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from multiprocessing import Value
import airsim
import time
import math
import keyboard
import json
class DroneInfo():
gps_pos_altitude = 0
gps_pos_latitude = 0
gps_pos_longitude = 0
ori_w = 0
ori_x = 0
ori_y = 0
ori_z = 0
# linear_velocity
l_v_x = 0
l_v_y = 0
l_v_z = 0
# angular_velocity
a_v_x = 0
a_v_y = 0
a_v_z = 0
roll = 0
yaw = 0
pitch = 0
linear_speed = 0
class Drone():
def __init__(self):
# connect to the AirSim simulator
self.client = airsim.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
def TakeOff(self):
if airsim.LandedState.Landed == 0:
self.client.takeoffAsync().join()
print("take off")
else:
self.client.hoverAsync().join()
print("already flying")
def Landed(self):
if airsim.LandedState.Landed == 1:
print("already landed")
else:
self.client.landAsync().join()
print("now landing")
def DroneMoveByTime(self, vx, vy, vz, duration=3):
print("now speed", vx, vy, vz)
self.client.moveByVelocityAsync(vx, vy, vz, duration)
time.sleep(duration)
print("End Moving")
def GetState(self):
# State = self.client.getMultirotorState()
State = DroneInfo()
gps_pos = self.client.getMultirotorState().gps_location
State.gps_pos_altitude = gps_pos.altitude
State.gps_pos_longitude = gps_pos.longitude
State.gps_pos_latitude = gps_pos.latitude
orientation = self.client.getMultirotorState().kinematics_estimated.orientation
State.ori_w = orientation.w_val
State.ori_x = orientation.x_val
State.ori_y = orientation.y_val
State.ori_z = orientation.z_val
a_velocity = self.client.getMultirotorState().kinematics_estimated.angular_velocity
State.a_v_x = a_velocity.x_val
State.a_v_y = a_velocity.y_val
State.a_v_z = a_velocity.z_val
l_velocity = self.client.getMultirotorState().kinematics_estimated.linear_velocity
State.l_v_x = l_velocity.x_val
State.l_v_y = l_velocity.y_val
State.l_v_z = l_velocity.z_val
State.roll = self.client.getMultirotorState().rc_data.roll
State.yaw = self.client.getMultirotorState().rc_data.yaw
State.pitch = self.client.getMultirotorState().rc_data.pitch
State.linear_speed = math.sqrt(pow(State.l_v_x,2)+pow(State.l_v_y,2)+pow(State.l_v_z,2))
return State
def Hover(self):
landed = self.client.getMultirotorState()
def MoveToPosition(self,x,y,z,duration=3):
self.client.moveToPositionAsync(x, y, z, duration).join()
def Reset(self):
self.client.reset()
def SnowTeleport(self):
position = airsim.Vector3r(9.87236677 , -279.41862836, -22.81082173) # snow XYZ 0.01 -Z
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def OvercastTeleport(self):
position = airsim.Vector3r(213.24547002 , -429.66393833, 19.260)
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def RainTeleport(self):
position = airsim.Vector3r(-315.200 , -444.920, 12.520)
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def SandTeleport(self):
position = airsim.Vector3r(-335.50020795 , 282.16650494, 19.50313758)
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def ClearTeleport(self):
position = airsim.Vector3r(-152.28332052 , 236.00371837, 66.40114393)
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def FogTeleport(self):
position = airsim.Vector3r(-430.39138328 , -91.7420777, 13.86624983)
heading = airsim.utils.to_quaternion(0, 0, 0)
pose = airsim.Pose(position, heading)
self.client.simSetVehiclePose(pose, True)
def CloseAPI(self):
self.client.enableApiControl(False)
def KeyboardControl(self,x):
w = keyboard.KeyboardEvent('down', 150, 'w') # forward
s = keyboard.KeyboardEvent('down', 150, 's') # back
a = keyboard.KeyboardEvent('down', 150, 'a') # left
d = keyboard.KeyboardEvent('down', 150, 'd') # right
up = keyboard.KeyboardEvent('down', 150, 'up') # up
down = keyboard.KeyboardEvent('down', 150, 'down') # down
left = keyboard.KeyboardEvent('down', 150, 'left') # left
right = keyboard.KeyboardEvent('down', 150, 'right') # right
k = keyboard.KeyboardEvent('down', 28, 'k') # get control
l = keyboard.KeyboardEvent('down', 28, 'l') # release control
if x.event_type == 'down' and x.name == w.name:
self.client.moveByVelocityBodyFrameAsync(3, 0, 0, 0.5)
print("forward")
elif x.event_type == 'down' and x.name == s.name:
self.client.moveByVelocityBodyFrameAsync(-3, 0, 0, 0.5)
print("back")
elif x.event_type == 'down' and x.name == a.name:
self.client.moveByVelocityBodyFrameAsync(0, -2, 0, 0.5)
print("left")
elif x.event_type == 'down' and x.name == d.name:
self.client.moveByVelocityBodyFrameAsync(0, 2, 0, 0.5)
print("right")
elif x.event_type == 'down' and x.name == up.name:
self.client.moveByVelocityBodyFrameAsync(0, 0, -0.5, 0.5)
print("up")
elif x.event_type == 'down' and x.name == down.name:
self.client.moveByVelocityBodyFrameAsync(0, 0, 0.5, 0.5)
print("down")
elif x.event_type == 'down' and x.name == left.name:
self.client.rotateByYawRateAsync(-20, 0.5)
print("turn left")
elif x.event_type == 'down' and x.name == right.name:
self.client.rotateByYawRateAsync(20, 0.5)
print("turn right")
elif x.event_type == 'down' and x.name == k.name:
# get control
self.client.enableApiControl(True)
print("get control")
# unlock
self.client.armDisarm(True)
print("unlock")
# Async methods returns Future. Call join() to wait for task to complete.
self.client.takeoffAsync().join()
print("takeoff")
elif x.event_type == 'down' and x.name == l.name:
keyboard.wait("l")
keyboard.unhook_all()
else:
self.client.moveByVelocityBodyFrameAsync(0, 0, 0, 0.5).join()
self.client.hoverAsync().join()
print("hovering")
def ReplayRoute(self):
with open('Route.json', 'r', encoding='utf-8') as file:
data = json.load(file)
location_x = data.get("Location.X", [])
location_y = data.get("Location.Y", [])
location_z = data.get("Location.Z", [])
# lerp
all_frames = set()
for arr in [location_x, location_y, location_z]:
all_frames.update([item["frame"] for item in arr])
all_frames = sorted(all_frames)
interp_x = interpolate_axis(location_x, all_frames)
interp_y = interpolate_axis(location_y, all_frames)
interp_z = interpolate_axis(location_z, all_frames)
for i in range(len(all_frames) - 1):
position = airsim.Vector3r(interp_x[i]/100, interp_y[i]/100, -interp_z[i]/100)
position_next = airsim.Vector3r(interp_x[i+1]/100, interp_y[i+1]/100, -interp_z[i+1]/100)
time = (all_frames[i+1] - all_frames[i]) / 30 # 30 FPS
speed = Calc_distance(position, position_next) / time if time > 0 else 1
print(position)
self.client.moveToPositionAsync(position.x_val, position.y_val, position.z_val, speed).join()
def interpolate_axis(axis_list, target_frames):
if not axis_list:
return [0.0] * len(target_frames)
axis_list = sorted(axis_list, key=lambda x: x["frame"])
frames = [item["frame"] for item in axis_list]
values = [item["value"] for item in axis_list]
result = []
for f in target_frames:
if f <= frames[0]:
result.append(values[0])
elif f >= frames[-1]:
result.append(values[-1])
else:
for i in range(len(frames) - 1):
if frames[i] <= f <= frames[i+1]:
t = (f - frames[i]) / (frames[i+1] - frames[i])
v = values[i] + t * (values[i+1] - values[i])
result.append(v)
break
return result
def Calc_distance(pos1, pos2):
return math.sqrt((pos1.x_val - pos2.x_val) ** 2 + (pos1.y_val - pos2.y_val) ** 2 + (pos1.z_val - pos2.z_val) ** 2)
if __name__ == '__main__':
dronne = Drone()
# add sleep to make sure excute at same time
dronne.ReplayRoute()
dronecontrol = Drone()
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