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Added telemetry monitoring and sample visualization Python script

more-targets
Daniel Lovell 2024-09-14 15:00:35 -07:00
parent 37c3e1c0a9
commit d152c8a559
8 changed files with 250 additions and 26 deletions
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2
.gitignore vendored
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@ -75,3 +75,5 @@ crashlytics-build.properties
.vscode/
.vsconfig
# Telemetry Logs
Telemetry/Logs/

45
Assets/Scenes/MainScene.unity
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11
Assets/Scripts/Agent.cs
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@ -24,6 +24,14 @@ public abstract class Agent : MonoBehaviour {
[SerializeField]
public StaticConfig StaticConfig;
// Define delegates
public delegate void AgentHitEventHandler(Agent agent);
public delegate void AgentMissEventHandler(Agent agent);
// Define events
public event AgentHitEventHandler OnAgentHit;
public event AgentMissEventHandler OnAgentMiss;
public void SetFlightPhase(FlightPhase flightPhase) {
Debug.Log(
$"Setting flight phase to {flightPhase} at time {SimManager.Instance.GetElapsedSimulationTime()}");
@ -91,13 +99,14 @@ public abstract class Agent : MonoBehaviour {
// Mark the agent as having hit the target or been hit.
public void MarkAsHit() {
_isHit = true;
OnAgentHit?.Invoke(this);
TerminateAgent();
}
public void MarkAsMiss() {
_isMiss = true;
if (_target != null) {
SimManager.Instance.RegisterTargetMiss(_target as Target);
OnAgentMiss?.Invoke(this);
_target = null;
}
TerminateAgent();

4
Assets/Scripts/Interceptors/Hydra70.cs
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@ -36,9 +36,6 @@ public class Hydra70 : Missile {
}
public void SpawnSubmunitions() {
Debug.Log("Spawning submunitions");
// print the callstack
Debug.Log(new System.Diagnostics.StackTrace().ToString());
List<Missile> submunitions = new List<Missile>();
switch (_agentConfig.submunitions_config.agent_config.missile_type) {
case MissileType.MICROMISSILE:
@ -50,7 +47,6 @@ public class Hydra70 : Missile {
convertedConfig.initial_state.velocity = GetComponent<Rigidbody>().velocity;
Missile submunition = SimManager.Instance.CreateMissile(convertedConfig);
submunitions.Add(submunition);
Debug.Log("Created submunition");
}
break;
}

69
Assets/Scripts/Monitor.cs Normal file
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@ -0,0 +1,69 @@
using UnityEngine;
using System.Collections;
using System.IO;
using System;
using System.Linq;
public class SimMonitor : MonoBehaviour
{
private const float UpdateRate = 0.01f; // 100 Hz
private StreamWriter writer;
private Coroutine monitorRoutine;
private void Start()
{
SimManager.Instance.OnSimulationEnded += RegisterSimulationEnded;
InitializeFile();
monitorRoutine = StartCoroutine(MonitorRoutine());
}
private void InitializeFile()
{
string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
string fileName = $"sim_telemetry_{timestamp}.csv";
string directory = "Telemetry/Logs/";
Directory.CreateDirectory(directory);
string path = Path.Combine(directory, fileName);
writer = new StreamWriter(path, false);
writer.WriteLine("Time,AgentID,AgentX,AgentY,AgentZ,AgentVX,AgentVY,AgentVZ,AgentState,AgentType");
Debug.Log($"Monitoring simulation data to {path}");
}
private IEnumerator MonitorRoutine()
{
while (true)
{
ExportTelemetry();
yield return new WaitForSeconds(UpdateRate);
}
}
private void ExportTelemetry()
{
float time = (float)SimManager.Instance.GetElapsedSimulationTime();
foreach (var agent in SimManager.Instance.GetActiveTargets().Cast<Agent>().Concat(SimManager.Instance.GetActiveMissiles().Cast<Agent>()))
{
Vector3 pos = agent.transform.position;
Vector3 vel = agent.GetComponent<Rigidbody>().velocity;
string type = agent is Target ? "T" : "M";
writer.WriteLine($"{time:F2},{agent.name},{pos.x:F2},{pos.y:F2},{pos.z:F2},{vel.x:F2},{vel.y:F2},{vel.z:F2},{(int)agent.GetFlightPhase()},{type}");
}
writer.Flush();
}
private void RegisterSimulationEnded()
{
writer.Close();
StopCoroutine(monitorRoutine);
}
private void OnDestroy()
{
if (writer != null)
{
writer.Close();
}
}
}

11
Assets/Scripts/Monitor.cs.meta Normal file
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60
Assets/Scripts/SimManager.cs
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@ -20,14 +20,19 @@ public class SimManager : MonoBehaviour {
public SimulationConfig simulationConfig;
private List<Missile> _missiles = new List<Missile>();
private List<Missile> _activeMissiles = new List<Missile>();
private List<Target> _unassignedTargets = new List<Target>();
private List<Target> _targets = new List<Target>();
private List<Target> _activeTargets = new List<Target>();
private float _elapsedSimulationTime = 0f;
private float endTime = 100f; // Set an appropriate end time
private bool simulationRunning = false;
private IAssignment _assignmentScheme;
public delegate void SimulationEndedHandler();
public event SimulationEndedHandler OnSimulationEnded;
/// <summary>
/// Gets the elapsed simulation time.
/// </summary>
@ -36,6 +41,14 @@ public class SimManager : MonoBehaviour {
return _elapsedSimulationTime;
}
public List<Missile> GetActiveMissiles() {
return _activeMissiles;
}
public List<Target> GetActiveTargets() {
return _activeTargets;
}
void Awake() {
// Ensure only one instance of SimManager exists
if (Instance == null) {
@ -63,6 +76,7 @@ public class SimManager : MonoBehaviour {
foreach (var swarmConfig in simulationConfig.missile_swarm_configs) {
for (int i = 0; i < swarmConfig.num_agents; i++) {
var missile = CreateMissile(swarmConfig.agent_config);
missile.OnAgentHit += RegisterMissileHit;
}
}
@ -71,6 +85,8 @@ public class SimManager : MonoBehaviour {
foreach (var swarmConfig in simulationConfig.target_swarm_configs) {
for (int i = 0; i < swarmConfig.num_agents; i++) {
var target = CreateTarget(swarmConfig.agent_config);
target.OnAgentHit += RegisterTargetHit;
target.OnAgentMiss += RegisterTargetMiss;
}
}
@ -81,8 +97,22 @@ public class SimManager : MonoBehaviour {
AssignMissilesToTargets(_missiles);
}
public void RegisterTargetMiss(Target target) {
_unassignedTargets.Add(target);
public void RegisterMissileHit(Agent missile) {
if (missile is Missile missileComponent) {
_activeMissiles.Remove(missileComponent);
}
}
public void RegisterTargetHit(Agent target) {
if (target is Target targetComponent) {
_activeTargets.Remove(targetComponent);
}
}
public void RegisterTargetMiss(Agent target) {
if (target is Target targetComponent) {
_unassignedTargets.Add(targetComponent);
}
}
/// <summary>
@ -137,16 +167,9 @@ public class SimManager : MonoBehaviour {
break;
}
// Missile missile = missileObject.GetComponent<Missile>();
// if (missile == null)
// {
// Debug.LogError($"Missile component not found on prefab '{prefabName}'.");
// Destroy(missileObject);
// return null;
// }
// missile.SetAgentConfig(config);
_missiles.Add(missileObject.GetComponent<Missile>());
_activeMissiles.Add(missileObject.GetComponent<Missile>());
// Assign a unique and simple target ID
int missileId = _missiles.Count;
missileObject.name = $"{config.missile_type}_Missile_{missileId}";
@ -167,17 +190,10 @@ public class SimManager : MonoBehaviour {
if (targetObject == null)
return null;
// Target target = targetObject.GetComponent<Target>();
// if (target == null)
// {
// Debug.LogError($"Target component not found on prefab '{config.prefabName}'.");
// Destroy(targetObject);
// return null;
// }
// target.SetAgentConfig(config);
_targets.Add(targetObject.GetComponent<Target>());
_activeTargets.Add(targetObject.GetComponent<Target>());
_unassignedTargets.Add(targetObject.GetComponent<Target>());
// Assign a unique and simple target ID
int targetId = _targets.Count;
targetObject.name = $"{config.target_type}_Target_{targetId}";
@ -214,7 +230,9 @@ public class SimManager : MonoBehaviour {
}
private void RestartSimulation() {
public void RestartSimulation() {
OnSimulationEnded?.Invoke();
Debug.Log("Simulation ended");
// Reset simulation time
_elapsedSimulationTime = 0f;
simulationRunning = true;

74
Telemetry/visualize_telemetry.py Normal file
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@ -0,0 +1,74 @@
import os
import glob
import argparse
import pandas as pd
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np
def find_latest_telemetry_file(directory='./Logs/'):
list_of_files = glob.glob(os.path.join(directory, 'sim_telemetry_*.csv'))
if not list_of_files:
print(f"No telemetry files found in {directory}")
return None
latest_file = max(list_of_files, key=os.path.getctime)
print(f"Using latest telemetry file: {latest_file}")
return latest_file
def plot_telemetry(file_path):
# Read the telemetry CSV file
df = pd.read_csv(file_path)
# Create a 3D plot
fig = plt.figure(figsize=(12, 8))
ax = fig.add_subplot(111, projection='3d')
# Define colors for different agent types
colors = {'T': 'red', 'M': 'blue'}
# Group data by AgentID
for agent_type, type_data in df.groupby('AgentType'):
color = colors.get(agent_type, 'black')
downsampled = type_data.groupby('AgentID').apply(lambda x: x.iloc[::10])
ax.plot(
downsampled['AgentX'],
downsampled['AgentZ'],
downsampled['AgentY'],
color=color,
alpha=0.5,
linewidth=0.5,
label=f"{agent_type}"
)
ax.set_xlabel('X (Right)')
ax.set_ylabel('Z (Forward)')
ax.set_zlabel('Y (Up)')
ax.view_init(elev=20, azim=45)
# Add a ground plane
x_min, x_max = ax.get_xlim()
z_min, z_max = ax.get_ylim()
xx, zz = np.meshgrid(np.linspace(x_min, x_max, 2), np.linspace(z_min, z_max, 2))
yy = np.zeros_like(xx)
ax.plot_surface(xx, zz, yy, alpha=0.2, color='green')
plt.title('Agents Trajectories (X: Right, Z: Forward, Y: Up)')
plt.legend()
plt.tight_layout()
plt.show()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Visualize telemetry data.')
parser.add_argument('file', nargs='?', default=None, help='Path to telemetry CSV file.')
args = parser.parse_args()
if args.file:
file_path = args.file
else:
file_path = find_latest_telemetry_file()
if file_path is None:
exit(1)
plot_telemetry(file_path)