The simulation environment can be used, but the ground control station data has a large delay after connection

Signed-off-by: STT

README.md

@@ -17,7 +17,9 @@ python版船控，也可控两轮无人车，作者初学python练手。
 
 ​		AppData中csv格式文件为日志信息
 
-​		Airsim仿真功能待完善，暂不对外分享。
+​		仿真环境使用Airsim，车模型，代码在Airsim文件夹，相关配置教程请自行百度，navigation_type设置为airsim
+
+​		
 
 
 
@@ -65,6 +67,7 @@ python版船控，也可控两轮无人车，作者初学python练手。
 
 1. Add ini feature
 2. Change the mode of communication with the airsim to non-blocking
+2. The simulation environment can be used, but the ground control station data has a large delay after connection
 
 
 

USVAirsim/main.py

@@ -0,0 +1,123 @@
+# PythonClient/car/hello_car.py
+import airsim
+import time
+
+from udpCommunication import Udp
+
+udp = Udp()
+
+# 连接到Airsim仿真器
+client = airsim.CarClient()
+
+client.confirmConnection()  # 每1秒检查一次连接状态，并在控制台中报告，以便用户可以查看连接的进度（实际操作只显示一次，奇怪）。
+# Connected!
+# Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)
+
+client.enableApiControl(True)  # 默认是false，有的车辆不允许用API控制，所以用isApiControlEnabled可以查看是否可以用API控制
+# 仿真器左上角会显示：ControlMode: API
+
+while True:
+    states = client.getCarState()
+    car_state = states.__dict__['kinematics_estimated'].__dict__
+
+    states = [car_state['position'].__dict__['x_val'], car_state['position'].__dict__['y_val'],
+              car_state['position'].__dict__['z_val'],
+              car_state['orientation'].__dict__['x_val'], car_state['orientation'].__dict__['y_val'],
+              car_state['orientation'].__dict__['z_val'],
+              car_state['linear_velocity'].__dict__['x_val'], car_state['linear_velocity'].__dict__['y_val'],
+              car_state['linear_velocity'].__dict__['z_val'], car_state['angular_velocity'].__dict__['x_val'],
+              car_state['angular_velocity'].__dict__['y_val'], car_state['angular_velocity'].__dict__['z_val'],
+              car_state['linear_acceleration'].__dict__['x_val'], car_state['linear_acceleration'].__dict__['y_val'],
+              car_state['linear_acceleration'].__dict__['z_val']]
+    udp.states = states
+    print(states)
+    Udp.send(udp)
+    Udp.receive(udp)
+    car_controls = airsim.CarControls()  # 获得车辆控制数据
+    car_controls.is_manual_gear = False
+    car_controls.steering = udp.command[0] / 1000
+    if udp.command[1] < 0:
+        car_controls.is_manual_gear = True
+        car_controls.manual_gear = -1
+    car_controls.throttle = udp.command[1] / 1000
+    client.setCarControls(car_controls)
+
+# 将车辆初始化处理，后续如果需要重新控制则需要再次调用`enableApiControl`或`armDisarm
+
+# client.reset()
+# client.enableApiControl(False)  # 取消仿真器API控制
+
+'''
+    # get state of the car
+    car_state = client.getCarState()  # 获取车辆状态，坐标统一是NED坐标，使用国际单位。
+    # <CarState> {   'gear': 0,
+    #    'handbrake': False,
+    #    'kinematics_estimated': <KinematicsState> {   'angular_acceleration': <Vector3r> {   'x_val': 0.0,
+    #    'y_val': 0.0,
+    #    'z_val': 0.0},
+    #    'angular_velocity': <Vector3r> {   'x_val': 0.0,
+    #    'y_val': 0.0,
+    #    'z_val': 0.0},
+    #    'linear_acceleration': <Vector3r> {   'x_val': 0.0,
+    #    'y_val': 0.0,
+    #    'z_val': 0.0},
+    #    'linear_velocity': <Vector3r> {   'x_val': 0.0,
+    #    'y_val': 0.0,
+    #    'z_val': -0.0},
+    #    'orientation': <Quaternionr> {   'w_val': 1.0,
+    #    'x_val': 3.1523319194093347e-05,
+    #    'y_val': 0.0,
+    #    'z_val': 0.0},
+    #    'position': <Vector3r> {   'x_val': 0.0,
+    #    'y_val': -2.2888182229507947e-06,
+    #    'z_val': 0.23400458693504333}},
+    #    'maxrpm': 7500.0,
+    #    'rpm': 0.0,
+    #    'speed': 0.0,
+    #    'timestamp': 1597385459957857300}
+    print("Speed %d, Gear %d" % (car_state.speed, car_state.gear))'''
+
+'''controls = airsim.CarControls()  # 获得车辆控制数据
+# <CarControls> {   'brake': 0,
+#    'gear_immediate': True,
+#    'handbrake': False,
+#    'is_manual_gear': False,
+#    'manual_gear': 0,
+#    'steering': 0,
+#    'throttle': 0}
+'''
+
+'''    # 前进，配置car_controls，之后使用setCarControls设置状态
+    # 这允许您设置油门(throttle)，转向(steering)，手制动(handbrake)和自动或手动档位(auto or manual gear)
+    car_controls.throttle = 0.5
+    car_controls.steering = 0
+    client.setCarControls(car_controls)
+    print("Go Forward")
+    time.sleep(3)  # let car drive a bit
+
+    # 前进+右转
+    car_controls.throttle = 0.5
+    car_controls.steering = 1
+    client.setCarControls(car_controls)
+    print("Go Forward, steer right")
+    time.sleep(3)  # let car drive a bit
+
+    # 倒车，记得要复原
+    car_controls.throttle = -0.5
+    car_controls.is_manual_gear = True
+    car_controls.manual_gear = -1
+    car_controls.steering = 0
+    client.setCarControls(car_controls)
+    print("Go reverse, steer right")
+    time.sleep(3)  # let car drive a bit
+    car_controls.is_manual_gear = False  # change back gear to auto
+    car_controls.manual_gear = 0
+
+    # 急刹
+    car_controls.brake = 1
+    client.setCarControls(car_controls)
+    print("Apply brakes")
+    time.sleep(3)  # let car drive a bit
+    car_controls.brake = 0  # remove brake
+
+# 将车辆初始化处理，后续如果需要重新控制则需要再次调用`enableApiControl`或`armDisarm`.'''

USVAirsim/udpCommunication.py

@@ -0,0 +1,112 @@
+import socket
+import struct
+import time
+
+
+class Udp:
+    def __init__(self):
+        self.receive = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.receive.bind(('192.168.31.87', 9876))
+        self.receive.setblocking(False)
+        self.command = [0, 0]
+        self.states = []
+        self.buffer = []
+
+    def receive(self):
+        try:
+            data, send_address = self.receive.recvfrom(19)
+        except BlockingIOError:
+            data = ''
+            send_address = ()
+        self.buffer += data
+
+        while len(self.buffer) >= 5:
+            if self.buffer[0] != calculate_header_lrc(self.buffer):
+                del self.buffer[0]
+                continue
+
+            packet_data_length = self.buffer[2]
+            packet_length = packet_data_length + 5
+
+            if len(self.buffer) < packet_length:
+                break
+            if (self.buffer[3] | self.buffer[4] << 8) != calculate_crc16_ccitt(self.buffer[5:], packet_data_length):
+                del self.buffer[0]
+                continue
+
+            packet_id = self.buffer[1]
+            packet_data = self.buffer[5:packet_length]
+
+            '''if (packet_data[0] | packet_data[1] << 8) != usvid:  # 数据过滤
+                del self.buffer[:packet_length]
+                continue'''
+            if packet_id == 0 and packet_data_length == 14:  # Command
+                data = struct.unpack('<hh', bytes(packet_data[10:packet_data_length]))
+                self.command[0] = data[0]
+                self.command[1] = data[1]
+                del self.buffer[:packet_length]
+                continue
+
+    def send(self):
+        data_bytes = struct.pack('<Hddddffffffffffff', 0, time.time(), self.states[0] / 100000, self.states[1] / 100000,
+                                 self.states[2] / 100000,
+                                 self.states[3], self.states[4], self.states[5], self.states[6], self.states[7],
+                                 self.states[8], self.states[9], self.states[10], self.states[11], self.states[12],
+                                 self.states[13], self.states[14])
+        crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
+        header_bytes = calculate_header_bytes(10, 82, crc16)  # 回应包id=10，包长82
+        send_data = header_bytes + data_bytes
+        send_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        send_socket.bind(('192.168.31.87', 6789))
+        send_socket.sendto(send_data, ('192.168.31.234', 9876))
+        send_socket.close()
+
+
+def calculate_header_bytes(usv_id, length, crc16):
+    header_list = [0, usv_id, length, crc16 & 0xff, crc16 // 0x100]
+    header_list[0] = calculate_header_lrc(header_list)
+    return struct.pack('<BBBBB', header_list[0], header_list[1], header_list[2], header_list[3], header_list[4])
+
+
+def calculate_header_lrc(data_list):
+    return ((((data_list[1] + data_list[2] + data_list[3] + data_list[4]) & 0xff) ^ 0xff) + 1) & 0xff
+
+
+def calculate_crc16_ccitt(data_list, length):
+    crc16_ccitt = 0xffff
+    crc16_ccitt_list = [0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+                        0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+                        0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+                        0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+                        0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+                        0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+                        0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+                        0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+                        0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+                        0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+                        0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+                        0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+                        0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+                        0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+                        0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+                        0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+                        0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+                        0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+                        0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+                        0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+                        0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+                        0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+                        0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+                        0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+                        0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+                        0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+                        0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+                        0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+                        0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+                        0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+                        0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+                        0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
+    for i in range(length):
+        crc16_ccitt = ((crc16_ccitt << 8 & 0xffff) ^ crc16_ccitt_list[
+            ((crc16_ccitt >> 8) & 0xffff) ^ data_list[i]]) & 0xffff
+    return crc16_ccitt

ground_control_station.py

@@ -19,7 +19,7 @@ class GroundControlStation:
         self.send_status(usv)
 
     def receive_decode(self, usv):
-        self.buffer += self.gcs.read(256)
+        self.buffer += self.gcs.read(128)
 
         while len(self.buffer) >= 5:
             if self.buffer[0] != calculate_header_lrc(self.buffer):

navigation.py

@@ -25,7 +25,7 @@ class Navigation:
             self.navigation = serial.Serial(usv.settings.navigation_com, usv.settings.navigation_baudrate, timeout=0,
                                             write_timeout=0)
         if usv.settings.navigation_type == 'airsim':
-            ip_port = (usv.settings.usv_ip, usv.settings.airsim_port)
+            ip_port = (usv.settings.usv_ip, usv.settings.airsim_receive_port)
             self.receive = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
             self.receive.bind(ip_port)
             self.receive.setblocking(False)
@@ -113,17 +113,16 @@ class Navigation:
         pass
 
     def airsim_decode(self, usv):
-        buffer = []
         try:
-            data, send_add = self.receive.recvfrom(82)
+            data, send_address = self.receive.recvfrom(87)
         except BlockingIOError:
             data = ""
-            send_add = ()
+            send_address = ()
 
-        if send_add == (usv.settings.airsim_ip, usv.settings.airsim_port):
+        if send_address == (usv.settings.airsim_ip, usv.settings.airsim_send_port):
-            buffer += data
+            self.buffer += data
 
-        while len(buffer) >= 5:
+        while len(self.buffer) >= 5:
             if self.buffer[0] != calculate_header_lrc(self.buffer):
                 del self.buffer[0]
                 continue
@@ -141,7 +140,7 @@ class Navigation:
             packet_id = self.buffer[1]
             packet_data = self.buffer[5:packet_length]
 
-            if (packet_data[0] | packet_data[1] << 8) != usv.control.pid['id']:  # 数据过滤
+            if (packet_data[0] | packet_data[1] << 8) != usv.settings.usv_id:  # 数据过滤
                 del self.buffer[:packet_length]
                 continue
 

remote_control_unit.py

@@ -37,14 +37,14 @@ class RemoteControlUnit:
             self.encode()
             self.sbus.write(self.packet.tobytes())
         else:
-            data_bytes = struct.pack('<Bdhh', usv.settings.usv_id, time.time(), usv.control.data['rudder'],
+            data_bytes = struct.pack('<Hdhh', usv.settings.usv_id, time.time(), usv.control.data['rudder'],
                                      usv.control.data['thrust'])
             crc16 = calculate_crc16_ccitt(data_bytes, len(data_bytes))
-            header_bytes = calculate_header_bytes(0, 16, crc16)  # 回应包id=0，包长16
+            header_bytes = calculate_header_bytes(0, 14, crc16)  # 回应包id=0，包长14
             send_data = header_bytes + data_bytes
-            ip_port = (usv.settings.airsim_ip, usv.settings.airsim_port)
             send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-            send.sendto(send_data, ip_port)
+            send.bind((usv.settings.usv_ip,usv.settings.airsim_send_port))
+            send.sendto(send_data, (usv.settings.airsim_ip, usv.settings.airsim_receive_port))
             send.close()
 
     def decode(self, ):

settings.py

@@ -24,7 +24,8 @@ class Settings:
             config.set('navigation', 'navigation_com', 'COM51')
             config.set('navigation', 'navigation_baudrate', '115200')
             config.set('navigation', 'airsim_ip', '192.168.31.86')
-            config.set('navigation', 'airsim_port', '9876')
+            config.set('navigation', 'airsim_receive_port', '9876')
+            config.set('navigation', 'airsim_send_port', '6789')
 
             config.add_section('gcs')
             config.set('gcs', 'gcs_com', 'COM52')
@@ -48,7 +49,8 @@ class Settings:
             self.navigation_type = config.get('navigation', 'navigation_type')
             self.navigation_baudrate = eval(config.get('navigation', 'navigation_baudrate'))
             self.airsim_ip = config.get('navigation', 'airsim_ip')
-            self.airsim_port = eval(config.get('navigation', 'airsim_port'))
+            self.airsim_receive_port = eval(config.get('navigation', 'airsim_receive_port'))
+            self.airsim_send_port = eval(config.get('navigation', 'airsim_send_port'))
 
             self.gcs_com = config.get('gcs', 'gcs_com')
             self.gcs_disconnect_time_allow = eval(config.get('gcs', 'gcs_disconnect_time_allow'))