From c91841593471b11f1a337ea48702efc1b3d57dca Mon Sep 17 00:00:00 2001 From: Johann Christensen Date: Thu, 19 Sep 2024 13:12:00 +0200 Subject: [PATCH] Initial release --- .codeclimate.yml | 15 + .editorconfig | 52 ++ .github/CODEOWNERS | 4 + .github/dependabot.yml | 19 + .github/labeler.yml | 59 ++ .github/workflows/flake8.yml | 35 + .github/workflows/labeler.yml | 21 + .github/workflows/mypy.yml | 34 + .github/workflows/pre-commit.yml | 30 + .github/workflows/pylint.yml | 32 + .github/workflows/pytest.yml | 39 + .gitignore | 233 ++++++ .pre-commit-config.yaml | 132 ++++ .readthedocs.yaml | 38 + .vscode/extensions.json | 16 + .vscode/settings.json | 90 +++ CITATION.cff | 63 ++ CODE_OF_CONDUCT.md | 90 +++ LICENSES/CC-BY-4.0.txt | 156 ++++ LICENSES/MIT.txt | 9 + README.md | 226 ++++++ REUSE.toml | 20 + VERSION | 1 + docs/Makefile | 24 + docs/_static/.gitkeep | 3 + docs/conf.py | 66 ++ docs/guide/api.rst | 246 ++++++ docs/guide/autoavoid.rst | 101 +++ docs/guide/install.rst | 127 ++++ docs/guide/quick_start.rst | 83 ++ docs/index.rst | 45 ++ docs/make.bat | 38 + pycasx/__init__.py | 9 + pycasx/acas/__init__.py | 597 +++++++++++++++ pycasx/acas/acasx.py | 586 +++++++++++++++ pycasx/acas/hcas.py | 85 +++ pycasx/acas/runner.py | 403 ++++++++++ pycasx/acas/vcas.py | 73 ++ .../HCAS_rect_v6_pra0_tau00_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau05_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau10_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau15_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau20_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau30_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau40_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra0_tau60_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau00_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau05_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau10_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau15_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau20_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau30_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau40_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra1_tau60_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau00_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau05_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau10_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau15_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau20_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau30_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau40_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra2_tau60_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau00_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau05_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau10_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau15_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau20_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau30_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau40_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra3_tau60_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau00_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau05_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau10_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau15_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau20_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau30_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau40_25HU_3000.nnet | 271 +++++++ .../HCAS_rect_v6_pra4_tau60_25HU_3000.nnet | 271 +++++++ .../vcas/VertCAS_pra01_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra02_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra03_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra04_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra05_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra06_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra07_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra08_v4_45HU_200.nnet | 569 ++++++++++++++ .../vcas/VertCAS_pra09_v4_45HU_200.nnet | 569 ++++++++++++++ pycasx/cli/__init__.py | 10 + pycasx/cli/acasx.py | 136 ++++ pycasx/cli/cli.py | 133 ++++ pycasx/cli/convert_to_onnx.py | 38 + pycasx/cli/copy_files.py | 43 ++ pycasx/cli/launch.py | 113 +++ pycasx/cli/run.py | 119 +++ pycasx/cli/scenarios.py | 24 + pycasx/cli/utils/__init__.py | 3 + pycasx/cli/utils/find_fgfs.py | 55 ++ pycasx/conf/__init__.py | 393 ++++++++++ pycasx/conf/acasx.yaml | 28 + pycasx/conf/copy.yaml | 4 + pycasx/conf/gui.yaml | 19 + pycasx/conf/launch.yaml | 42 ++ pycasx/conf/onnx.yaml | 5 + pycasx/conf/run.yaml | 5 + pycasx/conf/scenario.yaml | 76 ++ pycasx/connectors/__init__.py | 3 + pycasx/connectors/adsb.py | 102 +++ pycasx/connectors/protocols.py | 93 +++ pycasx/py.typed | 0 pycasx/scenario/__init__.py | 125 +++ pycasx/scenario/ai_scenario.py | 56 ++ pycasx/scenario/calculate_cpa.py | 83 ++ pycasx/scenario/fgfs_config.py | 60 ++ pycasx/scenario/flightplan.py | 48 ++ pycasx/scenario/scenario.py | 142 ++++ pycasx/scenario/waypoint_generation.py | 190 +++++ pycasx/tools/NNet/__init__.py | 7 + pycasx/tools/NNet/converters/__init__.py | 3 + pycasx/tools/NNet/converters/nnet_to_onnx.py | 210 ++++++ pycasx/tools/NNet/converters/onnx_to_nnet.py | 248 ++++++ pycasx/tools/NNet/nnet.py | 183 +++++ pycasx/tools/NNet/utils/__init__.py | 3 + pycasx/tools/NNet/utils/normalize_nnet.py | 142 ++++ pycasx/tools/NNet/utils/read_nnet.py | 140 ++++ pycasx/tools/NNet/utils/write_nnet.py | 129 ++++ pycasx/tools/__init__.py | 3 + pycasx/tools/nn_convert.py | 25 + pycasx/tools/nn_load.py | 67 ++ pyproject.toml | 188 +++++ tests/__init__.py | 3 + tests/test_cas.py | 15 + tests/test_cli.py | 70 ++ tests/test_nnet.py | 362 +++++++++ tests/test_scenario_generation.py | 710 ++++++++++++++++++ 134 files changed, 24517 insertions(+) create mode 100644 .codeclimate.yml create mode 100644 .editorconfig 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docs/guide/autoavoid.rst create mode 100644 docs/guide/install.rst create mode 100644 docs/guide/quick_start.rst create mode 100644 docs/index.rst create mode 100644 docs/make.bat create mode 100644 pycasx/__init__.py create mode 100644 pycasx/acas/__init__.py create mode 100644 pycasx/acas/acasx.py create mode 100644 pycasx/acas/hcas.py create mode 100644 pycasx/acas/runner.py create mode 100644 pycasx/acas/vcas.py create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau00_25HU_3000.nnet create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau05_25HU_3000.nnet create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau10_25HU_3000.nnet create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau15_25HU_3000.nnet create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau20_25HU_3000.nnet create mode 100644 pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau30_25HU_3000.nnet create mode 100644 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pycasx/connectors/adsb.py create mode 100644 pycasx/connectors/protocols.py create mode 100644 pycasx/py.typed create mode 100644 pycasx/scenario/__init__.py create mode 100644 pycasx/scenario/ai_scenario.py create mode 100644 pycasx/scenario/calculate_cpa.py create mode 100644 pycasx/scenario/fgfs_config.py create mode 100644 pycasx/scenario/flightplan.py create mode 100644 pycasx/scenario/scenario.py create mode 100644 pycasx/scenario/waypoint_generation.py create mode 100644 pycasx/tools/NNet/__init__.py create mode 100644 pycasx/tools/NNet/converters/__init__.py create mode 100644 pycasx/tools/NNet/converters/nnet_to_onnx.py create mode 100644 pycasx/tools/NNet/converters/onnx_to_nnet.py create mode 100644 pycasx/tools/NNet/nnet.py create mode 100644 pycasx/tools/NNet/utils/__init__.py create mode 100644 pycasx/tools/NNet/utils/normalize_nnet.py create mode 100644 pycasx/tools/NNet/utils/read_nnet.py create mode 100644 pycasx/tools/NNet/utils/write_nnet.py create mode 100644 pycasx/tools/__init__.py create mode 100644 pycasx/tools/nn_convert.py create mode 100644 pycasx/tools/nn_load.py create mode 100644 pyproject.toml create mode 100644 tests/__init__.py create mode 100644 tests/test_cas.py create mode 100644 tests/test_cli.py create mode 100644 tests/test_nnet.py create mode 100644 tests/test_scenario_generation.py diff --git a/.codeclimate.yml b/.codeclimate.yml new file mode 100644 index 0000000..ca134fa --- /dev/null +++ b/.codeclimate.yml @@ -0,0 +1,15 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +version: '2' +plugins: + pycodestyle: + enabled: true + config: + max_line_length: 88 + sonar-python: + enabled: true + config: + minimum_severity: major + radon: + enabled: true diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000..bec629c --- /dev/null +++ b/.editorconfig @@ -0,0 +1,52 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# EditorConfig helps developers define and maintain consistent coding styles between different editors and IDEs +# editorconfig.org + +root = true + +[*] +charset = utf-8 +end_of_line = lf +indent_size = 4 +indent_style = space +insert_final_newline = true +trim_trailing_whitespace = true + +# JSON Files +[*.{json,json5,webmanifest}] +indent_size = 2 + +# YAML Files +[*.{yml,yaml,cff}] +indent_size = 2 + +# TOML Files +[*.toml] +indent_size = 2 + +# Markdown Files +[*.{md,mdx}] +indent_size = 2 +trim_trailing_whitespace = false + +# XML Files +[*.xml] +indent_size = 2 + +# Makefiles +[Makefile] +indent_style = tab + +# Windows batch files +[*.bat] +indent_style = tab +end_of_line = crlf + +# License files +[/LICENSES/**] +insert_final_newline = unset +trim_trailing_whitespace = unset +indent_style = unset +indent_size = unset diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 0000000..ddb4bc9 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,4 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +* @juhannc diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000..1616194 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# Please see the documentation for all configuration options: +# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates + +version: 2 +updates: + # Maintain dependencies for Python packages +- package-ecosystem: pip + directory: / + schedule: + interval: monthly + + # Maintain dependencies for GitHub Actions +- package-ecosystem: github-actions + directory: / + schedule: + interval: monthly diff --git a/.github/labeler.yml b/.github/labeler.yml new file mode 100644 index 0000000..51b23e1 --- /dev/null +++ b/.github/labeler.yml @@ -0,0 +1,59 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +General: +- changed-files: + - any-glob-to-any-file: + - '*' + +GitHub: +- changed-files: + - any-glob-to-any-file: + - .github/** + +Workflows: +- changed-files: + - any-glob-to-any-file: + - .github/workflows/** + +Dependabot: +- changed-files: + - any-glob-to-any-file: + - .github/dependabot.yml + +Labels: +- changed-files: + - any-glob-to-any-file: + - .github/labeler.yml + - .github/workflows/labeler.yml + +Documentation: +- changed-files: + - any-glob-to-any-file: + - docs/* + - '**/*.md' + +Python: +- changed-files: + - any-glob-to-any-file: + - '**/*.py' + - '**/*.pyi' + - '**/*.pyx' + - pyproject.toml + +Tests: +- changed-files: + - any-glob-to-any-file: + - tests/** + - .github/workflows/pytest.yml + +Packaging: +- changed-files: + - any-glob-to-any-file: + - pyproject.toml + - VERSION + +pre-commit: +- changed-files: + - any-glob-to-any-file: + - .pre-commit-config.yaml diff --git a/.github/workflows/flake8.yml b/.github/workflows/flake8.yml new file mode 100644 index 0000000..88ab3d4 --- /dev/null +++ b/.github/workflows/flake8.yml @@ -0,0 +1,35 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Linting Python code (flake8) + +on: + push: + branches: + - main + - develop + - releases/** + pull_request: + branches: + - main + - develop + +permissions: + contents: read + +jobs: + flake8: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.8 + uses: actions/setup-python@v5 + with: + python-version: 3.8 + - name: Install Python dependencies + run: | + python -m pip install --upgrade pip + pip install -e .[tests] + - name: Lint with flake8 + run: | + flake8 pycasx diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml new file mode 100644 index 0000000..dc83fa0 --- /dev/null +++ b/.github/workflows/labeler.yml @@ -0,0 +1,21 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Pull Request Labeler + +on: + pull_request_target: + workflow_dispatch: + schedule: + - cron: 0 1 * * 1 + +jobs: + triage: + permissions: + contents: read + pull-requests: write + runs-on: ubuntu-latest + steps: + - uses: actions/labeler@v5 + with: + sync-labels: true diff --git a/.github/workflows/mypy.yml b/.github/workflows/mypy.yml new file mode 100644 index 0000000..baa7512 --- /dev/null +++ b/.github/workflows/mypy.yml @@ -0,0 +1,34 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Static typechecking (mypy) + +on: + push: + branches: + - main + - develop + - releases/** + pull_request: + branches: + - main + - develop + +permissions: + contents: read + +jobs: + mypy: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.8 + uses: actions/setup-python@v5 + with: + python-version: 3.8 + - name: Install Python dependencies + run: | + python -m pip install --upgrade pip + pip install -e .[tests] + - name: Static typechecking with mypy + uses: tsuyoshicho/action-mypy@v4 diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml new file mode 100644 index 0000000..9dbddef --- /dev/null +++ b/.github/workflows/pre-commit.yml @@ -0,0 +1,30 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Running pre-commit (pre-commit) + +on: + push: + branches: + - main + - develop + - releases/** + pull_request: + branches: + - main + - develop + +permissions: + contents: read + +jobs: + flake8: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.11 + uses: actions/setup-python@v5 + with: + python-version: 3.11 + - name: Running pre-commit + uses: pre-commit/action@v3.0.1 diff --git a/.github/workflows/pylint.yml b/.github/workflows/pylint.yml new file mode 100644 index 0000000..c8910dd --- /dev/null +++ b/.github/workflows/pylint.yml @@ -0,0 +1,32 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Python linting (pylint) + +on: + push: + branches: + - main + - develop + - releases/** + pull_request: + branches: + - main + - develop + +jobs: + pylint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - name: Set up Python 3.8 + uses: actions/setup-python@v5 + with: + python-version: 3.8 + - name: Install Python dependencies + run: | + python -m pip install --upgrade pip + pip install -e .[tests] + - name: Analysing the code with pylint + run: | + pylint --fail-under=9 --output-format=text pycasx diff --git a/.github/workflows/pytest.yml b/.github/workflows/pytest.yml new file mode 100644 index 0000000..617da04 --- /dev/null +++ b/.github/workflows/pytest.yml @@ -0,0 +1,39 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +name: Python tests (pytest) + +on: + push: + branches: + - main + - develop + - releases/** + pull_request: + branches: + - main + - develop + +permissions: + contents: read + +jobs: + pytest: + runs-on: ubuntu-latest + strategy: + matrix: + python-version: ['3.8', '3.9', '3.10', '3.11'] + steps: + - uses: actions/checkout@v4 + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v5 + with: + python-version: ${{ matrix.python-version }} + - name: Install Python dependencies + run: | + python -m pip install --upgrade pip + pip install -e .[tests] + - name: Test with pytest + run: | + pytest --cov=pycasx/ --cov-report term-missing --junitxml=report.xml tests/ + coverage xml diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..fa4d42b --- /dev/null +++ b/.gitignore @@ -0,0 +1,233 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +### Custom generated files ### +pycasx/assets/scenarios +logs/ + +### Machine Learning ### +# Exclude the the generated .onnx files. +# These files should be generated on the fly from the +# provided .nnet files. +*.onnx + +### Python ### +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ +report.xml + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# Hydra +outputs/ + +# Ultralytics +/*.pt + +### Linux ### +*~ + +# temporary files which can be created if a process still has a handle open of a deleted file +.fuse_hidden* + +# KDE directory preferences +.directory + +# Linux trash folder which might appear on any partition or disk +.Trash-* + +# .nfs files are created when an open file is removed but is still being accessed +.nfs* + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride + +# Icon must end with two \r +Icon + + +# Thumbnails +._* + +# Files that might appear in the root of a volume +.DocumentRevisions-V100 +.fseventsd +.Spotlight-V100 +.TemporaryItems +.Trashes +.VolumeIcon.icns +.com.apple.timemachine.donotpresent + +# Directories potentially created on remote AFP share +.AppleDB +.AppleDesktop +Network Trash Folder +Temporary Items +.apdisk + +### macOS Patch ### +# iCloud generated files +*.icloud + +### Windows ### +# Windows thumbnail cache files +Thumbs.db +Thumbs.db:encryptable +ehthumbs.db +ehthumbs_vista.db + +# Dump file +*.stackdump + +# Folder config file +[Dd]esktop.ini + +# Recycle Bin used on file shares +$RECYCLE.BIN/ + +# Windows Installer files +*.cab +*.msi +*.msix +*.msm +*.msp + +# Windows shortcuts +*.lnk diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..a35c348 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,132 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# Here are some commonly used pre-commit hooks. You can find more at: +# +repos: +- repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.6.0 + hooks: + - id: check-ast + - id: check-builtin-literals + - id: check-case-conflict + - id: check-docstring-first + - id: check-executables-have-shebangs + - id: check-json + - id: check-merge-conflict + - id: check-shebang-scripts-are-executable + - id: check-toml + - id: check-yaml + - id: debug-statements + - id: end-of-file-fixer + - id: trailing-whitespace +- repo: https://github.com/fsfe/reuse-tool + rev: v4.0.3 + hooks: + - id: reuse + name: Check license headers (REUSE) +- repo: https://github.com/FHPythonUtils/LicenseCheck + rev: '2024.2' + hooks: + - id: licensecheck + language: python + name: Check licenses of Python dependencies + args: [--using, PEP631, --skip-dependencies, torch] +- repo: https://github.com/citation-file-format/cffconvert + rev: b6045d78aac9e02b039703b030588d54d53262ac + hooks: + - id: validate-cff + name: Validate CITATION.cff file +- repo: https://github.com/psf/black + rev: 24.8.0 + hooks: + - id: black + name: Formatting Python code (black) +- repo: https://github.com/pycqa/isort + rev: 5.13.2 + hooks: + - id: isort + args: [--profile, black] + name: Sort Python imports (isort) +- repo: https://github.com/thlorenz/doctoc + rev: v2.2.0 + hooks: + - id: doctoc + name: Generate table of contents for markdown files + args: [--github] + exclude: CODE_OF_CONDUCT.md +- repo: https://github.com/codespell-project/codespell + rev: v2.3.0 + hooks: + - id: codespell + name: Fixing common spelling mistakes + args: [--write-changes, -L, assertIn] +- repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.29.2 + hooks: + - id: check-github-workflows + name: Check GitHub Workflow configuration +- repo: https://github.com/editorconfig-checker/editorconfig-checker.python + rev: 3.0.3 + hooks: + - id: editorconfig-checker + exclude: docs/guide/api.rst +- repo: https://github.com/PyCQA/docformatter + rev: v1.7.5 + hooks: + - id: docformatter + name: Fixing docstring formatting +- repo: https://github.com/igorshubovych/markdownlint-cli + rev: v0.41.0 + hooks: + - id: markdownlint + name: Fixing markdown linting errors + args: [--disable, MD013, MD033, --fix] +- repo: https://github.com/MarcoGorelli/absolufy-imports + rev: v0.3.1 + hooks: + - id: absolufy-imports + name: Make python imports absolute +- repo: https://github.com/asottile/pyupgrade + rev: v3.15.2 + hooks: + - id: pyupgrade + name: Upgrade common mistakes + args: [--py38-plus] +- repo: https://github.com/PyCQA/flake8 + rev: 7.1.1 + hooks: + - id: flake8 + name: Linting Python code (flake8) + additional_dependencies: + - flake8-bugbear + - flake8-builtins + - flake8-comprehensions + - flake8-docstrings + - flake8-docstrings-complete + - flake8-simplify + - flake8-pyproject + - pep8-naming + - pydoclint +- repo: https://github.com/charliermarsh/ruff-pre-commit + rev: v0.6.4 + hooks: + - id: ruff + name: Linting Python code (ruff) + args: [--fix, --exit-non-zero-on-fix] +- repo: https://github.com/macisamuele/language-formatters-pre-commit-hooks + rev: v2.14.0 + hooks: + - id: pretty-format-yaml + args: [--autofix, --indent, '2', CITATION.cff] + - id: pretty-format-toml + args: [--autofix] +- repo: https://github.com/pre-commit/mirrors-mypy + rev: v1.11.2 + hooks: + - id: mypy + name: Static typechecking (mypy) + exclude: ^tests/ + additional_dependencies: + - numpy==1.24.4 + - types-requests diff --git a/.readthedocs.yaml b/.readthedocs.yaml new file mode 100644 index 0000000..31e2b01 --- /dev/null +++ b/.readthedocs.yaml @@ -0,0 +1,38 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# .readthedocs.yaml +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +# Set the OS, Python version and other tools you might need +build: + os: ubuntu-22.04 + tools: + python: '3.11' + # You can also specify other tool versions: + # nodejs: "19" + # rust: "1.64" + # golang: "1.19" + jobs: + post_install: + - pip install ".[docs]" + +# Build documentation in the "docs/" directory with Sphinx +sphinx: + configuration: docs/conf.py + +# Optionally build your docs in additional formats such as PDF and ePub +# formats: +# - pdf +# - epub + +# Optional but recommended, declare the Python requirements required +# to build your documentation +# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html +# python: +# install: +# - requirements: docs/requirements.txt diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..061b50c --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,16 @@ +{ + "recommendations": [ + "editorconfig.editorconfig", + "gitlab.gitlab-workflow", + "gruntfuggly.todo-tree", + "ms-python.black-formatter", + "ms-python.isort", + "ms-python.mypy-type-checker", + "ms-python.python", + "ms-python.vscode-pylance", + "streetsidesoftware.code-spell-checker", + "visualstudioexptteam.intellicode-api-usage-examples", + "visualstudioexptteam.vscodeintellicode", + "renan-msv.nasal-lang" + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..84d9938 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,90 @@ +{ + "git.inputValidationSubjectLength": 50, + "git.inputValidationLength": 72, + "git.inputValidation": true, + "[python]": { + "editor.codeActionsOnSave": { + "source.organizeImports": "explicit" + }, + "editor.defaultFormatter": "ms-python.black-formatter", + "editor.detectIndentation": false, + "editor.formatOnSave": true, + "editor.insertSpaces": true, + "editor.rulers": [ + 88, + 79, + 72 + ], + "editor.tabSize": 4 + }, + "cSpell.language": "en", + "cSpell.words": [ + "ACAS", + "ACASX", + "addprevious", + "ADSB", + "aircraft", + "appendleft", + "argmax", + "autoavoid", + "callsign", + "cas", + "customtkinter", + "dtype", + "ellps", + "ensurepath", + "Errico", + "fastapi", + "fgfs", + "fgfsrc", + "flightgear", + "flightplan", + "flightplans", + "hcas", + "hdot", + "imdecode", + "IMREAD", + "INOP", + "inoperational", + "ktas", + "loguru", + "lxml", + "multiplay", + "nmac", + "nnet", + "onnx", + "ownship", + "pipx", + "pycasx", + "pyproj", + "SDES", + "slugft", + "starlette", + "terrasync", + "timeofday", + "ultralytics", + "ureg", + "uvicorn", + "vcas", + "YOLO" + ], + "isort.args": [ + "--profile", + "black" + ], + "isort.check": true, + "python.analysis.autoImportCompletions": true, + "terminal.integrated.env.linux": { + "GTK_PATH": "" + }, + "python.testing.unittestArgs": [ + "-v", + "-s", + "./tests", + "-p", + "test_*.py" + ], + "python.testing.pytestEnabled": false, + "python.testing.unittestEnabled": true, + "python.analysis.typeCheckingMode": "standard" +} diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..c302d5c --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,63 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +authors: +- affiliation: German Aerospace Center (DLR) + email: johann.christensen@dlr.de + family-names: Christensen + given-names: Johann Maximilian + name-particle: Johann + orcid: https://orcid.org/0000-0001-9871-122X +- affiliation: German Aerospace Center (DLR) + family-names: Anilkumar Girija + given-names: Akshay + orcid: https://orcid.org/0000-0002-4384-9739 +- affiliation: German Aerospace Center (DLR) + family-names: Stefani + given-names: Thomas + orcid: https://orcid.org/0000-0001-7352-0590 +- affiliation: German Aerospace Center (DLR) + family-names: Durak + given-names: Umut + orcid: https://orcid.org/0000-0002-2928-1710 +- affiliation: German Aerospace Center (DLR) + family-names: Hoemann + given-names: Elena + orcid: https://orcid.org/0000-0001-9315-548X +- affiliation: German Aerospace Center (DLR) + family-names: Köster + given-names: Frank +- affiliation: German Aerospace Center (DLR) + family-names: Krüger + given-names: Thomas +- affiliation: German Aerospace Center (DLR) + family-names: Hallerbach + given-names: Sven +cff-version: 1.2.0 +date-released: '2024-10-01' +message: If you use this software, please cite it using the metadata from this file. +preferred-citation: + authors: + - family-names: Christensen + given-names: Johann Maximilian + - family-names: Anilkumar Girija + given-names: Akshay + - family-names: Stefani + given-names: Thomas + - family-names: Durak + given-names: Umut + - family-names: Hoemann + given-names: Elena + - family-names: Köster + given-names: Frank + - family-names: Krüger + given-names: Thomas + - family-names: Hallerbach + given-names: Sven + conference: + name: 36th IEEE International Conference on Tools with Artificial Intelligence (ICTAI) + date-released: '2024-10-01' + title: Advancing the AI-Based Realization of ACAS X Towards Real-World Application + type: conference-paper +repository-code: https://github.com/DLR-KI/pycasx.git +title: Advancing the AI-Based Realization of ACAS X Towards Real-World Application diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md new file mode 100644 index 0000000..140a99e --- /dev/null +++ b/CODE_OF_CONDUCT.md @@ -0,0 +1,90 @@ + + +# Contributor Covenant Code of Conduct + +## Our Pledge + +We as members, contributors, and leaders pledge to make participation in our community a harassment-free experience for everyone, regardless of age, body size, visible or invisible disability, ethnicity, sex characteristics, gender identity and expression, level of experience, education, socioeconomic status, nationality, personal appearance, race, religion, or sexual identity and orientation. + +We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community. + +## Our Standards + +Examples of behavior that contributes to a positive environment for our community include: + +* Demonstrating empathy and kindness toward other people +* Being respectful of differing opinions, viewpoints, and experiences +* Giving and gracefully accepting constructive feedback +* Accepting responsibility and apologizing to those affected by our mistakes, and learning from the experience +* Focusing on what is best not just for us as individuals, but for the overall community + +Examples of unacceptable behavior include: + +* The use of sexualized language or imagery, and sexual attention or advances of any kind +* Trolling, insulting or derogatory comments, and personal or political attacks +* Public or private harassment +* Publishing others' private information, such as a physical or email address, without their explicit permission +* Other conduct which could reasonably be considered inappropriate in a professional setting + +## Enforcement Responsibilities + +Community leaders are responsible for clarifying and enforcing our standards of acceptable behavior and will take appropriate and fair corrective action in response to any behavior that they deem inappropriate, threatening, offensive, or harmful. + +Community leaders have the right and responsibility to remove, edit, or reject comments, commits, code, wiki edits, issues, and other contributions that are not aligned to this Code of Conduct, and will communicate reasons for moderation decisions when appropriate. + +## Scope + +This Code of Conduct applies within all community spaces, and also applies when an individual is officially representing the community in public spaces. +Examples of representing our community include using an official e-mail address, posting via an official social media account, or acting as an appointed representative at an online or offline event. + +## Enforcement + +Instances of abusive, harassing, or otherwise unacceptable behavior may be reported to the community leaders responsible for enforcement at . +All complaints will be reviewed and investigated promptly and fairly. + +All community leaders are obligated to respect the privacy and security of the reporter of any incident. + +## Enforcement Guidelines + +Community leaders will follow these Community Impact Guidelines in determining the consequences for any action they deem in violation of this Code of Conduct: + +### 1. Correction + +**Community Impact**: Use of inappropriate language or other behavior deemed unprofessional or unwelcome in the community. + +**Consequence**: A private, written warning from community leaders, providing clarity around the nature of the violation and an explanation of why the behavior was inappropriate. A public apology may be requested. + +### 2. Warning + +**Community Impact**: A violation through a single incident or series of actions. + +**Consequence**: A warning with consequences for continued behavior. +No interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, for a specified period of time. +This includes avoiding interactions in community spaces as well as external channels like social media. Violating these terms may lead to a temporary or permanent ban. + +### 3. Temporary Ban + +**Community Impact**: A serious violation of community standards, including sustained inappropriate behavior. + +**Consequence**: A temporary ban from any sort of interaction or public communication with the community for a specified period of time. +No public or private interaction with the people involved, including unsolicited interaction with those enforcing the Code of Conduct, is allowed during this period. Violating these terms may lead to a permanent ban. + +### 4. Permanent Ban + +**Community Impact**: Demonstrating a pattern of violation of community standards, including sustained inappropriate behavior, harassment of an individual, or aggression toward or disparagement of classes of individuals. + +**Consequence**: A permanent ban from any sort of public interaction within the community. + +## Attribution + +This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 2.0, available at . + +Community Impact Guidelines were inspired by [Mozilla's code of conduct enforcement ladder](https://github.com/mozilla/diversity). + +[homepage]: https://www.contributor-covenant.org + +For answers to common questions about this code of conduct, see the FAQ at . Translations are available at . diff --git a/LICENSES/CC-BY-4.0.txt b/LICENSES/CC-BY-4.0.txt new file mode 100644 index 0000000..13ca539 --- /dev/null +++ b/LICENSES/CC-BY-4.0.txt @@ -0,0 +1,156 @@ +Creative Commons Attribution 4.0 International + + Creative Commons Corporation (“Creative Commons”) is not a law firm and does not provide legal services or legal advice. Distribution of Creative Commons public licenses does not create a lawyer-client or other relationship. Creative Commons makes its licenses and related information available on an “as-is” basis. Creative Commons gives no warranties regarding its licenses, any material licensed under their terms and conditions, or any related information. Creative Commons disclaims all liability for damages resulting from their use to the fullest extent possible. + +Using Creative Commons Public Licenses + +Creative Commons public licenses provide a standard set of terms and conditions that creators and other rights holders may use to share original works of authorship and other material subject to copyright and certain other rights specified in the public license below. The following considerations are for informational purposes only, are not exhaustive, and do not form part of our licenses. + +Considerations for licensors: Our public licenses are intended for use by those authorized to give the public permission to use material in ways otherwise restricted by copyright and certain other rights. Our licenses are irrevocable. Licensors should read and understand the terms and conditions of the license they choose before applying it. Licensors should also secure all rights necessary before applying our licenses so that the public can reuse the material as expected. Licensors should clearly mark any material not subject to the license. This includes other CC-licensed material, or material used under an exception or limitation to copyright. More considerations for licensors. + +Considerations for the public: By using one of our public licenses, a licensor grants the public permission to use the licensed material under specified terms and conditions. If the licensor’s permission is not necessary for any reason–for example, because of any applicable exception or limitation to copyright–then that use is not regulated by the license. Our licenses grant only permissions under copyright and certain other rights that a licensor has authority to grant. Use of the licensed material may still be restricted for other reasons, including because others have copyright or other rights in the material. A licensor may make special requests, such as asking that all changes be marked or described. Although not required by our licenses, you are encouraged to respect those requests where reasonable. More considerations for the public. + +Creative Commons Attribution 4.0 International Public License + +By exercising the Licensed Rights (defined below), You accept and agree to be bound by the terms and conditions of this Creative Commons Attribution 4.0 International Public License ("Public License"). To the extent this Public License may be interpreted as a contract, You are granted the Licensed Rights in consideration of Your acceptance of these terms and conditions, and the Licensor grants You such rights in consideration of benefits the Licensor receives from making the Licensed Material available under these terms and conditions. + +Section 1 – Definitions. + + a. Adapted Material means material subject to Copyright and Similar Rights that is derived from or based upon the Licensed Material and in which the Licensed Material is translated, altered, arranged, transformed, or otherwise modified in a manner requiring permission under the Copyright and Similar Rights held by the Licensor. For purposes of this Public License, where the Licensed Material is a musical work, performance, or sound recording, Adapted Material is always produced where the Licensed Material is synched in timed relation with a moving image. + + b. Adapter's License means the license You apply to Your Copyright and Similar Rights in Your contributions to Adapted Material in accordance with the terms and conditions of this Public License. + + c. 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..e7c216c --- /dev/null +++ b/README.md @@ -0,0 +1,226 @@ + + +# `pyCASX` – A Python implementation of ACAS XA and ACAS XU for Flightgear + +Implementation of ACAS XA and ACAS XU with neural networks for FlightGear. + + + + +- [Description](#description) +- [Installation](#installation) + - [Requirements](#requirements) + - [Users](#users) + - [Installation via `pipx`](#installation-via-pipx) + - [Installation via `pip`](#installation-via-pip) + - [Development](#development) + - [`pre-commit`](#pre-commit) + - [VS Code](#vs-code) +- [Usage](#usage) + - [Launching ACAS X](#launching-acas-x) + - [Other options](#other-options) + - [`onnx` or `make_onnx`](#onnx-or-make_onnx) + - [`launch`](#launch) + - [`acasx`](#acasx) + - [Overwriting parameters](#overwriting-parameters) +- [Citation](#citation) + + + +## Description + +Implementation of Horizontal- and VerticalCAS using neural networks for [FlightGear](https://www.flightgear.org/). +The HCAS and VCAS implementations are based upon Stanford Intelligent Systems Laboratory's [HorizontalCAS](https://github.com/sisl/HorizontalCAS) and [VerticalCAS](https://github.com/sisl/VerticalCAS). + +## Installation + +Please read the following sections carefully. +Please also see the documentation at . + +### Requirements + +- Python 3.8 or higher (3.12 is currently not supported) +- [FlightGear](https://www.flightgear.org/) 2020.3.18 or higher + +### Users + +If you only want to use `pycasx` as a command-line tool and not develop it, you can install it via `pip` or `pipx`. +However, `pipx` is recommended, as it will install the package in an isolated environment and thus not interfere with other packages. + +#### Installation via `pipx` + +Ensure you have [`pipx`](https://pipx.pypa.io/stable/) installed. +If not, install it via + +```shell +python3 -m pip install --user pipx +python3 -m pipx ensurepath +``` + +Afterwards, install `pycasx` via + +```shell +pipx install git+https://https://github.com/DLR-KI/pycasx.git +``` + +#### Installation via `pip` + +**This is not recommended! Proceed at your own risk! For just using the package, `pipx` is recommended** + +First, clone the repository + +```shell +git clone https://https://github.com/DLR-KI/pycasx.git +``` + +_Optional:_ create yourself a virtual environment and activate it. + +```shell +pip install virtualenv +virtualenv .pycasx-venv +source .pycasx-venv/bin/activate +``` + +Now, install the package via + +```shell +pip install -e . +``` + +for basic features. + +**NOTE:** for some virtual environments, especially with Windows, you might need to use `python` instead of `python3` and might also need to use `python -m pip` instead of `pip`. + +### Development + +First, clone the repository into a directory of your choice: + +```shell +git clone https://https://github.com/DLR-KI/pycasx.git +``` + +Then, it is recommended to create a virtual environment for the software: + +```shell +pip install virtualenv +virtualenv .pycasx-venv +source .pycasx-venv/bin/activate +``` + +Afterwards, install the software and its dependencies: + +```shell +pip install -e '.[all]' +``` + +Next, install the provided pre-commit hooks: + +```shell +pre-commit install +``` + +### `pre-commit` + +Prior to any commit, the hooks defined in [`.pre-commit-config.yaml`](./.pre-commit-config.yaml) will be ran. +A failure in any hook will block the commit. +Although, most of the errors, like formatting, will correct themselves. +You just have to re-add all changed files and commit again. +Be also aware, that the pipeline can take a few seconds to complete. + +Alternatively, you can run the pipeline at any time to invoke changes before they block commits with + +```shell +pre-commit run --all-files +``` + +Running the pre-commit pipeline manually once before the first commit is recommended. +It will install all required tools and dependencies and you'll see what's going on. +Otherwise you might be surprised why committing takes so long. + +### VS Code + +For VS Code, we provide a set of recommended extensions. +Please install them to smooth the development process. +You'll find them in your extensions tab under the _Workspace Recommendations_ section. + +## Usage + +This package provides a command-line interface with the `pycasx` command. +General information is available via `pycasx [-h|--help]` and the current version via `pycasx [-v|--version]`. +All other commands are explained in the following. + +### Launching ACAS X + +You can launch FlightGear via + +```shell +pycasx launch +``` + +Once FlightGear is up and running, just run: + +```shell +pycasx acasx +``` + +This will start the ACAS X with the default settings. + +### Other options + +#### `onnx` or `make_onnx` + +```shell +pycasx onnx +``` + +Convert the provided `.nnet` files into `.onnx` files. +This is required if one wants to use the ONNX or PyTorch backend. +**BE WARNED: BOTH THE ONNX AND PYTORCH BACKEND ARE EXPERIMENTAL AND NOT FULLY TESTED. THE RESULTING ADVISORIES ARE NOT VALID!** + +#### `launch` + +```shell +pycasx launch +``` + +Launch FlightGear with options defined in [`pycasx/cli/launch.py`](./pycasx/cli/launch.py). + +#### `acasx` + +```shell +pycasx acasx +``` + +Runs the ACAS X with the default settings. +This includes the API backend to fetch the advisories via REST calls. +Please see the official documentation for more information. + +### Overwriting parameters + +Every launch script has a set of default parameters. +Those are handled via [Hydra](https://hydra.cc/). +Accordingly, overwriting parameters can be achieved by following the [Hydra documentation](https://hydra.cc/docs/advanced/override_grammar/basic/). + +Nevertheless, overwriting (or adding) new default properties for `pycasx launch` is not as straight forward as one might try. +The correct syntax to overwrite (or add) a default property is + +```shell +pycasx launch ++prop='{/autopilot/settings/target-speed-kt: 123456789}' +``` + +## Citation + +If you found our work useful, please cite our paper: + +```text +@InProceedings{Christensen2024, + author = {Christensen, Johann Maximilian and Anilkumar Girija, Akshay and Stefani, Thomas and Durak, Umut and Hoemann, Elena and K{\"{o}}ster, Frank and Kr{\"{u}}ger, Thomas and Hallerbach, Sven}, + booktitle = {36th {IEEE} International Conference on Tools with Artificial Intelligence ({ICTAI})}, + date = {2024-10}, + title = {Advancing the AI-Based Realization of ACAS X Towards Real-World Application}, +} +``` diff --git a/REUSE.toml b/REUSE.toml new file mode 100644 index 0000000..b2fd34f --- /dev/null +++ b/REUSE.toml @@ -0,0 +1,20 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +version = 1 + +[[annotations]] +SPDX-FileCopyrightText = "German Aerospace Center (DLR) " +SPDX-License-Identifier = "MIT" +path = "VERSION" + +[[annotations]] +SPDX-FileCopyrightText = "German Aerospace Center (DLR) " +SPDX-License-Identifier = "MIT" +path = "pycasx/py.typed" + +[[annotations]] +SPDX-FileCopyrightText = "German Aerospace Center (DLR) " +SPDX-License-Identifier = "MIT" +path = ".vscode/*.json" diff --git a/VERSION b/VERSION new file mode 100644 index 0000000..1750564 --- /dev/null +++ b/VERSION @@ -0,0 +1 @@ +0.0.6 diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 0000000..3130df8 --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,24 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = . +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/_static/.gitkeep b/docs/_static/.gitkeep new file mode 100644 index 0000000..f380434 --- /dev/null +++ b/docs/_static/.gitkeep @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT diff --git a/docs/conf.py b/docs/conf.py new file mode 100644 index 0000000..b4d437c --- /dev/null +++ b/docs/conf.py @@ -0,0 +1,66 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Configuration file for the Sphinx documentation builder. + +For the full list of built-in configuration values, see the documentation: +https://www.sphinx-doc.org/en/master/usage/configuration.html + +-- Project information ----------------------------------------------------- +https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information +""" +import os +import sys + +sys.path.insert(0, os.path.abspath("..")) + +project = "pyCASX" +copyright = "2024, German Aerospace Center (DLR) (https://dlr.de)" # noqa: A001 +author = "Johann Christensen" +release = "0.0.6" + +# -- General configuration --------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration + +extensions = [ + "sphinx_rtd_theme", + "sphinx.ext.autodoc", + "sphinx.ext.autosectionlabel", + "sphinx.ext.autosummary", + "sphinx.ext.coverage", + "sphinx.ext.intersphinx", + "sphinx.ext.napoleon", + "autoapi.extension", +] +autosectionlabel_prefix_document = True +autodoc_typehints = "description" +autosummary_generate = True + +# Napoleon settings +napoleon_google_docstring = True +napoleon_numpy_docstring = True +napoleon_include_init_with_doc = True +napoleon_include_private_with_doc = True +napoleon_include_special_with_doc = True +napoleon_use_admonition_for_examples = False +napoleon_use_admonition_for_notes = False +napoleon_use_admonition_for_references = False +napoleon_use_ivar = False +napoleon_use_param = True +napoleon_use_rtype = True + +autoapi_dirs = ["../pycasx"] + +intersphinx_mapping = { + "python": ("http://docs.python.org/3", None), +} + +templates_path = ["_templates"] +exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"] + + +# -- Options for HTML output ------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output + +html_theme = "sphinx_rtd_theme" +html_static_path = ["_static"] diff --git a/docs/guide/api.rst b/docs/guide/api.rst new file mode 100644 index 0000000..35f3557 --- /dev/null +++ b/docs/guide/api.rst @@ -0,0 +1,246 @@ +.. SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +.. +.. SPDX-License-Identifier: CC-BY-4.0 +API Mode +======== + +The API mode is a FastAPI application that exposes a REST API to interact with the ACAS X. +This endpoint can be used to create new applications with the ACAS X running on a secondary system. + +Usage +----- + +The API mode is per default included in the :code:`acasx` command option. +Thus, to start the API mode, simply run: + +.. code-block:: bash + + pycasx acasx + +This will start the API mode on the default port of 8008. +To change the port, use the ``api.port`` option: + +.. code-block:: bash + + pycasx acasx api.port 8080 + +Endpoints +--------- + +The following endpoints are available to query. + +:code:`/docs` +^^^^^^^^^^^^^ + +The documentation for the API is available at ``/docs``. +The full URL is http://localhost:8008/docs by default. + +:code:`/` +^^^^^^^^^ + +The root endpoint (http://localhost:8008/) is used to query the status of the ACAS X. +It returns a JSON object with the following fields: + +.. code-block:: json + + { + "hcas": { + "advisory": { + "value": 0, + "name": "COC" + }, + "connector": "adsb" + }, + "vcas": { + "advisory": { + "value": 4, + "name": "CL1500" + }, + "connector": "adsb" + }, + "timestamp": 1318377600.0 + } + +:code:`/ownship` +^^^^^^^^^^^^^^^^ + +This endpoint returns the current state of the ownship. + +.. code-block:: json + + { + "call_sign": "FG-4229", + "altitude": 10732.387208, + "vertical_speed": -0.037046, + "true_airspeed": 507.070057184784, + "heading": 0.652215, + "latitude": 72.135595, + "longitude": -22.531261, + "timestamp": 1706103314.730101 + } + +:code:`/intruders` and :code:`/intruders/{call_sign}` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +This endpoint returns a list of all intruders currently tracked by the ACAS X. +The default units are: + +.. list-table:: Default units for the intruder description + :widths: 50 50 + :header-rows: 1 + + * - Parameter + - Unit + * - Altitude + - ft + * - Vertical speed + - ft/s + * - Airspeed + - kt + * - Heading + - deg + * - Latitude + - deg + * - Longitude + - deg + * - Rho + - ft + * - Theta + - deg + * - Psi + - deg + * - V_own + - ft/s + * - V_int + - ft/s + * - Tau + - s + * - h + - ft + * - hdot_own + - ft/min + * - hdot_int + - ft/min + +For example for :code:`/intruders` this will be similar to: + +.. code-block:: json + + { + "INTRUDER": { + "aircraft": { + "call_sign": "INTRUDER", + "altitude": 10000.0, + "vertical_speed": 0.0, + "airspeed": 451.0, + "heading": 179.977692, + "latitude": 64.954861, + "longitude": -22.649997000000003 + }, + "triggers_nmac": false, + "hcas_advisory": -1, + "vcas_advisory": -1, + "hcas_state_variables": { + "rho": 80576.60919363388, + "theta": -178.61455181770793, + "psi": 181.25831800000003, + "v_own": 242.19262819699622, + "v_int": 761.2022455526394, + "tau": -80.29262490733487, + "s_adv": -1 + }, + "vcas_state_variables": { + "h": 8222.950633, + "hdot_own": -1299.29958, + "hdot_int": 0.0, + "tau": -80.29262490733487, + "s_adv": -1 + }, + "timestamp": 1318377600.0 + }, + "LH857": { + "aircraft": { + "call_sign": "LH857", + "altitude": 170.0, + "vertical_speed": 0.0, + "airspeed": 0.0, + "heading": 44.19180200000001, + "latitude": 63.99276900000001, + "longitude": -22.625786 + }, + "triggers_nmac": false, + "hcas_advisory": -1, + "vcas_advisory": -1, + "hcas_state_variables": { + "rho": 86663.27074856794, + "theta": -178.8139020362879, + "psi": 317.044208, + "v_own": 242.19262819699622, + "v_int": 0.0, + "tau": -357.8277279156412, + "s_adv": -1 + }, + "vcas_state_variables": { + "h": -1607.049367, + "hdot_own": -1299.29958, + "hdot_int": 0.0, + "tau": -357.8277279156412, + "s_adv": -1 + }, + "timestamp": 1318377600.0 + }, + "timestamp": 1318377600.0 + } + +and for :code:`/intruders/INTRUDER` similar to: + +.. code-block:: json + + { + "aircraft": { + "call_sign": "INTRUDER", + "altitude": 10000.0, + "vertical_speed": 0.0, + "airspeed": 451.0, + "heading": 179.951324, + "latitude": 64.916918, + "longitude": -22.649914 + }, + "triggers_nmac": false, + "hcas_advisory": -1, + "vcas_advisory": -1, + "hcas_state_variables": { + "rho": 81163.99381904684, + "theta": -178.58743469905303, + "psi": 182.94445599999997, + "v_own": 237.5529283537475, + "v_int": 761.2022455526394, + "tau": -81.2774401291326, + "s_adv": -1 + }, + "vcas_state_variables": { + "h": 9991.170899, + "hdot_own": -511.55333999999993, + "hdot_int": 0.0, + "tau": -81.2774401291326, + "s_adv": -1 + }, + "timestamp": 1318377600.0 + } + +:code:`/hcas` and :code:`/vcas` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +These endpoints return just the status of the current CAS system, similar to the root endpoint. + +:code:`/connector` +^^^^^^^^^^^^^^^^^^ + +This endpoints can be used to PUT a new connector for the ACAS X to use. +The only connector currently supported is the generic ``adsb`` connector. + +An exemplary PUT request would be: + +.. code-block:: bash + + curl -X 'PUT' 'http://0.0.0.0:8008/connector?connection=adsb' -H 'accept: application/json'r diff --git a/docs/guide/autoavoid.rst b/docs/guide/autoavoid.rst new file mode 100644 index 0000000..d76a02d --- /dev/null +++ b/docs/guide/autoavoid.rst @@ -0,0 +1,101 @@ +.. SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +.. +.. SPDX-License-Identifier: CC-BY-4.0 + +Autoavoid +========== + +The :code:`pyCASX` packages comes with a basic autoavoid command. +The command is indented only to extend the functionality of FlightGear's built-in autopilot by allowing to apply ACAS X advisories provided by the :code:`pyCASX` package. + +Preparation +----------- + +The autoavoid command is intended to work with a modified version of the [737-200](https://github.com/FGMEMBERS/737-200). +Currently, the modding has to be performed manually, later versions will ship a custom airplane already pre-modded. + +Modding the 737-200 +^^^^^^^^^^^^^^^^^^^ + +In the root directory of the 737-200, open the file :code:`Systems/737-autoflight.xml` and replace two controllers. + +:code:`altitude-hold` +""""""""""""""""""""" + +Replace the first stage of the :code:`altitude-hold` controller with the following code: + +.. code-block:: xml + + + Altitude Hold (Altimeter) Stage #1 + false + + autopilot/locks/altitude + altitude-hold + + + position/altitude-ft + + + autopilot/settings/target-altitude-ft + + + autopilot/internal/target-climb-rate-fps + + + 0.05 + 0.0 + -25.0 + 40.0 + + + +:code:`wing-leveler` +"""""""""""""""""""" + +Replace the :code:`wing-leveler` controller with the following code: + +.. code-block:: xml + + + Wing Leveler (Turn Indicator) + false + + autopilot/locks/heading + wing-leveler + + + orientation/roll-deg + + + autopilot/settings/target-bank-angle-deg + + + controls/flight/aileron + + + 0.02 + 1.0 + 0.1 + 0.0 + 10.0 + 0.00001 + -1.0 + 1.0 + + + + +Usage +----- + +The autoavoid command is a simple command line tool, integrated into the :code:`pycasx acasx` command, that can be used to control the autopilot of the 737-200. +It uses the advisories provided by the :code:`pyCASX` package to control the autopilot. + +The autoavoid can be started by running the following command: + +.. code-block:: bash + + pycasx acasx autoavoid.active=True autoavoid.mode=[hcas|vcas] + +The :code:`autoavoid.active` parameter is disabled by default to not interfere with the normal operation of the autopilot. diff --git a/docs/guide/install.rst b/docs/guide/install.rst new file mode 100644 index 0000000..ff110d6 --- /dev/null +++ b/docs/guide/install.rst @@ -0,0 +1,127 @@ +.. SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +.. +.. SPDX-License-Identifier: CC-BY-4.0 + +Install Guide +============= + +Please read the following sections carefully before installing the software to avoid any problems. + +Requirements +------------ + +* Python 3.8 or higher (3.12 is currently not supported) +* `FlightGear `_ 2020.3.18 or higher + +Users +----- + +.. TIP:: + If you only want to use :code:`pycasx` as a command-line tool and not develop it, you can install it via :code:`pip` or :code:`pipx`. + However, :code:`pipx` is recommended, as it will install the package in an isolated environment and thus not interfere with other packages. + +Installation via :code:`pipx` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Ensure you have `pipx `_ installed. +If not, install it via + +.. code-block:: bash + + python3 -m pip install --user pipx + python3 -m pipx ensurepath + +Afterwards, install `pycasx` via + +.. code-block:: bash + + pipx install git+https://https://github.com/DLR-KI/pycasx.git + +Installation via :code:`pip` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. WARNING:: + This is not recommended! + Proceed at your own risk! + For just using the package, :code:`pipx` is recommended. + +First, clone the repository into a directory of your choice: + +.. code-block:: bash + + git clone https://https://github.com/DLR-KI/pycasx.git + +Then, it is recommended to create a virtual environment for the software: + +.. code-block:: bash + + pip install virtualenv + virtualenv .pycasx-venv + source .pycasx-venv/bin/activate + +Afterwards, install the software and its dependencies: + +.. code-block:: bash + + pip install -e . + +.. NOTE:: + For some virtual environments, especially with Windows, you might need to use :code:`python` instead of :code:`python3` and might also need to use :code:`python -m pip` instead of :code:`pip`. + +Developers +---------- + +Installation +^^^^^^^^^^^^ + +First, clone the repository into a directory of your choice: + +.. code-block:: bash + + git clone https://https://github.com/DLR-KI/pycasx.git + +Then, it is recommended to create a virtual environment for the software: + +.. code-block:: bash + + pip install virtualenv + virtualenv .pycasx-venv + source .pycasx-venv/bin/activate + +Afterwards, install the software and its dependencies: + +.. code-block:: bash + + pip install -e '.[all]' + +Next, install the provided pre-commit hooks: + +.. code-block:: bash + + pre-commit install + +pre-commit +^^^^^^^^^^ + +Prior to any commit, the hooks defined in `.pre-commit-config.yaml `_ will be ran. +A failure in any hook will block the commit. +Although, most of the errors, like formatting, will correct themselves. +You just have to re-add all changed files and commit again. +Be also aware, that the pipeline can take a few seconds to complete. + +Alternatively, you can run the pipeline at any time to invoke changes before they block commits with + +.. code-block:: bash + + pre-commit run --all-files + +Running the pre-commit pipeline manually once before the first commit is recommended. +It will install all required tools and dependencies and you'll see what's going on. +Otherwise you might be surprised why committing takes so long. + +VS Code +^^^^^^^ + +For VS Code, we provide a set of recommended extensions. +Please install them to smooth the development process. +You'll find them in your extensions tab under the *Workspace Recommendations* section. diff --git a/docs/guide/quick_start.rst b/docs/guide/quick_start.rst new file mode 100644 index 0000000..6cebed6 --- /dev/null +++ b/docs/guide/quick_start.rst @@ -0,0 +1,83 @@ +.. SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +.. +.. SPDX-License-Identifier: CC-BY-4.0 + +Quick Start +=========== + +This package provides a command-line interface with the :code:`pycasx` command. +General information is available via :code:`pycasx [-h|--help]` and the current version via :code:`pycasx [-v|--version]`. +All other commands are explained in the following. + +Launching ACAS X +---------------- + +You can launch FlightGear via + +.. code-block:: bash + + pycasx launch + +Once FlightGear is up and running, just run: + +.. code-block:: bash + + pycasx acasx + +This will start the ACAS X with the default settings. + +Command Line Interface +---------------------- + +The :code:`pyCASX` package comes with a command line interface (CLI) that allows to run different applications. +Following are the most common commands. + +:code:`onnx` or :code:`make_onnx` +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: bash + + pycasx onnx + +Convert the provided :code:`.nnet` files into :code:`.onnx` files. +This is required if one wants to use the ONNX or PyTorch backend. + +.. WARNING:: + Both the ONNX and PyTorch backend are experimental and not fully tested. + The resulting advisories are not necessarily valid! + +:code:`launch` +^^^^^^^^^^^^^^ + +.. code-block:: bash + + pycasx launch + +Launch FlightGear with options defined in `pycasx/cli/launch.py `_. + +:code:`acasx` +^^^^^^^^^^^^^^ + +.. code-block:: bash + + pycasx acasx + + +Runs the ACAS X with the default settings. +This includes the API backend to fetch the advisories via REST calls. +Please see the official documentation for more information. + +Overwriting parameters +---------------------- + +Every launch script has a set of default parameters. +Those are handled via `Hydra `_. +Accordingly, overwriting parameters can be achieved by following the `Hydra documentation `_. + +Nevertheless, overwriting (or adding) new default properties for :code:`pycasx launch` is not as straight forward as one might try. +The correct syntax to overwrite (or add) a default property is + + +.. code-block:: bash + + pycasx launch ++prop='{/autopilot/settings/target-speed-kt: 123456789}' diff --git a/docs/index.rst b/docs/index.rst new file mode 100644 index 0000000..3065518 --- /dev/null +++ b/docs/index.rst @@ -0,0 +1,45 @@ +.. SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +.. +.. SPDX-License-Identifier: CC-BY-4.0 +.. +.. pyCASX documentation master file, created by + sphinx-quickstart on Tue Dec 12 14:35:10 2023. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +:code:`pyCASX` -- A Python implementation of ACAS X\ :sub:`A` and ACAS X\ :sub:`U` for Flightgear +================================================================================================= + +Implementation of ACAS X\ :sub:`A` and ACAS X\ :sub:`U` with neural networks for FlightGear. + +Description +----------- + +Implementation of Horizontal- and VerticalCAS using neural networks for `FlightGear `_. +The HCAS and VCAS implementations are based upon Stanford Intelligent Systems Laboratory's `HorizontalCAS `_ and `VerticalCAS `_. + +General Information +------------------- + +If you are just using :code:`pyCASX` for Flightgear, you can skip the developer guide and the API reference. +But if you want to contribute to the project, you should read the developer guide and especially follow the install instructions there. + +.. toctree:: + :maxdepth: 1 + :caption: User Guide + + guide/install + guide/quick_start + guide/autoavoid + guide/api + +.. toctree:: + :maxdepth: 1 + :caption: Python API Reference + +Indices and tables +------------------- + +* :ref:`genindex` +* :ref:`search` +* :ref:`modindex` diff --git a/docs/make.bat b/docs/make.bat new file mode 100644 index 0000000..8179306 --- /dev/null +++ b/docs/make.bat @@ -0,0 +1,38 @@ +@REM SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +@REM +@REM SPDX-License-Identifier: MIT +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=. +set BUILDDIR=_build + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +if "%1" == "" goto help + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/pycasx/__init__.py b/pycasx/__init__.py new file mode 100644 index 0000000..51ea48a --- /dev/null +++ b/pycasx/__init__.py @@ -0,0 +1,9 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Root level init.""" +from __future__ import annotations + +from importlib.metadata import version + +__version__ = version("pycasx") diff --git a/pycasx/acas/__init__.py b/pycasx/acas/__init__.py new file mode 100644 index 0000000..a5ba786 --- /dev/null +++ b/pycasx/acas/__init__.py @@ -0,0 +1,597 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Main module to calculate advisories.""" + +from __future__ import annotations + +import math +import time +from dataclasses import dataclass +from enum import IntEnum +from pathlib import Path +from typing import Any, Dict, Literal, Protocol, Union + +import numpy as np +import numpy.typing as npt +import pint +import pint.facets +import pyproj +from onnx.onnx_ml_pb2 import ModelProto +from torch.fx import GraphModule +from typing_extensions import TypeAlias, TypedDict + +from pycasx.tools.NNet.nnet import NNet + +ModelDict: TypeAlias = Union[ + Dict[str, NNet], Dict[str, ModelProto], Dict[str, GraphModule] +] +Quantity: TypeAlias = pint.facets.plain.PlainQuantity + + +DEFAULT_MODEL_PATH = Path(Path(__file__).parent.parent, "assets", "neural_networks") +DEFAULT_HCAS_MODEL_PATH = Path(DEFAULT_MODEL_PATH, "hcas") +DEFAULT_VCAS_MODEL_PATH = Path(DEFAULT_MODEL_PATH, "vcas") + + +ureg = pint.UnitRegistry(auto_reduce_dimensions=True, cache_folder=":auto:") +pint.set_application_registry(ureg) + + +def check_for_loss_of_separation( + ac_1: Aircraft, + ac_2: Aircraft, + h_lim: Quantity = 500 * ureg.feet, + v_lim: Quantity = 100 * ureg.feet, +) -> tuple[bool, bool]: + """Checks whether two aircraft will lose separation. + + This function determines whether two aircraft will lose separation + based on their current positions and speeds. The function assumes + that the aircraft are flying in a straight line without changes in + speed or direction. + + Args: + ac_1 (Aircraft): The first aircraft. + ac_2 (Aircraft): The second aircraft. + h_lim (Quantity): The horizontal separation limit. + v_lim (Quantity): The vertical separation limit. + + Returns: + tuple[bool, bool]: A tuple of two booleans. The first boolean + indicates whether the aircraft will lose horizontal + separation, the second boolean indicates whether the + aircraft will lose vertical separation (True if possible + collision is detected). + + Raises: + ValueError: Raised if the horizontal separation is not a length + or the vertical separation is not a length. + """ + if not h_lim.is_compatible_with(ureg.foot): + raise ValueError("Horizontal separation must be a length.") + if not v_lim.is_compatible_with(ureg.foot): + raise ValueError("Vertical separation must be a length.") + + geodesic = pyproj.Geod(ellps="WGS84") + fwd_azimuth, _, dist = geodesic.inv( + ac_1.longitude.to(ureg.degree).magnitude, + ac_1.latitude.to(ureg.degree).magnitude, + ac_2.longitude.to(ureg.degree).magnitude, + ac_2.latitude.to(ureg.degree).magnitude, + ) + fwd_azimuth *= ureg.degree + dist *= ureg.meter + + # Calculate tau according to https://doi.org/10.2514/6.2019-2832 + # Errico, A. and Di Vito, V. (2019): Methodology for Estimation of + # Closest Point of Approach between Aircraft in ATM + # + # Ensure all units are in SI and all variable are magnitude only + v_1 = ac_1.true_airspeed.to(ureg.meter / ureg.second).magnitude + v_2 = ac_2.true_airspeed.to(ureg.meter / ureg.second).magnitude + rho = dist.to(ureg.meter).magnitude + u = np.array( + [ + v_1 * math.sin(ac_1.heading.to(ureg.radian).magnitude), + v_1 * math.cos(ac_1.heading.to(ureg.radian).magnitude), + ] + ) + v = np.array( + [ + v_2 * math.sin(ac_2.heading.to(ureg.radian).magnitude), + v_2 * math.cos(ac_2.heading.to(ureg.radian).magnitude), + ] + ) + w_0 = np.array( + [ + rho * math.sin(fwd_azimuth.to(ureg.radian).magnitude), + rho * math.cos(fwd_azimuth.to(ureg.radian).magnitude), + ] + ) + + tau = float((np.dot(w_0, (u - v))) / (np.dot(u - v, u - v))) * ureg.second + + # Calculate the horizontal and vertical separation + ac_1_lon, ac_1_lat, _ = geodesic.fwd( + lons=ac_1.longitude.to(ureg.degree).magnitude, + lats=ac_1.latitude.to(ureg.degree).magnitude, + az=ac_1.heading.to(ureg.degree).magnitude, + dist=v_1 * tau, + ) + ac_2_lon, ac_2_lat, _ = geodesic.fwd( + lons=ac_2.longitude.to(ureg.degree).magnitude, + lats=ac_2.latitude.to(ureg.degree).magnitude, + az=ac_2.heading.to(ureg.degree).magnitude, + dist=v_2 * tau, + ) + _, _, h_sep = geodesic.inv( + lons1=ac_1_lon, + lats1=ac_1_lat, + lons2=ac_2_lon, + lats2=ac_2_lat, + ) + h_sep = h_sep * ureg.meter + v_sep = (ac_1.altitude - ac_2.altitude) + ( + ac_1.vertical_speed - ac_2.vertical_speed + ) * tau + + return h_sep <= h_lim, v_sep <= v_lim + + +class HCASAdvisories(IntEnum): + """The advisories of the HCAS model. + + Attributes: + INOP: inoperative + OFF: off + ACTIVE: active + COC: clear of conflict + WL: weak left + WR: weak right + SL: strong left + SR: strong right + """ + + INOP = -3 + OFF = -2 + ACTIVE = -1 + COC = 0 + WL = 1 + WR = 2 + SL = 3 + SR = 4 + + +class VCASAdvisories(IntEnum): + """The advisories of the VCAS model. + + Attributes: + INOP: inoperative + OFF: off + ACTIVE: active + COC: clear of conflict + DNC: do not climb + DND: do not descend + DES1500: descend >=1500 ft/min + CL1500: climb >=1500 ft/min + SDES1500: strengthen descend to >=1500 ft/min + SCL1500: strengthen climb to >=1500 ft/min + SDES2500: strengthen descend to >=2500 ft/min + SCL2500: strengthen climb to >=2500 ft/min + """ + + INOP = -3 + OFF = -2 + ACTIVE = -1 + COC = 0 + DNC = 1 + DND = 2 + DES1500 = 3 + CL1500 = 4 + SDES1500 = 5 + SCL1500 = 6 + SDES2500 = 7 + SCL2500 = 8 + + +@dataclass(frozen=True) +class HCASStateVariables: + """The state variables of the HCAS model. + + Attributes: + rho (Quantity): range to intruder, measured in feet. + theta (Quantity): bearing angle to intruder, measured in + degrees. + psi (Quantity): relative heading angle of intruder, measured in + degrees. + v_own (Quantity): ownship speed, measured in feet per second. + v_int (Quantity): intruder speed, measured in feet per second. + tau (Quantity): time to loss of vertical separation, measured in + seconds. + s_adv (HCASAdvisories): previous advisory. + """ + + rho: Quantity + theta: Quantity + psi: Quantity + v_own: Quantity + v_int: Quantity + tau: Quantity + s_adv: HCASAdvisories + + +@dataclass(frozen=True) +class VCASStateVariables: + """The state variables of the VCAS model. + + Attributes: + h (Quantity): relative intruder altitude, measured in feet. + hdot_own (Quantity): ownship vertical rate, measured in feet + per minute. + hdot_int (Quantity): intruder vertical rate, measured in feet + per minute. + tau (Quantity): time to loss of horizontal separation, measured + in seconds. + s_adv (VCASAdvisories): previous advisory. + """ + + h: Quantity + hdot_own: Quantity + hdot_int: Quantity + tau: Quantity + s_adv: VCASAdvisories + + +@dataclass +class Aircraft: + """A generic aircraft class to save important state information. + + Although this dataclass relies on Pint for unit handling, default + units are given in the docstring for each attribute. + + Attributes: + call_sign (str): The call_sign of the aircraft. + altitude (Quantity): The aircraft's current altitude, measured + in feet. + vertical_speed (Quantity): The aircraft's current vertical + speed, measured in feet per second. + true_airspeed (Quantity): The aircraft's current true airspeed, + measured in knots. + heading (Quantity): The aircraft's current heading, measured in + degrees. + latitude (Quantity): The aircraft's current latitude, measured + in degrees. + longitude (Quantity): The aircraft's current longitude, measured + in degrees. + """ + + call_sign: str + altitude: Quantity + vertical_speed: Quantity + true_airspeed: Quantity + heading: Quantity + latitude: Quantity + longitude: Quantity + + +@dataclass +class Intruder: + """An intruder representation relying also on advisory data. + + Attributes: + aircraft (Aircraft): The aircraft data. + hcas_advisory (HCASAdvisories): The HCAS advisory. + vcas_advisory (VCASAdvisories): The VCAS advisory. + hcas_state_variables (HCASStateVariables): The HCAS state with + respect to the ownship. + vcas_state_variables (VCASStateVariables): The VCAS state with + respect to the ownship. + """ + + aircraft: Aircraft + hcas_advisory: HCASAdvisories + vcas_advisory: VCASAdvisories + hcas_state_variables: HCASStateVariables + vcas_state_variables: VCASStateVariables + + @property + def triggers_nmac(self) -> bool: + """Whether the intruder triggers a near mid-air collision for the + ownship. + + A near mid-air collision (NMAC) is defined as a loss of + separation between two aircraft that endangers the safety of the + aircraft involved. The boundary for a NMAC is defined as 500 ft + horizontally and 100 ft vertically. + + Returns: + bool: Whether the intruder triggers a NMAC. + """ + return ( + self.hcas_state_variables.rho < 500 * ureg.feet + and abs(self.vcas_state_variables.h) < 100 * ureg.feet + ) + + +class ACASXProtocol(Protocol): + """Protocol for an ACAS X model. + + Provides crucial typing info for the mixin classes. + """ + + @property + def model_dict(self) -> dict[str, Any]: + """The dictionary of models.""" + ... # pylint: disable=W2301 + + @property + def ownship(self) -> Aircraft: + """The ownship's state.""" + ... # pylint: disable=W2301 + + def evaluate( + self, model_name: str, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Evaluate a CAS model. + + Args: + model_name (str): Name of the model to evaluate from the + model dictionary. + inputs (npt.NDArray[np.float32]): The inputs to the model. + + Returns: + npt.NDArray[np.float32]: The outputs of the model. + + Raises: + NotImplementedError: Raised if the requested backend is not + implemented. + """ + ... # pylint: disable=W2301 + + +HCAS_ACTIONS: dict[HCASAdvisories, float | str | None] = { + HCASAdvisories.INOP: None, + HCASAdvisories.OFF: None, + HCASAdvisories.ACTIVE: "reset", + HCASAdvisories.COC: None, + HCASAdvisories.WL: 1.5, + HCASAdvisories.WR: -1.5, + HCASAdvisories.SL: 3.0, + HCASAdvisories.SR: -3.0, +} + +VCAS_ACTIONS: dict[VCASAdvisories, float | str | None] = { + VCASAdvisories.INOP: None, + VCASAdvisories.OFF: None, + VCASAdvisories.ACTIVE: "reset", + VCASAdvisories.COC: None, + VCASAdvisories.DNC: 0.0, + VCASAdvisories.DND: 0.0, + VCASAdvisories.DES1500: -1500.0, + VCASAdvisories.CL1500: 1500.0, + VCASAdvisories.SDES1500: -2000.0, + VCASAdvisories.SCL1500: 2000.0, + VCASAdvisories.SDES2500: -2500.0, + VCASAdvisories.SCL2500: 2500.0, +} + + +class AdvisoryDict(TypedDict): + """The advisory dictionary. + + Attributes: + value (int): The advisory value. + name (str): The advisory name. + """ + + value: int + name: str + + +class SystemInfo(TypedDict): + """The information about a CAS system. + + Attributes: + advisory (AdvisoryDict): The advisory information. + connector (str): The connector name. + timestamp (float): The timestamp of the information. + """ + + advisory: AdvisoryDict + connector: Literal["adsb"] + timestamp: float + + +class RootInfo(TypedDict): + """The information all CAS systems. + + Attributes: + hcas (SystemInfo): The HCAS information. + vcas (SystemInfo): The VCAS information. + timestamp (float): The timestamp of the information. + """ + + hcas: SystemInfo + vcas: SystemInfo + timestamp: float + + +@dataclass(frozen=True) +class APIHCASStateVariables: + """The state variables of the HCAS model. + + Attributes: + rho (float): range to intruder, measured in feet. + theta (float): bearing angle to intruder, measured in degrees. + psi (float): relative heading angle of intruder, measured in + degrees. + v_own (float): ownship speed, measured in feet per second. + v_int (float): intruder speed, measured in feet per second. + tau (float): time to loss of vertical separation, measured in + seconds. + s_adv (HCASAdvisories): previous advisory. + """ + + rho: float + theta: float + psi: float + v_own: float + v_int: float + tau: float + s_adv: HCASAdvisories + + +@dataclass(frozen=True) +class APIVCASStateVariables: + """The state variables of the VCAS model. + + Attributes: + h (float): relative intruder altitude, measured in feet. + hdot_own (float): ownship vertical rate, measured in feet per + minute. + hdot_int (float): intruder vertical rate, measured in feet per + minute. + tau (float): time to loss of horizontal separation, measured in + seconds. + s_adv (VCASAdvisories): previous advisory. + """ + + h: float + hdot_own: float + hdot_int: float + tau: float + s_adv: VCASAdvisories + + +@dataclass +class AutoavoidInfo: # pylint: disable=too-many-instance-attributes + """An extended aircraft representation including the current timestamp. + + Attributes: + active (bool): Whether autoavoid is active. + mode (Optional[Literal["hcas", "vcas"]]): The autoavoid mode to + use. + action (Optional[float]): The action to take. + command (Optional[float]): The command issued to FlightGear. + timestamp (float): The timestamp of the information. + """ + + active: bool + mode: Literal["hcas", "vcas"] | None + action: float | None + command: float | None + timestamp: float + + +@dataclass +class ExtendedAircraft: # pylint: disable=too-many-instance-attributes + """An extended aircraft representation including the current timestamp. + + Attributes: + call_sign (str): The call_sign of the aircraft. + altitude (float): The aircraft's current altitude, measured + in feet. + vertical_speed (float): The aircraft's current vertical + speed, measured in feet per second. + true_airspeed (float): The aircraft's current true airspeed, + measured in knots. + heading (float): The aircraft's current heading, measured in + degrees. + latitude (float): The aircraft's current latitude, measured + in degrees. + longitude (float): The aircraft's current longitude, measured + in degrees. + timestamp (float): The timestamp of the information. + """ + + call_sign: str + altitude: float + vertical_speed: float + true_airspeed: float + heading: float + latitude: float + longitude: float + timestamp: float + + +@dataclass +class ExtendedIntruder: + """An extended intruder representation relying also on advisory data. + + Attributes: + aircraft (Aircraft): The aircraft data. + triggers_nmac (bool): Whether the intruder triggers a near + mid-air collision for the ownship. + hcas_advisory (HCASAdvisories): The HCAS advisory. + vcas_advisory (VCASAdvisories): The VCAS advisory. + hcas_state_variables (HCASStateVariables): The HCAS state with + respect to the ownship. + vcas_state_variables (VCASStateVariables): The VCAS state with + respect to the ownship. + timestamp (float): The timestamp of the information. + """ + + aircraft: ExtendedAircraft + triggers_nmac: bool + hcas_advisory: HCASAdvisories + vcas_advisory: VCASAdvisories + hcas_state_variables: APIHCASStateVariables + vcas_state_variables: APIVCASStateVariables + timestamp: float + + +def extend_intruder(intruder: Intruder) -> ExtendedIntruder: + """Extend the intruder with additional information. + + This will make the intruder JSON serializable and add the + `triggers_nmac` attribute. + + Args: + intruder (Intruder): The intruder to extend. + + Returns: + ExtendedIntruder: The extended intruder. + """ + return ExtendedIntruder( + aircraft=ExtendedAircraft( + call_sign=intruder.aircraft.call_sign, + altitude=intruder.aircraft.altitude.to(ureg.foot).magnitude, + vertical_speed=intruder.aircraft.vertical_speed.to( + ureg.foot / ureg.second + ).magnitude, + true_airspeed=intruder.aircraft.true_airspeed.to(ureg.knots).magnitude, + heading=intruder.aircraft.heading.to(ureg.degree).magnitude, + latitude=intruder.aircraft.latitude.to(ureg.degree).magnitude, + longitude=intruder.aircraft.longitude.to(ureg.degree).magnitude, + timestamp=time.time(), + ), + triggers_nmac=intruder.triggers_nmac, + hcas_advisory=intruder.hcas_advisory, + vcas_advisory=intruder.vcas_advisory, + hcas_state_variables=APIHCASStateVariables( + rho=intruder.hcas_state_variables.rho.to(ureg.foot).magnitude, + theta=intruder.hcas_state_variables.theta.to(ureg.degree).magnitude, + psi=intruder.hcas_state_variables.psi.to(ureg.degree).magnitude, + v_own=intruder.hcas_state_variables.v_own.to( + ureg.foot / ureg.second + ).magnitude, + v_int=intruder.hcas_state_variables.v_int.to( + ureg.foot / ureg.second + ).magnitude, + tau=intruder.hcas_state_variables.tau.to(ureg.second).magnitude, + s_adv=intruder.hcas_state_variables.s_adv, + ), + vcas_state_variables=APIVCASStateVariables( + h=intruder.vcas_state_variables.h.to(ureg.foot).magnitude, + hdot_own=intruder.vcas_state_variables.hdot_own.to( + ureg.foot / ureg.minute + ).magnitude, + hdot_int=intruder.vcas_state_variables.hdot_int.to( + ureg.foot / ureg.minute + ).magnitude, + tau=intruder.vcas_state_variables.tau.to(ureg.second).magnitude, + s_adv=intruder.vcas_state_variables.s_adv, + ), + timestamp=time.time(), + ) diff --git a/pycasx/acas/acasx.py b/pycasx/acas/acasx.py new file mode 100644 index 0000000..c0bfcc2 --- /dev/null +++ b/pycasx/acas/acasx.py @@ -0,0 +1,586 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""ACAS X implementation for pyCASX.""" + +from __future__ import annotations + +import math +import threading +from pathlib import Path +from typing import Final, Literal + +import numpy as np +import numpy.typing as npt +import onnxruntime as ort +import pyproj +import torch as th +from loguru import logger +from onnx.onnx_ml_pb2 import ModelProto +from torch.fx import GraphModule + +from pycasx.acas import ( + DEFAULT_MODEL_PATH, + Aircraft, + HCASAdvisories, + HCASStateVariables, + Intruder, + ModelDict, + VCASAdvisories, + VCASStateVariables, + ureg, +) +from pycasx.acas.hcas import HCASMixin +from pycasx.acas.vcas import VCASMixin +from pycasx.connectors.protocols import PropsConnection +from pycasx.tools.nn_load import ( + load_nnet_from_path, + load_onnx_from_path, + load_torch_from_path, +) +from pycasx.tools.NNet.nnet import NNet + +RHO_INA = 1.225 * ureg.kilogram / ureg.meter**3 # Density of air at sea level + + +class ACASX(HCASMixin, VCASMixin): + """The brain behind pyCASX. + + This class contains all the logic for the ACAS X implementation. + Well, almost, some logic is provided by the mixin classes + + Args: + model_path (Path | str | None): Path to the ACAS model folder. + backend (Literal["nnet", "onnx", "torch"], optional): The runtime + backend to use. Defaults to "nnet". + """ + + def __init__( + self, + model_path: Path | str | None = None, + backend: Literal["nnet", "onnx", "torch"] = "nnet", + ) -> None: + self.backend: Final[str] = backend.lower() + + if model_path is None: + model_path = DEFAULT_MODEL_PATH + logger.info( + f"No `model_path` provided, using default path at {model_path}." + ) + + hcas_models = self.load_models(Path(model_path, "hcas")) + vcas_models = self.load_models(Path(model_path, "vcas")) + + self.model_dict: ModelDict = {**hcas_models, **vcas_models} # type: ignore + + self.conn: PropsConnection + + self.ownship: Aircraft + self.intruders: dict[str, Intruder] = {} + + self.geodesic = pyproj.Geod(ellps="WGS84") + + self.hcas_adv = HCASAdvisories.ACTIVE + self.vcas_adv = VCASAdvisories.ACTIVE + + def advise(self) -> tuple[HCASAdvisories, VCASAdvisories]: # noqa: C901 + """Advise the pilot on the current situation. + + Returns: + tuple[HCASAdvisories, VCASAdvisories]: The HCAS and VCAS + advisories. + """ + self.fetch_data() + + # Calculate HCAS advisory, abort if colliding advisories are + # detected. + self.hcas_adv = HCASAdvisories.ACTIVE + for intruder in self.intruders.values(): + intruder.hcas_advisory = self.advise_hcas(intruder) + + if len(self.intruders) < 2: + self.hcas_adv = intruder.hcas_advisory + break + + # Simple check for incompatible advisories. With the current + # structure in the HCASAdvisories enum, higher numbers are + # stronger advisories and two advisories are only compatible + # if both are even or both are odd. + if self.hcas_adv in (HCASAdvisories.ACTIVE, HCASAdvisories.COC): + self.hcas_adv = intruder.hcas_advisory + elif intruder.hcas_advisory in ( + HCASAdvisories.ACTIVE, + HCASAdvisories.COC, + ): + pass + elif not self.hcas_adv.value + intruder.hcas_advisory.value & 1: + self.hcas_adv = HCASAdvisories( + max(self.hcas_adv.value, intruder.hcas_advisory.value) + ) + else: + self.hcas_adv = HCASAdvisories.INOP + break + + # Calculate VCAS advisory, abort if colliding advisories are + # detected. + self.vcas_adv = VCASAdvisories.ACTIVE + for intruder in self.intruders.values(): + intruder.vcas_advisory = self.advise_vcas(intruder) + + if len(self.intruders) < 2: + self.vcas_adv = intruder.vcas_advisory + break + + # Simple check for incompatible advisories. With the current + # structure in the VCASAdvisories enum, higher numbers are + # stronger advisories and two advisories are only compatible + # if both are even or both are odd. + if self.vcas_adv in (VCASAdvisories.ACTIVE, VCASAdvisories.COC): + self.vcas_adv = intruder.vcas_advisory + elif intruder.vcas_advisory in ( + VCASAdvisories.ACTIVE, + VCASAdvisories.COC, + ): + pass + elif not self.vcas_adv.value + intruder.vcas_advisory.value & 1: + self.vcas_adv = VCASAdvisories( + max(self.vcas_adv.value, intruder.vcas_advisory.value) + ) + else: + self.vcas_adv = VCASAdvisories.INOP + break + + return (self.hcas_adv, self.vcas_adv) + + def fetch_data(self) -> None: + """Fetch the required data from FlightGear. + + Fetches data of ownship and all intruders from FlightGear and + post-processes the data to the required format for the ACAS X. + + Note: a single get_prop or list_props (without recursion) call + via the HTTP API takes roughly 20 ms. Therefore, accessing + the properties of a single aircraft in our current setup + takes roughly 100 ms. This is a lot of time, especially + when we have a lot of intruders. Therefore, not only should + we try to eliminate unnecessary calls to intruders far away + from the ownship, but we should also try to refactor this + function to use concurrency. + + Raises: + RuntimeError: If no connection is registered. + """ + if self.conn is None: + raise RuntimeError( + "No connection to FlightGear established. Please register a connection." + ) + + # Fetch data of ownship + self.ownship = self.fetch_ownship_data() + + # Get a list of all ai aircraft which are possible intruders + aircraft = [ + ai + for ai in self.conn.list_props("/ai/models")["directories"] + if "/aircraft" in ai + ] + + # Fetch data of intruders + for model in aircraft: + ac_int = self.fetch_intruder_data(model) + + fwd_azimuth, _, dist = self.geodesic.inv( + self.ownship.longitude.to(ureg.degree).magnitude, + self.ownship.latitude.to(ureg.degree).magnitude, + ac_int.longitude.to(ureg.degree).magnitude, + ac_int.latitude.to(ureg.degree).magnitude, + ) + fwd_azimuth *= ureg.degree + dist *= ureg.meter + + psi = self.ownship.heading - ac_int.heading + # Wrap psi to [-180°, 180°] + if psi > 180 * ureg.degree: + psi -= 360 * ureg.degree + elif psi < -180 * ureg.degree: + psi += 360 * ureg.degree + + theta = 360 * ureg.degree - (fwd_azimuth - self.ownship.heading) + # Wrap theta to [-180°, 180°] + if theta > 180 * ureg.degree: + theta -= 360 * ureg.degree + elif theta < -180 * ureg.degree: + theta += 360 * ureg.degree + + # Calculate tau according to https://doi.org/10.2514/6.2019-2832 + # Errico, A. and Di Vito, V. (2019): Methodology for Estimation + # of Closest Point of Approach between Aircraft in ATM + # + # Ensure all units are in SI and all variable are magnitude only + _v_own = self.ownship.true_airspeed.to(ureg.meter / ureg.second).magnitude + _v_int = ac_int.true_airspeed.to(ureg.meter / ureg.second).magnitude + _rho = dist.to(ureg.meter).magnitude + u = np.array( + [ + _v_own * math.sin(self.ownship.heading.to(ureg.radian).magnitude), + _v_own * math.cos(self.ownship.heading.to(ureg.radian).magnitude), + ] + ) + v = np.array( + [ + _v_int * math.sin(ac_int.heading.to(ureg.radian).magnitude), + _v_int * math.cos(ac_int.heading.to(ureg.radian).magnitude), + ] + ) + w_0 = np.array( + [ + _rho * math.sin(fwd_azimuth.to(ureg.radian).magnitude), + _rho * math.cos(fwd_azimuth.to(ureg.radian).magnitude), + ] + ) + + tau = float((np.dot(w_0, (u - v))) / (np.dot(u - v, u - v))) * ureg.second + + hcas_state = HCASStateVariables( + rho=dist.to(ureg.foot), + theta=theta.to(ureg.degree), + psi=psi.to(ureg.degree), + v_own=self.ownship.true_airspeed.to(ureg.foot / ureg.second), + v_int=ac_int.true_airspeed.to(ureg.foot / ureg.second), + tau=tau, + s_adv=( + self.intruders[ac_int.call_sign].hcas_advisory + if ac_int.call_sign in self.intruders + else HCASAdvisories.ACTIVE + ), + ) + + vcas_state = VCASStateVariables( + h=(ac_int.altitude - self.ownship.altitude).to(ureg.foot), + hdot_own=self.ownship.vertical_speed.to(ureg.foot / ureg.minute), + hdot_int=ac_int.vertical_speed.to(ureg.foot / ureg.minute), + tau=tau, + s_adv=( + self.intruders[ac_int.call_sign].vcas_advisory + if ac_int.call_sign in self.intruders + else VCASAdvisories.ACTIVE + ), + ) + + if ac_int.call_sign in self.intruders: + self.intruders[ac_int.call_sign].aircraft = ac_int + self.intruders[ac_int.call_sign].hcas_state_variables = hcas_state + self.intruders[ac_int.call_sign].vcas_state_variables = vcas_state + else: + self.intruders[ac_int.call_sign] = Intruder( + aircraft=ac_int, + hcas_advisory=HCASAdvisories.ACTIVE, + vcas_advisory=VCASAdvisories.ACTIVE, + hcas_state_variables=hcas_state, + vcas_state_variables=vcas_state, + ) + + def evaluate( + self, model_name: str, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Evaluate a CAS model. + + Args: + model_name (str): Name of the model to evaluate from the + model dictionary. + inputs (npt.NDArray[np.float32]): The inputs to the model. + + Returns: + npt.NDArray[np.float32]: The outputs of the model. + + Raises: + NotImplementedError: Raised if the requested backend is not + implemented. + """ + if self.backend == "nnet": + return self._evaluate_nnet(model_name, inputs) + if self.backend == "onnx": + return self._evaluate_onnx(model_name, inputs) + if self.backend == "torch": + return self._evaluate_torch(model_name, inputs) + + raise NotImplementedError(f"Backend {self.backend} not implemented.") + + def _evaluate_nnet( + self, model_name: str, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Evaluate a CAS model with the NNet runtime. + + Args: + model_name (str): Name of the model to evaluate from the + model dictionary. + inputs (npt.NDArray[np.float32]): The inputs to the model. + + Returns: + npt.NDArray[np.float32]: The outputs of the model. + """ + model: NNet = self.model_dict[model_name] # type: ignore + return model.evaluate_network(inputs) + + def _evaluate_onnx( + self, model_name: str, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Evaluate a CAS model with the onnx runtime. + + Args: + model_name (str): Name of the model to evaluate from the + model dictionary. + inputs (npt.NDArray[np.float32]): The inputs to the model. + + Returns: + npt.NDArray[np.float32]: The outputs of the model. + + Raises: + KeyError: Raised if the requested model is not found. + """ + try: + model: ModelProto = self.model_dict[model_name] # type: ignore + except KeyError: + raise KeyError( + "Please run `pycasx onnx` to convert the provided NNet models to onnx.", + ) + session = ort.InferenceSession(model.SerializeToString()) + return session.run(None, {"X": inputs})[0] + + def _evaluate_torch( + self, model_name: str, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Evaluate a CAS model with the PyTorch runtime. + + Args: + model_name (str): Name of the model to evaluate from the + model dictionary. + inputs (npt.NDArray[np.float32]): The inputs to the model. + + Returns: + npt.NDArray[np.float32]: The outputs of the model. + + Raises: + KeyError: Raised if the requested model is not found. + """ + try: + model: GraphModule = self.model_dict[model_name] # type: ignore + except KeyError: + raise KeyError( + "Please run `pycasx onnx` to convert the provided NNet models to onnx.", + ) + with th.no_grad(): + return model.forward(th.from_numpy(inputs)).numpy() + + def register_connection(self, connection: PropsConnection) -> None: + """Register a new connection to a connection provider. + + The newly registered connection will be used to fetch data for + the ACAS X model. If a connection is already registered, it will + be overwritten. + + Args: + connection (PropsConnection): The connection provider. + """ + self.conn = connection + + def load_models(self, model_path: Path | str) -> ModelDict: + """Load the CAS models from the provided path. + + Args: + model_path (Path | str): Path to the CAS models. + + Returns: + ModelDict: The loaded CAS models. + + Raises: + NotImplementedError: Raised if the requested backend is not + implemented. + FileNotFoundError: Raised if no models are found at the + provided path. + """ + model_dict: ModelDict + if self.backend == "nnet": + model_dict = load_nnet_from_path(model_path) + elif self.backend == "onnx": + model_dict = load_onnx_from_path(model_path) + elif self.backend == "torch": + model_dict = load_torch_from_path(model_path) + else: + raise NotImplementedError(f"Backend `{self.backend}` not implemented.") + + if model_dict == {}: + msg = ( + f"Could not find CAS models at {model_path}. " + "Please provide correct `model_path` or use `pycasx onnx` " + "to convert the provided NNet models to onnx. " + "Also, make sure, in case you provide a custom `model_path`, " + "that the path contains two subdirectories `hcas` and `vcas` " + "containing the respective models." + ) + logger.error(msg) + raise FileNotFoundError(msg) + + return model_dict + + def fetch_ownship_data( + self, + ) -> Aircraft: + """Fetches the data of the ownship. + + The ownship uses the following properties: + - /sim/multiplay/callsign + - /position/altitude-ft + - /velocities/vertical-speed-fps + - /velocities/equivalent-kt + - /environment/density-slugft3 + - /orientation/true-heading-deg + - /position/latitude-deg + - /position/longitude-deg + + Returns: + Aircraft: The ownship with the data fetched from FlightGear. + """ + return self.fetch_aircraft_data( + call_sign="/sim/multiplay/callsign", + altitude_ft="/position/altitude-ft", + vertical_speed_fps="/velocities/vertical-speed-fps", + equivalent_airspeed_kt="/velocities/equivalent-kt", + density_slugft3="/environment/density-slugft3", + heading_deg="/orientation/true-heading-deg", + latitude_deg="/position/latitude-deg", + longitude_deg="/position/longitude-deg", + ) + + def fetch_intruder_data( + self, + intruder: str, + ) -> Aircraft: + """Fetches the data of a single intruder. + + Args: + intruder (str): The intruder to fetch the data for. This + refers to the full path of the intruder in the + property tree until the aircraft directory. E.g. + ``/ai/models/aircraft`` for the zeroth intruder and + ``/ai/models/aircraft[1]`` for the first intruder. + + Returns: + Aircraft: The intruder with the data fetched from FlightGear. + """ + return self.fetch_aircraft_data( + call_sign=f"{intruder}/callsign", + altitude_ft=f"{intruder}/position/altitude-ft", + vertical_speed_fps=f"{intruder}/velocities/vertical-speed-fps", + true_airspeed_kt=f"{intruder}/velocities/true-airspeed-kt", + heading_deg=f"{intruder}/orientation/true-heading-deg", + latitude_deg=f"{intruder}/position/latitude-deg", + longitude_deg=f"{intruder}/position/longitude-deg", + ) + + def fetch_aircraft_data( + self, + call_sign: str, + altitude_ft: str, + vertical_speed_fps: str, + heading_deg: str, + latitude_deg: str, + longitude_deg: str, + true_airspeed_kt: str | None = None, + equivalent_airspeed_kt: str | None = None, + density_slugft3: str | None = None, + ) -> Aircraft: + """Fetches the data of a single aircraft. + + Fetch the required data to fully describe an aircraft from + FlightGear. + Some properties are optional, depending on the model used. + For example, for AI aircraft, FlightGear directly provides the + true airspeed, but for the ownship, we have to calculate it + ourselves. + Thus, one either has to provide the true airspeed or the + equivalent airspeed and the density. + + This method uses threading to improve performance. + + Args: + call_sign (str): The property string of the call sign. + altitude_ft (str): The property string of the altitude. + vertical_speed_fps (str): The property string of the + vertical speed. + heading_deg (str): The property string of the heading. + latitude_deg (str): The property string of the latitude. + longitude_deg (str): The property string of the longitude. + true_airspeed_kt (str | None): The property string of the + true airspeed. + equivalent_airspeed_kt (str | None): The property string of + the equivalent airspeed. + density_slugft3 (str | None): The property string of the + density. + + Returns: + Aircraft: The aircraft with the data fetched from FlightGear. + + Raises: + ValueError: Raised if neither the true airspeed nor the + equivalent airspeed and density are provided. + RuntimeError: Raised if internal logic fails. Please report + this as a bug. + """ + if true_airspeed_kt is None and ( + equivalent_airspeed_kt is None or density_slugft3 is None + ): + raise ValueError( + "Please provide either the true airspeed or" + + " the equivalent airspeed and density." + ) + + properties = [ + call_sign, + altitude_ft, + vertical_speed_fps, + true_airspeed_kt, + equivalent_airspeed_kt, + density_slugft3, + heading_deg, + latitude_deg, + longitude_deg, + ] + + results = {k: None for k in properties if k is not None} + + def get_prop(prop_str: str, results: dict) -> None: + results[prop_str] = self.conn.get_prop(prop_str) + + threads = [] + for prop in properties: + if prop is None: + continue + t = threading.Thread( + target=get_prop, + args=(prop, results), + ) + t.start() + threads.append(t) + + for thread in threads: + thread.join() + + if true_airspeed_kt is not None: + true_airspeed = results[true_airspeed_kt] * ureg.knot + elif equivalent_airspeed_kt is not None and density_slugft3 is not None: + v_eas = results[equivalent_airspeed_kt] * ureg.knot + rho = results[density_slugft3] * ureg.slug / ureg.foot**3 + true_airspeed = v_eas * math.sqrt(RHO_INA / rho) + else: + raise RuntimeError("This should never happen. Please report this as a bug.") + + return Aircraft( + call_sign=str(results[call_sign]), + altitude=results[altitude_ft] * ureg.foot, + vertical_speed=results[vertical_speed_fps] * (ureg.foot / ureg.second), + true_airspeed=true_airspeed, + heading=results[heading_deg] * ureg.degree, + latitude=results[latitude_deg] * ureg.degree, + longitude=results[longitude_deg] * ureg.degree, + ) diff --git a/pycasx/acas/hcas.py b/pycasx/acas/hcas.py new file mode 100644 index 0000000..1c8a1a6 --- /dev/null +++ b/pycasx/acas/hcas.py @@ -0,0 +1,85 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Horizontal CAS (HCAS) mixin for the ACAS X.""" + +from __future__ import annotations + +import math + +import numpy as np + +from pycasx.acas import ( + ACASXProtocol, + HCASAdvisories, + Intruder, + check_for_loss_of_separation, + ureg, +) + + +class HCASMixin: + """Mixin class for the HCAS model. + + The mixin class provides the functionality to calculate the HCAS + advisory for the pilot. + """ + + def advise_hcas(self: ACASXProtocol, intruder: Intruder) -> HCASAdvisories: + """Calculate the advisory for the pilot. + + Args: + intruder (Intruder): The intruder. + + Returns: + HCASAdvisories: The advisory for the pilot. + """ + state = intruder.hcas_state_variables + tau = state.tau.to(ureg.second).magnitude + + # If tau is outside of the HCAS limits, simply return + # an active state. + if tau < 0.0 or tau > 60.0: + return HCASAdvisories.ACTIVE + + # If the intruder is not on a collision course, return an active + # state + _, v_sep_loss = check_for_loss_of_separation(self.ownship, intruder.aircraft) + if not v_sep_loss: + return HCASAdvisories.ACTIVE + + # Choose correct model based on previous advisory + # valid values for tau are [0, 5, 10, 15, 20, 30, 40, 60]. + # Limit previous advisory to values bigger than 0 as the values + # lower than 0 are for internal purposes only and are not defined + # for the underlying neural networks. + valid_taus = [0, 5, 10, 15, 20, 30, 40, 60] + tau = min(valid_taus, key=lambda x: abs(x - tau)) + model_name = ( + f"HCAS_rect_v6_pra{max(state.s_adv.value, 0)}_tau{tau:02d}_25HU_3000" + ) + + # Transform the state variables to the correct format + # According to + # https://github.com/sisl/HorizontalCAS/blob/master/GenerateNetworks/genTrainingData.py + # the network was trained using rectangular coordinates and one + # speed for both the ownship and intruder. If we want to use + # different coordinates or a speed difference between the + # ownship and intruder, we probably need to retrain the network. + rho = state.rho.to(ureg.foot).magnitude + theta = state.theta.to(ureg.radians).magnitude + psi = state.psi.to(ureg.radians).magnitude + values = [ + rho * math.cos(theta), + rho * math.sin(theta), + psi, + ] + inputs = np.array(values, dtype=np.float32) + + # Evaluate the model + outputs = self.evaluate(model_name, inputs) + + # Convert the outputs to advisories + advisory = HCASAdvisories(int(outputs.argmax())) + + return advisory diff --git a/pycasx/acas/runner.py b/pycasx/acas/runner.py new file mode 100644 index 0000000..1d3f553 --- /dev/null +++ b/pycasx/acas/runner.py @@ -0,0 +1,403 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Runner class around ACAS X.""" +import asyncio +import json +import math +import time +import traceback +from dataclasses import asdict +from pathlib import Path +from typing import Any, Dict, Literal, Union + +from fastapi import HTTPException +from loguru import logger + +import pycasx +from pycasx.acas import ( + HCAS_ACTIONS, + VCAS_ACTIONS, + AutoavoidInfo, + ExtendedAircraft, + ExtendedIntruder, + HCASAdvisories, + SystemInfo, + VCASAdvisories, + extend_intruder, + ureg, +) +from pycasx.acas.acasx import ACASX +from pycasx.conf import AutoavoidConfig, LoggerConfig +from pycasx.connectors.protocols import PropsConnection + + +class Runner: + """Run the ACAS X system in a continuous loop. + + Args: + backend (str): The neural network backend to use for the CAS. + rate (float): The update rate of the ACAS X. + autoavoid_cfg (AutoavoidConfig): The autoavoid configuration. + logger_cfg (LoggerConfig): The logger configuration. + """ + + def __init__( + self, + backend: str, + rate: float, + autoavoid_cfg: AutoavoidConfig, + logger_cfg: LoggerConfig, + ) -> None: + self.rate = rate + self.acasx = ACASX(backend=backend) # type: ignore + self.hcas_adv = HCASAdvisories.ACTIVE + self.vcas_adv = VCASAdvisories.ACTIVE + + self.autoavoid_cfg = autoavoid_cfg + self.action = None + self.command = None + self.heading_lock_set = False + self.altitude_lock_set = False + self.leveled_target_bank_angle_deg = 0 + self.hcas_reset = True + self.leveled_vertical_speed_fpm = 0 + self.vcas_reset = True + # Default gravitational acceleration. As an alternative, can be + # queried at /environment/gravitational-acceleration-mps2 + self.g = 9.813179 * ureg.meter / ureg.second**2 + + self.logger_cfg = logger_cfg + self.logging_initialized = False + + self.max_width = ( + max( + [len("HCAS"), len("VCAS")] + + [len(a.name) for a in HCASAdvisories] + + [len(a.name) for a in VCASAdvisories] + + [len("Autoavoid"), len("Active"), len("Mode"), len("Command")] + + [len(str(a)) for a in VCAS_ACTIONS.values()] + + [len(str(a)) for a in HCAS_ACTIONS.values()] + ) + + 2 # For the whitespace left and right of a string + ) + + logger.info("ACAS X initialized...") + self.print_status() + + def register_connection(self, connection: PropsConnection) -> None: + """Register a connection with the CAS. + + Args: + connection (PropsConnection): The connection to register. + """ + self.acasx.register_connection(connection) + + def autoavoid(self) -> None: + """Execute the autoavoid action. + + This method will execute the autoavoid action based on the + current autoavoid mode and advisory. + + Raises: + ValueError: If the autoavoid mode is not/wrongly set. + """ + if self.autoavoid_cfg.mode not in ("hcas", "vcas"): + raise ValueError("Autoavoid mode not set") + + if self.autoavoid_cfg.mode == "hcas": + self._hcas_autoavoid() + elif self.autoavoid_cfg.mode == "vcas": + self._vcas_autoavoid() + + def _hcas_autoavoid(self): + """Execute the HCAS autoavoid action.""" + self.action = HCAS_ACTIONS[self.hcas_adv] + self.command = self.action if not isinstance(self.action, str) else None + + if self.action is None or (self.action == "reset" and self.hcas_reset): + return + + if self.action == "reset": + self.acasx.conn.set_prop( + "/autopilot/settings/target-bank-angle-deg", + self.leveled_target_bank_angle_deg, + ) + self.heading_lock_set = False + self.hcas_reset = True + return + + self.hcas_reset = False + + if not self.heading_lock_set: + self.acasx.conn.set_prop("/autopilot/locks/heading", "wing-leveler") + self.heading_lock_set = True + + v_tas = self.acasx.ownship.true_airspeed + r = self.action * ureg.degree / ureg.second + phi = ( + -math.atan(v_tas * r / self.g) * ureg.radian + ) # a positive phi is a right turn but this is a negative turn rate + + self.acasx.conn.set_prop( + "/autopilot/settings/target-bank-angle-deg", + phi.to(ureg.degree).magnitude, + ) + self.command = phi.to(ureg.degree).magnitude + + def _vcas_autoavoid(self): + """Execute the VCAS autoavoid action.""" + self.action = VCAS_ACTIONS[self.vcas_adv] + self.command = self.action if not isinstance(self.action, str) else None + + if self.action is None or (self.action == "reset" and self.vcas_reset): + return + + if self.action == "reset": + self.acasx.conn.set_prop( + "/autopilot/settings/vertical-speed-fpm", + self.leveled_vertical_speed_fpm, + ) + self.altitude_lock_set = False + self.vcas_reset = True + return + + self.vcas_reset = False + + if not self.altitude_lock_set: + self.acasx.conn.set_prop("/autopilot/locks/altitude", "vertical-speed-hold") + self.altitude_lock_set = True + + self.acasx.conn.set_prop("/autopilot/settings/vertical-speed-fpm", self.action) + + def log(self) -> None: + """Log the current state of the ACAS X. + + This method will log the current state of the ACAS X to log + folder. + + Raises: + ValueError: If the topic is not found. + """ + if not self.logging_initialized: + self.init_log() + + for topic, file in self.logger_cfg.files.items(): + try: + if topic == "state": + resp = { + "hcas": self.get_system_info("hcas"), + "vcas": self.get_system_info("vcas"), + "timestamp": time.time(), + } + + elif topic == "autoavoid": + resp = asdict(self.get_autoavoid()) + elif topic == "ownship": + resp = asdict(self.get_ownship()) + elif topic == "intruders": + resp = { + k: v if isinstance(v, (float, int)) else asdict(v) + for k, v in self.get_intruders().items() + } + else: + raise ValueError(f"Topic `{topic}` not found") + with open(str(Path(self.log_folder, file).resolve())) as f: + lines = f.readlines() + lines = lines[:-1] + lines.append(json.dumps(resp, indent=2) + ",\n]") + Path(self.log_folder, file).open("w").writelines(lines) + + except Exception as e: # pylint: disable=broad-except + logger.error(traceback.format_exc() + f"\nError in logging: {e}") + + def init_log(self): + """Initialize the logging for the ACAS X.""" + self.log_folder = Path( + Path(pycasx.__file__).parent.parent, self.logger_cfg.log_folder + ) + if self.logger_cfg.include_date: + date = time.strftime("%Y-%m-%d-%H-%M-%S") + self.log_folder = Path(self.log_folder, date) + self.log_folder.mkdir(parents=True, exist_ok=True) + for _, file in self.logger_cfg.files.items(): + Path(self.log_folder, file).write_text("[\n]") + self.logging_initialized = True + + def print_status(self) -> None: + """Print the status of the ACAS X.""" + + def format_title(title: str, max_width: int): + whitespace = (2 * max_width + 1) - len(title) + left_space = " " * math.floor(whitespace / 2) + right_space = " " * math.ceil(whitespace / 2) + return f"|{left_space}{title}{right_space}|\n" + + def format_line(label: str, value: Any, max_width: int): + return ( + f"| {label}{' ' * (max_width - (len(label) + 1))}" + f"| {value}{' ' * (max_width - (len(str(value)) + 1))}|\n" + ) + + top_rule = f"|{'-' * (2*self.max_width+1)}|\n" + mid_rule = f"|{'-' * self.max_width}|{'-' * self.max_width}|\n" + bot_rule = f"|{'-' * (2*self.max_width+1)}|" + + acasx_title = format_title("ACAS X", self.max_width) + acasx_hcas_status = format_line("HCAS", self.hcas_adv.name, self.max_width) + acasx_vcas_status = format_line("VCAS", self.vcas_adv.name, self.max_width) + + autoavoid_title = format_title("Autoavoid", self.max_width) + autoavoid_active = format_line( + "Active", self.autoavoid_cfg.active, self.max_width + ) + autoavoid_mode = format_line("Mode", self.autoavoid_cfg.mode, self.max_width) + autoavoid_action = format_line("Action", self.action, self.max_width) + autoavoid_command = format_line("Command", self.command, self.max_width) + + info_str = ( + "\n" + f"{top_rule}" + f"{acasx_title}" + f"{mid_rule}" + f"{acasx_hcas_status}" + f"{acasx_vcas_status}" + f"{mid_rule}" + f"{autoavoid_title}" + f"{mid_rule}" + f"{autoavoid_active}" + f"{autoavoid_mode}" + f"{autoavoid_action}" + f"{autoavoid_command}" + f"{bot_rule}" + ) + + logger.info(info_str) + + def get_system_info(self, system_type: Literal["hcas", "vcas"]) -> SystemInfo: + """Get the information about a CAS system. + + Args: + system_type (Literal["hcas", "vcas"]): The CAS system to get + information about. + + Returns: + SystemInfo: The information about the CAS system. + + Raises: + HTTPException: If the system type is not found. + """ + if system_type == "hcas": + s_adv = self.hcas_adv # type: ignore + elif system_type == "vcas": + s_adv = self.vcas_adv # type: ignore + else: + raise HTTPException( + status_code=404, detail=f"System `{system_type}` not found" + ) + + return { + "advisory": {"value": s_adv.value, "name": s_adv.name}, + "connector": self.acasx.conn.__class__.__name__.lower(), # type: ignore + "timestamp": time.time(), + } + + def get_ownship(self) -> ExtendedAircraft: + """Get the ownship from the ACAS X system. + + Returns: + ExtendedAircraft: the ownship representation. + """ + return ExtendedAircraft( + call_sign=self.acasx.ownship.call_sign, + altitude=self.acasx.ownship.altitude.to(ureg.foot).magnitude, + vertical_speed=self.acasx.ownship.vertical_speed.to( + ureg.foot / ureg.second + ).magnitude, + true_airspeed=self.acasx.ownship.true_airspeed.to(ureg.knots).magnitude, + heading=self.acasx.ownship.heading.to(ureg.degree).magnitude, + latitude=self.acasx.ownship.latitude.to(ureg.degree).magnitude, + longitude=self.acasx.ownship.longitude.to(ureg.degree).magnitude, + timestamp=time.time(), + ) + + def get_intruder(self, call_sign: str) -> ExtendedIntruder: + """Get an intruder from the ACAS X system. + + Args: + call_sign (str): The callsign of the intruder. + + Returns: + ExtendedIntruder: The intruder from the ACAS X system. + + Raises: + HTTPException: If the intruder is not found. + """ + if call_sign not in self.acasx.intruders: + raise HTTPException( + status_code=404, detail=f"Intruder `{call_sign}` not found" + ) + return extend_intruder(self.acasx.intruders[call_sign]) + + def get_intruders(self) -> Dict[str, Union[ExtendedIntruder, float]]: + """Get the intruders from the ACAS X system. + + Returns: + Dict[str, Union[ExtendedIntruder, float]]: The intruders from the + ACAS X system. + """ + if not self.acasx.intruders: + return {} + intruders: Dict[str, Union[ExtendedIntruder, float]] = {} + for call_sign, intruder in self.acasx.intruders.items(): + intruders[call_sign] = extend_intruder(intruder) + intruders["timestamp"] = time.time() + return intruders + + def get_autoavoid(self) -> AutoavoidInfo: + """Get the autoavoid status from the ACAS X system. + + Returns: + AutoavoidInfo: the autoavoid representation. + """ + return AutoavoidInfo( + active=self.autoavoid_cfg.active, + mode=self.autoavoid_cfg.mode, # type: ignore + action=self.action, + command=self.command, + timestamp=time.time(), + ) + + def single_run(self): + """Runs a single ACAS X update.""" + try: + hcas_adv, vcas_adv = self.acasx.advise() + except Exception as e: # pylint: disable=broad-except + logger.error(traceback.format_exc() + f"\nError in ACAS X: {e}") + hcas_adv = HCASAdvisories.INOP + vcas_adv = VCASAdvisories.INOP + + self.hcas_adv = hcas_adv + self.vcas_adv = vcas_adv + + if self.autoavoid_cfg.active: + self.autoavoid() + + if self.logger_cfg.active: + self.log() + + self.print_status() + + async def run(self) -> None: + """Run the ACAS X in a continuous async loop. + + This method will run the ACAS X in a continuous loop, updating + the advisory every `1/rate` seconds. + """ + t = time.perf_counter() + dt = 1 / self.rate + while True: + t += dt + + self.single_run() + await asyncio.sleep(max(0, t - time.perf_counter())) diff --git a/pycasx/acas/vcas.py b/pycasx/acas/vcas.py new file mode 100644 index 0000000..1f36ad8 --- /dev/null +++ b/pycasx/acas/vcas.py @@ -0,0 +1,73 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Vertical CAS (VCAS) mixin for the ACAS X.""" + +from __future__ import annotations + +import numpy as np + +from pycasx.acas import ( + ACASXProtocol, + Intruder, + VCASAdvisories, + check_for_loss_of_separation, + ureg, +) + + +class VCASMixin: + """Mixin class for the VCAS model. + + The mixin class provides the functionality to calculate the VCAS + advisory for the pilot. + """ + + def advise_vcas(self: ACASXProtocol, intruder: Intruder) -> VCASAdvisories: + """Calculate the VCAS advisory for the pilot. + + Args: + intruder (Intruder): The intruder. + + Returns: + VCASAdvisories: The advisory for the pilot. + """ + state = intruder.vcas_state_variables + tau = state.tau.to(ureg.second).magnitude + + # If tau is outside of the VCAS limits, simply return + # an active state. + if tau < 0.0 or tau > 40.0: + return VCASAdvisories.ACTIVE + + # If the intruder is not on a collision course, return an active + # state + h_sep_loss, _ = check_for_loss_of_separation(self.ownship, intruder.aircraft) + if not h_sep_loss: + return VCASAdvisories.ACTIVE + + # Choose correct model based on previous advisory. Limit to + # values bigger than 0 as the values lower than 0 are for + # internal purposes only and are not defined for the underlying + # neural networks. + model_name = f"VertCAS_pra{(max(state.s_adv.value, 0) + 1):02d}_v4_45HU_200" + + # Transform the state variables to the correct format + # According to + # https://github.com/sisl/VerticalCAS/blob/master/GenerateNetworks/genTrainingData.py + # the inputs are [h, hdot_own, hdot_int, tau] + # Also, it appears, that the network was trained using feet per + # second instead of feet per minute. + h = state.h.to(ureg.foot).magnitude + hdot_own = state.hdot_own.to(ureg.foot / ureg.second).magnitude + hdot_int = state.hdot_int.to(ureg.foot / ureg.second).magnitude + values = [h, hdot_own, hdot_int, tau] + inputs = np.array(values, dtype=np.float32) + + # Evaluate the model + outputs = self.evaluate(model_name, inputs) + + # Convert the outputs to advisories + advisory = VCASAdvisories(int(outputs.argmax())) + + return advisory diff --git a/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau00_25HU_3000.nnet b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau00_25HU_3000.nnet new file mode 100644 index 0000000..66d6fcd --- /dev/null +++ b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau00_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +-6.45914e-01,2.57868e+00,1.96875e-02, +2.33435e-01,-2.68709e-01,1.93659e-01, +1.69987e+00,4.36577e-02,2.87779e-01, +-2.83765e+00,-1.32112e+00,-3.89591e-01, +1.95176e-01,2.11461e-01,3.22355e-01, +-3.15789e+00,1.41890e+00,-1.22998e-02, +-1.19314e+00,3.73208e+00,6.57208e-01, 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b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau05_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +8.07372e-01,-1.60465e+00,-1.68781e-01, +-1.68024e+00,-1.41380e+00,5.90398e-01, +-1.55142e+00,1.71884e+00,-2.54515e-02, +6.68999e-01,1.73961e+00,-1.81566e-01, +3.59725e-01,-5.43432e-01,5.63579e-01, +-1.75854e+00,1.33499e+00,-6.53897e-01, +-1.44215e+00,7.74402e-02,1.12299e-01, +-2.66025e+00,-2.04840e+00,-2.61767e-01, +-2.13844e+00,2.07963e+00,-1.74427e-02, +-1.06224e-01,6.42480e-01,7.22693e-01, +-1.89456e+00,-1.54890e+00,-6.75711e-02, +-8.63040e-02,1.84049e+00,6.83592e-01, +-2.94186e+00,-1.72016e+00,-4.59187e-01, 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+-1.96397e-01, +-5.23695e-01, diff --git a/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau15_25HU_3000.nnet b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau15_25HU_3000.nnet new file mode 100644 index 0000000..6c0cb70 --- /dev/null +++ b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra0_tau15_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +2.39193e-01,-2.19849e-01,-6.23871e-02, +-2.55181e-01,1.41462e+00,2.98284e-01, +2.13467e-01,-3.03146e-01,3.71560e-01, +-1.96603e+00,-1.56302e+00,-4.47479e-03, +-2.95699e+00,-3.53219e-01,-3.63278e-01, +-2.26074e-01,1.00443e-01,2.87203e-01, 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b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra1_tau10_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +7.40247e-01,2.16816e-01,-2.78839e-01, +7.90205e-02,-2.45153e+00,-6.01967e-01, +-1.91255e+00,1.45955e+00,-2.18535e-01, +8.74281e-02,8.73236e-01,-5.06105e-01, +-9.95451e-01,-7.28032e-01,-5.92016e-01, +-1.69016e-01,-5.62122e-04,6.68698e-03, +-3.48702e-01,-2.11185e-03,-6.53250e-02, +8.58850e-01,-1.35651e+00,1.33300e-01, +4.85358e-02,-3.82828e-01,-6.05740e-02, +-1.10913e-01,8.52143e-02,2.55807e-01, +3.15084e-01,1.00390e+00,-5.81852e-01, +6.43872e-02,-1.09237e+00,-1.10576e+00, +-5.36942e-01,-3.70627e-01,6.96168e-01, 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b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra2_tau00_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +1.49240e+00,-2.19431e+00,2.51437e-01, +4.29131e-01,1.81067e+00,2.41383e-01, +1.73152e+00,-2.13573e+00,5.26197e-01, +2.29193e+00,6.44881e-01,9.80674e-02, +5.38172e-01,1.30386e+00,2.38853e-01, +5.93972e-01,-7.52637e-01,1.85751e-01, +3.85128e-01,1.25673e-01,4.15953e-02, +-2.22193e+00,1.65355e+00,5.37510e-03, +9.56384e-02,1.43075e+00,-2.15358e-01, +-3.11546e+00,-4.26779e-01,-1.48597e-01, +7.40520e-01,1.96872e+00,-1.22217e-01, +1.07396e-01,2.15815e-01,4.22729e-01, +-2.22176e+00,-1.66709e+00,3.44705e-01, 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b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra2_tau40_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +4.49802e-01,8.14731e-01,-3.78033e-01, +-5.56570e-01,-1.72433e+00,5.15225e-01, +4.17831e-01,-2.13015e-01,-1.10121e-02, +-7.23170e-02,-6.43059e-01,-1.10918e-01, +-2.02449e+00,-1.45344e-01,-3.11534e-03, +2.08758e-01,1.48657e-01,2.40858e-01, +1.58089e-02,1.22411e+00,3.58493e-02, +-7.66285e-04,-3.38972e-02,-3.18542e-01, +4.93865e-01,1.79121e-01,7.90240e-01, +6.57713e-02,-5.47996e-01,-1.30231e-01, +3.07663e-02,-1.81957e-01,1.99968e-01, +-1.14288e-01,1.44709e+00,1.15688e-01, +-9.42630e-01,1.16453e+00,5.26110e-01, 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+-3.71284e-01, +2.99004e-01, diff --git a/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra3_tau40_25HU_3000.nnet b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra3_tau40_25HU_3000.nnet new file mode 100644 index 0000000..0405e3e --- /dev/null +++ b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra3_tau40_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +1.34396e-01,1.09668e-01,5.41040e-02, +-6.66465e-01,1.59377e+00,1.41190e-02, +4.02067e-01,9.89098e-01,1.12151e-02, +-9.58012e-01,-1.77895e-01,1.27172e-01, +2.81974e-01,-1.50024e+00,9.39406e-02, +2.45400e-01,-3.63130e-02,8.45060e-02, +-3.45670e-01,-9.49712e-01,-1.08630e-01, 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b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra3_tau60_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +2.45604e-01,-2.17918e-01,1.67578e-01, +4.51896e-01,-4.87420e-01,4.32300e-01, +-5.44296e-01,-9.12414e-01,-1.65302e-01, +-5.79128e-01,1.14482e-01,-2.10325e-01, +-7.45153e-01,-5.73500e-01,1.59303e-01, +4.10962e-01,-1.23104e-01,-8.42926e-02, +-5.73172e-01,2.40211e-01,9.69347e-02, +7.94507e-01,1.06314e+00,-5.20497e-01, +2.46407e-01,-3.64481e-01,2.28565e-01, +1.46905e-01,-3.32613e-01,-5.66657e-01, +1.49384e+00,6.05220e-01,-1.93438e-04, +-4.91175e-01,9.35312e-01,-2.17085e-01, +2.30254e-01,6.69578e-01,-3.39392e-01, 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+-3.39508e-01, diff --git a/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra4_tau10_25HU_3000.nnet b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra4_tau10_25HU_3000.nnet new file mode 100644 index 0000000..cf58698 --- /dev/null +++ b/pycasx/assets/neural_networks/hcas/HCAS_rect_v6_pra4_tau10_25HU_3000.nnet @@ -0,0 +1,271 @@ +// SPDX-FileCopyrightText: 2019 Stanford Intelligent Systems Laboratory +// +// SPDX-License-Identifier: MIT +// Neural Network File Format by Kyle Julian, Stanford 2016 +6,3,5,25, +3,25,25,25,25,25,5, +0, +-56000.000000,-56000.000000,-3.141593, +56000.000000,56000.000000,3.141593, +-278.628049,0.000000,0.000000,-0.242819, +112000.000000,112000.000000,6.283185,17.479225, +-2.44975e+00,2.85722e+00,-1.10232e-01, +5.28773e-02,1.79304e-01,-2.43008e-01, +7.15024e-01,-5.06490e-01,-5.39523e-01, +-1.43016e-01,1.06758e+00,-6.60374e-01, +-1.94973e-01,-1.57371e-01,-4.23359e-02, +2.39080e+00,2.40679e+00,1.85982e-01, +-2.41153e+00,8.94181e-02,-3.82016e-01, 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pycasx.""" +from pathlib import Path + +ASSETS_PATH = Path(Path(__file__).parent.parent, "assets") +FGFS_ASSETS_ROOT = Path(ASSETS_PATH, "flightgear") +FGFS_ASSETS_CONFIG_PATH = Path(FGFS_ASSETS_ROOT, "config") +FGFS_ASSETS_DATA_PATH = Path(FGFS_ASSETS_ROOT, "data") diff --git a/pycasx/cli/acasx.py b/pycasx/cli/acasx.py new file mode 100644 index 0000000..4a5f89b --- /dev/null +++ b/pycasx/cli/acasx.py @@ -0,0 +1,136 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Launch the ACAS X.""" +import asyncio +import time +from typing import Dict, Literal, Union + +import hydra +import uvicorn +from fastapi import FastAPI +from hydra.core.config_store import ConfigStore +from loguru import logger + +from pycasx.acas import ( + AutoavoidInfo, + ExtendedAircraft, + ExtendedIntruder, + RootInfo, + SystemInfo, +) +from pycasx.acas.runner import Runner +from pycasx.conf import ACASXConfig +from pycasx.connectors.adsb import ADSB +from pycasx.connectors.protocols import PropsConnection + +cs = ConfigStore.instance() +cs.store(name="acasx_", node=ACASXConfig) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="acasx") +def acasx(cfg: ACASXConfig) -> None: # noqa: C901 + """Run both HCAS and VCAS in a continuous loop. + + Args: + cfg (ACASXConfig): The ACAS X configuration. + """ + adsb = ADSB(**cfg.adsb) # type: ignore + + acasx_runner = Runner( + backend=cfg.backend, + rate=cfg.update_rate, + autoavoid_cfg=cfg.autoavoid, + logger_cfg=cfg.logger, + ) + acasx_runner.register_connection(adsb) + + app = FastAPI( + title="pyCASX API", + docs_url=None, + ) + + async def startup_event() -> None: + """Run the ACAS X systems in a continuous loop upon startup.""" + asyncio.create_task(acasx_runner.run()) + + app.add_event_handler("startup", startup_event) + + @app.get("/ownship") + async def get_ownship() -> ExtendedAircraft: + """Get the ownship from the ACAS X system. + + Returns: + ExtendedAircraft: the ownship representation. + """ + return acasx_runner.get_ownship() + + @app.get("/autoavoid") + async def autoavoid() -> AutoavoidInfo: + """Get the autoavoid status from the ACAS X system. + + Returns: + AutoavoidInfo: the ownship representation. + """ + return acasx_runner.get_autoavoid() + + @app.get("/intruders") + async def get_intruders() -> Dict[str, Union[ExtendedIntruder, float]]: + """Get the intruders from the ACAS X system. + + Returns: + Dict[str, Union[ExtendedIntruder, float]]: The intruders + from the ACAS X system. + """ + return acasx_runner.get_intruders() + + @app.get("/intruders/{call_sign}") + async def get_intruder(call_sign: str) -> ExtendedIntruder: + """Get an intruder from the ACAS X system. + + Args: + call_sign (str): The callsign of the intruder. + + Returns: + ExtendedIntruder: The intruder from the ACAS X system. + """ + return acasx_runner.get_intruder(call_sign) + + @app.put("/connector") + async def register_system_connection(connection: Literal["adsb"]) -> None: + """Register a connection with the ACAS X system. + + Args: + connection (Literal["adsb"]): The connection to register. + """ + conn: PropsConnection = {"adsb": adsb}[connection] # type: ignore + acasx_runner.register_connection(conn) + + @app.get("/{system_type}") + async def get_system(system_type: Literal["hcas", "vcas"]) -> SystemInfo: + """Get the information about a CAS system. + + Args: + system_type (Literal["hcas", "vcas"]): The CAS system to get + information about. + + Returns: + SystemInfo: The information about the CAS system. + """ + return acasx_runner.get_system_info(system_type) + + @app.get("/") + async def root() -> RootInfo: + """Get the information about both CAS systems. + + Returns: + RootInfo: The information about both CAS system aka the full ACAS X system. + """ + return { + "hcas": acasx_runner.get_system_info("hcas"), + "vcas": acasx_runner.get_system_info("vcas"), + "timestamp": time.time(), + } + + logger.info(f"Starting API server at http://{cfg.api.host}:{cfg.api.port}") + uvicorn.run(app, host=cfg.api.host, port=cfg.api.port, log_level="warning") diff --git a/pycasx/cli/cli.py b/pycasx/cli/cli.py new file mode 100644 index 0000000..3b39d5e --- /dev/null +++ b/pycasx/cli/cli.py @@ -0,0 +1,133 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Command line interface for pycasx. + +Only import what's needed once a functions is called. Currently, torch +imports are slow (aka expensive), to speed up the CLI, we import and +call the functions only when really needed. This way, simple commands +like `pycasx --help` or `pycasx --version` print the information +immediately without needing to import torch and thus slowing down the +CLI. +""" +import sys +import warnings + + +def print_help(): + """Print the help message.""" + print( + """ +pycasx - Running ACAS X for FlightGear + +Usage: pycasx --help [...] + +Commands: + acasx: Run the full ACAS X system (requires FlightGear) + copy: Copy the provided scenarios for FlightGear into the FG_ROOT + launch: Launch FlightGear + onnx: Convert the neural nets from NNet format into onnx format + run: Run the ACAS X test suite + scenarios: Generate full sets of scenarios for FlightGear + +Hydra args: + Manipulate the default configuration for each command via hydra cli commands. +""" + ) + + +def print_version(): + """Print the version of pyCASX.""" + import pycasx as c + + print(c.__version__) + + +def _acasx() -> None: + """Run the full ACAS X system.""" + from pycasx.cli.acasx import acasx + + acasx() + + +def _copy_files() -> None: + """Copy the provided scenarios for FlightGear into the FG_ROOT.""" + from pycasx.cli.copy_files import copy_files + + copy_files() + + +def _launch() -> None: + """Launch FlightGear.""" + from pycasx.cli.launch import launch + + launch() + + +def _onnx() -> None: + """Convert the neural nets from NNet format into onnx format.""" + from pycasx.cli.convert_to_onnx import convert_to_onnx + + convert_to_onnx() + + +def _run() -> None: + """Run the ACAS X test suite.""" + from pycasx.cli.run import run + + run() + + +def _scenarios() -> None: + """Generate full sets of scenarios for FlightGear.""" + from pycasx.cli.scenarios import create_scenarios + + create_scenarios() + + +def main() -> None: + """Run the cli tools. + + Depending on the arguments, it will run the appropriate tool. + + Raises: + ValueError: If the script name is unknown. + """ + if sys.argv[0].endswith("cas"): + warnings.warn( + "The script name 'cas' is deprecated, please use 'pycasx' instead.", + DeprecationWarning, + stacklevel=2, + ) + try: + script_name = sys.argv[1] + # Remove script name + del sys.argv[1] + # Execute known script + except IndexError: + script_name = "help" # Default script if no script name is given + known_scripts = { + "acasx": _acasx, + "copy": _copy_files, + "launch": _launch, + "onnx": _onnx, + "run": _run, + "scenarios": _scenarios, + "help": print_help, + "-h": print_help, + "--help": print_help, + "-v": print_version, + "--version": print_version, + "noop": lambda: None, # Only used for testing + } + if script_name not in known_scripts: + raise ValueError( + f"The script {script_name} is unknown," + f" please use one of {known_scripts.keys()}" + ) + known_scripts[script_name]() + + +if __name__ == "__main__": + sys.argv.append("pycasx") + main() diff --git a/pycasx/cli/convert_to_onnx.py b/pycasx/cli/convert_to_onnx.py new file mode 100644 index 0000000..dc9cf53 --- /dev/null +++ b/pycasx/cli/convert_to_onnx.py @@ -0,0 +1,38 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Translate the NNet files into ONNX files.""" + +from pathlib import Path + +import hydra +from hydra.core.config_store import ConfigStore + +from pycasx.conf import ONNXConfig +from pycasx.tools.NNet.converters.nnet_to_onnx import nnet_to_onnx + +ROOT_FOLDER = Path(Path(__file__).parent.parent, "assets", "neural_networks") +HCAS_FOLDER = Path(ROOT_FOLDER, "hcas") +VCAS_FOLDER = Path(ROOT_FOLDER, "vcas") + + +cs = ConfigStore.instance() +cs.store(name="onnx_", node=ONNXConfig) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="onnx") +def convert_to_onnx(cfg: ONNXConfig) -> None: + """Convert NNet to onnx. + + Search for all .NNet files in the default directory and convert them + to onnx model files. + + Args: + cfg (ONNXConfig): The configuration for the onnx command. + """ + hcas_folder = HCAS_FOLDER if cfg.hcas is None else Path(cfg.hcas) + vcas_folder = VCAS_FOLDER if cfg.vcas is None else Path(cfg.vcas) + for nnet_file in hcas_folder.glob("*.nnet"): + nnet_to_onnx(str(nnet_file.resolve()), normalize_network=True) + for nnet_file in vcas_folder.glob("*.nnet"): + nnet_to_onnx(str(nnet_file.resolve()), normalize_network=True) diff --git a/pycasx/cli/copy_files.py b/pycasx/cli/copy_files.py new file mode 100644 index 0000000..0520287 --- /dev/null +++ b/pycasx/cli/copy_files.py @@ -0,0 +1,43 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Copy scenarios to corresponding FG_ROOT folder.""" + + +import os +import shutil +from pathlib import Path + +import hydra +from hydra.core.config_store import ConfigStore +from loguru import logger + +from pycasx.cli import FGFS_ASSETS_DATA_PATH +from pycasx.cli.utils.find_fgfs import find_fgfs +from pycasx.conf import CopyConfig + +cs = ConfigStore.instance() +cs.store(name="copy_", node=CopyConfig) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="copy") +def copy_files(cfg: CopyConfig) -> None: + """Copy FlightGear related files to the FlightGear data directory. + + Args: + cfg (CopyConfig): The copy configuration. + """ + _, fg_root = find_fgfs(with_root=True) + fg_root = fg_root if cfg.fg_root is None else Path(cfg.fg_root) + + # Copy the assets to the FlightGear data directory. + for f in FGFS_ASSETS_DATA_PATH.glob("**/*"): + if f.is_file(): + dest = Path(fg_root, f.relative_to(FGFS_ASSETS_DATA_PATH)) + + if dest.exists() and dest.is_file() and os.path.samefile(f, dest): + logger.info("Skipping, file already exists.") + continue + + logger.info(f"Copying {f} to {dest}") + shutil.copyfile(f, dest) diff --git a/pycasx/cli/launch.py b/pycasx/cli/launch.py new file mode 100644 index 0000000..15a78c3 --- /dev/null +++ b/pycasx/cli/launch.py @@ -0,0 +1,113 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Launch FlightGear with our custom options.""" + +import subprocess +import sys +from pathlib import Path + +import hydra +from hydra.core.config_store import ConfigStore + +from pycasx.cli import FGFS_ASSETS_CONFIG_PATH, FGFS_ASSETS_DATA_PATH +from pycasx.cli.utils.find_fgfs import find_fgfs +from pycasx.conf import LaunchConfig + +cs = ConfigStore.instance() +cs.store(name="launch_", node=LaunchConfig) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="launch") +def launch(cfg: LaunchConfig) -> None: # noqa: C901 + """Launches FlightGear with our custom options. + + Args: + cfg (LaunchConfig): The configuration to use. + + Raises: + ValueError: If the timeout together with the background flag is + set. + """ + fgfs, fg_root = find_fgfs(with_root=True) + fgfs = fgfs if cfg.fgfs is None else Path(cfg.fgfs) + fg_root = fg_root if cfg.fg_root is None else Path(cfg.fg_root) + + command = [str(fgfs.resolve())] + + if cfg.httpd is not None: + command += [f"--httpd={cfg.httpd}"] + + if cfg.telnet is not None: + command += [f"--telnet=,,{cfg.telnet.rate},,{cfg.telnet.port},"] + + if cfg.aircraft is not None: + command += [f"--aircraft={cfg.aircraft}"] + + if cfg.altitude is not None: + command += [f"--altitude={cfg.altitude}"] + + if cfg.heading is not None: + command += [f"--heading={cfg.heading}"] + + if cfg.lat is not None: + command += [f"--lat={cfg.lat}"] + + if cfg.lon is not None: + command += [f"--lon={cfg.lon}"] + + if cfg.pitch is not None: + command += [f"--pitch={cfg.pitch}"] + + if cfg.roll is not None: + command += [f"--roll={cfg.roll}"] + + if cfg.vc is not None: + command += [f"--vc={cfg.vc}"] + + if cfg.timeofday is not None: + command += [f"--timeofday={cfg.timeofday}"] + + if cfg.wind is not None: + command += [f"--wind={cfg.wind}"] + + if cfg.ai_scenario is not None: + command += [f"--ai-scenario={cfg.ai_scenario}"] + + if cfg.disable_sound: + command += ["--disable-sound"] + + if cfg.config is not None: + for config in cfg.config: + command += [f"--config={FGFS_ASSETS_CONFIG_PATH.resolve()}/{config}"] + + if cfg.prop is not None: + for prop, value in cfg.prop.items(): + command += [f"--prop:{prop}={value}"] + + # Under Windows, FlightGear sometimes fails to find the data directory. + if sys.platform == "win32": + command.append(f"--fg-root={fg_root.resolve()}") + + # Will work in 2020.4 + command += [f"--data={FGFS_ASSETS_DATA_PATH.resolve()}"] + + # Manually parse the fgfsrc file + # fgfs will ignore duplicate options, so we can safely append them. + # In any case, CLI options take priority over the fgfsrc file. + if cfg.fgfsrc is not None: + with open(cfg.fgfsrc, encoding="utf-8") as f: + line = f.readline() + while line: + if line[0] != "#": + command += line.split() + line = f.readline() + + timeout = cfg.timeout if cfg.timeout > 0 else None + if timeout is not None and cfg.background: + raise ValueError("Cannot run in background with a timeout") + + if cfg.background: + subprocess.Popen(command) + else: + subprocess.run(command, check=True, timeout=timeout) diff --git a/pycasx/cli/run.py b/pycasx/cli/run.py new file mode 100644 index 0000000..3fac142 --- /dev/null +++ b/pycasx/cli/run.py @@ -0,0 +1,119 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Run the ACAS X test suite. + +Not to be confused with software tests, this command runs multiple +scenarios and logs the data to a file. +""" +from __future__ import annotations + +import sys +import time +from pathlib import Path + +import hydra +import libtmux +from hydra.core.config_store import ConfigStore +from tqdm.rich import tqdm + +import pycasx +from pycasx.conf import RunConfig + +cs = ConfigStore.instance() +cs.store(name="run_", node=RunConfig) + +SCENARIO_FOLDER = Path(Path(pycasx.__file__).parent, "assets", "scenarios").resolve() + +FGFS_BASE_CMD = " ".join( + [ + "pycasx", + "launch", + "background=false", + "httpd=null", + "telnet=null", + "disable_sound=false", + "aircraft=null", + "altitude=null", + "heading=null", + "lat=null", + "lon=null", + "pitch=null", + "roll=null", + "vc=null", + "config=null", + "prop=null", + "timeofday=null", + "wind=null", + "ai_scenario=null", + ] +) +PYCASX_BASE_CMD = " ".join( + [ + "pycasx", + "acasx", + "logger.log_folder=logs/{uuids[_idx]}/{run_}", + "logger.include_date=false", + ] +) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="run") +def run(cfg: RunConfig) -> None: + """Run the ACAS X test suite. + + Not to be confused with software tests, this command runs multiple + scenarios and logs the data to a file. + + Args: + cfg (RunConfig): The configuration for the run command. + + Raises: + RuntimeError: If the command is run on Windows. + """ + if sys.platform == "win32": + raise RuntimeError("This command is not supported on Windows.") + + srv = libtmux.server.Server() + session = srv.new_session("pycasx", attach=False, kill_session=True) + fgfs_window = session.active_window.rename_window("FlightGear") + acasx_window = session.new_window("ACAS X", attach=False) + + fgfs_pane: libtmux.pane.Pane = fgfs_window.active_pane # type: ignore + acasx_pane: libtmux.pane.Pane = acasx_window.active_pane # type: ignore + + time.sleep(5) # Wait for the windows to be created + + if cfg.venv_path is not None: + fgfs_pane.send_keys(f"source {cfg.venv_path}/bin/activate", enter=True) + acasx_pane.send_keys(f"source {cfg.venv_path}/bin/activate", enter=True) + + # Get all valid scenarios + scenarios = list(SCENARIO_FOLDER.glob("*_fgfs.txt")) + uuids = [s.stem[:-5] for s in scenarios] # noqa: F841 + + for _idx, scenario in enumerate(tqdm(scenarios)): + for run_ in range(3): + cmd_ = eval(f'f"{PYCASX_BASE_CMD}"') + if run_ == 0: + acasx_pane.send_keys(f"{cmd_} autoavoid.active=False", enter=True) + elif run_ == 1: + acasx_pane.send_keys( + f"{cmd_} autoavoid.active=True autoavoid.mode=hcas", enter=True + ) + elif run_ == 2: + acasx_pane.send_keys( + f"{cmd_} autoavoid.active=True autoavoid.mode=vcas", enter=True + ) + + # Start FlightGear + fgfs_pane.send_keys( + f"{FGFS_BASE_CMD} timeout={cfg.timeout} fgfsrc={scenario.resolve()}", + enter=True, + ) + + # Wait for the scenario to finish + time.sleep(cfg.timeout + 5) + + # Cleanup + acasx_pane.send_keys("C-c", enter=False, suppress_history=False) diff --git a/pycasx/cli/scenarios.py b/pycasx/cli/scenarios.py new file mode 100644 index 0000000..ca8598a --- /dev/null +++ b/pycasx/cli/scenarios.py @@ -0,0 +1,24 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Run the scenario generation via CLI.""" +from __future__ import annotations + +import hydra +from hydra.core.config_store import ConfigStore + +from pycasx.conf import ScenarioConfig +from pycasx.scenario.scenario import create_scenarios as create_scenarios_ + +cs = ConfigStore.instance() +cs.store(name="scenario_", node=ScenarioConfig) + + +@hydra.main(version_base=None, config_path="pkg://pycasx.conf", config_name="scenario") +def create_scenarios(cfg: ScenarioConfig) -> None: + """Generate full sets of scenarios for FlightGear. + + Args: + cfg (ScenarioConfig): The scenario configuration. + """ + create_scenarios_(cfg) diff --git a/pycasx/cli/utils/__init__.py b/pycasx/cli/utils/__init__.py new file mode 100644 index 0000000..f380434 --- /dev/null +++ b/pycasx/cli/utils/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT diff --git a/pycasx/cli/utils/find_fgfs.py b/pycasx/cli/utils/find_fgfs.py new file mode 100644 index 0000000..1583655 --- /dev/null +++ b/pycasx/cli/utils/find_fgfs.py @@ -0,0 +1,55 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Find FlightGear and the corresponding root data directory.""" +from __future__ import annotations + +import sys +from pathlib import Path +from typing import Literal, overload + + +@overload +def find_fgfs() -> Path: ... + + +@overload +def find_fgfs(with_root: Literal[False]) -> Path: ... + + +@overload +def find_fgfs(with_root: Literal[True]) -> tuple[Path, Path]: ... + + +def find_fgfs(with_root: bool = False) -> Path | tuple[Path, Path]: + """Find the fully resolved path to the FlightGear executable. + + Args: + with_root (bool): If true, return the root data directory as well. + + Returns: + Path | tuple[Path, Path]: The fully resolved path to the FlightGear + executable and the root data directory if `with_root` is + true. + + Raises: + NotImplementedError: If the platform is not supported. + """ + if sys.platform == "win32": + fgfs = Path("C:/Program Files/FlightGear 2020.3/bin/fgfs.exe") + root = Path("C:/Program Files/FlightGear 2020.3/data") + elif sys.platform == "darwin": + fgfs = Path("/Applications/FlightGear.app/Contents/MacOS/fgfs") + root = Path("/Applications/FlightGear.app/Contents/Resources/data") + elif sys.platform == "linux": + fgfs = Path("/usr/games/fgfs") + root = Path("/usr/share/games/flightgear") + else: + raise NotImplementedError( + f"FlightGear is not supported on {sys.platform}." + " Please ensure FlightGear is installed and provide a custom path." + ) + + if with_root: + return fgfs.resolve(), root.resolve() + return fgfs.resolve() diff --git a/pycasx/conf/__init__.py b/pycasx/conf/__init__.py new file mode 100644 index 0000000..94ca72d --- /dev/null +++ b/pycasx/conf/__init__.py @@ -0,0 +1,393 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Configuration module for pycasx. + +Also, list of all configuration dictionaries for typed hydra. + +As hydra does not support type annotations from __future__ import, we +have to use the plain old typing module for Python 3.8 and 3.9 support. +""" +from dataclasses import dataclass +from typing import Any, Dict, List, Literal, Optional, Union + + +@dataclass +class AutoavoidConfig: + """Configuration for the autoavoid subsystem. + + Attributes: + active (bool): If true, the autoavoid subsystem is active. + mode (Optional[Literal["hcas", "vcas"]]): The mode to use. + """ + + active: bool + mode: Optional[Literal["hcas", "vcas"]] + + +@dataclass +class GenericConnection: + """Generic connection config. + + Attributes: + host (str): Host address. + port (int): Port. + """ + + host: str + port: int + + +@dataclass +class TelnetConfig: + """Configuration for the telnet connection. + + Mirror of the telnet configuration in pycasx.conf.launch. + + Attributes: + port (int): The port to connect to. + rate (int): The rate to connect at. + """ + + port: int + rate: int + + +@dataclass +class LoggerConfig: + """Configuration for the logger subcommand. + + Attributes: + active (bool): If true, the logger is active. + log_folder (str): The folder to log to. + include_date (bool): If true, include the date in the log file. + files (Dict[str, str]): The files to log to. + """ + + active: bool + log_folder: str + include_date: bool + files: Dict[str, str] + + +@dataclass +class ACASXConfig: + """Configuration for the ACAS X. + + Mirror of the ACAS X configuration in pycasx.conf.acasx. + + Attributes: + update_rate (float): The update rate of the ACAS X. + backend (str): The neural network backend to use for the CAS. + autoavoid (AutoavoidConfig): The autoavoid configuration. + adsb (GenericConnection): The ADS-B configuration. + api (GenericConnection): The API configuration. + """ + + update_rate: float + backend: str + autoavoid: AutoavoidConfig + logger: LoggerConfig + adsb: GenericConnection + api: GenericConnection + + +@dataclass +class WindowConfig: + """General configuration for a window. + + Attributes: + width (int): The width of the window. + height (int): The height of the window. + """ + + width: int + height: int + + +@dataclass +class CopyConfig: + """Configuration for the copy command. + + Mirror of the copy configuration in pycasx.conf.copy. + + Attributes: + fg_root (Optional[str]): The FlightGear root directory. + """ + + fg_root: Optional[str] + + +@dataclass +class LaunchConfig: # pylint: disable=too-many-instance-attributes + """Configuration for the launch command. + + Mirror of the launch configuration in pycasx.conf.launch. + + Attributes: + background (bool): If true, run FlightGear in the background. + disable_sound (bool): If true, disable sound. + fg_root (Optional[str]): The FlightGear root directory. + fgfs (Optional[str]): The path to the FlightGear executable. + timeout (float): The timeout after which to kill FlightGear. + Works only in non-background mode. + fgfsrc (Optional[str]]): The path to the fgfsrc file. + httpd (Optional[int]): The httpd port. + telnet (Optional[TelnetConfig]): The telnet configuration. + aircraft (Optional[str]): The aircraft to use. + altitude (Optional[float]): The altitude of the ownship. + heading (Optional[float]): The heading of the ownship. + lat (Optional[float]): The latitude of the ownship. + lon (Optional[float]): The longitude of the ownship. + pitch (Optional[float]): The pitch of the ownship. + roll (Optional[float]): The roll of the ownship. + vc (Optional[float]): The vertical speed of the ownship. + config (Optional[List[str]]): The FlightGear configuration files + to use. + prop (Optional[Dict[str, Any]]): The FlightGear properties to + set. + timeofday (Optional[str]): The time of day. + wind (Optional[str]): The wind. + ai_scenario (Optional[str]): The AI scenario to use. + """ + + # General + background: bool + disable_sound: bool + fg_root: Optional[str] + fgfs: Optional[str] + timeout: float + fgfsrc: Optional[str] + + # Connections + httpd: Optional[int] + telnet: Optional[TelnetConfig] + + # Ownship + aircraft: Optional[str] + altitude: Optional[float] + heading: Optional[float] + lat: Optional[float] + lon: Optional[float] + pitch: Optional[float] + roll: Optional[float] + vc: Optional[float] + config: Optional[List[str]] + prop: Optional[Dict[str, Any]] + + # Environment + timeofday: Optional[str] + wind: Optional[str] + + # Intruder + ai_scenario: Optional[str] + + +@dataclass +class IntruderConfig: + """A simple intruder config for the scenario generation. + + Attributes: + type_ (str): The aircraft type + class_ (str): The aircraft class + model (str): The path to the xml model file + """ + + type_: str + class_: str + model: str + + +@dataclass +class WeightsConfig: + """A simple dataclass to represent the weights for the scenario generation. + + Attributes: + colliding (float): The weight for the colliding scenario + parallel (float): The weight for the parallel scenario + skewed (float): The weight for the skewed scenario + """ + + colliding: float + parallel: float + skewed: float + + +@dataclass +class BetaDistributionConfig: + """A simple dataclass to represent a beta distribution. + + Attributes: + spread (float | str): The spread of the distribution. If the + value is a string, it will be interpreted by pint as a + quantity. + alpha (float): The alpha parameter + beta (float): The beta parameter + """ + + spread: Union[float, str] + alpha: float + beta: float + + +@dataclass +class MinMaxConfig: + """A simple dataclass to represent the min and max values. + + Attributes: + min (float | str): The minimum value. If the value is a string, + it will be interpreted by pint as a quantity. + max (float | str): The maximum value. If the value is a string, + it will be interpreted by pint as a quantity. + """ + + min_: Union[float, str] + max_: Union[float, str] + + +@dataclass +class CollidingConfig: + """A simple dataclass to represent the colliding scenario. + + Attributes: + altitude (BetaDistributionConfig): The altitude distribution + heading (MinMaxConfig): The heading distribution + speed (MinMaxConfig): The speed distribution + """ + + altitude: BetaDistributionConfig + heading: MinMaxConfig + speed: MinMaxConfig + + +@dataclass +class ParallelConfig: + """A simple dataclass to represent the parallel scenario. + + Attributes: + altitude (BetaDistributionConfig): The altitude distribution + horizontal (BetaDistributionConfig): The horizontal distribution + speed (MinMaxConfig): The speed distribution + """ + + altitude: BetaDistributionConfig + horizontal: BetaDistributionConfig + speed: MinMaxConfig + + +@dataclass +class ScenarioConfig: # pylint: disable=too-many-instance-attributes + """Configuration for the launch command. + + Mirror of the launch configuration in pycasx.conf.launch. + + Attributes: + dest_folder (str): The destination folder for the scenarios. + n_scenarios (int): The number of scenarios to generate. + sort_by_uuid (bool): Sort scenarios by UUID into separate + folders. + time_to_cpa (float | str): The time to CPA for the colliding + scenario. If the value is a string, it will be interpreted + by pint as a quantity. + weights (WeightsConfig): The weights for the scenario + generation. + colliding (CollidingConfig): The colliding scenario + configuration. + parallel (ParallelConfig): The parallel scenario configuration. + headless (bool): If true, run FlightGear in the background. + disable_sound (bool): If true, disable sound. + httpd (int): The httpd port. + telnet (TelnetConfig): The telnet configuration. + aircraft (str): The aircraft to use. + altitude (float | str): The altitude of the ownship. If the + value is a string, it will be interpreted by pint as a + quantity. + heading (float | str): The heading of the ownship. If the value + is a string, it will be interpreted by pint as a quantity. + lat (float | str): The latitude of the ownship. If the value is + a string, it will be interpreted by pint as a quantity. + lon (float | str): The longitude of the ownship. If the value is + a string, it will be interpreted by pint as a quantity. + pitch (float | str): The pitch of the ownship. If the value is a + string, it will be interpreted by pint as a quantity. + roll (float | str): The roll of the ownship. If the value is a + string, it will be interpreted by pint as a quantity. + vc (float | str): The vertical speed of the ownship. If the + value is a string, it will be interpreted by pint as a + quantity. + config (List[str]): The FlightGear configuration files to use. + prop (Dict[str, Any]): The FlightGear properties to set. + timeofday (str): The time of day. + wind (str): The wind. + min_intruders (int): The minimum number of intruders. + max_intruders (int): The maximum number of intruders. + intruder (IntruderConfig): The intruder configuration. + """ + + # General scenario configuration + dest_folder: str + n_scenarios: int + sort_by_uuid: bool + + # Colliding scenario configuration + time_to_cpa: Union[float, str] + weights: WeightsConfig + colliding: CollidingConfig + parallel: ParallelConfig + + # FlightGear + headless: bool + disable_sound: bool + httpd: Optional[int] + telnet: Optional[TelnetConfig] + + # Ownship + aircraft: str + altitude: Union[float, str] + heading: Union[float, str] + lat: Union[float, str] + lon: Union[float, str] + pitch: Union[float, str] + roll: Union[float, str] + vc: Union[float, str] + config: List[str] + prop: Dict[str, Any] + + # Environment + timeofday: str + wind: str + + # Intruder + min_intruders: int + max_intruders: int + intruder: IntruderConfig + + +@dataclass +class ONNXConfig: + """Configuration for the onnx command. + + Mirror of the onnx configuration in pycasx.conf.onnx. + + Attributes: + hcas (Optional[str]): The path to the hcas folder. + vcas (Optional[str]): The path to the vcas folder. + """ + + hcas: Optional[str] + vcas: Optional[str] + + +@dataclass +class RunConfig: + """Configuration for the run command. + + Mirror of the run configuration in cas.conf.run. + + Args: + timeout (float): The timeout after which to kill FlightGear. + venv_path (Optional[str]): The path to the virtual environment. + """ + + timeout: float + venv_path: Optional[str] diff --git a/pycasx/conf/acasx.yaml b/pycasx/conf/acasx.yaml new file mode 100644 index 0000000..22cc348 --- /dev/null +++ b/pycasx/conf/acasx.yaml @@ -0,0 +1,28 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +update_rate: 5 + +backend: nnet + +autoavoid: + active: false + mode: hcas + +api: + host: 0.0.0.0 + port: 8008 + +logger: + active: true + log_folder: logs + include_date: true + files: + state: state.json + autoavoid: autoavoid.json + ownship: ownship.json + intruders: intruders.json + +adsb: + host: localhost # Host of the FlightGear instance (aka the property tree server) + port: 5050 # Port of the FlightGear instance (aka the property tree server) diff --git a/pycasx/conf/copy.yaml b/pycasx/conf/copy.yaml new file mode 100644 index 0000000..dfa1612 --- /dev/null +++ b/pycasx/conf/copy.yaml @@ -0,0 +1,4 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +fg_root: diff --git a/pycasx/conf/gui.yaml b/pycasx/conf/gui.yaml new file mode 100644 index 0000000..c11ceab --- /dev/null +++ b/pycasx/conf/gui.yaml @@ -0,0 +1,19 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# General +window: + width: 1024 + height: 720 + +# Connections +default_connection: http +http: + host: localhost + port: 5050 +telnet: + host: localhost + port: 5500 +api: + host: localhost + port: 8008 diff --git a/pycasx/conf/launch.yaml b/pycasx/conf/launch.yaml new file mode 100644 index 0000000..821f8aa --- /dev/null +++ b/pycasx/conf/launch.yaml @@ -0,0 +1,42 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# General +background: false +disable_sound: true +fg_root: +fgfs: +timeout: 0 # Timeout can be set to <= 0 to disable it +fgfsrc: + +# Connections +httpd: 5050 +telnet: + port: 5500 + rate: 150 + +# Ownship +aircraft: 737-200 +altitude: 10000 +heading: 0 +lat: 64.781531 +lon: -22.65 +pitch: 0 +roll: 0 +vc: 451 +# All config files have to be stored in the assets/flightgear/conf directory +config: +- multipleCamerasInOneWindow.xml +prop: + /autopilot/settings/target-speed-kt: 451 + /autopilot/locks/speed: speed-with-throttle + /autopilot/settings/target-altitude-ft: 10000 + /autopilot/locks/altitude: altitude-hold + /autopilot/locks/heading: wing-leveler + +# Environment +timeofday: noon +wind: 0@0 + +# Intruder +ai_scenario: Collision_V1 diff --git a/pycasx/conf/onnx.yaml b/pycasx/conf/onnx.yaml new file mode 100644 index 0000000..c1eb1e2 --- /dev/null +++ b/pycasx/conf/onnx.yaml @@ -0,0 +1,5 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +hcas: +vcas: diff --git a/pycasx/conf/run.yaml b/pycasx/conf/run.yaml new file mode 100644 index 0000000..cdc4946 --- /dev/null +++ b/pycasx/conf/run.yaml @@ -0,0 +1,5 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +timeout: 90 # Timeout can be set to <= 0 to disable it +venv_path: # Path to the virtual environment diff --git a/pycasx/conf/scenario.yaml b/pycasx/conf/scenario.yaml new file mode 100644 index 0000000..704f7f0 --- /dev/null +++ b/pycasx/conf/scenario.yaml @@ -0,0 +1,76 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +# General scenario configuration +dest_folder: scenarios +n_scenarios: 1 +sort_by_uuid: false # Sort scenarios by UUID into separate folders + +# Collision configuration +time_to_cpa: 60s +weights: + colliding: 1 + parallel: 0 + skewed: 0 +colliding: + altitude: + spread: 500ft + alpha: 6 + beta: 6 + heading: + min_: 45° + max_: 315° + speed: + min_: 451kt + max_: 451kt +parallel: + altitude: + spread: 500ft + alpha: 6 + beta: 6 + horizontal: + spread: 2000ft + alpha: 4 + beta: 4 + speed: + min_: 451kt + max_: 451kt + +# FlightGear +headless: false +disable_sound: true +httpd: 5050 +telnet: + port: 5500 + rate: 150 + +# Ownship +aircraft: 737-200 +altitude: 10000ft +heading: 0° +lat: 50.776106° +lon: 7.185820° +pitch: 0° +roll: 0° +vc: 451kt + +config: +prop: + /autopilot/settings/target-speed-kt: 451 + /autopilot/locks/speed: speed-with-throttle + /autopilot/settings/target-altitude-ft: 10000 + /autopilot/locks/altitude: altitude-hold + /autopilot/locks/heading: wing-leveler + /sim/speed-up: 1 + +# Environment +timeofday: noon +wind: 0@0 + +# Intruder +min_intruders: 1 +max_intruders: 1 +intruder: + type_: aircraft + class_: jet + model: Aircraft/737-200/Models/737-200.xml diff --git a/pycasx/connectors/__init__.py b/pycasx/connectors/__init__.py new file mode 100644 index 0000000..f380434 --- /dev/null +++ b/pycasx/connectors/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT diff --git a/pycasx/connectors/adsb.py b/pycasx/connectors/adsb.py new file mode 100644 index 0000000..3f7e78b --- /dev/null +++ b/pycasx/connectors/adsb.py @@ -0,0 +1,102 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""ADS-B Sensor Connector.""" +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Any + +from flightgear_python.fg_if import HTTPConnection + +from pycasx.connectors.protocols import PropsDict + + +@dataclass +class ADSB: + """ADS-B Sensor Connector. + + Args: + host (str): The http host of the FlightGear instance. + port (int): The http port of the FlightGear instance. + + Attributes: + host (str): The http host of the FlightGear instance. + port (int): The http port of the FlightGear instance. + conn (HTTPConnection): The connection to the FlightGear instance. + """ + + host: str + port: int + conn: HTTPConnection = field(init=False) + + def __post_init__(self) -> None: + """Run post init steps required to finalize the initialization.""" + self.conn = HTTPConnection(self.host, self.port) + + def get_prop(self, prop_str: str) -> Any: + """Get a property from FlightGear. + + Args: + prop_str (str): location of the property, should always be + relative to the root (``/``) + + Returns: + Any: the value of the property. If FG tells us what the type + is we will pre-convert it (i.e. make an int from a string) + """ + return self.conn.get_prop(prop_str) + + def set_prop(self, prop_str: str, value: Any) -> None: + """Set a property in FlightGear. + + Args: + prop_str (str): location of the property, should always be + relative to the root (``/``) + value (Any): value to set the property to. Must be convertible + to ``str`` + """ + self.conn.set_prop(prop_str, value) + + def list_props(self, path: str = "/", recurse_limit: int | None = 0) -> PropsDict: + r"""List properties in the FlightGear property tree. + + Args: + path (str): directory to list from, should always be + relative to the root (``/``) + recurse_limit (int | None): how many times to recurse into + subdirectories. 1 (default) is no recursion, 2 is 1 + level deep, etc. Passing in ``None`` disables the + recursion limit. Be warned that enabling any kind of + recursion will take a long time! + + Returns: + PropsDict: dictionary with keys: + + * ``directories``: List of directories, absolute path + * ``properties``: Dictionary with property name as the key + (absolute path), value as their value. + + Example for ``list_props('/position', recurse_limit=0)``: + + .. code-block:: python + + { + 'directories': [ + '/position/model' + ], + 'properties': { + '/position/altitude-agl-ft': 3.148566963, + '/position/altitude-agl-m': 0.9596832103, + '/position/altitude-ft': 3491.986254, + '/position/ground-elev-ft': 3488.469757, + '/position/ground-elev-m': 1063.285582, + '/position/latitude-deg': 0.104476136, + '/position/latitude-string': '0*06\\'16.1"N', + '/position/longitude-deg': 100.023135, + '/position/longitude-string': '100*01\\'23.3"E', + '/position/sea-level-radius-ft': 20925646.09 + } + } + """ + return self.conn.list_props(path, recurse_limit) # type: ignore diff --git a/pycasx/connectors/protocols.py b/pycasx/connectors/protocols.py new file mode 100644 index 0000000..178fc39 --- /dev/null +++ b/pycasx/connectors/protocols.py @@ -0,0 +1,93 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Protocols for connectors.""" +from __future__ import annotations + +from typing import Any, Protocol, TypedDict + + +class PropsDict(TypedDict): + """A dictionary of properties returned. + + This dictionary is returned by the ``list_props`` method of the + ``PropsConnection`` protocol. + + Attributes: + directories (list[str]): the directories in the property tree. + properties (dict[str, Any]): the properties in the property tree. + """ + + directories: list[str] + properties: dict[str, Any] + + +class PropsConnection(Protocol): + """Protocol for a connection to the FlightGear Property Tree.""" + + def get_prop(self, prop_str: str) -> Any: + """Get a property from FlightGear. + + For all general available properties, this works the same as + :meth:`PropsConnection.get_prop`. + But as we assume we do not have ADS-B data from the intruder + aka the AI, we will use object detection to get the properties + under ``/ai/models/aircraft/``. + + Args: + prop_str (str): location of the property, should always be + relative to the root (``/``) + + Returns: + Any: the value of the property. If FG tells us what the type + is we will pre-convert it (i.e. make an int from a string) + """ + + def set_prop(self, prop_str: str, value: Any) -> None: + """Set a property in FlightGear. + + Args: + prop_str (str): location of the property, should always be + relative to the root (``/``) + value (Any): value to set the property to. Must be convertible + to ``str`` + """ + + def list_props(self, path: str = "/", recurse_limit: int | None = 0) -> PropsDict: + r"""List properties in the FlightGear property tree. + + Args: + path (str): directory to list from, should always be + relative to the root (``/``) + recurse_limit (int | None): how many times to recurse into + subdirectories. 1 (default) is no recursion, 2 is 1 + level deep, etc. Passing in ``None`` disables the + recursion limit. Be warned that enabling any kind of + recursion will take a long time! + + Returns: + PropsDict: dictionary with keys: + + Example for ``list_props('/position', recurse_limit=0)``: + + .. code-block:: python + + { + 'directories': [ + '/position/model' + ], + 'properties': { + '/position/altitude-agl-ft': 3.148566963, + '/position/altitude-agl-m': 0.9596832103, + '/position/altitude-ft': 3491.986254, + '/position/ground-elev-ft': 3488.469757, + '/position/ground-elev-m': 1063.285582, + '/position/latitude-deg': 0.104476136, + '/position/latitude-string': '0*06\\'16.1"N', + '/position/longitude-deg': 100.023135, + '/position/longitude-string': '100*01\\'23.3"E', + '/position/sea-level-radius-ft': 20925646.09 + } + } + """ + ... # pylint: disable=W2301 diff --git a/pycasx/py.typed b/pycasx/py.typed new file mode 100644 index 0000000..e69de29 diff --git a/pycasx/scenario/__init__.py b/pycasx/scenario/__init__.py new file mode 100644 index 0000000..574e3ca --- /dev/null +++ b/pycasx/scenario/__init__.py @@ -0,0 +1,125 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Scenario generation module for pycasx.""" +from __future__ import annotations + +from dataclasses import dataclass +from typing import overload + +import pyproj + +from pycasx.acas import ureg + +GEOD = pyproj.Geod(ellps="WGS84") + + +# REUSE-IgnoreStart +SPDX_FILE_COPYRIGHT_TEXT = ( + "SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) " +) +SPDX_LICENSE_IDENTIFIER = "SPDX-License-Identifier: MIT" +# REUSE-IgnoreStop + +HEADLESS_OPTIONS = """# HEADLESS-START +--geometry=1x1 +--disable-sound +--disable-terrasync +--disable-splash-screen +--fog-fastest +--disable-specular-highlight +--disable-random-objects +--disable-clouds +--disable-clouds3d +--disable-distance-attenuation +--disable-real-weather-fetch +--disable-random-vegetation +--disable-random-buildings +--disable-horizon-effect +--prop:/sim/rendering/particles=0 +--prop:/sim/rendering/multi-sample-buffers=1 +--prop:/sim/rendering/multi-samples=2 +--prop:/sim/rendering/draw-mask/clouds=false +--prop:/sim/rendering/draw-mask/aircraft=false +--prop:/sim/rendering/draw-mask/models=false +--prop:/sim/rendering/draw-mask/terrain=false +--prop:/sim/rendering/random-vegetation=0 +--prop:/sim/rendering/random-buildings=0 +--prop:/sim/rendering/texture-compression=off +--prop:/sim/rendering/quality-level=0 +--prop:/sim/rendering/shaders/quality-level=0 +# HEADLESS-END +""" + + +@dataclass +class WayPointConfig: # pylint: disable=too-many-instance-attributes + """Configuration of a single waypoint. + + Attributes: + name (str): Name of the waypoint + lat (float): The waypoint's latitude + lon (float): The waypoint's longitude + alt (float): The aircraft's **true altitude** + ktas (float): The the aircraft's **true airspeed** + on_ground (bool): Whether the aircraft in on the ground + gear_down (bool): Whether the gear is down + flaps_down (bool): Whether the flaps are down + """ + + name: str + lat: float + lon: float + alt: float + ktas: float + on_ground: bool + gear_down: bool + flaps_down: bool + + +@dataclass +class GeographicCoordinates: + """The latitude and longitude of an aircraft. + + Attributes: + lat (float): the latitude of the aircraft. + lon (float): the longitude of the aircraft. + """ + + lat: float + lon: float + + +@overload +def convert(value: int | float) -> float: ... + + +@overload +def convert(value: int | float, unit: str) -> float: ... + + +@overload +def convert(value: str, unit: str) -> float: ... + + +def convert(value: int | float | str, unit: str = "") -> float: + """Convert a value to a specific unit. + + This function takes a value and a unit and converts the value to the + given unit. If the value is already a number (int | float), it is + directly returned. If the value is a string, it is converted to a + quantity and then to the given unit. + This is useful to read values from the configuration file and + convert them to the correct unit. + + Args: + value (int | float | str): The value to convert + unit (str): The unit to convert to + + Returns: + float: The converted value + """ + if isinstance(value, (int, float)): + return float(value) + else: + return float(ureg.Quantity(value).to(unit).magnitude) # type: ignore diff --git a/pycasx/scenario/ai_scenario.py b/pycasx/scenario/ai_scenario.py new file mode 100644 index 0000000..cfbc319 --- /dev/null +++ b/pycasx/scenario/ai_scenario.py @@ -0,0 +1,56 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Module to generate the AI Scenario XML string.""" +from __future__ import annotations + +import uuid +from pathlib import Path + +from lxml import etree + +from pycasx.conf import ScenarioConfig +from pycasx.scenario import SPDX_FILE_COPYRIGHT_TEXT, SPDX_LICENSE_IDENTIFIER + + +def create_ai_scenario_xml( + cfg: ScenarioConfig, _uuid: uuid.UUID, flightplans: list[Path] +) -> str: + """Create the scenario file. + + Args: + cfg (ScenarioConfig): The scenario configuration + _uuid (uuid.UUID): The UUID of the scenario + flightplans (list[Path]): The flightplan files of the intruders + + Returns: + str: The XML file as a string + """ + root = etree.Element("PropertyList") + comment = etree.Comment( + f"\n{SPDX_FILE_COPYRIGHT_TEXT}\n\n{SPDX_LICENSE_IDENTIFIER}\n" + ) + root.addprevious(comment) + + scenario = etree.SubElement(root, "scenario") + + etree.SubElement(scenario, "name").text = str(_uuid) + etree.SubElement(scenario, "description").text = ( + f"UUID: {_uuid}, n_intruders: {len(flightplans)}" + ) + + for i, fp in enumerate(flightplans): + entry = etree.SubElement(scenario, "entry") + etree.SubElement(entry, "callsign").text = f"INTRUDER_{i+1}" + etree.SubElement(entry, "type").text = cfg.intruder.type_ + etree.SubElement(entry, "class").text = cfg.intruder.class_ + etree.SubElement(entry, "model").text = cfg.intruder.model + etree.SubElement(entry, "flightplan").text = f"{fp.stem}{fp.suffix}" + etree.SubElement(entry, "repeat").text = "0" + + return etree.tostring( + etree.ElementTree(root), + pretty_print=True, + xml_declaration=True, + encoding="UTF-8", + ).decode("utf-8") diff --git a/pycasx/scenario/calculate_cpa.py b/pycasx/scenario/calculate_cpa.py new file mode 100644 index 0000000..73d665c --- /dev/null +++ b/pycasx/scenario/calculate_cpa.py @@ -0,0 +1,83 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Calculate the closest point of approach (CPA) given the time to CPA.""" +from __future__ import annotations + +from typing import Literal, overload + +from pycasx.acas import ureg +from pycasx.conf import ScenarioConfig +from pycasx.scenario import GEOD, GeographicCoordinates, convert + + +@overload +def calculate_cpa(cfg: ScenarioConfig) -> GeographicCoordinates: ... + + +@overload +def calculate_cpa( + cfg: ScenarioConfig, + return_tuple: Literal[False], +) -> GeographicCoordinates: ... + + +@overload +def calculate_cpa( + cfg: ScenarioConfig, + return_tuple: Literal[True], +) -> tuple[float, float]: ... + + +@overload +def calculate_cpa( + cfg: ScenarioConfig, + return_tuple: Literal[False], + order: Literal["lat,lon", "lon,lat"], +) -> GeographicCoordinates: ... + + +@overload +def calculate_cpa( + cfg: ScenarioConfig, + return_tuple: Literal[True], + order: Literal["lat,lon", "lon,lat"], +) -> tuple[float, float]: ... + + +def calculate_cpa( + cfg: ScenarioConfig, + return_tuple: bool = False, + order: Literal["lat,lon", "lon,lat"] = "lat,lon", +) -> GeographicCoordinates | tuple[float, float]: + """Calculate the closest point of approach given the initial condition. + + Args: + cfg (ScenarioConfig): The scenario configuration + return_tuple (bool): If true, return the result as a tuple. + Otherwise, return a GeographicCoordinates object. + order (Literal["lat,lon", "lon,lat"]): The order of the returned + tuple if `return_tuple` is true. + + Returns: + GeographicCoordinates | tuple[float, float]: The closest point of + approach as a GeographicCoordinates object if `return_tuple` is + false, otherwise as a tuple of latitude and longitude in the + specified order. + """ + dist = ( + (convert(cfg.vc, "kt") * ureg.kt * convert(cfg.time_to_cpa, "s") * ureg.s) + .to(ureg.meter) + .magnitude + ) + lon, lat, _ = GEOD.fwd( + lons=convert(cfg.lon, "deg"), + lats=convert(cfg.lat, "deg"), + az=convert(cfg.heading, "deg"), + dist=dist, + ) + if not return_tuple: + return GeographicCoordinates(lat=lat, lon=lon) + if order == "lat,lon": + return lat, lon + return lon, lat diff --git a/pycasx/scenario/fgfs_config.py b/pycasx/scenario/fgfs_config.py new file mode 100644 index 0000000..1fc49af --- /dev/null +++ b/pycasx/scenario/fgfs_config.py @@ -0,0 +1,60 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Create the FlightGear (FGFS) configuration file.""" +from __future__ import annotations + +from pycasx.conf import ScenarioConfig +from pycasx.scenario import ( + HEADLESS_OPTIONS, + SPDX_FILE_COPYRIGHT_TEXT, + SPDX_LICENSE_IDENTIFIER, + convert, +) + + +def create_fgfs_config(cfg: ScenarioConfig) -> str: + """Create a FlightGear configuration file. + + Args: + cfg (ScenarioConfig): The scenario configuration + + Returns: + str: The configuration file as a string + """ + fgfs_cfg = f"""# {SPDX_FILE_COPYRIGHT_TEXT} +# +# {SPDX_LICENSE_IDENTIFIER} +--aircraft={cfg.aircraft} +--lat={convert(cfg.lat,"deg")} +--lon={convert(cfg.lon,"deg")} +--altitude={convert(cfg.altitude,"ft")} +--heading={convert(cfg.heading,"deg")} +--vc={convert(cfg.vc,"kt")} +--roll={convert(cfg.roll,"deg")} +--pitch={convert(cfg.pitch,"deg")} +--timeofday={cfg.timeofday} +--wind={cfg.wind} +""" + + if cfg.disable_sound: + fgfs_cfg += "--disable-sound\n" + else: + fgfs_cfg += "--enable-sound\n" + + if cfg.httpd: + fgfs_cfg += f"--httpd={cfg.httpd}\n" + if cfg.telnet: + fgfs_cfg += f"--telnet=,,{cfg.telnet.rate},,{cfg.telnet.port},\n" + + if cfg.config is not None: + for config in cfg.config: + fgfs_cfg += f"--config={config}" + + for prop_name in cfg.prop: + fgfs_cfg += f"--prop:{prop_name}={cfg.prop[prop_name]}\n" + + if cfg.headless: + fgfs_cfg += HEADLESS_OPTIONS + + return fgfs_cfg diff --git a/pycasx/scenario/flightplan.py b/pycasx/scenario/flightplan.py new file mode 100644 index 0000000..6f340b5 --- /dev/null +++ b/pycasx/scenario/flightplan.py @@ -0,0 +1,48 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Module to generate the flightPlan XML string.""" +from __future__ import annotations + +from dataclasses import fields + +from lxml import etree + +from pycasx.scenario import ( + SPDX_FILE_COPYRIGHT_TEXT, + SPDX_LICENSE_IDENTIFIER, + WayPointConfig, +) + + +def create_flightplan_xml(waypoints: list[WayPointConfig]) -> str: + """Create a flightplan XML file. + + Args: + waypoints (list[WayPointConfig]): List of waypoints + + Returns: + str: The XML file as a string + """ + root = etree.Element("PropertyList") + comment = etree.Comment( + f"\n{SPDX_FILE_COPYRIGHT_TEXT}\n\n{SPDX_LICENSE_IDENTIFIER}\n" + ) + root.addprevious(comment) + + flightplan = etree.SubElement(root, "flightplan") + + for wp in waypoints: + wpt = etree.SubElement(flightplan, "wpt") + + for field in fields(WayPointConfig): + etree.SubElement(wpt, field.name.replace("_", "-")).text = str( + getattr(wp, field.name) + ) + + return etree.tostring( + etree.ElementTree(root), + pretty_print=True, + xml_declaration=True, + encoding="UTF-8", + ).decode("utf-8") diff --git a/pycasx/scenario/scenario.py b/pycasx/scenario/scenario.py new file mode 100644 index 0000000..1c0bc23 --- /dev/null +++ b/pycasx/scenario/scenario.py @@ -0,0 +1,142 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Generate full sets of scenarios for FlightGear. + +The scenarios consist of: +- A info file with general information about the flightplan +- A configuration file for the flight +- An AI scenario file +- The corresponding flight plan +""" +from __future__ import annotations + +import random +import uuid +from pathlib import Path + +from pycasx.cli import ASSETS_PATH +from pycasx.conf import ScenarioConfig +from pycasx.scenario import ( + SPDX_FILE_COPYRIGHT_TEXT, + SPDX_LICENSE_IDENTIFIER, + WayPointConfig, + convert, +) +from pycasx.scenario.ai_scenario import create_ai_scenario_xml +from pycasx.scenario.calculate_cpa import calculate_cpa +from pycasx.scenario.fgfs_config import create_fgfs_config +from pycasx.scenario.flightplan import create_flightplan_xml +from pycasx.scenario.waypoint_generation import ( + generate_colliding_waypoints, + generate_parallel_waypoints, +) + + +def create_intruders( + cfg: ScenarioConfig, + n_intruders: int, + _uuid: uuid.UUID, + fp_folder: Path, + flightplan_files: list[Path], + waypoints: dict[int, list[WayPointConfig]], +) -> None: + """Create an intruder. + + Args: + cfg (ScenarioConfig): The scenario configuration + n_intruders (int): The number of intruders + _uuid (uuid.UUID): The UUID of the scenario + fp_folder (Path): The folder for the flight plans + flightplan_files (list[Path]): The list of flight plan files + waypoints (dict[int, list[WayPointConfig]]): The waypoints + """ + for i in range(n_intruders): + fp_file = Path(fp_folder, f"{_uuid}_fp_{i}.xml") + fun_ = random.choices( + population=[generate_colliding_waypoints, generate_parallel_waypoints], + weights=[cfg.weights.colliding, cfg.weights.parallel], + k=1, + )[0] + waypoints[i + 1] = fun_(cfg) + fp_cfg = create_flightplan_xml(waypoints[i + 1]) + flightplan_files.append(fp_file) + fp_file.write_text(fp_cfg, encoding="utf-8") + + +def create_scenario(cfg: ScenarioConfig) -> None: + """Create a scenario. + + Args: + cfg (ScenarioConfig): The scenario configuration + """ + _uuid = uuid.uuid4() + + n_intruders = random.randint(cfg.min_intruders, cfg.max_intruders) + + folder = Path(ASSETS_PATH, "scenarios") + if cfg.sort_by_uuid: + folder = Path(folder, str(_uuid)) + ai_folder = Path(folder, "data", "AI") + fp_folder = Path(ai_folder, "FlightPlans") + fp_folder.mkdir(parents=True, exist_ok=True) + + fgfs_file = Path(folder, f"{_uuid}_fgfs.txt") + info_file = Path(folder, f"{_uuid}_info.txt") + + fgfs_cfg = create_fgfs_config(cfg) + info_cfg = ( + f"# {SPDX_FILE_COPYRIGHT_TEXT}\n#\n# {SPDX_LICENSE_IDENTIFIER}\n" + + f"UUID: {_uuid}\n" + + f"n_intruders: {n_intruders}\n" + + f"cfg:\n{cfg}\n" + + f"CPA: {calculate_cpa(cfg)}\n" + ) + + if n_intruders > 0: + scenario_file = Path(ai_folder, f"{_uuid}_scenario.xml") + fgfs_cfg += "--disable-ai-traffic\n" + fgfs_cfg += f"--ai-scenario={scenario_file.stem}\n" + flightplan_files: list[Path] = [] + waypoints: dict[int, list[WayPointConfig]] = {} + + create_intruders( + cfg, + n_intruders, + _uuid, + fp_folder, + flightplan_files, + waypoints, + ) + + info_cfg += f"waypoints:\n{waypoints}\n" + info_cfg += ( + "Visualize the waypoints on:\n" + + "\n" + ) + info_cfg += ( + f'{convert(cfg.lat,"deg")},' + f'{convert(cfg.lon,"deg")},' + 'red,marker,"Ownship Start"\n' + ) + cpa = calculate_cpa(cfg) + info_cfg += f'{cpa.lat},{cpa.lon},yellow,marker,"CPA"\n' + for i, wp in waypoints.items(): + info_cfg += f'{wp[0].lat},{wp[0].lon},#0000FF,marker,"Int {i} START"\n' + info_cfg += f'{wp[1].lat},{wp[1].lon},#AAAAFF,marker,"Int {i} END"\n' + + scenario_cfg = create_ai_scenario_xml(cfg, _uuid, flightplan_files) + scenario_file.write_text(scenario_cfg, encoding="utf-8") + + fgfs_file.write_text(fgfs_cfg, encoding="utf-8") + info_file.write_text(info_cfg, encoding="utf-8") + + +def create_scenarios(cfg: ScenarioConfig) -> None: + """Generate full sets of scenarios for FlightGear. + + Args: + cfg (ScenarioConfig): The scenario configuration. + """ + for _ in range(cfg.n_scenarios): + create_scenario(cfg) diff --git a/pycasx/scenario/waypoint_generation.py b/pycasx/scenario/waypoint_generation.py new file mode 100644 index 0000000..61ce42a --- /dev/null +++ b/pycasx/scenario/waypoint_generation.py @@ -0,0 +1,190 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Module to generate different waypoints.""" +from __future__ import annotations + +import random + +from pycasx.acas import ureg +from pycasx.conf import ScenarioConfig +from pycasx.scenario import GEOD, GeographicCoordinates, WayPointConfig, convert +from pycasx.scenario.calculate_cpa import calculate_cpa + + +def generate_colliding_waypoints(cfg: ScenarioConfig) -> list[WayPointConfig]: + """Generate intruder waypoints for a collision course. + + For an easy visualization of the beta distribution, see: + https://eurekastatistics.com/beta-distribution-pdf-grapher/ + + Args: + cfg (ScenarioConfig): The scenario configuration + + Returns: + list[WayPointConfig]: The generated waypoints + """ + cpa = calculate_cpa(cfg) + + altitude = convert(cfg.altitude, "ft") + convert( + cfg.colliding.altitude.spread, "ft" + ) * ( + random.betavariate( + cfg.colliding.altitude.alpha, + cfg.colliding.altitude.beta, + ) + - 0.5 + ) + heading = convert(cfg.heading, "deg") + random.uniform( + convert(cfg.colliding.heading.min_, "deg"), + convert(cfg.colliding.heading.max_, "deg"), + ) + speed = random.uniform( + convert(cfg.colliding.speed.min_, "kt"), + convert(cfg.colliding.speed.max_, "kt"), + ) + + # We have to cheat here a little bit, because we don't know the + # exact true airspeed of the ownship as the control algorithm + # uses the indicated airspeed. That's why we still use the defined + # airspeed of the ownship but try to sync that up with the + # randomized airspeed of the intruder. + dist = ( + (convert(cfg.vc, "kt") * ureg.kt * convert(cfg.time_to_cpa, "s") * ureg.s) + .to(ureg.meter) + .magnitude + ) + + lon_start, lat_start, _ = GEOD.fwd( + lons=cpa.lon, + lats=cpa.lat, + az=heading + 180, + dist=dist, + ) + start = GeographicCoordinates(lat=lat_start, lon=lon_start) + lon_end, lat_end, _ = GEOD.fwd( + lons=cpa.lon, + lats=cpa.lat, + az=heading, + dist=dist, + ) + end = GeographicCoordinates(lat=lat_end, lon=lon_end) + + waypoints = [ + WayPointConfig( + name="START", + lat=start.lat, + lon=start.lon, + alt=altitude, + ktas=speed, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + WayPointConfig( + name="END", + lat=end.lat, + lon=end.lon, + alt=altitude, + ktas=speed, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + ] + + return waypoints + + +def generate_parallel_waypoints( + cfg: ScenarioConfig, +) -> list[WayPointConfig]: # pylint: disable=too-many-locals + """Generate intruder waypoints that are on a parallel course. + + For an easy visualization of the beta distribution, see: + https://eurekastatistics.com/beta-distribution-pdf-grapher/ + + Args: + cfg (ScenarioConfig): The scenario configuration + + Returns: + list[WayPointConfig]: The generated waypoints + """ + cpa = calculate_cpa(cfg) + + altitude = convert(cfg.altitude, "ft") + convert( + cfg.colliding.altitude.spread, "ft" + ) * ( + random.betavariate( + cfg.parallel.altitude.alpha, + cfg.parallel.altitude.beta, + ) + - 0.5 + ) + heading = convert(cfg.heading, "deg") + 180 + speed = random.uniform( + convert(cfg.parallel.speed.min_, "kt"), + convert(cfg.parallel.speed.max_, "kt"), + ) + + horizontal_offset = convert(cfg.parallel.horizontal.spread, "m") * ( + random.betavariate( + cfg.parallel.horizontal.alpha, + cfg.parallel.horizontal.beta, + ) + - 0.5 + ) + + dist = ( + (speed * ureg.kt * convert(cfg.time_to_cpa, "s") * ureg.s) + .to(ureg.meter) + .magnitude + ) + + lon_offset, lat_offset, _ = GEOD.fwd( + lons=cpa.lon, + lats=cpa.lat, + az=convert(cfg.heading, "deg") + 90, + dist=horizontal_offset, + ) + offset_cpa = GeographicCoordinates(lat=lat_offset, lon=lon_offset) + + lon_start, lat_start, _ = GEOD.fwd( + lons=offset_cpa.lon, + lats=offset_cpa.lat, + az=heading + 180, + dist=dist, + ) + start = GeographicCoordinates(lat=lat_start, lon=lon_start) + lon_end, lat_end, _ = GEOD.fwd( + lons=offset_cpa.lon, + lats=offset_cpa.lat, + az=heading, + dist=dist, + ) + end = GeographicCoordinates(lat=lat_end, lon=lon_end) + + waypoints = [ + WayPointConfig( + name="START", + lat=start.lat, + lon=start.lon, + alt=altitude, + ktas=speed, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + WayPointConfig( + name="END", + lat=end.lat, + lon=end.lon, + alt=altitude, + ktas=speed, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + ] + + return waypoints diff --git a/pycasx/tools/NNet/__init__.py b/pycasx/tools/NNet/__init__.py new file mode 100644 index 0000000..39df1c6 --- /dev/null +++ b/pycasx/tools/NNet/__init__.py @@ -0,0 +1,7 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""NNet module from https://github.com/sisl/NNet. + +Please see the attached LICENSE file for the license of this module. +""" diff --git a/pycasx/tools/NNet/converters/__init__.py b/pycasx/tools/NNet/converters/__init__.py new file mode 100644 index 0000000..e39e48d --- /dev/null +++ b/pycasx/tools/NNet/converters/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT diff --git a/pycasx/tools/NNet/converters/nnet_to_onnx.py b/pycasx/tools/NNet/converters/nnet_to_onnx.py new file mode 100644 index 0000000..a557fa8 --- /dev/null +++ b/pycasx/tools/NNet/converters/nnet_to_onnx.py @@ -0,0 +1,210 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""Convert NNet to onnx. + +The file was adapted from . +The original file was licensed under MIT License. +The original license is included below. + +The MIT License (MIT) + +Copyright (c) 2018 Stanford Intelligent Systems Laboratory + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" +import sys + +import numpy as np +import onnx +from loguru import logger +from onnx import helper, numpy_helper +from onnx.onnx_ml_pb2 import OperatorSetIdProto, TensorProto + +from pycasx.tools.NNet.utils.normalize_nnet import normalize_nnet +from pycasx.tools.NNet.utils.read_nnet import read_nnet + + +def nnet_to_onnx( + nnet_file: str, + onnx_file: str = "", + output_var: str = "y_out", + input_var: str = "X", + normalize_network: bool = False, +) -> None: # pylint: disable=too-many-locals + """Convert a .nnet file to onnx format. + + Args: + nnet_file (string): .nnet file to convert to onnx + onnx_file (string): name for the created .onnx file + output_var (string): name of the output variable in + onnx + input_var (string): name of the input variable in + normalize_network (bool): if true, adapt the network weights and + biases so that networks and inputs do not need to be + normalized. Default is False. + """ + if normalize_network: + weights, biases, input_mins, input_maxes, _, _ = normalize_nnet( + nnet_file, with_norm=True + ) + else: + weights, biases, input_mins, input_maxes, _, _ = read_nnet( + nnet_file, with_norm=True + ) + + input_size = weights[0].shape[1] + output_size = weights[-1].shape[0] + num_layers = len(weights) + + # Default onnx filename if none specified + if onnx_file == "": + onnx_file = nnet_file[:-4] + "onnx" + + # Initialize graph + inputs = [ + helper.make_tensor_value_info( + input_var, + TensorProto.FLOAT, + [input_size], + ) + ] + outputs = [ + helper.make_tensor_value_info( + output_var, + TensorProto.FLOAT, + [output_size], + ) + ] + operations = [] + initializers = [] + + # Add input limits + if normalize_network: + operations.append( + helper.make_node( + "Split", + [input_var, "S0"], + [f"S_{i:d}" for i in range(input_size)], + axis=0, + ) + ) + initializers.append( + numpy_helper.from_array(np.ones((input_size,), dtype=np.int64), name="S0") + ) + for i in range(input_size): + operations.append( + helper.make_node( + "Clip", + [f"S_{i:d}", f"min_input{i:d}", f"max_input{i:d}"], + [f"C_{i:d}"], + ) + ) + initializers.append( + numpy_helper.from_array( + np.asarray(input_mins[i], dtype=np.float32), + name=f"min_input{i:d}", + ) + ) + initializers.append( + numpy_helper.from_array( + np.asarray(input_maxes[i], dtype=np.float32), + name=f"max_input{i:d}", + ) + ) + operations.append( + helper.make_node( + "Concat", [f"C_{i:d}" for i in range(input_size)], ["C0"], axis=0 + ) + ) + input_var = "C0" + + # Loop through each layer of the network and add operations and initializers + for i in range(num_layers): + # Use outputVar for the last layer + output_name = f"H{i:d}" + if i == num_layers - 1: + output_name = output_var + + # Weight matrix multiplication + operations.append( + helper.make_node("MatMul", [f"W{i:d}", input_var], [f"M{i:d}"]) + ) + initializers.append( + numpy_helper.from_array(weights[i].astype(np.float32), name=f"W{i:d}") + ) + + # Bias add + operations.append( + helper.make_node("Add", [f"M{i:d}", f"B{i:d}"], [output_name]) + ) + initializers.append( + numpy_helper.from_array(biases[i].astype(np.float32), name=f"B{i:d}") + ) + + # Use Relu activation for all layers except the last layer + if i < num_layers - 1: + operations.append(helper.make_node("Relu", [f"H{i:d}"], [f"R{i:d}"])) + input_var = f"R{i:d}" + + # Create the graph and model in onnx + graph_proto = helper.make_graph( + operations, "nnet2onnx_Model", inputs, outputs, initializers + ) + op = OperatorSetIdProto() + op.version = 13 + model_def = helper.make_model(graph_proto, opset_imports=[op]) + + # Log the conversion + logger.info( + f"Converted NNet model at {nnet_file}\n\tto an ONNX model at {onnx_file}" + ) + + # Log additional statements + logger.debug(f"Readable GraphProto:\n{helper.printable_graph(graph_proto)}") + + # Save the ONNX model + onnx.save(model_def, onnx_file) + + +def main() -> None: + """Convert nnet file to onnx. + + Read user inputs from sys.argv and run nnet2onnx function for + different numbers of inputs. + + Raises: + ValueError: if no .nnet file is specified via sys.argv + """ + if len(sys.argv) <= 1: + raise ValueError("Need to specify which .nnet file to convert to ONNX!") + nnet_file = sys.argv[1] + if len(sys.argv) > 2: + onnx_file = sys.argv[2] + if len(sys.argv) > 3: + output_name = sys.argv[3] + nnet_to_onnx(nnet_file, onnx_file, output_name) + else: + nnet_to_onnx(nnet_file, onnx_file) + else: + nnet_to_onnx(nnet_file) + + +if __name__ == "__main__": + main() diff --git a/pycasx/tools/NNet/converters/onnx_to_nnet.py b/pycasx/tools/NNet/converters/onnx_to_nnet.py new file mode 100644 index 0000000..4f8735d --- /dev/null +++ b/pycasx/tools/NNet/converters/onnx_to_nnet.py @@ -0,0 +1,248 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""Convert onnx to NNet. + +The file was adapted from . +The original file was licensed under MIT License. +The original license is included below. + +The MIT License (MIT) + +Copyright (c) 2018 Stanford Intelligent Systems Laboratory + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" +import sys +import warnings + +import numpy as np +import onnx +from loguru import logger +from onnx import numpy_helper + +from pycasx.tools.NNet.utils.write_nnet import write_nnet + + +def add(input_name, graph, biases, node): + if not len(node.input) == 2: + raise ValueError("Add node does not have two inputs.") + + # Find the name of the bias vector, which should be the + # other input to the node + bias_index = 0 + if node.input[0] == input_name: + bias_index = 1 + bias_name = node.input[bias_index] + + # Extract the value of the bias vector from the initializers + biases += [ + numpy_helper.to_array(inits) + for inits in graph.initializer + if inits.name == bias_name + ] + + # Update inputName to be the output of this node + input_name = node.output[0] + return input_name + + +def matmul(input_name, graph, weights, node): + if not len(node.input) == 2: + raise ValueError("MatMul node does not have two inputs.") + + # Find the name of the weight matrix, which should be + # the other input to the node + weight_index = 0 + if node.input[0] == input_name: + weight_index = 1 + weight_name = node.input[weight_index] + + # Extract the value of the weight matrix from the initializers + weights += [ + numpy_helper.to_array(inits) + for inits in graph.initializer + if inits.name == weight_name + ] + + # Update inputName to be the output of this node + input_name = node.output[0] + return input_name + + +def relu(node): + input_name = node.output[0] + return input_name + + +def onnx_to_nnet_helper(graph, input_name, output_name): + # Search through nodes until we find the input_name. + # Accumulate the weight matrices and bias vectors into lists. + # Continue through the network until we reach output_name. + # This assumes that the network is "frozen", and the model uses + # initializers to set weight and bias array values. + weights = [] + biases = [] + + # Loop through nodes in graph + for node in graph.node: + # Ignore nodes that do not use inputName as an input to the node + if input_name in node.input: + # This supports three types of nodes: MatMul, Add, and Relu + # The .nnet file format specifies only feedforward + # fully-connected Relu networks, so these operations are + # sufficient to specify nnet networks. If the onnx model + # uses other operations, this will break. + if node.op_type == "MatMul": + input_name = matmul(input_name, graph, weights, node) + + elif node.op_type == "Add": + input_name = add(input_name, graph, biases, node) + + # For the .nnet file format, the Relu's are implicit, so we + # just need to update the input + elif node.op_type == "Relu": + input_name = relu(node) + + # If there is a different node in the model that is not + # supported, through an error and break out of the loop + else: + warnings.warn( + f"Node operation type {node.op_type} not supported!", + category=RuntimeWarning, + stacklevel=5, + ) + weights = [] + biases = [] + break + + # Terminate once we find the outputName in the graph + if output_name == input_name: + break + + return weights, biases, input_name + + +def onnx_to_nnet( + onnx_file, + input_mins=None, + input_maxes=None, + means=None, + ranges=None, + nnet_file="", + input_name="", + output_name="", +): # pylint: disable=too-many-arguments + """Write a .nnet file from an onnx file + Args: + onnx_file: (string) Path to onnx file + input_mins: (list) optional, Minimum values for each neural + network input. + input_maxes: (list) optional, Maximum values for each neural + network output. + means: (list) optional, Mean value for each input and value for + mean of all outputs, used for normalization + ranges: (list) optional, Range value for each input and value + for range of all outputs, used for normalization + input_name: (string) optional, Name of operation corresponding to + input. + output_name: (string) optional, Name of operation corresponding + to output. + """ + + nnet_file = nnet_file if nnet_file != "" else onnx_file[:-4] + "nnet" + + model = onnx.load(onnx_file) + graph = model.graph + + if not input_name: + if not len(graph.input) == 1: + raise ValueError("No input name specified.") + input_name = graph.input[0].name + if not output_name: + if not len(graph.output) == 1: + raise ValueError("No output name specified.") + output_name = graph.output[0].name + + weights, biases, input_name = onnx_to_nnet_helper(graph, input_name, output_name) + + # Check if the weights and biases were extracted correctly from the graph + if not output_name == input_name: + raise ValueError(f"Could not find output name {output_name} in graph!") + if len(weights) <= 0: + raise ValueError("Could not extract weights from graph!") + if len(weights) != len(biases): + raise ValueError("Number of weights and biases do not match!") + + input_size = weights[0].shape[0] + + # Default values for input bounds and normalization constants + input_mins = ( + input_mins + if input_mins is not None + else input_size * [np.finfo(np.float32).min] + ) + input_maxes = ( + input_maxes + if input_maxes is not None + else input_size * [np.finfo(np.float32).max] + ) + means = means if means is not None else (input_size + 1) * [0.0] + ranges = ranges if ranges is not None else (input_size + 1) * [1.0] + + # Print statements + logger.info( + f"Converted ONNX model at {onnx_file}\n\tto an NNet model at {nnet_file}" + ) + + # Write NNet file + write_nnet( + weights, + biases, + input_mins, + input_maxes, + means, + ranges, + nnet_file, + ) + + +def main() -> None: + # Read user inputs and run onnx2nnet function + # If non-default values of input bounds and normalization constants + # are needed, this function should be run from a script instead of + # the command line. + if len(sys.argv) <= 1: + raise ValueError("Need to specify which ONNX file to convert to .nnet!") + + warnings.warn( + "WARNING: Using the default values of input bounds and normalization constants", + category=RuntimeWarning, + stacklevel=5, + ) + onnx_file = sys.argv[1] + if len(sys.argv) > 2: + nnet_file = sys.argv[2] + onnx_to_nnet(onnx_file, nnet_file=nnet_file) + else: + onnx_to_nnet(onnx_file) + + +if __name__ == "__main__": + main() diff --git a/pycasx/tools/NNet/nnet.py b/pycasx/tools/NNet/nnet.py new file mode 100644 index 0000000..f36055d --- /dev/null +++ b/pycasx/tools/NNet/nnet.py @@ -0,0 +1,183 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""NNet runtime.""" +from __future__ import annotations + +from typing import Any + +import numpy as np +import numpy.typing as npt + + +class NNet: + """Class that represents a fully connected ReLU network from a .nnet file. + + Args: + filename (str): A .nnet file to load + + Attributes: + numLayers (int): Number of weight matrices or bias vectors in neural network + layerSizes (list of ints): Size of input layer, hidden layers, and output layer + inputSize (int): Size of input + outputSize (int): Size of output + mins (list of floats): Minimum values of inputs + maxes (list of floats): Maximum values of inputs + means (list of floats): Means of inputs and mean of outputs + ranges (list of floats): Ranges of inputs and range of outputs + weights (list of numpy arrays): Weight matrices in network + biases (list of numpy arrays): Bias vectors in network + """ + + def __init__(self, filename: str): + with open(filename, encoding="utf8") as f: + line = f.readline() + cnt = 1 + while line[0:2] == "//": + line = f.readline() + cnt += 1 + # numLayers doesn't include the input layer! + numLayers, inputSize, outputSize, _ = ( + int(x) for x in line.strip().split(",")[:-1] + ) + line = f.readline() + + # input layer size, layer1size, layer2size... + layerSizes = [int(x) for x in line.strip().split(",")[:-1]] + + line = f.readline() + symmetric = int(line.strip().split(",")[0]) # Currently unused # noqa: F841 + + line = f.readline() + inputMinimums = [float(x) for x in line.strip().split(",")[:-1]] + + line = f.readline() + inputMaximums = [float(x) for x in line.strip().split(",")[:-1]] + + line = f.readline() + inputMeans = [float(x) for x in line.strip().split(",")[:-1]] + + line = f.readline() + inputRanges = [float(x) for x in line.strip().split(",")[:-1]] + + weights: list[Any] = [] + biases: list[Any] = [] + for layernum in range(numLayers): + previousLayerSize = layerSizes[layernum] + currentLayerSize = layerSizes[layernum + 1] + weights.append([]) + biases.append([]) + weights[layernum] = np.zeros((currentLayerSize, previousLayerSize)) + for i in range(currentLayerSize): + line = f.readline() + aux = [float(x) for x in line.strip().split(",")[:-1]] + for j in range(previousLayerSize): + weights[layernum][i, j] = aux[j] + # biases + biases[layernum] = np.zeros(currentLayerSize) + for i in range(currentLayerSize): + line = f.readline() + x = float(line.strip().split(",")[0]) + biases[layernum][i] = x + + self.numLayers = numLayers + self.layerSizes = layerSizes + self.inputSize = inputSize + self.outputSize = outputSize + self.mins = inputMinimums + self.maxes = inputMaximums + self.means = inputMeans + self.ranges = inputRanges + self.weights = weights + self.biases = biases + + def evaluate_network(self, inputs: npt.NDArray) -> npt.NDArray: + """Evaluate network using given inputs. + + Args: + inputs (numpy array of floats): Network inputs to be evaluated + + Returns: + (numpy array of floats): Network output + """ + numLayers = self.numLayers + inputSize = self.inputSize + outputSize = self.outputSize + biases = self.biases + weights = self.weights + + # Prepare the inputs to the neural network + inputsNorm = np.zeros(inputSize) + for i in range(inputSize): + if inputs[i] < self.mins[i]: + inputsNorm[i] = (self.mins[i] - self.means[i]) / self.ranges[i] + elif inputs[i] > self.maxes[i]: + inputsNorm[i] = (self.maxes[i] - self.means[i]) / self.ranges[i] + else: + inputsNorm[i] = (inputs[i] - self.means[i]) / self.ranges[i] + + # Evaluate the neural network + for layer in range(numLayers - 1): + inputsNorm = np.maximum( + np.dot(weights[layer], inputsNorm) + biases[layer], 0 + ) + outputs = np.dot(weights[-1], inputsNorm) + biases[-1] + + # Undo output normalization + for i in range(outputSize): + outputs[i] = outputs[i] * self.ranges[-1] + self.means[-1] + return outputs + + def evaluate_network_multiple(self, inputs: npt.NDArray) -> npt.NDArray: + """Evaluate network using multiple sets of inputs. + + Args: + inputs (numpy array of floats): Array of network inputs to be evaluated. + + Returns: + (numpy array of floats): Network outputs for each set of inputs + """ + + numLayers = self.numLayers + inputSize = self.inputSize + outputSize = self.outputSize + biases = self.biases + weights = self.weights + inputs = np.array(inputs).T + + # Prepare the inputs to the neural network + numInputs = inputs.shape[1] + inputsNorm = np.zeros((inputSize, numInputs)) + for i in range(inputSize): + for j in range(numInputs): + if inputs[i, j] < self.mins[i]: + inputsNorm[i, j] = (self.mins[i] - self.means[i]) / self.ranges[i] + elif inputs[i, j] > self.maxes[i]: + inputsNorm[i, j] = (self.maxes[i] - self.means[i]) / self.ranges[i] + else: + inputsNorm[i, j] = (inputs[i, j] - self.means[i]) / self.ranges[i] + + # Evaluate the neural network + for layer in range(numLayers - 1): + inputsNorm = np.maximum( + np.dot(weights[layer], inputsNorm) + + biases[layer].reshape((len(biases[layer]), 1)), + 0, + ) + outputs = np.dot(weights[-1], inputsNorm) + biases[-1].reshape( + (len(biases[-1]), 1) + ) + + # Undo output normalization + for i in range(outputSize): + for j in range(numInputs): + outputs[i, j] = outputs[i, j] * self.ranges[-1] + self.means[-1] + return outputs.T + + def num_inputs(self) -> int: + """Get network input size.""" + return self.inputSize + + def num_outputs(self) -> int: + """Get network output size.""" + return self.outputSize diff --git a/pycasx/tools/NNet/utils/__init__.py b/pycasx/tools/NNet/utils/__init__.py new file mode 100644 index 0000000..e39e48d --- /dev/null +++ b/pycasx/tools/NNet/utils/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT diff --git a/pycasx/tools/NNet/utils/normalize_nnet.py b/pycasx/tools/NNet/utils/normalize_nnet.py new file mode 100644 index 0000000..409628a --- /dev/null +++ b/pycasx/tools/NNet/utils/normalize_nnet.py @@ -0,0 +1,142 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""Normalizes a NNet. + +The file was adapted from . +The original file was licensed under MIT License. +The original license is included below. + +The MIT License (MIT) + +Copyright (c) 2018 Stanford Intelligent Systems Laboratory + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" +from __future__ import annotations + +from typing import Literal, overload + +import numpy as np +import numpy.typing as npt + +from pycasx.tools.NNet.utils.read_nnet import read_nnet +from pycasx.tools.NNet.utils.write_nnet import write_nnet + + +@overload +def normalize_nnet( + read_nnet_file: str, +) -> tuple[list[npt.NDArray], list[npt.NDArray]]: ... + + +@overload +def normalize_nnet(read_nnet_file: str, write_nnet_file: str) -> None: ... + + +@overload +def normalize_nnet( + read_nnet_file: str, write_nnet_file: str, with_norm: bool +) -> None: ... + + +@overload +def normalize_nnet( + read_nnet_file: str, *, with_norm: Literal[False] +) -> tuple[list[npt.NDArray], list[npt.NDArray]]: ... + + +@overload +def normalize_nnet(read_nnet_file: str, *, with_norm: Literal[True]) -> tuple[ + list[npt.NDArray], + list[npt.NDArray], + list[float], + list[float], + list[float], + list[float], +]: ... + + +@overload +def normalize_nnet( + read_nnet_file: str, write_nnet_file: None, with_norm: Literal[False] +) -> tuple[list[npt.NDArray], list[npt.NDArray]]: ... + + +@overload +def normalize_nnet( + read_nnet_file: str, write_nnet_file: None, with_norm: Literal[True] +) -> tuple[ + list[npt.NDArray], + list[npt.NDArray], + list[float], + list[float], + list[float], + list[float], +]: ... + + +def normalize_nnet( + read_nnet_file: str, write_nnet_file: str | None = None, with_norm: bool = False +): + weights, biases, input_mins, input_maxes, means, ranges = read_nnet( + read_nnet_file, with_norm=True + ) + + num_inputs = weights[0].shape[1] + # weights[-1].shape[0] # That's a pointless statement + + # Adjust weights and biases of first layer + for i in range(num_inputs): + weights[0][:, i] /= ranges[i] + biases[0] -= np.matmul(weights[0], means[:-1]) + + # Adjust weights and biases of last layer + weights[-1] *= ranges[-1] + biases[-1] *= ranges[-1] + biases[-1] += means[-1] + + # Nominal mean and range vectors + nom_means = np.zeros(num_inputs + 1) + nom_ranges = np.ones(num_inputs + 1) + + if write_nnet_file is not None: + write_nnet( + weights, + biases, + input_mins, + input_maxes, + nom_means, + nom_ranges, + write_nnet_file, + ) + return None + if with_norm: + return weights, biases, input_mins, input_maxes, means, ranges + return weights, biases + + +def main(): + read_nnet_file = "../nnet/TestNetwork.nnet" + write_nnet_file = "../nnet/TestNetwork3.nnet" + normalize_nnet(read_nnet_file, write_nnet_file) + + +if __name__ == "__main__": + main() diff --git a/pycasx/tools/NNet/utils/read_nnet.py b/pycasx/tools/NNet/utils/read_nnet.py new file mode 100644 index 0000000..12c819d --- /dev/null +++ b/pycasx/tools/NNet/utils/read_nnet.py @@ -0,0 +1,140 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""Read a NNet. + +The file was adapted from . +The original file was licensed under MIT License. +The original license is included below. + +The MIT License (MIT) + +Copyright (c) 2018 Stanford Intelligent Systems Laboratory + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" +from __future__ import annotations + +from typing import Any, Literal, overload + +import numpy as np +import numpy.typing as npt + + +@overload +def read_nnet(nnet_file: str) -> tuple[list[npt.NDArray], list[npt.NDArray]]: ... + + +@overload +def read_nnet(nnet_file: str, with_norm: Literal[True]) -> tuple[ + list[npt.NDArray], + list[npt.NDArray], + list[float], + list[float], + list[float], + list[float], +]: ... + + +@overload +def read_nnet( + nnet_file: str, with_norm: Literal[False] +) -> tuple[list[npt.NDArray], list[npt.NDArray]]: ... + + +def read_nnet(nnet_file: str, with_norm=False) -> ( + tuple[list[np.ndarray], list[np.ndarray]] + | tuple[ + list[np.ndarray], + list[np.ndarray], + list[float], + list[float], + list[float], + list[float], + ] +): # pylint: disable=too-many-locals + """Read a .nnet file and return list of weight matrices and bias vectors. + + Inputs: + nnet_file: (string) .nnet file to read + with_norm: (bool) If true, return normalization parameters + + Returns: + weights: List of weight matrices for fully connected network + biases: List of bias vectors for fully connected network + """ + + # Open NNet file + with open(nnet_file, encoding="utf-8") as f: + # Skip header lines + line = f.readline() + while line[:2] == "//": + line = f.readline() + + # Extract information about network architecture + record = line.split(",") + num_layers = int(record[0]) + int(record[1]) + + line = f.readline() + record = line.split(",") + layer_sizes = np.zeros(num_layers + 1, "int") + for i in range(num_layers + 1): + layer_sizes[i] = int(record[i]) + + # Skip extra obsolete parameter line + f.readline() + + # Read the normalization information + line = f.readline() + input_mins = [float(x) for x in line.strip().split(",") if x] + + line = f.readline() + input_maxes = [float(x) for x in line.strip().split(",") if x] + + line = f.readline() + means = [float(x) for x in line.strip().split(",") if x] + + line = f.readline() + ranges = [float(x) for x in line.strip().split(",") if x] + + # Read weights and biases + weights: list[Any] = [] + biases: list[Any] = [] + for layernum in range(num_layers): + previous_layer_size = layer_sizes[layernum] + current_layer_size = layer_sizes[layernum + 1] + weights.append([]) + biases.append([]) + weights[layernum] = np.zeros((current_layer_size, previous_layer_size)) + for i in range(current_layer_size): + line = f.readline() + aux = [float(x) for x in line.strip().split(",")[:-1]] + for j in range(previous_layer_size): + weights[layernum][i, j] = aux[j] + # biases + biases[layernum] = np.zeros(current_layer_size) + for i in range(current_layer_size): + line = f.readline() + x = float(line.strip().split(",")[0]) + biases[layernum][i] = x + + if with_norm: + return weights, biases, input_mins, input_maxes, means, ranges + return weights, biases diff --git a/pycasx/tools/NNet/utils/write_nnet.py b/pycasx/tools/NNet/utils/write_nnet.py new file mode 100644 index 0000000..ff3a099 --- /dev/null +++ b/pycasx/tools/NNet/utils/write_nnet.py @@ -0,0 +1,129 @@ +# SPDX-FileCopyrightText: 2018 Stanford Intelligent Systems Laboratory +# +# SPDX-License-Identifier: MIT +"""Write a NNet. + +The file was adapted from . +The original file was licensed under MIT License. +The original license is included below. + +The MIT License (MIT) + +Copyright (c) 2018 Stanford Intelligent Systems Laboratory + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +""" + + +def write_nnet( + weights, biases, input_mins, input_maxes, means, ranges, file_name +): # pylint: disable=too-many-arguments, too-many-locals + """Write network data to the .nnet file format. + + Args: + weights (list): Weight matrices in the network order + biases (list): Bias vectors in the network order + inputMins (list): Minimum values for each input + inputMaxes (list): Maximum values for each input + means (list): Mean values for each input and a mean value for + all outputs. Used to normalize inputs/outputs + ranges (list): Range values for each input and a range value for + all outputs. Used to normalize inputs/outputs + fileName (str): File where the network will be written + """ + + # Open the file we wish to write + with open(file_name, "w", encoding="utf-8") as f2: + """Writing the file will follow this pattern: + + First, we write the header lines: + The first line written is just a line of text + The second line gives the four values: + Number of fully connected layers in the network + Number of inputs to the network + Number of outputs from the network + Maximum size of any hidden layer + The third line gives the sizes of each layer, including the + input and output layers + The fourth line gives an outdated flag, so this can be ignored + The fifth line specifies the minimum values each input can take + The sixth line specifies the maximum values each input can take + Inputs passed to the network are truncated to be between this range + The seventh line gives the mean value of each input and of all outputs + The eighth line gives the range of each input and of all outputs + These two lines are used to map raw inputs to the 0 mean, + unit range of the inputs and outputs + used during training + The ninth line begins the network weights and biases + """ + f2.write("// Neural Network File Format by Kyle Julian, Stanford 2016\n") + + # Extract the necessary information and write the header information + num_layers = len(weights) + input_size = weights[0].shape[1] + output_size = len(biases[-1]) + max_layer_size = input_size + + # Find maximum size of any hidden layer + for b in biases: + if len(b) > max_layer_size: + max_layer_size = len(b) + + # Write data to header + f2.write(f"{num_layers:d},{input_size:d},{output_size:d},{max_layer_size:d},\n") + f2.write(f"{input_size:d},") + for b in biases: + f2.write(f"{len(b):d},") + f2.write("\n") + f2.write("0,\n") # Unused Flag + + # Write Min, Max, Mean, and Range of each of the inputs and + # outputs for normalization + f2.write( + ",".join(str(input_mins[i]) for i in range(input_size)) + ",\n" + ) # Minimum Input Values + f2.write( + ",".join(str(input_maxes[i]) for i in range(input_size)) + ",\n" + ) # Maximum Input Values + f2.write( + ",".join(str(means[i]) for i in range(input_size + 1)) + ",\n" + ) # Means for normalizations + f2.write( + ",".join(str(ranges[i]) for i in range(input_size + 1)) + ",\n" + ) # Ranges for normalizations + + ################## + # Write weights and biases of neural network + # First, the weights from the input layer to the first hidden + # layer are written. + # Then, the biases of the first hidden layer are written + # The pattern is repeated by next writing the weights from the + # first hidden layer to the second hidden layer, followed by the + # biases of the second hidden layer. + ################## + for w, b in zip(weights, biases): + for i in range(w.shape[0]): + for j in range(w.shape[1]): + # Five digits written. More can be used, but require more space. + f2.write(f"{w[i][j]:.5e},") + f2.write("\n") + + for i in range(len(b)): # pylint: disable=consider-using-enumerate + # Five digits written. More can be used, but require more space. + f2.write(f"{b[i]:.5e},\n") diff --git a/pycasx/tools/__init__.py b/pycasx/tools/__init__.py new file mode 100644 index 0000000..f380434 --- /dev/null +++ b/pycasx/tools/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT diff --git a/pycasx/tools/nn_convert.py b/pycasx/tools/nn_convert.py new file mode 100644 index 0000000..d0a1592 --- /dev/null +++ b/pycasx/tools/nn_convert.py @@ -0,0 +1,25 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Functions to convert different neural network formats to each other.""" +from __future__ import annotations + +from onnx2torch import convert +from onnx.onnx_ml_pb2 import ModelProto +from torch.fx import GraphModule + + +def onnx_to_torch(nets: dict[str, ModelProto]) -> dict[str, GraphModule]: + """Convert ONNX models to PyTorch models. + + Args: + nets (dict[str, ModelProto]): Dictionary of ONNX models. + + Returns: + dict[str, GraphModule]: Dictionary of PyTorch models. + """ + converted = {} + for name, model in nets.items(): + converted[name] = convert(model, save_input_names=True) + + return converted diff --git a/pycasx/tools/nn_load.py b/pycasx/tools/nn_load.py new file mode 100644 index 0000000..9e4f5be --- /dev/null +++ b/pycasx/tools/nn_load.py @@ -0,0 +1,67 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT +"""Function to load all neural network models from ONNX files.""" +from __future__ import annotations + +from pathlib import Path + +import onnx +from onnx2torch import convert +from onnx.onnx_ml_pb2 import ModelProto +from torch.fx import GraphModule + +from pycasx.tools.NNet.nnet import NNet + + +def load_nnet_from_path(nnet_path: Path | str) -> dict[str, NNet]: + """Load all neural network models from NNet files. + + Args: + nnet_path (Path | str): Path to the NNet files. + + Returns: + dict[str, NNet]: Dictionary of neural network models. + """ + nnet_models: dict[str, NNet] = {} + nnet_path = Path(nnet_path).resolve() + for model_path in nnet_path.glob("*.nnet"): + model_name = model_path.stem + nnet_models[model_name] = NNet(str(model_path)) + return nnet_models + + +def load_onnx_from_path(onnx_path: Path | str) -> dict[str, ModelProto]: + """Load all neural network models from ONNX files. + + Args: + onnx_path (Path | str): Path to the ONNX files. + + Returns: + dict[str, ModelProto]: Dictionary of neural network models. + """ + onnx_models: dict[str, ModelProto] = {} + onnx_path = Path(onnx_path).resolve() + for model_path in onnx_path.glob("*.onnx"): + model_name = model_path.stem + onnx_models[model_name] = onnx.load(str(model_path)) + return onnx_models + + +def load_torch_from_path(onnx_path: Path | str) -> dict[str, GraphModule]: + """Load all neural network models from ONNX files. + + Args: + onnx_path (Path | str): Path to the ONNX files. + + Returns: + dict[str, GraphModule]: Dictionary of neural network models. + """ + torch_models: dict[str, GraphModule] = {} + onnx_path = Path(onnx_path).resolve() + for model_path in onnx_path.glob("*.onnx"): + model_name = model_path.stem + torch_models[model_name] = convert( + onnx.load(str(model_path)), save_input_names=True + ) + return torch_models diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..09bcf61 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,188 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +[build-system] +build-backend = "setuptools.build_meta" +requires = [ + "setuptools >= 62.3.0", + "wheel" +] + +[project] +authors = [{name = "Johann Christensen", email = "johann.christensen@dlr.de"}] +classifiers = [ + "Development Status :: 4 - Beta", + "Environment :: X11 Applications", + "Intended Audience :: Developers", + "Intended Audience :: End Users/Desktop", + "Intended Audience :: Science/Research", + "License :: OSI Approved :: MIT License", + "Natural Language :: English", + "Operating System :: MacOS :: MacOS X", + "Operating System :: Microsoft :: Windows :: Windows 10", + "Operating System :: Microsoft :: Windows :: Windows 11", + "Operating System :: POSIX :: Linux", + "Programming Language :: Python :: 3 :: Only", + "Programming Language :: Python :: 3.8", + "Programming Language :: Python :: 3.9", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: Implementation :: CPython", + "Topic :: Games/Entertainment :: Simulation", + "Topic :: Scientific/Engineering :: Artificial Intelligence", + "Typing :: Typed" +] +dependencies = [ + "flightgear-python==1.6.0", + "fastapi[all]==0.105.0", + "hydra-core==1.3.2", + "loguru==0.7.2", + "lxml==5.1.0", + "numpy==1.24.4", + "onnx==1.14.1", + "onnx2torch==1.5.12", + "onnxruntime==1.16.1", + "pillow==10.1.0", + "pint==0.21.1", + "pyproj==3.5.0", + "libtmux==0.31.0.post0", + "scipy==1.10.1", + "torch==2.1.0", + "tqdm==4.66.2", + "rich==13.7.1" +] +description = "A Python implementation of ACAS XA and ACAS XU for Flightgear." +dynamic = ["version"] +license = {file = "LICENSES/MIT.txt"} +name = "pycasx" +requires-python = ">=3.8,<3.12" + +[project.optional-dependencies] +all = ["pycasx[dev,docs,tests]"] +dev = [ + "lxml-stubs", + "pre-commit>=3.5.0", + "reuse>=4.0.0" +] +docs = [ + "sphinx==7.1.2", + "sphinx-autodoc-typehints==1.25.2", + "sphinx-rtd-theme==2.0.0", + "sphinx-autoapi==3.0.0" +] +full = ["pycasx[all]"] +tests = [ + "coverage", + "flake8-bugbear", + "flake8-builtins", + "flake8-comprehensions", + "flake8-docstrings-complete", + "flake8-docstrings", + "flake8-pyproject", + "flake8-simplify", + "flake8", + "mypy", + "parameterized", + "pep8-naming", + "pycodestyle", + "pydoclint", + "pylint-per-file-ignores", + "pylint", + "pytest-cov", + "pytest>=7.4.0", + "shapely", + "types-requests" +] + +[project.readme] +content-type = "text/markdown; charset=UTF-8" +file = "README.md" + +[project.scripts] +pycasx = "pycasx.cli.cli:main" + +[project.urls] +Documentation = "https://DLR-KI.github.io/pycasx/" +Homepage = "https://github.com/DLR-KI/pycasx.git" +Source = "https://github.com/DLR-KI/pycasx.git" +Tracker = "https://github.com/DLR-KI/pycasx/-/issues" + +[tool.flake8] +check-return-types = true +# E203: incorrectly triggers on array slices: +# SIM300: Yoda conditions might be more reliable but not more readable +# D107: Google docstring style prevents docstrings in __init__ function +# D401: Imperative mood is not always detectet correctly +# DCO010: Google docstring style prevents docstrings in __init__ function +extend-ignore = "E203, SIM300, D107, D401, DCO010" +max-complexity = "10" +max-line-length = "88" +# pycasx/connectors/protocols.py: Ignore returns not matching for protocol functions +# pycasx/tools/NNet/**/*.py: Ignore missing docstrings for classes from other sources +# pycasx/tools/NNet/nnet.py: Ignore camel case names for classes from other sources +# **/__init__.py: Ignore docstring style for __init__.py files +# tests/*: Ignore docstring style for tests +per-file-ignores = [ + "pycasx/connectors/protocols.py: DCO031", + "pycasx/tools/NNet/**/*.py: D", + "pycasx/tools/NNet/nnet.py: N806, D", + "**/__init__.py: D", + "tests/*: D" +] +style = "google" + +[tool.mypy] +ignore_missing_imports = true +plugins = ["numpy.typing.mypy_plugin"] +python_version = "3.8" + +[tool.pylint.MASTER] +extension-pkg-whitelist = [ + "lxml" +] +load-plugins = [ + "pylint_per_file_ignores" +] + +[tool.pylint.'MESSAGES CONTROL'] +max-line-length = "88" + +[tool.pylint.SIMILARITIES] +ignore-comments = "yes" +ignore-docstrings = "yes" +ignore-imports = "yes" +min-similarity-lines = 10 + +[tool.pylint-per-file-ignores] +# docs/conf.py: Ignore constant name not UPPER_CASE (C0103) and redefining built-in (W0622) for copyright notice +# pycasx/cli/cli.py: Ignore importing outside of top level (E1120) and redefining from outer scope (W0621) for speed-up; Ignore no value for cfg (C0415) as it is a Hydra feature +# pycasx/tools/NNet/**/*.py: Ignore missing docstrings for classes from other sources +# pycasx/tools/NNet/nnet.py: Ignore camel case names for classes from other sources +"docs/conf.py" = "C0103,W0622" +"pycasx/cli/cli.py" = "E1120,W0621,C0415" +"pycasx/tools/NNet/" = "C0116" +"pycasx/tools/NNet/nnet.py" = "C0103" + +[tool.setuptools] +include-package-data = true +license-files = ["LICENSES/*.txt"] +platforms = [ + "macosx_13_x86_64", + "manylinux2014_x86_64", + "win_amd64" +] +zip-safe = false + +[tool.setuptools.dynamic] +version = {file = ["VERSION"]} + +[tool.setuptools.package-data] +"pycasx" = [ + "assets/**", + "py.typed", + "conf/**/*.yaml" +] + +[tool.setuptools.packages] +find = {namespaces = false} diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..f380434 --- /dev/null +++ b/tests/__init__.py @@ -0,0 +1,3 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT diff --git a/tests/test_cas.py b/tests/test_cas.py new file mode 100644 index 0000000..1f7e2b6 --- /dev/null +++ b/tests/test_cas.py @@ -0,0 +1,15 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +from __future__ import annotations + +import unittest + +from pycasx.acas.acasx import ACASX + + +class TestCAS(unittest.TestCase): + def test_wrong_backend(self) -> None: + with self.assertRaises(NotImplementedError): + ACASX(backend="unsupported_backend") # type: ignore diff --git a/tests/test_cli.py b/tests/test_cli.py new file mode 100644 index 0000000..63a7992 --- /dev/null +++ b/tests/test_cli.py @@ -0,0 +1,70 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +import io +import sys +import unittest +import unittest.mock + +from pycasx import __version__ as pycasx_version +from pycasx.cli.cli import main as cli_main + + +class TestCLI(unittest.TestCase): + def test_wrong_script(self): + sys.argv = ["pycasx", "wrong_script"] + with self.assertRaises(ValueError): + cli_main() + + def test_warns_with_old_script_name(self): + sys.argv = ["cas", "noop"] + with self.assertWarns(DeprecationWarning): + cli_main() + + def test_noop_arg(self): + sys.argv = ["pycasx", "noop"] + cli_main() + + @unittest.mock.patch("sys.stdout", new_callable=io.StringIO) + def test_cli_defaults_to_help(self, stdout): + sys.argv = ["pycasx"] + cli_main() + default_response = stdout.getvalue() + stdout.seek(0) # Reset the StringIO object + sys.argv = ["pycasx", "--help"] + cli_main() + help_response = stdout.getvalue() + self.assertEqual(default_response, help_response) + + @unittest.mock.patch("sys.stdout", new_callable=io.StringIO) + def test_version_arg(self, stdout): + version_args = ["-v", "--version"] + for arg in version_args: + sys.argv = ["pycasx", arg] + cli_main() + self.assertEqual(stdout.getvalue(), f"{pycasx_version}\n") + stdout.seek(0) # Reset the StringIO object + + @unittest.mock.patch("sys.stdout", new_callable=io.StringIO) + def test_help_arg_returns_text(self, stdout): + help_args = ["-h", "--help", "help"] + for arg in help_args: + sys.argv = ["pycasx", arg] + cli_main() + help_text = stdout.getvalue() + # Check that the help text is not empty + self.assertTrue(len(help_text) > 10) + # Check that the help text contains the CLI name + self.assertIn("pycasx", help_text) + # Check that the help text contains the word "Usage" + self.assertIn("Usage", help_text) + # Check that the help text contains the word "Commands" + self.assertIn("Commands", help_text) + # Check that the help text contains the registered commands + commands = ["acasx", "launch", "onnx", "copy", "scenarios"] + for command in commands: + self.assertIn(command, help_text) + # Check that the help text contains the word "Hydra" + self.assertIn("Hydra", help_text) + stdout.seek(0) # Reset the StringIO object diff --git a/tests/test_nnet.py b/tests/test_nnet.py new file mode 100644 index 0000000..39fe6d2 --- /dev/null +++ b/tests/test_nnet.py @@ -0,0 +1,362 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +from __future__ import annotations + +import unittest +from pathlib import Path + +import numpy as np +import numpy.typing as npt +import onnx +import onnxruntime as ort +import torch as th +from onnx2torch import convert +from onnx.onnx_ml_pb2 import ModelProto +from torch.fx import GraphModule + +from pycasx.cli.convert_to_onnx import HCAS_FOLDER, VCAS_FOLDER, convert_to_onnx +from pycasx.tools.NNet.nnet import NNet + +# The following sequences are from a head on collision scenario. +HCAS_SEQUENCE = np.array( + [ + [63134.156250, 0.000000, 539.999268], + [62593.894531, 0.000000, 539.999084], + [62081.066406, 0.000000, 179.999023], + [61555.437500, 0.000000, 179.998886], + [61038.218750, 0.000000, 179.998734], + [60532.707031, 0.000000, 179.998596], + [60021.710938, 0.000000, 539.998474], + [59491.691406, 0.000000, 539.998352], + [58638.683594, 0.000000, 539.998108], + [58129.515625, 0.000000, 179.997971], + [57633.148438, 0.000000, 179.997849], + [57083.375000, -8.884465, 179.997711], + [56587.375000, -8.884677, 179.997559], + [55951.644531, -8.884953, 539.997375], + [55348.468750, -8.885211, 539.997253], + [54732.488281, -8.885475, 539.997070], + [54136.996094, -8.885734, 539.996948], + [53567.468750, -8.885975, 539.996765], + [52998.312500, -8.886216, 539.996582], + [52429.519531, -8.886463, 539.996460], + [51886.699219, -8.886693, 539.996277], + [51297.789062, -8.886946, 539.996155], + [50749.109375, -17.774361, 539.995972], + [50153.980469, -17.774878, 539.995850], + [49598.359375, -17.775349, 539.995728], + [49029.929688, -17.775843, 539.995605], + [48454.921875, -17.776337, 539.995422], + [47912.464844, -17.776794, 539.995239], + [47371.105469, -17.777266, 539.995056], + [46835.593750, -26.666588, 539.994934], + [46279.968750, -26.667294, 539.994812], + [45725.441406, -26.668016, 539.994690], + [45096.296875, -26.668827, 539.994507], + [44500.437500, -26.669584, 539.994385], + [43911.890625, -26.670361, 539.994202], + [43302.855469, -35.561512, 539.994019], + [42734.062500, -35.562500, 539.993896], + [42171.855469, -35.563465, 539.993713], + [41637.078125, -35.564404, 539.993591], + [41046.339844, -35.565369, 539.993469], + [40537.527344, -44.457798, 539.993286], + [40028.355469, -44.458889, 539.993164], + [39519.550781, -44.459980, 539.993042], + [38983.312500, -44.461128, 539.992920], + [38414.156250, -44.462364, 539.992737], + [37871.320312, -53.356209, 539.992615], + [37375.320312, -53.357483, 539.992493], + [36872.000000, -53.358757, 539.992371], + [36369.781250, -53.360065, 539.992188], + [35873.777344, -53.361340, 539.992065], + [35364.226562, -62.256413, 539.991943], + [34868.222656, -62.257900, 539.991821], + [34318.453125, -62.259548, 179.991745], + [33808.550781, -62.261074, 179.991608], + [33299.011719, -62.262600, 179.991470], + [32789.093750, -71.158989, 179.991333], + [32232.003906, -71.160873, 179.991165], + [31715.882812, -71.162659, 179.991028], + [31205.978516, -71.164406, 179.990891], + [30695.689453, -80.061897, 179.990738], + [30198.953125, -80.063805, 179.990616], + [29682.832031, -80.065819, 179.990479], + [29172.562500, -80.067780, 179.990341], + [28668.484375, -88.966293, 179.990219], + [28158.214844, -88.968468, 179.990082], + [27661.478516, -88.970589, 179.989944], + [27151.177734, -97.870003, 179.989822], + [26640.908203, -97.872398, 179.989685], + [26137.585938, -97.874786, 179.989548], + [25633.167969, -97.877113, 179.989410], + [25109.326172, -106.777657, 539.989258], + [24611.857422, -106.780197, 539.989136], + [24088.050781, -106.782867, 539.989014], + [23496.531250, -115.684639, 539.988892], + [22958.824219, -115.687607, 539.988708], + [22461.351562, -115.690346, 539.988586], + [21950.662109, -124.592537, 539.988464], + [21453.554688, -124.595482, 539.988342], + [20915.478516, -124.598663, 539.988159], + [20344.058594, -133.502106, 539.988037], + [19839.632812, -133.505234, 539.987854], + [19328.621094, -133.508453, 539.987732], + [18830.779297, -133.511581, 539.987610], + [18319.699219, -142.415604, 539.987488], + [17815.634766, -142.419022, 539.987366], + [17310.396484, -151.323502, 539.987183], + [16812.912109, -151.326996, 539.987061], + [16308.840820, -151.330582, 539.986938], + [15790.049805, -160.235855, 539.986816], + [15292.192383, -160.239502, 539.986694], + [14686.786133, -160.243912, 539.986511], + [14175.286133, -169.149826, 539.986389], + [13617.425781, -169.154190, 539.986267], + [13091.752930, -169.157974, 539.986084], + [12586.439453, -178.064301, 539.985962], + [12074.655273, -178.068146, 539.985840], + [11517.363281, -186.975311, 539.985718], + [10997.513672, -186.978973, 539.985535], + [10499.241211, -186.982559, 539.985413], + [9987.254883, -195.889099, 539.985291], + [9489.323242, -195.892410, 539.985107], + [8983.498047, -204.798309, 539.984985], + [8485.530273, -204.801056, 539.984863], + [7913.266602, -204.803757, 539.984741], + [7347.674316, -213.707932, 539.984558], + [6740.560059, -213.708328, 539.984436], + [6174.435059, -222.607956, 539.984253], + [5662.341797, -222.604309, 539.984131], + [5163.332520, -231.496124, 539.984009], + [4650.665527, -231.483826, 539.983887], + [4151.273926, -240.357880, 539.983765], + [3611.440918, -240.321213, 539.983582], + [3070.539062, -249.139557, 539.983459], + [2563.783447, -249.028519, 539.983337], + [2014.430176, -248.797318, 539.983154], + [1496.077881, -257.093903, 539.983032], + [938.897339, -255.321640, 539.982849], + [346.358643, -250.174149, 539.982727], + [51.181648, -67.850647, 539.982605], + [-560.487976, 303.139099, 539.982483], + [-936.903442, 796.588562, 539.982300], + [-1339.371338, 1318.420776, 539.982117], + [-1718.267334, 1810.055176, 539.981995], + ], + dtype=np.float32, +) + +VCAS_SEQUENCE = np.array( + [ + [-181.76495, 1004.3557, 0.0, 38.282734], + [-186.77205, 788.1841, 0.0, 37.94482], + [-190.56467, 598.71826, 0.0, 37.613674], + [-193.49367, 404.88205, 0.0, 37.267754], + [-195.79843, 200.23854, 0.0, 36.805073], + [-196.82213, 63.75498, 0.0, 36.380054], + [-196.95258, -47.42238, 0.0, 36.00796], + [-196.40958, -147.53868, 0.0, 35.60049], + [-195.39714, -220.12009, 0.0, 35.22791], + [-194.06406, -278.10043, 0.0, 34.877556], + [-192.33607, -330.48648, 0.0, 34.500645], + [-190.11624, -377.2646, 0.0, 34.09245], + [-187.737, -413.09268, 0.0, 33.70175], + [-185.03006, -444.01123, 0.0, 33.29238], + [-182.07637, -469.53516, 0.0, 32.873863], + [-179.37291, -488.0004, 0.0, 32.508045], + [-176.30049, -503.76834, 0.0, 32.097683], + [-172.92165, -515.97833, 0.0, 31.676367], + [-169.90305, -524.82874, 0.0, 31.29978], + [-166.61156, -532.0692, 0.0, 30.89597], + [-163.28186, -537.52844, 0.0, 30.491512], + [-159.77534, -541.5654, 0.0, 30.06874], + [-156.53738, -544.1606, 0.0, 29.68162], + [-153.37485, -545.7781, 0.0, 29.30331], + [-150.20522, -546.71375, 0.0, 28.925053], + [-146.78091, -547.15375, 0.0, 28.51509], + [-143.28061, -547.06665, 0.0, 28.104818], + [-139.78036, -546.53644, 0.0, 27.686138], + [-136.38109, -545.724, 0.0, 27.28504], + [-133.3695, -544.7553, 0.0, 26.924835], + [-130.50853, -543.686, 0.0, 26.582434], + [-127.647575, -542.51904, 0.0, 26.244366], + [-124.861916, -541.268, 0.0, 25.907032], + [-122.08829, -539.90283, 0.0, 25.573767], + [-119.2578, -538.49255, 0.0, 25.23177], + [-116.35282, -537.0478, 0.0, 24.880838], + [-113.52234, -535.57745, 0.0, 24.543207], + [-110.70387, -534.1042, 0.0, 24.197203], + [-107.75646, -532.4822, 0.0, 23.837536], + [-104.95643, -531.0104, 0.0, 23.496008], + [-102.23007, -529.495, 0.0, 23.163488], + [-99.3756, -527.7138, 0.0, 22.817247], + [-96.67892, -526.0407, 0.0, 22.484795], + [-93.909355, -524.2761, 0.0, 22.143654], + [-91.22228, -522.561, 0.0, 21.807232], + [-88.55524, -520.77075, 0.0, 21.475077], + [-85.74403, -518.8514, 0.0, 21.12466], + [-82.6509, -516.96954, 0.0, 20.743391], + [-79.79965, -514.9932, 0.0, 20.380497], + [-77.019684, -513.25696, 0.0, 20.030907], + [-74.3126, -511.46826, 0.0, 19.690386], + [-71.70483, -509.68567, 0.0, 19.358454], + [-69.02658, -507.89987, 0.0, 19.01799], + [-66.34833, -506.1713, 0.0, 18.681757], + [-63.76378, -504.45468, 0.0, 18.346294], + [-61.185646, -502.69302, 0.0, 18.015133], + [-58.537827, -500.94485, 0.0, 17.674799], + [-55.903625, -499.25226, 0.0, 17.339005], + [-53.286243, -497.5266, 0.0, 16.998896], + [-50.737736, -495.804, 0.0, 16.663803], + [-48.19083, -494.10995, 0.0, 16.33255], + [-45.535805, -492.44437, 0.0, 15.984081], + [-43.01693, -490.7683, 0.0, 15.653164], + [-40.429977, -489.13727, 0.0, 15.317953], + [-37.862244, -487.49573, 0.0, 14.974201], + [-35.372997, -485.8948, 0.0, 14.643799], + [-32.816475, -484.28333, 0.0, 14.304317], + [-30.260748, -482.69135, 0.0, 13.969092], + [-27.86761, -481.15344, 0.0, 13.639296], + [-25.27504, -479.55853, 0.0, 13.295467], + [-22.682465, -478.04315, 0.0, 12.947493], + [-20.165976, -476.5743, 0.0, 12.612707], + [-17.735983, -475.0965, 0.0, 12.282858], + [-15.305988, -473.6382, 0.0, 11.952836], + [-12.810312, -472.25952, 0.0, 11.6101265], + [-10.38832, -470.85977, 0.0, 11.280104], + [-7.98795, -469.52466, 0.0, 10.950396], + [-5.522702, -468.20154, 0.0, 10.61189], + [-3.122329, -466.85886, 0.0, 10.278283], + [-0.657077, -465.52975, 0.0, 9.944317], + [1.715265, -464.2441, 0.0, 9.614784], + [4.342305, -462.87143, 0.0, 9.253922], + [6.777123, -461.54083, 0.0, 8.911748], + [9.147869, -460.29276, 0.0, 8.582497], + [11.56667, -459.05527, 0.0, 8.248992], + [13.907784, -457.83127, 0.0, 7.9157887], + [16.375443, -456.51562, 0.0, 7.5648146], + [18.843105, -455.28564, 0.0, 7.226478], + [21.184246, -454.27188, 0.0, 6.8932805], + [23.503756, -453.20407, 0.0, 6.564752], + [25.87773, -452.14224, 0.0, 6.2312264], + [28.251709, -451.10748, 0.0, 5.8895774], + [30.62569, -450.09222, 0.0, 5.5562053], + [32.937202, -449.1341, 0.0, 5.223613], + [35.247112, -448.15637, 0.0, 4.8951874], + [37.71401, -447.1516, 0.0, 4.544163], + [40.24258, -446.0913, 0.0, 4.176342], + [42.647808, -445.16165, 0.0, 3.8343782], + [45.11471, -444.18396, 0.0, 3.4794595], + [47.396595, -443.29483, 0.0, 3.1470048], + [49.737755, -442.39374, 0.0, 2.8143659], + [52.111748, -441.4716, 0.0, 2.464199], + [54.364002, -440.60208, 0.0, 2.1359935], + [56.616257, -439.743, 0.0, 1.8083178], + [58.92939, -438.9065, 0.0, 1.4753929], + [61.60775, -437.93027, 0.0, 1.0854686], + [63.920883, -437.0817, 0.0, 0.74878687], + [66.397408, -436.18512, 0.0, 0.38543698], + [68.620033, -435.39215, 0.0, 0.057499189], + [70.90273, -434.54807, 0.0, 40.0], + [73.18543, -433.76263, 0.0, 40.0], + [75.58827, -432.9336, 0.0, 40.0], + [77.99112, -432.08807, 0.0, 40.0], + ], + dtype=np.float32, +) + + +class TestNNetConversions(unittest.TestCase): + def setUp(self) -> None: + # Convert NNet files to ONNX files + convert_to_onnx() + + self.networks: list[Path] = [] + for nnet_file in HCAS_FOLDER.glob("*.nnet"): + self.networks.append(Path(nnet_file.resolve().parent, nnet_file.stem)) + for nnet_file in VCAS_FOLDER.glob("*.nnet"): + self.networks.append(Path(nnet_file.resolve().parent, nnet_file.stem)) + + def _generate_models( + self, model_path: Path + ) -> tuple[NNet, ModelProto, GraphModule]: + """Helper function to generate neural networks.""" + nnet_model = NNet(str(model_path.resolve()) + ".nnet") + onnx_model = onnx.load(str(model_path.resolve()) + ".onnx") + torch_model = convert(onnx_model, save_input_names=True) + return nnet_model, onnx_model, torch_model + + def _evaluate_nnet( + self, model: NNet, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Helper function to evaluate neural networks with NNet.""" + return model.evaluate_network(inputs) + + def _evaluate_onnx( + self, model: ModelProto, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Helper function to evaluate neural networks with onnxruntime.""" + session = ort.InferenceSession(model.SerializeToString()) + return session.run(None, {"X": inputs})[0] + + def _evaluate_torch( + self, model: GraphModule, inputs: npt.NDArray[np.float32] + ) -> npt.NDArray[np.float32]: + """Helper function to evaluate neural networks with PyTorch.""" + with th.no_grad(): + return model.forward(th.from_numpy(inputs)).numpy() + + def _evaluate( + self, + models: tuple[NNet, ModelProto, GraphModule], + inputs: npt.NDArray[np.float32], + ) -> None: + nnet_model, onnx_model, torch_model = models + nnet_output = self._evaluate_nnet(nnet_model, inputs) + onnx_output = self._evaluate_onnx(onnx_model, inputs) + torch_output = self._evaluate_torch(torch_model, inputs) + + # We can have a small error due to floating point precision. + # Thus, the tolerances can be pretty high. + # The most important test is, that the argmax is the same. + np.testing.assert_allclose(nnet_output, onnx_output, rtol=1e-3, atol=1e-3) + np.testing.assert_allclose(nnet_output, torch_output, rtol=1e-3, atol=1e-3) + self.assertEqual(np.argmax(nnet_output), np.argmax(onnx_output)) + self.assertEqual(np.argmax(nnet_output), np.argmax(torch_output)) + + def test_conversion(self) -> None: + # Check that the ONNX files were created + for network in self.networks: + self.assertTrue( + (HCAS_FOLDER / f"{network}.onnx").exists() + or (VCAS_FOLDER / f"{network}.onnx").exists() + ) + + def test_same_output_predefined_sequence(self) -> None: + # Check that the ONNX files have the same output as the NNet files + for network in self.networks: + nnet_model, onnx_model, torch_model = self._generate_models(network) + # Evaluate with pre-defined sequence + if "VertCAS" in str(network): + sequence = VCAS_SEQUENCE + elif "HCAS" in str(network): + sequence = HCAS_SEQUENCE + else: + raise ValueError("Unknown network.") + for inputs in sequence: + self._evaluate((nnet_model, onnx_model, torch_model), inputs) + + def test_same_output_random_inputs(self) -> None: + # Check that the ONNX files have the same output as the NNet files + for network in self.networks: + nnet_model, onnx_model, torch_model = self._generate_models(network) + # Evaluate with random data + for _ in range(10): + inputs = np.random.uniform( + low=nnet_model.mins, + high=nnet_model.maxes, + ).astype(np.float32) + self._evaluate((nnet_model, onnx_model, torch_model), inputs) diff --git a/tests/test_scenario_generation.py b/tests/test_scenario_generation.py new file mode 100644 index 0000000..64bc1ea --- /dev/null +++ b/tests/test_scenario_generation.py @@ -0,0 +1,710 @@ +# SPDX-FileCopyrightText: 2024 German Aerospace Center (DLR) +# +# SPDX-License-Identifier: MIT + +from __future__ import annotations + +import unittest +import unittest.mock +import uuid +from pathlib import Path +from unittest.mock import MagicMock, patch + +import pyproj +import pytest +from lxml import etree +from parameterized import parameterized +from shapely.geometry import LineString + +from pycasx.acas import ureg +from pycasx.cli import ASSETS_PATH +from pycasx.cli.scenarios import create_scenarios as cli_create_scenarios +from pycasx.conf import ( + BetaDistributionConfig, + CollidingConfig, + IntruderConfig, + MinMaxConfig, + ParallelConfig, + ScenarioConfig, + TelnetConfig, + WeightsConfig, +) +from pycasx.scenario import ( + GEOD, + HEADLESS_OPTIONS, + SPDX_FILE_COPYRIGHT_TEXT, + SPDX_LICENSE_IDENTIFIER, + GeographicCoordinates, + WayPointConfig, + convert, +) +from pycasx.scenario.ai_scenario import create_ai_scenario_xml +from pycasx.scenario.calculate_cpa import calculate_cpa +from pycasx.scenario.fgfs_config import create_fgfs_config +from pycasx.scenario.flightplan import create_flightplan_xml +from pycasx.scenario.scenario import create_scenario, create_scenarios +from pycasx.scenario.waypoint_generation import ( + generate_colliding_waypoints, + generate_parallel_waypoints, +) + + +def line_intersection( + lon01: float, + lat01: float, + lon02: float, + lat02: float, + lon11: float, + lat11: float, + lon12: float, + lat12: float, +) -> tuple[float, float] | None: + """Test whether two lines intersect. + + Args: + lon01 (float): Longitude of the first point of the first line + lat01 (float): Latitude of the first point of the first line + lon02 (float): Longitude of the second point of the first line + lat02 (float): Latitude of the second point of the first line + lon11 (float): Longitude of the first point of the second line + lat11 (float): Latitude of the first point of the second line + lon12 (float): Longitude of the second point of the second line + lat12 (float): Latitude of the second point of the second line + + Returns: + tuple[float, float] | None: The intersection point (lon, lat) + if the lines intersect, else None + """ + + # Define the coordinate system + crs = pyproj.CRS("WGS84") + + # Create a transformer to convert from geographic to cartesian coordinates + transformer_to_cartesian = pyproj.Transformer.from_crs( + crs, crs.geodetic_crs, always_xy=True + ) + + # Convert the lines to cartesian coordinates + line1_cartesian = LineString( + transformer_to_cartesian.transform(*point) + for point in [(lon01, lat01), (lon02, lat02)] + ) + line2_cartesian = LineString( + transformer_to_cartesian.transform(*point) + for point in [(lon11, lat11), (lon12, lat12)] + ) + + # Calculate the intersection of the lines + intersection = line1_cartesian.intersection(line2_cartesian) + + if intersection.is_empty: + # The lines do not intersect + return None + + # Create a transformer to convert from cartesian to geographic coordinates + transformer_to_geographic = pyproj.Transformer.from_crs( + crs.geodetic_crs, crs, always_xy=True + ) + + # Convert the intersection point to geographic coordinates + intersection_geographic = transformer_to_geographic.transform( + *intersection.coords[0] + ) + + return intersection_geographic + + +class TestScenarioGeneration(unittest.TestCase): + def setUp(self) -> None: + self._uuid = uuid.uuid4() + self.flightplans = [Path(f"flightplan_{i}.xml") for i in range(3)] + self.cfg = ScenarioConfig( + dest_folder=".", + n_scenarios=3, + sort_by_uuid=True, + time_to_cpa=60.0, + weights=WeightsConfig( + colliding=1, + parallel=1, + skewed=0, + ), + colliding=CollidingConfig( + altitude=BetaDistributionConfig( + spread=1000, + alpha=5, + beta=5, + ), + heading=MinMaxConfig( + min_=45, + max_=135, + ), + speed=MinMaxConfig( + min_=200, + max_=300, + ), + ), + parallel=ParallelConfig( + altitude=BetaDistributionConfig( + spread=1000, + alpha=5, + beta=5, + ), + horizontal=BetaDistributionConfig( + spread=1000, + alpha=5, + beta=5, + ), + speed=MinMaxConfig( + min_=200, + max_=300, + ), + ), + headless=True, + disable_sound=False, + httpd=8080, + telnet=TelnetConfig( + port=1337, + rate=150, + ), + aircraft="test_aircraft", + altitude=1000.0, + heading=90.0, + lat=50.0, + lon=10.0, + pitch=0.0, + roll=0.0, + vc=200.0, + config=["config1", "config2"], + prop={"test_prop": "test_value", "test_prop2": 100.0}, + timeofday="noon", + wind="0@0", + min_intruders=2, + max_intruders=10, + intruder=IntruderConfig( + type_="aircraft", + class_="jet", + model="Aircraft/737-200/Models/737-200.xml", + ), + ) + self.waypoints = [ + WayPointConfig( + name="START", + lat=10.0, + lon=11.0, + alt=30000.0, + ktas=500.0, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + WayPointConfig( + name="END", + lat=20.0, + lon=42.0, + alt=25000.0, + ktas=200.0, + on_ground=False, + gear_down=False, + flaps_down=False, + ), + ] + + def test_calculate_cpa_return_geographic_coordinates(self): + result = calculate_cpa(self.cfg) + self.assertIsInstance(result, GeographicCoordinates) + + def test_calculate_cpa_return_tuple_lat_lon(self): + result = calculate_cpa(self.cfg, return_tuple=True, order="lat,lon") + self.assertIsInstance(result, tuple) + self.assertEqual(len(result), 2) + for value in result: + self.assertIsInstance(value, float) + + def test_calculate_cpa_return_tuple_lon_lat(self): + result = calculate_cpa(self.cfg, return_tuple=True, order="lon,lat") + self.assertIsInstance(result, tuple) + self.assertEqual(len(result), 2) + for value in result: + self.assertIsInstance(value, float) + + def test_calculate_cpa_return_tuple_default_lat_lon(self): + result = calculate_cpa(self.cfg) + result_tuple_lat_lon = calculate_cpa(self.cfg, return_tuple=True) + self.assertEqual(result.lat, result_tuple_lat_lon[0]) + self.assertNotEqual(result.lon, result_tuple_lat_lon[0]) + self.assertEqual(result.lon, result_tuple_lat_lon[1]) + self.assertNotEqual(result.lat, result_tuple_lat_lon[1]) + + def test_calculate_cpa_return_values_equal(self): + result = calculate_cpa(self.cfg) + result_tuple_lat_lon = calculate_cpa( + self.cfg, return_tuple=True, order="lat,lon" + ) + result_tuple_lon_lat = calculate_cpa( + self.cfg, return_tuple=True, order="lon,lat" + ) + self.assertEqual(result.lat, result_tuple_lat_lon[0]) + self.assertEqual(result.lon, result_tuple_lat_lon[1]) + self.assertEqual(result.lat, result_tuple_lon_lat[1]) + self.assertEqual(result.lon, result_tuple_lon_lat[0]) + + def test_create_fgfs_config_license_info(self): + result = create_fgfs_config(self.cfg) + self.assertIn("SPDX-FileCopyrightText:", result) + self.assertIn(SPDX_FILE_COPYRIGHT_TEXT, result) + self.assertIn("SPDX-License-Identifier:", result) + self.assertIn(SPDX_LICENSE_IDENTIFIER, result) + + def test_create_fgfs_config_ownship_info(self): + result = create_fgfs_config(self.cfg) + self.assertIn(f"--aircraft={self.cfg.aircraft}", result) + self.assertIn(f"--lat={self.cfg.lat}", result) + self.assertIn(f"--lon={self.cfg.lon}", result) + self.assertIn(f"--altitude={self.cfg.altitude}", result) + self.assertIn(f"--heading={self.cfg.heading}", result) + self.assertIn(f"--vc={self.cfg.vc}", result) + self.assertIn(f"--roll={self.cfg.roll}", result) + self.assertIn(f"--pitch={self.cfg.pitch}", result) + + def test_create_fgfs_config_fgfs_info(self): + result = create_fgfs_config(self.cfg) + self.assertIn(f"--timeofday={self.cfg.timeofday}", result) + self.assertIn(f"--wind={self.cfg.wind}", result) + self.assertIn(f"--httpd={self.cfg.httpd}", result) + + def test_create_fgfs_config_options(self): + result = create_fgfs_config(self.cfg) + for config_option in self.cfg.config: + self.assertIn(f"--config={config_option}", result) + + def test_create_fgfs_config_props(self): + result = create_fgfs_config(self.cfg) + for prop_key, prop_value in self.cfg.prop.items(): + self.assertIn(f"--prop:{prop_key}={prop_value}", result) + + @parameterized.expand( + ( + (None,), + ((1234, 5678),), + ) + ) + def test_create_fgfs_config_fgfs_optional_telnet( + self, + telnet_tuple: tuple[int, int] | None, + ): + if telnet_tuple is not None: + port, rate = telnet_tuple + self.cfg.telnet = TelnetConfig(port=port, rate=rate) + else: + self.cfg.telnet = None + result = create_fgfs_config(self.cfg) + if telnet_tuple is not None: + self.assertIn(f"--telnet=,,{telnet_tuple[1]},,{telnet_tuple[0]},", result) + else: + self.assertNotIn("--telnet", result) + + @parameterized.expand(((True,), (False,))) + def test_create_fgfs_config_headless(self, headless: bool): + self.cfg.headless = headless + result = create_fgfs_config(self.cfg) + + if self.cfg.headless: + self.assertIn(HEADLESS_OPTIONS, result) + else: + self.assertNotIn(HEADLESS_OPTIONS, result) + + @parameterized.expand(((True,), (False,))) + def test_create_fgfs_config_disable_sound(self, disable_sound: bool): + self.cfg.disable_sound = disable_sound + self.cfg.headless = False # Headless overwrites disable_sound + result = create_fgfs_config(self.cfg) + + if self.cfg.disable_sound: + self.assertNotIn("--enable-sound", result) + self.assertIn("--disable-sound", result) + else: + self.assertIn("--enable-sound", result) + self.assertNotIn("--disable-sound", result) + + def test_create_flightplan_xml_xml_header(self): + result = create_flightplan_xml(self.waypoints) + self.assertIn("", result) + + def test_create_flightplan_xml_license_info(self): + result = create_flightplan_xml(self.waypoints) + self.assertIn("SPDX-FileCopyrightText:", result) + self.assertIn(SPDX_FILE_COPYRIGHT_TEXT, result) + self.assertIn("SPDX-License-Identifier:", result) + self.assertIn(SPDX_LICENSE_IDENTIFIER, result) + + def test_create_flightplan_xml_is_valid(self): + result = create_flightplan_xml(self.waypoints) + + # Check that the root element is "PropertyList" + root = etree.fromstring(str.encode(result)) + self.assertEqual(root.tag, "PropertyList") + + # Check that the first child of the root is "flightplan" + flightplan = root.find("flightplan") + self.assertIsNotNone(flightplan) + + # Check that the flightplan contains the correct number of waypoints + waypoints = flightplan.findall("wpt") + self.assertEqual(len(waypoints), len(self.waypoints)) + + # Check that each waypoint has the correct attributes + for i, waypoint in enumerate(waypoints): + self.assertIsNotNone(waypoint) + self.assertEqual(waypoint.find("name").text, self.waypoints[i].name) + self.assertEqual(float(waypoint.find("lat").text), self.waypoints[i].lat) + self.assertEqual(float(waypoint.find("lon").text), self.waypoints[i].lon) + self.assertEqual(float(waypoint.find("alt").text), self.waypoints[i].alt) + self.assertEqual(float(waypoint.find("ktas").text), self.waypoints[i].ktas) + self.assertEqual( + waypoint.find("on-ground").text.lower(), + str(self.waypoints[i].on_ground).lower(), + ) + self.assertEqual( + waypoint.find("gear-down").text.lower(), + str(self.waypoints[i].gear_down).lower(), + ) + self.assertEqual( + waypoint.find("flaps-down").text.lower(), + str(self.waypoints[i].flaps_down).lower(), + ) + + def test_create_ai_scenario_xml_header(self): + result = create_ai_scenario_xml(self.cfg, self._uuid, self.flightplans) + self.assertIn("", result) + + def test_create_ai_scenario_license_info(self): + result = create_ai_scenario_xml(self.cfg, self._uuid, self.flightplans) + self.assertIn("SPDX-FileCopyrightText:", result) + self.assertIn(SPDX_FILE_COPYRIGHT_TEXT, result) + self.assertIn("SPDX-License-Identifier:", result) + self.assertIn(SPDX_LICENSE_IDENTIFIER, result) + + def test_create_ai_scenario_is_valid(self): + result = create_ai_scenario_xml(self.cfg, self._uuid, self.flightplans) + root = etree.fromstring(str.encode(result)) + + # Check that the root element is "PropertyList" + self.assertEqual(root.tag, "PropertyList") + + # Check that the first child of the root is "scenario" + scenario = root.find("scenario") + self.assertIsNotNone(scenario) + + # Check that the scenario contains the correct number of entries + entries = scenario.findall("entry") + self.assertEqual(len(entries), len(self.flightplans)) + + # Check that each entry has the correct attributes + for i, entry in enumerate(entries): + self.assertEqual(entry.find("callsign").text, f"INTRUDER_{i+1}") + self.assertEqual(entry.find("type").text, self.cfg.intruder.type_) + self.assertEqual(entry.find("class").text, self.cfg.intruder.class_) + self.assertEqual(entry.find("model").text, self.cfg.intruder.model) + self.assertEqual( + entry.find("flightplan").text, + f"{self.flightplans[i].stem}{self.flightplans[i].suffix}", + ) + self.assertEqual(entry.find("repeat").text, "0") + + def test_generate_colliding_waypoints_returns_waypoints(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertIsInstance(waypoints, list) + self.assertTrue(all(isinstance(wp, WayPointConfig) for wp in waypoints)) + + def test_generate_colliding_waypoints_returns_two_waypoints(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertEqual(len(waypoints), 2) + + def test_generate_colliding_waypoints_correct_names(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertEqual(waypoints[0].name, "START") + self.assertEqual(waypoints[1].name, "END") + + def test_generate_colliding_waypoints_correct_ktas(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertTrue( + convert(self.cfg.colliding.speed.min_, "kt") <= waypoints[0].ktas + and waypoints[0].ktas <= convert(self.cfg.colliding.speed.max_, "kt") + ) + self.assertTrue( + convert(self.cfg.colliding.speed.min_, "kt") <= waypoints[1].ktas + and waypoints[1].ktas <= convert(self.cfg.colliding.speed.max_, "kt") + ) + self.assertEqual(waypoints[0].ktas, waypoints[1].ktas) + + def test_generate_colliding_waypoints_constant_altitude(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertEqual(waypoints[0].alt, waypoints[1].alt) + + def test_generate_colliding_waypoints_correct_heading(self): + waypoints = generate_parallel_waypoints(self.cfg) + az, _, _ = GEOD.inv( + waypoints[0].lon, + waypoints[0].lat, + waypoints[1].lon, + waypoints[1].lat, + ) + az = az % 360 + heading = self.cfg.heading % 360 + self.assertGreaterEqual(az, heading - self.cfg.parallel.horizontal.spread / 2) + self.assertLessEqual(az, heading + self.cfg.parallel.horizontal.spread / 2) + + def test_generate_colliding_waypoints_altitude_in_range(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertGreaterEqual( + waypoints[0].alt, self.cfg.altitude - self.cfg.colliding.altitude.spread / 2 + ) + self.assertLessEqual( + waypoints[0].alt, self.cfg.altitude + self.cfg.colliding.altitude.spread / 2 + ) + self.assertGreaterEqual( + waypoints[1].alt, self.cfg.altitude - self.cfg.colliding.altitude.spread / 2 + ) + self.assertLessEqual( + waypoints[1].alt, self.cfg.altitude + self.cfg.colliding.altitude.spread / 2 + ) + + def test_generate_colliding_waypoints_correct_properties(self): + waypoints = generate_colliding_waypoints(self.cfg) + self.assertFalse(waypoints[0].on_ground) + self.assertFalse(waypoints[0].gear_down) + self.assertFalse(waypoints[0].flaps_down) + self.assertFalse(waypoints[1].on_ground) + self.assertFalse(waypoints[1].gear_down) + self.assertFalse(waypoints[1].flaps_down) + + def test_generate_colliding_waypoints_waypoints_intersects_ownship_at_cpa(self): + for _ in range(100): + waypoints = generate_colliding_waypoints(self.cfg) + + intruder_start = (waypoints[0].lon, waypoints[0].lat) + intruder_end = (waypoints[1].lon, waypoints[1].lat) + ownship_start = (self.cfg.lon, self.cfg.lat) + cpa = calculate_cpa(self.cfg) + lon_, lat_, _ = GEOD.fwd( + lons=cpa.lon, + lats=cpa.lat, + az=self.cfg.heading, + dist=(self.cfg.vc * ureg.kt * self.cfg.time_to_cpa * ureg.s) + .to(ureg.meter) + .magnitude, + ) + ownship_end = (lon_, lat_) + intersection = line_intersection( + ownship_start[0], + ownship_start[1], + ownship_end[0], + ownship_end[1], + intruder_start[0], + intruder_start[1], + intruder_end[0], + intruder_end[1], + ) + self.assertIsNotNone(intersection) + self.assertAlmostEqual(intersection[0], cpa.lon, places=3) + self.assertAlmostEqual(intersection[1], cpa.lat, places=3) + + def test_generate_parallel_waypoints_returns_waypoints(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertIsInstance(waypoints, list) + self.assertTrue(all(isinstance(wp, WayPointConfig) for wp in waypoints)) + + def test_generate_parallel_waypoints_returns_two_waypoints(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertEqual(len(waypoints), 2) + + def test_generate_parallel_waypoints_correct_names(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertEqual(waypoints[0].name, "START") + self.assertEqual(waypoints[1].name, "END") + + def test_generate_parallel_waypoints_correct_ktas(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertTrue( + convert(self.cfg.parallel.speed.min_, "kt") <= waypoints[0].ktas + and waypoints[0].ktas <= convert(self.cfg.parallel.speed.max_, "kt") + ) + self.assertTrue( + convert(self.cfg.parallel.speed.min_, "kt") <= waypoints[1].ktas + and waypoints[1].ktas <= convert(self.cfg.parallel.speed.max_, "kt") + ) + self.assertEqual(waypoints[0].ktas, waypoints[1].ktas) + + def test_generate_parallel_waypoints_constant_altitude(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertEqual(waypoints[0].alt, waypoints[1].alt) + + def test_generate_parallel_waypoints_correct_heading(self): + waypoints = generate_parallel_waypoints(self.cfg) + az, _, _ = GEOD.inv( + waypoints[0].lon, + waypoints[0].lat, + waypoints[1].lon, + waypoints[1].lat, + ) + az = az % 360 + self.assertAlmostEqual(az, self.cfg.heading + 180, delta=0.1) + + def test_generate_parallel_waypoints_correct_properties(self): + waypoints = generate_parallel_waypoints(self.cfg) + self.assertFalse(waypoints[0].on_ground) + self.assertFalse(waypoints[0].gear_down) + self.assertFalse(waypoints[0].flaps_down) + self.assertFalse(waypoints[1].on_ground) + self.assertFalse(waypoints[1].gear_down) + self.assertFalse(waypoints[1].flaps_down) + + @pytest.mark.skip( + reason="Currently not working due to problem with different speeds" + ) + def test_generate_parallel_waypoints_no_intersection(self): + for _ in range(100): + waypoints = generate_parallel_waypoints(self.cfg) + # Ensure no intersection between ownship start -> ownship + # end and intruder start -> intruder end + intruder_start = (waypoints[0].lon, waypoints[0].lat) + intruder_end = (waypoints[1].lon, waypoints[1].lat) + ownship_start = (self.cfg.lon, self.cfg.lat) + lon_, lat_, _ = GEOD.fwd( + lons=self.cfg.lon, + lats=self.cfg.lat, + az=self.cfg.heading, + dist=2 + * (self.cfg.vc * ureg.kt * self.cfg.time_to_cpa * ureg.s) + .to(ureg.meter) + .magnitude, + ) + ownship_end = (lon_, lat_) + + # If the distance between the ownship start/end and the + # intruder end/start is less than 10m, the lines might + # intersect due to numerical errors + _, _, dist1 = GEOD.inv( + ownship_start[0], ownship_start[1], intruder_end[0], intruder_end[1] + ) + _, _, dist2 = GEOD.inv( + ownship_end[0], ownship_end[1], intruder_start[0], intruder_start[1] + ) + if dist1 < 10 or dist2 < 10: + continue + + self.assertIsNone( + line_intersection( + ownship_start[0], + ownship_start[1], + ownship_end[0], + ownship_end[1], + intruder_start[0], + intruder_start[1], + intruder_end[0], + intruder_end[1], + ) + ) + + @patch("pycasx.scenario.scenario.uuid.uuid4") + @patch("pycasx.scenario.scenario.random.randint") + @patch("pycasx.scenario.scenario.random.choices") + @patch("pycasx.scenario.scenario.create_fgfs_config") + @patch("pycasx.scenario.scenario.calculate_cpa") + @patch("pycasx.scenario.scenario.create_flightplan_xml") + @patch("pycasx.scenario.scenario.create_ai_scenario_xml") + @patch("pathlib.Path.write_text", new_callable=unittest.mock.mock_open) + @patch("pathlib.Path.mkdir") + def test_create_scenario( + self, + mock_mkdir: MagicMock, + mock_write_text: MagicMock, + mock_create_ai_scenario_xml: MagicMock, + mock_create_flightplan_xml: MagicMock, + mock_calculate_cpa: MagicMock, + mock_create_fgfs_config: MagicMock, + mock_choices: MagicMock, + mock_randint: MagicMock, + mock_uuid: MagicMock, + ): + mock_uuid.return_value = uuid.UUID("12345678123456781234567812345678") + mock_randint.return_value = 5 + self.cfg.min_intruders = mock_randint.return_value + self.cfg.max_intruders = mock_randint.return_value + mock_create_fgfs_config.return_value = "fgfs_config" + mock_calculate_cpa.return_value = MagicMock(lat=50.0, lon=10.0) + mock_choices.return_value = [MagicMock()] + mock_create_flightplan_xml.return_value = "flightplan_xml" + mock_create_ai_scenario_xml.return_value = "ai_scenario_xml" + + create_scenario(self.cfg) + + # Check that the mock functions were called with the expected arguments + mock_uuid.assert_called_once() + mock_mkdir.assert_called_once_with(parents=True, exist_ok=True) + mock_randint.assert_called_once_with( + self.cfg.min_intruders, self.cfg.max_intruders + ) + mock_create_fgfs_config.assert_called_once_with(self.cfg) + mock_calculate_cpa.assert_called_with(self.cfg) + mock_choices.assert_called_with( + population=[generate_colliding_waypoints, generate_parallel_waypoints], + weights=[self.cfg.weights.colliding, self.cfg.weights.parallel], + k=1, + ) + mock_create_flightplan_xml.assert_called() + mock_create_ai_scenario_xml.assert_called() + mock_create_ai_scenario_xml.assert_called_once_with( + self.cfg, + mock_uuid.return_value, + [ + Path( + ASSETS_PATH, + "scenarios", + str(mock_uuid.return_value), + "data", + "AI", + "FlightPlans", + f"{mock_uuid.return_value}_fp_{i}.xml", + ) + for i in range(mock_randint.return_value) + ], + ) + + # Check that the files were written with the expected content + mock_write_text.assert_called() + + @patch("pycasx.scenario.scenario.create_scenario") + def test_create_scenarios(self, mock_create_scenario: MagicMock): + create_scenarios(self.cfg) + self.assertEqual(mock_create_scenario.call_count, self.cfg.n_scenarios) + mock_create_scenario.assert_called_with(self.cfg) + + @patch("pycasx.cli.scenarios.create_scenarios_") + def test_cli_create_scenarios(self, mock_create_scenarios_: MagicMock): + cli_create_scenarios(self.cfg) + mock_create_scenarios_.assert_called_once_with(self.cfg) + + def test_convert_int_to_float(self): + result = convert(1) + self.assertIsInstance(result, float) + self.assertEqual(result, 1.0) + + def test_convert_float_to_float(self): + result = convert(1.0) + self.assertIsInstance(result, float) + self.assertEqual(result, 1.0) + + def test_convert_unit_to_float(self): + result = convert("1ft", "ft") + self.assertIsInstance(result, float) + self.assertEqual(result, 1.0) + + def test_convert_convert_unit(self): + result = convert("1ft", "m") + self.assertIsInstance(result, float) + self.assertEqual(result, ureg.Quantity(1, "foot").to("meter").magnitude) + + +if __name__ == "__main__": + unittest.main()