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AirSimClient.py
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AirSimClient.py
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from __future__ import print_function
import msgpackrpc #install as admin: pip install msgpack-rpc-python
import numpy as np #pip install numpy
import msgpack
import math
import time
import sys
import os
import inspect
import types
import re
class MsgpackMixin:
def to_msgpack(self, *args, **kwargs):
return self.__dict__ #msgpack.dump(self.to_dict(*args, **kwargs))
@classmethod
def from_msgpack(cls, encoded):
obj = cls()
obj.__dict__ = {k.decode('utf-8'): v for k, v in encoded.items()}
return obj
class AirSimImageType:
Scene = 0
DepthPlanner = 1
DepthPerspective = 2
DepthVis = 3
DisparityNormalized = 4
Segmentation = 5
SurfaceNormals = 6
class DrivetrainType:
MaxDegreeOfFreedom = 0
ForwardOnly = 1
class LandedState:
Landed = 0
Flying = 1
class Vector3r(MsgpackMixin):
x_val = np.float32(0)
y_val = np.float32(0)
z_val = np.float32(0)
def __init__(self, x_val = np.float32(0), y_val = np.float32(0), z_val = np.float32(0)):
self.x_val = x_val
self.y_val = y_val
self.z_val = z_val
class Quaternionr(MsgpackMixin):
w_val = np.float32(0)
x_val = np.float32(0)
y_val = np.float32(0)
z_val = np.float32(0)
def __init__(self, x_val = np.float32(0), y_val = np.float32(0), z_val = np.float32(0), w_val = np.float32(1)):
self.x_val = x_val
self.y_val = y_val
self.z_val = z_val
self.w_val = w_val
class Pose(MsgpackMixin):
position = Vector3r()
orientation = Quaternionr()
def __init__(self, position_val, orientation_val):
self.position = position_val
self.orientation = orientation_val
class CollisionInfo(MsgpackMixin):
has_collided = False
normal = Vector3r()
impact_point = Vector3r()
position = Vector3r()
penetration_depth = np.float32(0)
time_stamp = np.float32(0)
object_name = ""
object_id = -1
class GeoPoint(MsgpackMixin):
latitude = 0.0
longitude = 0.0
altitude = 0.0
class YawMode(MsgpackMixin):
is_rate = True
yaw_or_rate = 0.0
def __init__(self, is_rate = True, yaw_or_rate = 0.0):
self.is_rate = is_rate
self.yaw_or_rate = yaw_or_rate
class ImageRequest(MsgpackMixin):
camera_id = np.uint8(0)
image_type = AirSimImageType.Scene
pixels_as_float = False
compress = False
def __init__(self, camera_id, image_type, pixels_as_float = False, compress = True):
self.camera_id = camera_id
self.image_type = image_type
self.pixels_as_float = pixels_as_float
self.compress = compress
class ImageResponse(MsgpackMixin):
image_data_uint8 = np.uint8(0)
image_data_float = np.float32(0)
camera_position = Vector3r()
camera_orientation = Quaternionr()
time_stamp = np.uint64(0)
message = ''
pixels_as_float = np.float32(0)
compress = True
width = 0
height = 0
image_type = AirSimImageType.Scene
class CarControls(MsgpackMixin):
throttle = np.float32(0)
steering = np.float32(0)
brake = np.float32(0)
handbrake = False
is_manual_gear = False
manual_gear = 0
gear_immediate = True
def set_throttle(self, throttle_val, forward):
if (forward):
is_manual_gear = False
manual_gear = 0
throttle = abs(throttle_val)
else:
is_manual_gear = False
manual_gear = -1
throttle = - abs(throttle_val)
class CarState(MsgpackMixin):
speed = np.float32(0)
gear = 0
position = Vector3r()
velocity = Vector3r()
orientation = Quaternionr()
class AirSimClientBase:
def __init__(self, ip, port):
self.client = msgpackrpc.Client(msgpackrpc.Address(ip, port), timeout = 3600)
def ping(self):
return self.client.call('ping')
def reset(self):
self.client.call('reset')
def confirmConnection(self):
print('Waiting for connection: ', end='')
home = self.getHomeGeoPoint()
while ((home.latitude == 0 and home.longitude == 0 and home.altitude == 0) or
math.isnan(home.latitude) or math.isnan(home.longitude) or math.isnan(home.altitude)):
time.sleep(1)
home = self.getHomeGeoPoint()
print('X', end='')
print('')
def getHomeGeoPoint(self):
return GeoPoint.from_msgpack(self.client.call('getHomeGeoPoint'))
# basic flight control
def enableApiControl(self, is_enabled):
return self.client.call('enableApiControl', is_enabled)
def isApiControlEnabled(self):
return self.client.call('isApiControlEnabled')
def simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex = False):
return self.client.call('simSetSegmentationObjectID', mesh_name, object_id, is_name_regex)
def simGetSegmentationObjectID(self, mesh_name):
return self.client.call('simGetSegmentationObjectID', mesh_name)
# camera control
# simGetImage returns compressed png in array of bytes
# image_type uses one of the AirSimImageType members
def simGetImage(self, camera_id, image_type):
# because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
result = self.client.call('simGetImage', camera_id, image_type)
if (result == "" or result == "\0"):
return None
return result
# camera control
# simGetImage returns compressed png in array of bytes
# image_type uses one of the AirSimImageType members
def simGetImages(self, requests):
responses_raw = self.client.call('simGetImages', requests)
return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]
def getCollisionInfo(self):
return CollisionInfo.from_msgpack(self.client.call('getCollisionInfo'))
@staticmethod
def stringToUint8Array(bstr):
return np.fromstring(bstr, np.uint8)
@staticmethod
def stringToFloatArray(bstr):
return np.fromstring(bstr, np.float32)
@staticmethod
def listTo2DFloatArray(flst, width, height):
return np.reshape(np.asarray(flst, np.float32), (height, width))
@staticmethod
def getPfmArray(response):
return AirSimClientBase.listTo2DFloatArray(response.image_data_float, response.width, response.height)
@staticmethod
def get_public_fields(obj):
return [attr for attr in dir(obj)
if not (attr.startswith("_")
or inspect.isbuiltin(attr)
or inspect.isfunction(attr)
or inspect.ismethod(attr))]
@staticmethod
def to_dict(obj):
return dict([attr, getattr(obj, attr)] for attr in AirSimClientBase.get_public_fields(obj))
@staticmethod
def to_str(obj):
return str(AirSimClientBase.to_dict(obj))
@staticmethod
def write_file(filename, bstr):
with open(filename, 'wb') as afile:
afile.write(bstr)
def simSetPose(self, pose, ignore_collison):
self.client.call('simSetPose', pose, ignore_collison)
def simGetPose(self):
return self.client.call('simGetPose')
# helper method for converting getOrientation to roll/pitch/yaw
# https:#en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
@staticmethod
def toEulerianAngle(q):
z = q.z_val
y = q.y_val
x = q.x_val
w = q.w_val
ysqr = y * y
# roll (x-axis rotation)
t0 = +2.0 * (w*x + y*z)
t1 = +1.0 - 2.0*(x*x + ysqr)
roll = math.atan2(t0, t1)
# pitch (y-axis rotation)
t2 = +2.0 * (w*y - z*x)
if (t2 > 1.0):
t2 = 1
if (t2 < -1.0):
t2 = -1.0
pitch = math.asin(t2)
# yaw (z-axis rotation)
t3 = +2.0 * (w*z + x*y)
t4 = +1.0 - 2.0 * (ysqr + z*z)
yaw = math.atan2(t3, t4)
return (pitch, roll, yaw)
@staticmethod
def toQuaternion(pitch, roll, yaw):
t0 = math.cos(yaw * 0.5)
t1 = math.sin(yaw * 0.5)
t2 = math.cos(roll * 0.5)
t3 = math.sin(roll * 0.5)
t4 = math.cos(pitch * 0.5)
t5 = math.sin(pitch * 0.5)
q = Quaternionr()
q.w_val = t0 * t2 * t4 + t1 * t3 * t5 #w
q.x_val = t0 * t3 * t4 - t1 * t2 * t5 #x
q.y_val = t0 * t2 * t5 + t1 * t3 * t4 #y
q.z_val = t1 * t2 * t4 - t0 * t3 * t5 #z
return q
@staticmethod
def wait_key(message = ''):
''' Wait for a key press on the console and return it. '''
if message != '':
print (message)
result = None
if os.name == 'nt':
import msvcrt
result = msvcrt.getch()
else:
import termios
fd = sys.stdin.fileno()
oldterm = termios.tcgetattr(fd)
newattr = termios.tcgetattr(fd)
newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSANOW, newattr)
try:
result = sys.stdin.read(1)
except IOError:
pass
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
return result
@staticmethod
def read_pfm(file):
""" Read a pfm file """
file = open(file, 'rb')
color = None
width = None
height = None
scale = None
endian = None
header = file.readline().rstrip()
header = str(bytes.decode(header, encoding='utf-8'))
if header == 'PF':
color = True
elif header == 'Pf':
color = False
else:
raise Exception('Not a PFM file.')
temp_str = str(bytes.decode(file.readline(), encoding='utf-8'))
dim_match = re.match(r'^(\d+)\s(\d+)\s$', temp_str)
if dim_match:
width, height = map(int, dim_match.groups())
else:
raise Exception('Malformed PFM header.')
scale = float(file.readline().rstrip())
if scale < 0: # little-endian
endian = '<'
scale = -scale
else:
endian = '>' # big-endian
data = np.fromfile(file, endian + 'f')
shape = (height, width, 3) if color else (height, width)
data = np.reshape(data, shape)
# DEY: I don't know why this was there.
#data = np.flipud(data)
file.close()
return data, scale
@staticmethod
def write_pfm(file, image, scale=1):
""" Write a pfm file """
file = open(file, 'wb')
color = None
if image.dtype.name != 'float32':
raise Exception('Image dtype must be float32.')
image = np.flipud(image)
if len(image.shape) == 3 and image.shape[2] == 3: # color image
color = True
elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale
color = False
else:
raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
file.write('PF\n'.encode('utf-8') if color else 'Pf\n'.encode('utf-8'))
temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
file.write(temp_str.encode('utf-8'))
endian = image.dtype.byteorder
if endian == '<' or endian == '=' and sys.byteorder == 'little':
scale = -scale
temp_str = '%f\n' % scale
file.write(temp_str.encode('utf-8'))
image.tofile(file)
@staticmethod
def write_png(filename, image):
""" image must be numpy array H X W X channels
"""
import zlib, struct
buf = image.flatten().tobytes()
width = image.shape[1]
height = image.shape[0]
# reverse the vertical line order and add null bytes at the start
width_byte_4 = width * 4
raw_data = b''.join(b'\x00' + buf[span:span + width_byte_4]
for span in range((height - 1) * width_byte_4, -1, - width_byte_4))
def png_pack(png_tag, data):
chunk_head = png_tag + data
return (struct.pack("!I", len(data)) +
chunk_head +
struct.pack("!I", 0xFFFFFFFF & zlib.crc32(chunk_head)))
png_bytes = b''.join([
b'\x89PNG\r\n\x1a\n',
png_pack(b'IHDR', struct.pack("!2I5B", width, height, 8, 6, 0, 0, 0)),
png_pack(b'IDAT', zlib.compress(raw_data, 9)),
png_pack(b'IEND', b'')])
AirSimClientBase.write_file(filename, png_bytes)
# ----------------------------------- Multirotor APIs ---------------------------------------------
class MultirotorClient(AirSimClientBase, object):
def __init__(self, ip = ""):
if (ip == ""):
ip = "127.0.0.1"
super(MultirotorClient, self).__init__(ip, 41451)
def armDisarm(self, arm):
return self.client.call('armDisarm', arm)
def takeoff(self, max_wait_seconds = 15):
return self.client.call('takeoff', max_wait_seconds)
def land(self, max_wait_seconds = 60):
return self.client.call('land', max_wait_seconds)
def goHome(self):
return self.client.call('goHome')
def hover(self):
return self.client.call('hover')
# query vehicle state
def getPosition(self):
return Vector3r.from_msgpack(self.client.call('getPosition'))
def getVelocity(self):
return Vector3r.from_msgpack(self.client.call('getVelocity'))
def getOrientation(self):
return Quaternionr.from_msgpack(self.client.call('getOrientation'))
def getLandedState(self):
return self.client.call('getLandedState')
def getGpsLocation(self):
return GeoPoint.from_msgpack(self.client.call('getGpsLocation'))
def getPitchRollYaw(self):
return self.toEulerianAngle(self.getOrientation())
#def getRCData(self):
# return self.client.call('getRCData')
def timestampNow(self):
return self.client.call('timestampNow')
def isApiControlEnabled(self):
return self.client.call('isApiControlEnabled')
def isSimulationMode(self):
return self.client.call('isSimulationMode')
def getServerDebugInfo(self):
return self.client.call('getServerDebugInfo')
# APIs for control
def moveByAngle(self, pitch, roll, z, yaw, duration):
return self.client.call('moveByAngle', pitch, roll, z, yaw, duration)
def moveByVelocity(self, vx, vy, vz, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode()):
return self.client.call('moveByVelocity', vx, vy, vz, duration, drivetrain, yaw_mode)
def moveByVelocityZ(self, vx, vy, z, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode()):
return self.client.call('moveByVelocityZ', vx, vy, z, duration, drivetrain, yaw_mode)
def moveOnPath(self, path, velocity, max_wait_seconds = 60, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1):
return self.client.call('moveOnPath', path, velocity, max_wait_seconds, drivetrain, yaw_mode, lookahead, adaptive_lookahead)
def moveToZ(self, z, velocity, max_wait_seconds = 60, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1):
return self.client.call('moveToZ', z, velocity, max_wait_seconds, yaw_mode, lookahead, adaptive_lookahead)
def moveToPosition(self, x, y, z, velocity, max_wait_seconds = 60, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), lookahead = -1, adaptive_lookahead = 1):
return self.client.call('moveToPosition', x, y, z, velocity, max_wait_seconds, drivetrain, yaw_mode, lookahead, adaptive_lookahead)
def moveByManual(self, vx_max, vy_max, z_min, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode()):
return self.client.call('moveByManual', vx_max, vy_max, z_min, duration, drivetrain, yaw_mode)
def rotateToYaw(self, yaw, max_wait_seconds = 60, margin = 5):
return self.client.call('rotateToYaw', yaw, max_wait_seconds, margin)
def rotateByYawRate(self, yaw_rate, duration):
return self.client.call('rotateByYawRate', yaw_rate, duration)
# ----------------------------------- Car APIs ---------------------------------------------
class CarClient(AirSimClientBase, object):
def __init__(self, ip = ""):
if (ip == ""):
ip = "127.0.0.1"
super(CarClient, self).__init__(ip, 42451)
def setCarControls(self, controls):
self.client.call('setCarControls', controls)
def getCarState(self):
state_raw = self.client.call('getCarState')
return CarState.from_msgpack(state_raw)