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drone demo in NH
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@tcdanielh
tcdanielh committed Apr 17, 2024
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84 changes: 84 additions & 0 deletions examples/airsim/demoDroneNH.scenic
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import math

# NOTE: add your world info path here
param worldInfoPath = "examples/airsim/worldInfo/nh"

model scenic.simulators.airsim.model

# This demo includes 1 adversarial drone, and 1 drone (ego) looking for this adversary.

class AdversaryDrone(Drone): # Drone class defined in model.scenic
patrolPoints: []
patrolPointsProb: []

# Find the adversary. drone1 is the adversary target
behavior FindAdversary(positions, speed = 5):
# try-interrupt statements: https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
try:
print("POSSIBLE POSITIONS:")
print(positions)
while ((distance from self to drone1) >= 1):
selectedPoint = Discrete({positions[0]:drone1.patrolPointsProb[0],
positions[1]:drone1.patrolPointsProb[1],
positions[2]:drone1.patrolPointsProb[2],
positions[3]:drone1.patrolPointsProb[3]})

print("EGO CHECKING POSITION:")
print(selectedPoint)

do FlyToPosition(selectedPoint, speed=speed, tolerance=1,pidMode=True) # FlyToPosition behavior defined in behaviors.scenic

interrupt when (distance from self to drone1) < 15:
# when I see that I am within 15 meters of adversary, follow it
print("FOLLOWING ADVERSARY")
do Follow(drone1, speed=10, tolerance=1, offset=(0,0,0)) # Follow behavior defined in behaviors.scenic

interrupt when distance from self to drone1 < 7:
# when I get within 7 meters of adversary, terminate scenario
print("ADVERSARY FOUND")
terminate

# Adversary behavior. Patrol through given points.
behavior AdversaryBehavior(points, speed):
do Patrol(points, loop=True, speed=speed) # Patrol behavior defined in behaviors.scenic

ground = getPrexistingObj("nh")
area1 = RectangularRegion(Vector(0,0,0), 0, 10, 70)
area2 = RectangularRegion(Vector(0,0,0), 0, 70, 10)

workspaceArea = area1.union(area2)

platforms = []
blockCount = 4
for i in range(blockCount):
platforms.append(new StaticObj on ground,
contained in workspaceArea,
with assetName "Cone", # use * to pick a random asset in assets
with parentOrientation 0,
with width 5,
with length 5,
with height 10)

points = []
for plat in platforms:
point = new Point on plat
points.append(point.position)

adversarySpawn = Options(points)

# Adversary drone spawning at random point
drone1 = new AdversaryDrone at adversarySpawn + (0,0,2),
with behavior AdversaryBehavior(points, speed=2)
# drone1.patrolPoints = possiblePoints
drone1.patrolPointsProb = [0.4, 0.2, 0.1, 0.3] # Probability distribution on the patrolPoints

# ego drone spawning somwhere in the middle of the workspace area
ego = new Drone at (Range(-5, 5),Range(-5, 5),10),
with behavior FindAdversary(points, speed=5)



# took too long to locate so terminate after x seconds
terminate after 15 seconds

record final (distance to drone1) as dist
309 changes: 309 additions & 0 deletions examples/airsim/worldInfo/nh/assets/1M_Cube_Chamfer.obj
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