Airsim Interface Update

examples/airsim/catchDrone.scenic

@@ -0,0 +1,41 @@
+import math
+
+# NOTE: add your world info path here
+# param worldInfoPath = "[YOUR PATH HERE]"
+
+# param timestep = .1
+
+# drone1 patrols to a single location after spawning. ego spawns somehwere in the center area and tries to catch it before time ends
+# run the src/scenic/simulators/airsim/verifai_sampler.py file to test with verifai. 
+
+model scenic.simulators.airsim.model
+
+
+behavior Catch(target, speed = 5,tolerance = 1, offset = (0,0,0)):
+    try:
+        while True:
+            targetPosition = target.position + offset
+
+            velocity = targetPosition-self.position
+            distance = magnitude(velocity)
+            velocity = (velocity / distance) * speed
+            if distance > tolerance:
+                take SetVelocity(velocity)
+            wait
+    interrupt when (distance from self to drone1) < 3:
+        print("Caught drone1!")
+        terminate
+
+
+centerArea = RectangularRegion(Vector(0,0,0), 0, 30, 30)
+
+points = [(-1,2,2),(1,4,2),(-1,4,2),(-1,2,4),(1,2,4),(1,4,4),(-1,4,4)]
+
+pos = VerifaiOptions(points)
+
+
+drone1 = new Drone at (0,0,0),
+    with behavior Patrol([pos],True)
+
+ego = new Drone in centerArea,
+    with behavior Catch(drone1)

examples/airsim/demoDrone.scenic

@@ -0,0 +1,80 @@
+import math
+
+# NOTE: add your world info path here
+# param worldInfoPath = "[YOUR PATH HERE]"
+
+model scenic.simulators.airsim.model
+
+# This demo includes 1 adversarial drone, and 1 drone (ego) looking for this adversary.
+
+class AdversaryDrone(Drone): # Drone class defined in model.scenic
+    patrolPoints: []
+    patrolPointsProb: []
+
+# Find the adversary. drone1 is the adversary target
+behavior FindAdversary(positions, speed = 5):
+    # try-interrupt statements: https://scenic-lang.readthedocs.io/en/latest/reference/statements.html#try-interrupt-statement
+    try:
+        print("POSSIBLE POSITIONS:")
+        print(positions)
+        while ((distance from self to drone1) >= 1):
+            selectedPoint = Discrete({positions[0]:drone1.patrolPointsProb[0], 
+            positions[1]:drone1.patrolPointsProb[1], 
+            positions[2]:drone1.patrolPointsProb[2], 
+            positions[3]:drone1.patrolPointsProb[3]})
+
+            print("EGO CHECKING POSITION:")
+            print(selectedPoint)
+
+            do FlyToPosition(selectedPoint, speed=speed, tolerance=1,pidMode=True) # FlyToPosition behavior defined in behaviors.scenic
+
+    interrupt when (distance from self to drone1) < 15:
+        # when I see that I am within 15 meters of adversary, follow it
+        print("FOLLOWING ADVERSARY")
+        do Follow(drone1, speed=10, tolerance=1, offset=(0,0,0)) # Follow behavior defined in behaviors.scenic
+
+    interrupt when distance from self to drone1 < 7:
+        # when I get within 7 meters of adversary, terminate scenario
+        print("ADVERSARY FOUND")
+        terminate
+
+# Adversary behavior. Patrol through given points.
+behavior AdversaryBehavior(points, speed):
+    do Patrol(points, loop=True, speed=speed) # Patrol behavior defined in behaviors.scenic
+
+ground = getPrexistingObj("ground")
+workspaceArea = RectangularRegion(Vector(0,200,30), 0, 100, 100)
+
+platforms = []
+blockCount = 4
+for i in range(blockCount):
+    platforms.append(new StaticObj on ground, 
+        contained in workspaceArea,
+        with assetName "Cone", # use * to pick a random asset in assets
+        with parentOrientation 0,
+        with width 5,
+        with length 5,
+        with height 10)
+
+points = []
+for plat in platforms:
+    point = new Point on plat
+    points.append(point.position)
+
+adversarySpawn = Options(points)
+
+# Adversary drone spawning at random point
+drone1 = new AdversaryDrone at adversarySpawn + (0,0,2),
+    with behavior AdversaryBehavior(points, speed=5)
+# drone1.patrolPoints = possiblePoints
+drone1.patrolPointsProb = [0.4, 0.2, 0.1, 0.3] # Probability distribution on the patrolPoints
+
+# ego drone spawning somwhere in the workspace area
+ego = new Drone at (0,Range(150, 250),12),
+    with behavior FindAdversary(points, speed=5)
+
+
+# took too long to locate so terminate after x seconds
+terminate after 15 seconds 
+
+record final (distance to drone1) as dist

examples/airsim/flyFromBlockToBlock.scenic

@@ -3,6 +3,8 @@
 
 model scenic.simulators.airsim.model
 
+# Spawns 10 arbritrary static obstacles on the ground
+# drone patrols to these positions uniformly randomly
 
 platforms = []
 ground = getPrexistingObj("ground")
@@ -19,13 +21,10 @@ for i in range(blockCount):
         with height 10)
 
 
-
-
-
 points = []
 for plat in platforms:
     point = new Point on plat
     points.append(point.position)
 
-drone1 = new Drone at Uniform(*points) + (0,0,1),
+ego = new Drone at Uniform(*points) + (0,0,1),
     with behavior Patrol(points,True)

examples/airsim/followDrone.scenic

@@ -3,6 +3,8 @@ import math
 # NOTE: add your world info path here
 # param worldInfoPath = "[YOUR PATH HERE]"
 
+# Spawns 1 drone (ego) that patrols specific points, drone 2 follows ego
+
 param timestep = .1
 
 model scenic.simulators.airsim.model
@@ -24,10 +26,20 @@ behavior Follow(target, speed = 5,tolerance = 2, offset = (0,0,1)):
             take SetVelocity(velocity)
         wait
 
+behavior Patrol(positions, loop=True, smooth = False, speed = 5,tolerance = 2):
+    while True:
+        for pos in positions:
+            do FlyToPosition(pos,speed=speed,pidMode= not smooth,tolerance=tolerance)
+
+        if not loop:
+            return
 
-
-drone1 = new Drone at (0,0,0),
+ego = new Drone at (0,0,0),
     with behavior Patrol([(-1,2,2),(1,4,2),(-1,4,2),(-1,2,4),(1,2,4),(1,4,4),(-1,4,4)],True)
 
 drone2 = new Drone at (0,1,0),
-    with behavior Follow(drone1)
+    with behavior Follow(ego)
+
+terminate after 10 seconds
+
+record final (distance to drone2) as dist

examples/airsim/move_to.scenic

@@ -0,0 +1,9 @@
+# NOTE: add your world info path here
+# param worldInfoPath = "[YOUR PATH HERE]"
+
+model scenic.simulators.airsim.model
+
+
+ego = new Drone at (0,0,0),
+    with behavior MoveToPosition((0,10,10),5)
+

examples/airsim/multiDrone.scenic

@@ -1,12 +1,12 @@
-# NOTE: add your world info path here
-# param worldInfoPath = "[YOUR PATH HERE]"
-
-model scenic.simulators.airsim.model
-
-
-ground = getPrexistingObj("ground")
-
-
-for i in range(3):
-    new Drone at (Range(-10,10),Range(-10,10),Range(0,10)),
+# NOTE: add your world info path here
+# param worldInfoPath = "[YOUR PATH HERE]"
+
+model scenic.simulators.airsim.model
+
+
+ground = getPrexistingObj("ground")
+
+
+for i in range(3):
+    new Drone at (Range(-10,10),Range(-10,10),Range(0,10)),
         with behavior FlyToPosition((Range(-10,10),Range(-10,10),Range(0,10)))