @@ -121,7 +122,7 @@ void AvoidManage::RenderingCallback(const ros::TimerEvent &event) std_msgs::Bool colli; colli.data = collision_state; collision_info_pub_.publish(colli); - if(mission_state == Mission_state::MISSIONPROCESS) + if(mission_state == Mission_state::MISSIONPROCESS || mission_state == Mission_state::WAITMISSION) { if(last_collision_state==false && collision_state==true) { @@ -242,8 +243,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space int ss=0; - while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || - avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) + while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || + avoidbench_bridge->checkCollisionState(p_m.m_end_point)) { ss++; mission_state = Mission_state::UNITYSETTING; @@ -271,8 +272,8 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) //random generate start and end point until they both have a certain free space if_update_map = false; getMissionParam(&p_m, mission_id); - while(avoidbench_bridge->checkCollisionState(&(p_m.m_start_point), true) || - avoidbench_bridge->checkCollisionState(&(p_m.m_end_point))) + while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || + avoidbench_bridge->checkCollisionState(p_m.m_end_point)) { mission_state = Mission_state::UNITYSETTING; if_update_map = false; @@ -283,11 +284,9 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) // mission->reset(p_m); ros::Duration(5.0).sleep(); } - mission = std::make_shared(cfg_, p_m, mission_id); //reset the position of start point for gazebo resetGazebo(Eigen::Vector3d(p_m.m_start_point[0], p_m.m_start_point[1], p_m.m_start_point[2]), p_m.m_start_point[3]); - std::cout<<"start point: "<stop_flag) + if(mission->stop_flag || mission->collision_number >= 3) mission_state = Mission_state::GAZEBOSETTING; } @@ -351,6 +350,7 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) mission->cal_time = iter_times; iter_times.clear(); std::vector(iter_times).swap(iter_times); + mission->trial_id = trial_id; metrics->setMissions(mission); ros::Duration(1.0).sleep(); trial_id++; @@ -362,7 +362,7 @@ void AvoidManage::MissionCallback(const ros::TimerEvent &event) } else get_new_mission = false; - std::cout<<"mission_id: "< start_area, start_origin, end_area, end_origin; - static int trials_; + static int trials_, seed; if(!get_seed) { @@ -452,7 +452,7 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co end_origin = cfg["mission"]["end_origin"].as>(); radius_area = cfg["mission"]["radius_area"].as(); radius_origin = cfg["mission"]["radius_origin"].as(); - int seed = cfg["mission"]["seed"].as(); + seed = cfg["mission"]["seed"].as(); trials_ = cfg["mission"]["trials"].as(); srand(seed); get_seed = true; @@ -462,41 +462,41 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co { int area_id = std::rand()%4; if (area_id == 0) - m_param->m_start_point = {-start_area[0]/2.0f+start_area[0]*rand, + m_param->m_start_point = {start_area[1]-start_area[0]/2.0f+(start_area[0]-2*start_area[1])*rand, start_area[1]*rand, 2.0f, 0}; rand = (std::rand()%200)/200.0f; - m_param->m_end_point = {-end_area[0]/2.0f+end_area[0]*rand, + m_param->m_end_point = {end_area[1]-end_area[0]/2.0f+(end_area[0]-2*end_area[1])*rand, -end_area[1]*rand+end_origin[1], 2.0f+1.0f*rand}; if (area_id == 1) { m_param->m_start_point = {start_area[1]*rand-start_area[0]/2.0, - start_area[0]*rand, + (start_area[1] + (start_area[0]-2*start_area[1]))*rand, 2.0f, -M_PI/2.0}; rand = (std::rand()%200)/200.0f; m_param->m_end_point = {-end_area[1]*rand+end_area[0]/2, - end_area[0]*rand, + (end_area[1] + (end_area[0]-2*end_area[1]))*rand, 2.0f+1.0f*rand}; } if (area_id == 2) { - m_param->m_start_point = {-end_area[0]/2.0f+end_area[0]*rand, + m_param->m_start_point = {end_area[1]-end_area[0]/2.0f+(end_area[0]-2*end_area[1])*rand, -end_area[1]*rand+end_area[0], 2.0f, M_PI}; rand = (std::rand()%200)/200.0f; - m_param->m_end_point = {-start_area[0]/2.0f+start_area[0]*rand, + m_param->m_end_point = {start_area[1]-start_area[0]/2.0f+(start_area[0]-2*start_area[1])*rand, start_area[1]*rand, - 2.0f+1.0f*rand}; + 2.0f+1.0f*rand}; } if (area_id == 3) { m_param->m_start_point = {-end_area[1]*rand+end_area[0]/2, - end_area[0]*rand, + (end_area[1] + (end_area[0]-2*end_area[1]))*rand, 2.0f, M_PI/2.0}; rand = (std::rand()%200)/200.0f; m_param->m_end_point = {start_area[1]*rand-start_area[0]/2, - start_area[0]*rand, + (start_area[1] + (start_area[0]-2*start_area[1]))*rand, 2.0f+1.0f*rand}; } } @@ -517,10 +517,12 @@ void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, co if_update_map = true; return; } - m_param->trials =trials_; + maps_tried_id++; + srand(seed * maps_tried_id); // make sure every mission has the same complexity map when benchmark different algos + rand = (std::rand()%200)/200.0f; + m_param->trials = trials_; m_param->m_radius = radius_origin + radius_area*rand; m_param->m_seed = std::rand()%200; - rand = (std::rand()%200)/200.0f; m_param->m_opacity = rand; if(!save_data_mode) m_param->m_pc_file_name = cfg["mission"]["pc_file_name"].as()+std::to_string(m_id); @@ -542,8 +544,9 @@ bool AvoidManage::loadParams() { quadrotor_common::getParam("camera/fov", fov, pnh_); quadrotor_common::getParam("camera/width", width, pnh_); quadrotor_common::getParam("camera/height", height, pnh_); - quadrotor_common::getParam("camera/baseline", baseline); - quadrotor_common::getParam("camera/perform_sgm", perform_sgm_); + quadrotor_common::getParam("camera/baseline", baseline, pnh_); + quadrotor_common::getParam("camera/perform_sgm", perform_sgm_, pnh_); + pnh_.getParam("quad_name", quad_name); scene_id_ = env_id; return true; } diff --git a/src/avoidbench/avoid_manage/src/rl_test.cpp b/src/avoidbench/avoid_manage/src/rl_test.cpp new file mode 100644 index 0000000..f7240f7 --- /dev/null +++ b/src/avoidbench/avoid_manage/src/rl_test.cpp @@ -0,0 +1,584 @@ +#include "avoid_manage.hpp" + +namespace avoid_manage { + +AvoidManage::AvoidManage(const ros::NodeHandle &nh, const ros::NodeHandle &pnh) + : nh_(nh), + pnh_(pnh), + unity_ready_(false), + start_ok(false), + start_time(0.0), + mission_id(0), + trial_id(0), + mission_state(Mission_state::PREPARING) { + // load parameters + if (!loadParams()) { + ROS_WARN("[%s] Could not load all parameters.", + pnh_.getNamespace().c_str()); + } else { + ROS_INFO("[%s] Loaded all parameters.", pnh_.getNamespace().c_str()); + } + + if(scene_id_ == 3) + cfg_ = ros::package::getPath("avoid_manage") + "/params/task_outdoor.yaml"; + else if(scene_id_ == 1) + cfg_ = ros::package::getPath("avoid_manage") + "/params/task_indoor.yaml"; + + image_transport::ImageTransport it(nh); + left_pub = it.advertise("/rgb/left", 1); + if(perform_sgm_) + right_pub = it.advertise("/rgb/right", 1); + depth_pub = it.advertise("/depth", 1); + depth_cam_info_pub = nh_.advertise("camera_depth/camera/camera_info", 10); + pose_pub_ = nh_.advertise("autopilot/reset_reference_state", 10); + start_pub_ = nh_.advertise("autopilot/start", 1); + force_hover_pub_ = nh_.advertise("autopilot/force_hover", 1); + arm_pub_ = nh_.advertise("bridge/arm", 1); + goal_pub_ = nh_.advertise("goal_point", 10); + task_state_pub_ = nh_.advertise("task_state", 100); + avoid_metrics_pub_ = nh_.advertise("metrics", 10); + collision_info_pub_ = nh_.advertise("collision", 1); + // initialize subscriber call backs + gazebo_model_srv_ = nh_.serviceClient("/gazebo/set_model_state"); + + sub_state_est_ = nh_.subscribe("flight_pilot/state_estimate", 1, + &AvoidManage::poseCallback, this); + mission_start_sub_ = nh_.subscribe("mission_start", 10, + &AvoidManage::MissionFlagCallback, this); + iter_time_sub_ = nh_.subscribe("iter_time", 10, &AvoidManage::IterTimeCallback, this); + + if(save_data_mode) + { + save_pc_sub_ = nh_.subscribe("/pc_path", 1, &AvoidManage::SavePointcloudCallback, this); + training_period_sub = nh_.subscribe("training_state", 1, &AvoidManage::SavePointcloudCallback, this); + } + + render_loop_ = nh_.createTimer(ros::Rate(task_loop_freq_), &AvoidManage::RenderingCallback, this); + metrics_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &AvoidManage::MetricsLoopCallback, this); + task_loop_ = nh_.createTimer(ros::Rate(task_loop_freq_), &AvoidManage::MissionCallback, this); + mission_state_loop_ = nh_.createTimer(ros::Rate(120), &AvoidManage::MissionStateLoopCallback, this); + + avoidbench_bridge = std::make_shared(cfg_); + unity_init_ = true; + metrics = std::make_shared(cfg_); + mission_state = Mission_state::UNITYSETTING; +} + +AvoidManage::~AvoidManage() {} + +void AvoidManage::IterTimeCallback(const std_msgs::Float32::ConstPtr &msg) +{ + if(mission_state == Mission_state::MISSIONPROCESS || + mission_state == Mission_state::SENTMISSION || + mission_state == Mission_state::WAITMISSION) + { + iter_times.push_back(msg->data); + } +} + +void AvoidManage::SavePointcloudCallback(const avoid_msgs::PointCloudInfoConstPtr &msg) +{ + std::string curr_dir = msg->curr_dir; + Eigen::Vector3d range_, origin_; + + range_.x() = msg->range[0]; + range_.y() = msg->range[1]; + range_.z() = msg->range[2]; + + origin_.x() = msg->origin[0]; + origin_.y() = msg->origin[1]; + origin_.z() = msg->origin[2]; + avoidbench_bridge->getPointCloud(curr_dir, range_, origin_); +} + +void AvoidManage::TrainingStateCallback(const std_msgs::BoolConstPtr &msg) +{ + if_traning_period = msg->data; +} + +void AvoidManage::poseCallback(const nav_msgs::Odometry::ConstPtr &msg) { + + received_state_est_.orientation.x() = msg->pose.pose.orientation.x; + received_state_est_.orientation.y() = msg->pose.pose.orientation.y; + received_state_est_.orientation.z() = msg->pose.pose.orientation.z; + received_state_est_.orientation.w() = msg->pose.pose.orientation.w; + received_state_est_.position.x() = msg->pose.pose.position.x; + received_state_est_.position.y() = msg->pose.pose.position.y; + received_state_est_.position.z() = msg->pose.pose.position.z; + received_state_est_.velocity.x() = msg->twist.twist.linear.x; + received_state_est_.velocity.y() = msg->twist.twist.linear.y; + received_state_est_.velocity.z() = msg->twist.twist.linear.z; + received_state_est_.transformVelocityToWorldFrame(); + received_state_est_.timestamp = msg->header.stamp; + + debug_out.open(getenv("AVOIDBENCH_PATH") + std::string("/avoidmetrics/data/debug_out.txt"), + std::ios::out | std::ios::app); + std::string out_data; + out_data = std::to_string(received_state_est_.position.x()) + " " + + std::to_string(received_state_est_.position.y()) + " " + + std::to_string(received_state_est_.position.z()) + " " + + std::to_string(received_state_est_.velocity.x()) + " " + + std::to_string(received_state_est_.velocity.y()) + " " + + std::to_string(received_state_est_.velocity.z()) + " " + "\n"; + debug_out << out_data; + debug_out.close(); +} + +void AvoidManage::RenderingCallback(const ros::TimerEvent &event) +{ + if(unity_init_) + { + unity_ready_ = avoidbench_bridge->updateUnity(received_state_est_); + collision_state = avoidbench_bridge->getQuadCollisionState(); + std_msgs::Bool colli; + colli.data = collision_state; + collision_info_pub_.publish(colli); + if(mission_state == Mission_state::MISSIONPROCESS || mission_state == Mission_state::WAITMISSION) + { + if(last_collision_state==false && collision_state==true) + { + collision_happen = true; + } + } + cv::Mat depth, disparity, left, right; + ros::Time timestamp = ros::Time::now(); + if(perform_sgm_) + { + avoidbench_bridge->getImages(&left, &right, &depth, &disparity); + sensor_msgs::ImagePtr left_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", left).toImageMsg(); + left_msg->header.stamp = timestamp; + left_pub.publish(left_msg); + sensor_msgs::ImagePtr right_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", right).toImageMsg(); + right_msg->header.stamp = timestamp; + right_pub.publish(right_msg); + sensor_msgs::ImagePtr depth_msg = cv_bridge::CvImage(std_msgs::Header(), "mono16", depth).toImageMsg(); + depth_msg->header.stamp = timestamp; + depth_msg->header.frame_id = "camera_depth_optical_center_link"; + depth_pub.publish(depth_msg); + } + else + { + avoidbench_bridge->getImages(&left, &depth); + sensor_msgs::ImagePtr left_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", left).toImageMsg(); + left_msg->header.stamp = timestamp; + left_pub.publish(left_msg); + sensor_msgs::ImagePtr depth_msg = cv_bridge::CvImage(std_msgs::Header(), "32FC1", depth).toImageMsg(); + depth_msg->header.stamp = timestamp; + depth_msg->header.frame_id = "camera_depth_optical_center_link"; + depth_pub.publish(depth_msg); + } + + //publish camera info + sensor_msgs::CameraInfo cam_info; + std::vector D{0.0, 0.0, 0.0, 0.0, 0.0}; + boost::array K = {314.463, 0.0, 320.5, 0.0, 314.463, 240.5, 0.0, 0.0, 1.0}; + boost::array P = {314.463, 0.0, 320.5, -0.0, 0.0, 314.463, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0}; + boost::array R = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; + cam_info.height = height; + cam_info.width = width; + cam_info.distortion_model = "plumb_bob"; + cam_info.D = D; + cam_info.K = K; + cam_info.P = P; + cam_info.R = R; + cam_info.binning_x = 0; + cam_info.binning_y = 0; + cam_info.header.frame_id = "camera_depth_optical_center_link"; + cam_info.header.stamp = timestamp; + depth_cam_info_pub.publish(cam_info); + + last_collision_state = collision_state; + } +} + +void AvoidManage::MissionFlagCallback(const std_msgs::Empty::ConstPtr &msg) +{ + if((mission_state != Mission_state::UNITYSETTING) && + mission_state != Mission_state::GAZEBOSETTING) + mission_state = Mission_state::MISSIONPROCESS; +} + +void AvoidManage::MetricsLoopCallback(const ros::TimerEvent &event) { + if(!unity_ready_) + return; + start_time = ros::Time::now().toSec(); + if(!start_ok) + { + ros::Duration(2.0).sleep(); + std_msgs::Bool if_arm_; + if_arm_.data = true; + std_msgs::Empty takeoff; + arm_pub_.publish(if_arm_); + start_pub_.publish(takeoff); + start_ok = true; + MetricsThread(); + } +} + +bool AvoidManage::TakeoffSuccess() +{ + if(received_state_est_.position.z()>1.15 && abs(received_state_est_.velocity.z())<0.05) + return true; + else + return false; +} + +void AvoidManage::MetricsThread() +{ + metrics->run(); + ROS_INFO("task end"); + avoid_metrics_pub_.publish(metrics->getMetricsMsg()); +} + +void AvoidManage::MissionCallback(const ros::TimerEvent &event) +{ + static std::shared_ptr mission; + static avoidlib::mission_parameter p_m; + if(if_traning_period) return; + + if(mission_state == Mission_state::UNITYSETTING) + { + if(get_new_mission) + { + std::cout<<"get new mission"<setParamFromMission(p_m); + // avoidbench_bridge->spawnObstacles(); + // while(!avoidbench_bridge->ifSceneChanged()) + // avoidbench_bridge->SpawnNewObs(); + + //random generate start and end point until they both have a certain free space + int ss=0; + + while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || + avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + { + ss++; + mission_state = Mission_state::UNITYSETTING; + if_update_map = false; + if(ss>16) + { + if_update_map = true; + return; + } + getMissionParam(&p_m, mission_id); + ros::Duration(0.2).sleep(); + ros::spinOnce(); + } + + // get the datasets of environment point clouds. (for environment metrics) + if(!save_data_mode) + { + Eigen::Vector3d range_, origin_; + CalculateRanges(&range_, &origin_); + // avoidbench_bridge->getPointCloud("", range_, origin_); + } + ros::Duration(5.0).sleep(); + } + else { + //random generate start and end point until they both have a certain free space + if_update_map = false; + getMissionParam(&p_m, mission_id); + while(avoidbench_bridge->checkCollisionState(p_m.m_start_point, true) || + avoidbench_bridge->checkCollisionState(p_m.m_end_point)) + { + mission_state = Mission_state::UNITYSETTING; + if_update_map = false; + getMissionParam(&p_m, mission_id); + ros::Duration(0.1).sleep(); + ros::spinOnce(); + } + // mission->reset(p_m); + ros::Duration(5.0).sleep(); + } + + mission = std::make_shared(cfg_, p_m, mission_id); + //reset the position of start point for gazebo + // resetGazebo(Eigen::Vector3d(p_m.m_start_point[0], p_m.m_start_point[1], p_m.m_start_point[2]), p_m.m_start_point[3]); + std::cout<<"start point: "<end_point.x(); + goal.pose.position.y = mission->end_point.y(); + goal.pose.position.z = mission->end_point.z(); + pub_msg.poses.push_back(goal); + pub_msg.header.stamp = ros::Time::now(); + pub_msg.header.frame_id = "world"; + goal_pub_.publish(pub_msg); + ros::Duration(0.1).sleep(); + if((ros::Time::now() - mission_start_time).toSec()>60.0) + { + ROS_WARN("Exceed 1 min cannot start planning, pass current Trial"); + mission_state = Mission_state::GAZEBOSETTING; + } + return; + } + } + + if(mission_state == Mission_state::WAITMISSION) + { + // mission->getTrajectory(received_state_est_); + // if((mission->finished && !save_data_mode) || + // ((ros::Time::now() - mission_start_time).toSec()>80.0)) + // { + // mission_state = Mission_state::GAZEBOSETTING; + // return; + // } + } + + if(mission_state == Mission_state::MISSIONPROCESS) + { + // mission->getTrajectory(received_state_est_); + // if(collision_happen) + // { + // ROS_INFO("collision happened"); + // mission->CollisionCount(); + // collision_happen = false; + // } + // mission_state = Mission_state::WAITMISSION; + // if(mission->stop_flag) + // mission_state = Mission_state::GAZEBOSETTING; + } + + if(mission_state == Mission_state::GAZEBOSETTING) + { + ros::Duration(1.0).sleep(); + resetGazebo(Eigen::Vector3d(0, 0, 1.2), 0); + std_msgs::Empty hover; + force_hover_pub_.publish(hover); + mission->cal_time = iter_times; + iter_times.clear(); + std::vector(iter_times).swap(iter_times); + metrics->setMissions(mission); + ros::Duration(1.0).sleep(); + trial_id++; + if(trial_id == (mission->trials)) + { + mission_id++; + trial_id = 0; + get_new_mission = true; + } else + get_new_mission = false; + + std::cout<<"mission_id: "<setTaskFinishFlag(true); + } + } +} + +void AvoidManage::MissionStateLoopCallback(const ros::TimerEvent &event) +{ + avoid_msgs::TaskState state; + state.header.stamp = ros::Time::now(); + state.Mission_state = mission_state; + task_state_pub_.publish(state); +} + +void AvoidManage::resetGazebo(const Eigen::Vector3d &pos, const double yaw) +{ + gazebo_msgs::SetModelState dronestate; + rpg_quadrotor_msgs::TrajectoryPoint cmd; + dronestate.request.model_state.model_name = quad_name; + cmd.pose.position.x = dronestate.request.model_state.pose.position.x = pos.x(); + cmd.pose.position.y = dronestate.request.model_state.pose.position.y = pos.y(); + cmd.pose.position.z = dronestate.request.model_state.pose.position.z = pos.z(); + cmd.heading = yaw; + Eigen::Quaterniond quat = ypr2quat(yaw, 0, 0); + dronestate.request.model_state.pose.orientation.w = quat.w(); + dronestate.request.model_state.pose.orientation.x = quat.x(); + dronestate.request.model_state.pose.orientation.y = quat.y(); + dronestate.request.model_state.pose.orientation.z = quat.z(); + dronestate.request.model_state.twist.linear.x = 0.0; + dronestate.request.model_state.twist.linear.y = 0.0; + dronestate.request.model_state.twist.linear.z = 0.0; + dronestate.request.model_state.twist.angular.x = 0.0; + dronestate.request.model_state.twist.angular.y = 0.0; + dronestate.request.model_state.twist.angular.z = 0.0; + dronestate.request.model_state.reference_frame = "world"; + + gazebo_model_srv_.call(dronestate); + + cmd.header.stamp = ros::Time::now(); + cmd.header.frame_id = "world"; + pose_pub_.publish(cmd); +} + +Eigen::Quaterniond AvoidManage::ypr2quat(double yaw, double pitch, double roll) // yaw (Z), pitch (Y), roll (X) +{ + // Abbreviations for the various angular functions + double cy = std::cos(yaw * 0.5); + double sy = std::sin(yaw * 0.5); + double cp = std::cos(pitch * 0.5); + double sp = std::sin(pitch * 0.5); + double cr = std::cos(roll * 0.5); + double sr = std::sin(roll * 0.5); + + Eigen::Quaterniond q; + q.w() = cy * cp * cr + sy * sp * sr; + q.x() = cy * cp * sr - sy * sp * cr; + q.y() = sy * cp * sr + cy * sp * cr; + q.z() = sy * cp * cr - cy * sp * sr; + + return q; +} + +void AvoidManage::getMissionParam(avoidlib::mission_parameter* const m_param, const int &m_id) +{ + YAML::Node cfg = YAML::LoadFile(cfg_); + + static float width, length, radius_area, radius_origin; + static std::vector start_area, start_origin, end_area, end_origin; + static int trials_; + + if(!get_seed) + { + start_area.resize(2); + start_origin.resize(2); + end_area.resize(2); + end_origin.resize(2); + env_range = cfg["unity"]["range"].as>(); + env_origin = cfg["unity"]["origin"].as>(); + start_area = cfg["mission"]["start_area"].as>(); + start_origin = cfg["mission"]["start_origin"].as>(); + end_area = cfg["mission"]["end_area"].as>(); + end_origin = cfg["mission"]["end_origin"].as>(); + radius_area = cfg["mission"]["radius_area"].as(); + radius_origin = cfg["mission"]["radius_origin"].as(); + int seed = cfg["mission"]["seed"].as(); + trials_ = cfg["mission"]["trials"].as(); + srand(seed); + get_seed = true; + } + float rand = (std::rand()%200)/200.0f; + if(scene_id_ == UnityScene::NATUREFOREST) + { + int area_id = std::rand()%4; + if (area_id == 0) + m_param->m_start_point = {-start_area[0]/2.0f+start_area[0]*rand, + start_area[1]*rand, + 2.0f, 0}; + rand = (std::rand()%200)/200.0f; + m_param->m_end_point = {-end_area[0]/2.0f+end_area[0]*rand, + -end_area[1]*rand+end_origin[1], + 2.0f+1.0f*rand}; + if (area_id == 1) + { + m_param->m_start_point = {start_area[1]*rand-start_area[0]/2.0, + start_area[0]*rand, + 2.0f, -M_PI/2.0}; + rand = (std::rand()%200)/200.0f; + m_param->m_end_point = {-end_area[1]*rand+end_area[0]/2, + end_area[0]*rand, + 2.0f+1.0f*rand}; + } + if (area_id == 2) + { + m_param->m_start_point = {-end_area[0]/2.0f+end_area[0]*rand, + -end_area[1]*rand+end_area[0], + 2.0f, M_PI}; + rand = (std::rand()%200)/200.0f; + m_param->m_end_point = {-start_area[0]/2.0f+start_area[0]*rand, + start_area[1]*rand, + 2.0f+1.0f*rand}; + } + if (area_id == 3) + { + m_param->m_start_point = {-end_area[1]*rand+end_area[0]/2, + end_area[0]*rand, + 2.0f, M_PI/2.0}; + rand = (std::rand()%200)/200.0f; + m_param->m_end_point = {start_area[1]*rand-start_area[0]/2, + start_area[0]*rand, + 2.0f+1.0f*rand}; + } + } + + else if(scene_id_ == UnityScene::WAREHOUSE) + { + m_param->m_start_point = {-start_area[0]/2.0f+start_area[0]*rand, + start_area[1]*rand, + 2.0f, 0}; + rand = (std::rand()%200)/200.0f; + m_param->m_end_point = {-end_area[0]/2.0f+end_area[0]*rand, + -end_area[1]*rand+end_origin[1], + 2.0f+1.0f*rand}; + } + + if (!if_update_map) + { + if_update_map = true; + return; + } + m_param->trials =trials_; + m_param->m_radius = radius_origin + radius_area*rand; + m_param->m_seed = std::rand()%200; + rand = (std::rand()%200)/200.0f; + m_param->m_opacity = rand; + if(!save_data_mode) + m_param->m_pc_file_name = cfg["mission"]["pc_file_name"].as()+std::to_string(m_id); + else + { + m_param->m_pc_file_name = cfg["mission"]["pc_file_name"].as(); + mission_number = cfg["mission"]["rollout"].as(); + } + ROS_INFO("get new parameters!"); + +} + +bool AvoidManage::loadParams() { + // load parameters + int env_id; + quadrotor_common::getParam("flight_number", mission_number, pnh_); + quadrotor_common::getParam("unity/env_idx", env_id, pnh_); + quadrotor_common::getParam("unity/save_data_mode", save_data_mode, pnh_); + quadrotor_common::getParam("camera/fov", fov, pnh_); + quadrotor_common::getParam("camera/width", width, pnh_); + quadrotor_common::getParam("camera/height", height, pnh_); + quadrotor_common::getParam("camera/baseline", baseline, pnh_); + quadrotor_common::getParam("camera/perform_sgm", perform_sgm_, pnh_); + pnh_.getParam("quad_name", quad_name); + scene_id_ = env_id; + return true; +} + +void AvoidManage::CalculateRanges(const std::vector& start, const std::vector& end, + Eigen::Vector3d* const range, Eigen::Vector3d* const origin) +{ + range->x() = std::abs(start[0] - end[0]) + 16; + range->y() = std::abs(start[1] - end[1]) + 10; + range->z() = std::abs(start[2] - end[2]) + 8; + origin->x() = (start[0] + end[0]) / 2.0; + origin->y() = (start[1] + end[1]) / 2.0; + origin->z() = (start[2] + end[2]) / 2.0 + 2.0; +} + +void AvoidManage::CalculateRanges(Eigen::Vector3d* const range, Eigen::Vector3d* const origin) +{ + range->x() = env_range[0]; + range->y() = env_range[1]; + range->z() = env_range[2]; + origin->x() = env_origin[0]; + origin->y() = env_origin[1]; + origin->z() = env_origin[2]; +} + +} diff --git a/src/avoidbench/avoid_msgs/msg/Factor.msg b/src/avoidbench/avoid_msgs/msg/Factor.msg index f9c3c86..d1fe7f7 100644 --- a/src/avoidbench/avoid_msgs/msg/Factor.msg +++ b/src/avoidbench/avoid_msgs/msg/Factor.msg @@ -1,10 +1,10 @@ #peformance metrics -float64[] optimality_factor +float64[] path_excess_factor float64[] average_goal_velocity -float64[] mission_progress float64[] processing_time float64[] collision_number float64[] energy_cost +float64[] relative_end_distance #environment metrics float64 traversability diff --git a/src/avoidbench/avoidlib/CMakeLists.txt b/src/avoidbench/avoidlib/CMakeLists.txt index 1b3c50d..eb97ea6 100644 --- a/src/avoidbench/avoidlib/CMakeLists.txt +++ b/src/avoidbench/avoidlib/CMakeLists.txt @@ -59,6 +59,7 @@ message("CUDA curand library: ${CUDA_curand_LIBRARY}") # Including dependencies find_package(OpenCV REQUIRED) find_package(OpenMP REQUIRED) +find_package(Open3D) if(ENABLE_BLAS) set(BLA_VENDOR "Generic") @@ -139,8 +140,10 @@ file(GLOB_RECURSE AVOIDLIB_SOURCES src/objects/*.cpp src/sensors/*.cpp src/envs/*.cpp + src/vision_envs/*.cpp src/common/*.cpp src/controller/*.cpp + src/pointclouds/*.cpp ) file(GLOB_RECURSE AVOIDBRIDGE_SOURCES @@ -151,27 +154,8 @@ file(GLOB_RECURSE FLIGHTLIB_GYM_SOURCES src/wrapper/pybind_wrapper.cpp ) -# Create file lists for avoidlib tests -file(GLOB_RECURSE AVOIDLIB_TEST_SOURCES - tests/dynamics/*.cpp - tests/objects/*.cpp - tests/sensors/*.cpp - tests/envs/*.cpp - tests/common/*.cpp -) - -# Create file lists for avoidlib_gym tests -file(GLOB_RECURSE AVOIDLIB_GYM_TEST_SOURCES - tests/wrapper/*.cpp -) - -# Create file lists for avoidlib_unity_bridge tests -file(GLOB_RECURSE AVOIDLIB_UNITY_BRIDGE_TEST_SOURCES - tests/bridges/*.cpp -) - # Library and Executables -include_directories(include ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS}) +include_directories(include ${EIGEN3_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${Open3D_INCLUDE_DIRS}) if(NOT AVOIDLIB_SOURCES) set(LIBRARY_NAME) @@ -180,6 +164,7 @@ else() add_library(${PROJECT_NAME} ${AVOIDLIB_SOURCES}) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} + ${Open3D_LIBRARIES} yaml-cpp zmq zmqpp @@ -252,7 +237,7 @@ else() target_include_directories(flightgym PRIVATE # ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include ${PYBIND11_INCLUDE_DIR} - ${PROJECT_SOURCE_DIR}/externals/eigen/eigen3 #pybind11 use #include , however, flightmare use #include + ${PROJECT_SOURCE_DIR}/externals/eigen/eigen3 ${PROJECT_SOURCE_DIR}/include) endif() message("${LIBRARY_NAME}") diff --git a/src/avoidbench/avoidlib/build/CMakeCache.txt b/src/avoidbench/avoidlib/build/CMakeCache.txt new file mode 100644 index 0000000..7180bb0 --- /dev/null +++ b/src/avoidbench/avoidlib/build/CMakeCache.txt @@ -0,0 +1,890 @@ +# This is the CMakeCache file. +# For build in directory: /home/hyyu/AvoidBench/src/avoidbench/avoidlib/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Building the benchmark. +BUILD_BENCH:BOOL=OFF + +//Building the tests +BUILD_TESTS:BOOL=ON + +//Building the Unity Bridge tests +BUILD_UNITY_BRIDGE_TESTS:BOOL=ON + +//Path to a program. 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+# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_C) +# define COMPILER_ID "SunPro" +# if __SUNPRO_C >= 0x5100 + /* __SUNPRO_C = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) +# endif + +#elif defined(__HP_cc) +# define COMPILER_ID "HP" + /* __HP_cc = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) + +#elif defined(__DECC) +# define COMPILER_ID "Compaq" + /* __DECC_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) + +#elif defined(__IBMC__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 +# define COMPILER_ID "XL" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMC__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__TINYC__) +# define COMPILER_ID "TinyCC" + +#elif defined(__BCC__) +# define COMPILER_ID "Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000..e82fab4 Binary files /dev/null and b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ diff --git a/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..69cfdba --- /dev/null +++ b/src/avoidbench/avoidlib/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_dialect_default = "INFO" ":" "dialect_default[" +#if CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + 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for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... rebuild_cache" + @echo "... edit_cache" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/hyyu/AvoidBench/src/avoidbench/avoidlib/build && $(CMAKE_COMMAND) -P /home/hyyu/AvoidBench/src/avoidbench/avoidlib/build/CMakeFiles/VerifyGlobs.cmake + cd /home/hyyu/AvoidBench/src/avoidbench/avoidlib/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/src/avoidbench/avoidlib/build/externals/pybind11-src/cmake_install.cmake b/src/avoidbench/avoidlib/build/externals/pybind11-src/cmake_install.cmake new file mode 100644 index 0000000..7ae9df9 --- /dev/null +++ b/src/avoidbench/avoidlib/build/externals/pybind11-src/cmake_install.cmake @@ -0,0 +1,39 @@ +# Install script for directory: /home/hyyu/AvoidBench/src/avoidbench/avoidlib/externals/pybind11-src + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + diff --git a/src/avoidbench/avoidlib/build/flightgym.cpython-38-x86_64-linux-gnu.so b/src/avoidbench/avoidlib/build/flightgym.cpython-38-x86_64-linux-gnu.so new file mode 100755 index 0000000..18b7172 Binary files /dev/null and b/src/avoidbench/avoidlib/build/flightgym.cpython-38-x86_64-linux-gnu.so differ diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO b/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO new file mode 100644 index 0000000..8b54605 --- /dev/null +++ b/src/avoidbench/avoidlib/build/flightgym.egg-info/PKG-INFO @@ -0,0 +1,10 @@ +Metadata-Version: 1.0 +Name: flightgym +Version: 0.0.1 +Summary: Flightmare: A Quadrotor Simulator +Home-page: UNKNOWN +Author: Yunlong Song +Author-email: song@ifi.uzh.ch +License: UNKNOWN +Description: UNKNOWN +Platform: UNKNOWN diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt new file mode 100644 index 0000000..7a89aff --- /dev/null +++ b/src/avoidbench/avoidlib/build/flightgym.egg-info/SOURCES.txt @@ -0,0 +1,6 @@ +setup.py +./flightgym.cpython-38-x86_64-linux-gnu.so +./flightgym.egg-info/PKG-INFO +./flightgym.egg-info/SOURCES.txt +./flightgym.egg-info/dependency_links.txt +./flightgym.egg-info/top_level.txt \ No newline at end of file diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/avoidbench/avoidlib/build/flightgym.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt b/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/avoidbench/avoidlib/build/flightgym.egg-info/top_level.txt @@ -0,0 +1 @@ + diff --git a/src/avoidbench/avoidlib/build/libavoidlib.a b/src/avoidbench/avoidlib/build/libavoidlib.a new file mode 100644 index 0000000..35149aa Binary files /dev/null and b/src/avoidbench/avoidlib/build/libavoidlib.a differ diff --git a/src/avoidbench/avoidlib/build/setup.py b/src/avoidbench/avoidlib/build/setup.py new file mode 100644 index 0000000..ea16896 --- /dev/null +++ b/src/avoidbench/avoidlib/build/setup.py @@ -0,0 +1,14 @@ +from setuptools import setup, Extension +# +setup(name='flightgym', + version='0.0.1', + author="Yunlong Song", + author_email='song@ifi.uzh.ch', + description="Flightmare: A Quadrotor Simulator", + long_description='', + packages=[''], + package_dir={'': './'}, + package_data={'': ['*.so']}, + zip_fase=True, + url=None, + ) \ No newline at end of file diff --git a/src/avoidbench/avoidlib/configs/quadrotor_env.yaml b/src/avoidbench/avoidlib/configs/quadrotor_env.yaml index 8b62584..aba6096 100644 --- a/src/avoidbench/avoidlib/configs/quadrotor_env.yaml +++ b/src/avoidbench/avoidlib/configs/quadrotor_env.yaml @@ -1,6 +1,6 @@ quadrotor_env: camera: no - sim_dt: 0.02 + sim_dt: 0.02 max_t: 5.0 add_camera: yes @@ -19,4 +19,4 @@ rl: ori_coeff: -0.002 # reward coefficient for orientation lin_vel_coeff: -0.0002 # reward coefficient for linear velocity ang_vel_coeff: -0.0002 # reward coefficient for angular velocity - act_coeff: -0.0002 # reward coefficient for control actions \ No newline at end of file + act_coeff: -0.0002 # reward coefficient for control actions diff --git a/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp b/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp index b22f05c..eaa5287 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/bridges/avoidbench_bridge.hpp @@ -35,7 +35,7 @@ class AvoidbenchBridge { cv::Mat* depth_uint16, cv::Mat* disp_uint8); void getPointCloud(const std::string curr_data_dir, const Eigen::Vector3d &range, const Eigen::Vector3d &origin); - bool checkCollisionState(std::vector* const point, const bool &if_start=false); + bool checkCollisionState(const std::vector point, const bool if_start=false); bool connectUnity(); void setParamFromMission(const mission_parameter ¶); void SpawnNewObs(); diff --git a/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp b/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp index ea360a4..848f5ab 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/bridges/unity_bridge.hpp @@ -48,12 +48,13 @@ class UnityBridge { bool getRender(const FrameID frame_id, const bool SpawnNewObj = false); bool handleOutput(const FrameID sent_frame_id); bool getPointCloud(PointCloudMessage_t &pointcloud_msg); - bool checkCollisionState(const CollisionCheckMessage_t &collision_check_msg, std::vector* const new_pt); + bool checkCollisionState(const CollisionCheckMessage_t &collision_check_msg); // public set functions bool setScene(const SceneID &scene_id); // add object bool addQuadrotor(std::shared_ptr quad); + std::shared_ptr getQuadrotor(size_t id); bool addCamera(std::shared_ptr unity_camera); bool addStaticObject(std::shared_ptr static_object); @@ -71,9 +72,9 @@ class UnityBridge { std::make_shared(); return bridge_ptr; }; + bool initializeConnections(void); private: - bool initializeConnections(void); // SettingsMessage_t settings_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/common/math.hpp b/src/avoidbench/avoidlib/include/avoidlib/common/math.hpp index ea05cba..4cd43e5 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/common/math.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/common/math.hpp @@ -36,6 +36,7 @@ void insert(const Matrix<>& from, Matrix<>* const into, const int row_offset = 0, const int col_offset = 0); void quaternionToEuler(const Quaternion& quat, Ref> euler); +void EularToquaternion(Quaternion& quat, const Ref> euler); std::vector transformationRos2Unity(const Matrix<4, 4>& ros_tran_mat); diff --git a/src/avoidbench/avoidlib/include/avoidlib/common/quad_state.hpp b/src/avoidbench/avoidlib/include/avoidlib/common/quad_state.hpp index 7773264..616de2d 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/common/quad_state.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/common/quad_state.hpp @@ -59,8 +59,16 @@ struct QuadState { BACCY = 23, BACCZ = 24, NBACC = 3, + + // + TAG = 25, + TAGX = 25, + TAGY = 26, + TAGZ = 27, + TAGR = 28, + NTAG = 3, // - SIZE = 25, + SIZE = 29, NDYM = 19 }; @@ -96,6 +104,8 @@ struct QuadState { Ref> bw{x.segment(IDX::BOME)}; // Ref> ba{x.segment(IDX::BACC)}; + // + Ref> tg{x.segment(IDX::TAG)}; bool operator==(const QuadState& rhs) const { return t == rhs.t && x.isApprox(rhs.x, 1e-5); diff --git a/src/avoidbench/avoidlib/include/avoidlib/controller/lowlevel_controller_simple.hpp b/src/avoidbench/avoidlib/include/avoidlib/controller/lowlevel_controller_simple.hpp index 06d8b8d..a01e2fe 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/controller/lowlevel_controller_simple.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/controller/lowlevel_controller_simple.hpp @@ -12,8 +12,10 @@ class LowLevelControllerSimple { LowLevelControllerSimple(QuadrotorDynamics quad_dynamics); bool setCommand(const Command& cmd); - Vector<4> run(const Ref> omega); + Vector<4> run(const Ref> omega, + const Ref> body_torques); bool updateQuadDynamics(const QuadrotorDynamics& quad_dynamics); + bool setKlqr(const Ref> K_lqr); private: // Quadrotor properties @@ -21,8 +23,7 @@ class LowLevelControllerSimple { Matrix<4, 4> B_allocation_inv_; // P gain for body rate control - const Matrix<3, 3> Kinv_ang_vel_tau_ = - Vector<3>(20.0, 20.0, 40.0).asDiagonal(); + Matrix<3, 6> Kinv_ang_vel_tau_; // Quadcopter to which the controller is applied QuadrotorDynamics quad_dynamics_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/dynamics/quadrotor_dynamics.hpp b/src/avoidbench/avoidlib/include/avoidlib/dynamics/quadrotor_dynamics.hpp index 409feef..7c8d177 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/dynamics/quadrotor_dynamics.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/dynamics/quadrotor_dynamics.hpp @@ -44,6 +44,7 @@ class QuadrotorDynamics : DynamicsBase { Vector<4> motorOmegaToThrust(const Vector<4>& omega) const; Vector<4> motorThrustToOmega(const Vector<4>& thrusts) const; Matrix<4, 4> getAllocationMatrix(void) const; + Matrix<3, 6> getKlqr(void) const { return K_lqr_; }; Vector<3> getBodyDrag(const Vector<3>& body_vel); bool updateBodyDragCoeff1(const Vector<3>& cd1); @@ -73,6 +74,7 @@ class QuadrotorDynamics : DynamicsBase { Scalar mass_; Matrix<3, 4> t_BM_; Matrix<4, 4> B_allocation_; + Matrix<3, 6> K_lqr_; Matrix<3, 3> J_; Matrix<3, 3> J_inv_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/env_base.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/env_base.hpp index 2dc5f6d..45985b3 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/envs/env_base.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/env_base.hpp @@ -50,6 +50,7 @@ class EnvBase { inline int getActDim() { return act_dim_; }; inline int getRewDim() { return rew_dim_; }; inline int getStateDim() {return state_dim_; }; + inline int getMotorDim() {return motor_dim_; }; inline int getImgWidth() { return img_width_; }; inline int getImgHeight() { return img_height_; }; inline double getSimTimeStep() { return sim_dt_; }; @@ -65,6 +66,7 @@ class EnvBase { int obs_dim_; int act_dim_; int state_dim_; + int motor_dim_; // int rew_dim_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_env.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_env.hpp index 5f111a8..be73857 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_env.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_env.hpp @@ -26,12 +26,13 @@ namespace quadenv { enum Ctl : int { // - kNQuadState = 25, + kNQuadState = 32, // observations kObs = 0, - kNObs = 15, - kNState = 13, + kNObs = 21, + kNState = 21, + kNMotor = 4, // control actions kAct = 0, @@ -51,6 +52,7 @@ class QuadrotorEnv final : public EnvBase { bool reset(Ref> obs) override; bool reset(Ref> obs, bool random); bool reset(Ref> obs, Ref> state); + bool reset(Ref> obs, Ref> state, Ref> omega); bool step(const Ref> act, Ref> obs, Ref> reward) override; @@ -85,19 +87,25 @@ class QuadrotorEnv final : public EnvBase { // quadrotor std::shared_ptr quad_ptr_; QuadState quad_state_; + QuadState pre_quad_state_; Command cmd_; Logger logger_{"QaudrotorEnv"}; // Define reward for training - double pos_coeff_, ori_coeff_, lin_vel_coeff_, ang_vel_coeff_; - + double pos_coeff_, vert_coeff_, ori_coeff_, lin_vel_coeff_, ang_vel_coeff_, smooth_coeff_; + double vel_dir_coeff_, time_coeff_; // observations and actions (for RL) Vector pi_obs_; Vector pi_act_; // reward function design (for model-free reinforcement learning) - Vector<3> goal_pos_; + Vector<3> goal_pos_, next_goal_pos, global_goal_pos_; + Vector<3> goal_vel_; + Vector<3> start; + double vel_lin_, vel_ang_; + double process; + double s_stamp, e_stamp; // action and observation normalization (for learning) Vector act_mean_; diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_vec_env.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_vec_env.hpp index 88d0ef0..c268f98 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_vec_env.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/quadrotor_env/quadrotor_vec_env.hpp @@ -21,7 +21,7 @@ class QuadrotorVecEnv : public VecEnvBase { bool reset(Ref> obs) override; bool reset(Ref> obs, bool random); - bool reset(Ref> obs, Ref> state); + bool reset(Ref> obs, Ref> state, Ref> omega); bool step(Ref> act, Ref> obs, Ref> reward, Ref> done, Ref> extra_info) override; diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_env.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_env.hpp new file mode 100644 index 0000000..62d0c57 --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_env.hpp @@ -0,0 +1,123 @@ +#pragma once + +// std lib +#include + +#include +#include + +// yaml cpp +#include + +// avoidlib +#include "avoidlib/bridges/unity_bridge.hpp" +#include "avoidlib/common/command.hpp" +#include "avoidlib/common/logger.hpp" +#include "avoidlib/common/quad_state.hpp" +#include "avoidlib/common/types.hpp" +#include "avoidlib/common/utils.hpp" +#include "avoidlib/envs/env_base.hpp" +#include "avoidlib/objects/quadrotor.hpp" +#include "avoidlib/sensors/rgb_camera.hpp" + +namespace avoidlib { + +namespace trackenv { + +enum Ctl : int { + // + kNQuadState = 29, + + // observations + kObs = 0, + kNObs = 16, + kNState = 14, + kNMotor = 4, + + // control actions + kAct = 0, + kNAct = 4 +}; +} // namespace quadenv + +class TrackingEnv final : public EnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + TrackingEnv(); + TrackingEnv(const std::string &cfg_path, const int env_id); + TrackingEnv(const YAML::Node &cfg_node, const int env_id); + ~TrackingEnv(); + + // - public OpenAI-gym-style functions + bool reset(Ref> obs) override; + bool reset(Ref> obs, bool random); + bool reset(Ref> obs, Ref> state); + bool reset(Ref> obs, Ref> state, Ref> omega); + + bool step(const Ref> act, Ref> obs, + Ref> reward) override; + + // - public set functions + bool loadParam(const YAML::Node &cfg); + + // - public get functions + bool getObs(Ref> obs) override; + bool getImage(Ref> img, const bool rgb = true) override; + bool getDepthImage(Ref> img) override; + + // get quadrotor states + bool getQuadAct(Ref> act) const; + bool getQuadState(Ref> state) const; + + // - auxiliar functions + bool isTerminalState(double &reward) override; + bool addQuadrotorToUnity(const std::shared_ptr bridge) override; + + friend std::ostream &operator<<(std::ostream &os, + const TrackingEnv &quad_env); + + inline std::vector getRewardNames() { return reward_names_; } + + std::unordered_map extra_info_; + + private: + void init(); + int env_id_; + bool configCamera(const YAML::Node &cfg, const std::shared_ptr); + // quadrotor + std::shared_ptr quad_ptr_; + QuadState quad_state_; + Command cmd_; + Logger logger_{"QaudrotorEnv"}; + + + // Define reward for training + double pos_coeff_, ori_coeff_, lin_vel_coeff_, ang_vel_coeff_; + + // observations and actions (for RL) + Vector pi_obs_; + Vector pi_act_; + + // reward function design (for model-free reinforcement learning) + Vector<3> init_target_pos_; + + // action and observation normalization (for learning) + Vector act_mean_; + Vector act_std_; + Vector obs_mean_ = Vector::Zero(); + Vector obs_std_ = Vector::Ones(); + + // robot vision + std::shared_ptr rgb_camera_; + cv::Mat rgb_img_, gray_img_; + cv::Mat depth_img_; + + // auxiliary variables + int rotor_ctrl_{true}; + bool use_camera_{false}; + YAML::Node cfg_; + std::vector reward_names_; + Matrix<3, 2> world_box_; +}; + +} // namespace avoidlib diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_vec_env.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_vec_env.hpp new file mode 100644 index 0000000..b982d88 --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/tracking_env/tracking_vec_env.hpp @@ -0,0 +1,48 @@ +#pragma once + +// yaml cpp +#include + +#include "avoidlib/envs/tracking_env/tracking_env.hpp" +#include "avoidlib/envs/vec_env_base.hpp" + +namespace avoidlib { + +template +class TrackingVecEnv : public VecEnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + TrackingVecEnv(); + TrackingVecEnv(const std::string& cfg, const bool from_file = true); + TrackingVecEnv(const YAML::Node& cfg_node); + ~TrackingVecEnv(); + + using VecEnvBase::configEnv; + + bool reset(Ref> obs) override; + bool reset(Ref> obs, bool random); + bool reset(Ref> obs, Ref> state, Ref> omega); + bool step(Ref> act, Ref> obs, + Ref> reward, Ref> done, + Ref> extra_info) override; + + + bool getQuadAct(Ref> quadact); + bool getQuadState(Ref> quadstate); + inline std::vector getRewardNames(void) { + return this->envs_[0]->getRewardNames(); + }; + + private: + void perAgentStep(int agent_id, Ref> act, + Ref> obs, + Ref> reward_units, Ref> done, + Ref> extra_info) override; + // yaml configurations + bool random_reset_; + // + YAML::Node cfg_; + std::vector reward_names_; +}; + +} // namespace avoidlib diff --git a/src/avoidbench/avoidlib/include/avoidlib/envs/vec_env_base.hpp b/src/avoidbench/avoidlib/include/avoidlib/envs/vec_env_base.hpp index bd16fb0..79bd819 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/envs/vec_env_base.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/envs/vec_env_base.hpp @@ -16,6 +16,7 @@ #include "avoidlib/common/types.hpp" #include "avoidlib/envs/env_base.hpp" #include "avoidlib/envs/quadrotor_env/quadrotor_env.hpp" +#include "avoidlib/envs/tracking_env/tracking_env.hpp" namespace avoidlib { @@ -61,6 +62,7 @@ class VecEnvBase { inline int getObsDim(void) const { return obs_dim_; }; inline int getActDim(void) const { return act_dim_; }; inline int getStateDim(void) const { return state_dim_; }; + inline int getMotorDim(void) const { return motor_dim_; }; inline int getRewDim(void) const { return rew_dim_; }; inline int getImgHeight(void) const { return img_height_; }; inline int getImgWidth(void) const { return img_width_; }; @@ -91,7 +93,7 @@ class VecEnvBase { uint16_t receive_id_{0}; // auxiliar variables - int seed_, num_envs_, obs_dim_, act_dim_, state_dim_, rew_dim_, num_threads_; + int seed_, num_envs_, obs_dim_, act_dim_, state_dim_, motor_dim_, rew_dim_, num_threads_; int img_width_, img_height_; Matrix<> obs_dummy_; }; diff --git a/src/avoidbench/avoidlib/include/avoidlib/objects/quadrotor.hpp b/src/avoidbench/avoidlib/include/avoidlib/objects/quadrotor.hpp index 6ad0c5e..a1e783a 100644 --- a/src/avoidbench/avoidlib/include/avoidlib/objects/quadrotor.hpp +++ b/src/avoidbench/avoidlib/include/avoidlib/objects/quadrotor.hpp @@ -26,6 +26,7 @@ class Quadrotor : ObjectBase { // reset bool reset() override; bool reset(const QuadState& state); + bool reset(const QuadState& state, const Vector<4> motor_omega); void init(); // run the quadrotor diff --git a/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h new file mode 100644 index 0000000..8dba18d --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/environment.h @@ -0,0 +1,64 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include + +namespace avoidlib +{ +struct Bounding +{ + /* data */ + std::vector bounding_origin_; + std::vector bounding_area_; + double resolution_, resolution_inv_; + int zWidth, zHeight, zLength; +}; + +struct float3 { + float x, y, z; +}; + +class Environment { +public: + Environment(const YAML::Node &cfg_path); + ~Environment() {}; + Bounding bounding; + double drone_r; + double getTraversability(); + void readPointCloud(const std::string &filepath); + Eigen::Vector3i pcl2Node(const Eigen::Vector3d &pos); + Eigen::Vector3d Node2pcl(const Eigen::Vector3i &node); + bool checkOccupied(const Eigen::Vector3d &pos); + bool checkOccupied(const Eigen::Vector3i &node); + double getOccupiedDistance(const Eigen::Vector3d &pos, + const double radius, const double max_nn); + bool checkIdxBounding(const Eigen::Vector3i &node); + +private: + open3d::geometry::KDTreeFlann kd_tree_; + Eigen::MatrixXd points_; + std::string file_name_; + std::ofstream location_out; + + bool loadParameters(const YAML::Node &cfg); + double getInitialCheckPointBias(const double x, const double dist, int* const layer); + void calNeighborPoints(const int direct_num, const Eigen::Vector3d &query_point, double* const free_dist); + bool checkInBounding(const Eigen::Vector3d& pt); + + +}; +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/pointclouds/tinyply.h b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/tinyply.h new file mode 100644 index 0000000..f663879 --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/pointclouds/tinyply.h @@ -0,0 +1,1095 @@ +/* + * tinyply 2.3.3 (https://github.com/ddiakopoulos/tinyply) + * + * A single-header, zero-dependency (except the C++ STL) public domain + * implementation of the PLY mesh file format. Requires C++11; errors are + * handled through exceptions. + * + * This software is in the public domain. Where that dedication is not + * recognized, you are granted a perpetual, irrevocable license to copy, + * distribute, and modify this file as you see fit. + * + * Authored by Dimitri Diakopoulos (http://www.dimitridiakopoulos.com) + * + * tinyply.h may be included in many files, however in a single compiled file, + * the implementation must be created with the following defined prior to header + * inclusion #define TINYPLY_IMPLEMENTATION + * + */ + +//////////////////////// +// tinyply header // +//////////////////////// + +#ifndef tinyply_h +#define tinyply_h + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace tinyply { + + +enum class Type : uint8_t { + INVALID, + INT8, + UINT8, + INT16, + UINT16, + INT32, + UINT32, + FLOAT32, + FLOAT64 +}; + +struct PropertyInfo { + PropertyInfo(){}; + PropertyInfo(int stride, std::string str) : stride(stride), str(str) {} + int stride{0}; + std::string str; +}; + +static std::map PropertyTable{ + {Type::INT8, PropertyInfo(1, std::string("char"))}, + {Type::UINT8, PropertyInfo(1, std::string("uchar"))}, + {Type::INT16, PropertyInfo(2, std::string("short"))}, + {Type::UINT16, PropertyInfo(2, std::string("ushort"))}, + {Type::INT32, PropertyInfo(4, std::string("int"))}, + {Type::UINT32, PropertyInfo(4, std::string("uint"))}, + {Type::FLOAT32, PropertyInfo(4, std::string("float"))}, + {Type::FLOAT64, PropertyInfo(8, std::string("double"))}, + {Type::INVALID, PropertyInfo(0, std::string("INVALID"))}}; + +class Buffer { + uint8_t *alias{nullptr}; + struct delete_array { + void operator()(uint8_t *p) { delete[] p; } + }; + std::unique_ptr data; + size_t size{0}; + + public: + Buffer(){}; + Buffer(const size_t size) + : data(new uint8_t[size], delete_array()), size(size) { + alias = data.get(); + } // allocating + Buffer(const uint8_t *ptr) + : alias(const_cast(ptr)) {} // non-allocating, todo: set size? + uint8_t *get() { return alias; } + const uint8_t *get_const() { return const_cast(alias); } + size_t size_bytes() const { return size; } +}; + +struct PlyData { + Type t; + Buffer buffer; + size_t count{0}; + bool isList{false}; +}; + +struct PlyProperty { + PlyProperty(std::istream &is); + PlyProperty(Type type, std::string &_name) + : name(_name), propertyType(type) {} + PlyProperty(Type list_type, Type prop_type, std::string &_name, + size_t list_count) + : name(_name), + propertyType(prop_type), + isList(true), + listType(list_type), + listCount(list_count) {} + std::string name; + Type propertyType{Type::INVALID}; + bool isList{false}; + Type listType{Type::INVALID}; + size_t listCount{0}; +}; + +struct PlyElement { + PlyElement(std::istream &istream); + PlyElement(const std::string &_name, size_t count) + : name(_name), size(count) {} + std::string name; + size_t size{0}; + std::vector properties; +}; + +struct PlyFile { + struct PlyFileImpl; + std::unique_ptr impl; + + PlyFile(); + ~PlyFile(); + + /* + * The ply format requires an ascii header. This can be used to determine at + * runtime which properties or elements exist in the file. Limited validation + * of the header is performed; it is assumed the header correctly reflects the + * contents of the payload. This function may throw. Returns true on success, + * false on failure. + */ + bool parse_header(std::istream &is); + + /* + * Execute a read operation. Data must be requested via + * `request_properties_from_element(...)` prior to calling this function. + */ + void read(std::istream &is); + + /* + * `write` performs no validation and assumes that the data passed into + * `add_properties_to_element` is well-formed. + */ + void write(std::ostream &os, bool isBinary); + + /* + * These functions are valid after a call to `parse_header(...)`. In the case + * of writing, get_comments() reference may also be used to add new comments + * to the ply header. + */ + std::vector get_elements() const; + std::vector get_info() const; + std::vector &get_comments(); + bool is_binary_file() const; + + /* + * In the general case where |list_size_hint| is zero, `read` performs a + * two-pass parse to support variable length lists. The most general use of + * the ply format is storing triangle meshes. When this fact is known + * a-priori, we can pass an expected list length that will apply to this + * element. Doing so results in an up-front memory allocation and a + * single-pass import, a 2x performance optimization. + */ + std::shared_ptr request_properties_from_element( + const std::string &elementKey, const std::vector propertyKeys, + const uint32_t list_size_hint = 0); + + void add_properties_to_element(const std::string &elementKey, + const std::vector propertyKeys, + const Type type, const size_t count, + const uint8_t *data, const Type listType, + const size_t listCount); +}; + +} // end namespace tinyply + +#endif // end tinyply_h + +//////////////////////////////// +// tinyply implementation // +//////////////////////////////// + +#ifdef TINYPLY_IMPLEMENTATION + +#include +#include +#include +#include +#include + +using namespace tinyply; +using namespace std; + +template +inline T2 endian_swap(const T &v) noexcept { + return v; +} +template<> +inline uint16_t endian_swap(const uint16_t &v) noexcept { + return (v << 8) | (v >> 8); +} +template<> +inline uint32_t endian_swap(const uint32_t &v) noexcept { + return (v << 24) | ((v << 8) & 0x00ff0000) | ((v >> 8) & 0x0000ff00) | + (v >> 24); +} +template<> +inline uint64_t endian_swap(const uint64_t &v) noexcept { + return ( + ((v & 0x00000000000000ffLL) << 56) | ((v & 0x000000000000ff00LL) << 40) | + ((v & 0x0000000000ff0000LL) << 24) | ((v & 0x00000000ff000000LL) << 8) | + ((v & 0x000000ff00000000LL) >> 8) | ((v & 0x0000ff0000000000LL) >> 24) | + ((v & 0x00ff000000000000LL) >> 40) | ((v & 0xff00000000000000LL) >> 56)); +} +template<> +inline int16_t endian_swap(const int16_t &v) noexcept { + uint16_t r = endian_swap(*(uint16_t *)&v); + return *(int16_t *)&r; +} +template<> +inline int32_t endian_swap(const int32_t &v) noexcept { + uint32_t r = endian_swap(*(uint32_t *)&v); + return *(int32_t *)&r; +} +template<> +inline int64_t endian_swap(const int64_t &v) noexcept { + uint64_t r = endian_swap(*(uint64_t *)&v); + return *(int64_t *)&r; +} +template<> +inline float endian_swap(const uint32_t &v) noexcept { + union { + float f; + uint32_t i; + }; + i = endian_swap(v); + return f; +} +template<> +inline double endian_swap(const uint64_t &v) noexcept { + union { + double d; + uint64_t i; + }; + i = endian_swap(v); + return d; +} + +inline uint32_t hash_fnv1a(const std::string &str) noexcept { + static const uint32_t fnv1aBase32 = 0x811C9DC5u; + static const uint32_t fnv1aPrime32 = 0x01000193u; + uint32_t result = fnv1aBase32; + for (auto &c : str) { + result ^= static_cast(c); + result *= fnv1aPrime32; + } + return result; +} + +inline Type property_type_from_string(const std::string &t) noexcept { + if (t == "int8" || t == "char") + return Type::INT8; + else if (t == "uint8" || t == "uchar") + return Type::UINT8; + else if (t == "int16" || t == "short") + return Type::INT16; + else if (t == "uint16" || t == "ushort") + return Type::UINT16; + else if (t == "int32" || t == "int") + return Type::INT32; + else if (t == "uint32" || t == "uint") + return Type::UINT32; + else if (t == "float32" || t == "float") + return Type::FLOAT32; + else if (t == "float64" || t == "double") + return Type::FLOAT64; + return Type::INVALID; +} + +struct PlyFile::PlyFileImpl { + struct PlyDataCursor { + size_t byteOffset{0}; + size_t totalSizeBytes{0}; + }; + + struct ParsingHelper { + std::shared_ptr data; + std::shared_ptr cursor; + uint32_t list_size_hint; + }; + + struct PropertyLookup { + ParsingHelper *helper{nullptr}; + bool skip{false}; + size_t prop_stride{0}; // precomputed + size_t list_stride{0}; // precomputed + }; + + std::unordered_map userData; + + bool isBinary = false; + bool isBigEndian = false; + std::vector elements; + std::vector comments; + std::vector objInfo; + uint8_t scratch[64]; // large enough for max list size + + void read(std::istream &is); + void write(std::ostream &os, bool isBinary); + + std::shared_ptr request_properties_from_element( + const std::string &elementKey, const std::vector propertyKeys, + const uint32_t list_size_hint); + + void add_properties_to_element(const std::string &elementKey, + const std::vector propertyKeys, + const Type type, const size_t count, + const uint8_t *data, const Type listType, + const size_t listCount); + + size_t read_property_binary(const size_t &stride, void *dest, + size_t &destOffset, std::istream &is) noexcept; + size_t read_property_ascii(const Type &t, const size_t &stride, void *dest, + size_t &destOffset, std::istream &is); + + std::vector> make_property_lookup_table(); + + bool parse_header(std::istream &is); + void parse_data(std::istream &is, bool firstPass); + void read_header_format(std::istream &is); + void read_header_element(std::istream &is); + void read_header_property(std::istream &is); + void read_header_text(std::string line, std::vector &place, + int erase = 0); + + void write_header(std::ostream &os) noexcept; + void write_ascii_internal(std::ostream &os) noexcept; + void write_binary_internal(std::ostream &os) noexcept; + void write_property_ascii(Type t, std::ostream &os, const uint8_t *src, + size_t &srcOffset); + void write_property_binary(std::ostream &os, const uint8_t *src, + size_t &srcOffset, const size_t &stride) noexcept; +}; + +PlyProperty::PlyProperty(std::istream &is) : isList(false) { + std::string type; + is >> type; + if (type == "list") { + std::string countType; + is >> countType >> type; + listType = property_type_from_string(countType); + isList = true; + } + propertyType = property_type_from_string(type); + is >> name; +} + +PlyElement::PlyElement(std::istream &is) { is >> name >> size; } + +template +inline T ply_read_ascii(std::istream &is) { + T data; + is >> data; + return data; +} + +template +inline void endian_swap_buffer(uint8_t *data_ptr, const size_t num_bytes, + const size_t stride) { + for (size_t count = 0; count < num_bytes; count += stride) { + *(reinterpret_cast(data_ptr)) = + endian_swap(*(reinterpret_cast(data_ptr))); + data_ptr += stride; + } +} + +template +void ply_cast_ascii(void *dest, std::istream &is) { + *(static_cast(dest)) = ply_read_ascii(is); +} + +int64_t find_element(const std::string &key, + const std::vector &list) { + for (size_t i = 0; i < list.size(); i++) + if (list[i].name == key) return i; + return -1; +} + +int64_t find_property(const std::string &key, + const std::vector &list) { + for (size_t i = 0; i < list.size(); ++i) + if (list[i].name == key) return i; + return -1; +} + +// The `userData` table is an easy data structure for capturing what data the +// user would like out of the ply file, but an inner-loop hash lookup is +// non-ideal. The property lookup table flattens the table down into a 2D array +// optimized for parsing. The first index is the element, and the second index +// is the property. +std::vector> +PlyFile::PlyFileImpl::make_property_lookup_table() { + std::vector> element_property_lookup; + + for (auto &element : elements) { + std::vector lookups; + + for (auto &property : element.properties) { + PropertyLookup f; + + auto cursorIt = userData.find(hash_fnv1a(element.name + property.name)); + if (cursorIt != userData.end()) + f.helper = &cursorIt->second; + else + f.skip = true; + + f.prop_stride = PropertyTable[property.propertyType].stride; + if (property.isList) + f.list_stride = PropertyTable[property.listType].stride; + + lookups.push_back(f); + } + + element_property_lookup.push_back(lookups); + } + + return element_property_lookup; +} + +bool PlyFile::PlyFileImpl::parse_header(std::istream &is) { + std::string line; + bool success = true; + while (std::getline(is, line)) { + std::istringstream ls(line); + std::string token; + ls >> token; + if (token == "ply" || token == "PLY" || token == "") + continue; + else if (token == "comment") + read_header_text(line, comments, 8); + else if (token == "format") + read_header_format(ls); + else if (token == "element") + read_header_element(ls); + else if (token == "property") + read_header_property(ls); + else if (token == "obj_info") + read_header_text(line, objInfo, 9); + else if (token == "end_header") + break; + else + success = false; // unexpected header field + } + return success; +} + +void PlyFile::PlyFileImpl::read_header_text(std::string line, + std::vector &place, + int erase) { + place.push_back((erase > 0) ? line.erase(0, erase) : line); +} + +void PlyFile::PlyFileImpl::read_header_format(std::istream &is) { + std::string s; + (is >> s); + if (s == "binary_little_endian") + isBinary = true; + else if (s == "binary_big_endian") + isBinary = isBigEndian = true; +} + +void PlyFile::PlyFileImpl::read_header_element(std::istream &is) { + elements.emplace_back(is); +} + +void PlyFile::PlyFileImpl::read_header_property(std::istream &is) { + if (!elements.size()) + throw std::runtime_error("no elements defined; file is malformed"); + elements.back().properties.emplace_back(is); +} + +size_t PlyFile::PlyFileImpl::read_property_binary(const size_t &stride, + void *dest, + size_t &destOffset, + std::istream &is) noexcept { + destOffset += stride; + is.read((char *)dest, stride); + return stride; +} + +size_t PlyFile::PlyFileImpl::read_property_ascii(const Type &t, + const size_t &stride, + void *dest, size_t &destOffset, + std::istream &is) { + destOffset += stride; + switch (t) { + case Type::INT8: + *((int8_t *)dest) = static_cast(ply_read_ascii(is)); + break; + case Type::UINT8: + *((uint8_t *)dest) = static_cast(ply_read_ascii(is)); + break; + case Type::INT16: + ply_cast_ascii(dest, is); + break; + case Type::UINT16: + ply_cast_ascii(dest, is); + break; + case Type::INT32: + ply_cast_ascii(dest, is); + break; + case Type::UINT32: + ply_cast_ascii(dest, is); + break; + case Type::FLOAT32: + ply_cast_ascii(dest, is); + break; + case Type::FLOAT64: + ply_cast_ascii(dest, is); + break; + case Type::INVALID: + throw std::invalid_argument("invalid ply property"); + } + return stride; +} + +void PlyFile::PlyFileImpl::write_property_ascii(Type t, std::ostream &os, + const uint8_t *src, + size_t &srcOffset) { + switch (t) { + case Type::INT8: + os << static_cast(*reinterpret_cast(src)); + break; + case Type::UINT8: + os << static_cast(*reinterpret_cast(src)); + break; + case Type::INT16: + os << *reinterpret_cast(src); + break; + case Type::UINT16: + os << *reinterpret_cast(src); + break; + case Type::INT32: + os << *reinterpret_cast(src); + break; + case Type::UINT32: + os << *reinterpret_cast(src); + break; + case Type::FLOAT32: + os << *reinterpret_cast(src); + break; + case Type::FLOAT64: + os << *reinterpret_cast(src); + break; + case Type::INVALID: + throw std::invalid_argument("invalid ply property"); + } + os << " "; + srcOffset += PropertyTable[t].stride; +} + +void PlyFile::PlyFileImpl::write_property_binary( + std::ostream &os, const uint8_t *src, size_t &srcOffset, + const size_t &stride) noexcept { + os.write((char *)src, stride); + srcOffset += stride; +} + +void PlyFile::PlyFileImpl::read(std::istream &is) { + std::vector> buffers; + for (auto &entry : userData) buffers.push_back(entry.second.data); + + // Discover if we can allocate up front without parsing the file twice + uint32_t list_hints = 0; + for (auto &b : buffers) + for (auto &entry : userData) { + list_hints += entry.second.list_size_hint; + (void)b; + } + + // No list hints? Then we need to calculate how much memory to allocate + if (list_hints == 0) { + parse_data(is, true); + } + + // Count the number of properties (required for allocation) + // e.g. if we have properties x y and z requested, we ensure + // that their buffer points to the same PlyData + std::unordered_map unique_data_count; + for (auto &ptr : buffers) unique_data_count[ptr.get()] += 1; + + // Since group-requested properties share the same cursor, + // we need to find unique cursors so we only allocate once + std::sort(buffers.begin(), buffers.end()); + buffers.erase(std::unique(buffers.begin(), buffers.end()), buffers.end()); + + // We sorted by ptrs on PlyData, need to remap back onto its cursor in the + // userData table + for (auto &b : buffers) { + for (auto &entry : userData) { + if (entry.second.data == b && b->buffer.get() == nullptr) { + // If we didn't receive any list hints, it means we did two passes over + // the file to compute the total length of all (potentially) + // variable-length lists + if (list_hints == 0) { + b->buffer = Buffer(entry.second.cursor->totalSizeBytes); + } else { + // otherwise, we can allocate up front, skipping the first pass. + const size_t list_size_multiplier = + (entry.second.data->isList ? entry.second.list_size_hint : 1); + auto bytes_per_property = entry.second.data->count * + PropertyTable[entry.second.data->t].stride * + list_size_multiplier; + bytes_per_property *= unique_data_count[b.get()]; + b->buffer = Buffer(bytes_per_property); + } + } + } + } + + // Populate the data + parse_data(is, false); + + // In-place big-endian to little-endian swapping if required + if (isBigEndian) { + for (auto &b : buffers) { + uint8_t *data_ptr = b->buffer.get(); + const size_t stride = PropertyTable[b->t].stride; + const size_t buffer_size_bytes = b->buffer.size_bytes(); + + switch (b->t) { + case Type::INT16: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + case Type::UINT16: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + case Type::INT32: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + case Type::UINT32: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + case Type::FLOAT32: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + case Type::FLOAT64: + endian_swap_buffer(data_ptr, buffer_size_bytes, + stride); + break; + default: + break; + } + } + } +} + +void PlyFile::PlyFileImpl::write(std::ostream &os, bool _isBinary) { + for (auto &d : userData) { + d.second.cursor->byteOffset = 0; + } + if (_isBinary) { + isBinary = true; + isBigEndian = false; + write_binary_internal(os); + } else { + isBinary = false; + isBigEndian = false; + write_ascii_internal(os); + } +} + +void PlyFile::PlyFileImpl::write_binary_internal(std::ostream &os) noexcept { + isBinary = true; + + write_header(os); + + uint8_t listSize[4] = {0, 0, 0, 0}; + size_t dummyCount = 0; + + auto element_property_lookup = make_property_lookup_table(); + + size_t element_idx = 0; + for (auto &e : elements) { + for (size_t i = 0; i < e.size; ++i) { + size_t property_index = 0; + for (auto &p : e.properties) { + auto &f = element_property_lookup[element_idx][property_index]; + auto *helper = f.helper; + if (f.skip || helper == nullptr) continue; + + if (p.isList) { + std::memcpy(listSize, &p.listCount, sizeof(uint32_t)); + write_property_binary(os, listSize, dummyCount, f.list_stride); + write_property_binary( + os, (helper->data->buffer.get_const() + helper->cursor->byteOffset), + helper->cursor->byteOffset, f.prop_stride * p.listCount); + } else { + write_property_binary( + os, (helper->data->buffer.get_const() + helper->cursor->byteOffset), + helper->cursor->byteOffset, f.prop_stride); + } + property_index++; + } + } + element_idx++; + } +} + +void PlyFile::PlyFileImpl::write_ascii_internal(std::ostream &os) noexcept { + write_header(os); + + auto element_property_lookup = make_property_lookup_table(); + + size_t element_idx = 0; + for (auto &e : elements) { + for (size_t i = 0; i < e.size; ++i) { + size_t property_index = 0; + for (auto &p : e.properties) { + auto &f = element_property_lookup[element_idx][property_index]; + auto *helper = f.helper; + if (f.skip || helper == nullptr) continue; + + if (p.isList) { + os << p.listCount << " "; + for (size_t j = 0; j < p.listCount; ++j) { + write_property_ascii( + p.propertyType, os, + (helper->data->buffer.get() + helper->cursor->byteOffset), + helper->cursor->byteOffset); + } + } else { + write_property_ascii( + p.propertyType, os, + (helper->data->buffer.get() + helper->cursor->byteOffset), + helper->cursor->byteOffset); + } + property_index++; + } + os << "\n"; + } + element_idx++; + } +} + +void PlyFile::PlyFileImpl::write_header(std::ostream &os) noexcept { + const std::locale &fixLoc = std::locale("C"); + os.imbue(fixLoc); + + os << "ply\n"; + if (isBinary) + os << ((isBigEndian) ? "format binary_big_endian 1.0" + : "format binary_little_endian 1.0") + << "\n"; + else + os << "format ascii 1.0\n"; + + for (const auto &comment : comments) os << "comment " << comment << "\n"; + + auto property_lookup = make_property_lookup_table(); + + size_t element_idx = 0; + for (auto &e : elements) { + os << "element " << e.name << " " << e.size << "\n"; + size_t property_idx = 0; + for (const auto &p : e.properties) { + PropertyLookup &lookup = property_lookup[element_idx][property_idx]; + + if (!lookup.skip) { + if (p.isList) { + os << "property list " << PropertyTable[p.listType].str << " " + << PropertyTable[p.propertyType].str << " " << p.name << "\n"; + } else { + os << "property " << PropertyTable[p.propertyType].str << " " + << p.name << "\n"; + } + } + property_idx++; + } + element_idx++; + } + os << "end_header\n"; +} + +std::shared_ptr PlyFile::PlyFileImpl::request_properties_from_element( + const std::string &elementKey, const std::vector propertyKeys, + const uint32_t list_size_hint) { + if (elements.empty()) + throw std::runtime_error("header had no elements defined. malformed file?"); + if (elementKey.empty()) + throw std::invalid_argument("`elementKey` argument is empty"); + if (propertyKeys.empty()) + throw std::invalid_argument("`propertyKeys` argument is empty"); + + std::shared_ptr out_data = std::make_shared(); + + const int64_t elementIndex = find_element(elementKey, elements); + + std::vector keys_not_found; + + // Sanity check if the user requested element is in the pre-parsed header + if (elementIndex >= 0) { + // We found the element + const PlyElement &element = elements[elementIndex]; + + // Each key in `propertyKey` gets an entry into the userData map (keyed by a + // hash of element name and property name), but groups of properties + // (requested from the public api through this function) all share the same + // `ParsingHelper`. When it comes time to .read(), we check the number of + // unique PlyData shared pointers and allocate a single buffer that will be + // used by each property key group. That way, properties like, {"x", "y", + // "z"} will all be put into the same buffer. + + ParsingHelper helper; + helper.data = out_data; + helper.data->count = element.size; // how many items are in the element? + helper.data->isList = false; + helper.data->t = Type::INVALID; + helper.cursor = std::make_shared(); + helper.list_size_hint = list_size_hint; + + // Find each of the keys + for (const auto &key : propertyKeys) { + const int64_t propertyIndex = find_property(key, element.properties); + if (propertyIndex < 0) keys_not_found.push_back(key); + } + + if (keys_not_found.size()) { + std::stringstream ss; + for (auto &str : keys_not_found) ss << str << ", "; + throw std::invalid_argument( + "the following property keys were not found in the header: " + + ss.str()); + } + + for (const auto &key : propertyKeys) { + const int64_t propertyIndex = find_property(key, element.properties); + const PlyProperty &property = element.properties[propertyIndex]; + helper.data->t = property.propertyType; + helper.data->isList = property.isList; + auto result = userData.insert(std::pair( + hash_fnv1a(element.name + property.name), helper)); + if (result.second == false) { + throw std::invalid_argument( + "element-property key has already been requested: " + element.name + + " " + property.name); + } + } + + // Sanity check that all properties share the same type + std::vector propertyTypes; + for (const auto &key : propertyKeys) { + const int64_t propertyIndex = find_property(key, element.properties); + const PlyProperty &property = element.properties[propertyIndex]; + propertyTypes.push_back(property.propertyType); + } + + if (std::adjacent_find(propertyTypes.begin(), propertyTypes.end(), + std::not_equal_to()) != propertyTypes.end()) { + throw std::invalid_argument( + "all requested properties must share the same type."); + } + } else + throw std::invalid_argument( + "the element key was not found in the header: " + elementKey); + + return out_data; +} + +void PlyFile::PlyFileImpl::add_properties_to_element( + const std::string &elementKey, const std::vector propertyKeys, + const Type type, const size_t count, const uint8_t *data, const Type listType, + const size_t listCount) { + ParsingHelper helper; + helper.data = std::make_shared(); + helper.data->count = count; + helper.data->t = type; + helper.data->buffer = + Buffer(data); // we should also set size for safety reasons + helper.cursor = std::make_shared(); + + auto create_property_on_element = [&](PlyElement &e) { + for (auto key : propertyKeys) { + PlyProperty newProp = (listType == Type::INVALID) + ? PlyProperty(type, key) + : PlyProperty(listType, type, key, listCount); + userData.insert(std::pair( + hash_fnv1a(elementKey + key), helper)); + e.properties.push_back(newProp); + } + }; + + const int64_t idx = find_element(elementKey, elements); + if (idx >= 0) { + PlyElement &e = elements[idx]; + create_property_on_element(e); + } else { + PlyElement newElement = (listType == Type::INVALID) + ? PlyElement(elementKey, count) + : PlyElement(elementKey, count); + create_property_on_element(newElement); + elements.push_back(newElement); + } +} + +void PlyFile::PlyFileImpl::parse_data(std::istream &is, bool firstPass) { + std::function + read; + std::function + skip; + + const auto start = is.tellg(); + + uint32_t listSize = 0; + size_t dummyCount = 0; + std::string skip_ascii_buffer; + + // Special case mirroring read_property_binary but for list types; this + // has an additional big endian check to flip the data in place immediately + // after reading. We do this as a performance optimization; endian flipping is + // done on regular properties as a post-process after reading (also for + // optimization) but we need the correct little-endian list count as we read + // the file. + auto read_list_binary = [this](const Type &t, void *dst, size_t &destOffset, + const size_t &stride, + std::istream &_is) noexcept { + destOffset += stride; + _is.read((char *)dst, stride); + + if (isBigEndian) { + switch (t) { + case Type::INT16: + *(int16_t *)dst = endian_swap(*(int16_t *)dst); + break; + case Type::UINT16: + *(uint16_t *)dst = endian_swap(*(uint16_t *)dst); + break; + case Type::INT32: + *(int32_t *)dst = endian_swap(*(int32_t *)dst); + break; + case Type::UINT32: + *(uint32_t *)dst = endian_swap(*(uint32_t *)dst); + break; + default: + break; + } + } + + return stride; + }; + + if (isBinary) { + read = [ this, &listSize, &dummyCount, &read_list_binary ]( + PropertyLookup & f, const PlyProperty &p, uint8_t *dest, + size_t &destOffset, std::istream &_is) noexcept { + if (!p.isList) { + return read_property_binary(f.prop_stride, dest + destOffset, + destOffset, _is); + } + read_list_binary(p.listType, &listSize, dummyCount, f.list_stride, + _is); // the list size + return read_property_binary(f.prop_stride * listSize, dest + destOffset, + destOffset, _is); // properties in list + }; + skip = [ this, &listSize, &dummyCount, &read_list_binary ]( + PropertyLookup & f, const PlyProperty &p, std::istream &_is) noexcept { + if (!p.isList) { + _is.read((char *)scratch, f.prop_stride); + return f.prop_stride; + } + read_list_binary(p.listType, &listSize, dummyCount, f.list_stride, + _is); // the list size (does not count for memory alloc) + auto bytes_to_skip = f.prop_stride * listSize; + _is.ignore(bytes_to_skip); + return bytes_to_skip; + }; + } else { + read = [ this, &listSize, &dummyCount ]( + PropertyLookup & f, const PlyProperty &p, uint8_t *dest, + size_t &destOffset, std::istream &_is) noexcept { + if (!p.isList) { + read_property_ascii(p.propertyType, f.prop_stride, dest + destOffset, + destOffset, _is); + } else { + read_property_ascii(p.listType, f.list_stride, &listSize, dummyCount, + _is); // the list size + for (size_t i = 0; i < listSize; ++i) { + read_property_ascii(p.propertyType, f.prop_stride, dest + destOffset, + destOffset, _is); + } + } + }; + skip = [ this, &listSize, &dummyCount, &skip_ascii_buffer ]( + PropertyLookup & f, const PlyProperty &p, std::istream &_is) noexcept { + skip_ascii_buffer.clear(); + if (p.isList) { + read_property_ascii( + p.listType, f.list_stride, &listSize, dummyCount, + _is); // the list size (does not count for memory alloc) + for (size_t i = 0; i < listSize; ++i) + _is >> skip_ascii_buffer; // properties in list + return listSize * f.prop_stride; + } + _is >> skip_ascii_buffer; + return f.prop_stride; + }; + } + + std::vector> element_property_lookup = + make_property_lookup_table(); + size_t element_idx = 0; + size_t property_idx = 0; + ParsingHelper *helper{nullptr}; + + // This is the inner import loop + for (auto &element : elements) { + for (size_t count = 0; count < element.size; ++count) { + property_idx = 0; + for (auto &property : element.properties) { + PropertyLookup &lookup = + element_property_lookup[element_idx][property_idx]; + + if (!lookup.skip) { + helper = lookup.helper; + if (firstPass) { + helper->cursor->totalSizeBytes += skip(lookup, property, is); + + // These lines will be changed when tinyply supports + // variable length lists. We add it here so our header data + // structure contains enough info to write it back out again (e.g. + // transcoding). + if (property.listCount == 0) property.listCount = listSize; + if (property.listCount != listSize) + throw std::runtime_error( + "variable length lists are not supported yet."); + } else { + read(lookup, property, helper->data->buffer.get(), + helper->cursor->byteOffset, is); + } + } else { + skip(lookup, property, is); + } + property_idx++; + } + } + element_idx++; + } + + // Reset istream position to the start of the data + if (firstPass) is.seekg(start, is.beg); +} + +// Wrap the public interface: + +PlyFile::PlyFile() { impl.reset(new PlyFileImpl()); } +PlyFile::~PlyFile() {} +bool PlyFile::parse_header(std::istream &is) { return impl->parse_header(is); } +void PlyFile::read(std::istream &is) { return impl->read(is); } +void PlyFile::write(std::ostream &os, bool isBinary) { + return impl->write(os, isBinary); +} +std::vector PlyFile::get_elements() const { return impl->elements; } +std::vector &PlyFile::get_comments() { return impl->comments; } +std::vector PlyFile::get_info() const { return impl->objInfo; } +bool PlyFile::is_binary_file() const { return impl->isBinary; } +std::shared_ptr PlyFile::request_properties_from_element( + const std::string &elementKey, const std::vector propertyKeys, + const uint32_t list_size_hint) { + return impl->request_properties_from_element(elementKey, propertyKeys, + list_size_hint); +} +void PlyFile::add_properties_to_element( + const std::string &elementKey, const std::vector propertyKeys, + const Type type, const size_t count, const uint8_t *data, const Type listType, + const size_t listCount) { + return impl->add_properties_to_element(elementKey, propertyKeys, type, count, + data, listType, listCount); +} + +#endif // end TINYPLY_IMPLEMENTATION \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h new file mode 100644 index 0000000..19bb44c --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h @@ -0,0 +1,48 @@ +#pragma once + +// yaml cpp +#include + +#include "avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h" +#include "avoidlib/vision_envs/vec_vision_env_base.h" + +namespace avoidlib { + +template +class AvoidVecVisionEnv : public VecVisionEnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + AvoidVecVisionEnv(); + AvoidVecVisionEnv(const std::string& cfg, const bool from_file = true); + AvoidVecVisionEnv(const YAML::Node& cfg_node); + ~AvoidVecVisionEnv(); + + using VecVisionEnvBase::configEnv; + + bool reset(Ref> obs) override; + bool reset(Ref> obs, bool random); + // bool reset(Ref> obs, Ref> state, Ref> omega); + bool step(Ref> act, Ref> obs, + Ref> reward, Ref> done, + Ref> extra_info) override; + + bool getQuadAct(Ref> quadact); + bool getQuadState(Ref> quadstate); + inline std::vector getRewardNames(void) { + return this->envs_[0]->getRewardNames(); + }; + +private: + void perAgentStep(int agent_id, Ref> act, + Ref> obs, + Ref> reward_units, Ref> done, + Ref> extra_info) override; + + // yaml configurations + bool random_reset_; + // + YAML::Node cfg_; + std::vector reward_names_; +}; + +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h new file mode 100644 index 0000000..1b00c1a --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h @@ -0,0 +1,114 @@ +#pragma once + +// std lib +#include + +#include +#include + +// yaml cpp +#include + +// avoidlib +#include "avoidlib/bridges/unity_bridge.hpp" +#include "avoidlib/common/logger.hpp" +#include "avoidlib/common/types.hpp" +#include "avoidlib/common/utils.hpp" +#include "avoidlib/common/math.hpp" +#include "avoidlib/objects/quadrotor.hpp" +#include "avoidlib/vision_envs/vision_env_base.h" +#include "avoidlib/sensors/rgb_camera.hpp" + +namespace avoidlib { +namespace avoidenv { + +enum Avoid : int { + kNState = 14, + kObs = 0, + kNObs = 6, + kNLatent = 32, + kNSeq = 1, + kAct = 0, + kNAct = 4 +}; +} + +class AvoidVisionEnv final : public VisionEnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + AvoidVisionEnv(); + AvoidVisionEnv(const std::string &cfg_path, const int env_id); + AvoidVisionEnv(const YAML::Node &cfg_node, const int env_id); + ~AvoidVisionEnv(); + + // - public OpenAI-gym-style functions + bool reset(Ref> obs) override; + bool reset(Ref> obs, bool random); + bool step(const Ref> act, Ref> obs, + Ref> reward) override; + + // - public set functions + bool loadParam(const YAML::Node &cfg); + // - public get functions + bool getObs(Ref> obs) override; + bool getImage(Ref> img, const bool rgb = true) override; + bool getDepthImage(Ref> img) override; + + // get states + bool getQuadAct(Ref> act) const; + bool getQuadState(Ref> state) const; + bool getCollisionState() const; + // - auxiliar functions + bool isTerminalState(double &reward) override; + bool addQuadrotorToUnity(const std::shared_ptr bridge) override; + bool setPointClouds(const std::shared_ptr env_ptr) override; + void setQuadFromPtr(const std::shared_ptr bridge) override; + + friend std::ostream &operator<<(std::ostream &os, + const AvoidVisionEnv &avoid_vision_env); + inline std::vector getRewardNames() {return reward_names_;} + std::unordered_map extra_info_; + + private: + void init(); + int env_id_; + int round; + bool configCamera(const YAML::Node &cfg, const std::shared_ptr); + Logger logger_{"QaudrotorEnv"}; + bool LineCollisionCheck(Vector<3> pt1, Vector<3> pt2); + + std::shared_ptr quad_ptr_; + QuadState quad_state_, pre_quad_state_; + Vector<3> goal_point_; + Vector<3> direction_, pre_direction_; + // Define reward for training + double colli_coeff_, risk_coeff_, goal_coeff_, input_coeff_, lin_vel_coeff_; + bool is_training; + bool collision_happened; + // observations and actions (for RL) + Vector pi_obs_; + Vector pi_act_; + Vector pi_act_seq_; + // reward function design (for model-free reinforcement learning) + + // action and observation normalization (for learning) + Vector act_mean_; + Vector act_std_; + Vector obs_mean_ = Vector::Zero(); + Vector obs_std_ = Vector::Ones(); + + // robot vision + std::shared_ptr rgb_camera_; + cv::Mat rgb_img_; + cv::Mat depth_img_; + + // auxiliary variables + bool use_camera_{true}; + YAML::Node cfg_; + std::vector reward_names_; + Matrix<3, 2> world_box_; + + // point clouds map + std::shared_ptr env_ptr_; +}; +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h new file mode 100644 index 0000000..44ad4a0 --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vec_vision_env_base.h @@ -0,0 +1,112 @@ +#pragma once + +// std +#include + +// openmp +#include + +// avoidlib +#include "avoidlib/bridges/unity_bridge.hpp" +#include "avoidlib/common/logger.hpp" +#include "avoidlib/common/types.hpp" +#include "avoidlib/vision_envs/vision_env_base.h" +#include "avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h" + +namespace avoidlib { + +template +class VecVisionEnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + VecVisionEnvBase(); + virtual ~VecVisionEnvBase() = 0; + + virtual void configEnv(const YAML::Node& cfg_node); + virtual bool reset(Ref> obs); + virtual bool step(Ref> act, Ref> obs, + Ref> reward, Ref> done, + Ref> extra_info); + virtual void close(); + // public set functions + void setSeed(const int seed); + + bool getObs(Ref> obs); + bool getImage(Ref> img, const bool rgb = false); + bool getDepthImage(Ref> img); + + size_t getEpisodeLength(void); + + // - auxiliary functions + void isTerminalState(Ref> terminal_state); + + // flightmare (visualization) + bool setUnity(const bool render); + bool setUnityFromPtr(std::shared_ptr bridge_ptr_); + std::shared_ptr getUnityPtr(); + bool connectUnity(); + bool initializeConnections(); + void disconnectUnity(); + FrameID updateUnity(const FrameID frame_id); + bool spawnObstacles(bool change_obs); + bool ifSceneChanged(); + bool getPointClouds(const std::string curr_data_dir, int id, bool save_pc); + bool getSavingState() { return save_pc_success_; }; + // public functions + inline int getSeed(void) const { return seed_; }; + inline SceneID getSceneID(void) const { return scene_id_; }; + inline bool getUnityRender(void) const { return unity_render_; }; + inline int getObsDim(void) const { return obs_dim_; }; + inline int getGoalObsDim(void) const { return goal_obs_dim_; }; + inline int getActDim(void) const { return act_dim_; }; + inline int getSeqDim(void) const { return seq_dim_; }; + inline int getStateDim(void) const { return state_dim_; }; + inline int getRewDim(void) const { return rew_dim_; }; + inline int getImgHeight(void) const { return img_height_; }; + inline int getImgWidth(void) const { return img_width_; }; + inline int getExtraInfoDim(void) const { return extra_info_names_.size(); }; + inline int getNumOfEnvs(void) const { return envs_.size(); }; + inline std::vector& getExtraInfoNames() { + return extra_info_names_; + }; + + protected: + // step every environment + virtual void perAgentStep(int agent_id, Ref> act, + Ref> obs, + Ref> reward_units, + Ref> done, + Ref> extra_info); + // create objects + Logger logger_{"VecVisionEnvBase"}; + + std::vector> envs_; + std::vector extra_info_names_; + + // Flightmare(Unity3D) + std::shared_ptr unity_bridge_ptr_; + std::shared_ptr env_ptr_; + SceneID scene_id_{UnityScene::WAREHOUSE}; + bool unity_ready_{false}; + bool unity_render_{false}; + RenderMessage_t unity_output_; + uint16_t receive_id_{0}; + + // auxiliar variables + int seed_, num_envs_, obs_dim_, goal_obs_dim_, seq_dim_, act_dim_, state_dim_, rew_dim_, num_threads_; + std::vector bounding_box_, bounding_box_origin_; + std::vector min_object_scale_, max_object_scale_; + bool if_get_pointcloud_; + std::vector range_, origin_; + float res_; + std::string file_name_; + // unity set up + bool spawn_trees_, spawn_objects_; + bool spawn_new_ {false}; + float radius_area_, radius_origin_; + + int img_width_, img_height_; + Matrix<> obs_dummy_; + bool save_pc_success_{false}; +}; +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h new file mode 100644 index 0000000..9242712 --- /dev/null +++ b/src/avoidbench/avoidlib/include/avoidlib/vision_envs/vision_env_base.h @@ -0,0 +1,74 @@ +#pragma once + +// standard library +#include + +#include +#include +#include +#include +#include + +// yaml +#include + +// avoidlib +#include "avoidlib/bridges/unity_bridge.hpp" +#include "avoidlib/common/types.hpp" +#include "avoidlib/pointclouds/environment.h" + +namespace avoidlib { +class VisionEnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + VisionEnvBase(); + virtual ~VisionEnvBase() = 0; + virtual bool reset(Ref> obs) = 0; + virtual bool step(const Ref> act, Ref> obs, + Ref> reward) = 0; + virtual bool getObs(Ref> obs) = 0; + virtual bool getImage(Ref> img, const bool rgb = true); + virtual bool getDepthImage(Ref> img); + virtual void close(); + virtual void render(); + virtual void updateExtraInfo(); + virtual bool isTerminalState(double &reward); + virtual bool addQuadrotorToUnity(const std::shared_ptr bridge); + virtual bool setPointClouds(const std::shared_ptr env_ptr); + virtual void setQuadFromPtr(const std::shared_ptr bridge); + inline void setSeed(const int seed) { std::srand(seed); }; + inline int getObsDim() { return obs_dim_; }; + inline int getGoalObsDim() { return goal_obs_dim_; }; + inline int getActDim() { return act_dim_; }; + inline int getSeqDim() { return seq_dim_; }; + inline int getRewDim() { return rew_dim_; }; + inline int getStateDim() {return state_dim_; }; + inline int getImgWidth() { return img_width_; }; + inline int getImgHeight() { return img_height_; }; + inline double getSimTimeStep() { return sim_dt_; }; + inline int getExtraInfoDim() { return 0; }; + inline double getMaxT() { return max_t_; }; + + protected: + // observation and action dimenstions (for Reinforcement learning) + int obs_dim_; + int goal_obs_dim_; + int act_dim_; + int seq_dim_; + int state_dim_; + // + int rew_dim_; + int img_width_; + int img_height_; + + // control time step + double sim_dt_; + double max_t_; + int action_mode_; + // random variable generator + std::normal_distribution norm_dist_{0.0, 1.0}; + std::uniform_real_distribution uniform_dist_{-1.0, 1.0}; + std::random_device rd_; + std::mt19937 random_gen_{rd_()}; +}; +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp b/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp index 6e2d41d..04962e2 100644 --- a/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp +++ b/src/avoidbench/avoidlib/src/bridges/avoidbench_bridge.cpp @@ -61,6 +61,7 @@ AvoidbenchBridge::AvoidbenchBridge(const std::string &cfg_path) scene_id_ = env_idx_; connectUnity(); + } bool AvoidbenchBridge::loadParameters(const YAML::Node &cfg) @@ -160,7 +161,7 @@ bool AvoidbenchBridge::updateUnity(const quadrotor_common::QuadStateEstimate& st if (unity_render_ && unity_ready_) { unity_bridge_ptr_->getRender(0, spawn_new_); spawn_new_ = false; - while(!unity_bridge_ptr_->handleOutput(0)) {usleep(0.01*1e6);} + while(!unity_bridge_ptr_->handleOutput(0)) {usleep(0.005*1e6);} if (quad_ptr_->getCollision()) { // collision happened } @@ -252,15 +253,21 @@ void AvoidbenchBridge::getPointCloud(const std::string curr_data_dir, finish_pc_save = true; } -bool AvoidbenchBridge::checkCollisionState(std::vector* const point, const bool &if_start) +bool AvoidbenchBridge::checkCollisionState(const std::vector point, const bool if_start) { finish_check = false; //"finish_check" just used for python side because of the multi thread CollisionCheckMessage_t collision_check_msg; - collision_check_msg.checked_point = *point; collision_check_msg.if_start_point = if_start; if(if_start) + { collision_check_msg.drone_width = 1.0; - bool is_collision = unity_bridge_ptr_->checkCollisionState(collision_check_msg, point); + collision_check_msg.checked_point[0] = point[0]; + collision_check_msg.checked_point[1] = point[1]; + collision_check_msg.checked_point[2] = point[2]; + } + else collision_check_msg.checked_point = point; + + bool is_collision = unity_bridge_ptr_->checkCollisionState(collision_check_msg); finish_check = true; return is_collision; } diff --git a/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp b/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp index 7d0c107..61b6a71 100644 --- a/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp +++ b/src/avoidbench/avoidlib/src/bridges/unity_bridge.cpp @@ -121,7 +121,6 @@ bool UnityBridge::getRender(const FrameID frame_id, const bool SpawnNewObj) { } pub_msg_.spawn_new_obj = SpawnNewObj; - // std::cout<<"pub_msg_.spawn_new_obj: "< quad) { rgb_cameras_.push_back(rgb_cameras[cam_idx]); } unity_quadrotors_.push_back(quad); - // settings_.vehicles.push_back(vehicle_t); pub_msg_.vehicles.push_back(vehicle_t); return true; } +std::shared_ptr UnityBridge::getQuadrotor(size_t id) +{ + return unity_quadrotors_[id]; +} + bool UnityBridge::addStaticObject(std::shared_ptr static_object) { Object_t object_t; object_t.ID = static_object->getID(); @@ -230,10 +233,10 @@ bool UnityBridge::handleOutput(const FrameID sent_frame_id) { colli_state_msg = json::parse(json_colli_msg); return false; } + // unpack message metadata std::string json_sub_msg = msg.get(0); std::string json_pc_msg = msg.get(1); - // std::cout<setCollision(sub_msg.sub_vehicles[idx].collision); @@ -310,7 +314,8 @@ bool UnityBridge::handleOutput(const FrameID sent_frame_id) { bool UnityBridge::getPointCloud(PointCloudMessage_t& pointcloud_msg) { int ss = 0; while(!pc_state_msg.get_pc_msg) - { ss++; + { + ss++; // create new message object zmqpp::message msg; // add topic header @@ -322,7 +327,6 @@ bool UnityBridge::getPointCloud(PointCloudMessage_t& pointcloud_msg) { pub_.send(msg, true); usleep(0.01 * 1e6); - if (ss>800) break; } ss = 0; pc_state_msg.get_pc_msg = false; @@ -332,14 +336,13 @@ bool UnityBridge::getPointCloud(PointCloudMessage_t& pointcloud_msg) { { ss++; usleep(0.1 * 1e6); - // std::cout<<"point cloud saving..."<* const new_pt) +bool UnityBridge::checkCollisionState(const CollisionCheckMessage_t &collision_check_msg) { int ss = 0; while(!colli_state_msg.get_msg) @@ -359,10 +362,7 @@ bool UnityBridge::checkCollisionState(const CollisionCheckMessage_t &collision_c if(ss==20) return true; colli_state_msg.get_msg = false; if(colli_state_msg.if_collision) - { - *new_pt = colli_state_msg.new_point; return true; - } return false; } diff --git a/src/avoidbench/avoidlib/src/common/math.cpp b/src/avoidbench/avoidlib/src/common/math.cpp index da0a6d6..f96238a 100644 --- a/src/avoidbench/avoidlib/src/common/math.cpp +++ b/src/avoidbench/avoidlib/src/common/math.cpp @@ -141,6 +141,19 @@ void quaternionToEuler(const Quaternion& quat, Ref> euler) { quat.y() * quat.y() - quat.z() * quat.z()); } +void EularToquaternion(Quaternion& quat, const Ref> euler) { + double cy = std::cos(euler.z() * 0.5); + double sy = std::sin(euler.z() * 0.5); + double cp = std::cos(euler.y() * 0.5); + double sp = std::sin(euler.y() * 0.5); + double cr = std::cos(euler.x() * 0.5); + double sr = std::sin(euler.x() * 0.5); + quat.w() = cy * cp * cr + sy * sp * sr; + quat.x() = cy * cp * sr - sy * sp * cr; + quat.y() = sy * cp * sr + cy * sp * cr; + quat.z() = sy * cp * cr - cy * sp * sr; +} + std::vector transformationRos2Unity(const Matrix<4, 4>& ros_tran_mat) { /// [ Transformation Matrix ] from ROS coordinate system (right hand) diff --git a/src/avoidbench/avoidlib/src/controller/lowlevel_controller_simple.cpp b/src/avoidbench/avoidlib/src/controller/lowlevel_controller_simple.cpp index 919f2b2..38a0b8e 100644 --- a/src/avoidbench/avoidlib/src/controller/lowlevel_controller_simple.cpp +++ b/src/avoidbench/avoidlib/src/controller/lowlevel_controller_simple.cpp @@ -10,6 +10,8 @@ bool LowLevelControllerSimple::updateQuadDynamics( const QuadrotorDynamics& quad) { quad_dynamics_ = quad; B_allocation_ = quad.getAllocationMatrix(); + Kinv_ang_vel_tau_ = quad.getKlqr(); + // std::cout<<"B_allocation_: "<> K_lqr) +{ + Kinv_ang_vel_tau_ = K_lqr; + return true; +} + -Vector<4> LowLevelControllerSimple::run(const Ref> omega_des) { +Vector<4> LowLevelControllerSimple::run(const Ref> omega_des, + const Ref> body_torques) { Vector<4> motor_thrusts; if (!cmd_.isSingleRotorThrusts()) { const Scalar force = quad_dynamics_.getMass() * cmd_.collective_thrust; - const Vector<3> omega_err = cmd_.omega - omega_des; + Eigen::VectorXd control_error = Eigen::VectorXd::Zero(6); + control_error.segment(0, 3) = cmd_.omega - omega_des; + control_error.segment(3, 3) = + cmd_.omega.cross(quad_dynamics_.getJ() * cmd_.omega) - body_torques; const Vector<3> body_torque_des = - quad_dynamics_.getJ() * Kinv_ang_vel_tau_ * omega_err + + Kinv_ang_vel_tau_ * control_error + omega_des.cross(quad_dynamics_.getJ() * omega_des); const Vector<4> thrust_torque(force, body_torque_des.x(), body_torque_des.y(), body_torque_des.z()); - + // std::cout<<"cmd_.omega: "< tbm_fl; tbm_fl = params["quadrotor_dynamics"]["tbm_fl"].as>(); - t_BM_.row(0) << tbm_fr[0], tbm_bl[0], tbm_br[0], tbm_fl[0]; - t_BM_.row(1) << tbm_fr[1], tbm_bl[1], tbm_br[1], tbm_fl[1]; - t_BM_.row(2) << tbm_fr[2], tbm_bl[2], tbm_br[2], tbm_fl[2]; + t_BM_.row(0) << tbm_fr[0], tbm_bl[0], tbm_fl[0], tbm_br[0]; + t_BM_.row(1) << tbm_fr[1], tbm_bl[1], tbm_fl[1], tbm_br[1]; + t_BM_.row(2) << tbm_fr[2], tbm_bl[2], tbm_fl[2], tbm_br[2]; // body drag coefficients std::vector body_drag_1; @@ -297,6 +297,23 @@ bool QuadrotorDynamics::updateParams(const YAML::Node& params) { -t_BM_.row(0), kappa_ * Vector<4>(-1.0, -1.0, 1.0, 1.0).transpose()) .finished(); + K_lqr_ = Eigen::MatrixXd::Zero(3, 6); + + double body_rates_p_xy; + double body_rates_d_xy; + double body_rates_p_z; + double body_rates_d_z; + body_rates_p_xy = params["quadrotor_dynamics"]["body_rates_p_xy"].as(); + body_rates_d_xy = params["quadrotor_dynamics"]["body_rates_d_xy"].as(); + body_rates_p_z = params["quadrotor_dynamics"]["body_rates_p_z"].as(); + body_rates_d_z = params["quadrotor_dynamics"]["body_rates_d_z"].as(); + K_lqr_(0, 0) = body_rates_p_xy; + K_lqr_(1, 1) = body_rates_p_xy; + K_lqr_(2, 2) = body_rates_p_z; + K_lqr_(0, 3) = body_rates_d_xy; + K_lqr_(1, 4) = body_rates_d_xy; + K_lqr_(2, 5) = body_rates_d_z; + force_torque_min_(0) = 0.0; force_torque_max_(0) = thrust_max_ * 4; // torque x diff --git a/src/avoidbench/avoidlib/src/envs/.Rhistory b/src/avoidbench/avoidlib/src/envs/.Rhistory new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_env.cpp b/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_env.cpp index b8aad9f..ae30565 100644 --- a/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_env.cpp +++ b/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_env.cpp @@ -29,7 +29,8 @@ QuadrotorEnv::QuadrotorEnv(const YAML::Node &cfg_node, const int env_id) void QuadrotorEnv::init() { // - goal_pos_ << 0.0, 0.0, 5.0; + goal_pos_ << 0.0, 2.0, 1.0; + goal_vel_ << 0.0, 4.0, 0.0; // quad_ptr_ = std::make_shared(); // update dynamics @@ -47,6 +48,7 @@ void QuadrotorEnv::init() { obs_dim_ = quadenv::kNObs; act_dim_ = quadenv::kNAct; state_dim_ = quadenv::kNState; + motor_dim_ = quadenv::kNMotor; rew_dim_ = 0; // load parameters @@ -95,13 +97,19 @@ bool QuadrotorEnv::reset(Ref> obs) { // reset position quad_state_.x(QS::POSX) = uniform_dist_(random_gen_); quad_state_.x(QS::POSY) = uniform_dist_(random_gen_); - quad_state_.x(QS::POSZ) = uniform_dist_(random_gen_) + 5; - if (quad_state_.x(QS::POSZ) < -0.0) - quad_state_.x(QS::POSZ) = -quad_state_.x(QS::POSZ); + quad_state_.x(QS::POSZ) = 2.0; + start = quad_state_.p; // reset linear velocity quad_state_.x(QS::VELX) = uniform_dist_(random_gen_); quad_state_.x(QS::VELY) = uniform_dist_(random_gen_); quad_state_.x(QS::VELZ) = uniform_dist_(random_gen_); + // double vel_lin = uniform_dist_(random_gen_) * 4.0; + // if(vel_lin < 0.0) + // vel_lin = -vel_lin; + // double vel_ang = uniform_dist_(random_gen_) * M_PI; + // quad_state_.x(QS::VELX) = -vel_lin * std::sin(vel_ang); + // quad_state_.x(QS::VELY) = vel_lin * std::cos(vel_ang); + // quad_state_.x(QS::VELZ) = uniform_dist_(random_gen_); // reset orientation quad_state_.x(QS::ATTW) = uniform_dist_(random_gen_); quad_state_.x(QS::ATTX) = uniform_dist_(random_gen_); @@ -109,9 +117,17 @@ bool QuadrotorEnv::reset(Ref> obs) { quad_state_.x(QS::ATTZ) = uniform_dist_(random_gen_); quad_state_.qx /= quad_state_.qx.norm(); + //reset random target + goal_pos_(0) = uniform_dist_(random_gen_); + goal_pos_(1) = uniform_dist_(random_gen_) + 1.0; + goal_pos_(2) = 2.0; + global_goal_pos_ = goal_pos_; + next_goal_pos(0) = global_goal_pos_(0) + uniform_dist_(random_gen_); + next_goal_pos(1) = global_goal_pos_(1) + uniform_dist_(random_gen_) + 1.0; + next_goal_pos(2) = global_goal_pos_(2); // reset quadrotor with random states quad_ptr_->reset(quad_state_); - + pre_quad_state_ = quad_state_; // reset control command cmd_.t = 0.0; if (rotor_ctrl_ == 0) { @@ -122,6 +138,7 @@ bool QuadrotorEnv::reset(Ref> obs) { cmd_.collective_thrust = 0; cmd_.omega.setZero(); } + s_stamp = 0.0; // obtain observations getObs(obs); @@ -130,7 +147,7 @@ bool QuadrotorEnv::reset(Ref> obs) { bool QuadrotorEnv::reset(Ref> obs, bool random) { return reset(obs); } -bool QuadrotorEnv::reset(Ref> obs, Ref> state) +bool QuadrotorEnv::reset(Ref> obs, Ref> state, Ref> omega) { if (state.size() != state_dim_) { logger_.error("State dimension mismatch. %d != %d", state.size(), @@ -146,15 +163,23 @@ bool QuadrotorEnv::reset(Ref> obs, Ref> state) quad_state_.x(QS::VELX) = state(3); quad_state_.x(QS::VELY) = state(4); quad_state_.x(QS::VELZ) = state(5); - quad_state_.x(QS::ACCX) = state(6); - quad_state_.x(QS::ACCY) = state(7); - quad_state_.x(QS::ACCZ) = state(8); + quad_state_.x(QS::OMEX) = state(6); + quad_state_.x(QS::OMEY) = state(7); + quad_state_.x(QS::OMEZ) = state(8); quad_state_.x(QS::ATTW) = state(9); quad_state_.x(QS::ATTX) = state(10); quad_state_.x(QS::ATTY) = state(11); quad_state_.x(QS::ATTZ) = state(12); + goal_pos_(0) = state(13); + goal_pos_(1) = state(14); + goal_pos_(2) = state(15); + next_goal_pos(0) = state(16); + next_goal_pos(1) = state(17); + next_goal_pos(2) = state(18); + global_goal_pos_ = goal_pos_; // reset quadrotor - quad_ptr_->reset(quad_state_); + quad_ptr_->reset(quad_state_, omega); + pre_quad_state_ = quad_state_; // reset control command cmd_.t = 0.0; if (rotor_ctrl_ == 0) { @@ -165,7 +190,6 @@ bool QuadrotorEnv::reset(Ref> obs, Ref> state) cmd_.collective_thrust = 0; cmd_.omega.setZero(); } - // obtain observations getObs(obs); return true; @@ -177,15 +201,16 @@ bool QuadrotorEnv::getObs(Ref> obs) { obs_dim_); return false; } - + pre_quad_state_ = quad_state_; quad_ptr_->getState(&quad_state_); // convert quaternion to euler angle Vector<9> ori = Map>(quad_state_.R().data(), quad_state_.R().size()); - + vel_lin_ = std::sqrt(quad_state_.v(0)*quad_state_.v(0) + quad_state_.v(1)*quad_state_.v(1)); + vel_ang_ = std::atan2(-quad_state_.v(0), quad_state_.v(1)); + // goal_pos_ = goal_pos_ - (quad_state_.p - pre_quad_state_.p); // observation dim : 3 + 9 + 3 = 15 - obs.segment(quadenv::kObs) << quad_state_.p, ori, - quad_state_.v; + obs.segment(quadenv::kObs) << quad_state_.p, ori, quad_state_.v, global_goal_pos_, next_goal_pos - global_goal_pos_; // use the following observations if use single rotor thrusts as input // observation dim : 3 + 9 + 3 + 3= 18 // obs.segment(quadenv::kObs) << quad_state_.p, ori, @@ -201,7 +226,6 @@ bool QuadrotorEnv::step(const Ref> act, Ref> obs, pi_act_ = act.cwiseProduct(act_std_) + act_mean_; cmd_.t += sim_dt_; quad_state_.t += sim_dt_; - if (rotor_ctrl_ == 0) { cmd_.thrusts = pi_act_; } else if (rotor_ctrl_ == 1) { @@ -210,30 +234,66 @@ bool QuadrotorEnv::step(const Ref> act, Ref> obs, } // simulate quadrotor quad_ptr_->run(cmd_, sim_dt_); - // update observations getObs(obs); - // ---------------------- reward function design - // - position tracking - const double pos_reward = pos_coeff_ * (quad_state_.p - goal_pos_).norm(); - - // - orientation tracking - const double ori_reward = - ori_coeff_ * - (quad_state_.q().toRotationMatrix().eulerAngles(2, 1, 0)).norm(); - - // - linear velocity tracking - const double lin_vel_reward = lin_vel_coeff_ * quad_state_.v.norm(); - - // - angular velocity tracking - const double ang_vel_reward = ang_vel_coeff_ * quad_state_.w.norm(); + //reset target and calculate waypoints reward (positive) + double waypoint_reward = 0; + if((quad_state_.p - global_goal_pos_).norm()<0.2) + { + waypoint_reward = 1.0; + if(std::abs(std::atan2(next_goal_pos(0) - global_goal_pos_(0), next_goal_pos(1) - global_goal_pos_(1)) + - std::atan2(quad_state_.v(0), quad_state_.v(1)))<0.2) + { + waypoint_reward = 2.0; + } + } - const double total_reward = - pos_reward + ori_reward + lin_vel_reward + ang_vel_reward; + // - position tracking (positive) + + process = (quad_state_.p - start).dot(global_goal_pos_ - start) / + ((global_goal_pos_ - start).norm()*(global_goal_pos_ - start).norm()); + + double pos_reward = (quad_state_.p - global_goal_pos_).norm(); + + double time_penalty = 0; + + if(waypoint_reward > 0) //(std::abs(process-1.0)<=0.05 && vertical<=0.1) || || (process > 0.98 && (quad_state_.p - global_goal_pos_).norm()<0.4) + { + start = global_goal_pos_; + global_goal_pos_ = next_goal_pos; + next_goal_pos(0) = global_goal_pos_(0) + uniform_dist_(random_gen_); + next_goal_pos(1) = global_goal_pos_(1) + uniform_dist_(random_gen_) + 1.0; + next_goal_pos(2) = global_goal_pos_(2); + e_stamp = cmd_.t; + time_penalty = time_coeff_ * (e_stamp - s_stamp); + s_stamp = e_stamp; + } - reward << pos_reward, ori_reward, lin_vel_reward, ang_vel_reward, - total_reward; + const double processing_reward = pos_coeff_ * pos_reward; + // - orientation tracking (negative) + const double ori_reward = ori_coeff_ * std::abs( + (quad_state_.q().toRotationMatrix().eulerAngles(2, 1, 0))[0]); + + // - velocity tracking (negative) + double lin_vel_penalty = 0; + if(quad_state_.v.norm() > 6.0) + lin_vel_penalty = lin_vel_coeff_ * (std::abs(quad_state_.v.norm() - 6.0)); + if(quad_state_.v(1)< 0.0) + lin_vel_penalty += lin_vel_coeff_ * (-quad_state_.v(1)); + // - large angular velocity penalty (negative) + const double ang_vel_penalty = ang_vel_coeff_ * quad_state_.w.norm(); + + // - velocity direction penalty + const double velDir_penalty = vel_dir_coeff_ * std::abs(std::atan2(next_goal_pos(0) - global_goal_pos_(0), next_goal_pos(1) - global_goal_pos_(1)) + - std::atan2(quad_state_.v(0), quad_state_.v(1))); + const double smooth_reward = smooth_coeff_ * (quad_state_.v - pre_quad_state_.v).norm(); + + // total reward + const double total_reward = processing_reward + lin_vel_penalty + ori_reward + velDir_penalty + ang_vel_penalty + + smooth_reward + waypoint_reward; + reward << processing_reward, lin_vel_penalty, ori_reward, velDir_penalty, ang_vel_penalty, + smooth_reward, waypoint_reward, total_reward; return true; } @@ -247,6 +307,20 @@ bool QuadrotorEnv::isTerminalState(double &reward) { reward = 0.0; return true; } + + if (process>2.0) + { + reward = -1.0; + return true; + } + + // if (std::abs((quad_state_.v - goal_vel_)[1])<0.05 && + // (quad_state_.p - goal_pos_).norm()<0.1) + // { + // std::cout<<"okokok"<> act) const { bool QuadrotorEnv::getQuadState(Ref> obs) const { if (quad_state_.t >= 0.0 && (obs.rows() == quadenv::kNQuadState)) { - obs << quad_state_.t, quad_state_.p, quad_state_.qx, quad_state_.v, + obs << quad_state_.t, quad_state_.p, quad_state_.qx, quad_state_.v, global_goal_pos_, quad_state_.w, quad_state_.a, quad_ptr_->getMotorOmega(), - quad_ptr_->getMotorThrusts(); + quad_ptr_->getMotorThrusts(), quad_state_.tg, process; return true; } logger_.error("Get Quadrotor state failed."); @@ -328,8 +402,12 @@ bool QuadrotorEnv::loadParam(const YAML::Node &cfg) { // load reinforcement learning related parameters pos_coeff_ = cfg["rewards"]["pos_coeff"].as(); ori_coeff_ = cfg["rewards"]["ori_coeff"].as(); + vert_coeff_ = cfg["rewards"]["vert_coeff"].as(); lin_vel_coeff_ = cfg["rewards"]["lin_vel_coeff"].as(); ang_vel_coeff_ = cfg["rewards"]["ang_vel_coeff"].as(); + smooth_coeff_ = cfg["rewards"]["smooth_coeff"].as(); + vel_dir_coeff_ = cfg["rewards"]["vel_dir_coeff"].as(); + time_coeff_ = cfg["rewards"]["time_coeff"].as(); // load reward settings reward_names_ = cfg["rewards"]["names"].as>(); diff --git a/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_vec_env.cpp b/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_vec_env.cpp index 5ff62d5..1ae73c9 100644 --- a/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_vec_env.cpp +++ b/src/avoidbench/avoidlib/src/envs/quadrotor_env/quadrotor_vec_env.cpp @@ -50,9 +50,11 @@ bool QuadrotorVecEnv::reset(Ref> obs) { } template -bool QuadrotorVecEnv::reset(Ref> obs, Ref> state) { +bool QuadrotorVecEnv::reset(Ref> obs, + Ref> state, Ref> omega) { if (obs.rows() != this->num_envs_ || obs.cols() != this->obs_dim_ || - state.rows() != this->num_envs_ || state.cols() != this->state_dim_) { + state.rows() != this->num_envs_ || state.cols() != this->state_dim_ || + omega.rows() != this->num_envs_ || omega.cols() != this->motor_dim_) { this->logger_.error( "Input matrix dimensions do not match with that of the environment."); return false; @@ -60,7 +62,7 @@ bool QuadrotorVecEnv::reset(Ref> obs, Refreceive_id_ = 0; for (int i = 0; i < this->num_envs_; i++) { - this->envs_[i]->reset(obs.row(i), state.row(i)); + this->envs_[i]->reset(obs.row(i), state.row(i), omega.row(i)); } return true; diff --git a/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_env.cpp b/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_env.cpp new file mode 100644 index 0000000..c99d9ea --- /dev/null +++ b/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_env.cpp @@ -0,0 +1,433 @@ +#include "avoidlib/envs/tracking_env/tracking_env.hpp" + +namespace avoidlib { + +TrackingEnv::TrackingEnv() + : TrackingEnv(getenv("AVOIDBENCH_PATH") + + std::string("/flightpy/configs/control/config_gazeo.yaml"), + 0) {} + +TrackingEnv::TrackingEnv(const std::string &cfg_path, const int env_id) + : EnvBase() { + // check if configuration file exist + if (!(file_exists(cfg_path))) { + logger_.error("Configuration file %s does not exists.", cfg_path); + } + // load configuration file + cfg_ = YAML::LoadFile(cfg_path); + // + init(); + env_id_ = env_id; +} + +TrackingEnv::TrackingEnv(const YAML::Node &cfg_node, const int env_id) + : EnvBase(), cfg_(cfg_node) { + // + init(); + env_id_ = env_id; +} + +void TrackingEnv::init() { + // + // goal_pos_ << 0.0, 0.0, 5.0; + // + quad_ptr_ = std::make_shared(); + // update dynamics + QuadrotorDynamics dynamics; + dynamics.updateParams(cfg_); + quad_ptr_->updateDynamics(dynamics); + + // define a bounding box {xmin, xmax, ymin, ymax, zmin, zmax} + world_box_ << -40, 40, -40, 40, -0.0, 20; + if (!quad_ptr_->setWorldBox(world_box_)) { + logger_.error("cannot set wolrd box"); + }; + + // define input and output dimension for the environment + obs_dim_ = trackenv::kNObs; + act_dim_ = trackenv::kNAct; + state_dim_ = trackenv::kNState; + motor_dim_ = trackenv::kNMotor; + rew_dim_ = 0; + + // load parameters + loadParam(cfg_); + + // add camera + if (use_camera_) { + rgb_camera_ = std::make_shared(); + if (!configCamera(cfg_, rgb_camera_)) { + logger_.error( + "Cannot config RGB Camera. Something wrong with the config file"); + }; + + quad_ptr_->addRGBCamera(rgb_camera_); + // + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + } + + // use single rotor control or bodyrate control + if (rotor_ctrl_ == 0) { + act_mean_ = Vector::Ones() * + quad_ptr_->getDynamics().getSingleThrustMax() / 2; + act_std_ = Vector::Ones() * + quad_ptr_->getDynamics().getSingleThrustMax() / 2; + } else if (rotor_ctrl_ == 1) { + double max_force = quad_ptr_->getDynamics().getForceMax(); + Vector<3> max_omega = quad_ptr_->getDynamics().getOmegaMax(); + // + act_mean_ << (max_force / quad_ptr_->getMass()) / 2, 0.0, 0.0, 0.0; + act_std_ << (max_force / quad_ptr_->getMass()) / 2, max_omega.x(), + max_omega.y(), max_omega.z(); + } +} + +TrackingEnv::~TrackingEnv() {} + +bool TrackingEnv::reset(Ref> obs) { + quad_state_.setZero(); + pi_act_.setZero(); + + // randomly reset the quadrotor state + // reset linear velocity + quad_state_.x(QS::POSZ) = 0.2; + quad_state_.x(QS::VELX) = uniform_dist_(random_gen_); + quad_state_.x(QS::VELY) = uniform_dist_(random_gen_); + quad_state_.x(QS::VELZ) = uniform_dist_(random_gen_); + // reset orientation + quad_state_.x(QS::ATTW) = uniform_dist_(random_gen_); + quad_state_.x(QS::ATTX) = uniform_dist_(random_gen_); + quad_state_.x(QS::ATTY) = uniform_dist_(random_gen_); + quad_state_.x(QS::ATTZ) = uniform_dist_(random_gen_); + quad_state_.qx /= quad_state_.qx.norm(); + //reset target point + quad_state_.x(QS::TAGX) = uniform_dist_(random_gen_); + quad_state_.x(QS::TAGY) = uniform_dist_(random_gen_); + quad_state_.x(QS::TAGZ) = uniform_dist_(random_gen_) + 1.0; + quad_state_.x(QS::TAGR) = uniform_dist_(random_gen_); + + init_target_pos_ = quad_state_.tg; + // reset quadrotor with random states + quad_ptr_->reset(quad_state_); + + // reset control command + cmd_.t = 0.0; + if (rotor_ctrl_ == 0) { + cmd_.setCmdMode(0); + cmd_.thrusts.setZero(); + } else if (rotor_ctrl_ == 1) { + cmd_.setCmdMode(1); + cmd_.collective_thrust = 0; + cmd_.omega.setZero(); + } + + // obtain observations + getObs(obs); + return true; +} + +bool TrackingEnv::reset(Ref> obs, bool random) { return reset(obs); } + +bool TrackingEnv::reset(Ref> obs, Ref> state, Ref> omega) +{ + if (state.size() != state_dim_) { + logger_.error("State dimension mismatch. %d != %d", state.size(), + state_dim_); + return false; + } + + quad_state_.setZero(); + pi_act_.setZero(); + // quad_state_.x(QS::POSX) = state(0); + // quad_state_.x(QS::POSY) = state(1); + // quad_state_.x(QS::POSZ) = state(2); + quad_state_.x(QS::VELX) = state(0); + quad_state_.x(QS::VELY) = state(1); + quad_state_.x(QS::VELZ) = state(2); + quad_state_.x(QS::OMEX) = state(3); + quad_state_.x(QS::OMEY) = state(4); + quad_state_.x(QS::OMEZ) = state(5); + quad_state_.x(QS::ATTW) = state(6); + quad_state_.x(QS::ATTX) = state(7); + quad_state_.x(QS::ATTY) = state(8); + quad_state_.x(QS::ATTZ) = state(9); + quad_state_.x(QS::TAGX) = state(10); + quad_state_.x(QS::TAGY) = state(11); + quad_state_.x(QS::TAGZ) = state(12); + quad_state_.x(QS::TAGR) = state(13); + // reset quadrotor + quad_ptr_->reset(quad_state_, omega); + // reset control command + cmd_.t = 0.0; + if (rotor_ctrl_ == 0) { + cmd_.setCmdMode(0); + cmd_.thrusts.setZero(); + } else if (rotor_ctrl_ == 1) { + cmd_.setCmdMode(1); + cmd_.collective_thrust = 0; + cmd_.omega.setZero(); + } + + // obtain observations + getObs(obs); + return true; +} + +bool TrackingEnv::getObs(Ref> obs) { + if (obs.size() != obs_dim_) { + logger_.error("Observation dimension mismatch. %d != %d", obs.size(), + obs_dim_); + return false; + } + + quad_ptr_->getState(&quad_state_); + quad_state_.tg = quad_state_.p - init_target_pos_; + // convert quaternion to euler angle + Vector<9> ori = Map>(quad_state_.R().data(), quad_state_.R().size()); + + // observation dim : 3 + 9 + 3 + 1 = 16 + obs.segment(trackenv::kObs) << quad_state_.v, ori, + quad_state_.tg, quad_state_.x(QS::TAGR); + // use the following observations if use single rotor thrusts as input + // observation dim : 3 + 9 + 3 + 3= 18 + // obs.segment(quadenv::kObs) << quad_state_.p, ori, + // quad_state_.v, quad_state_.w; + return true; +} + +bool TrackingEnv::step(const Ref> act, Ref> obs, + Ref> reward) { + if (!act.allFinite() || act.rows() != act_dim_ || rew_dim_ != reward.rows()) + return false; + // + pi_act_ = act.cwiseProduct(act_std_) + act_mean_; + cmd_.t += sim_dt_; + quad_state_.t += sim_dt_; + // std::cout<<"quad_state_: "<(1); + } + // std::cout<<"cmd_: "<run(cmd_, sim_dt_); + // std::cout<<"new quad_state_: "<= max_t_ - sim_dt_) { + reward = 0.0; + return true; + } + return false; +} + + +bool TrackingEnv::getQuadAct(Ref> act) const { + if (cmd_.t >= 0.0 && pi_act_.allFinite() && (act.size() == pi_act_.size())) { + act = pi_act_; + return true; + } + return false; +} + +bool TrackingEnv::getQuadState(Ref> obs) const { + if (quad_state_.t >= 0.0 && (obs.rows() == trackenv::kNQuadState)) { + obs << quad_state_.t, quad_state_.p, quad_state_.qx, quad_state_.v, + quad_state_.w, quad_state_.a, quad_ptr_->getMotorOmega(), + quad_ptr_->getMotorThrusts(), quad_state_.tg, quad_state_.x(QS::TAGR); + return true; + } + logger_.error("Get Quadrotor state failed."); + return false; +} + +bool TrackingEnv::getDepthImage(Ref> depth_img) { + if (!rgb_camera_ || !rgb_camera_->getEnabledLayers()[0]) { + logger_.error( + "No RGB Camera or depth map is not enabled. Cannot retrieve depth " + "images."); + return false; + } + rgb_camera_->getDepthMap(depth_img_); + + depth_img = Map>((float_t *)depth_img_.data, + depth_img_.rows * depth_img_.cols); + return true; +} + + +bool TrackingEnv::getImage(Ref> img, const bool rgb) { + if (!rgb_camera_) { + logger_.error("No Camera! Cannot retrieve Images."); + return false; + } + + rgb_camera_->getRGBImage(rgb_img_); + + if (rgb_img_.rows != img_height_ || rgb_img_.cols != img_width_) { + logger_.error( + "Image resolution mismatch. Aborting.. Image rows %d != %d, Image cols " + "%d != %d", + rgb_img_.rows, img_height_, rgb_img_.cols, img_width_); + return false; + } + + if (!rgb) { + // converting rgb image to gray image + cvtColor(rgb_img_, gray_img_, CV_RGB2GRAY); + // map cv::Mat data to Eiegn::Vector + img = Map>(gray_img_.data, gray_img_.rows * gray_img_.cols); + } else { + img = Map>(rgb_img_.data, rgb_img_.rows * rgb_img_.cols * + rgb_camera_->getChannels()); + } + return true; +} + + +bool TrackingEnv::loadParam(const YAML::Node &cfg) { + if (cfg["simulation"]) { + sim_dt_ = cfg["simulation"]["sim_dt"].as(); + max_t_ = cfg["simulation"]["max_t"].as(); + rotor_ctrl_ = cfg["simulation"]["rotor_ctrl"].as(); + } else { + logger_.error("Cannot load [quadrotor_env] parameters"); + return false; + } + + if (cfg["rewards"]) { + // load reinforcement learning related parameters + pos_coeff_ = cfg["rewards"]["pos_coeff"].as(); + ori_coeff_ = cfg["rewards"]["ori_coeff"].as(); + lin_vel_coeff_ = cfg["rewards"]["lin_vel_coeff"].as(); + ang_vel_coeff_ = cfg["rewards"]["ang_vel_coeff"].as(); + // load reward settings + reward_names_ = cfg["rewards"]["names"].as>(); + + rew_dim_ = cfg["rewards"]["names"].as>().size(); + } else { + logger_.error("Cannot load [rewards] parameters"); + return false; + } + return true; +} + +bool TrackingEnv::configCamera(const YAML::Node &cfg, + const std::shared_ptr camera) { + if (!cfg["rgb_camera"]) { + logger_.error("Cannot config RGB Camera"); + return false; + } + + if (!cfg["rgb_camera"]["on"].as()) { + logger_.warn("Camera is off. Please turn it on."); + return false; + } + + if (quad_ptr_->getNumCamera() >= 1) { + logger_.warn("Camera has been added. Skipping the camera configuration."); + return false; + } + + // create camera + rgb_camera_ = std::make_shared(); + + // load camera settings + std::vector t_BC_vec = + cfg["rgb_camera"]["t_BC"].as>(); + std::vector r_BC_vec = + cfg["rgb_camera"]["r_BC"].as>(); + + // + Vector<3> t_BC(t_BC_vec.data()); + Matrix<3, 3> r_BC = + (AngleAxis(r_BC_vec[2] * M_PI / 180.0, Vector<3>::UnitZ()) * + AngleAxis(r_BC_vec[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec[0] * M_PI / 180.0, Vector<3>::UnitX())) + .toRotationMatrix(); + std::vector post_processing = {false, false, false}; + post_processing[0] = cfg["rgb_camera"]["enable_depth"].as(); + post_processing[1] = cfg["rgb_camera"]["enable_segmentation"].as(); + post_processing[2] = cfg["rgb_camera"]["enable_opticalflow"].as(); + + // + rgb_camera_->setFOV(cfg["rgb_camera"]["fov"].as()); + rgb_camera_->setWidth(cfg["rgb_camera"]["width"].as()); + rgb_camera_->setChannels(cfg["rgb_camera"]["channels"].as()); + rgb_camera_->setHeight(cfg["rgb_camera"]["height"].as()); + rgb_camera_->setRelPose(t_BC, r_BC); + rgb_camera_->setPostProcessing(post_processing); + + + // add camera to the quadrotor + quad_ptr_->addRGBCamera(rgb_camera_); + + // adapt parameters + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + return true; +} + +bool TrackingEnv::addQuadrotorToUnity( + const std::shared_ptr bridge) { + if (!quad_ptr_) return false; + bridge->addQuadrotor(quad_ptr_); + return true; +} + +std::ostream &operator<<(std::ostream &os, const TrackingEnv &quad_env) { + os.precision(3); + os << "Quadrotor Environment:\n" + << "obs dim = [" << quad_env.obs_dim_ << "]\n" + << "act dim = [" << quad_env.act_dim_ << "]\n" + << "sim dt = [" << quad_env.sim_dt_ << "]\n" + << "max_t = [" << quad_env.max_t_ << "]\n" + << "act_mean = [" << quad_env.act_mean_.transpose() << "]\n" + << "act_std = [" << quad_env.act_std_.transpose() << "]\n" + << "obs_mean = [" << quad_env.obs_mean_.transpose() << "]\n" + << "obs_std = [" << quad_env.obs_std_.transpose() << "]" + << std::endl; + os.precision(); + return os; +} + +} // namespace avoidlib diff --git a/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_vec_env.cpp b/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_vec_env.cpp new file mode 100644 index 0000000..5ec0fa2 --- /dev/null +++ b/src/avoidbench/avoidlib/src/envs/tracking_env/tracking_vec_env.cpp @@ -0,0 +1,179 @@ +#include "avoidlib/envs/tracking_env/tracking_vec_env.hpp" + +namespace avoidlib { + +template +TrackingVecEnv::TrackingVecEnv() { + std::string config_path = + getenv("AVOIDBENCH_PATH") + + std::string("/flightpy/configs/control/config_gazebo.yaml"); + cfg_ = YAML::LoadFile(config_path); + // yaml configurations + configEnv(cfg_); +} + +template +TrackingVecEnv::TrackingVecEnv(const std::string& cfg, + const bool from_file) { + // load environment configuration + if (from_file) { + // load directly from a yaml file + cfg_ = YAML::LoadFile(cfg); + } else { + // load from a string or dictionary + cfg_ = YAML::Load(cfg); + } + configEnv(cfg_); +} + +template +TrackingVecEnv::TrackingVecEnv(const YAML::Node& cfg_node) { + cfg_ = cfg_node; + configEnv(cfg_); + random_reset_ = true; +} + +template +bool TrackingVecEnv::reset(Ref> obs) { + if (obs.rows() != this->num_envs_ || obs.cols() != this->obs_dim_) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + + this->receive_id_ = 0; + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->reset(obs.row(i), random_reset_); + } + + return true; +} + +template +bool TrackingVecEnv::reset(Ref> obs, + Ref> state, Ref> omega) { + if (obs.rows() != this->num_envs_ || obs.cols() != this->obs_dim_ || + state.rows() != this->num_envs_ || state.cols() != this->state_dim_ || + omega.rows() != this->num_envs_ || omega.cols() != this->motor_dim_) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + + this->receive_id_ = 0; + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->reset(obs.row(i), state.row(i), omega.row(i)); + } + + return true; +} + +template +bool TrackingVecEnv::reset(Ref> obs, + bool random) { + if (obs.rows() != this->num_envs_ || obs.cols() != this->obs_dim_) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + random_reset_ = random; + + + this->receive_id_ = 0; + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->reset(obs.row(i), random_reset_); + } + + return true; +} + +template +bool TrackingVecEnv::step(Ref> act, + Ref> obs, + Ref> reward, + Ref> done, + Ref> extra_info) { + if (act.rows() != this->num_envs_ || act.cols() != this->act_dim_ || + obs.rows() != this->num_envs_ || obs.cols() != this->obs_dim_ || + reward.rows() != this->num_envs_ || reward.cols() != this->rew_dim_ || + done.rows() != this->num_envs_ || done.cols() != 1 || + extra_info.rows() != this->num_envs_ || + extra_info.cols() != (long int)this->extra_info_names_.size()) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + std::cout << "act dim = [" << act.rows() << "x" << act.cols() + << "]\n" + << "obs dim = [" << obs.rows() << "x" << obs.cols() + << "]\n" + << "rew dim = [" << reward.rows() << "x" << reward.cols() + << "]\n" + << "done dim = [" << done.rows() << "x" << done.cols() + << "]\n" + << "extra info dim = [" << extra_info.rows() << "x" + << extra_info.cols() << "]\n" + << std::endl; + return false; + } + +#pragma omp parallel for schedule(dynamic) + for (int i = 0; i < this->num_envs_; i++) { + perAgentStep(i, act, obs, reward, done, extra_info); + // if(i == 0) std::cout< +void TrackingVecEnv::perAgentStep( + int agent_id, Ref> act, Ref> obs, + Ref> reward, Ref> done, + Ref> extra_info) { + // get individual rewards + this->envs_[agent_id]->step(act.row(agent_id), obs.row(agent_id), + reward.row(agent_id)); + + double terminal_reward = 0; + done[agent_id] = this->envs_[agent_id]->isTerminalState(terminal_reward); + + this->envs_[agent_id]->updateExtraInfo(); + for (int j = 0; j < extra_info.cols(); j++) + extra_info(agent_id, j) = + this->envs_[agent_id]->extra_info_[this->extra_info_names_[j]]; + + if (done[agent_id]) { + this->envs_[agent_id]->reset(obs.row(agent_id), random_reset_); + reward(agent_id, reward.cols() - 1) = terminal_reward; + } +} + +template +bool TrackingVecEnv::getQuadAct(Ref> quadact) { + bool valid = true; + for (int i = 0; i < this->num_envs_; i++) { + valid &= this->envs_[i]->getQuadAct(quadact.row(i)); + } + return valid; +} + +template +bool TrackingVecEnv::getQuadState( + Ref> quadstate) { + bool valid = true; + for (int i = 0; i < this->num_envs_; i++) { + valid &= this->envs_[i]->getQuadState(quadstate.row(i)); + } + return valid; +} + + +template +TrackingVecEnv::~TrackingVecEnv() {} + +// IMPORTANT. Otherwise: +// Linker errors because of the separation between the +// declaration and definition of the template class. +// Segmentation fault (core dumped) +template class TrackingVecEnv; + +} // namespace avoidlib diff --git a/src/avoidbench/avoidlib/src/envs/vec_env_base.cpp b/src/avoidbench/avoidlib/src/envs/vec_env_base.cpp index c02e4a6..fb48c2d 100644 --- a/src/avoidbench/avoidlib/src/envs/vec_env_base.cpp +++ b/src/avoidbench/avoidlib/src/envs/vec_env_base.cpp @@ -49,6 +49,7 @@ void VecEnvBase::configEnv(const YAML::Node& cfg_node) { obs_dim_ = envs_[0]->getObsDim(); act_dim_ = envs_[0]->getActDim(); state_dim_ = envs_[0]->getStateDim(); + motor_dim_ = envs_[0]->getMotorDim(); rew_dim_ = envs_[0]->getRewDim(); img_width_ = envs_[0]->getImgWidth(); img_height_ = envs_[0]->getImgHeight(); @@ -275,4 +276,6 @@ void VecEnvBase::curriculumUpdate(void) { // Segmentation fault (core dumped)! template class VecEnvBase; +template class VecEnvBase; + } // namespace avoidlib diff --git a/src/avoidbench/avoidlib/src/objects/quadrotor.cpp b/src/avoidbench/avoidlib/src/objects/quadrotor.cpp index 94f020d..c4678a1 100644 --- a/src/avoidbench/avoidlib/src/objects/quadrotor.cpp +++ b/src/avoidbench/avoidlib/src/objects/quadrotor.cpp @@ -58,15 +58,13 @@ bool Quadrotor::run(const Scalar ctl_dt) { // time const Scalar max_dt = integrator_ptr_->dtMax(); Scalar remain_ctl_dt = ctl_dt; - ctrl_.setCommand(cmd_); - // simulation loop while (remain_ctl_dt > 0.0) { const Scalar sim_dt = std::min(remain_ctl_dt, max_dt); const Vector<4> motor_thrusts_des = - cmd_.isSingleRotorThrusts() ? cmd_.thrusts : ctrl_.run(state_.w); + cmd_.isSingleRotorThrusts() ? cmd_.thrusts : ctrl_.run(state_.w, state_.tau); runMotors(sim_dt, motor_thrusts_des); Vector<4> force_torques = B_allocation_ * motor_thrusts_; @@ -87,7 +85,6 @@ bool Quadrotor::run(const Scalar ctl_dt) { // dynamics integration integrator_ptr_->step(state_.x, sim_dt, next_state.x); - // state_.x = next_state.x; remain_ctl_dt -= sim_dt; @@ -124,17 +121,24 @@ bool Quadrotor::reset(const QuadState &state) { return true; } +bool Quadrotor::reset(const QuadState &state, const Vector<4> motor_omega) { + if (!state.valid()) return false; + state_ = state; + motor_omega_ = motor_omega; + // motor_thrusts_.setZero(); + return true; +} + void Quadrotor::runMotors(const Scalar sim_dt, const Vector<4> &motor_thruts_des) { const Vector<4> motor_omega_des = dynamics_.motorThrustToOmega(motor_thruts_des); const Vector<4> motor_omega_clamped = dynamics_.clampMotorOmega(motor_omega_des); - + // std::cout<<"motor_omega_clamped: "<> Quadrotor::getCameras(void) const { bool Quadrotor::getCamera(const size_t cam_id, std::shared_ptr camera) const { - if (cam_id <= rgb_cameras_.size()) { + if (cam_id >= rgb_cameras_.size()) { return false; } diff --git a/src/avoidbench/avoidlib/src/pointclouds/environment.cpp b/src/avoidbench/avoidlib/src/pointclouds/environment.cpp new file mode 100644 index 0000000..3bfc4f6 --- /dev/null +++ b/src/avoidbench/avoidlib/src/pointclouds/environment.cpp @@ -0,0 +1,306 @@ + +#define TINYPLY_IMPLEMENTATION +#include "avoidlib/pointclouds/tinyply.h" +#include "avoidlib/pointclouds/environment.h" +namespace avoidlib +{ + Environment::Environment(const YAML::Node &cfg_path) + { + if (!loadParameters(cfg_path)) { + std::cout<<"load parameter failed 3"< file_stream; + std::vector byte_buffer; + try { + file_stream.reset(new std::ifstream(filepath, std::ios::binary)); + + if (!file_stream || file_stream->fail()) + throw std::runtime_error("file_stream failed to open " + filepath); + + tinyply::PlyFile file; + file.parse_header(*file_stream); + + std::cout << "\t[ply_header] Type: " + << (file.is_binary_file() ? "binary" : "ascii") << std::endl; + for (const auto &c : file.get_comments()) + std::cout << "\t[ply_header] Comment: " << c << std::endl; + for (const auto &c : file.get_info()) + std::cout << "\t[ply_header] Info: " << c << std::endl; + + for (const auto &e : file.get_elements()) { + std::cout << "\t[ply_header] element: " << e.name << " (" << e.size << ")" + << std::endl; + for (const auto &p : e.properties) { + std::cout << "\t[ply_header] \tproperty: " << p.name + << " (type=" << tinyply::PropertyTable[p.propertyType].str + << ")"; + if (p.isList) + std::cout << " (list_type=" << tinyply::PropertyTable[p.listType].str + << ")"; + std::cout << std::endl; + } + } + + // Because most people have their own mesh types, tinyply treats parsed data + // as structured/typed byte buffers. See examples below on how to marry your + // own application-specific data structures with this one. + std::shared_ptr vertices, normals, colors, texcoords, faces, + tripstrip; + + // The header information can be used to programmatically extract properties + // on elements known to exist in the header prior to reading the data. For + // brevity of this sample, properties like vertex position are hard-coded: + try { + vertices = + file.request_properties_from_element("vertex", {"x", "y", "z"}); + } catch (const std::exception &e) { + std::cerr << "tinyply exception: " << e.what() << std::endl; + } + + file.read(*file_stream); + + if (vertices) + std::cout << "\tRead " << vertices->count << " total vertices " + << std::endl; + + + const size_t numVerticesBytes = vertices->buffer.size_bytes(); + + + std::vector verts(vertices->count); + std::memcpy(verts.data(), vertices->buffer.get(), numVerticesBytes); + + int idx = 0; + for (const auto &point_tinyply : verts) { + if (idx == 0) { + points_ = Eigen::Vector3d(static_cast(point_tinyply.x), + static_cast(point_tinyply.y), + static_cast(point_tinyply.z)); + } else { + points_.conservativeResize(points_.rows(), points_.cols() + 1); + points_.col(points_.cols() - 1) = + Eigen::Vector3d(static_cast(point_tinyply.x), + static_cast(point_tinyply.y), + static_cast(point_tinyply.z)); + } + idx += 1; + } + + kd_tree_.SetMatrixData(points_); + + } catch (const std::exception &e) { + std::cerr << "Caught tinyply exception: " << e.what() << std::endl; + } + } + + bool Environment::loadParameters(const YAML::Node &cfg) + { + if (cfg["unity"]) + { + bounding.bounding_area_ = cfg["unity"]["range"].as>(); + bounding.bounding_origin_ = cfg["unity"]["origin"].as>(); + bounding.resolution_ = cfg["unity"]["res"].as(); + bounding.resolution_inv_ = 1 / bounding.resolution_; + bounding.zWidth = std::floor(bounding.bounding_area_[0] / bounding.resolution_) + 1; + bounding.zLength = std::floor(bounding.bounding_area_[1] / bounding.resolution_) + 1; + bounding.zHeight = std::floor(bounding.bounding_area_[2] / bounding.resolution_) + 1; + double width = cfg["drone"]["width"].as(); + double length = cfg["drone"]["length"].as(); + drone_r = width / 2.0; + return true; + } + return false; + } + + double Environment::getInitialCheckPointBias(const double x, const double dist, int* const layer) + { + double bias; + if (std::floor(x / dist)>1) + { + bias = (x - std::floor(x / dist) * dist + dist)/2.0; + *layer = std::floor(x / dist) - 1; + } + else { + bias = x/2.0; + *layer = 1; + } + return bias; + } + + bool Environment::checkInBounding(const Eigen::Vector3d& pt) + { + if(abs(pt.x()-bounding.bounding_origin_[0])>=bounding.bounding_area_[0]/2.0) return false; + if(abs(pt.y()-bounding.bounding_origin_[1])>=bounding.bounding_area_[1]/2.0) return false; + if(abs(pt.z()-bounding.bounding_origin_[2])>=bounding.bounding_area_[2]/2.0) return false; + return true; + } + + double Environment::getTraversability() + { + double check_dist = 1.0; + Eigen::Vector3d initial_checked_point, vert_point; + vert_point.x() = bounding.bounding_origin_[0] - bounding.bounding_area_[0]/2.0; + vert_point.y() = bounding.bounding_origin_[1] - bounding.bounding_area_[1]/2.0; + vert_point.z() = bounding.bounding_origin_[2] - bounding.bounding_area_[2]/2.0; + double bias_x, bias_y, bias_z; + int layer_x, layer_y, layer_z; + bias_x = getInitialCheckPointBias(bounding.bounding_area_[0], check_dist, &layer_x); + bias_y = getInitialCheckPointBias(bounding.bounding_area_[1], check_dist, &layer_y); + bias_z = getInitialCheckPointBias(bounding.bounding_area_[2], check_dist, &layer_z); + initial_checked_point = vert_point + Eigen::Vector3d(bias_x, bias_y, bias_z); + double traversability = 0; + + for(int i=0; i indices; + std::vector distances_squared; + kd_tree_.SearchRadius(query_point, bounding.resolution_, indices, distances_squared); + if (indices.size() != 0) { + *free_dist = 0; + for(int i=0; i 0.5) x = std::ceil(x); + + double y = bounding.resolution_inv_ * (pos.y() + bounding.bounding_area_[1]/2.0 - bounding.bounding_origin_[1]); + double yi = y - std::floor(y); + if(yi > 0.5) y = std::ceil(y); + + double z = bounding.resolution_inv_ * (pos.z() + bounding.bounding_area_[2]/2.0 - bounding.bounding_origin_[2]); + double zi = z - std::floor(z); + if(zi > 0.5) z = std::ceil(z); + + node.x() = x; + node.y() = y; + node.z() = z; + node.x() = std::max(std::min(node.x(), bounding.zWidth), 0); + node.y() = std::max(std::min(node.y(), bounding.zLength), 0); + node.z() = std::max(std::min(node.z(), bounding.zHeight), 0); + return node; + } + + Eigen::Vector3d Environment::Node2pcl(const Eigen::Vector3i &node) + { + Eigen::Vector3d pos; + pos.x() = bounding.resolution_ * node.x() + bounding.bounding_origin_[0] - bounding.bounding_area_[0]/2.0; + pos.y() = bounding.resolution_ * node.y() + bounding.bounding_origin_[1] - bounding.bounding_area_[1]/2.0; + pos.z() = bounding.resolution_ * node.z() + bounding.bounding_origin_[2] - bounding.bounding_area_[2]/2.0; + return pos; + } + + bool Environment::checkOccupied(const Eigen::Vector3d &pos) + { + std::vector indices; + std::vector distances_squared; + kd_tree_.SearchRadius(pos, drone_r, indices, distances_squared); + if (indices.size() != 0) { + return true; + } + else return false; + } + + double Environment::getOccupiedDistance(const Eigen::Vector3d &pos, + const double radius, const double max_nn) + { + std::vector indices; + std::vector distances_squared; + kd_tree_.SearchHybrid(pos, radius, max_nn, indices, distances_squared); + if(indices.size() == 0) + return 1e6; + double ave_distance = 0; + for (int i=0; i indices; + std::vector distances_squared; + kd_tree_.SearchRadius(pos, drone_r, indices, distances_squared); + if (indices.size() != 0) { + return true; + } + else return false; + } + + bool Environment::checkIdxBounding(const Eigen::Vector3i &node) + { + if(node.x()>=0 && node.x()=0 && node.y()=0 && node.z() +AvoidVecVisionEnv::AvoidVecVisionEnv() { + std::string config_path = + getenv("AVOIDBENCH_PATH") + + std::string("/flightpy/configs/control/config_gazebo.yaml"); + cfg_ = YAML::LoadFile(config_path); + // yaml configurations + configEnv(cfg_); + this->env_ptr_ = std::make_shared(cfg_); +} + +template +AvoidVecVisionEnv::AvoidVecVisionEnv(const std::string& cfg, + const bool from_file) { + // load environment configuration + if (from_file) { + // load directly from a yaml file + cfg_ = YAML::LoadFile(cfg); + } else { + // load from a string or dictionary + cfg_ = YAML::Load(cfg); + } + configEnv(cfg_); + this->env_ptr_ = std::make_shared(cfg_); +} + +template +AvoidVecVisionEnv::AvoidVecVisionEnv(const YAML::Node& cfg_node) { + cfg_ = cfg_node; + configEnv(cfg_); + this->env_ptr_ = std::make_shared(cfg_); + random_reset_ = true; +} + +template +bool AvoidVecVisionEnv::reset(Ref> obs) { + if (obs.rows() != this->num_envs_ || obs.cols() != this->goal_obs_dim_) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + + this->receive_id_ = 0; + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->reset(obs.row(i), random_reset_); + } + + return true; +} + +template +bool AvoidVecVisionEnv::reset(Ref> obs, + bool random) { + if (obs.rows() != this->num_envs_ || obs.cols() != this->goal_obs_dim_) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + random_reset_ = random; + + + this->receive_id_ = 0; + for (int i = 0; i < this->num_envs_; i++) { + this->envs_[i]->reset(obs.row(i), random_reset_); + } + + return true; +} + +template +bool AvoidVecVisionEnv::step(Ref> act, + Ref> obs, + Ref> reward, + Ref> done, + Ref> extra_info) { + if (act.rows() != this->num_envs_ || act.cols() != this->act_dim_ || + obs.rows() != this->num_envs_ || obs.cols() != this->goal_obs_dim_ || + reward.rows() != this->num_envs_ || reward.cols() != this->rew_dim_ || + done.rows() != this->num_envs_ || done.cols() != 1 || + extra_info.rows() != this->num_envs_ || + extra_info.cols() != (long int)this->extra_info_names_.size()) { + this->logger_.error( + "Input matrix dimensions do not match with that of the environment."); + std::cout << "act dim = [" << act.rows() << "x" << act.cols() + << "]\n" + << "obs dim = [" << obs.rows() << "x" << obs.cols() + << "]\n" + << "rew dim = [" << reward.rows() << "x" << reward.cols() + << "]\n" + << "done dim = [" << done.rows() << "x" << done.cols() + << "]\n" + << "extra info dim = [" << extra_info.rows() << "x" + << extra_info.cols() << "]\n" + << std::endl; + return false; + } + +#pragma omp parallel for schedule(dynamic) + for (int i = 0; i < this->num_envs_; i++) { + perAgentStep(i, act, obs, reward, done, extra_info); + } + + return true; +} + +template +void AvoidVecVisionEnv::perAgentStep( + int agent_id, Ref> act, Ref> obs, + Ref> reward, Ref> done, + Ref> extra_info) { + // get individual rewards + this->envs_[agent_id]->step(act.row(agent_id), obs.row(agent_id), + reward.row(agent_id)); + double terminal_reward = 0; + done[agent_id] = this->envs_[agent_id]->isTerminalState(terminal_reward); + + this->envs_[agent_id]->updateExtraInfo(); + for (int j = 0; j < extra_info.cols(); j++) + extra_info(agent_id, j) = + this->envs_[agent_id]->extra_info_[this->extra_info_names_[j]]; + + if (done[agent_id]) { + this->envs_[agent_id]->reset(obs.row(agent_id), random_reset_); + reward(agent_id, reward.cols() - 1) = terminal_reward; + } +} + +template +bool AvoidVecVisionEnv::getQuadAct(Ref> quadact) { + bool valid = true; + for (int i = 0; i < this->num_envs_; i++) { + valid &= this->envs_[i]->getQuadAct(quadact.row(i)); + } + return valid; +} + +template +bool AvoidVecVisionEnv::getQuadState( + Ref> quadstate) { + bool valid = true; + for (int i = 0; i < this->num_envs_; i++) { + valid &= this->envs_[i]->getQuadState(quadstate.row(i)); + } + return valid; +} + +template +AvoidVecVisionEnv::~AvoidVecVisionEnv() {} + +// IMPORTANT. Otherwise: +// Linker errors because of the separation between the +// declaration and definition of the template class. +// Segmentation fault (core dumped) +template class AvoidVecVisionEnv; +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp new file mode 100644 index 0000000..d2e4e92 --- /dev/null +++ b/src/avoidbench/avoidlib/src/vision_envs/avoid_vision_envs/avoid_vision_envs.cpp @@ -0,0 +1,470 @@ +#include "avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h" + +namespace avoidlib { + +AvoidVisionEnv::AvoidVisionEnv() + : AvoidVisionEnv(getenv("AVOIDBENCH_PATH") + + std::string("/flightpy/configs/control/config_gazeo.yaml"), + 0) {} + +AvoidVisionEnv::AvoidVisionEnv(const std::string &cfg_path, const int env_id) + : VisionEnvBase() { + // check if configuration file exist + if (!(file_exists(cfg_path))) { + logger_.error("Configuration file %s does not exists.", cfg_path); + } + // load configuration file + cfg_ = YAML::LoadFile(cfg_path); + // + init(); + env_id_ = env_id; +} + +AvoidVisionEnv::AvoidVisionEnv(const YAML::Node &cfg_node, const int env_id) + : VisionEnvBase(), cfg_(cfg_node) { + // + init(); + env_id_ = env_id; +} + +void AvoidVisionEnv::init() { + obs_dim_ = avoidenv::kNObs + avoidenv::kNLatent; + goal_obs_dim_ = avoidenv::kNObs; + act_dim_ = avoidenv::kNAct * avoidenv::kNSeq; + seq_dim_ = avoidenv::kNSeq; + state_dim_ = avoidenv::kNState; + rew_dim_ = 0; + round = 0; + + world_box_ << -10, 10, 0, 32, 0.0, 4.5; + + // load parameters + loadParam(cfg_); + if(is_training) + { + quad_ptr_ = std::make_shared(); + // define input and output dimension for the environment + if (!quad_ptr_->setWorldBox(world_box_)) { + logger_.error("cannot set wolrd box"); + }; + + // add camera + if (use_camera_) { + rgb_camera_ = std::make_shared(); + if (!configCamera(cfg_, rgb_camera_)) { + logger_.error( + "Cannot config RGB Camera. Something wrong with the config file"); + }; + + quad_ptr_->addRGBCamera(rgb_camera_); + // + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + } + } + +} + +AvoidVisionEnv::~AvoidVisionEnv() {} + +void AvoidVisionEnv::setQuadFromPtr(const std::shared_ptr bridge) +{ + quad_ptr_ = bridge->getQuadrotor(0); + if (use_camera_) + { + rgb_camera_ = quad_ptr_->getCameras()[0]; + img_width_ = rgb_camera_->getWidth(); + img_height_ = rgb_camera_->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, + CV_MAKETYPE(CV_8U, rgb_camera_->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + } +} + +bool AvoidVisionEnv::reset(Ref> obs) { + // reset position + quad_state_.setZero(); + quad_state_.x(QS::POSX) = uniform_dist_(random_gen_); + quad_state_.x(QS::POSY) = uniform_dist_(random_gen_) + 1.0; + quad_state_.x(QS::POSZ) = 2.0; + if(action_mode_ ==0) + { + quad_state_.x(QS::VELX) = uniform_dist_(random_gen_); + quad_state_.x(QS::VELY) = uniform_dist_(random_gen_); + quad_state_.x(QS::VELZ) = uniform_dist_(random_gen_); + } + else { + quad_state_.x(QS::VELX) = 0.0; + quad_state_.x(QS::VELY) = 0.0; + quad_state_.x(QS::VELZ) = 0.0; + } + + Vector<3> euler; + euler.x() = 0.0; + euler.y() = 0.0; + euler.z() = 0.0; + Quaternion quat; + EularToquaternion(quat, euler); + quad_state_.x(QS::ATTW) = quat.w(); + quad_state_.x(QS::ATTX) = quat.x(); + quad_state_.x(QS::ATTY) = quat.y(); + quad_state_.x(QS::ATTZ) = quat.z(); + pre_quad_state_ = quad_state_; + // reset quadrotor with random states + quad_ptr_->reset(quad_state_); + goal_point_(0) = uniform_dist_(random_gen_) * 6.0; + goal_point_(1) = uniform_dist_(random_gen_) + 24.0; + goal_point_(2) = uniform_dist_(random_gen_) + 2.0; + direction_ = goal_point_ - quad_state_.p; + direction_.normalize(); + pre_direction_ = direction_; + // obtain observations + getObs(obs); + round++; + return true; +} + +bool AvoidVisionEnv::reset(Ref> obs, bool random) { return reset(obs); } + +bool AvoidVisionEnv::getObs(Ref> obs) +{ + if (obs.size() != obs_dim_ - avoidenv::kNLatent) { + logger_.error("Observation dimension mismatch. %d != %d", obs.size(), + obs_dim_ - avoidenv::kNLatent); + return false; + } + obs.segment(avoidenv::kObs) << direction_, quad_state_.v; + return true; +} + +bool AvoidVisionEnv::step(const Ref> act, Ref> obs, + Ref> reward) { + if (!act.allFinite() || act.rows() != act_dim_ || rew_dim_ != reward.rows()) + return false; + pre_quad_state_ = quad_state_; + pre_direction_ = direction_; + collision_happened = false; + double input_sum = 0; + double occupied_distance = 0; + for (int i=0; i(avoidenv::kAct + i*avoidenv::kNAct). + cwiseProduct(act_std_) + act_mean_; + pi_act_seq_.segment(avoidenv::kAct + i*avoidenv::kNAct) = pi_act_; + if(action_mode_ == 0) + { + quad_state_.v = pi_act_.segment<3>(avoidenv::kAct); + quad_state_.p = quad_state_.p + quad_state_.v * sim_dt_; + if(i==0) + input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.v).norm(); + else + input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - + pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); + } + else + { + quad_state_.a = pi_act_.segment<3>(avoidenv::kAct); + quad_state_.p = quad_state_.p + quad_state_.v * sim_dt_ + 0.5 * quad_state_.a * sim_dt_ * sim_dt_; + quad_state_.v = quad_state_.v + quad_state_.a * sim_dt_; + if(i==0) + input_sum = (pi_act_.segment<3>(avoidenv::kAct) - pre_quad_state_.a).norm(); + else + input_sum += (pi_act_seq_.segment<3>(avoidenv::kAct + i*avoidenv::kNAct) - + pi_act_seq_.segment<3>(avoidenv::kAct + (i-1)*avoidenv::kNAct)).norm(); + } + // std::cout<<"quad_state_.a: "<getOccupiedDistance(quad_state_.p, 2.0, 15); + Vector<3> euler; + quaternionToEuler(quad_state_.q(), euler); + euler.z() = euler.z() + pi_act_(avoidenv::kNAct - 1)*i; + if(euler.z() > M_PI) euler.z() = euler.z() - 2*M_PI; + else if(euler.z() < -M_PI) euler.z() = euler.z() + 2*M_PI; + Quaternion quat; + EularToquaternion(quat, euler); + quad_state_.q(quat); + } + occupied_distance = occupied_distance / avoidenv::kNSeq; + // std::cout<<"occupied_distance: "<setState(quad_state_); + if((goal_point_ - quad_state_.p).norm()>2.0) + direction_ = (goal_point_ - quad_state_.p).normalized(); + else + direction_ = (goal_point_ - quad_state_.p) / 2.0; + getObs(obs); + + // reward for processing + double process; + Vector<3> step = (quad_state_.p - pre_quad_state_.p); + process = step.dot(pre_direction_); + // std::cout<<"process: "<avoidenv::kNSeq * input_limit_factor) + input_penalty = 20.0 * input_coeff_ * input_sum; + else + input_penalty = input_coeff_ * input_sum; + + // - velocity tracking (negative) + // std::cout<<"quad_state_.v.norm(): "< 6.0) + lin_vel_penalty = lin_vel_coeff_ * (std::abs(quad_state_.v.norm() - 6.0)); + + // total reward + double total_reward = 0; + if(action_mode_ == 0) + { + total_reward = process_reward + collision_penalty + risk_penalty + input_penalty; + reward << process_reward, collision_penalty, risk_penalty, input_penalty, total_reward; + } else + { + total_reward = process_reward + collision_penalty + risk_penalty + input_penalty + lin_vel_penalty; + reward << process_reward, collision_penalty, risk_penalty, input_penalty, lin_vel_penalty, total_reward; + } + + return true; +} + +bool AvoidVisionEnv::LineCollisionCheck(Vector<3> pt1, Vector<3> pt2) +{ + int check_steps = std::ceil((pt2-pt1).norm() / env_ptr_->bounding.resolution_); + + for(int i=0; ibounding.resolution_; + if (env_ptr_->checkOccupied(checked_pt)) return true; + } + return false; +} + +bool AvoidVisionEnv::setPointClouds(const std::shared_ptr env_ptr) +{ + env_ptr_ = env_ptr; + return true; +} + +bool AvoidVisionEnv::isTerminalState(double &reward) { + if (quad_state_.x(QS::POSX) < world_box_(0,0) || + quad_state_.x(QS::POSX) > world_box_(0,1) || + quad_state_.x(QS::POSY) < world_box_(1,0) || + quad_state_.x(QS::POSY) > world_box_(1,1) || + quad_state_.x(QS::POSZ) < world_box_(2,0) || + quad_state_.x(QS::POSZ) > world_box_(2,1)) { + reward = -1.0; + return true; + } + + if (quad_state_.t > 120.0) + { + reward = -1.0; + return true; + } + + if (std::abs(quad_state_.x(QS::POSX)-goal_point_.x()) < 0.2 && + std::abs(quad_state_.x(QS::POSY)-goal_point_.y()) < 0.2 && + std::abs(quad_state_.x(QS::POSZ)-goal_point_.z()) < 0.2) + { + std::cout<<"reach goal"<> act) const { + if (pi_act_seq_.allFinite() && (act.size() == pi_act_seq_.size())) { + act = pi_act_seq_; + return true; + } + return false; +} + +bool AvoidVisionEnv::getQuadState(Ref> obs) const { + if (quad_state_.t >= 0.0 && (obs.rows() == avoidenv::kNState)) { + obs << quad_state_.t, quad_state_.p, quad_state_.qx, quad_state_.v, goal_point_; + return true; + } + logger_.error("Get Quadrotor state failed."); + return false; +} + +bool AvoidVisionEnv::getCollisionState() const { + return quad_ptr_->getCollision(); +} + +bool AvoidVisionEnv::getDepthImage(Ref> depth_img) { + if (!rgb_camera_ || !rgb_camera_->getEnabledLayers()[0]) { + logger_.error( + "No RGB Camera or depth map is not enabled. Cannot retrieve depth " + "images."); + return false; + } + bool has_img = rgb_camera_->getDepthMap(depth_img_); + + depth_img = Map>((float_t *)depth_img_.data, + depth_img_.rows * depth_img_.cols); + return has_img; +} + +bool AvoidVisionEnv::getImage(Ref> img, const bool rgb) { + if (!rgb_camera_) { + logger_.error("No Camera! Cannot retrieve Images."); + return false; + } + + bool has_img = rgb_camera_->getRGBImage(rgb_img_); + + if (rgb_img_.rows != img_height_ || rgb_img_.cols != img_width_) { + logger_.error( + "Image resolution mismatch. Aborting.. Image rows %d != %d, Image cols " + "%d != %d", + rgb_img_.rows, img_height_, rgb_img_.cols, img_width_); + return false; + } + + img = Map>(rgb_img_.data, rgb_img_.rows * rgb_img_.cols * + rgb_camera_->getChannels()); + return has_img; +} + +bool AvoidVisionEnv::loadParam(const YAML::Node &cfg) { + if (cfg["simulation"]) { + sim_dt_ = cfg["simulation"]["sim_dt"].as(); + max_t_ = cfg["simulation"]["max_t"].as(); + action_mode_ = cfg["simulation"]["action_mode"].as(); + std::vector act_max = cfg["simulation"]["act_max"].as>(); + std::vector act_min = cfg["simulation"]["act_min"].as>(); + act_mean_ << (act_max[0]+act_min[0])/2, (act_max[1]+act_min[1])/2, + (act_max[2]+act_min[2])/2, (act_max[3]+act_min[3])/2; + act_std_ << (act_max[0]-act_min[0])/2, (act_max[1]-act_min[1])/2, + (act_max[2]-act_min[2])/2, (act_max[3]-act_min[3])/2; + + } else { + logger_.error("Cannot load [quadrotor_env] parameters"); + return false; + } + if (cfg["rewards"]) { + // load reinforcement learning related parameters + colli_coeff_ = cfg["rewards"]["colli_coeff"].as(); + risk_coeff_ = cfg["rewards"]["risk_coeff"].as(); + goal_coeff_ = cfg["rewards"]["goal_coeff"].as(); + input_coeff_ = cfg["rewards"]["input_coeff"].as(); + lin_vel_coeff_ = cfg["rewards"]["lin_vel_coeff"].as(); + // load reward settings + reward_names_ = cfg["rewards"]["names"].as>(); + + rew_dim_ = cfg["rewards"]["names"].as>().size(); + } else { + logger_.error("Cannot load [rewards] parameters"); + return false; + } + if (cfg["unity"]) { + is_training = cfg["unity"]["render"].as(); + } else { + logger_.error("Cannot load [unity] parameters"); + return false; + } + + return true; +} + +bool AvoidVisionEnv::configCamera(const YAML::Node &cfg, + const std::shared_ptr camera) { + if (!cfg["rgb_camera"]) { + logger_.error("Cannot config RGB Camera"); + return false; + } + + if (!cfg["rgb_camera"]["on"].as()) { + logger_.warn("Camera is off. Please turn it on."); + return false; + } + + if (quad_ptr_->getNumCamera() >= 1) { + logger_.warn("Camera has been added. Skipping the camera configuration."); + return false; + } + + // create camera + rgb_camera_ = std::make_shared(); + + // load camera settings + std::vector t_BC_vec = + cfg["rgb_camera"]["t_BC"].as>(); + std::vector r_BC_vec = + cfg["rgb_camera"]["r_BC"].as>(); + + // + Vector<3> t_BC(t_BC_vec.data()); + Matrix<3, 3> r_BC = + (AngleAxis(r_BC_vec[2] * M_PI / 180.0, Vector<3>::UnitZ()) * + AngleAxis(r_BC_vec[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec[0] * M_PI / 180.0, Vector<3>::UnitX())) + .toRotationMatrix(); + std::vector post_processing = {false, false, false}; + post_processing[0] = cfg["rgb_camera"]["enable_depth"].as(); + post_processing[1] = cfg["rgb_camera"]["enable_segmentation"].as(); + post_processing[2] = cfg["rgb_camera"]["enable_opticalflow"].as(); + + // + rgb_camera_->setFOV(cfg["rgb_camera"]["fov"].as()); + rgb_camera_->setWidth(cfg["rgb_camera"]["width"].as()); + rgb_camera_->setChannels(cfg["rgb_camera"]["channels"].as()); + rgb_camera_->setHeight(cfg["rgb_camera"]["height"].as()); + rgb_camera_->setRelPose(t_BC, r_BC); + rgb_camera_->setPostProcessing(post_processing); + + return true; +} + +bool AvoidVisionEnv::addQuadrotorToUnity( + const std::shared_ptr bridge) { + if (!quad_ptr_) return false; + bridge->addQuadrotor(quad_ptr_); + return true; +} + +std::ostream &operator<<(std::ostream &os, const AvoidVisionEnv &quad_env) { + os.precision(3); + os << "Quadrotor Environment:\n" + << "obs dim = [" << quad_env.obs_dim_ << "]\n" + << "act dim = [" << quad_env.act_dim_ << "]\n" + << "sim dt = [" << quad_env.sim_dt_ << "]\n" + << "max_t = [" << quad_env.max_t_ << "]\n" + << "act_mean = [" << quad_env.act_mean_.transpose() << "]\n" + << "act_std = [" << quad_env.act_std_.transpose() << "]\n" + << "obs_mean = [" << quad_env.obs_mean_.transpose() << "]\n" + << "obs_std = [" << quad_env.obs_std_.transpose() << "]" + << std::endl; + os.precision(); + return os; +} + +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp b/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp new file mode 100644 index 0000000..19de524 --- /dev/null +++ b/src/avoidbench/avoidlib/src/vision_envs/vec_vision_env_base.cpp @@ -0,0 +1,355 @@ +#include "avoidlib/vision_envs/vec_vision_env_base.h" + +namespace avoidlib { +template +VecVisionEnvBase::VecVisionEnvBase() { + omp_set_num_threads(10); +} +template +void VecVisionEnvBase::configEnv(const YAML::Node& cfg_node) { + // initialization + if (!cfg_node["unity"]["render"] || !cfg_node["simulation"]["seed"] || + !cfg_node["unity"]["scene_id"] || !cfg_node["simulation"]["num_envs"] || + !cfg_node["simulation"]["num_threads"]) { + logger_.warn("Cannot load main configurations. Using default parameters."); + unity_render_ = false; + seed_ = 0; + num_envs_ = 1; + num_threads_ = 1; + scene_id_ = 1; + } else { + // + logger_.info("Load Unity configuration."); + unity_render_ = cfg_node["unity"]["render"].as(); + scene_id_ = cfg_node["unity"]["scene_id"].as(); + spawn_trees_ = cfg_node["unity"]["spawn_trees"].as(); + spawn_objects_ = cfg_node["unity"]["spawn_objects"].as(); + bounding_box_ = cfg_node["unity"]["bounding_box"].as>(); + bounding_box_origin_ = cfg_node["unity"]["bounding_box_origin"].as>(); + min_object_scale_ = cfg_node["unity"]["min_object_scale"].as>(); + max_object_scale_ = cfg_node["unity"]["max_object_scale"].as>(); + if_get_pointcloud_ = cfg_node["unity"]["if_get_pointcloud"].as(); + range_ = cfg_node["unity"]["range"].as>(); + origin_ = cfg_node["unity"]["origin"].as>(); + res_ = cfg_node["unity"]["res"].as(); + radius_origin_ = cfg_node["unity"]["radius_origin"].as(); + radius_area_ = cfg_node["unity"]["radius_area"].as(); + // + logger_.info("Load Simulation configuration."); + seed_ = cfg_node["simulation"]["seed"].as(); + num_envs_ = cfg_node["simulation"]["num_envs"].as(); + num_threads_ = cfg_node["simulation"]["num_threads"].as(); + + img_width_ = cfg_node["rgb_camera"]["width"].as(); + img_height_ = cfg_node["rgb_camera"]["height"].as(); + srand(seed_); + } + // set threads + omp_set_num_threads(num_threads_); + + // create & setup environments + for (int env_id = 0; env_id < num_envs_; env_id++) { + envs_.push_back(std::make_unique(cfg_node, env_id)); + } + + // set Unity + if (unity_render_) { + setUnity(unity_render_); + } + + obs_dim_ = envs_[0]->getObsDim(); + goal_obs_dim_ = envs_[0]->getGoalObsDim(); + act_dim_ = envs_[0]->getActDim(); + seq_dim_ = envs_[0]->getSeqDim(); + state_dim_ = envs_[0]->getStateDim(); + rew_dim_ = envs_[0]->getRewDim(); + // img_width_ = envs_[0]->getImgWidth(); + // img_height_ = envs_[0]->getImgHeight(); + + // generate reward names + // compute it once to get reward names. actual value is not used + envs_[0]->updateExtraInfo(); + for (auto& re : envs_[0]->extra_info_) { + extra_info_names_.push_back(re.first); + } + logger_.info("%d vectorized enviromnets created. ", num_envs_); + std::cout << "Vectorized Environment:\n" + << "obs dim = [" << obs_dim_ << "]\n" + << "act dim = [" << act_dim_ << "]\n" + << "rew dim = [" << rew_dim_ << "]\n" + << "einfo dim = [" << envs_[0]->extra_info_.size() + << "]\n" + << "img width = [" << img_width_ << "]\n" + << "img height = [" << img_height_ << "]\n" + << "num_envs = [" << num_envs_ << "]\n" + << "num_thread = [" << num_threads_ << "]\n" + << "seed = [" << seed_ << "]\n" + << "scene_id = [" << scene_id_ << "]" << std::endl; +} + +template +VecVisionEnvBase::~VecVisionEnvBase() {} + +template +bool VecVisionEnvBase::reset(Ref> obs) { + if (obs.rows() != num_envs_ || obs.cols() != goal_obs_dim_) { + logger_.error( + "Input matrix dimensions do not match with that of the environment."); + return false; + } + + receive_id_ = 0; + for (int i = 0; i < num_envs_; i++) { + envs_[i]->reset(obs.row(i)); + } + + return true; +} + +template +bool VecVisionEnvBase::step(Ref> act, + Ref> obs, + Ref> reward, + Ref> done, + Ref> extra_info) { +#pragma omp parallel for schedule(dynamic) + for (int i = 0; i < num_envs_; i++) { + perAgentStep(i, act, obs, reward, done, extra_info); + } + + return true; +} + +template +void VecVisionEnvBase::close() { + for (int i = 0; i < num_envs_; i++) { + envs_[i]->close(); + } +} + +template +void VecVisionEnvBase::setSeed(const int seed) { + int seed_inc = seed; + for (int i = 0; i < num_envs_; i++) envs_[i]->setSeed(seed_inc++); +} + +template +bool VecVisionEnvBase::getObs(Ref> obs) { + bool valid_obs = true; + for (int i = 0; i < num_envs_; i++) valid_obs &= envs_[i]->getObs(obs.row(i)); + return valid_obs; +} + +template +bool VecVisionEnvBase::getImage(Ref> img, + const bool rgb_image) { + bool valid_img = true; +#pragma omp parallel for schedule(dynamic) + for (int i = 0; i < num_envs_; i++) { + valid_img &= envs_[i]->getImage(img.row(i), rgb_image); + } + return valid_img; +} + +template +bool VecVisionEnvBase::getDepthImage( + Ref> depth_img) { + bool valid_img = true; + for (int i = 0; i < num_envs_; i++) { + valid_img &= envs_[i]->getDepthImage(depth_img.row(i)); + } + return valid_img; +} + +template +size_t VecVisionEnvBase::getEpisodeLength(void) { + if (envs_.size() <= 0) { + return 0; + } else { + return (size_t)envs_[0]->getMaxT() / envs_[0]->getSimTimeStep(); + } +} + +template +void VecVisionEnvBase::perAgentStep(int agent_id, + Ref> act, + Ref> obs, + Ref> reward, + Ref> done, + Ref> extra_info) { + // get individual rewards + envs_[agent_id]->step(act.row(agent_id), obs.row(agent_id), + reward.row(agent_id)); + + double terminal_reward = 0; + done[agent_id] = envs_[agent_id]->isTerminalState(terminal_reward); + + envs_[agent_id]->updateExtraInfo(); + for (int j = 0; j < extra_info.cols(); j++) + extra_info(agent_id, j) = + envs_[agent_id]->extra_info_[extra_info_names_[j]]; + + if (done[agent_id]) { + envs_[agent_id]->reset(obs.row(agent_id)); + reward(agent_id, reward.cols() - 1) = terminal_reward; + } +} + +template +bool VecVisionEnvBase::setUnity(bool render) { + unity_render_ = render; + if (!unity_render_ || unity_bridge_ptr_ != nullptr) { + logger_.warn( + "Unity render is False or Flightmare Bridge has been already created. " + "Cannot set Unity."); + return false; + } + // create unity bridge + unity_bridge_ptr_ = UnityBridge::getInstance(); + // add objects to Unity + for (int i = 0; i < num_envs_; i++) { + envs_[i]->addQuadrotorToUnity(unity_bridge_ptr_); + } + logger_.info("Flightmare Bridge created."); + return true; +} + +template +bool VecVisionEnvBase::setUnityFromPtr(std::shared_ptr bridge_ptr_) { + if (unity_bridge_ptr_ != nullptr) { + logger_.warn( + "Flightmare Bridge has been already created. " + "Cannot set Unity."); + return false; + } + unity_bridge_ptr_ = bridge_ptr_; + envs_[0]->setQuadFromPtr(bridge_ptr_); + logger_.info("Flightmare Bridge created."); + return true; +} + +template +std::shared_ptr VecVisionEnvBase::getUnityPtr() +{ + // std::shared_ptr quad = unity_bridge_ptr_->getQuadrotor(0); + return unity_bridge_ptr_; +} + +template +bool VecVisionEnvBase::connectUnity(void) { + if (unity_bridge_ptr_ == nullptr) return false; + unity_ready_ = unity_bridge_ptr_->connectUnity(scene_id_); + return unity_ready_; +} + +template +bool VecVisionEnvBase::initializeConnections() { + setUnity(true); +} + +template +FrameID VecVisionEnvBase::updateUnity(const FrameID frame_id) { + if (unity_render_ && unity_ready_) { + bool sent = unity_bridge_ptr_->getRender(frame_id, spawn_new_); + spawn_new_ = false; + if (!sent) { + logger_.error("Message has not been sent successfully!!!!"); + } + while(!unity_bridge_ptr_->handleOutput(frame_id)) {usleep(0.005*1e6);} + return 1; + } else { + return 0; + } +} + +template +bool VecVisionEnvBase::ifSceneChanged() +{ + return unity_bridge_ptr_->ifSceneChanged(); +} + +template +bool VecVisionEnvBase::spawnObstacles(bool change_obs) +{ + if(change_obs) + { + if(spawn_trees_) + { + Tree_Message_t trees; + trees.name = "trees"; + trees.bounding_area[0] = bounding_box_[0]; + trees.bounding_area[1] = bounding_box_[1]; + trees.bounding_origin[0] = bounding_box_origin_[0]; + trees.bounding_origin[1] = bounding_box_origin_[1]; + trees.seed = std::rand()%200;; + float rand = (std::rand()%200)/200.0f; + trees.radius = radius_origin_ + radius_area_ * rand; + unity_bridge_ptr_->placeTrees(trees); + } + if(spawn_objects_) + { + Object_Message_t objects; + objects.name = "cylinder"; + objects.bounding_area[0] = bounding_box_[0]; + objects.bounding_area[1] = bounding_box_[1]; + objects.bounding_origin[0] = bounding_box_origin_[0]; + objects.bounding_origin[1] = bounding_box_origin_[1]; + objects.scale_min = min_object_scale_; + objects.scale_max = max_object_scale_; + objects.seed = std::rand()%200;; + float rand = (std::rand()%200) / 200.0f; + objects.radius = radius_origin_ + radius_area_ * rand; + objects.opacity = (std::rand()%200) / 200.0f; + unity_bridge_ptr_->placeObjects(objects); + } + } + + spawn_new_ = true; + + return true; +} +template +bool VecVisionEnvBase::getPointClouds(const std::string curr_data_dir, int id, bool save_pc) +{ + if (save_pc) + { + // save point clouds + PointCloudMessage_t pc_msg; + pc_msg.range = range_; + pc_msg.origin = origin_; + if(curr_data_dir != "") + pc_msg.path = curr_data_dir; + pc_msg.file_name = "pointclouds" + std::to_string(id); + unity_bridge_ptr_->getPointCloud(pc_msg); + save_pc_success_ = true; + usleep(1.0*1e6); + } + + // read the point clouds and save it to kd-tree + std::string pc_path = getenv("AVOIDBENCH_PATH") + std::string("/avoidmetrics/point_clouds_data/") + + "pointclouds" + std::to_string(id) + std::string(".ply"); + env_ptr_->readPointCloud(pc_path); + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->setPointClouds(env_ptr_); + } + return true; +} + +template +void VecVisionEnvBase::isTerminalState( + Ref> terminal_state) {} + +template +void VecVisionEnvBase::disconnectUnity(void) { + if (unity_bridge_ptr_ != nullptr) { + unity_bridge_ptr_->disconnectUnity(); + unity_ready_ = false; + } else { + logger_.warn("Flightmare Unity Bridge is not initialized."); + } +} + +template class VecVisionEnvBase; + +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp b/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp new file mode 100644 index 0000000..53660c6 --- /dev/null +++ b/src/avoidbench/avoidlib/src/vision_envs/vision_env_base.cpp @@ -0,0 +1,42 @@ +#include "avoidlib/vision_envs/vision_env_base.h" + +namespace avoidlib { + + VisionEnvBase::VisionEnvBase() + : obs_dim_(0), + act_dim_(0), + state_dim_(0), + rew_dim_(0), + img_width_(0), + img_height_(0), + sim_dt_(0.0), + max_t_(0.0) {} + +VisionEnvBase::~VisionEnvBase() {} + +bool VisionEnvBase::getImage(Ref> img, const bool rgb) { return false; } + +bool VisionEnvBase::getDepthImage(Ref> img) { return false; } + + +bool VisionEnvBase::addQuadrotorToUnity(const std::shared_ptr bridge) { + return false; +} + +bool VisionEnvBase::setPointClouds(const std::shared_ptr env_ptr) { + return false; +} + +void VisionEnvBase::setQuadFromPtr(const std::shared_ptr bridge) {} + +void VisionEnvBase::close() {} + +void VisionEnvBase::render() {} + +void VisionEnvBase::updateExtraInfo() {} + +bool VisionEnvBase::isTerminalState(double &reward) { + reward = 0.f; + return false; +} +} \ No newline at end of file diff --git a/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp b/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp index 22f6e26..acc46d3 100644 --- a/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp +++ b/src/avoidbench/avoidlib/src/wrapper/avoidbench_wrapper.cpp @@ -21,7 +21,7 @@ bool checking_result; void checkPointThread(AvoidbenchBridge& bridge, std::vector pt, bool if_start) { - checking_result = bridge.checkCollisionState(&pt, if_start); + checking_result = bridge.checkCollisionState(pt, if_start); new_point = pt; } diff --git a/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp b/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp index d4dc83d..883b65b 100644 --- a/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp +++ b/src/avoidbench/avoidlib/src/wrapper/pybind_wrapper.cpp @@ -10,10 +10,23 @@ #include "avoidlib/envs/quadrotor_env/quadrotor_vec_env.hpp" #include "avoidlib/envs/vec_env_base.hpp" +#include "avoidlib/vision_envs/vision_env_base.h" +#include "avoidlib/vision_envs/vec_vision_env_base.h" +#include "avoidlib/vision_envs/avoid_vision_envs/avoid_vision_envs.h" +#include "avoidlib/vision_envs/avoid_vision_envs/avoid_vec_vision_envs.h" + namespace py = pybind11; using namespace avoidlib; +void PointCloudThread(AvoidVecVisionEnv& vec_env, std::string data_dir, int id, bool save_pc) +{ + vec_env.getPointClouds(data_dir, id, save_pc); +} + PYBIND11_MODULE(flightgym, m) { + py::class_>(m, "UnityBridge") + .def(py::init<>()); + py::class_>(m, "QuadrotorEnv_v1") .def(py::init<>()) .def(py::init()) @@ -24,7 +37,7 @@ PYBIND11_MODULE(flightgym, m) { "reset") .def("reset", static_cast::*)( - Ref>, Ref>)>(&QuadrotorVecEnv::reset), + Ref>, Ref>, Ref>)>(&QuadrotorVecEnv::reset), "reset") .def("reset", static_cast::*)( @@ -47,6 +60,7 @@ PYBIND11_MODULE(flightgym, m) { .def("getObsDim", &QuadrotorVecEnv::getObsDim) .def("getActDim", &QuadrotorVecEnv::getActDim) .def("getStateDim", &QuadrotorVecEnv::getStateDim) + .def("getMotorDim", &QuadrotorVecEnv::getMotorDim) .def("getRewDim", &QuadrotorVecEnv::getRewDim) .def("getImgHeight", &QuadrotorVecEnv::getImgHeight) .def("getImgWidth", &QuadrotorVecEnv::getImgWidth) @@ -56,4 +70,53 @@ PYBIND11_MODULE(flightgym, m) { return "RPG Drone Control Environment"; }); + py::class_>(m, "AvoidVisionEnv_v1") + .def(py::init<>()) + .def(py::init()) + .def(py::init()) + .def("reset", + static_cast::*)( + Ref>)>(&AvoidVecVisionEnv::reset), + "reset") + .def("reset", + static_cast::*)( + Ref>, bool)>(&AvoidVecVisionEnv::reset), + "reset with random option") + .def("step", &AvoidVecVisionEnv::step) + .def("close", &AvoidVecVisionEnv::close) + .def("setSeed", &AvoidVecVisionEnv::setSeed) + .def("isTerminalState", &AvoidVecVisionEnv::isTerminalState) + .def("connectUnity", &AvoidVecVisionEnv::connectUnity) + .def("initializeConnections", &AvoidVecVisionEnv::initializeConnections) + .def("disconnectUnity", &AvoidVecVisionEnv::disconnectUnity) + .def("updateUnity", &AvoidVecVisionEnv::updateUnity) + .def("getPointClouds", [](AvoidVecVisionEnv& vec_env, std::string data_dir, int id, bool save_pc) { + std::thread PCThread(PointCloudThread, std::ref(vec_env), data_dir, id, save_pc); + PCThread.detach(); + }) + .def("setUnityFromPtr", &AvoidVecVisionEnv::setUnityFromPtr) + .def("getUnityPtr", &AvoidVecVisionEnv::getUnityPtr) + .def("getSavingState", &AvoidVecVisionEnv::getSavingState) + .def("getObs", &AvoidVecVisionEnv::getObs) + .def("getQuadAct", &AvoidVecVisionEnv::getQuadAct) + .def("getQuadState", &AvoidVecVisionEnv::getQuadState) + .def("getImage", &AvoidVecVisionEnv::getImage) + .def("getDepthImage", &AvoidVecVisionEnv::getDepthImage) + .def("spawnObstacles", &AvoidVecVisionEnv::spawnObstacles) + .def("ifSceneChanged", &AvoidVecVisionEnv::ifSceneChanged) + .def("getNumOfEnvs", &AvoidVecVisionEnv::getNumOfEnvs) + .def("getObsDim", &AvoidVecVisionEnv::getObsDim) + .def("getActDim", &AvoidVecVisionEnv::getActDim) + .def("getSeqDim", &AvoidVecVisionEnv::getSeqDim) + .def("getGoalObsDim", &AvoidVecVisionEnv::getGoalObsDim) + .def("getStateDim", &AvoidVecVisionEnv::getStateDim) + .def("getRewDim", &AvoidVecVisionEnv::getRewDim) + .def("getImgHeight", &AvoidVecVisionEnv::getImgHeight) + .def("getImgWidth", &AvoidVecVisionEnv::getImgWidth) + .def("getRewardNames", &AvoidVecVisionEnv::getRewardNames) + .def("getExtraInfoNames", &AvoidVecVisionEnv::getExtraInfoNames) + .def("__repr__", [](const AvoidVecVisionEnv& a) { + return "AvoidBench learning obstacle avoidance Environment"; + }); + } diff --git a/src/avoidbench/avoidmetrics/CMakeLists.txt b/src/avoidbench/avoidmetrics/CMakeLists.txt index 66e8747..54929c1 100644 --- a/src/avoidbench/avoidmetrics/CMakeLists.txt +++ b/src/avoidbench/avoidmetrics/CMakeLists.txt @@ -126,7 +126,7 @@ target_link_libraries(avoidmetrics PRIVATE set_target_properties(avoidmetrics PROPERTIES LIBRARY_OUTPUT_DIRECTORY -${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/../) + ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}/../) # Finish cs_install() diff --git a/src/avoidbench/avoidmetrics/data/ab_result.png b/src/avoidbench/avoidmetrics/data/ab_result.png deleted file mode 100644 index 2f0c090..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result2.png b/src/avoidbench/avoidmetrics/data/ab_result2.png deleted file mode 100644 index d8bca16..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result2.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result3.png b/src/avoidbench/avoidmetrics/data/ab_result3.png deleted file mode 100644 index 5316e5f..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result3.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result4.png b/src/avoidbench/avoidmetrics/data/ab_result4.png deleted file mode 100644 index 85ef82b..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result4.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result5.png b/src/avoidbench/avoidmetrics/data/ab_result5.png deleted file mode 100644 index de78c91..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result5.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result6.png b/src/avoidbench/avoidmetrics/data/ab_result6.png deleted file mode 100644 index 317b2bb..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result6.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/data/ab_result7.png b/src/avoidbench/avoidmetrics/data/ab_result7.png deleted file mode 100644 index 868a361..0000000 Binary files a/src/avoidbench/avoidmetrics/data/ab_result7.png and /dev/null differ diff --git a/src/avoidbench/avoidmetrics/include/Metrics.h b/src/avoidbench/avoidmetrics/include/Metrics.h index 2326d0a..ff5e15f 100644 --- a/src/avoidbench/avoidmetrics/include/Metrics.h +++ b/src/avoidbench/avoidmetrics/include/Metrics.h @@ -14,9 +14,9 @@ namespace avoidmetrics struct Metrics_msg { double traversability; double relative_gap_size; -std::vector optimality_factor; +std::vector path_excess_factor; std::vector average_goal_velocity; -std::vector mission_progress; +std::vector relative_end_distance; std::vector processing_time; std::vector collision_number; std::vector energy_cost; @@ -50,6 +50,7 @@ class Metrics { const std::shared_ptr mission, double &trav_dis); double CalAverageGoalVelocity(const double &dis, const double &t_m); double CalMissionProgress(const std::shared_ptr mission); + double CalRelativeEndDistance(const std::shared_ptr mission); double CalRelativeGapSize(const double &width, const double &radius); double CalProcessingTime(const std::vector &time); double CalEnergyCost(const double &dis, const std::vector traj); diff --git a/src/avoidbench/avoidmetrics/include/astar_path_finding.h b/src/avoidbench/avoidmetrics/include/astar_path_finding.h index 5f6f7b5..58a344f 100644 --- a/src/avoidbench/avoidmetrics/include/astar_path_finding.h +++ b/src/avoidbench/avoidmetrics/include/astar_path_finding.h @@ -48,9 +48,9 @@ class AStarFindPath { void setMap(std::shared_ptr env_ptr) { env_ptr_ = env_ptr; } bool toFindPath(const Eigen::Vector3d startPos, const Eigen::Vector3d endPos); std::vector getBestPath(); - + void setMissionNumber(const int num) {mission_number = num;} private: - + int mission_number; std::vector bestPath; std::vector bestNodePath; std::shared_ptr env_ptr_; diff --git a/src/avoidbench/avoidmetrics/point_clouds_data/.ply b/src/avoidbench/avoidmetrics/point_clouds_data/.ply new file mode 100644 index 0000000..b44cf4f Binary files /dev/null and b/src/avoidbench/avoidmetrics/point_clouds_data/.ply differ diff --git a/src/avoidbench/avoidmetrics/src/Metrics.cpp b/src/avoidbench/avoidmetrics/src/Metrics.cpp index af9387a..47ab9ec 100644 --- a/src/avoidbench/avoidmetrics/src/Metrics.cpp +++ b/src/avoidbench/avoidmetrics/src/Metrics.cpp @@ -66,6 +66,20 @@ namespace avoidmetrics return progress; } + double Metrics::CalRelativeEndDistance(const std::shared_ptr mission) + { + double red; + if(mission->finished) + red = 0.0; + else + { + double mission_dis = (mission->end_point - mission->start_point).norm(); + double end_dis = (mission->traj.back().position - mission->end_point).norm(); + red = end_dis / mission_dis; + } + return red; + } + double Metrics::CalRelativeGapSize(const double &width, const double &radius) { double relative_gap_size; @@ -87,6 +101,7 @@ namespace avoidmetrics void Metrics::setMissions(const std::shared_ptr mission) { mission_.push_back(mission); + astar_ptr_->setMissionNumber(mission_.size()); } avoid_msgs::Metrics Metrics::getMetricsMsg() @@ -121,10 +136,8 @@ namespace avoidmetrics { if(!mission_.empty()) { - std::cout<<"mission number: "< mission = mission_.front(); double dis, trav_dis; - if(mission->trial_id == 0) { //just need to be calculated once @@ -135,30 +148,32 @@ namespace avoidmetrics factor.traversability = env_ptr_->getTraversability(); factor.traversability = factor.traversability / d_drone; factor.relative_gap_size = CalRelativeGapSize(mission->obs_width, mission->r_poisson); - factor.optimality_factor.clear(); + factor.path_excess_factor.clear(); factor.average_goal_velocity.clear(); - factor.mission_progress.clear(); factor.processing_time.clear(); factor.collision_number.clear(); factor.energy_cost.clear(); + factor.relative_end_distance.clear(); } - astar_ptr_->toFindPath(mission->start_point, mission->end_point); - CalOptimalDis(&dis, astar_ptr_->getBestPath()); - factor.optimality_factor.push_back(CalOptimalityFactor(dis, mission, trav_dis)); + if(astar_ptr_->toFindPath(mission->start_point, mission->end_point)) + CalOptimalDis(&dis, astar_ptr_->getBestPath()); + else dis = INFINITY; + factor.path_excess_factor.push_back(CalOptimalityFactor(dis, mission, trav_dis)); factor.average_goal_velocity.push_back(CalAverageGoalVelocity(dis, mission->t_mission)); - factor.mission_progress.push_back(CalMissionProgress(mission)); factor.processing_time.push_back(CalProcessingTime(mission->cal_time)); factor.collision_number.push_back(mission->collision_number); factor.energy_cost.push_back(CalEnergyCost(dis, mission->traj)); + factor.relative_end_distance.push_back(CalRelativeEndDistance(mission)); + std::cout<<"distance: "<id, start)); //judge from first node while (openList.size() > 0) { + + if (mission_number>5) return false; + AStarNode* curNode = openList.front(); int iter=0; int idx=0; @@ -91,7 +94,6 @@ bool AStarFindPath::toFindPath(const Eigen::Vector3d startPos, const Eigen::Vect else ++iter_map; } - closeList.push_back(curNode); closeMap.insert(std::make_pair(curNode->id, curNode)); diff --git a/src/avoidbench/avoidmetrics/src/read_pcl.cpp b/src/avoidbench/avoidmetrics/src/read_pcl.cpp index 7deb47d..a2a3b16 100644 --- a/src/avoidbench/avoidmetrics/src/read_pcl.cpp +++ b/src/avoidbench/avoidmetrics/src/read_pcl.cpp @@ -11,7 +11,7 @@ int main (int argc, char **argv) ros::NodeHandle nh; ros::Publisher pcl_pub = nh.advertise ("pcl_output", 1); pcl::PointCloud cloud; - if (pcl::io::loadPLYFile("/home/hyyu/AvoidBench/src/avoidbench/avoidmetrics/point_clouds_data/pointcloud-unity0.ply", cloud) == -1) + if (pcl::io::loadPLYFile("/home/hyyu/AvoidBench/src/avoidbench/avoidmetrics/point_clouds_data/pointclouds0.ply", cloud) == -1) { PCL_ERROR("Couldn't read file1 \n"); return (-1); diff --git a/src/avoidbench/avoidmetrics/src/wrapper/metrics_wrapper.cpp b/src/avoidbench/avoidmetrics/src/wrapper/metrics_wrapper.cpp index 5263d1e..434044e 100644 --- a/src/avoidbench/avoidmetrics/src/wrapper/metrics_wrapper.cpp +++ b/src/avoidbench/avoidmetrics/src/wrapper/metrics_wrapper.cpp @@ -25,11 +25,12 @@ PYBIND11_MODULE(avoidmetrics, m) { avoidmetrics::Metrics_msg msg_py; msg_py.traversability = msg.factors[i].traversability; msg_py.relative_gap_size = msg.factors[i].relative_gap_size; - for(int j=0; j(m, "MetricsMsg") .def(py::init<>()) .def_readwrite("traversability", &avoidmetrics::Metrics_msg::traversability) - .def_readwrite("optimality_factor", &avoidmetrics::Metrics_msg::optimality_factor) + .def_readwrite("path_excess_factor", &avoidmetrics::Metrics_msg::path_excess_factor) .def_readwrite("average_goal_velocity", &avoidmetrics::Metrics_msg::average_goal_velocity) - .def_readwrite("mission_progress", &avoidmetrics::Metrics_msg::mission_progress) + .def_readwrite("relative_end_distance", &avoidmetrics::Metrics_msg::relative_end_distance) .def_readwrite("relative_gap_size", &avoidmetrics::Metrics_msg::relative_gap_size) .def_readwrite("processing_time", &avoidmetrics::Metrics_msg::processing_time) .def_readwrite("collision_number", &avoidmetrics::Metrics_msg::collision_number); diff --git a/src/avoidbench/flightpy/configs/control/config.yaml b/src/avoidbench/flightpy/configs/control/config.yaml new file mode 100644 index 0000000..a419751 --- /dev/null +++ b/src/avoidbench/flightpy/configs/control/config.yaml @@ -0,0 +1,59 @@ +unity: + scene_id: 0 # 0 warehouse, 1 garage, 3 natureforest + render: no + +simulation: + seed: 1 + sim_dt: 0.02 + max_t: 5.0 + num_envs: 2 + num_threads: 2 + rotor_ctrl: 1 # 0 single rotor, 1 body rate + +quadrotor_dynamics: + mass: 0.752 + tbm_fr: [0.075, -0.10, 0.0] # [m] + tbm_bl: [-0.075, 0.10, 0.0] # [m] + tbm_br: [-0.075, -0.10, 0.0] # [m] + tbm_fl: [0.075, 0.10, 0.0] # [m + omega_max: [6.0, 6.0, 2.0] + inertia: [0.0025, 0.0021, 0.0043] + kappa: 0.022 + motor_omega_min: 150.0 + motor_omega_max: 2333.0 + motor_tau: 0.033 + thrust_map: [1.562522e-6, 0.0, 0.0] # max thrust = 8.50 N + body_drag_1: [0.0, 0.0, 0.0] # [0.26, 0.28, 0.42] + body_drag_3: [0.00, 0.00, 0.00] + body_drag_h: 0.00 + +rewards: + pos_coeff: -0.002 # reward coefficient for position + ori_coeff: -0.002 # reward coefficient for orientation + lin_vel_coeff: -0.0001 # reward coefficient for linear velocity + ang_vel_coeff: -0.0001 # reward coefficient for angular velocity + names: + [ + "pos_penalty", + "ori_penalty", + "lin_vel_penalty", + "ang_vel_penalty", + "total", + ] + goal_state: + position: [0.0, 5.0, 10.0] + rotation: [0.0, 0.0, 0.0] + lin_vel: [0.0, 0.0, 0.0] + ang_vel: [0.0, 0.0, 0.0] + +rgb_camera: + on: yes + t_BC: [0.0, 0.0, 0.3] # translational vector of the camera with repect to the body frame + r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. + channels: 3 + width: 720 + height: 480 + fov: 70.0 + enable_depth: yes + enable_segmentation: no + enable_opticalflow: no diff --git a/src/avoidbench/flightpy/configs/control/config_gazebo.yaml b/src/avoidbench/flightpy/configs/control/config_gazebo.yaml new file mode 100644 index 0000000..1645668 --- /dev/null +++ b/src/avoidbench/flightpy/configs/control/config_gazebo.yaml @@ -0,0 +1,61 @@ +unity: + scene_id: 0 # 0 warehouse, 1 garage, 3 natureforest + render: no + +simulation: + seed: 1 + sim_dt: 0.01 + max_t: 20.0 + num_envs: 100 + num_threads: 10 + rotor_ctrl: 1 # 0 single rotor, 1 body rate + +quadrotor_dynamics: + mass: 1.05 + tbm_fr: [0.13, -0.20, 0.0] # [m] + tbm_bl: [-0.13, 0.20, 0.0] # [m] + tbm_br: [-0.13, -0.20, 0.0] # [m] + tbm_fl: [0.13, 0.20, 0.0] # [m + omega_max: [6.0, 6.0, 1.5] + inertia: [0.0147563, 0.0158929, 0.022] + kappa: 0.016 + motor_omega_min: 0.0 + motor_omega_max: 1200.0 + motor_tau: 0.033 + thrust_map: [8.54858e-06, 0.0, 0.0] # max thrust = 8.50 N + body_drag_1: [0.0, 0.0, 0.0] # [0.26, 0.28, 0.42] + body_drag_3: [0.00, 0.00, 0.00] + body_drag_h: 0.00 + body_rates_p_xy: 0.3 + body_rates_d_xy: 1.0 + body_rates_p_z: 0.12 + body_rates_d_z: 0.20 + +rewards: + pos_coeff: -0.001 # reward coefficient for position + ori_coeff: -0.0005 # reward coefficient for orientation + vert_coeff: -0.001 + lin_vel_coeff: -0.001 # reward coefficient for linear velocity + ang_vel_coeff: -0.000 # reward coefficient for angular velocity + smooth_coeff: -0.000 + vel_dir_coeff: -0.000 + time_coeff: -0.0 + names: [processing_reward, lin_vel_penalty, ori_penalty, vel_dir_penalty, ang_vel_penalty, + smooth_reward, waypoint_reward, total] + goal_state: + position: [0.0, 0.0, 5.0] + rotation: [0.0, 0.0, 0.0] + lin_vel: [0.0, 0.0, 0.0] + ang_vel: [0.0, 0.0, 0.0] + +rgb_camera: + on: yes + t_BC: [0.0, 0.0, 0.3] # translational vector of the camera with repect to the body frame + r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. + channels: 3 + width: 720 + height: 480 + fov: 70.0 + enable_depth: yes + enable_segmentation: no + enable_opticalflow: no diff --git a/src/avoidbench/flightpy/configs/scene.yaml b/src/avoidbench/flightpy/configs/scene.yaml new file mode 100644 index 0000000..bc50f70 --- /dev/null +++ b/src/avoidbench/flightpy/configs/scene.yaml @@ -0,0 +1,15 @@ +scene_0: + name: "warehouse" + render_offset: [0, 0, 0] + +scene_1: + name: "street" + render_offset: [-9.38, -12.66, 0.1] + +scene_2: + name: "forest" + render_offset: [21, 217, 94] + +scene_3: + name: "wasteland" + render_offset: [1140, 1026, 108] \ No newline at end of file diff --git a/src/avoidbench/flightpy/flightrl/__init__.py b/src/avoidbench/flightpy/flightrl/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/flightpy/flightrl/build/lib/rpg_baselines/__init__.py b/src/avoidbench/flightpy/flightrl/build/lib/rpg_baselines/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/flightpy/flightrl/generate_data.py b/src/avoidbench/flightpy/flightrl/generate_data.py new file mode 100644 index 0000000..d6c0c3d --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/generate_data.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +import argparse +import math +# +import os + +import numpy as np +import torch +from flightgym import AvoidVisionEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from stable_baselines3.common.utils import get_device +from stable_baselines3.ppo.policies import MlpPolicy + +from rpg_baselines.torch.common.ppo import PPO +from rpg_baselines.torch.envs import vec_vision_env_wrapper as wrapper +from rpg_baselines.torch.common.util 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b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/on_policy_algorithm.py new file mode 100644 index 0000000..07bda14 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/on_policy_algorithm.py @@ -0,0 +1,350 @@ +import os +import time +from typing import Any, Dict, List, Optional, Tuple, Type, Union + +import gym +import numpy as np +import torch as th +from genericpath import exists +from ruamel.yaml import YAML +from stable_baselines3.common.base_class import BaseAlgorithm +from stable_baselines3.common.buffers import RolloutBuffer +from stable_baselines3.common.callbacks import BaseCallback +from stable_baselines3.common.policies import ActorCriticPolicy +from stable_baselines3.common.type_aliases import (GymEnv, MaybeCallback, + Schedule) +from stable_baselines3.common.utils import safe_mean +from stable_baselines3.common.vec_env import VecEnv + + +class OnPolicyAlgorithm(BaseAlgorithm): + """ + The base for On-Policy algorithms (ex: A2C/PPO). + + :param policy: The policy model to use (MlpPolicy, CnnPolicy, ...) + :param env: The environment to learn from (if registered in Gym, can be str) + :param learning_rate: The learning rate, it can be a function + of the current progress remaining (from 1 to 0) + :param n_steps: The number of steps to run for each environment per update + (i.e. batch size is n_steps * n_env where n_env is number of environment copies running in parallel) + :param gamma: Discount factor + :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator. + Equivalent to classic advantage when set to 1. + :param ent_coef: Entropy coefficient for the loss calculation + :param vf_coef: Value function coefficient for the loss calculation + :param max_grad_norm: The maximum value for the gradient clipping + :param use_sde: Whether to use generalized State Dependent Exploration (gSDE) + instead of action noise exploration (default: False) + :param sde_sample_freq: Sample a new noise matrix every n steps when using gSDE + Default: -1 (only sample at the beginning of the rollout) + :param tensorboard_log: the log location for tensorboard (if None, no logging) + :param create_eval_env: Whether to create a second environment that will be + used for evaluating the agent periodically. (Only available when passing string for the environment) + :param monitor_wrapper: When creating an environment, whether to wrap it + or not in a Monitor wrapper. + :param policy_kwargs: additional arguments to be passed to the policy on creation + :param verbose: the verbosity level: 0 no output, 1 info, 2 debug + :param seed: Seed for the pseudo random generators + :param device: Device (cpu, cuda, ...) on which the code should be run. + Setting it to auto, the code will be run on the GPU if possible. + :param _init_setup_model: Whether or not to build the network at the creation of the instance + :param supported_action_spaces: The action spaces supported by the algorithm. + """ + + def __init__( + self, + policy: Union[str, Type[ActorCriticPolicy]], + env: Union[GymEnv, str], + learning_rate: Union[float, Schedule], + n_steps: int, + use_tanh_act: bool, + gamma: float, + gae_lambda: float, + ent_coef: float, + vf_coef: float, + max_grad_norm: float, + use_sde: bool, + sde_sample_freq: int, + tensorboard_log: Optional[str] = None, + create_eval_env: bool = False, + eval_env: Union[GymEnv, str] = None, + monitor_wrapper: bool = True, + policy_kwargs: Optional[Dict[str, Any]] = None, + verbose: int = 0, + seed: Optional[int] = None, + device: Union[th.device, str] = "auto", + _init_setup_model: bool = True, + supported_action_spaces: Optional[Tuple[gym.spaces.Space, ...]] = None, + ): + + super(OnPolicyAlgorithm, self).__init__( + policy=policy, + env=env, + policy_base=ActorCriticPolicy, + learning_rate=learning_rate, + policy_kwargs=policy_kwargs, + verbose=verbose, + device=device, + use_sde=use_sde, + sde_sample_freq=sde_sample_freq, + create_eval_env=create_eval_env, + support_multi_env=True, + seed=seed, + tensorboard_log=tensorboard_log, + supported_action_spaces=supported_action_spaces, + ) + + self.n_steps = n_steps + self.gamma = gamma + self.gae_lambda = gae_lambda + self.use_tanh_act = use_tanh_act + self.ent_coef = ent_coef + self.vf_coef = vf_coef + self.max_grad_norm = max_grad_norm + self.rollout_buffer = None + + self.eval_env = eval_env + + if _init_setup_model: + self._setup_model() + + def _setup_model(self) -> None: + self._setup_lr_schedule() + self.set_random_seed(self.seed) + + self.rollout_buffer = RolloutBuffer( + self.n_steps, + self.observation_space, + self.action_space, + self.device, + gamma=self.gamma, + gae_lambda=self.gae_lambda, + n_envs=self.n_envs, + ) + + self.policy = self.policy_class( # pytype:disable=not-instantiable + self.observation_space, + self.action_space, + self.lr_schedule, + use_sde=self.use_sde, + **self.policy_kwargs # pytype:disable=not-instantiable + ) + + # 1) Add Tanh activation to Policy Net + if self.use_tanh_act: + self.policy.action_net = th.nn.Sequential( + self.policy.action_net, th.nn.Tanh() + ) + + self.policy = self.policy.to(self.device) + + def collect_rollouts( + self, + env: VecEnv, + callback: BaseCallback, + rollout_buffer: RolloutBuffer, + n_rollout_steps: int, + ) -> bool: + """ + Collect experiences using the current policy and fill a ``RolloutBuffer``. + The term rollout here refers to the model-free notion and should not + be used with the concept of rollout used in model-based RL or planning. + + :param env: The training environment + :param callback: Callback that will be called at each step + (and at the beginning and end of the rollout) + :param rollout_buffer: Buffer to fill with rollouts + :param n_steps: Number of experiences to collect per environment + :return: True if function returned with at least `n_rollout_steps` + collected, False if callback terminated rollout prematurely. + """ + assert self._last_obs is not None, "No previous observation was provided" + n_steps = 0 + rollout_buffer.reset() + # Sample new weights for the state dependent exploration + if self.use_sde: + self.policy.reset_noise(env.num_envs) + + callback.on_rollout_start() + + while n_steps < n_rollout_steps: + if ( + self.use_sde + and self.sde_sample_freq > 0 + and n_steps % self.sde_sample_freq == 0 + ): + # Sample a new noise matrix + self.policy.reset_noise(env.num_envs) + + # Normalize observation (for RacingEnv) + # obs_mean, obs_std = self.env.get_obs_norm() + # obs_norm = (self._last_obs - obs_mean) / obs_std + obs_norm = self._last_obs + + with th.no_grad(): + # Convert to pytorch tensor + obs_tensor = th.as_tensor(obs_norm).to(self.device) + actions, values, log_probs = self.policy.forward(obs_tensor) + actions = actions.cpu().numpy() + + # Rescale and perform action + clipped_actions = actions + # Clip the actions to avoid out of bound error + if isinstance(self.action_space, gym.spaces.Box): + clipped_actions = np.clip( + actions, self.action_space.low, self.action_space.high + ) + + new_obs, rewards, dones, infos = env.step(clipped_actions) + + self.num_timesteps += env.num_envs + + # Give access to local variables + callback.update_locals(locals()) + if callback.on_step() is False: + return False + + self._update_info_buffer(infos) + n_steps += 1 + + if isinstance(self.action_space, gym.spaces.Discrete): + # Reshape in case of discrete action + actions = actions.reshape(-1, 1) + rollout_buffer.add( + obs_norm, actions, rewards, self._last_episode_starts, values, log_probs + ) + + self._last_obs = new_obs + self._last_episode_starts = dones + + with th.no_grad(): + # Normalize observation + # obs_mean, obs_std = self.env.get_obs_norm() + # obs_norm = (self._last_obs - obs_mean) / obs_std + obs_norm = self._last_obs + + # Compute value for the last timestep + obs_tensor = th.as_tensor(obs_norm).to(self.device) + _, values, _ = self.policy.forward(obs_tensor) + + rollout_buffer.compute_returns_and_advantage(last_values=values, dones=dones) + + callback.on_rollout_end() + + return True + + def train(self) -> None: + """ + Consume current rollout data and update policy parameters. + Implemented by individual algorithms. + """ + raise NotImplementedError + + def eval(self) -> None: + """ + Test the policy + """ + raise NotImplementedError + + def learn( + self, + total_timesteps: int, + callback: MaybeCallback = None, + log_interval: Tuple = (10, 100), + eval_env: Optional[GymEnv] = None, + eval_freq: int = -1, + n_eval_episodes: int = 5, + tb_log_name: str = "OnPolicyAlgorithm", + eval_log_path: Optional[str] = None, + reset_num_timesteps: bool = True, + env_cfg: str = None, + ) -> "OnPolicyAlgorithm": + iteration = 0 + + total_timesteps, callback = self._setup_learn( + total_timesteps, + eval_env, + callback, + eval_freq, + n_eval_episodes, + eval_log_path, + reset_num_timesteps, + tb_log_name, + ) + + new_cfg_dir = self.logger.get_dir() + "/config.yaml" + with open(new_cfg_dir, "w") as outfile: + YAML().dump(self.env_cfg, outfile) + + callback.on_training_start(locals(), globals()) + + while self.num_timesteps < total_timesteps: + + continue_training = self.collect_rollouts( + self.env, callback, self.rollout_buffer, n_rollout_steps=self.n_steps + ) + + if continue_training is False: + break + iteration += 1 + self._update_current_progress_remaining(self.num_timesteps, total_timesteps) + + # Display training infos + if log_interval is not None and iteration % log_interval[0] == 0: + fps = int(self.num_timesteps / (time.time() - self.start_time)) + self.logger.record("time/iterations", iteration, exclude="tensorboard") + if len(self.ep_info_buffer) > 0 and len(self.ep_info_buffer[0]) > 0: + self.logger.record( + "rollout/ep_rew_mean", + safe_mean([ep_info["r"] for ep_info in self.ep_info_buffer]), + ) + self.logger.record( + "rollout/ep_len_mean", + safe_mean([ep_info["l"] for ep_info in self.ep_info_buffer]), + ) + self.logger.record("time/fps", fps) + self.logger.record( + "time/time_elapsed", + int(time.time() - self.start_time), + exclude="tensorboard", + ) + self.logger.record( + "time/total_timesteps", self.num_timesteps, exclude="tensorboard" + ) + for i in range(self.env.rew_dim - 1): + self.logger.record( + "rewards/{0}".format(self.env.reward_names[i]), + safe_mean( + [ + ep_info[self.env.reward_names[i]] + for ep_info in self.ep_info_buffer + ] + ), + ) + + self.logger.dump(step=self.num_timesteps) + + self.train() + + if iteration % 10 == 0 and iteration <= 1000: + # update running mean and standard deivation for state normalization + self.env.update_rms() + + if log_interval is not None and iteration % log_interval[1] == 0: + policy_path = self.logger.get_dir() + "/Policy" + os.makedirs(policy_path, exist_ok=True) + self.policy.save(policy_path + "/iter_{0:05d}.pth".format(iteration)) + + self.env.save_rms( + save_dir=self.logger.get_dir() + "/RMS", n_iter=iteration + ) + self.eval(iteration) + + callback.on_training_end() + + return self + + def _get_torch_save_params(self) -> Tuple[List[str], List[str]]: + state_dicts = ["policy", "policy.optimizer"] + + return state_dicts, [] diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py new file mode 100644 index 0000000..e1d81e3 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/ppo.py @@ -0,0 +1,379 @@ +import os +import warnings +from typing import Any, Callable, Dict, Optional, Type, Union + +import matplotlib.gridspec as gridspec +import matplotlib.pyplot as plt +import numpy as np +# +import pandas as pd +import scipy +import torch as th +from gym import spaces +from mpl_toolkits.mplot3d import Axes3D +# +from stable_baselines3.common.policies import ActorCriticPolicy +from stable_baselines3.common.type_aliases import GymEnv, MaybeCallback +from stable_baselines3.common.utils import explained_variance, get_schedule_fn +from torch.nn import functional as F + +# +from rpg_baselines.torch.common.on_policy_algorithm import \ + OnPolicyAlgorithm +from rpg_baselines.torch.common.util import plot3d_traj, traj_rollout + + +class PPO(OnPolicyAlgorithm): + """ + Proximal Policy Optimization algorithm (PPO) (clip version) + + Paper: https://arxiv.org/abs/1707.06347 + Code: This implementation borrows code from OpenAI Spinning Up (https://github.com/openai/spinningup/) + https://github.com/ikostrikov/pytorch-a2c-ppo-acktr-gail and + and Stable Baselines (PPO2 from https://github.com/hill-a/stable-baselines) + + Introduction to PPO: https://spinningup.openai.com/en/latest/algorithms/ppo.html + + :param policy: The policy model to use (MlpPolicy, CnnPolicy, ...) + :param env: The environment to learn from (if registered in Gym, can be str) + :param learning_rate: The learning rate, it can be a function + of the current progress remaining (from 1 to 0) + :param n_steps: The number of steps to run for each environment per update + (i.e. rollout buffer size is n_steps * n_envs where n_envs is number of environment copies running in parallel) + NOTE: n_steps * n_envs must be greater than 1 (because of the advantage normalization) + See https://github.com/pytorch/pytorch/issues/29372 + :param batch_size: Minibatch size + :param n_epochs: Number of epoch when optimizing the surrogate loss + :param gamma: Discount factor + :param gae_lambda: Factor for trade-off of bias vs variance for Generalized Advantage Estimator + :param clip_range: Clipping parameter, it can be a function of the current progress + remaining (from 1 to 0). + :param clip_range_vf: Clipping parameter for the value function, + it can be a function of the current progress remaining (from 1 to 0). + This is a parameter specific to the OpenAI implementation. If None is passed (default), + no clipping will be done on the value function. + IMPORTANT: this clipping depends on the reward scaling. + :param ent_coef: Entropy coefficient for the loss calculation + :param vf_coef: Value function coefficient for the loss calculation + :param max_grad_norm: The maximum value for the gradient clipping + :param use_sde: Whether to use generalized State Dependent Exploration (gSDE) + instead of action noise exploration (default: False) + :param sde_sample_freq: Sample a new noise matrix every n steps when using gSDE + Default: -1 (only sample at the beginning of the rollout) + :param target_kl: Limit the KL divergence between updates, + because the clipping is not enough to prevent large update + see issue #213 (cf https://github.com/hill-a/stable-baselines/issues/213) + By default, there is no limit on the kl div. + :param tensorboard_log: the log location for tensorboard (if None, no logging) + :param create_eval_env: Whether to create a second environment that will be + used for evaluating the agent periodically. (Only available when passing string for the environment) + :param policy_kwargs: additional arguments to be passed to the policy on creation + :param verbose: the verbosity level: 0 no output, 1 info, 2 debug + :param seed: Seed for the pseudo random generators + :param device: Device (cpu, cuda, ...) on which the code should be run. + Setting it to auto, the code will be run on the GPU if possible. + :param _init_setup_model: Whether or not to build the network at the creation of the instance + """ + + def __init__( + self, + policy: Union[str, Type[ActorCriticPolicy]], + env: Union[GymEnv, str], + learning_rate: Union[float, Callable] = 3e-4, + n_steps: int = 2048, + use_tanh_act: bool = True, + batch_size: Optional[int] = 64, + n_epochs: int = 10, + gamma: float = 0.99, + gae_lambda: float = 0.95, + clip_range: Union[float, Callable] = 0.2, + clip_range_vf: Union[None, float, Callable] = None, + ent_coef: float = 0.0, + vf_coef: float = 0.5, + max_grad_norm: float = 0.5, + use_sde: bool = False, + sde_sample_freq: int = -1, + target_kl: Optional[float] = None, + tensorboard_log: Optional[str] = None, + create_eval_env: bool = False, + eval_env: Union[GymEnv, str] = None, + policy_kwargs: Optional[Dict[str, Any]] = None, + verbose: int = 0, + seed: Optional[int] = None, + device: Union[th.device, str] = "auto", + env_cfg: str = None, + _init_setup_model: bool = True, + ): + + super(PPO, self).__init__( + policy, + env, + learning_rate=learning_rate, + n_steps=n_steps, + gamma=gamma, + gae_lambda=gae_lambda, + ent_coef=ent_coef, + use_tanh_act=use_tanh_act, + vf_coef=vf_coef, + max_grad_norm=max_grad_norm, + use_sde=use_sde, + sde_sample_freq=sde_sample_freq, + tensorboard_log=tensorboard_log, + policy_kwargs=policy_kwargs, + verbose=verbose, + device=device, + create_eval_env=create_eval_env, + eval_env=eval_env, + seed=seed, + _init_setup_model=False, + supported_action_spaces=( + spaces.Box, + spaces.Discrete, + spaces.MultiDiscrete, + spaces.MultiBinary, + ), + ) + if self.env is not None: + # Check that `n_steps * n_envs > 1` to avoid NaN + # when doing advantage normalization + buffer_size = self.env.num_envs * self.n_steps + assert ( + buffer_size > 1 + ), f"`n_steps * n_envs` must be greater than 1. Currently n_steps={self.n_steps} and n_envs={self.env.num_envs}" + # Check that the rollout buffer size is a multiple of the mini-batch size + untruncated_batches = buffer_size // batch_size + if buffer_size % batch_size > 0: + warnings.warn( + f"You have specified a mini-batch size of {batch_size}," + f" but because the `RolloutBuffer` is of size `n_steps * n_envs = {buffer_size}`," + f" after every {untruncated_batches} untruncated mini-batches," + f" there will be a truncated mini-batch of size {buffer_size % batch_size}\n" + f"We recommend using a `batch_size` that is a multiple of `n_steps * n_envs`.\n" + f"Info: (n_steps={self.n_steps} and n_envs={self.env.num_envs})" + ) + self.batch_size = batch_size + self.n_epochs = n_epochs + self.clip_range = clip_range + self.clip_range_vf = clip_range_vf + self.target_kl = target_kl + + self.env_cfg = env_cfg + if _init_setup_model: + self._setup_model() + + def _setup_model(self) -> None: + super(PPO, self)._setup_model() + + # Initialize schedules for policy/value clipping + self.clip_range = get_schedule_fn(self.clip_range) + if self.clip_range_vf is not None: + if isinstance(self.clip_range_vf, (float, int)): + assert self.clip_range_vf > 0, ( + "`clip_range_vf` must be positive, " + "pass `None` to deactivate vf clipping" + ) + + self.clip_range_vf = get_schedule_fn(self.clip_range_vf) + + def train(self) -> None: + """ + Update policy using the currently gathered rollout buffer. + """ + # Update optimizer learning rate + self._update_learning_rate(self.policy.optimizer) + # Compute current clip range + clip_range = self.clip_range(self._current_progress_remaining) + # Optional: clip range for the value function + if self.clip_range_vf is not None: + clip_range_vf = self.clip_range_vf(self._current_progress_remaining) + + entropy_losses, all_kl_divs = [], [] + pg_losses, value_losses = [], [] + clip_fractions = [] + + # train for n_epochs epochs + for epoch in range(self.n_epochs): + approx_kl_divs = [] + # Do a complete pass on the rollout buffer + for rollout_data in self.rollout_buffer.get(self.batch_size): + actions = rollout_data.actions + if isinstance(self.action_space, spaces.Discrete): + # Convert discrete action from float to long + actions = rollout_data.actions.long().flatten() + + # Re-sample the noise matrix because the log_std has changed + # TODO: investigate why there is no issue with the gradient + # if that line is commented (as in SAC) + if self.use_sde: + self.policy.reset_noise(self.batch_size) + + values, log_prob, entropy = self.policy.evaluate_actions( + rollout_data.observations, actions + ) + values = values.flatten() + # Normalize advantage + advantages = rollout_data.advantages + advantages = (advantages - advantages.mean()) / ( + advantages.std() + 1e-8 + ) + + # ratio between old and new policy, should be one at the first iteration + ratio = th.exp(log_prob - rollout_data.old_log_prob) + + # clipped surrogate loss + policy_loss_1 = advantages * ratio + policy_loss_2 = advantages * th.clamp( + ratio, 1 - clip_range, 1 + clip_range + ) + policy_loss = -th.min(policy_loss_1, policy_loss_2).mean() + + # Logging + pg_losses.append(policy_loss.item()) + clip_fraction = th.mean((th.abs(ratio - 1) > clip_range).float()).item() + clip_fractions.append(clip_fraction) + + if self.clip_range_vf is None: + # No clipping + values_pred = values + else: + # Clip the different between old and new value + # NOTE: this depends on the reward scaling + values_pred = rollout_data.old_values + th.clamp( + values - rollout_data.old_values, -clip_range_vf, clip_range_vf + ) + # Value loss using the TD(gae_lambda) target + value_loss = F.mse_loss(rollout_data.returns, values_pred) + value_losses.append(value_loss.item()) + + # Entropy loss favor exploration + if entropy is None: + # Approximate entropy when no analytical form + entropy_loss = -th.mean(-log_prob) + else: + entropy_loss = -th.mean(entropy) + + entropy_losses.append(entropy_loss.item()) + + loss = ( + policy_loss + + self.ent_coef * entropy_loss + + self.vf_coef * value_loss + ) + + # Optimization step + self.policy.optimizer.zero_grad() + loss.backward() + # Clip grad norm + th.nn.utils.clip_grad_norm_( + self.policy.parameters(), self.max_grad_norm + ) + self.policy.optimizer.step() + approx_kl_divs.append( + th.mean(rollout_data.old_log_prob - log_prob).detach().cpu().numpy() + ) + + all_kl_divs.append(np.mean(approx_kl_divs)) + + if ( + self.target_kl is not None + and np.mean(approx_kl_divs) > 1.5 * self.target_kl + ): + print( + f"Early stopping at step {epoch} due to reaching max kl: {np.mean(approx_kl_divs):.2f}" + ) + break + + self._n_updates += self.n_epochs + explained_var = explained_variance( + self.rollout_buffer.values.flatten(), self.rollout_buffer.returns.flatten() + ) + + # Logs + self.logger.record("train/entropy_loss", np.mean(entropy_losses)) + self.logger.record("train/policy_gradient_loss", np.mean(pg_losses)) + self.logger.record("train/value_loss", np.mean(value_losses)) + self.logger.record("train/approx_kl", np.mean(approx_kl_divs)) + self.logger.record("train/clip_fraction", np.mean(clip_fractions)) + self.logger.record("train/loss", loss.item()) + self.logger.record("train/explained_variance", explained_var) + if hasattr(self.policy, "log_std"): + self.logger.record("train/std", th.exp(self.policy.log_std).mean().item()) + + self.logger.record("train/n_updates", self._n_updates, exclude="tensorboard") + self.logger.record("train/clip_range", clip_range) + if self.clip_range_vf is not None: + self.logger.record("train/clip_range_vf", clip_range_vf) + + def learn( + self, + total_timesteps: int, + callback: MaybeCallback = None, + log_interval: int = 1, + eval_env: Optional[GymEnv] = None, + eval_freq: int = -1, + n_eval_episodes: int = 5, + tb_log_name: str = "PPO", + eval_log_path: Optional[str] = None, + reset_num_timesteps: bool = True, + env_cfg: str = None, + ) -> "PPO": + + return super(PPO, self).learn( + total_timesteps=total_timesteps, + callback=callback, + log_interval=log_interval, + eval_env=eval_env, + eval_freq=eval_freq, + n_eval_episodes=n_eval_episodes, + tb_log_name=tb_log_name, + eval_log_path=eval_log_path, + reset_num_timesteps=reset_num_timesteps, + env_cfg=env_cfg, + ) + + + def eval(self, iteration) -> None: + save_path = self.logger.get_dir() + "/TestTraj" + os.makedirs(save_path, exist_ok=True) + + # + self.policy.eval() + self.eval_env.load_rms( + self.logger.get_dir() + "/RMS/iter_{0:05d}.npz".format(iteration) + ) + + # rollout trajectory and save the trajectory + traj_df = traj_rollout(self.eval_env, self.policy) + traj_df.to_csv(save_path + "/test_traj_{0:05d}.csv".format(iteration)) + + # generate plots + fig1 = plt.figure(figsize=(10, 6)) + # fig1.subplots_adjust( + # left=None, bottom=None, right=None, top=None, wspace=None, hspace=None + # ) + gs1 = gridspec.GridSpec(4, 3) + ax3d = fig1.add_subplot(gs1[2:3, 0:3], projection="3d") + axpos, axvel = [], [] + for i in range(3): + axpos.append(fig1.add_subplot(gs1[0, i])) + axvel.append(fig1.add_subplot(gs1[1, i])) + episode_idx = traj_df.episode_id.unique() + for ep_i in episode_idx: + conditions = "episode_id == {0}".format(ep_i) + traj_episode_i = traj_df.query(conditions) + pos = traj_episode_i.loc[:, ["px", "py", "pz"]].to_numpy(dtype=np.float64) + vel = traj_episode_i.loc[:, ["vx", "vy", "vz"]].to_numpy(dtype=np.float64) + + # + axpos[0].plot(pos[:, 0]) + axpos[1].plot(pos[:, 1]) + axpos[2].plot(pos[:, 2]) + # + axvel[0].plot(vel[:, 0]) + axvel[1].plot(vel[:, 1]) + axvel[2].plot(vel[:, 2]) + plot3d_traj(ax3d=ax3d, pos=pos, vel=vel) + # + save_path = self.logger.get_dir() + "/TestTraj" + "/Plots" + os.makedirs(save_path, exist_ok=True) + fig1.savefig(save_path + "/traj_3d_{0:05d}.png".format(iteration)) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py new file mode 100644 index 0000000..f36efb4 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/common/util.py @@ -0,0 +1,150 @@ +from tkinter.tix import Tree +import numpy as np +import pandas as pd +import cv2 +import os +from mpl_toolkits.mplot3d import Axes3D + +columns = [ + "episode_id", + "done", + "reward", + "t", + "px", + "py", + "pz", + "qw", + "qx", + "qy", + "qz", + "vx", + "vy", + "vz", + "goal_x", + "goal_y", + "goal_z", + "wx", + "wy", + "wz", + "ax", + "ay", + "az", + "mot1", + "mot2", + "mot3", + "mot4", + "thrust1", + "thrust2", + "thrust3", + "thrust4", + "targetx", + "targety", + "targetz", + "targetr", + "act1", + "act2", + "act3", + "act4", +] + + +def traj_rollout(env, policy): + traj_df = pd.DataFrame(columns=columns) + max_ep_length = 5000 + obs = env.reset(random=False) + episode_id = np.zeros(shape=(env.num_envs, 1)) + for _ in range(max_ep_length): + act, _ = policy.predict(obs, deterministic=True) + act = np.array(act, dtype=np.float64) + # + obs, rew, done, info = env.step(act) + + episode_id[done] += 1 + + state = env.getQuadState() + action = env.getQuadAct() + # reshape vector + done = done[:, np.newaxis] + rew = rew[:, np.newaxis] + + # stack all the data + data = np.hstack((episode_id, done, rew, state, action)) + data_frame = pd.DataFrame(data=data, columns=columns) + + # append trajectory + traj_df = pd.concat([traj_df, data_frame], axis=0, ignore_index=True) + return traj_df + + +def plot3d_traj(ax3d, pos, vel): + sc = ax3d.scatter( + pos[:, 0], + pos[:, 1], + pos[:, 2], + c=np.linalg.norm(vel, axis=1), + cmap="jet", + s=1, + alpha=0.5, + ) + ax3d.view_init(elev=40, azim=50) + # + # ax3d.set_xticks([]) + # ax3d.set_yticks([]) + # ax3d.set_zticks([]) + + # + # ax3d.get_proj = lambda: np.dot( + # Axes3D.get_proj(ax3d), np.diag([1.0, 1.0, 1.0, 1.0])) + # zmin, zmax = ax3d.get_zlim() + # xmin, xmax = ax3d.get_xlim() + # ymin, ymax = ax3d.get_ylim() + # x_f = 1 + # y_f = (ymax - ymin) / (xmax - xmin) + # z_f = (zmax - zmin) / (xmax - xmin) + # ax3d.set_box_aspect((x_f, y_f * 2, z_f * 2)) + +def test_policy(env, model, render=False): + max_ep_length = env.max_episode_steps + num_rollouts = 1 + frame_id = 0 + if render: + env.connectUnity() + for n_roll in range(num_rollouts): + obs, done, ep_len = env.reset(), False, 0 + while not ((ep_len >= max_ep_length)): + act, _ = model.predict(obs, deterministic=True) + obs, rew, done, info = env.step(act) + # + # print(obs) + env.render(ep_len) + + # ======Gray Image========= + # gray_img = np.reshape( + # env.getImage()[0], (env.img_height, env.img_width)) + # cv2.imshow("gray_img", gray_img) + # cv2.waitKey(100) + + # ======RGB Image========= + # img =env.getImage(rgb=True) + # rgb_img = np.reshape( + # img[0], (env.img_height, env.img_width, 3)) + # cv2.imshow("rgb_img", rgb_img) + # os.makedirs("./images", exist_ok=True) + # cv2.imwrite("./images/img_{0:05d}.png".format(frame_id), rgb_img) + # cv2.waitKey(100) + + # # # ======Depth Image========= + # depth_img = np.reshape(env.getDepthImage()[ + # 0], (env.img_height, env.img_width)) + # os.makedirs("./depth", exist_ok=True) + # cv2.imwrite("./depth/img_{0:05d}.png".format(frame_id), depth_img.astype(np.uint16)) + # cv2.imshow("depth", depth_img) + # cv2.waitKey(100) + + # + ep_len += 1 + frame_id += 1 + + # + if render: + env.disconnectUnity() diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__init__.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..ab5f3f0 Binary files /dev/null and b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/__init__.cpython-38.pyc differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc new file mode 100644 index 0000000..58a47a5 Binary files /dev/null and b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_env_wrapper.cpython-38.pyc differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc new file mode 100644 index 0000000..e9cf22e Binary files /dev/null and b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/__pycache__/vec_vision_env_wrapper.cpython-38.pyc differ diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py new file mode 100644 index 0000000..d9d9c27 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/env_wrapper.py @@ -0,0 +1,142 @@ +import os +import pickle +from copy import deepcopy +from typing import Any, Callable, List, Optional, Sequence, Type, Union + +import gym +import numpy as np +from gym import spaces +from numpy.core.fromnumeric import shape +from stable_baselines3.common.running_mean_std import RunningMeanStd +from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, + VecEnvIndices, + VecEnvObs, + VecEnvStepReturn) +from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, + obs_space_info) + + +class FlightEnv(object): + # + def __init__(self, impl): + self.wrapper = impl + self.obs_dim = self.wrapper.getObsDim() + self.act_dim = self.wrapper.getActDim() + self.rew_dim = self.wrapper.getRewDim() + self.num_gates = self.wrapper.getNumGates() + self._observation_space = spaces.Box( + np.ones(self.obs_dim) * -np.Inf, + np.ones(self.obs_dim) * np.Inf, + dtype=np.float64, + ) + self._action_space = spaces.Box( + low=np.ones(self.act_dim) * -1.0, + high=np.ones(self.act_dim) * 1.0, + dtype=np.float64, + ) + # + self._observation = np.zeros([self.obs_dim], dtype=np.float64) + # + self._reward_components = np.zeros([self.rew_dim, 1], dtype=np.float64) + self._done = False + + self._quadstate = np.zeros([44], dtype=np.float64) + self._quadact = np.zeros([4], dtype=np.float64) + self._gatepose = np.zeros([7 * self.num_gates, 1], dtype=np.float64) + self._gatecorners = np.zeros([24 * self.num_gates, 1], dtype=np.float64) + self._nextgatecorners = np.zeros([24, 1], dtype=np.float64) + self._frontgatecorner = np.zeros([12, 1], dtype=np.float64) + self._quadact = np.zeros([4], dtype=np.float64) + self._flightmodes = np.zeros([1], dtype=np.float64) + + # state normalization + self.obs_rms = RunningMeanStd(shape=[1, self.obs_dim]) + self.obs_rms_new = RunningMeanStd(shape=[1, self.obs_dim]) + + def step(self, action): + done = self.wrapper.step(action, self._observation, self._reward_components) + # print(done) + obs_u = np.reshape(self._observation, (1, self.obs_dim)) + obs = self.normalize_obs(obs_u) + return obs, obs_u, done + + def reset(self, random=True): + self._reward_components = np.zeros([self.rew_dim, 1], dtype=np.float64) + self.wrapper.reset(self._observation, random) + # reshape, because Eigen is colum-major and numpy is row major + obs = np.reshape(self._observation, (1, self.obs_dim)) + # + obs = self.normalize_obs(obs) + return obs + + def getObs(self): + self.wrapper.getObs(self._observation) + return self.normalize_obs(self._observation) + + def get_obs_norm(self): + return self.obs_rms.mean, self.obs_rms.var + + def getProgress(self): + return self._reward_components[:, 0] + + def getNumGates(self): + return self.wrapper.getNumGates() + + def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: + return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) + + def normalize_obs(self, obs: np.ndarray) -> np.ndarray: + """ + Normalize observations using this VecNormalize's observations statistics. + Calling this method does not update statistics. + """ + # Avoid modifying by reference the original object + # obs_ = deepcopy(obs) + obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) + return obs_ + + def connectUnity(self): + self.wrapper.connectUnity() + + def disconnectUnity(self): + self.wrapper.disconnectUnity() + + def render(self, mode="human"): + return self.wrapper.updateUnity() + + def setQuadState(self, quadstate, t=0.0): + self.wrapper.setQuadState(quadstate) + + def setQuadAct(self, quadact, t=0.0): + self.wrapper.setQuadAct(quadact) + + def setGateID(self, gate_id): + self.wrapper.setGateID(gate_id) + + def getQuadState(self): + self.wrapper.getQuadState(self._quadstate) + return self._quadstate.copy() + + + def getQuadAct(self): + self.wrapper.getQuadAct(self._quadact) + return self._quadact.copy() + + + @property + def observation_space(self): + return self._observation_space + + @property + def action_space(self): + return self._action_space + + def load_rms(self, data_dir) -> None: + self.mean, self.var = None, None + np_file = np.load(data_dir) + # + self.mean = np_file["mean"] + self.var = np_file["var"] + # + self.obs_rms.mean = np.mean(self.mean, axis=0) + self.obs_rms.var = np.mean(self.var, axis=0) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py new file mode 100644 index 0000000..aa8f2d8 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_env_wrapper.py @@ -0,0 +1,438 @@ +import os +import pickle +from copy import deepcopy +from typing import Any, Callable, List, Optional, Sequence, Type, Union + +import gym +import numpy as np +from gym import spaces +from numpy.core.fromnumeric import shape +from stable_baselines3.common.running_mean_std import RunningMeanStd +from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, + VecEnvIndices, + VecEnvObs, + VecEnvStepReturn) +from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, + obs_space_info) + + +class FlightEnvVec(VecEnv): + # + def __init__(self, impl): + self.wrapper = impl + self.act_dim = self.wrapper.getActDim() + self.obs_dim = self.wrapper.getObsDim() + self.state_dim = self.wrapper.getStateDim() + self.motor_dim = self.wrapper.getMotorDim() + self.rew_dim = self.wrapper.getRewDim() + self.img_width = self.wrapper.getImgWidth() + self.img_height = self.wrapper.getImgHeight() + self._observation_space = spaces.Box( + np.ones(self.obs_dim) * -np.Inf, + np.ones(self.obs_dim) * np.Inf, + dtype=np.float64, + ) + self._action_space = spaces.Box( + low=np.ones(self.act_dim) * -1.0, + high=np.ones(self.act_dim) * 1.0, + dtype=np.float64, + ) + self._observation = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) + self._observation_test = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) + self._current_state = np.zeros([self.num_envs, self.state_dim], dtype=np.float64) + self._current_omega = np.zeros([self.num_envs, self.motor_dim], dtype=np.float64) + self._rgb_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height * 3], dtype=np.uint8 + ) + self._gray_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height], dtype=np.uint8 + ) + self._depth_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height], dtype=np.float32 + ) + # + self._reward_components = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self._reward_components_test = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self._done = np.zeros((self.num_envs), dtype=np.bool) + self._extraInfoNames = self.wrapper.getExtraInfoNames() + self.reward_names = self.wrapper.getRewardNames() + self._extraInfo = np.zeros( + [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 + ) + self._extraInfo_test = np.zeros( + [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 + ) + + self.rewards = [[] for _ in range(self.num_envs)] + self.sum_reward_components = np.zeros( + [self.num_envs, self.rew_dim - 1], dtype=np.float64 + ) + + self._quadstate = np.zeros([self.num_envs, 32], dtype=np.float64) + self._quadact = np.zeros([self.num_envs, 4], dtype=np.float64) + self._flightmodes = np.zeros([self.num_envs, 1], dtype=np.float64) + + # state normalization + self.obs_rms = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) + self.obs_rms_new = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) + self.max_episode_steps = 1000 + # VecEnv.__init__(self, self.num_envs, + # self._observation_space, self._action_space) + + def seed(self, seed=0): + self.wrapper.setSeed(seed) + + def update_rms(self): + self.obs_rms = self.obs_rms_new + + def teststep(self, action): + if action.ndim <= 1: + action = action.reshape((-1, self.act_dim)) + self.wrapper.step( + action, + self._observation_test, + self._reward_components_test, + self._done, + self._extraInfo_test, + ) + return self._observation_test + # obs = self.normalize_obs(self._observation) + # return ( + # obs, + # self._reward_components[:, -1].copy(), + # self._done.copy(), + # self._extraInfo.copy(), + # ) + + def step(self, action): + if action.ndim <= 1: + action = action.reshape((-1, self.act_dim)) + self.wrapper.step( + action, + self._observation, + self._reward_components, + self._done, + self._extraInfo, + ) + # print(self._observation[0, 0], " ", self._observation[0, 1], " ", self._observation[0, 2]) + # " ", self._observation[0, 12], " ", self._observation[0, 13], " ", self._observation[0, 14]) + # update the mean and variance of the Running Mean STD + self.obs_rms_new.update(self._observation) + obs = self.normalize_obs(self._observation) + + if len(self._extraInfoNames) != 0: + info = [ + { + "extra_info": { + self._extraInfoNames[j]: self._extraInfo[i, j] + for j in range(0, len(self._extraInfoNames)) + } + } + for i in range(self.num_envs) + ] + else: + info = [{} for i in range(self.num_envs)] + + for i in range(self.num_envs): + self.rewards[i].append(self._reward_components[i, -1]) + for j in range(self.rew_dim - 1): + self.sum_reward_components[i, j] += self._reward_components[i, j] + if self._done[i]: + eprew = sum(self.rewards[i]) + eplen = len(self.rewards[i]) + epinfo = {"r": eprew, "l": eplen} + for j in range(self.rew_dim - 1): + epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] + self.sum_reward_components[i, j] = 0.0 + info[i]["episode"] = epinfo + self.rewards[i].clear() + + return ( + obs, + self._reward_components[:, -1].copy(), + self._done.copy(), + info.copy(), + ) + + def sample_actions(self): + actions = [] + for i in range(self.num_envs): + action = self.action_space.sample().tolist() + actions.append(action) + return np.asarray(actions, dtype=np.float64) + + def setState(self, state): + for i in range(self.num_envs): + self._current_state[i, :] = state + + def setMotor(self, omega): + for i in range(self.num_envs): + self._current_omega[i, :] = omega + + def reset(self, random=True): + self._reward_components = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self.wrapper.reset(self._observation, random) + obs = self._observation + # print(obs) + # + self.obs_rms_new.update(self._observation) + obs = self.normalize_obs(self._observation) + if self.num_envs == 1: + return obs[0] + return obs + + def resetFromAB(self): + self._reward_components = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self.wrapper.reset(self._observation, self._current_state, self._current_omega) + obs = self._observation + self.obs_rms_new.update(self._observation) + obs = self.normalize_obs(self._observation) + if self.num_envs == 1: + return obs[0] + return obs + + def getObs(self): + self.wrapper.getObs(self._observation) + return self.normalize_obs(self._observation) + + def reset_and_update_info(self): + return self.reset(), self._update_epi_info() + + def get_obs_norm(self): + return self.obs_rms.mean, self.obs_rms.var + + def getProgress(self): + return self._reward_components[:, 0] + + def getImage(self, rgb=False): + if rgb: + self.wrapper.getImage(self._rgb_img_obs, True) + return self._rgb_img_obs.copy() + else: + self.wrapper.getImage(self._gray_img_obs, False) + return self._gray_img_obs.copy() + + def getDepthImage(self): + self.wrapper.getDepthImage(self._depth_img_obs) + return self._depth_img_obs.copy() + + def stepUnity(self, action, send_id): + receive_id = self.wrapper.stepUnity( + action, + self._observation, + self._reward, + self._done, + self._extraInfo, + send_id, + ) + + return receive_id + + def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: + """ + Helper to normalize observation. + :param obs: + :param obs_rms: associated statistics + :return: normalized observation + """ + return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) + + def _unnormalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: + """ + Helper to unnormalize observation. + :param obs: + :param obs_rms: associated statistics + :return: unnormalized observation + """ + return (obs * np.sqrt(obs_rms.var + 1e-8)) + obs_rms.mean + + def normalize_obs(self, obs: np.ndarray) -> np.ndarray: + """ + Normalize observations using this VecNormalize's observations statistics. + Calling this method does not update statistics. + """ + # Avoid modifying by reference the original object + # obs_ = deepcopy(obs) + # print(self.obs_rms.var) + obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) + return obs_ + + def getQuadState(self): + self.wrapper.getQuadState(self._quadstate) + return self._quadstate + + def getQuadAct(self): + self.wrapper.getQuadAct(self._quadact) + return self._quadact + + def getExtraInfo(self): + return self._extraInfo + + def _update_epi_info(self): + info = [{} for _ in range(self.num_envs)] + for i in range(self.num_envs): + eprew = sum(self.rewards[i]) + eplen = len(self.rewards[i]) + epinfo = {"r": eprew, "l": eplen} + for j in range(self.rew_dim - 1): + epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] + self.sum_reward_components[i, j] = 0.0 + info[i]["episode"] = epinfo + self.rewards[i].clear() + return info + + def render(self, frame_id, mode="human"): + return self.wrapper.updateUnity(frame_id) + + def close(self): + self.wrapper.close() + + def connectUnity(self): + self.wrapper.connectUnity() + + def disconnectUnity(self): + self.wrapper.disconnectUnity() + + def curriculumUpdate(self): + self.wrapper.curriculumUpdate() + + def env_method( + self, + method_name: str, + *method_args, + indices: VecEnvIndices = None, + **method_kwargs + ) -> List[Any]: + """Call instance methods of vectorized environments.""" + target_envs = self._get_target_envs(indices) + return [ + getattr(env_i, method_name)(*method_args, **method_kwargs) + for env_i in target_envs + ] + + def env_is_wrapped( + self, wrapper_class: Type[gym.Wrapper], indices: VecEnvIndices = None + ) -> List[bool]: + """Check if worker environments are wrapped with a given wrapper""" + target_envs = self._get_target_envs(indices) + # Import here to avoid a circular import + from stable_baselines3.common import env_util + + return [env_util.is_wrapped(env_i, wrapper_class) for env_i in target_envs] + + def _get_target_envs(self, indices: VecEnvIndices) -> List[gym.Env]: + indices = self._get_indices(indices) + return [self.envs[i] for i in indices] + + @property + def num_envs(self): + return self.wrapper.getNumOfEnvs() + + @property + def observation_space(self): + return self._observation_space + + @property + def action_space(self): + return self._action_space + + @property + def extra_info_names(self): + return self._extraInfoNames + + def start_recording_video(self, file_name): + raise RuntimeError("This method is not implemented") + + def stop_recording_video(self): + raise RuntimeError("This method is not implemented") + + def curriculum_callback(self): + self.wrapper.curriculumUpdate() + + def step_async(self): + raise RuntimeError("This method is not implemented") + + def step_wait(self): + raise RuntimeError("This method is not implemented") + + def get_attr(self, attr_name, indices=None): + """ + Return attribute from vectorized environment. + :param attr_name: (str) The name of the attribute whose value to return + :param indices: (list,int) Indices of envs to get attribute from + :return: (list) List of values of 'attr_name' in all environments + """ + raise RuntimeError("This method is not implemented") + + def set_attr(self, attr_name, value, indices=None): + """ + Set attribute inside vectorized environments. + :param attr_name: (str) The name of attribute to assign new value + :param value: (obj) Value to assign to `attr_name` + :param indices: (list,int) Indices of envs to assign value + :return: (NoneType) + """ + raise RuntimeError("This method is not implemented") + + def env_method(self, method_name, *method_args, indices=None, **method_kwargs): + """ + Call instance methods of vectorized environments. + :param method_name: (str) The name of the environment method to invoke. + :param indices: (list,int) Indices of envs whose method to call + :param method_args: (tuple) Any positional arguments to provide in the call + :param method_kwargs: (dict) Any keyword arguments to provide in the call + :return: (list) List of items returned by the environment's method call + """ + raise RuntimeError("This method is not implemented") + + @staticmethod + def load(load_path: str, venv: VecEnv) -> "VecNormalize": + """ + Loads a saved VecNormalize object. + + :param load_path: the path to load from. + :param venv: the VecEnv to wrap. + :return: + """ + with open(load_path, "rb") as file_handler: + vec_normalize = pickle.load(file_handler) + vec_normalize.set_venv(venv) + return vec_normalize + + def save(self, save_path: str) -> None: + """ + Save current VecNormalize object with + all running statistics and settings (e.g. clip_obs) + + :param save_path: The path to save to + """ + with open(save_path, "wb") as file_handler: + pickle.dump(self, file_handler) + + def save_rms(self, save_dir, n_iter) -> None: + if not os.path.exists(save_dir): + os.mkdir(save_dir) + data_path = save_dir + "/iter_{0:05d}".format(n_iter) + np.savez( + data_path, + mean=np.asarray(self.obs_rms.mean), + var=np.asarray(self.obs_rms.var), + ) + + def load_rms(self, data_dir) -> None: + self.mean, self.var = None, None + np_file = np.load(data_dir) + # + self.mean = np_file["mean"] + self.var = np_file["var"] + # + self.obs_rms.mean = np.mean(self.mean, axis=0) + self.obs_rms.var = np.mean(self.var, axis=0) diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_vision_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vec_vision_env_wrapper.py new file mode 100644 index 0000000..e69de29 diff --git a/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py new file mode 100644 index 0000000..f95ed9e --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/rpg_baselines/torch/envs/vision_env_wrapper.py @@ -0,0 +1,410 @@ +import os +import pickle +from copy import deepcopy +from typing import Any, Callable, List, Optional, Sequence, Type, Union + +import gym +import numpy as np +from gym import spaces +from numpy.core.fromnumeric import shape +from stable_baselines3.common.running_mean_std import RunningMeanStd +from stable_baselines3.common.vec_env.base_vec_env import (VecEnv, + VecEnvIndices, + VecEnvObs, + VecEnvStepReturn) +from stable_baselines3.common.vec_env.util import (copy_obs_dict, dict_to_obs, + obs_space_info) + +class VisionEnvVec(VecEnv): + # + def __init__(self, impl): + self.wrapper = impl + self.act_dim = self.wrapper.getActDim() + self.obs_dim = self.wrapper.getObsDim() + self.state_dim = self.wrapper.getStateDim() + self.rew_dim = self.wrapper.getRewDim() + self.img_width = self.wrapper.getImgWidth() + self.img_height = self.wrapper.getImgHeight() + self._observation_space = spaces.Box( + np.ones(self.obs_dim) * -np.Inf, + np.ones(self.obs_dim) * np.Inf, + dtype=np.float64, + ) + self._action_space = spaces.Box( + low=np.ones(self.act_dim) * -1.0, + high=np.ones(self.act_dim) * 1.0, + dtype=np.float64, + ) + self._observation = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) + self._observation_test = np.zeros([self.num_envs, self.obs_dim], dtype=np.float64) + self._current_state = np.zeros([self.num_envs, self.state_dim], dtype=np.float64) + self._rgb_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height * 3], dtype=np.uint8 + ) + self._gray_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height], dtype=np.uint8 + ) + self._depth_img_obs = np.zeros( + [self.num_envs, self.img_width * self.img_height], dtype=np.float32 + ) + # + self._reward_components = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self._reward_components_test = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self._done = np.zeros((self.num_envs), dtype=np.bool) + self._extraInfoNames = self.wrapper.getExtraInfoNames() + self.reward_names = self.wrapper.getRewardNames() + self._extraInfo = np.zeros( + [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 + ) + self._extraInfo_test = np.zeros( + [self.num_envs, len(self._extraInfoNames)], dtype=np.float64 + ) + + self.rewards = [[] for _ in range(self.num_envs)] + self.sum_reward_components = np.zeros( + [self.num_envs, self.rew_dim - 1], dtype=np.float64 + ) + + self._quadstate = np.zeros([self.num_envs, 32], dtype=np.float64) + self._quadact = np.zeros([self.num_envs, 4], dtype=np.float64) + self._flightmodes = np.zeros([self.num_envs, 1], dtype=np.float64) + + # state normalization + self.obs_rms = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) + self.obs_rms_new = RunningMeanStd(shape=[self.num_envs, self.obs_dim]) + self.max_episode_steps = 1000 + # VecEnv.__init__(self, self.num_envs, + # self._observation_space, self._action_space) + + def seed(self, seed=0): + self.wrapper.setSeed(seed) + + def update_rms(self): + self.obs_rms = self.obs_rms_new + + def teststep(self, action): + if action.ndim <= 1: + action = action.reshape((-1, self.act_dim)) + self.wrapper.step( + action, + self._observation_test, + self._reward_components_test, + self._done, + self._extraInfo_test, + ) + return self._observation_test + # obs = self.normalize_obs(self._observation) + # return ( + # obs, + # self._reward_components[:, -1].copy(), + # self._done.copy(), + # self._extraInfo.copy(), + # ) + + def step(self, action): + if action.ndim <= 1: + action = action.reshape((-1, self.act_dim)) + self.wrapper.step( + action, + self._observation, + self._reward_components, + self._done, + self._extraInfo, + ) + # print(self._observation[0, 0], " ", self._observation[0, 1], " ", self._observation[0, 2]) + # " ", self._observation[0, 12], " ", self._observation[0, 13], " ", self._observation[0, 14]) + # update the mean and variance of the Running Mean STD + self.obs_rms_new.update(self._observation) + obs = self.normalize_obs(self._observation) + + if len(self._extraInfoNames) != 0: + info = [ + { + "extra_info": { + self._extraInfoNames[j]: self._extraInfo[i, j] + for j in range(0, len(self._extraInfoNames)) + } + } + for i in range(self.num_envs) + ] + else: + info = [{} for i in range(self.num_envs)] + + for i in range(self.num_envs): + self.rewards[i].append(self._reward_components[i, -1]) + for j in range(self.rew_dim - 1): + self.sum_reward_components[i, j] += self._reward_components[i, j] + if self._done[i]: + eprew = sum(self.rewards[i]) + eplen = len(self.rewards[i]) + epinfo = {"r": eprew, "l": eplen} + for j in range(self.rew_dim - 1): + epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] + self.sum_reward_components[i, j] = 0.0 + info[i]["episode"] = epinfo + self.rewards[i].clear() + + return ( + obs, + self._reward_components[:, -1].copy(), + self._done.copy(), + info.copy(), + ) + + def sample_actions(self): + actions = [] + for i in range(self.num_envs): + action = self.action_space.sample().tolist() + actions.append(action) + return np.asarray(actions, dtype=np.float64) + + def setState(self, state): + for i in range(self.num_envs): + self._current_state[i, :] = state + + def reset(self, random=True): + self._reward_components = np.zeros( + [self.num_envs, self.rew_dim], dtype=np.float64 + ) + self.wrapper.reset(self._observation, random) + obs = self._observation + # print(obs) + # + self.obs_rms_new.update(self._observation) + obs = self.normalize_obs(self._observation) + if self.num_envs == 1: + return obs[0] + return obs + + def getObs(self): + self.wrapper.getObs(self._observation) + return self.normalize_obs(self._observation) + + def reset_and_update_info(self): + return self.reset(), self._update_epi_info() + + def get_obs_norm(self): + return self.obs_rms.mean, self.obs_rms.var + + def getProgress(self): + return self._reward_components[:, 0] + + def getImage(self, rgb=False): + if rgb: + self.wrapper.getImage(self._rgb_img_obs, True) + return self._rgb_img_obs.copy() + else: + self.wrapper.getImage(self._gray_img_obs, False) + return self._gray_img_obs.copy() + + def getDepthImage(self): + self.wrapper.getDepthImage(self._depth_img_obs) + return self._depth_img_obs.copy() + + def stepUnity(self, action, send_id): + receive_id = self.wrapper.stepUnity( + action, + self._observation, + self._reward, + self._done, + self._extraInfo, + send_id, + ) + + return receive_id + + def _normalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: + """ + Helper to normalize observation. + :param obs: + :param obs_rms: associated statistics + :return: normalized observation + """ + return (obs - obs_rms.mean) / np.sqrt(obs_rms.var + 1e-8) + + def _unnormalize_obs(self, obs: np.ndarray, obs_rms: RunningMeanStd) -> np.ndarray: + """ + Helper to unnormalize observation. + :param obs: + :param obs_rms: associated statistics + :return: unnormalized observation + """ + return (obs * np.sqrt(obs_rms.var + 1e-8)) + obs_rms.mean + + def normalize_obs(self, obs: np.ndarray) -> np.ndarray: + """ + Normalize observations using this VecNormalize's observations statistics. + Calling this method does not update statistics. + """ + # Avoid modifying by reference the original object + # obs_ = deepcopy(obs) + # print(self.obs_rms.var) + obs_ = self._normalize_obs(obs, self.obs_rms).astype(np.float64) + return obs_ + + def getQuadState(self): + self.wrapper.getQuadState(self._quadstate) + return self._quadstate + + def getQuadAct(self): + self.wrapper.getQuadAct(self._quadact) + return self._quadact + + def getExtraInfo(self): + return self._extraInfo + + def _update_epi_info(self): + info = [{} for _ in range(self.num_envs)] + for i in range(self.num_envs): + eprew = sum(self.rewards[i]) + eplen = len(self.rewards[i]) + epinfo = {"r": eprew, "l": eplen} + for j in range(self.rew_dim - 1): + epinfo[self.reward_names[j]] = self.sum_reward_components[i, j] + self.sum_reward_components[i, j] = 0.0 + info[i]["episode"] = epinfo + self.rewards[i].clear() + return info + + def render(self, frame_id, mode="human"): + return self.wrapper.updateUnity(frame_id) + + def connectUnity(self): + self.wrapper.connectUnity() + + def disconnectUnity(self): + self.wrapper.disconnectUnity() + + def env_method( + self, + method_name: str, + *method_args, + indices: VecEnvIndices = None, + **method_kwargs + ) -> List[Any]: + """Call instance methods of vectorized environments.""" + target_envs = self._get_target_envs(indices) + return [ + getattr(env_i, method_name)(*method_args, **method_kwargs) + for env_i in target_envs + ] + + def env_is_wrapped( + self, wrapper_class: Type[gym.Wrapper], indices: VecEnvIndices = None + ) -> List[bool]: + """Check if worker environments are wrapped with a given wrapper""" + target_envs = self._get_target_envs(indices) + # Import here to avoid a circular import + from stable_baselines3.common import env_util + + return [env_util.is_wrapped(env_i, wrapper_class) for env_i in target_envs] + + def _get_target_envs(self, indices: VecEnvIndices) -> List[gym.Env]: + indices = self._get_indices(indices) + return [self.envs[i] for i in indices] + + @property + def num_envs(self): + return self.wrapper.getNumOfEnvs() + + @property + def observation_space(self): + return self._observation_space + + @property + def action_space(self): + return self._action_space + + @property + def extra_info_names(self): + return self._extraInfoNames + + def start_recording_video(self, file_name): + raise RuntimeError("This method is not implemented") + + def stop_recording_video(self): + raise RuntimeError("This method is not implemented") + + def step_async(self): + raise RuntimeError("This method is not implemented") + + def step_wait(self): + raise RuntimeError("This method is not implemented") + + def get_attr(self, attr_name, indices=None): + """ + Return attribute from vectorized environment. + :param attr_name: (str) The name of the attribute whose value to return + :param indices: (list,int) Indices of envs to get attribute from + :return: (list) List of values of 'attr_name' in all environments + """ + raise RuntimeError("This method is not implemented") + + def set_attr(self, attr_name, value, indices=None): + """ + Set attribute inside vectorized environments. + :param attr_name: (str) The name of attribute to assign new value + :param value: (obj) Value to assign to `attr_name` + :param indices: (list,int) Indices of envs to assign value + :return: (NoneType) + """ + raise RuntimeError("This method is not implemented") + + def env_method(self, method_name, *method_args, indices=None, **method_kwargs): + """ + Call instance methods of vectorized environments. + :param method_name: (str) The name of the environment method to invoke. + :param indices: (list,int) Indices of envs whose method to call + :param method_args: (tuple) Any positional arguments to provide in the call + :param method_kwargs: (dict) Any keyword arguments to provide in the call + :return: (list) List of items returned by the environment's method call + """ + raise RuntimeError("This method is not implemented") + + @staticmethod + def load(load_path: str, venv: VecEnv) -> "VecNormalize": + """ + Loads a saved VecNormalize object. + + :param load_path: the path to load from. + :param venv: the VecEnv to wrap. + :return: + """ + with open(load_path, "rb") as file_handler: + vec_normalize = pickle.load(file_handler) + vec_normalize.set_venv(venv) + return vec_normalize + + def save(self, save_path: str) -> None: + """ + Save current VecNormalize object with + all running statistics and settings (e.g. clip_obs) + + :param save_path: The path to save to + """ + with open(save_path, "wb") as file_handler: + pickle.dump(self, file_handler) + + def save_rms(self, save_dir, n_iter) -> None: + if not os.path.exists(save_dir): + os.mkdir(save_dir) + data_path = save_dir + "/iter_{0:05d}".format(n_iter) + np.savez( + data_path, + mean=np.asarray(self.obs_rms.mean), + var=np.asarray(self.obs_rms.var), + ) + + def load_rms(self, data_dir) -> None: + self.mean, self.var = None, None + np_file = np.load(data_dir) + # + self.mean = np_file["mean"] + self.var = np_file["var"] + # + self.obs_rms.mean = np.mean(self.mean, axis=0) + self.obs_rms.var = np.mean(self.var, axis=0) \ No newline at end of file diff --git a/src/avoidbench/flightpy/flightrl/run_control_demo.py b/src/avoidbench/flightpy/flightrl/run_control_demo.py new file mode 100644 index 0000000..2fc34f8 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/run_control_demo.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +import argparse +import math +# +import os + +import numpy as np +import torch +from flightgym import QuadrotorEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from stable_baselines3.common.utils import get_device +from stable_baselines3.ppo.policies import MlpPolicy + +from rpg_baselines.torch.common.ppo import PPO +from rpg_baselines.torch.envs import vec_env_wrapper as wrapper +from rpg_baselines.torch.common.util import test_policy + + +def configure_random_seed(seed, env=None): + if env is not None: + env.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="Random seed") + parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") + parser.add_argument("--render", type=int, default=0, help="Render with Unity") + parser.add_argument("--trial", type=int, default=1, help="PPO trial number") + parser.add_argument("--iter", type=int, default=100, help="PPO iter number") + return parser + + +def main(): + args = parser().parse_args() + + # load configurations + cfg = YAML().load( + open( + os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" + ) + ) + + # create training environment + train_env = QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + train_env = wrapper.FlightEnvVec(train_env) + + # set random seed + configure_random_seed(args.seed, env=train_env) + + if args.render: + cfg["unity"]["render"] = "yes" + + # create evaluation environment + old_num_envs = cfg["simulation"]["num_envs"] + cfg["simulation"]["num_envs"] = 1 + eval_env = wrapper.FlightEnvVec( + QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + ) + cfg["simulation"]["num_envs"] = old_num_envs + + # save the configuration and other files + rsg_root = os.path.dirname(os.path.abspath(__file__)) + log_dir = rsg_root + "/saved" + + # + if args.train: + model = PPO( + tensorboard_log=log_dir, + policy="MlpPolicy", + policy_kwargs=dict( + activation_fn=torch.nn.ReLU, + net_arch=[dict(pi=[256, 256], vf=[512, 512])], + log_std_init=-0.5, + ), + env=train_env, + eval_env=eval_env, + use_tanh_act=True, + gae_lambda=0.95, + gamma=0.99, + n_steps=250, + ent_coef=0.0, + vf_coef=0.5, + max_grad_norm=0.5, + batch_size=25000, + clip_range=0.2, + use_sde=False, # don't use (gSDE), doesn't work + env_cfg=cfg, + verbose=1, + ) + + # + model.learn(total_timesteps=int(10e7), log_interval=(10, 50)) + else: + # + weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) + env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) + + device = get_device("auto") + saved_variables = torch.load(weight, map_location=device) + # Create policy object + policy = MlpPolicy(**saved_variables["data"]) + # + policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) + # Load weights + policy.load_state_dict(saved_variables["state_dict"], strict=False) + policy.to(device) + + eval_env.load_rms(env_rms) + test_policy(eval_env, policy, render=args.render) + + +if __name__ == "__main__": + main() diff --git a/src/avoidbench/flightpy/flightrl/run_control_ros.py b/src/avoidbench/flightpy/flightrl/run_control_ros.py new file mode 100644 index 0000000..67c674e --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/run_control_ros.py @@ -0,0 +1,200 @@ +#!/usr/bin/env python3 +import argparse +import sys +import math +#ros dependency +import rospy +import rospkg +from scipy.spatial.transform import Rotation as R +from nav_msgs.msg import Path, Odometry +from rpg_quadrotor_msgs.msg import ControlCommand +from mav_msgs.msg import Actuators +# +import os + +import numpy as np +import torch +from flightgym import QuadrotorEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from stable_baselines3.common.utils import get_device +from stable_baselines3.ppo.policies import MlpPolicy + +from rpg_baselines.torch.common.ppo import PPO +from rpg_baselines.torch.envs import vec_env_wrapper as wrapper + +class RLController(): + def __init__(self, env, model): + self.env = env + self.model = model + self.reset_state = False + self.trigger = True + self.state = None + self.start_point = None + self.target = None + self.next_target = None + self.motor_speed = None + self.relative_target = None + self.state_est_sub_ = rospy.Subscriber("/iris/ground_truth/odometry", Odometry, self.poseCallback, + queue_size=1, tcp_nodelay=True) + self.motors_sub_ = rospy.Subscriber("/iris/motor_speed", Actuators, self.motorCallback, + queue_size=1, tcp_nodelay=True) + self.control_command_pub_ = rospy.Publisher("/iris/autopilot/control_command_input", ControlCommand, queue_size=1) + self.odometry_test_pub_ = rospy.Publisher("/rl_test", Odometry, queue_size=10) + self.pub_cmd_loop_ = rospy.Timer(rospy.Duration(0.01), self.pubCMD) + self.random_target_gen_loop = rospy.Timer(rospy.Duration(0.05), self.genTarget) + self.obs = self.env.reset() + self.done = False + self.ep_len = 0 + + def poseCallback(self, data): + if self.trigger: + return + self.state = np.zeros(21, dtype=np.float64) + vel_body = np.zeros(3, dtype=np.float64) + self.state[0] = data.pose.pose.position.x# - self.target[0] + 1.0 + self.state[1] = data.pose.pose.position.y# - self.target[1] + 4.0 + self.state[2] = data.pose.pose.position.z# - self.target[2] + 1.0 + if self.start_point is None: + self.start_point = self.state[0:3] + vel_body[0] = data.twist.twist.linear.x + vel_body[1] = data.twist.twist.linear.y + vel_body[2] = data.twist.twist.linear.z + self.state[6] = data.twist.twist.angular.x + self.state[7] = data.twist.twist.angular.y + self.state[8] = data.twist.twist.angular.z + self.state[9] = data.pose.pose.orientation.w + self.state[10] = data.pose.pose.orientation.x + self.state[11] = data.pose.pose.orientation.y + self.state[12] = data.pose.pose.orientation.z + self.state[13:16] = self.target + self.state[16:19] = self.next_target + Rm = R.from_quat([self.state[10], self.state[11], self.state[12], self.state[9]]) + vel_world = Rm.as_matrix()@vel_body + self.state[3] = vel_world[0] + self.state[4] = vel_world[1] + self.state[5] = vel_world[2] + # print(self.target, " ", self.start_point, " ", self.next_target) + process = np.dot(self.state[0:3] - self.start_point, self.target - self.start_point) / ( + np.linalg.norm(self.target - self.start_point) * np.linalg.norm(self.target - self.start_point) + ) + if(np.linalg.norm(self.state[0:3]-self.target)<0.2): + self.trigger = True + + def motorCallback(self, data): + self.motor_speed = np.zeros(4, dtype=np.float64) + self.motor_speed[0] = data.angular_velocities[0] + self.motor_speed[1] = data.angular_velocities[1] + self.motor_speed[2] = -data.angular_velocities[2] + self.motor_speed[3] = -data.angular_velocities[3] + + def pubCMD(self, data): + if self.state is None: + return + if self.motor_speed is None: + return + self.env.setState(self.state) + self.env.setMotor(self.motor_speed) + # print("real: ", self.state[2]) + obs = self.env.resetFromAB() + # print(obs) + self.reset_state = True + if self.ep_len < self.env.max_episode_steps and not self.done: + act, _ = self.model.predict(obs, deterministic=True) + act = np.array(act, dtype=np.float64) + test_obs = self.env.teststep(act) + # print("predict: ", test_obs[0,2]) + self.runControl(act) + + def runControl(self, act): + time_now = rospy.Time.now() + mass = 1.05 + motor_omega_max_ = 1200.0 + thrust_map_ = np.array([8.54858e-06, 0.0, 0.0]) + thrust_max_ = (motor_omega_max_ * motor_omega_max_ * thrust_map_[0] + + motor_omega_max_ * thrust_map_[1] + thrust_map_[2]) * 4 + act_mean_ = np.array([thrust_max_/mass/2, 0.0, 0.0, 0.0]) + act_std_ = np.array([thrust_max_/mass/2, 6.0, 6.0, 1.5]) + pi_act_ = act * act_std_ + act_mean_ + # print(pi_act_) + cmd = ControlCommand() + cmd.control_mode = ControlCommand.BODY_RATES + cmd.armed = True + cmd.header.stamp = time_now + cmd.bodyrates.x = pi_act_[1] + cmd.bodyrates.y = pi_act_[2] + cmd.bodyrates.z = pi_act_[3] + cmd.collective_thrust = pi_act_[0] + cmd.expected_execution_time = time_now + rospy.Duration(0.01) + self.control_command_pub_.publish(cmd) + + def genTarget(self, data): + if self.trigger: + if self.next_target is None: + self.target = np.zeros(3, dtype=np.float64) + self.next_target = np.zeros(3, dtype=np.float64) + self.target[0] = np.random.uniform(-1, 1) + self.target[1] = 1.0 + self.target[2] = 2.0 + print(self.target) + self.next_target[0] = np.random.uniform(-1, 1) + self.next_target[1] = self.target[1] + 1.0 + self.next_target[2] = 2.0 + else: + self.start_point = (self.target).copy() + self.target = (self.next_target).copy() + print(self.target) + self.next_target[0] = np.random.uniform(-1, 1) + self.next_target[1] = self.next_target[1] + 1.0 + self.next_target[2] = 2.0 + self.trigger = False + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="Random seed") + parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") + parser.add_argument("--render", type=int, default=0, help="Render with Unity") + parser.add_argument("--trial", type=int, default=1, help="PPO trial number") + parser.add_argument("--iter", type=int, default=100, help="PPO iter number") + return parser + + +def main(): + try: + rospy.get_master().getPid() + except: + print("roscore is offline, exit") + sys.exit(-1) + rospy.init_node('avoid_manage', anonymous=True) + + args = parser().parse_args() + cfg = YAML().load( + open( + os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" + ) + ) + cfg["simulation"]["num_envs"] = 1 + eval_env = wrapper.FlightEnvVec( + QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + ) + weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) + env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) + + device = get_device("auto") + saved_variables = torch.load(weight, map_location=device) + # Create policy object + policy = MlpPolicy(**saved_variables["data"]) + # + policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) + # Load weights + policy.load_state_dict(saved_variables["state_dict"], strict=False) + policy.to(device) + eval_env.load_rms(env_rms) + + np.random.seed(args.seed) + controller = RLController(eval_env, policy) + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/src/avoidbench/flightpy/flightrl/run_tracking_demo.py b/src/avoidbench/flightpy/flightrl/run_tracking_demo.py new file mode 100644 index 0000000..6cb5e56 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/run_tracking_demo.py @@ -0,0 +1,116 @@ +#!/usr/bin/env python3 +import argparse +import math +# +import os + +import numpy as np +import torch +from flightgym import TrackingEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from stable_baselines3.common.utils import get_device +from stable_baselines3.ppo.policies import MlpPolicy + +from rpg_baselines.torch.common.ppo import PPO +from rpg_baselines.torch.envs import vec_env_wrapper as wrapper +from rpg_baselines.torch.common.util import test_policy + + +def configure_random_seed(seed, env=None): + if env is not None: + env.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="Random seed") + parser.add_argument("--train", type=int, default=1, help="Train the policy or evaluate the policy") + parser.add_argument("--render", type=int, default=0, help="Render with Unity") + parser.add_argument("--trial", type=int, default=1, help="PPO trial number") + parser.add_argument("--iter", type=int, default=100, help="PPO iter number") + return parser + + +def main(): + args = parser().parse_args() + + # load configurations + cfg = YAML().load( + open( + os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" + ) + ) + + # create training environment + train_env = TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + train_env = wrapper.FlightEnvVec(train_env) + + # set random seed + configure_random_seed(args.seed, env=train_env) + + if args.render: + cfg["unity"]["render"] = "yes" + + # create evaluation environment + old_num_envs = cfg["simulation"]["num_envs"] + cfg["simulation"]["num_envs"] = 1 + eval_env = wrapper.FlightEnvVec( + TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + ) + cfg["simulation"]["num_envs"] = old_num_envs + + # save the configuration and other files + rsg_root = os.path.dirname(os.path.abspath(__file__)) + log_dir = rsg_root + "/saved" + + # + if args.train: + model = PPO( + tensorboard_log=log_dir, + policy="MlpPolicy", + policy_kwargs=dict( + activation_fn=torch.nn.ReLU, + net_arch=[dict(pi=[256, 256], vf=[512, 512])], + log_std_init=-0.5, + ), + env=train_env, + eval_env=eval_env, + use_tanh_act=True, + gae_lambda=0.95, + gamma=0.99, + n_steps=250, + ent_coef=0.0, + vf_coef=0.5, + max_grad_norm=0.5, + batch_size=25000, + clip_range=0.2, + use_sde=False, # don't use (gSDE), doesn't work + env_cfg=cfg, + verbose=1, + ) + + # + model.learn(total_timesteps=int(1e8), log_interval=(10, 50)) + else: + # + weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) + env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) + + device = get_device("auto") + saved_variables = torch.load(weight, map_location=device) + # Create policy object + policy = MlpPolicy(**saved_variables["data"]) + # + policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) + # Load weights + policy.load_state_dict(saved_variables["state_dict"], strict=False) + policy.to(device) + + eval_env.load_rms(env_rms) + test_policy(eval_env, policy, render=args.render) + + +if __name__ == "__main__": + main() diff --git a/src/avoidbench/flightpy/flightrl/run_tracking_ros.py b/src/avoidbench/flightpy/flightrl/run_tracking_ros.py new file mode 100644 index 0000000..cdac47f --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/run_tracking_ros.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import argparse +import sys +import math +#ros dependency +import rospy +import rospkg +from nav_msgs.msg import Path, Odometry +from rpg_quadrotor_msgs.msg import ControlCommand +from mav_msgs.msg import Actuators +# +import os + +import numpy as np +import torch +from flightgym import TrackingEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from stable_baselines3.common.utils import get_device +from stable_baselines3.ppo.policies import MlpPolicy + +from rpg_baselines.torch.common.ppo import PPO +from rpg_baselines.torch.envs import vec_env_wrapper as wrapper + +class RLController(): + def __init__(self, env, model): + self.env = env + self.model = model + self.reset_state = False + self.state = None + self.motor_speed = None + self.state_est_sub_ = rospy.Subscriber("/iris/ground_truth/odometry", Odometry, self.poseCallback, + queue_size=1, tcp_nodelay=True) + self.motors_sub_ = rospy.Subscriber("/iris/motor_speed", Actuators, self.motorCallback, + queue_size=1, tcp_nodelay=True) + self.control_command_pub_ = rospy.Publisher("/iris/autopilot/control_command_input", ControlCommand, queue_size=1) + self.odometry_test_pub_ = rospy.Publisher("/rl_test", Odometry, queue_size=10) + self.pub_cmd_loop_ = rospy.Timer(rospy.Duration(0.01), self.pubCMD) + # self.target_point_sub_ = rospy.Subscriber("/hummingbird/goal_point", Path, self.TargetCallback, queue_size=1) + self.obs = self.env.reset() + self.done = False + self.ep_len = 0 + + def poseCallback(self, data): + self.state = np.zeros(14, dtype=np.float64) + self.state[10] = -0.8 - data.pose.pose.position.x + self.state[11] = 0.8 - data.pose.pose.position.y + self.state[12] = 1.9 - data.pose.pose.position.z + self.state[13] = 0.0 + self.state[0] = data.twist.twist.linear.x + self.state[1] = data.twist.twist.linear.y + self.state[2] = data.twist.twist.linear.z + self.state[3] = data.twist.twist.angular.x + self.state[4] = data.twist.twist.angular.y + self.state[5] = data.twist.twist.angular.z + self.state[6] = data.pose.pose.orientation.w + self.state[7] = data.pose.pose.orientation.x + self.state[8] = data.pose.pose.orientation.y + self.state[9] = data.pose.pose.orientation.z + + def motorCallback(self, data): + self.motor_speed = np.zeros(4, dtype=np.float64) + self.motor_speed[0] = data.angular_velocities[0] + self.motor_speed[1] = data.angular_velocities[1] + self.motor_speed[2] = -data.angular_velocities[2] + self.motor_speed[3] = -data.angular_velocities[3] + + def pubCMD(self, data): + if self.state is None: + return + if self.motor_speed is None: + return + self.env.setState(self.state) + self.env.setMotor(self.motor_speed) + # print("real: ", self.state[2]) + obs = self.env.resetFromAB() + # print(obs) + self.reset_state = True + if self.ep_len < self.env.max_episode_steps and not self.done: + act, _ = self.model.predict(obs, deterministic=True) + act = np.array(act, dtype=np.float64) + # print(act) + test_obs = self.env.teststep(act) + # print("predict: ", test_obs[0,2]) + self.runControl(act) + + def runControl(self, act): + time_now = rospy.Time.now() + mass = 1.05 + motor_omega_max_ = 1200.0 + thrust_map_ = np.array([8.54858e-06, 0.0, 0.0]) + thrust_max_ = (motor_omega_max_ * motor_omega_max_ * thrust_map_[0] + + motor_omega_max_ * thrust_map_[1] + thrust_map_[2]) * 4 + act_mean_ = np.array([thrust_max_/mass/2, 0.0, 0.0, 0.0]) + act_std_ = np.array([thrust_max_/mass/2, 4.0, 4.0, 1.5]) + pi_act_ = act * act_std_ + act_mean_ + # print(pi_act_) + cmd = ControlCommand() + cmd.control_mode = ControlCommand.BODY_RATES + cmd.armed = True + cmd.header.stamp = time_now + cmd.bodyrates.x = pi_act_[1] + cmd.bodyrates.y = pi_act_[2] + cmd.bodyrates.z = pi_act_[3] + cmd.collective_thrust = pi_act_[0] + cmd.expected_execution_time = time_now + rospy.Duration(0.01) + self.control_command_pub_.publish(cmd) + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="Random seed") + parser.add_argument("--train", type=int, default=0, help="Train the policy or evaluate the policy") + parser.add_argument("--render", type=int, default=0, help="Render with Unity") + parser.add_argument("--trial", type=int, default=1, help="PPO trial number") + parser.add_argument("--iter", type=int, default=100, help="PPO iter number") + return parser + + +def main(): + try: + rospy.get_master().getPid() + except: + print("roscore is offline, exit") + sys.exit(-1) + rospy.init_node('avoid_manage', anonymous=True) + + args = parser().parse_args() + cfg = YAML().load( + open( + os.environ["AVOIDBENCH_PATH"] + "/flightpy/configs/control/config_gazebo.yaml", "r" + ) + ) + cfg["simulation"]["num_envs"] = 1 + eval_env = wrapper.FlightEnvVec( + TrackingEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + ) + weight = os.environ["AVOIDBENCH_PATH"] + "/flightpy/flightrl/saved/PPO_{0}/Policy/iter_{1:05d}.pth".format(args.trial, args.iter) + env_rms = os.environ["AVOIDBENCH_PATH"] +"/flightpy/flightrl/saved/PPO_{0}/RMS/iter_{1:05d}.npz".format(args.trial, args.iter) + + device = get_device("auto") + saved_variables = torch.load(weight, map_location=device) + # Create policy object + policy = MlpPolicy(**saved_variables["data"]) + # + policy.action_net = torch.nn.Sequential(policy.action_net, torch.nn.Tanh()) + # Load weights + policy.load_state_dict(saved_variables["state_dict"], strict=False) + policy.to(device) + + eval_env.load_rms(env_rms) + + controller = RLController(eval_env, policy) + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/src/avoidbench/flightpy/flightrl/setup.py b/src/avoidbench/flightpy/flightrl/setup.py new file mode 100644 index 0000000..e6d9ed5 --- /dev/null +++ b/src/avoidbench/flightpy/flightrl/setup.py @@ -0,0 +1,20 @@ + +import os +import re +import sys +import platform +import subprocess + +from setuptools import setup, Extension, find_packages +from setuptools.command.build_ext import build_ext +from distutils.version import LooseVersion + +setup( + name='rpg_baselines', + version='0.0.1', + author='Yunlong Song', + author_email='song@ifi.uzh.ch', + description='Flightmare: A Quadrotor Simulator.', + long_description='', + packages=['rpg_baselines'], +) \ No newline at end of file diff --git a/src/avoidbench/flightpy/requirements.txt b/src/avoidbench/flightpy/requirements.txt new file mode 100644 index 0000000..1233bc7 --- /dev/null +++ b/src/avoidbench/flightpy/requirements.txt @@ -0,0 +1,10 @@ +black +isort +mypy +pydocstyle +pylint +pytest +setuptools +tqdm +wheel +stable-baselines3 diff --git a/src/avoidbench/flightpy/scripts/lint.sh b/src/avoidbench/flightpy/scripts/lint.sh new file mode 100755 index 0000000..d0c2e4a --- /dev/null +++ b/src/avoidbench/flightpy/scripts/lint.sh @@ -0,0 +1,5 @@ +python3 -m black flightrl +python3 -m isort flightrl +python3 -m pylint flightrl +python3 -m pydocstyle --convention=google flightrl +python3 -m mypy --install-types --strict flightrl \ No newline at end of file