- Overview
- Code structure
- Constants
- File:
main.py - File:
src/main.py - File:
src/version.py - File:
src/simulation/simulation.py - File:
src/simulation/simulation_physics.py - File:
src/simulation/simulation_adsb.py - File:
src/simulation/simulation_state.py - File:
src/simulation/simulation_settings.py - File:
src/simulation/simulation_widget.py - File:
src/simulation/simulation_render.py - File:
src/simulation/simulation_fps.py - File:
src/simulation/simulation_data.py - File:
src/aircraft/aircraft.py - File:
src/aircraft/aircraft_fcc.py - File:
src/aircraft/aircraft_vehicle.py - Contribution Guidelines
- License
- References
This documentation provides a detailed overview of the classes defined in the UAV Collision Avoidance project. Each class is described with its purpose, attributes, and methods.
The classes are organized into the following categories:
main: Entry point of the application.simulation: Classes responsible for conducting simulations.aircraft: Classes representing UAVs.
All classes make use of Python's properties and setters utilizing mutexes and mutex locks to ensure encapsulation and data integrity.
Remark: The src directory is located in uav_collision_avoidance subdirectory.
The code structure is as follows:
├── CITATION.cff
├── CODE_OF_CONDUCT.md
├── compile.ps1
├── CONTRIBUTING.md
├── data
│ ├── README.md
│ ├── ...
└── docs
├── en
│ ├── README.md
├── pl
│ ├── README.md
├── README.md
├── LICENSE
├── main.py
├── path-visual
│ ├── README.md
│ ├── ...
├── PULL_REQUEST_TEMPLATE.md
├── pyproject.toml
├── pyrightconfig.json
├── README.md
├── README.pl.md
├── requirements.txt
├── SECURITY.md
├── tests
│ ├── __init__.py
│ └── test_headless.py
└── uav_collision_avoidance
├── __init__.py
├── main.py
├── src
│ ├── aircraft
│ │ ├── aircraft_fcc.py
│ │ ├── aircraft.py
│ │ └── aircraft_vehicle.py
│ └── simulation
│ ├── simulation_adsb.py
│ ├── simulation_data.py
│ ├── simulation_fps.py
│ ├── simulation_physics.py
│ ├── simulation.py
│ ├── simulation_render.py
│ ├── simulation_settings.py
│ ├── simulation_state.py
│ └── simulation_widget.py
└── version.py
- Gravitational acceleration:
9.81 m/s^2 - Simulation frequency for realtime and headless types:
100 Hz - Simulation frequency while conducting tests:
10 Hz - Simulation render GUI frequency:
100 Hz - ADS-B system frequency:
1 Hz - Aircraft roll angle change delay:
1000 ms - Aircraft pitch angle change delay:
2000 ms - Maximum instantaneous aircraft acceleration:
2 m/s^2
Description: Entry point of the application. Acts as outer runner for the app.
Description: Proper entry point of the application. Begins QtApplication. Parses arguments and starts the appropriate simulation mode.
run_simulation_tests(test_number : int): Handles concurrent test running.
Description:
Parses current app version from pyproject.toml file.
Description: The primary class responsible for conducting simulations. It can operate in two basic modes:
- realtime: Creates a user interface and conducts a simulation that mimics real-time conditions.
- headless: Conducts a simulation without real-time imitation.
The Simulation class is responsible for generating test cases, conducting series of tests, creating and exporting data sets, as well as plotting the paths of UAVs. Derived Simulation- classes are created within the object of this class using composition.
simulation_id: Identifier of the simulation.hash: Unique hash string for the simulation.headless: Flag representing if the simulation does not contain user interface.tests: Flag representing if the simulation will run tests.simulation_time: Time that should be simulated [s].aircrafts: List of simulated aircrafts.state: State of the simulation.imported_from_data: Flag representing if the simulation was loaded from file.simulation_data: Contains simulation data structure if loaded from file.simulation_physics: Simulation physics object.simulation_adsb: Simulation ADS-B object.simulation_widget: Simulation widget object.simulation_render: Simulation render object.simulation_fps: Simulation FPS object.
__init__(headless : bool, tests : bool, simulation_time : int) -> None: Initializes a new simulation instance without initializing state and aircrafts.obtain_simulation_id() -> int: Obtains identifier for the simulation.obtain_simulation_hash() -> str: Obtains unique hash for the simulation.run() -> None: Starts appropriate type of simulation.run_gui(avoid_collisions : bool, load_latest_data_file : bool) -> None: Explicitly runs simulation with graphical user interface (GUI).run_headless(avoid_collisions : bool, aircrafts : List[Aircraft], test_index : int, aircraft_angle : float) -> SimulationData: Explicitly runs simulation headless. Returns simulation data structure for performing checks.generate_test_aircrafts() -> List[Tuple[List[Aircraft], float]]: Generates random list of lists of Aircrafts (paired with start angle between them) ready to be iterated through and used in test simulation.generate_consistent_list_of_aircraft_lists() -> List[Tuple[List[Aircraft], float]]: Returns predefined set of aircraftsrun_tests(begin_with_default_set : bool, test_number : int): Runs headless simulation sequentially using test cases generation. Exports simulation data.load_latest_simulation_data_file() -> bool: Tries to load the latest found data file (can be overridden with using simulation.csv file name). Returns true if successful.load_simulation_data_from_file(file_path : str, test_id : int, avoid_collisions : bool) -> bool: Tries to load data file of the given name. Returns true if successful.stop(): Stops running simulation by trying to use appropriate stop method.stop_realtime_simulation() -> None: Stops simulation that was running real-time (with GUI).stop_headless_simulation() -> None: Stops simulation that was running headless (no GUI).add_aircraft(aircraft : Aircraft) -> None: Appends given aircraft to initialized aircraft list.remove_aircraft(aircraft : Aircraft) -> None: Tries to remove given aircraft from aircraft list.setup_aircrafts(self, aircrafts : List[Aircraft]) -> None: Initializes new aircraft list using given aircraft list.setup_debug_aircrafts(self, test_case : int) -> None: Overrides aircraft list with predefined aircraft set.import_simulation_data(data : SimulationData) -> None: Attempts to load simulation data from given data structure.check_simulation_data_correctness() -> bool: Runs check of current simulation state with loaded, expected simulation data. Returns true if correct.export_visited_locations(simulation_data : SimulationData, test_index : int): Exports locations marked as visited from aircrafts' FCCs. Attempts to create visual representations of aircraft paths.
Description: Enables the creation of a thread responsible for simulating physics, tracking vehicle locations, and performing operations on them over time. It imitates physical laws affecting physical bodies through the use of differentiation.
aircrafts: List of simulated aircrafts.aircraft_vehicles: List of simulated aircraft vehicles.aircraft_fccs: List of simulated aircraft FCCs.simulation_state: State of the simulation.cycles: Number of counted cycles.
__init__(aircrafts : List[Aircraft], simulation_state : SimulationState) -> None: Initializes a new physics simulation instance.count_cycles() -> None: Increments the number of counted cycles and updates simulation state.run() -> None: Starts the physics simulation.mark_start_time() -> None: Marks the start time of the simulation.mark_stop_time() -> None: Marks the end time of the simulation.cycle(elapsed_time : float) -> None: Performs a single cycle of the simulation.reset_aircrafts() -> None: Resets the positions of all aircrafts.update_aircrafts_positions() -> bool: Updates the positions of all aircrafts. Returns true if any of the aircrafts have collided.update_aircrafts_speed_angles() -> None: Updates the speed and angle of all aircrafts.test_speed() -> None: Tests the correctness of the speed of all aircrafts.
Description: Enables the creation of a thread responsible for simulating the ADS-B (Automatic Dependent Surveillance-Broadcast) system. Manages the onboard computers (FCC) of UAVs to send collision avoidance data when necessary.
aircrafts: List of simulated aircrafts.aircraft_vehicles: List of simulated aircraft vehicles.aircraft_fccs: List of simulated aircraft FCCs.simulation_state: State of the simulation.adsb_cycles: Number of counted ADS-B system cycles.minimal_relative_distance: Minimal known relative distance between two aircrafts.silent: Flag representing if the ADS-B system is silent and provides no command-line output.
__init__(aircrafts : List[Aircraft], simulation_state : SimulationState) -> None: Initializes a new ADS-B simulation instance.count_adsb_cycles() -> None: Increments the number of counted ADS-B system cycles.run() -> None: Starts the ADS-B simulation.cycle() -> None: Performs a single cycle of the ADS-B simulation.print_adsb_report() -> None: Prints the ADS-B data of all aircrafts.reset_destinations() -> None: Resets the destinations of all aircrafts to initial state.
Description: Stores the current state of the simulation - variables accessible to all components of the program. It supports both realtime and headless simulations.
simulation_settings: Simulation settings.is_realtime: Flag representing if the simulation is running in real-time.avoid_collisions: Flag representing if the simulation should avoid collisions.override_avoid_collisions: Flag representing if the collision avoidance should be overridden.minimum_separation: Minimum separation between aircrafts.physics_cycles: Number of counted physics cycles.is_paused: Flag representing if the simulation is paused.is_running: Flag representing if the simulation is running.reset_demanded: Flag representing if the simulation should be reset.pause_start_timestamp: Time when the simulation was paused.time_paused: Time the simulation was paused.adsb_report: Flag representing if the ADS-B report should be printed.collision: Flag representing if a collision has occurred.first_cause_collision: Flag representing if the first aircraft caused a collision.second_cause_collision: Flag representing if the second aircraft caused a collision.fps: Number of frames per second (if GUI is initialized).
__init__(simulation_settings : SimulationSettings, is_realtime : bool, avoid_collisions : bool) -> None: Initializes a new simulation state instance.toggle_avoid_collisions() -> None: Toggles the collision avoidance flag.toggle_pause() -> None: Toggles the pause flag.reset() -> None: Sets the reset demanded flag true.apply_reset() -> None: Sets the reset demanded flag false.append_time_paused() -> None: Appends the time paused to the total time paused.toggle_adsb_report() -> None: Toggles the ADS-B report flag.register_collision() -> None: Registers a collision.toggle_first_cause_collision() -> None: Toggles the first cause collision flag.toggle_second_cause_collision() -> None: Toggles the second cause collision flag.toggle_draw_fps() -> None: Toggles the FPS drawing flag.toggle_draw_aircraft() -> None: Toggles the aircraft drawing flag.toggle_draw_grid() -> None: Toggles the grid drawing flag.toggle_draw_path() -> None: Toggles the paths drawing flag.toggle_draw_speed_vectors() -> None: Toggles the speed vectors drawing flag.toggle_draw_safe_zones() -> None: Toggles the safe zones drawing flag.toggle_draw_collision_detection() -> None: Toggles the collision detection drawing flag.toggle_optimize_drawing() -> None: Toggles the drawing optimization flag.toggle_follow_aircraft() -> None: Toggles the follow aircraft flag.toggle_focus_aircraft() -> None: Toggles the focus aircraft flag.update_settings() -> None: Updates all state settings.update_render_settings() -> None: Updates simulation render state settingsupdate_simulation_settings() -> None: Updates simulation physics state settingsupdate_adsb_settings() -> None: Updates simulation ADS-B state settings
Description: A static class that stores constants used in the program and the initial simulation data.
screen_resolution: Screen resolution (QSize).resolution: Resolution of the simulation (tuple).g_acceleration: Gravitational acceleration (float = 9.81).simulation_frequency: Frequency of the simulation (float = 100.0).simulation_threshold: Threshold of the simulation (float = 1000 / 100.0).gui_render_frequency: Frequency of the GUI render (float = 100.0).gui_render_threshold: Threshold of the GUI render (float = 1000 / 100.0).adsb_threshold: Threshold of the ADS-B system (float = 1000.0).
__init__(): Initializes a new simulation settings instance.
Description: Enables the creation of a user interface - an interactive window that visualizes the simulation process, allowing the tracking of a selected vehicle and modification of its flight plan.
aircrafts: List of simulated aircrafts.aircraft_vehicles: List of simulated aircraft vehicles.aircraft_fccs: List of simulated aircraft FCCs.simulation_fps: FPS tracking object.simulation_state: State of the simulation.window_width: Width of the simulation window.window_height: Height of the simulation window.screen_offset_x: Offset of the screen in the x-axis.screen_offset_y: Offset of the screen in the y-axis.icon: Icon of the simulation.moving_view_up: Flag representing if the view is moving up.moving_view_down: Flag representing if the view is moving down.moving_view_left: Flag representing if the view is moving left.moving_view_right: Flag representing if the view is moving right.steering_up: Flag representing if the steering is up.steering_down: Flag representing if the steering is down.steering_left: Flag representing if the steering is left.steering_right: Flag representing if the steering is right.
__init__(aircrafts : List[Aircraft], simulation_state : SimulationState) -> None: Initializes a new simulation widget instance.generate_icon() -> None: Generates the icon of the simulation.draw_aircraft(aircraft : AircraftVehicle, scale : float) -> None: Draws the aircraft on the simulation window.draw_destinations(aircraft : AircraftVehicle, scale : float) -> None: Draws the destinations of the aircraft on the simulation window.draw_text(point : QVector3D, scale : float, text : str, color : QColor) -> None: Draws the text on the simulation window.draw_circle(point : QVector3D, size : float, scale : float, color : QColor) -> None: Draws the circle on the simulation window.draw_disk(point : QVector3D, size : float, scale : float, color : QColor) -> None: Draws the disk (full circle) on the simulation window.draw_line(start : QVector3D, end : QVector3D, scale : float, color : QColor) -> None: Draws the line on the simulation window.draw_vector(start : QVector3D, vector : QVector3D, scale : float, color : QColor) -> None: Draws the vector on the simulation window.draw_collision_detection(scale : float) -> None: Draws the collision detection on the simulation window.draw_grid(scale : float, x_offset : float, y_offset : float) -> None: Draws the grid on the simulation window.update_moving_offsets() -> None: Updates the moving offsets of the simulation window.update_steering() -> None: Updates the steering of the simulation window.center_offsets() -> None: Centers the offsets of the simulation window.update_resolutions() -> None: Updates the resolution of the simulation window.zoom(factor : float) -> None: Zooms the simulation window.paintEvent(event : QPaintEvent) -> None: Paints the simulation window.mousePressEvent(event : QMouseEvent) -> None: Handles mouse press events.mouseReleaseEvent(event : QMouseEvent) -> None: Handles mouse release events.mouseDoubleClickEvent(event : QMouseEvent) -> None: Handles mouse double click events.wheelEvent(event : QWheelEvent) -> None: Handles mouse wheel events.keyPressEvent(event : QKeyEvent) -> None: Handles key press events.keyReleaseEvent(event : QKeyEvent) -> None: Handles key release events.resizeEvent(event : QResizeEvent) -> None: Handles resize events.closeEvent(event : QCloseEvent) -> None: Handles close events.
Description:
Enables the creation of a thread responsible for refreshing the simulation window in the SimulationWidget.
simulation_widget: Simulation widget.simulation_state: State of the simulation.
__init__(simulation_widget : SimulationWidget, simulation_state : SimulationState) -> None: Initializes a new simulation render instance.run() -> None: Starts the simulation render.
Description: Provides an interface for counting and displaying the number of frames generated per second during a realtime simulation.
simulation_state: State of the simulation.counted_frames: Number of counted frames.previous_timestamp: Previous timestamp of run cycle.
__init__(simulation_state : SimulationState) -> None: Initializes a new simulation FPS instance.run() -> None: Starts the FPS counting.count_frame() -> None: Increments the number of counted frames.reset_frames() -> None: Resets the number of counted frames.counted_frames -> int: Returns the number of counted frames.
Description: Allows tracking of data related to the simulation, which is necessary for loading and generating tests.
aircraft_angle: Angle between the two aircrafts.aircraft_1_initial_position: Initial position of the first aircraft.aircraft_2_initial_position: Initial position of the second aircraft.aircraft_1_final_position: Final position of the first aircraft.aircraft_2_final_position: Final position of the second aircraft.aircraft_1_initial_speed: Initial speed of the first aircraft.aircraft_2_initial_speed: Initial speed of the second aircraft.aircraft_1_final_speed: Final speed of the first aircraft.aircraft_2_final_speed: Final speed of the second aircraft.aircraft_1_initial_target: Initial target of the first aircraft.aircraft_2_initial_target: Initial target of the second aircraft.aircraft_1_initial_roll_angle: Initial roll angle of the first aircraft.aircraft_2_initial_roll_angle: Initial roll angle of the second aircraft.collision: Flag representing if a collision has occurred.minimal_relative_distance: Minimal known relative distance between two aircrafts.
__init__() -> None: Initializes a new simulation data instance.reset() -> None: Resets the simulation data.
Description:
Represents a simulated UAV. It creates its members using composition - objects of the AircraftFCC and AircraftVehicle classes.
aircraft_id: Identifier of the aircraft.vehicle: Physical representation of the aircraft.fcc: Onboard computer of the aircraft.initial_position: Initial position of the aircraft.initial_target: Initial target of the aircraft.initial_speed: Initial speed of the aircraft.initial_roll_angle: Initial roll angle of the aircraft.
__init__(aircraft_id : int, position : QVector3D, speed : float, initial_target : QVector3D, initial_roll_angle : float) -> None: Initializes a new aircraft instance.reset() -> None: Resets the aircraft to its initial state.
Description: Represents the onboard computer of a UAV. Tracks its planned route and sets the appropriate flight parameters.
aircraft_id: Identifier of the aircraft.aircraft: Parent aircraft object.destinations: Dequeue of destinations.destinations_history: List of previous destinations.visited: List of visited locations.autopilot: Flag representing if the autopilot is enabled.ignore_destinations: Flag representing if the destinations should be ignored.initial_target: Initial target of the aircraft.target_yaw_angle: Target yaw angle of the aircraft.target_roll_angle: Target roll/bank angle of the aircraft.target_pitch_angle: Target pitch angle of the aircraft.target_speed: Target speed of the aircraft.is_turning_right: Flag representing if the aircraft is turning right.is_turning_left: Flag representing if the aircraft is turning left.safe_zone_occupied: Flag representing if the safe zone is occupied.evade_maneuver: Flag representing if the aircraft is performing an evade maneuver.vector_sharing_resolution: Resolution of the vector sharing.
__init__(aircraft_id : int, initial_target : QVector3D) -> None: Initializes a new aircraft FCC instance.toggle_autopilot() -> None: Toggles the autopilot flag.accelerate(acceleration : float) -> None: Accelerates/decelerates the target speed.check_new_destination(destination : QVector3D, first : bool) -> QVector3D: Checks if the new destination is valid and returns it/corrects it.add_last_destination(destination : QVector3D) -> None: Adds new destination to the end of the destinations list.add_first_destination(destination : QVector3D) -> None: Adds new destination to the beginning of the destinations list.append_visited() -> None: Appends the current position to the visited locations list.normalize_angle(angle : float) -> float: Normalizes the angle to the range[0, 360].format_yaw_angle(angle : float) -> float: Formats the yaw angle to the range[-180, 180].apply_evade_maneuver(opponent_speed : QVector3D, miss_distance_vector : QVector3D, unresolved_region : float, time_to_closest_approach : float) -> None: Applies the evade maneuver using geometrical approach.reset_evade_maneuver() -> None: Resets the evade maneuver.find_best_roll_angle(current_yaw_angle : float, target_yaw_angle : float) -> float: Finds the best roll angle for the aircraft.find_best_yaw_angle(position : QVector3D, destination : QVector3D) -> float: Finds the best yaw angle for the aircraft.find_best_pitch_angle(position : QVector3D, destination : QVector3D) -> float: Finds the best pitch angle for the aircraft.update_target_yaw_pitch_angles() -> None: Updates the target yaw and pitch angles.update_target_roll_angle() -> None: Updates the target roll angle.update() -> None: Updates all aircraft angles.update_target(target : QVector3D) -> None: Updates the target of the aircraft.reset() -> None: Resets the aircraft FCC to its initial state.load_initial_destination() -> None: Loads the initial target as the first destination of the aircraft.
Description: Represents the UAV as a physical object. Stores information about its position in space and speed, as well as the size of the UAV and its inertia.
roll_dynamic_delay: Delay of the roll/bank dynamic [ms].pitch_dynamic_delay: Delay of the pitch dynamic [ms].max_acceleration: Maximum acceleration of the aircraft [m/s^2].
aircraft_id: Identifier of the aircraft.position: Position of the aircraft.speed: Speed of the aircraft.size: Size of the aircraft.roll_angle: Roll angle of the aircraft.initial_roll_angle: Initial roll angle of the aircraft.distance_covered: Distance covered by the aircraft.
__init__(aircraft_id : int, position : QVector3D, speed : float, size : float, roll_angle : float) -> None: Initializes a new aircraft vehicle instance.reset_distance_covered() -> None: Resets the distance covered by the aircraft.move(dx : float, dy : float, dz : float) -> None: Moves the aircraft by the given distances.roll(d_angle : float): Rolls the aircraft by the given angle delta.
Before contributing, please check CONTRIBUTING.md.
Contributions to the project are welcome. Please follow these steps:
- Fork the repository.
- Create a new branch for your feature or bugfix.
- Submit a pull request with a clear description of your changes using PULL_REQUEST_TEMPLATE.md.
This project is licensed under the CC0-1.0. See the LICENSE file for more details.
For more information, visit the GitHub repository.
All used references are listed below.