clean demo

examples/airsim/demoDrone.scenic

@@ -43,9 +43,6 @@ class AdversaryDrone(Drone):
 # Find the adversary. drone1 is the adversary target
 # https://scenic-lang.readthedocs.io/en/latest/reference/visibility.html
 behavior FindAdversary(speed = 5):
-    # Gets the airsim client to call airsim's apis
-    client = simulation().client
-
     # Randomly select point/region to look at given the weights
     # https://scenic-lang.readthedocs.io/en/latest/reference/distributions.html
     # Discrete({value: weight, … })
@@ -58,47 +55,23 @@ behavior FindAdversary(speed = 5):
     # https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
     try:
         # if doing online path solution then do api call for that here, and remove the patrolPoints/patrolPointsProb
-        do FlyToPosition(selectedPoint, speed) for 10 seconds
+        do MoveToPosition(selectedPoint, speed) for 10 seconds
         # resample point since didn't find adversary at that position
         selectedPoint = Discrete({drone1.patrolPoints[0]:drone1.patrolPointsProb[0], 
             drone1.patrolPoints[1]:drone1.patrolPointsProb[1], 
             drone1.patrolPoints[2]:drone1.patrolPointsProb[2], 
             drone1.patrolPoints[3]:drone1.patrolPointsProb[3]})
     interrupt when self can see drone1:
         # when I can see adversary, follow it
-        do Follow(drone1)
-    # interrupt when distance from self to drone1 < 10:
-    #     # when I can see adversary (i'm within 10 meters of it), follow it
-    #     do Follow(drone1)
+        do MoveToPosition(drone1.position, speed)
     interrupt when distance from self to drone1 < 2:
         # when I get within 2 meters of adversary, terminate scenario
         terminate
 
-behavior Follow(target, speed = 5,tolerance = 2, offset = (0,0,1)):
-    client = simulation().client
-
-    while True:
-        targetPosition = target.position + offset
-
-        velocity = targetPosition-self.position
-        distance = magnitude(velocity)
-        velocity = (velocity / distance) * speed
-        if distance > tolerance:
-            take SetVelocity(velocity)
-        wait
-# Note: SetVelocity is an action in actions.py. Actions are 1 time events that a scenic object takes
-# Behaviors are continuous events that a scenic object takes, that change depending on conditions met
-# Generic behaviors can be found in behaviors.scenic
-
 # Adversary behavior. Continuously patrol to each of these positions.
 behavior Adversary(speed):
-    client = simulation().client
-
     do Patrol(self.patrolPoints, loop=True, speed=speed)
 
-
-
-
 ego = new Drone at (Range(-10,10),Range(-10,10),Range(0,10)),
     with behavior FindAdversary(),
     with viewAngles (180 deg, 180 deg), # https://scenic-lang.readthedocs.io/en/latest/reference/visibility.html

src/scenic/simulators/airsim/actions.py

@@ -44,6 +44,8 @@ def applyTo(self, obj, sim): # The inputs for the applyTo() function is FIXED. A
 
 class SetVelocity(Action):
     def __init__(self, velocity):
+        # velocity = (vx, vy, vz) where vx := speed in x axis
+        # Note that we need use the following helper function "scenicToAirsimVector" to convert Scenic's position to AirSim's position
         self.newVelocity = scenicToAirsimVector(toVector(velocity))
 
     def applyTo(self, obj, sim):

src/scenic/simulators/airsim/behaviors.scenic

@@ -16,107 +16,107 @@ from .utils import (
 )
 from scenic.simulators.airsim.actions import *
 
+behavior MoveToPosition(position, speed):
+    while ((distance from position to self.position) > 1):
+        take MoveToPositionAsync(position, speed)
 
-def magnitude(v):
-    return math.hypot(v.x, v.y, v.z)
+behavior Patrol(positions, loop=True, speed = 5):
+    while True:
+        for pos in positions:
+            do MoveToPosition(pos,speed=speed)
+
+        if not loop:
+            return
 
-# creates a promise from an msgpackrpc future (the futures that are used in airsim)
-def createPromise(future):
-    def promFunc(resolve, reject):
-
-        def joinAsync():
-            future.join()
-            resolve(True)
-
-        def waitAsync():
-            while not future._set_flag:
-                time.sleep(.01)
-            resolve(True)
+behavior SetVelocityBehavior(velocity):
+    # velocity = (vx, vy, vz) where vx := speed in x axis
+    while True:
+        take SetVelocity(velocity)
 
-        if not future._loop:
-            threading.Thread(target=joinAsync).start()
-        else:
-            threading.Thread(target=waitAsync).start()
 
-    prom = Promise(promFunc)
+# def magnitude(v):
+#     return math.hypot(v.x, v.y, v.z)
 
-    return prom
+# # creates a promise from an msgpackrpc future (the futures that are used in airsim)
+# def createPromise(future):
+#     def promFunc(resolve, reject):
+
+#         def joinAsync():
+#             future.join()
+#             resolve(True)
+
+#         def waitAsync():
+#             while not future._set_flag:
+#                 time.sleep(.01)
+#             resolve(True)
 
-# waits for a promise to be fulfilled
-behavior waitForPromise(promise):
-    while not promise.is_fulfilled:
-        wait
+#         if not future._loop:
+#             threading.Thread(target=joinAsync).start()
+#         else:
+#             threading.Thread(target=waitAsync).start()
 
-behavior MoveToPosition(position, speed):
-    while ((distance from position to self.position) > 1):
-        take MoveToPositionAsync(position, speed)
+#     prom = Promise(promFunc)
 
-behavior SetVelocityBehavior(direction):
-    while True:
-        take SetVelocity(direction)
+#     return prom
+
+# # waits for a promise to be fulfilled
+# behavior waitForPromise(promise):
+#     while not promise.is_fulfilled:
+#         wait
 
-# Flies the drone to a position
-behavior FlyToPosition(newPos, speed = 5,tolerance = 1,pidMode = True):
-    # pidMode is true if we want the drone to slow down as it reaches its destination
+# # Flies the drone to a position
+# behavior FlyToPosition(newPos, speed = 5,tolerance = 1,pidMode = True):
+#     # pidMode is true if we want the drone to slow down as it reaches its destination
 
-    client = simulation().client
-
-    if pidMode:
-        newPos = scenicToAirsimVector(toVector(newPos))
-        do waitForPromise(createPromise(
-            client.moveToPositionAsync(
-                newPos.x_val,
-                newPos.y_val,
-                newPos.z_val,
-                velocity=speed,
-                vehicle_name=self.realObjName,
-            )
-        ))
-    else:
-        while True:
-            direction = newPos -self.position 
-            distance = magnitude(direction)
+#     client = simulation().client
+
+#     if pidMode:
+#         newPos = scenicToAirsimVector(toVector(newPos))
+#         do waitForPromise(createPromise(
+#             client.moveToPositionAsync(
+#                 newPos.x_val,
+#                 newPos.y_val,
+#                 newPos.z_val,
+#                 velocity=speed,
+#                 vehicle_name=self.realObjName,
+#             )
+#         ))
+#     else:
+#         while True:
+#             direction = newPos -self.position 
+#             distance = magnitude(direction)
 
-            if distance < tolerance:
-                break
-            direction= (direction/distance)*speed
-            take SetVelocity(direction)
-            wait
-    return
-
+#             if distance < tolerance:
+#                 break
+#             direction= (direction/distance)*speed
+#             take SetVelocity(direction)
+#             wait
+#     return
 
 
 
-behavior Patrol(positions, loop=True, smooth = False, speed = 5,tolerance = 2):
-    while True:
-        for pos in positions:
-            do FlyToPosition(pos,speed=speed,pidMode= not smooth,tolerance=tolerance)
-
-        if not loop:
-            return
-
 
 
 
-behavior MoveByVelocity(velocity,seconds):
-    client = simulation().client
+# behavior MoveByVelocity(velocity,seconds):
+#     client = simulation().client
 
-    newVelocity = scenicToAirsimVector(toVector(velocity))
+#     newVelocity = scenicToAirsimVector(toVector(velocity))
 
-    do waitForPromise(createPromise(
-        client.moveByVelocityAsync(
-            newVelocity.x_val,
-            newVelocity.y_val,
-            newVelocity.z_val,
-            duration=seconds,
-            vehicle_name=self.realObjName,
-        )
-    ))
+#     do waitForPromise(createPromise(
+#         client.moveByVelocityAsync(
+#             newVelocity.x_val,
+#             newVelocity.y_val,
+#             newVelocity.z_val,
+#             duration=seconds,
+#             vehicle_name=self.realObjName,
+#         )
+#     ))
 
 
 
 
-behavior FlyToStart():
-    do FlyToPosition(self._startPos)
+# behavior FlyToStart():
+#     do FlyToPosition(self._startPos)