From 674f9811eb170f91046aa14434d122c1cfd9c77c Mon Sep 17 00:00:00 2001 From: N0OB Date: Tue, 27 Jan 2026 20:57:15 +0100 Subject: [PATCH 01/97] Protptype for multi drone racing using a Barrier object to sync start -barrier is shared via socket -barrier setup in configuration -barrier could start by any deploy node, or standalone barrier process started by host --- config/multi_level0.toml | 17 +- config/multi_level2.toml | 16 ++ lsy_drone_racing/envs/real_race_env.py | 30 ++- lsy_drone_racing/utils/takeoff_barrier.py | 224 ++++++++++++++++++++++ scripts/multi_deploy.py | 101 ++++------ scripts/standalone_barrier.py | 105 ++++++++++ 6 files changed, 425 insertions(+), 68 deletions(-) create mode 100644 lsy_drone_racing/utils/takeoff_barrier.py create mode 100644 scripts/standalone_barrier.py diff --git a/config/multi_level0.toml b/config/multi_level0.toml index 1be46bbbe..4d135b8b0 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -16,6 +16,22 @@ check_race_track = true check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. real_track_objects = true +# Enable synchronized takeoff barrier (default: true) +sync_start_barrier = true + +[deploy.takeoff_barrier] +# Authentication key for barrier (must be same across all nodes) +authkey = "lsy-drone-barrier-v1" +# Timeout in seconds for barrier wait +timeout_s = 30.0 +# Metadata filename for barrier discovery +filename = "start_barrier.json" +# Port for barrier manager +port = 56000 +# Bind host (interface to listen on, use 0.0.0.0 for all interfaces) +bind_host = "0.0.0.0" +# Public host (IP address that other machines use to reach this barrier) +public_host = "127.0.0.1" [[deploy.drones]] id = 10 @@ -37,7 +53,6 @@ drone_model = "cf21B_500" # Model of the drone, i.e., cf2 physics = "first_principles" drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 camera_view = [5.0, 180.0, -25.0, 0.0, 0.0, 0.0] # Camera view [distance, azimuth, elevation, lookat_x, lookat_y, lookat_z] -freq = 500 # Simulation frequency, in Hz attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function render = false # Enable/disable PyBullet's GUI diff --git a/config/multi_level2.toml b/config/multi_level2.toml index 8da4bfefd..66a906bfb 100644 --- a/config/multi_level2.toml +++ b/config/multi_level2.toml @@ -16,6 +16,22 @@ check_race_track = true check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. real_track_objects = true +# Enable synchronized takeoff barrier (default: true) +sync_start_barrier = true + +[deploy.takeoff_barrier] +# Authentication key for barrier (must be same across all nodes) +authkey = "lsy-drone-barrier-v1" +# Timeout in seconds for barrier wait +timeout_s = 30.0 +# Metadata filename for barrier discovery +filename = "start_barrier.json" +# Port for barrier manager +port = 56000 +# Bind host (interface to listen on, use 0.0.0.0 for all interfaces) +bind_host = "0.0.0.0" +# Public host (IP address that other machines use to reach this barrier) +public_host = "127.0.0.1" [[deploy.drones]] id = 10 diff --git a/lsy_drone_racing/envs/real_race_env.py b/lsy_drone_racing/envs/real_race_env.py index 6eee4f653..d3faa2217 100644 --- a/lsy_drone_racing/envs/real_race_env.py +++ b/lsy_drone_racing/envs/real_race_env.py @@ -31,6 +31,7 @@ from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track +from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier if TYPE_CHECKING: from ml_collections import ConfigDict @@ -89,6 +90,7 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", + radio_id: int | None = None, ): """Create a deployable version of the drone racing environment. @@ -101,6 +103,7 @@ def __init__( sensor_range: Sensor range. Determines at which distance the exact position of the gates and obstacles is reveiled. control_mode: Control mode of the drone. + radio_id: Radio ID in multi-antenna setups, will be 0 if None. """ assert rclpy.ok(), "ROS2 is not running. Please start ROS2 before creating a deploy env." # Static env data @@ -116,6 +119,7 @@ def __init__( self.drone_channel = drones[rank]["channel"] self.drone_id = drones[rank]["id"] self.rank = rank + self.radio_id = 0 if radio_id is None else radio_id self.freq = freq self.device = jax.devices("cpu")[0] assert control_mode in ["state", "attitude"], f"Invalid control mode {control_mode}" @@ -134,6 +138,7 @@ def __init__( self.data = EnvData.create( n_drones=self.n_drones, n_gates=self.n_gates, n_obstacles=self.n_obstacles ) + self._takeoff_barrier: TakeOffBarrier | None = None self._jit() def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: @@ -163,7 +168,7 @@ def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tup self.data.reset(np.stack([self._ros_connector.pos[n] for n in self.drone_names])) self._connect_radio( - radio_id=self.rank, radio_channel=self.drone_channel, drone_id=self.drone_id + radio_id=self.radio_id, radio_channel=self.drone_channel, drone_id=self.drone_id ) self._last_drone_pos_update = 0 # Last time a position was sent to the drone estimator self._reset_drone() @@ -172,6 +177,22 @@ def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tup # Unlock thrust mode protection by sending a zero thrust command self.drone.commander.send_setpoint(0, 0, 0, 0) + if options.get("sync_start_barrier", True): + # Initialize barrier if not already created + barrier_config = options["takeoff_barrier"] + if self._takeoff_barrier is None: + self._takeoff_barrier = TakeOffBarrier( + authkey=barrier_config["authkey"].encode() + if isinstance(barrier_config["authkey"], str) + else barrier_config["authkey"], + timeout_s=barrier_config["timeout_s"], + filename=barrier_config["filename"], + port=barrier_config["port"], + bind_host=barrier_config.get("bind_host", "0.0.0.0"), + public_host=barrier_config.get("public_host"), + ) + self._takeoff_barrier.wait(rank=self.rank, parties=self.n_drones) + return self.obs(), self.info() def _step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: @@ -466,6 +487,9 @@ def close(self): finally: # Close all ROS connections self._ros_connector.close() + # Cleanup barrier + if self._takeoff_barrier is not None: + self._takeoff_barrier.close() # region Single Drone Env @@ -500,6 +524,7 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", + radio_id: int | None = None, ): """Initialize the multi-drone environment. @@ -534,6 +559,7 @@ def __init__( randomizations=randomizations, sensor_range=sensor_range, control_mode=control_mode, + radio_id=radio_id, ) def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: @@ -604,6 +630,7 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", + radio_id: int | None = None, ): """Initialize the multi-drone environment. @@ -625,6 +652,7 @@ def __init__( randomizations=randomizations, sensor_range=sensor_range, control_mode=control_mode, + radio_id=radio_id, ) def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: diff --git a/lsy_drone_racing/utils/takeoff_barrier.py b/lsy_drone_racing/utils/takeoff_barrier.py new file mode 100644 index 000000000..5e3788186 --- /dev/null +++ b/lsy_drone_racing/utils/takeoff_barrier.py @@ -0,0 +1,224 @@ +"""Synchronized takeoff barrier for multi-drone coordination. + +This module provides a TakeOffBarrier class that coordinates the start of multiple drones +across processes or machines. All drones wait on the barrier during environment reset, +ensuring synchronized takeoff. +""" + +from __future__ import annotations + +import json +import logging +import multiprocessing as mp +import socket +import tempfile +import time +from multiprocessing.managers import SyncManager +from pathlib import Path +from threading import BrokenBarrierError + +logger = logging.getLogger(__name__) + + +class TakeOffBarrier: + """Manages a shared multiprocessing barrier for synchronized drone takeoff. + + This class handles barrier creation, discovery, and coordination across processes. + It supports both local and cross-machine setups through environment variables and + shared metadata files. + """ + + def __init__( + self, + authkey: bytes, + timeout_s: float, + filename: str, + port: int, + bind_host: str = "0.0.0.0", + public_host: str | None = None, + ): + """Initialize the TakeOffBarrier. + + Args: + authkey: Authentication key for the barrier manager. + timeout_s: Timeout in seconds for barrier wait. + filename: Filename for metadata storage. + port: Port for the barrier manager. + bind_host: Interface to bind to (default: 0.0.0.0 for all interfaces). + public_host: Public IP address for cross-machine setup. If None, auto-detect. + """ + self.authkey = authkey + self.timeout_s = timeout_s + self.filename = filename + self.port = port + self.bind_host = bind_host + self.public_host = public_host or self._get_public_address() + + self._barrier_manager: SyncManager | None = None + self._owns_barrier_manager = False + + def _barrier_meta_path(self) -> Path: + """Get the path to the barrier metadata file.""" + cache_dir = Path(tempfile.gettempdir()) / "lsy_drone_racing" + cache_dir.mkdir(parents=True, exist_ok=True) + return cache_dir / self.filename + + def _read_barrier_meta(self) -> dict | None: + """Read barrier metadata from file.""" + path = self._barrier_meta_path() + try: + with path.open("r", encoding="ascii") as file: + return json.load(file) + except FileNotFoundError: + return None + except json.JSONDecodeError: + logger.warning("Barrier metadata file is invalid; ignoring it and creating a new one.") + return None + + def _write_barrier_meta(self, meta: dict): + """Write barrier metadata to file.""" + path = self._barrier_meta_path() + tmp_path = path.with_suffix(".tmp") + with tmp_path.open("w", encoding="ascii") as file: + json.dump(meta, file) + tmp_path.replace(path) + + @staticmethod + def _get_public_address() -> str: + """Get the public/local IP address that would be used to reach external networks.""" + try: + # Connect a UDP socket to a public IP without sending data to determine local IP + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + s.connect(("8.8.8.8", 80)) + addr = s.getsockname()[0] + s.close() + return addr + except OSError: + try: + return socket.gethostbyname(socket.gethostname()) + except OSError: + return "127.0.0.1" + + def _resolve_barrier_hosts(self) -> tuple[str, str, int]: + """Return bind host, public host, and port for the barrier manager.""" + return self.bind_host, self.public_host, self.port + + def _create_barrier_manager(self, parties: int) -> mp.managers.ProxyBase: + """Create a new barrier manager and register metadata.""" + class _BarrierManager(SyncManager): + pass + + barrier_cache: dict[str, mp.Barrier] = {} + + def _get_barrier(): + if "barrier" not in barrier_cache: + barrier_cache["barrier"] = mp.Barrier(parties) + return barrier_cache["barrier"] + + _BarrierManager.register("get_barrier", callable=_get_barrier, exposed=("wait",)) + bind_host, public_host, port = self._resolve_barrier_hosts() + manager = _BarrierManager(address=(bind_host, port), authkey=self.authkey) + manager.start() + meta = { + "host": public_host, + "port": port, + "authkey": self.authkey.hex(), + "parties": parties, + } + self._write_barrier_meta(meta) + self._barrier_manager = manager + self._owns_barrier_manager = True + logger.info( + "Created start barrier manager at %s:%d (bind: %s)", + public_host, + port, + bind_host, + ) + return manager.get_barrier() + + def _connect_to_barrier(self, meta: dict) -> mp.managers.ProxyBase: + """Connect to an existing barrier manager.""" + class _BarrierManager(SyncManager): + pass + + _BarrierManager.register("get_barrier", exposed=("wait",)) + authkey = bytes.fromhex(meta["authkey"]) + manager = _BarrierManager(address=(meta["host"], meta["port"]), authkey=authkey) + manager.connect() + self._barrier_manager = manager + self._owns_barrier_manager = False + return manager.get_barrier() + + def _get_or_create_barrier(self, parties: int) -> mp.managers.ProxyBase: + """Get or create a shared barrier, handling discovery and creation logic.""" + barrier = None + meta = self._read_barrier_meta() + + # Try metadata (works if shared over network storage) + if barrier is None and meta is not None: + try: + barrier = self._connect_to_barrier(meta) + logger.info( + "Connected to existing start barrier manager at %s:%d", + meta.get("host"), + meta.get("port"), + ) + if meta.get("parties") and meta["parties"] != parties: + logger.warning( + "Barrier parties mismatch (meta=%s, current=%s); continuing anyway", + meta["parties"], + parties, + ) + except OSError as exc: + logger.warning("Could not connect to barrier manager (%s); starting a new one.", exc) + try: + self._barrier_meta_path().unlink() + except FileNotFoundError: + pass + + if barrier is None: + barrier = self._create_barrier_manager(parties) + meta = self._read_barrier_meta() + logger.info( + "Started new start barrier manager at %s:%s", + meta.get("host") if meta else "unknown", + meta.get("port") if meta else "unknown", + ) + + return barrier + + def wait(self, rank: int, parties: int, participate: bool = True): + """Wait on the barrier until all parties have arrived. + + Args: + rank: Rank of the calling process. + parties: Total number of parties expected at the barrier. + participate: If True, wait on the barrier. If False, only create/connect to + the barrier manager without participating (useful for manager-only hosts). + + Raises: + RuntimeError: If the barrier times out or is broken. + """ + barrier = self._get_or_create_barrier(parties) + + if not participate: + logger.info("Barrier manager created for %d parties (not participating)", parties) + return + + logger.info("Rank %d waiting on start barrier (%d parties)", rank, parties) + t0 = time.perf_counter() + try: + barrier.wait(timeout=self.timeout_s) + except BrokenBarrierError as exc: + raise RuntimeError("Start barrier broken or timed out") from exc + latency_ms = (time.perf_counter() - t0) * 1000 + logger.info("Rank %d passed start barrier in %.1f ms", rank, latency_ms) + + def close(self): + """Shutdown the barrier manager if owned by this process.""" + if self._barrier_manager is not None and self._owns_barrier_manager: + try: + self._barrier_manager.shutdown() + logger.info("Barrier manager shutdown complete") + except Exception as exc: + logger.warning("Error shutting down barrier manager: %s", exc) diff --git a/scripts/multi_deploy.py b/scripts/multi_deploy.py index 12410cf6a..7ecfd3313 100644 --- a/scripts/multi_deploy.py +++ b/scripts/multi_deploy.py @@ -1,16 +1,14 @@ -#!/usr/bin/env python """Launch script for the real race with multiple drones. Usage: -python deploy.py +python deploy.py """ from __future__ import annotations import logging -import multiprocessing as mp import time from pathlib import Path from typing import TYPE_CHECKING @@ -22,103 +20,74 @@ from lsy_drone_racing.utils import load_config, load_controller if TYPE_CHECKING: - from multiprocessing.synchronize import Barrier - - from ml_collections import ConfigDict - from lsy_drone_racing.envs.real_race_env import RealMultiDroneRaceEnv logger = logging.getLogger(__name__) -def control_loop(rank: int, config: ConfigDict, start_barrier: Barrier): - """Control loop for the drone.""" - rclpy.init() # Start the ROS library - node = rclpy.create_node(f"drone{rank}") - # Override the env config with the kwargs for this particular drone - config.env.freq = config.env.kwargs[rank]["freq"] - config.env.sensor_range = config.env.kwargs[rank]["sensor_range"] - config.env.control_mode = config.env.kwargs[rank]["control_mode"] +def main(config: str = "multi_level0.toml", + controller: str | None = None, + drone_rank: int | None = None, + radio_id: int | None = None): + """Deployment script to run the controller on the real drone. + + Args: + config: Path to the competition configuration. Assumes the file is in `config/`. + controller: The name of the controller file in `lsy_drone_racing/control/` or None. If None, + the controller specified in the config file is used. + drone_rank: The rank of the drone in the multi-drone setup. + radio_id: Radio ID in multi-antenna setups, will be 0 if None. + """ + rclpy.init() + config = load_config(Path(__file__).parents[1] / "config" / config) + if controller is not None: + config.controller.file = controller + if radio_id is None: + radio_id = 0 + env: RealMultiDroneRaceEnv = gymnasium.make( "RealMultiDroneRacing-v0", drones=config.deploy.drones, - rank=rank, - freq=config.env.freq, + freq=config.env.kwargs[drone_rank]['freq'], track=config.env.track, randomizations=config.env.randomizations, - sensor_range=config.env.sensor_range, - control_mode=config.env.control_mode, + sensor_range=config.env.kwargs[drone_rank]['sensor_range'], + control_mode=config.env.kwargs[drone_rank]['control_mode'], + rank = drone_rank, + radio_id = radio_id, ) try: - options = { - "check_drone_start_pos": config.deploy.check_drone_start_pos, - "check_race_track": config.deploy.check_race_track, - "real_track_objects": config.deploy.real_track_objects, - } - obs, info = env.reset(options=options) + obs, info = env.reset(options=config.deploy) next_obs = obs # Set next_obs to avoid errors when the loop never enters control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" - # Will take the absolute path if provided in config.controller.file - controller_path = control_path / config.controller[rank]["file"] + controller_path = control_path / config.controller.file controller_cls = load_controller(controller_path) controller = controller_cls(obs, info, config) - - start_barrier.wait(timeout=10.0) # Wait for all drones to be ready at the same time start_time = time.perf_counter() while rclpy.ok(): t_loop = time.perf_counter() obs, info = env.unwrapped.obs(), env.unwrapped.info() - # Enable this if you want to test with single drone controllers. TODO: Remove - obs = {k: v[rank] for k, v in obs.items()} action = controller.compute_control(obs, info) next_obs, reward, terminated, truncated, info = env.step(action) - controller.step_callback(action, next_obs, reward, terminated, truncated, info) - if terminated or truncated: + controller_finished = controller.step_callback( + action, next_obs, reward, terminated, truncated, info + ) + if terminated or truncated or controller_finished: break if (dt := (time.perf_counter() - t_loop)) < (1 / config.env.freq): time.sleep(1 / config.env.freq - dt) else: exc = dt - 1 / config.env.freq - node.get_logger().warning( - f"Controller {rank} exceeded loop frequency by {exc:.3f}s", - throttle_duration_sec=2, - ) + logger.warning(f"Controller execution time exceeded loop frequency by {exc:.3f}s.") ep_time = time.perf_counter() - start_time - finished_track = (next_obs["target_gate"] == -1)[rank] - print(f"Track time: {ep_time:.3f}s" if finished_track else "Task not completed") + finished_track = next_obs["target_gate"] == -1 + logger.info(f"Track time: {ep_time:.3f}s" if finished_track else "Task not completed") finally: - node.destroy_node() env.close() -def main(config: str = "multi_level3.toml"): - """Deployment script to run the controller on the real drone. - - Args: - config: Path to the competition configuration. Assumes the file is in `config/`. - controller: The name of the controller file in `lsy_drone_racing/control/` or None. If None, - the controller specified in the config file is used. - """ - config = load_config(Path(__file__).parents[1] / "config" / config) - n_drones = len(config.deploy.drones) - assert len(config.controller) == n_drones, "Number of drones and controllers must match." - assert len(config.env.kwargs) == n_drones, "Number of drones and env kwargs must match." - assert len(config.env.track.drones) == n_drones, "Number of drones and track drones must match." - n_drones = len(config.controller) - ctx = mp.get_context("spawn") - start_barrier = ctx.Barrier(n_drones) - drone_processes = [ - ctx.Process(target=control_loop, args=(i, config, start_barrier)) for i in range(n_drones) - ] - for p in drone_processes: - p.start() - - while any(p.is_alive() for p in drone_processes): - time.sleep(0.2) - - if __name__ == "__main__": logging.basicConfig(level=logging.WARNING) logging.getLogger("jax").setLevel(logging.ERROR) diff --git a/scripts/standalone_barrier.py b/scripts/standalone_barrier.py new file mode 100644 index 000000000..a8b2c67e9 --- /dev/null +++ b/scripts/standalone_barrier.py @@ -0,0 +1,105 @@ +"""Standalone takeoff barrier script. + +This script sets up and manages a shared start barrier for coordinated multi-drone takeoff. +All drone processes should connect to this barrier before starting their episodes. + +Usage: + +python standalone_barrier.py --config multi_level0.toml +python standalone_barrier.py --config multi_level0.toml --num_drones 3 + +Configuration is read from the TOML config file's [deploy.takeoff_barrier] section. +""" + +from __future__ import annotations + +import logging +import sys +from pathlib import Path + +# Add parent directory to path to import from lsy_drone_racing +sys.path.insert(0, str(Path(__file__).parents[1])) + +from lsy_drone_racing.utils import load_config +from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier + +logger = logging.getLogger(__name__) + + +def main(config: str = "multi_level0.toml", num_drones: int | None = None, verbose: bool = False): + """Start a standalone takeoff barrier server. + + Args: + config: Path to the competition configuration. Assumes the file is in `config/`. + num_drones: Number of drones expected to synchronize on this barrier. If None, inferred + from the config file. + verbose: Enable verbose logging (default: False). + """ + if verbose: + logging.basicConfig(level=logging.DEBUG) + else: + logging.basicConfig(level=logging.INFO) + logger.setLevel(logging.INFO) + + # Load configuration + config_obj = load_config(Path(__file__).parents[1] / "config" / config) + + # Determine number of drones + if num_drones is None: + if hasattr(config_obj, "deploy") and hasattr(config_obj.deploy, "drones"): + num_drones = len(config_obj.deploy.drones) + else: + raise ValueError( + "num_drones must be specified or config must have deploy.drones section" + ) + + logger.info("Starting takeoff barrier for %d drones", num_drones) + + # Extract barrier configuration from config file + barrier_cfg = config_obj.deploy.takeoff_barrier + barrier_config = { + "authkey": barrier_cfg["authkey"].encode() + if isinstance(barrier_cfg["authkey"], str) + else barrier_cfg["authkey"], + "timeout_s": barrier_cfg["timeout_s"], + "filename": barrier_cfg["filename"], + "port": barrier_cfg["port"], + "bind_host": barrier_cfg.get("bind_host", "0.0.0.0"), + "public_host": barrier_cfg.get("public_host"), + } + + # Create barrier instance + barrier = TakeOffBarrier(**barrier_config) + + try: + # Create the barrier manager without participating + logger.info("Setting up barrier manager for %d drone(s)...", num_drones) + barrier.wait(rank=0, parties=num_drones, participate=False) + logger.info("Barrier manager is running and ready for %d drones to connect.", num_drones) + logger.info("Press Ctrl+C to shutdown after all drones have passed.") + + # Keep the manager alive indefinitely + import signal + import threading + + shutdown_event = threading.Event() + + def signal_handler(sig, frame): + logger.info("Shutdown signal received. Closing barrier manager...") + shutdown_event.set() + + signal.signal(signal.SIGINT, signal_handler) + signal.signal(signal.SIGTERM, signal_handler) + + shutdown_event.wait() + except Exception as exc: + logger.error("Barrier encountered an error: %s", exc) + sys.exit(1) + finally: + barrier.close() + + +if __name__ == "__main__": + import fire + + fire.Fire(main) From 21d7b1e168f9adc412af7fe25938a2abc658801f Mon Sep 17 00:00:00 2001 From: NOOOOOOOOOB Date: Tue, 27 Jan 2026 22:50:36 +0100 Subject: [PATCH 02/97] Fixed dimension problem when trying to intialize a controller with multi-drone racing configuration Other dimension problem fixed within deploy --- lsy_drone_racing/utils/__init__.py | 9 +++++++-- lsy_drone_racing/utils/utils.py | 16 ++++++++++++++++ scripts/multi_deploy.py | 15 ++++++++------- 3 files changed, 31 insertions(+), 9 deletions(-) diff --git a/lsy_drone_racing/utils/__init__.py b/lsy_drone_racing/utils/__init__.py index add8b6e08..c18746357 100644 --- a/lsy_drone_racing/utils/__init__.py +++ b/lsy_drone_racing/utils/__init__.py @@ -4,6 +4,11 @@ dependency for sim-only scripts. """ -from lsy_drone_racing.utils.utils import draw_line, load_config, load_controller +from lsy_drone_racing.utils.utils import ( + draw_line, + extract_config_for_rank, + load_config, + load_controller, +) -__all__ = ["draw_line", "load_config", "load_controller"] +__all__ = ["draw_line", "load_config", "load_controller", "extract_config_for_rank"] diff --git a/lsy_drone_racing/utils/utils.py b/lsy_drone_racing/utils/utils.py index eb2c7dfa0..5e5324d7e 100644 --- a/lsy_drone_racing/utils/utils.py +++ b/lsy_drone_racing/utils/utils.py @@ -2,6 +2,7 @@ from __future__ import annotations +import copy import importlib.util import inspect import logging @@ -27,6 +28,21 @@ logger = logging.getLogger(__name__) +def extract_config_for_rank(config: ConfigDict, rank: int) -> ConfigDict: + """Get the configuration for a specific drone rank in a multi-drone setup. + + Args: + config: The full configuration dictionary. + rank: The rank of the drone. + + Returns: + The configuration specific to the given drone rank. + """ + cfg = copy.deepcopy(config) + if "kwargs" in config.env: + for key, value in config.env.kwargs[rank].items(): + cfg.env[key] = value + return cfg def load_controller(path: Path) -> Type[Controller]: """Load the controller module from the given path and return the Controller class. diff --git a/scripts/multi_deploy.py b/scripts/multi_deploy.py index 7ecfd3313..2cdc86e3b 100644 --- a/scripts/multi_deploy.py +++ b/scripts/multi_deploy.py @@ -17,7 +17,7 @@ import gymnasium import rclpy -from lsy_drone_racing.utils import load_config, load_controller +from lsy_drone_racing.utils import extract_config_for_rank, load_config, load_controller if TYPE_CHECKING: from lsy_drone_racing.envs.real_race_env import RealMultiDroneRaceEnv @@ -62,9 +62,10 @@ def main(config: str = "multi_level0.toml", next_obs = obs # Set next_obs to avoid errors when the loop never enters control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" - controller_path = control_path / config.controller.file + controller_path = control_path / config.controller[drone_rank]['file'] controller_cls = load_controller(controller_path) - controller = controller_cls(obs, info, config) + config_extracted = extract_config_for_rank(config, drone_rank) + controller = controller_cls(obs, info, config_extracted) start_time = time.perf_counter() while rclpy.ok(): t_loop = time.perf_counter() @@ -76,14 +77,14 @@ def main(config: str = "multi_level0.toml", ) if terminated or truncated or controller_finished: break - if (dt := (time.perf_counter() - t_loop)) < (1 / config.env.freq): - time.sleep(1 / config.env.freq - dt) + if (dt := (time.perf_counter() - t_loop)) < (1 / config.env.kwargs[drone_rank]['freq']): + time.sleep(1 / config.env.kwargs[drone_rank]['freq'] - dt) else: - exc = dt - 1 / config.env.freq + exc = dt - 1 / config.env.kwargs[drone_rank]['freq'] logger.warning(f"Controller execution time exceeded loop frequency by {exc:.3f}s.") ep_time = time.perf_counter() - start_time finished_track = next_obs["target_gate"] == -1 - logger.info(f"Track time: {ep_time:.3f}s" if finished_track else "Task not completed") + logger.info(f"Track time: {ep_time:.3f}s" if finished_track[drone_rank] else "Task not completed") finally: env.close() From 2d59f6818cdf6c8256fddc4da679cff0804333ad Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 2 Mar 2026 23:45:34 +0100 Subject: [PATCH 03/97] Vibe coded 1st version of multi drone racing using Zenoh --- lsy_drone_racing/envs/real_race_host.py | 760 ++++++++++++++++++++++++ lsy_drone_racing/utils/zenoh_utils.py | 197 ++++++ scripts/deploy_client.py | 140 +++++ scripts/deploy_host.py | 66 ++ 4 files changed, 1163 insertions(+) create mode 100644 lsy_drone_racing/envs/real_race_host.py create mode 100644 lsy_drone_racing/utils/zenoh_utils.py create mode 100644 scripts/deploy_client.py create mode 100644 scripts/deploy_host.py diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py new file mode 100644 index 000000000..96ebad0ea --- /dev/null +++ b/lsy_drone_racing/envs/real_race_host.py @@ -0,0 +1,760 @@ +"""Real-world drone racing host for multi-drone coordination. + +The RealRaceHost manages the central coordination of multi-drone racing, including: +- Track validation and drone connection in IDLE state +- Synchronization with clients in INITIALIZED state +- Race operation and client supervision in OPERATION state +- Graceful shutdown in STOPPING state + +Communication with clients is handled via Zenoh pub/sub. +""" + +from __future__ import annotations + +import json +import logging +import multiprocessing as mp +import signal +import threading +import time +from dataclasses import dataclass +from enum import Enum +from pathlib import Path +from typing import TYPE_CHECKING +import concurrent.futures + +import numpy as np +from scipy.spatial.transform import Rotation as R, RigidTransform as Tr +import rclpy +import zenoh +import cflib +from cflib.crazyflie import Crazyflie, Localization +from cflib.crtp.crtpstack import CRTPPacket, CRTPPort +from cflib.utils.power_switch import PowerSwitch +from cflib.crazyflie import Crazyflie +from drone_estimators.ros_nodes.ros2_connector import ROSConnector +from drone_models.core import load_params +from drone_models.transform import force2pwm + +from lsy_drone_racing.envs.utils import gate_passed, load_track +from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track +from lsy_drone_racing.utils.zenoh_utils import ( + ClientStateMessage, + HostReadyMessage, + RaceStartMessage, + ZenohPublisher, + ZenohSubscriber, + compute_latency_ms, + create_zenoh_session, + deserialize_message, +) + +if TYPE_CHECKING: + from ml_collections import ConfigDict + from numpy.typing import NDArray + +logger = logging.getLogger(__name__) + + +class CrazyflieWorker: + """Worker class for managing a single Crazyflie drone in a separate process.""" + + def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: str, + ready_event: "mp.synchronize.Event", stop_event: "mp.synchronize.Event", + init_pose: Tr, control_mode: str, control_freq: float = 50.0, + start_event: "mp.synchronize.Event | None" = None): + """Initialize the Crazyflie worker. + + Args: + rank: Drone rank/index + drone_id: Crazyflie ID + drone_channel: Radio channel + drone_model: Drone model name for loading parameters + ready_event: Event to signal when drone is connected + stop_event: Event to signal process should stop + init_pose: Initial pose of the drone as a RigidTransform + control_mode: Control mode, either "attitude" or "state" + control_freq: Control frequency in Hz + all_clients_ready_event: Event to signal when all clients are ready (actions disabled until set) + """ + self.rank = rank + self.drone_id = drone_id + self.drone_channel = drone_channel + self.drone_model = drone_model + self.ready_event = ready_event + self.stop_event = stop_event + self.start_event = start_event + self.init_pose = init_pose + self.control_mode = control_mode.lower() + self.control_freq = control_freq + + # Configure logging for subprocess + logging.basicConfig( + level=logging.INFO, + format=f'[Drone {rank}] %(levelname)s: %(message)s', + ) + self.logger = logging.getLogger(__name__) + + self.drone = None + self.zenoh_session = None + self.state_sub = None + self.params = None + self.last_action = None + self.action_lock = threading.Lock() + + @staticmethod + def _apply_drone_settings(drone: Crazyflie): + """Apply firmware settings to the drone. + + Note: + These settings are also required to make the high-level drone commander work properly. + """ + # Estimators: 1: complementary, 2: kalman. We recommend kalman based on real-world tests + drone.param.set_value("stabilizer.estimator", 2) + time.sleep(0.1) # TODO: Maybe remove + # enable/disable tumble control. Required 0 for agressive maneuvers + drone.param.set_value("supervisor.tmblChckEn", 1) + # Choose controller: 1: PID; 2:Mellinger + drone.param.set_value("stabilizer.controller", 2) + # rate: 0, angle: 1 + drone.param.set_value("flightmode.stabModeRoll", 1) + drone.param.set_value("flightmode.stabModePitch", 1) + drone.param.set_value("flightmode.stabModeYaw", 1) + time.sleep(0.1) # Wait for settings to be applied + + def _crazyflie_reset(self): + """Reset the Crazyflie drone to a safe state.""" + # Send zero command to motors + self.drone.platform.send_arming_request(True) + self._apply_drone_settings(self.drone) + pos = self.init_pose.translation + # Reset Kalman filter values + self.drone.param.set_value("kalman.initialX", pos[0]) + self.drone.param.set_value("kalman.initialY", pos[1]) + self.drone.param.set_value("kalman.initialZ", pos[2]) + yaw = self.init_pose.rotation.as_euler("xyz", degrees=False)[2] + self.drone.param.set_value("kalman.initialYaw", yaw) + self.drone.param.set_value("kalman.resetEstimation", "1") + time.sleep(0.1) + self.drone.param.set_value("kalman.resetEstimation", "0") + + def _send_action(self, action: NDArray[np.float32]): + """Send action command to the drone. + + Args: + action: Action array, shape depends on control_mode + """ + if self.control_mode == "attitude": + if action.shape[0] != 4: + raise ValueError("For attitude control, action must be of shape (4,) representing [roll, pitch, yaw, thrust]") + pwm = force2pwm( + action[3], self.params["thrust_max"] * 4, self.params["pwm_max"] + ) + pwm = np.clip(pwm, self.params["pwm_min"], self.params["pwm_max"]) + action_cmd = (*np.rad2deg(action[:3]), int(pwm)) + self.drone.commander.send_setpoint(*action_cmd) + else: # state control + if action.shape[0] != 13: + raise ValueError("For state control, action must be of shape (13,)") + pos, vel, acc = action[:3], action[3:6], action[6:9] + quat = R.from_euler("z", action[9]).as_quat() + rollrate, pitchrate, yawrate = action[10:] + self.drone.commander.send_full_state_setpoint( + pos, vel, acc, quat, rollrate, pitchrate, yawrate + ) + + def _on_client_state(self, payload: str): + """Handle client state messages containing actions.""" + msg = deserialize_message(payload, ClientStateMessage) + latency_ms = compute_latency_ms(msg.timestamp) + + with self.action_lock: + self.last_action = msg.action + + self.logger.debug( + f"Received action from client (gate={msg.next_gate_idx}, " + f"latency={latency_ms:.2f}ms)" + ) + + def _connect_drone(self): + """Connect to the Crazyflie drone via radio.""" + self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") + self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) + cflib.crtp.init_drivers() + uri = f"radio://0/{self.drone_channel}/2M/E7E7E7E7E{self.drone_id:02X}" + + power_switch = PowerSwitch(uri) + power_switch.stm_power_cycle() + time.sleep(2) + + connection_event = mp.Event() + + def on_connected(uri_connected): + self.logger.info(f"Connected to {uri_connected}") + connection_event.set() + + def on_connection_failed(uri_failed, msg): + raise RuntimeError(f"Connection failed to {uri_failed}: {msg}") + + def on_disconnected(uri_disconnected): + self.logger.info(f"Disconnected from {uri_disconnected}") + + self.drone.fully_connected.add_callback(on_connected) + self.drone.connection_failed.add_callback(on_connection_failed) + self.drone.disconnected.add_callback(on_disconnected) + + self.drone.open_link(uri) + + if not connection_event.wait(timeout=30): + raise TimeoutError(f"Timed out while waiting for the drone {self.drone_id} on channel {self.drone_channel}.") + + self.logger.info("Drone connected successfully") + + def _init_zenoh(self): + """Initialize Zenoh session and subscribe to client state.""" + self.logger.info("Initializing Zenoh session...") + self.zenoh_session = create_zenoh_session() + + # Subscribe to client state for this drone + self.state_sub = ZenohSubscriber( + self.zenoh_session, + f"lsy_drone_racing/client/{self.rank}/state", + self._on_client_state, + ) + + self.logger.info("Zenoh session initialized") + + def _control_loop(self): + """Main control loop - send actions to drone at control frequency.""" + # Wait for all clients to be ready before executing actions + + self.logger.info("Waiting for all clients to be ready...") + self.start_event.wait() + self.logger.info("All clients ready, starting action execution") + + dt = 1.0 / self.control_freq + + while not self.stop_event.is_set(): + start_time = time.perf_counter() + + with self.action_lock: + action = self.last_action + + if action is not None: + action_array = np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) + self._send_action(action_array) + + # Maintain control frequency + elapsed = time.perf_counter() - start_time + if elapsed > dt: + self.logger.warning(f"Control loop overrun: {elapsed:.3f}s, expected to be under {dt:.3f}s") + sleep_time = max(0, dt - elapsed) + time.sleep(sleep_time) + + def _cleanup(self): + """Clean up resources.""" + if self.state_sub: + self.state_sub.close() + if self.zenoh_session: + self.zenoh_session.close() + if self.drone: + # Send zero command before disconnecting + self.drone.commander.send_setpoint(0, 0, 0, 0) + self.drone.close_link() + + self.logger.info("Drone process finished") + + def run(self): + """Main entry point for the worker process.""" + try: + assert self.control_mode in ["attitude", "state"], "control_mode must be either 'attitude' or 'state'" + + # Load drone parameters + self.params = load_params(self.drone_model) + self.logger.info(f"Loaded parameters for {self.drone_model}") + + # Connect to drone + self._connect_drone() + + # Reset drone to initial state + self._crazyflie_reset() + + # Initialize Zenoh + self._init_zenoh() + + # Signal ready + self.ready_event.set() + self.logger.info("Drone process ready") + + # Run control loop + self._control_loop() + + self.logger.info("Drone process stopping") + + finally: + self._cleanup() + + +def crazyflie_process_worker( + rank: int, + drone_id: int, + drone_channel: int, + drone_model: str, + ready_event: "mp.synchronize.Event", + stop_event: "mp.synchronize.Event", + init_pose: Tr, + control_mode: str, + start_event: "mp.synchronize.Event", + control_freq: float = 50.0, + +): + """Entry point for Crazyflie worker process. + + This function is called by multiprocessing and creates a CrazyflieWorker instance. + """ + worker = CrazyflieWorker( + rank=rank, + drone_id=drone_id, + drone_channel=drone_channel, + drone_model=drone_model, + ready_event=ready_event, + stop_event=stop_event, + init_pose=init_pose, + control_mode=control_mode, + control_freq=control_freq, + start_event=start_event, + ) + worker.run() + + +class RealRaceHostState(Enum): + """States of the RealRaceHost. + + Attributes: + IDLE: Loading track configuration and checking track/drone positions. + INITIALIZED: Connected to drones, waiting for clients to be ready. + OPERATION: Race in progress, supervising clients. + STOPPING: Shutting down gracefully. + """ + IDLE = 0 + INITIALIZED = 1 + OPERATION = 2 + STOPPING = 3 + + +@dataclass +class DroneConnection: + """Information about a drone connection managed by the host.""" + rank: int + drone_id: int + drone_channel: int + process: mp.Process | None = None + ready_event: "mp.synchronize.Event | None" = None + stop_event: "mp.synchronize.Event | None" = None + connected: bool = False + + +class RealRaceHost: + """Base host class for real-world drone racing. + + This class coordinates multi-drone races by managing track validation, drone connections, + and client synchronization via Zenoh communication. + """ + + state: RealRaceHostState + _num_drones: int = 0 + _config: ConfigDict | None = None + + def __init__(self, config: ConfigDict): + """Initialize the RealRaceHost. + + Args: + config: Configuration dictionary containing deploy, env, and sim settings. + """ + self.state = RealRaceHostState.IDLE + self._config = config + self._shutdown_event = threading.Event() + self._clients_ready: dict[int, bool] = {} + self._clients_stopped: dict[int, bool] = {} + self._start_time = time.perf_counter() + + # Setup signal handlers for graceful shutdown + signal.signal(signal.SIGINT, self._signal_handler) + signal.signal(signal.SIGTERM, self._signal_handler) + + self.load_config(config) + + def _signal_handler(self, signum, frame): + """Handle shutdown signals.""" + logger.info(f"Received signal {signum}, transitioning to STOPPING state") + self.state = RealRaceHostState.STOPPING + self._shutdown_event.set() + + def load_config(self, config: ConfigDict): + """Load configuration. + + Args: + config: Configuration dictionary. + """ + raise NotImplementedError("Subclass must implement load_config") + + def connect_drones(self): + """Connect to all drones.""" + raise NotImplementedError("Subclass must implement connect_drones") + + def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: + """Initialize Zenoh session and communication. + + Args: + conf: Optional Zenoh configuration. + + Returns: + Zenoh session. + """ + raise NotImplementedError("Subclass must implement init_zenoh") + + def host_main_loop(self): + """Main loop of the host.""" + raise NotImplementedError("Subclass must implement host_main_loop") + + +class CrazyFlieRealRaceHost(RealRaceHost): + """LSY's implementation of RealRaceHost for multi-drone racing with Crazyflies.""" + + _drone_names: list[str] + _drone_ids: list[int] + _drone_channels: list[int] + _drone_models: list[str] + _drone_connections: dict[int, DroneConnection] + _drone_control_freq: list[float] + _all_clients_ready_event: "mp.synchronize.Event | None" + + _zenoh_session: zenoh.Session | None + _host_ready_pub: ZenohPublisher | None + _race_start_pub: ZenohPublisher | None + + _client_ready_subs: dict[int, ZenohSubscriber] + _client_state_subs: dict[int, ZenohSubscriber] + + def __init__(self, config: ConfigDict): + """Initialize LSYRealRaceHost.""" + super().__init__(config) + self.gates = None + self.obstacles = None + self.drones_track = None + self.n_gates = 0 + self.n_obstacles = 0 + self.pos_limit_low = None + self.pos_limit_high = None + self._all_clients_ready_event = mp.Event() + + logger.info("Host: In IDLE state - checking track...") + # TODO: Testing the pipeline without checking the track + # self.check_track(rng_config = config.env.randomizations) + logger.info("Host: Connecting to drones...") + self.connect_drones() + + def load_config(self, config: ConfigDict): + """Load track configuration.""" + self._config = config + self.gates, self.obstacles, self.drones_track = load_track(config.env.track) + self.n_gates = len(self.gates.pos) + self.n_obstacles = len(self.obstacles.pos) + self.pos_limit_low = np.array(config.env.track.safety_limits["pos_limit_low"]) + self.pos_limit_high = np.array(config.env.track.safety_limits["pos_limit_high"]) + + self._num_drones = len(config.deploy.drones) + self._drone_names = [f"cf{drone['id']}" for drone in config.deploy.drones] + self._drone_ids = [drone['id'] for drone in config.deploy.drones] + self._drone_channels = [drone['channel'] for drone in config.deploy.drones] + self._drone_models = [drone['drone_model'] for drone in config.deploy.drones] + self._drone_control_freq = [drone['freq'] for drone in config.env.kwargs.freq] + + # Initialize client tracking + for rank in range(self._num_drones): + self._clients_ready[rank] = False + self._clients_stopped[rank] = False + + def check_track(self, rng_config: ConfigDict): + """Check and validate the track.""" + logger.info("Host: Checking track configuration...") + + # Initialize ROS connectors in parallel + def init_track_connector(): + """Initialize connector for track objects.""" + tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] + tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] + try: + ros_connector = ROSConnector(tf_names=tf_names, timeout=10.0) + return ros_connector + + except Exception as e: + return e + + def init_drone_connector(): + """Initialize connector for drone positions.""" + try: + ros_connector = ROSConnector(tf_names=self._drone_names, timeout=10.0) + return ros_connector + except Exception as e: + return e + + logger.info("Host: Initializing ROS connectors in parallel...") + with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: + future_track = executor.submit(init_track_connector) + future_drones = executor.submit(init_drone_connector) + + ros_connector_track = future_track.result() + ros_connector_drones = future_drones.result() + + if isinstance(ros_connector_track, Exception): + raise ros_connector_track + if isinstance(ros_connector_drones, Exception): + raise ros_connector_drones + + # Update track poses from motion capture + self._update_track_poses(ros_connector_track) + + # Check race track + check_race_track( + gates_pos=self.gates.pos, + nominal_gates_pos=self.gates.nominal_pos, + gates_quat=self.gates.quat, + nominal_gates_quat=self.gates.nominal_quat, + obstacles_pos=self.obstacles.pos, + nominal_obstacles_pos=self.obstacles.nominal_pos, + rng_config=rng_config, + ) + + # Check drone start positions + for rank, drone_name in enumerate(self._drone_names): + check_drone_start_pos( + nominal_pos=self.drones_track.pos[rank], + real_pos=ros_connector_drones.pos[drone_name], + rng_config=rng_config, + drone_name=drone_name, + ) + + # Close temporary connectors + ros_connector_track.close() + ros_connector_drones.close() + + logger.info("Host: Track check passed") + + def connect_drones(self): + """Connect to all Crazyflie drones by spawning individual processes.""" + logger.info(f"Host: Spawning processes for {self._num_drones} Crazyflie drones...") + self._drone_connections = {} + + for rank in range(self._num_drones): + drone_id = self._drone_ids[rank] + channel = self._drone_channels[rank] + drone_model = self._drone_models[rank] + control_freq = self._drone_control_freq[rank] + init_pose = Tr(self.drones_track.pos[rank], R.from_quat(self.drones_track.quat[rank])) + control_mode = self._config.env.kwargs.control_mode + + # Create synchronization events + ready_event = mp.Event() + stop_event = mp.Event() + + # Spawn process + process = mp.Process( + target=crazyflie_process_worker, + args=(rank, drone_id, channel, drone_model, ready_event, stop_event, init_pose, control_mode, control_freq, self._all_clients_ready_event), + name=f"CrazyflieProcess-{rank}", + ) + process.start() + + # Store connection info + conn = DroneConnection( + rank=rank, + drone_id=drone_id, + drone_channel=channel, + process=process, + ready_event=ready_event, + stop_event=stop_event, + connected=False, + ) + self._drone_connections[rank] = conn + + logger.info(f"Spawned process for Crazyflie {rank} (PID: {process.pid})") + + # Wait for all processes to be ready + logger.info("Waiting for all Crazyflie processes to be ready...") + timeout = 30 # seconds + + for rank, conn in self._drone_connections.items(): + if not conn.ready_event.wait(timeout=timeout): + raise TimeoutError(f"Timeout waiting for Crazyflie {rank} to be ready") + else: + conn.connected = True + logger.info(f"Crazyflie {rank} is ready") + + if len(self._drone_connections) == self._num_drones: + logger.info(f"Host: All {self._num_drones} Crazyflie processes are ready") + self.state = RealRaceHostState.INITIALIZED + else: + raise RuntimeError( + f"Host: Only {sum(c.connected for c in self._drone_connections.values())}/{self._num_drones} Crazyflie processes ready" + ) + + def _update_track_poses(self, ros_connector: ROSConnector): + """Update track poses from motion capture system. + + Args: + ros_connector: ROSConnector with track object tf_names. + """ + tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] + for i, tf_name in enumerate(tf_names): + try: + pos = ros_connector.pos[tf_name] + quat = ros_connector.quat[tf_name] + self.gates.pos[i] = pos + self.gates.quat[i] = quat + except Exception: + logger.warning(f"Could not update pose for {tf_name}") + + tf_names = [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] + for i, tf_name in enumerate(tf_names): + try: + pos = ros_connector.pos[tf_name] + quat = ros_connector.quat[tf_name] + self.obstacles.pos[i] = pos + self.obstacles.quat[i] = quat + except Exception: + logger.warning(f"Could not update pose for {tf_name}") + + def _cleanup(self): + """Clean up Crazyflie-specific resources.""" + # Signal drone processes to stop + logger.info("Signaling Crazyflie processes to stop...") + for conn in self._drone_connections.values(): + if conn.stop_event: + conn.stop_event.set() + + # Wait for processes to finish + logger.info("Waiting for Crazyflie processes to finish...") + for rank, conn in self._drone_connections.items(): + if conn.process and conn.process.is_alive(): + conn.process.join(timeout=5) + if conn.process.is_alive(): + logger.warning(f"Crazyflie process {rank} did not terminate, killing...") + conn.process.terminate() + conn.process.join(timeout=2) + + # Close Zenoh publishers/subscribers + if self._host_ready_pub: + self._host_ready_pub.close() + if self._race_start_pub: + self._race_start_pub.close() + for sub in self._client_state_subs.values(): + sub.close() + + # Close Zenoh session + if self._zenoh_session: + self._zenoh_session.close() + + # Call parent cleanup + super()._cleanup() + + logger.info("Host: CrazyflieRaceHost cleanup complete") + + def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: + """Initialize Zenoh communication.""" + self._client_state_subs = {} + self._zenoh_session = create_zenoh_session(conf) + + # Create publishers + self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") + self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") + + # Subscribe to client state messages for readiness detection and stopped detection + for rank in range(self._num_drones): + def on_client_state(payload: str, rank=rank): + msg = deserialize_message(payload, ClientStateMessage) + latency_ms = compute_latency_ms(msg.timestamp) + + # Mark client as ready on first state message + if not self._clients_ready[rank]: + logger.debug(f"Client {rank} ready (received first state message, latency: {latency_ms:.2f}ms)") + self._clients_ready[rank] = True + + # Track stopped clients + if msg.stopped: + logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}, latency: {latency_ms:.2f}ms)") + self._clients_stopped[rank] = True + + sub = ZenohSubscriber( + self._zenoh_session, + f"lsy_drone_racing/client/{rank}/state", + on_client_state, + ) + self._client_state_subs[rank] = sub + + logger.info("Zenoh communication initialized") + return self._zenoh_session + + def host_main_loop(self, race_update_freq : float = 50.0): + """Main loop of the host.""" + logger.info("Host: Starting main loop") + + if self.state != RealRaceHostState.INITIALIZED: + raise RuntimeError("Host: Failed to reach INITIALIZED state") + + # Initialize Zenoh + self.init_zenoh() + + # INITIALIZED state: Wait for clients to be ready + logger.info("Host: In INITIALIZED state - waiting for clients...") + host_ready_freq = 10 # Hz + timeout = 30 # seconds + t_start = time.perf_counter() + + while time.perf_counter() - t_start < timeout: + # Send host ready messages + msg = HostReadyMessage(elapsed_time=0.0, timestamp=time.perf_counter()) + self._host_ready_pub.publish(msg) + + # Check if all clients are ready + if all(self._clients_ready.values()): + logger.info("Host: All clients are ready!") + break + + time.sleep(1.0 / host_ready_freq) + + if not all(self._clients_ready.values()): + raise TimeoutError("Host: Timeout waiting for all clients to become ready") + + # Signal drone processes that all clients are ready + logger.info("Host: Signaling drone processes that all clients are ready") + self._all_clients_ready_event.set() + + # OPERATION state: Race started + logger.info("Host: In OPERATION state - race started") + self.state = RealRaceHostState.OPERATION + self._start_time = time.perf_counter() + + while self.state == RealRaceHostState.OPERATION: + elapsed_time = time.perf_counter() - self._start_time + + # Send periodic race start messages + finished = all(self._clients_stopped.values()) + msg = RaceStartMessage( + elapsed_time=elapsed_time, + timestamp=time.perf_counter(), + finished=finished, + ) + self._race_start_pub.publish(msg) + + if finished: + logger.info("Host: All clients stopped, transitioning to STOPPING state") + self.state = RealRaceHostState.STOPPING + break + + time.sleep(1.0 / race_update_freq) + + + + + diff --git a/lsy_drone_racing/utils/zenoh_utils.py b/lsy_drone_racing/utils/zenoh_utils.py new file mode 100644 index 000000000..b8569489e --- /dev/null +++ b/lsy_drone_racing/utils/zenoh_utils.py @@ -0,0 +1,197 @@ +"""Utilities for Zenoh-based host-client communication in multi-drone racing.""" + +from __future__ import annotations + +import json +import logging +import time +from dataclasses import asdict, dataclass +from typing import Any, Callable + +import numpy as np +import zenoh + +logger = logging.getLogger(__name__) + + +@dataclass +class HostReadyMessage: + """Message sent by host to indicate it's ready. + + Attributes: + elapsed_time: Elapsed time since the race started (in IDLE/INITIALIZED, this is 0). + timestamp: Timestamp when the message was sent (for latency measurement). + """ + elapsed_time: float + timestamp: float + + +@dataclass +class ClientReadyMessage: + """Message sent by client in response to host ready message. + + Attributes: + drone_rank: Rank of the drone. + ready: Whether the client is ready. + timestamp: Timestamp when the message was sent (for latency measurement). + """ + drone_rank: int + ready: bool + timestamp: float + + +@dataclass +class RaceStartMessage: + """Message sent by host to start the race. + + Attributes: + elapsed_time: Elapsed time (initially 0, but sent periodically during operation). + timestamp: Timestamp when the message was sent. + finished: Whether the host has finished the race. + """ + elapsed_time: float + timestamp: float + finished: bool = False + + +@dataclass +class ClientStateMessage: + """Message sent by client during operation. + + Attributes: + drone_rank: Rank of the drone. + action: Control action (array or list). + elapsed_time: Elapsed time (should match host's for latency measurement). + timestamp: Timestamp when the message was sent. + stopped: Whether the client has stopped (finished or error). + next_gate_idx: Next gate index to visit (-1 if finished). + """ + drone_rank: int + action: list + elapsed_time: float + timestamp: float + stopped: bool = False + next_gate_idx: int = 0 + + +def serialize_message(message: Any) -> str: + """Serialize a message dataclass to JSON. + + Args: + message: Dataclass instance to serialize. + + Returns: + JSON string representation of the message. + """ + msg_dict = asdict(message) + return json.dumps(msg_dict, default=str) + + +def deserialize_message(json_str: str, message_class: type) -> Any: + """Deserialize a JSON string to a message dataclass. + + Args: + json_str: JSON string representation. + message_class: Target dataclass type. + + Returns: + Deserialized message instance. + """ + msg_dict = json.loads(json_str) + # Convert action back to list if needed + if "action" in msg_dict and isinstance(msg_dict["action"], (list, dict)): + msg_dict["action"] = list(msg_dict["action"]) if isinstance(msg_dict["action"], (list, tuple)) else msg_dict["action"] + return message_class(**msg_dict) + + +def compute_latency_ms(timestamp: float) -> float: + """Compute latency in milliseconds from a given timestamp. + + Args: + timestamp: Original timestamp when message was sent. + + Returns: + Latency in milliseconds. + """ + return (time.perf_counter() - timestamp) * 1000 + + +class ZenohPublisher: + """Wrapper around Zenoh publisher for convenient publishing.""" + + def __init__(self, session: zenoh.Session, key: str): + """Initialize the publisher. + + Args: + session: Zenoh session. + key: Key expression to publish on. + """ + self.session = session + self.key = key + self.publisher = session.declare_publisher(key) + logger.info(f"Declared publisher on '{key}'") + + def publish(self, message: Any): + """Publish a message. + + Args: + message: Message dataclass to publish. + """ + payload = serialize_message(message) + self.publisher.put(payload) + + def close(self): + """Close the publisher.""" + self.publisher.undeclare() + + +class ZenohSubscriber: + """Wrapper around Zenoh subscriber for convenient subscribing.""" + + def __init__( + self, + session: zenoh.Session, + key: str, + callback: Callable[[str], None], + ): + """Initialize the subscriber. + + Args: + session: Zenoh session. + key: Key expression to subscribe to. + callback: Callback function to be called with payload when message received. + """ + self.session = session + self.key = key + self.callback = callback + + def listener(sample: zenoh.Sample): + try: + payload = sample.payload.to_string() + self.callback(payload) + except Exception as e: + logger.error(f"Error in subscriber callback: {e}") + + self.subscriber = session.declare_subscriber(key, listener) + logger.info(f"Declared subscriber on '{key}'") + + def close(self): + """Close the subscriber.""" + self.subscriber.undeclare() + + +def create_zenoh_session(conf: zenoh.Config | None = None) -> zenoh.Session: + """Create and open a Zenoh session. + + Args: + conf: Optional Zenoh configuration. If None, uses default config. + + Returns: + Opened Zenoh session. + """ + zenoh.init_log_from_env_or("error") + if conf is None: + conf = zenoh.Config() + session = zenoh.open(conf) + logger.debug("Zenoh session opened") + return session diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py new file mode 100644 index 000000000..793cbe998 --- /dev/null +++ b/scripts/deploy_client.py @@ -0,0 +1,140 @@ +"""Deployment script for multi-drone racing clients (host-client architecture). + +Each client runs on a drone's computing unit and communicates with the central host via Zenoh. + +Usage: + +python deploy_client.py --config multi_level0.toml --drone_rank 0 +python deploy_client.py --config multi_level0.toml --drone_rank 1 + +""" + +from __future__ import annotations + +import logging +import time +from pathlib import Path +from typing import TYPE_CHECKING + +import fire +import gymnasium +import rclpy + +from lsy_drone_racing.utils import extract_config_for_rank, load_config, load_controller + +if TYPE_CHECKING: + from lsy_drone_racing.envs.real_race_env_client import RealMultiDroneRaceEnvClient + +logger = logging.getLogger(__name__) + + +def main( + config: str = "multi_level0.toml", + controller: str | None = None, + drone_rank: int | None = None, +): + """Deploy and run a client for multi-drone racing. + + Args: + config: Path to competition configuration (file in `config/`). + controller: Controller file name in `lsy_drone_racing/control/` or None to use config. + drone_rank: Rank of this drone in the multi-drone setup (required). + """ + # Setup logging + logging.basicConfig(level=logging.WARNING) + logging.getLogger("jax").setLevel(logging.ERROR) + logger.setLevel(logging.INFO) + logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) + + # Validate inputs + if drone_rank is None: + raise ValueError("drone_rank must be specified") + + # Initialize ROS2 + rclpy.init() + + try: + # Load configuration + config_obj = load_config(Path(__file__).parents[1] / "config" / config) + if controller is not None: + config_obj.controller[drone_rank]['file'] = controller + + # Create environment + env: RealMultiDroneRaceEnvClient = gymnasium.make( + "RealMultiDroneRacingClient-v0", + drones=config_obj.deploy.drones, + rank=drone_rank, + freq=config_obj.env.kwargs[drone_rank]['freq'], + track=config_obj.env.track, + randomizations=config_obj.env.randomizations, + sensor_range=config_obj.env.kwargs[drone_rank]['sensor_range'], + control_mode=config_obj.env.kwargs[drone_rank]['control_mode'], + ) + + try: + # Reset environment (wait for host, etc.) + obs, info = env.reset(options=config_obj.deploy) + + # Load controller + control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" + controller_path = control_path / config_obj.controller[drone_rank]['file'] + controller_cls = load_controller(controller_path) + config_extracted = extract_config_for_rank(config_obj, drone_rank) + controller = controller_cls(obs, info, config_extracted) + + # Wait for race to start + logger.info(f"Client {drone_rank}: Waiting for race to start...") + env.lock_until_race_start(timeout=60.0) + + logger.info(f"Client {drone_rank}: Starting control loop at {config_obj.env.kwargs[drone_rank]['freq']} Hz") + start_time = time.perf_counter() + + # Main control loop + while rclpy.ok(): + t_loop = time.perf_counter() + + # Compute control + action = controller.compute_control(obs, info) + + # Step environment (returns updated obs and info) + obs, reward, terminated, truncated, info = env.step(action) + + # Call controller callback + controller_finished = controller.step_callback( + action, obs, reward, terminated, truncated, info + ) + + # Check termination conditions + if terminated or truncated or controller_finished: + logger.info(f"Client {drone_rank}: Episode finished (terminated={terminated}, truncated={truncated}, finished={controller_finished})") + break + + # Maintain control frequency + dt = time.perf_counter() - t_loop + sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]['freq'] - dt + if sleep_time > 0: + time.sleep(sleep_time) + else: + logger.warning(f"Client {drone_rank}: Control loop exceeded frequency (overrun: {-sleep_time*1000:.1f}ms)") + + ep_time = time.perf_counter() - start_time + finished = obs["target_gate"][drone_rank] == -1 + logger.info( + f"Client {drone_rank}: Episode completed in {ep_time:.3f}s " + f"(finished={finished})" + ) + + finally: + env.close() + + except KeyboardInterrupt: + logger.info(f"Client {drone_rank}: Interrupted by user") + except Exception as e: + logger.error(f"Client {drone_rank}: Encountered error: {e}", exc_info=True) + finally: + rclpy.shutdown() + logger.info(f"Client {drone_rank}: Shutdown complete") + + +if __name__ == "__main__": + fire.Fire(main) diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py new file mode 100644 index 000000000..36831e52a --- /dev/null +++ b/scripts/deploy_host.py @@ -0,0 +1,66 @@ +"""Deployment script for the multi-drone racing host. + +The host is responsible for: +- Track validation and drone connection +- Coordinating client synchronization via Zenoh +- Supervising the race and handling completion + +Usage: + +python deploy_host.py --config multi_level0.toml + +""" + +from __future__ import annotations + +import logging +from pathlib import Path + +import fire +import rclpy + +from lsy_drone_racing.envs.real_race_host import CrazyFlieRealRaceHost +from lsy_drone_racing.utils import load_config + +logger = logging.getLogger(__name__) + + +def main(config: str = "multi_level0.toml"): + """Deploy and run the race host. + + Args: + config: Path to the competition configuration. Assumes the file is in `config/`. + """ + # Setup logging + logging.basicConfig(level=logging.WARNING) + logging.getLogger("jax").setLevel(logging.ERROR) + logger.setLevel(logging.INFO) + logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) + + # Initialize ROS2 + rclpy.init() + + try: + # Load configuration + config_obj = load_config(Path(__file__).parents[1] / "config" / config) + + # Create and run host + host = CrazyFlieRealRaceHost(config_obj) + logger.info("Host created, starting main loop...") + host.host_main_loop() + + except KeyboardInterrupt: + logger.info("Host interrupted by user") + except Exception as e: + logger.error(f"Host encountered an error: {e}", exc_info=True) + finally: + try: + host._cleanup() + except Exception: + logger.exception("Error during host cleanup") + rclpy.shutdown() + logger.info("Host shutdown complete") + + +if __name__ == "__main__": + fire.Fire(main) From 74e8d272164031bd1dfbc64fe21a8c456285b185 Mon Sep 17 00:00:00 2001 From: N0OB Date: Tue, 3 Mar 2026 18:03:18 +0100 Subject: [PATCH 04/97] Added real race client --- lsy_drone_racing/envs/real_race_env_client.py | 496 ++++++++++++++++++ 1 file changed, 496 insertions(+) create mode 100644 lsy_drone_racing/envs/real_race_env_client.py diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py new file mode 100644 index 000000000..ffb3af486 --- /dev/null +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -0,0 +1,496 @@ +"""Client-side environment for multi-drone racing with host-client architecture. + +The RealMultiDroneRaceEnvClient operates as a client in a host-client system: +- Receives coordination messages from the host via Zenoh +- Manages a single drone's state and control +- Sends state updates to the host for supervision +- Handles local observation and gate tracking +""" + +from __future__ import annotations + +import logging +import threading +import time +from pathlib import Path +from typing import TYPE_CHECKING, Literal + +import jax +import numpy as np +import rclpy +import zenoh +from drone_estimators.ros_nodes.ros2_connector import ROSConnector +from drone_models.core import load_params +from gymnasium import Env +from scipy.spatial.transform import Rotation as R +import concurrent.futures + +from lsy_drone_racing.envs.utils import gate_passed, load_track +from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track +from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier +from lsy_drone_racing.utils.zenoh_utils import ( + ClientStateMessage, + HostReadyMessage, + RaceStartMessage, + ZenohPublisher, + ZenohSubscriber, + compute_latency_ms, + create_zenoh_session, + deserialize_message, +) + +if TYPE_CHECKING: + from ml_collections import ConfigDict + from numpy.typing import NDArray + +logger = logging.getLogger(__name__) + + +class ClientEnvData: + """Data structure for client-side environment state.""" + + def __init__(self, n_drones: int, n_gates: int, n_obstacles: int): + """Initialize client environment data. + + Args: + n_drones: Number of drones in the race. + n_gates: Number of gates in the track. + n_obstacles: Number of obstacles in the track. + """ + self.n_drones = n_drones + self.n_gates = n_gates + self.n_obstacles = n_obstacles + + self.target_gate = np.zeros(n_drones, dtype=int) + self.gates_visited = np.zeros((n_drones, n_gates), dtype=bool) + self.obstacles_visited = np.zeros((n_drones, n_obstacles), dtype=bool) + self.last_drone_pos = np.zeros((n_drones, 3), dtype=np.float32) + + self.taken_off = False + + def reset(self, last_drone_pos: NDArray[np.float32]): + """Reset the environment data.""" + self.target_gate[:] = 0 + self.gates_visited[:] = False + self.obstacles_visited[:] = False + self.last_drone_pos[:] = last_drone_pos + self.taken_off = False + + +class RealMultiDroneRaceEnvClient(Env): + """Client-side environment for multi-drone racing. + + This environment is designed to run on each drone's computing unit, communicating with + the central host via Zenoh for coordination and supervision. + """ + + def __init__( + self, + drones: list[dict[str, int]], + rank: int, + freq: int, + track: ConfigDict, + randomizations: ConfigDict, + sensor_range: float = 0.5, + control_mode: Literal["state", "attitude"] = "state", + ): + """Initialize the client-side multi-drone environment. + + Args: + drones: List of all drones in the race. + rank: Rank of this drone. + freq: Control frequency. + track: Track configuration. + randomizations: Randomization configuration. + sensor_range: Sensor range for gates/obstacles. + control_mode: "state" or "attitude" control. + """ + # Basic setup + self.n_drones = len(drones) + self.rank = rank + self.freq = freq + self.sensor_range = sensor_range + self.control_mode = control_mode + + # Load drone info + self.drone_names = [f"cf{drone['id']}" for drone in drones] + self.drone_name = self.drone_names[rank] + self.drone_channel = drones[rank]["channel"] + self.drone_id = drones[rank]["id"] + + # Load track + self.gates, self.obstacles, self.drones_track = load_track(track) + self.n_gates = len(self.gates.pos) + self.n_obstacles = len(self.obstacles.pos) + self.pos_limit_low = np.array(track.safety_limits["pos_limit_low"]) + self.pos_limit_high = np.array(track.safety_limits["pos_limit_high"]) + + # Store config + self.randomizations = randomizations + + # Initialize JAX + self.device = jax.devices("cpu")[0] + + # Initialize ROS connectors + # High-precision estimator for own drone + self._ros_connector_own = None + # TF-based connector for other drones + self._ros_connector_others = None + + # Initialize environment data + self.data = ClientEnvData(self.n_drones, self.n_gates, self.n_obstacles) + + # Zenoh communication + self._zenoh_session: zenoh.Session | None = None + self._host_ready_sub: ZenohSubscriber | None = None + self._race_start_sub: ZenohSubscriber | None = None + self._client_state_pub: ZenohPublisher | None = None + + # Race state + self._host_ready = False + self._host_ready_event = threading.Event() + self._race_started = False + self._race_start_time = 0.0 + self._should_stop = False + self._last_host_elapsed_time = 0.0 + + self._jit_compiled = False + + def _init_ros_connectors(self): + """Initialize ROS connectors in parallel for speed.""" + + + def init_own_connector(): + """Initialize high-precision estimator connector for own drone.""" + return ROSConnector( + estimator_names=[self.drone_name], + cmd_topic=f"/drones/{self.drone_name}/command", + timeout=10.0, + ) + + def init_others_connector(): + """Initialize TF-based connector for other drones.""" + other_drone_names = [name for i, name in enumerate(self.drone_names) if i != self.rank] + if not other_drone_names: + return None + return ROSConnector( + tf_names=other_drone_names, + timeout=10.0, + ) + + logger.info(f"Client {self.rank}: Initializing ROS connectors in parallel...") + try: + with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: + future_own = executor.submit(init_own_connector) + future_others = executor.submit(init_others_connector) + self._ros_connector_own = future_own.result() + self._ros_connector_others = future_others.result() + except Exception as e: + logger.error(f"Client {self.rank}: Failed to initialize ROS connectors: {e}") + raise + + logger.info(f"Client {self.rank}: ROS connectors initialized") + + + def _get_all_drone_states(self) -> tuple[np.ndarray, np.ndarray]: + """Get full state of all drones. + + Returns: + Tuple of (positions, quaternions). + """ + pos = np.zeros((self.n_drones, 3), dtype=np.float32) + quat = np.zeros((self.n_drones, 4), dtype=np.float32) + ang_vel = np.zeros((self.n_drones, 3), dtype=np.float32) + vel = np.zeros((self.n_drones, 3), dtype=np.float32) + + # Own drone from high-precision estimator + pos[self.rank] = self._ros_connector_own.pos[self.drone_name] + quat[self.rank] = self._ros_connector_own.quat[self.drone_name] + vel[self.rank] = self._ros_connector_own.vel[self.drone_name] + ang_vel[self.rank] = self._ros_connector_own.ang_vel[self.drone_name] + + + # Other drones from TF + if self._ros_connector_others is not None: + for i, name in enumerate(self.drone_names): + if i != self.rank: + pos[i] = self._ros_connector_others.pos[name] + quat[i] = self._ros_connector_others.quat[name] + vel[i] = self._ros_connector_others.vel[name] + ang_vel[i] = self._ros_connector_others.ang_vel[name] + + return pos, quat, vel, ang_vel + + def _init_zenoh(self): + """Initialize Zenoh communication.""" + self._zenoh_session = create_zenoh_session() + + # Subscribe to host messages + def on_host_ready(payload: str): + try: + msg = deserialize_message(payload, HostReadyMessage) + self._host_ready = True + self._host_ready_event.set() # Signal waiting thread + latency_ms = compute_latency_ms(msg.timestamp) + + logger.debug(f"Client {self.rank}: Received host ready (latency: {latency_ms:.2f}ms)") + except Exception as e: + logger.error(f"Error processing host ready message: {e}") + + self._host_ready_sub = ZenohSubscriber( + self._zenoh_session, + "lsy_drone_racing/host/ready", + on_host_ready, + ) + + def on_race_start(payload: str): + try: + msg = deserialize_message(payload, RaceStartMessage) + self._race_started = True + self._race_start_time = time.perf_counter() - msg.elapsed_time + self._last_host_elapsed_time = msg.elapsed_time + latency_ms = compute_latency_ms(msg.timestamp) + logger.info(f"Client a{self.rank}: Received rce start (elapsed: {msg.elapsed_time:.3f}s, latency: {latency_ms:.2f}ms)") + except Exception as e: + logger.error(f"Error processing race start message: {e}") + + self._race_start_sub = ZenohSubscriber( + self._zenoh_session, + "lsy_drone_racing/host/race_start", + on_race_start, + ) + + # Create publishers + self._client_state_pub = ZenohPublisher( + self._zenoh_session, + f"lsy_drone_racing/client/{self.rank}/state", + ) + + logger.info(f"Client {self.rank}: Zenoh communication initialized") + + def _jit(self): + """Compile JAX functions.""" + if self._jit_compiled: + return + + # Dummy call to compile gate_passed function + try: + dummy_drone_pos = np.zeros((self.n_drones, 3), dtype=np.float32) + dummy_gate_pos = np.zeros((self.n_drones, 3), dtype=np.float32) + dummy_gate_quat = np.zeros((self.n_drones, 4), dtype=np.float32) + + with jax.default_device(self.device): + gate_passed( + dummy_drone_pos, + dummy_drone_pos, + dummy_gate_pos, + dummy_gate_quat, + (0.45, 0.45), + ) + self._jit_compiled = True + except Exception as e: + logger.warning(f"Client {self.rank}: JAX compilation warning: {e}") + + def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: + """Reset the environment. + + Args: + seed: Random seed (unused in real environment). + options: Options dictionary from deployment. + + Returns: + Initial observation and info. + """ + options = {} if options is None else options + + logger.info(f"Client {self.rank}: Resetting environment...") + + # Initialize ROS connectors if not already done + if self._ros_connector_own is None: + self._init_ros_connectors() + + # Initialize Zenoh if not already done + if self._zenoh_session is None: + self._init_zenoh() + + # Get current drone positions + current_positions, _, _, _ = self._get_all_drone_states() + self.data.reset(current_positions) + + logger.info(f"Client {self.rank}: Waiting for host ready message...") + max_wait_time = 120.0 + + # Send state messages in background thread to signal readiness + stop_sending = threading.Event() + + def send_state_messages(): + """Background thread to send state messages every 0.1s until race starts.""" + while not stop_sending.is_set(): + self._send_state_update(np.zeros(4), stopped=False) + time.sleep(0.1) + + sender_thread = threading.Thread(target=send_state_messages, daemon=True) + sender_thread.start() + + # Wait for host ready with timeout + if not self._host_ready_event.wait(timeout=max_wait_time): + stop_sending.set() + raise TimeoutError( + f"Client {self.rank}: Timeout waiting for host ready after {max_wait_time}s. " + "Host may not be running or network connection failed." + ) + + stop_sending.set() + logger.info(f"Client {self.rank}: Environment reset complete") + return self.obs(), self.info() + + def lock_until_race_start(self, timeout: float = 60.0): + """Block until the race starts, with a timeout.""" + logger.info(f"Client {self.rank}: Waiting for race to start...") + start_time = time.perf_counter() + while not self._race_started: + if time.perf_counter() - start_time > timeout: + raise TimeoutError(f"Client {self.rank}: Timeout waiting for race to start after {timeout}s.") + + logger.info(f"Client {self.rank}: Race started, proceeding with control loop") + + def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: + """Perform a control step. + + Args: + action: Control action for this drone. + + Returns: + Observation, reward, terminated, truncated, info. + """ + + # Get drone states + drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() + + # Check sensor visibility + dpos = drone_pos[:, None, :2] - self.gates.pos[None, :, :2] + self.data.gates_visited |= np.linalg.norm(dpos, axis=-1) < self.sensor_range + dpos = drone_pos[:, None, :2] - self.obstacles.pos[None, :, :2] + self.data.obstacles_visited |= np.linalg.norm(dpos, axis=-1) < self.sensor_range + + # Check gate passage + gate_pos = self.gates.pos[self.data.target_gate] + gate_quat = self.gates.quat[self.data.target_gate] + + with jax.default_device(self.device): + passed = gate_passed(drone_pos, self.data.last_drone_pos, gate_pos, gate_quat, (0.45, 0.45)) + + self.data.target_gate += np.asarray(passed) + self.data.target_gate[self.data.target_gate >= self.n_gates] = -1 + self.data.last_drone_pos[...] = drone_pos + self.data.taken_off |= drone_pos[self.rank, 2] > 0.1 + + # Check if this drone finished or failed + terminated = self.data.target_gate[self.rank] == -1 + + # Check safety bounds + if np.any((self.pos_limit_low > drone_pos) | (drone_pos > self.pos_limit_high)): + logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") + terminated = True + + # Send action to drone (via Zenoh to host) and to ROS for external estimator + self._send_action_ros(action) + # Send state message to host + self._send_state_update(action, terminated) + + # Mark stopped if terminated + if terminated: + self._should_stop = True + + return self.obs(), 0.0, terminated, False, self.info() + + def _send_state_update(self, action: NDArray, stopped: bool): + """Send state update to host. + + Args: + action: Current control action. + stopped: Whether this client has stopped. + """ + elapsed_time = time.perf_counter() - self._race_start_time if self._race_started else 0.0 + + state_msg = ClientStateMessage( + drone_rank=self.rank, + action=action.tolist() if isinstance(action, np.ndarray) else list(action), + elapsed_time=elapsed_time, + timestamp=time.perf_counter(), + stopped=stopped or self._should_stop, + next_gate_idx=int(self.data.target_gate[self.rank]), + ) + self._client_state_pub.publish(state_msg) + + def _send_action_ros(self, action: NDArray): + """Publishes to ROS for external estimator to track commands. + Args: + action: Control action. + """ + # Publish command to ROS for external estimator + if self.control_mode == "attitude": + if self._ros_connector_own is not None: + self._ros_connector_own.publish_cmd(action) + else: + logger.warning(f"Client {self.rank}: ROS connector not initialized, cannot send command!") + + + def obs(self) -> dict[str, NDArray]: + """Get current observation.""" + mask = self.data.gates_visited[..., None] + gates_pos = np.where(mask, self.gates.pos, self.gates.nominal_pos).astype(np.float32) + gates_quat = np.where(mask, self.gates.quat, self.gates.nominal_quat).astype(np.float32) + + mask = self.data.obstacles_visited[..., None] + obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype( + np.float32 + ) + + drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() + + return { + "pos": drone_pos, + "quat": drone_quat, + "vel": drone_vel, + "ang_vel": drone_ang_vel, + "target_gate": self.data.target_gate, + "gates_pos": gates_pos, + "gates_quat": gates_quat, + "gates_visited": self.data.gates_visited, + "obstacles_pos": obstacles_pos, + "obstacles_visited": self.data.obstacles_visited, + } + + def info(self) -> dict: + """Get info dictionary.""" + return {} + + def close(self): + """Close the environment.""" + logger.info(f"Client {self.rank}: Closing environment...") + + # Send final stop message + if self._client_state_pub: + self._send_state_update(np.zeros(4), stopped=True) + time.sleep(0.1) # Give message time to send + + # Close Zenoh + if self._host_ready_sub: + self._host_ready_sub.close() + if self._race_start_sub: + self._race_start_sub.close() + if self._client_state_pub: + self._client_state_pub.close() + if self._zenoh_session: + self._zenoh_session.close() + + logger.info(f"Client {self.rank}: Environment closed") + + +# Register the client environment +import gymnasium +gymnasium.register( + id="RealMultiDroneRacingClient-v0", + entry_point="lsy_drone_racing.envs.real_race_env_client:RealMultiDroneRaceEnvClient", +) From 507928471ea156de9499350541054f8b80c9af8d Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 3 Mar 2026 21:13:09 +0100 Subject: [PATCH 05/97] Fixed all bugs to make it run --- config/multi_level2.toml | 22 +- .../control/attitude_controller.py | 60 +-- lsy_drone_racing/envs/__init__.py | 6 + lsy_drone_racing/envs/real_race_env_client.py | 20 +- lsy_drone_racing/envs/real_race_host.py | 422 ++++++++++++------ pixi.lock | 36 +- pyproject.toml | 13 + scripts/deploy_client.py | 6 +- scripts/deploy_host.py | 26 +- 9 files changed, 364 insertions(+), 247 deletions(-) diff --git a/config/multi_level2.toml b/config/multi_level2.toml index 66a906bfb..67e862200 100644 --- a/config/multi_level2.toml +++ b/config/multi_level2.toml @@ -4,7 +4,7 @@ # | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: | # | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | [[controller]] -file = "state_controller.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` +file = "attitude_controller.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` [[controller]] file = "attitude_controller.py" @@ -16,22 +16,6 @@ check_race_track = true check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. real_track_objects = true -# Enable synchronized takeoff barrier (default: true) -sync_start_barrier = true - -[deploy.takeoff_barrier] -# Authentication key for barrier (must be same across all nodes) -authkey = "lsy-drone-barrier-v1" -# Timeout in seconds for barrier wait -timeout_s = 30.0 -# Metadata filename for barrier discovery -filename = "start_barrier.json" -# Port for barrier manager -port = 56000 -# Bind host (interface to listen on, use 0.0.0.0 for all interfaces) -bind_host = "0.0.0.0" -# Public host (IP address that other machines use to reach this barrier) -public_host = "127.0.0.1" [[deploy.drones]] id = 10 @@ -64,7 +48,7 @@ seed = "random" # Either "random" for a random behavior or an integer fo [[env.kwargs]] freq = 50 # Frequency of the environment's step function, in Hz sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. -control_mode = "state" # Control mode of the environment. Can be either "state" or "attitude" +control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" [[env.kwargs]] freq = 100 sensor_range = 0.7 @@ -115,7 +99,7 @@ ang_vel = [0, 0, 0] # If the drones exceed those bounds in real, the run will be stopped and the drone will safely be returned to the starting position [env.track.safety_limits] -pos_limit_low = [-2.5, -1.5, -1e-3] +pos_limit_low = [-2.5, -1.5, -1.0] pos_limit_high = [2.5, 1.5, 2.0] [env.disturbances.action] diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index 827ac2be1..b28482b2b 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -87,46 +87,46 @@ def compute_control( [r_des, p_des, y_des, t_des] as a numpy array. """ t = min(self._tick / self._freq, self._t_total) - if t >= self._t_total: # Maximum duration reached + if t >= 3.0: # Maximum duration reached self._finished = True - des_pos = self._des_pos_spline(t) - des_vel = self._des_vel_spline(t) - des_yaw = 0.0 + # des_pos = self._des_pos_spline(t) + # des_vel = self._des_vel_spline(t) + # des_yaw = 0.0 - # Calculate the deviations from the desired trajectory - pos_error = des_pos - obs["pos"] - vel_error = des_vel - obs["vel"] + # # Calculate the deviations from the desired trajectory + # pos_error = des_pos - obs["pos"] + # vel_error = des_vel - obs["vel"] - # Update integral error - self.i_error += pos_error * (1 / self._freq) - self.i_error = np.clip(self.i_error, -self.ki_range, self.ki_range) + # # Update integral error + # self.i_error += pos_error * (1 / self._freq) + # self.i_error = np.clip(self.i_error, -self.ki_range, self.ki_range) - # Compute target thrust - target_thrust = np.zeros(3) - target_thrust += self.kp * pos_error - target_thrust += self.ki * self.i_error - target_thrust += self.kd * vel_error - target_thrust[2] += self.drone_mass * self.g + # # Compute target thrust + # target_thrust = np.zeros(3) + # target_thrust += self.kp * pos_error + # target_thrust += self.ki * self.i_error + # target_thrust += self.kd * vel_error + # target_thrust[2] += self.drone_mass * self.g - # Update z_axis to the current orientation of the drone - z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] + # # Update z_axis to the current orientation of the drone + # z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] - # update current thrust - thrust_desired = target_thrust.dot(z_axis) + # # update current thrust + # thrust_desired = target_thrust.dot(z_axis) - # update z_axis_desired - z_axis_desired = target_thrust / np.linalg.norm(target_thrust) - x_c_des = np.array([math.cos(des_yaw), math.sin(des_yaw), 0.0]) - y_axis_desired = np.cross(z_axis_desired, x_c_des) - y_axis_desired /= np.linalg.norm(y_axis_desired) - x_axis_desired = np.cross(y_axis_desired, z_axis_desired) + # # update z_axis_desired + # z_axis_desired = target_thrust / np.linalg.norm(target_thrust) + # x_c_des = np.array([math.cos(des_yaw), math.sin(des_yaw), 0.0]) + # y_axis_desired = np.cross(z_axis_desired, x_c_des) + # y_axis_desired /= np.linalg.norm(y_axis_desired) + # x_axis_desired = np.cross(y_axis_desired, z_axis_desired) - R_desired = np.vstack([x_axis_desired, y_axis_desired, z_axis_desired]).T - euler_desired = R.from_matrix(R_desired).as_euler("xyz", degrees=False) - - action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) + # R_desired = np.vstack([x_axis_desired, y_axis_desired, z_axis_desired]).T + # euler_desired = R.from_matrix(R_desired).as_euler("xyz", degrees=False) + # action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) + action = np.array([0.0,0.0,0.0,0.05], dtype=np.float32) return action def step_callback( diff --git a/lsy_drone_racing/envs/__init__.py b/lsy_drone_racing/envs/__init__.py index 220daadf1..6e6c6d43a 100644 --- a/lsy_drone_racing/envs/__init__.py +++ b/lsy_drone_racing/envs/__init__.py @@ -46,3 +46,9 @@ entry_point="lsy_drone_racing.envs.real_race_env:RealMultiDroneRaceEnv", disable_env_checker=True, ) + +register( + id="RealMultiDroneRaceEnvClient-v0", + entry_point="lsy_drone_racing.envs.real_race_env_client:RealMultiDroneRaceEnvClient", + disable_env_checker=True, +) \ No newline at end of file diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index ffb3af486..89e59bacf 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -115,9 +115,7 @@ def __init__( # Load drone info self.drone_names = [f"cf{drone['id']}" for drone in drones] self.drone_name = self.drone_names[rank] - self.drone_channel = drones[rank]["channel"] - self.drone_id = drones[rank]["id"] - + # Load track self.gates, self.obstacles, self.drones_track = load_track(track) self.n_gates = len(self.gates.pos) @@ -202,7 +200,6 @@ def _get_all_drone_states(self) -> tuple[np.ndarray, np.ndarray]: quat = np.zeros((self.n_drones, 4), dtype=np.float32) ang_vel = np.zeros((self.n_drones, 3), dtype=np.float32) vel = np.zeros((self.n_drones, 3), dtype=np.float32) - # Own drone from high-precision estimator pos[self.rank] = self._ros_connector_own.pos[self.drone_name] quat[self.rank] = self._ros_connector_own.quat[self.drone_name] @@ -216,8 +213,8 @@ def _get_all_drone_states(self) -> tuple[np.ndarray, np.ndarray]: if i != self.rank: pos[i] = self._ros_connector_others.pos[name] quat[i] = self._ros_connector_others.quat[name] - vel[i] = self._ros_connector_others.vel[name] - ang_vel[i] = self._ros_connector_others.ang_vel[name] + # vel[i] = self._ros_connector_others.vel[name] + # ang_vel[i] = self._ros_connector_others.ang_vel[name] return pos, quat, vel, ang_vel @@ -250,7 +247,7 @@ def on_race_start(payload: str): self._race_start_time = time.perf_counter() - msg.elapsed_time self._last_host_elapsed_time = msg.elapsed_time latency_ms = compute_latency_ms(msg.timestamp) - logger.info(f"Client a{self.rank}: Received rce start (elapsed: {msg.elapsed_time:.3f}s, latency: {latency_ms:.2f}ms)") + logger.info(f"Client {self.rank}: Received race start (elapsed: {msg.elapsed_time:.3f}s, latency: {latency_ms:.2f}ms)") except Exception as e: logger.error(f"Error processing race start message: {e}") @@ -389,7 +386,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: terminated = self.data.target_gate[self.rank] == -1 # Check safety bounds - if np.any((self.pos_limit_low > drone_pos) | (drone_pos > self.pos_limit_high)): + if np.any((self.pos_limit_low > drone_pos[self.rank, :]) | (drone_pos[self.rank, :] > self.pos_limit_high)): logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") terminated = True @@ -487,10 +484,3 @@ def close(self): logger.info(f"Client {self.rank}: Environment closed") - -# Register the client environment -import gymnasium -gymnasium.register( - id="RealMultiDroneRacingClient-v0", - entry_point="lsy_drone_racing.envs.real_race_env_client:RealMultiDroneRaceEnvClient", -) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 96ebad0ea..d0f023511 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -14,7 +14,6 @@ import json import logging import multiprocessing as mp -import signal import threading import time from dataclasses import dataclass @@ -22,7 +21,8 @@ from pathlib import Path from typing import TYPE_CHECKING import concurrent.futures - +import struct +import signal import numpy as np from scipy.spatial.transform import Rotation as R, RigidTransform as Tr import rclpy @@ -62,7 +62,8 @@ class CrazyflieWorker: def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: str, ready_event: "mp.synchronize.Event", stop_event: "mp.synchronize.Event", init_pose: Tr, control_mode: str, control_freq: float = 50.0, - start_event: "mp.synchronize.Event | None" = None): + start_event: "mp.synchronize.Event | None" = None, + failure_event: "mp.synchronize.Event | None" = None): """Initialize the Crazyflie worker. Args: @@ -75,7 +76,8 @@ def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: st init_pose: Initial pose of the drone as a RigidTransform control_mode: Control mode, either "attitude" or "state" control_freq: Control frequency in Hz - all_clients_ready_event: Event to signal when all clients are ready (actions disabled until set) + start_event: Event to signal when all clients are ready (actions disabled until set) + failure_event: Event to signal if connection fails (shared with other workers) """ self.rank = rank self.drone_id = drone_id @@ -84,6 +86,7 @@ def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: st self.ready_event = ready_event self.stop_event = stop_event self.start_event = start_event + self.failure_event = failure_event self.init_pose = init_pose self.control_mode = control_mode.lower() self.control_freq = control_freq @@ -181,20 +184,34 @@ def _connect_drone(self): self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) cflib.crtp.init_drivers() - uri = f"radio://0/{self.drone_channel}/2M/E7E7E7E7E{self.drone_id:02X}" - - power_switch = PowerSwitch(uri) - power_switch.stm_power_cycle() - time.sleep(2) + uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" + # logger.info(f"URI : {uri}") + failure_msg: dict[str, str] = {"message": ""} + try: + power_switch = PowerSwitch(uri) + power_switch.stm_power_cycle() + wait_deadline = time.perf_counter() + 5.0 + while time.perf_counter() < wait_deadline: + if self.stop_event.is_set(): + raise InterruptedError("Stop requested during power-cycle wait") + time.sleep(0.05) + except InterruptedError as e: + raise e + except Exception as e: + self.logger.error(f'{e}') + self.failure_event.set() + raise e connection_event = mp.Event() + connection_failed_event = mp.Event() def on_connected(uri_connected): self.logger.info(f"Connected to {uri_connected}") connection_event.set() def on_connection_failed(uri_failed, msg): - raise RuntimeError(f"Connection failed to {uri_failed}: {msg}") + failure_msg["message"] = f"Connection failed to {uri_failed}: {msg}" + connection_failed_event.set() def on_disconnected(uri_disconnected): self.logger.info(f"Disconnected from {uri_disconnected}") @@ -204,8 +221,21 @@ def on_disconnected(uri_disconnected): self.drone.disconnected.add_callback(on_disconnected) self.drone.open_link(uri) - - if not connection_event.wait(timeout=30): + + timeout = 5.0 + poll_interval = 0.05 + start_time = time.perf_counter() + while time.perf_counter() - start_time < timeout: + if self.stop_event.is_set(): + raise InterruptedError("Stop requested while connecting to drone") + if connection_failed_event.is_set(): + self.failure_event.set() + raise RuntimeError(failure_msg["message"]) + if connection_event.is_set(): + break + time.sleep(poll_interval) + + if not connection_event.is_set(): raise TimeoutError(f"Timed out while waiting for the drone {self.drone_id} on channel {self.drone_channel}.") self.logger.info("Drone connected successfully") @@ -222,14 +252,18 @@ def _init_zenoh(self): self._on_client_state, ) - self.logger.info("Zenoh session initialized") + self.logger.info(f"Zenoh session for drone {self.rank} initialized") def _control_loop(self): """Main control loop - send actions to drone at control frequency.""" # Wait for all clients to be ready before executing actions self.logger.info("Waiting for all clients to be ready...") - self.start_event.wait() + while not self.start_event.is_set(): + if self.stop_event.is_set(): + self.logger.info("Stop event set while waiting for start event") + return + time.sleep(0.05) self.logger.info("All clients ready, starting action execution") dt = 1.0 / self.control_freq @@ -258,27 +292,68 @@ def _cleanup(self): if self.zenoh_session: self.zenoh_session.close() if self.drone: - # Send zero command before disconnecting - self.drone.commander.send_setpoint(0, 0, 0, 0) - self.drone.close_link() - + try: + pk = CRTPPacket() + pk.port = CRTPPort.LOCALIZATION + pk.channel = Localization.GENERIC_CH + pk.data = struct.pack(" zenoh.Session: + """Initialize Zenoh communication.""" + self._client_state_subs = {} + self._zenoh_session = create_zenoh_session(conf) + + # Create publishers + self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") + self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") + + # Subscribe to client state messages for readiness detection and stopped detection + for rank in range(self._num_drones): + def on_client_state(payload: str, rank=rank): + msg = deserialize_message(payload, ClientStateMessage) + latency_ms = compute_latency_ms(msg.timestamp) + + # Mark client as ready on first state message + if not self._clients_ready[rank]: + logger.debug(f"Client {rank} ready (received first state message, latency: {latency_ms:.2f}ms)") + self._clients_ready[rank] = True + + # Track stopped clients + if msg.stopped: + logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}, latency: {latency_ms:.2f}ms)") + self._clients_stopped[rank] = True + + sub = ZenohSubscriber( + self._zenoh_session, + f"lsy_drone_racing/client/{rank}/state", + on_client_state, + ) + self._client_state_subs[rank] = sub + + logger.info("Zenoh communication initialized") + return self._zenoh_session def load_config(self, config: ConfigDict): """Load configuration. @@ -402,21 +523,18 @@ def connect_drones(self): """Connect to all drones.""" raise NotImplementedError("Subclass must implement connect_drones") - def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: - """Initialize Zenoh session and communication. - - Args: - conf: Optional Zenoh configuration. - - Returns: - Zenoh session. - """ - raise NotImplementedError("Subclass must implement init_zenoh") - def host_main_loop(self): """Main loop of the host.""" raise NotImplementedError("Subclass must implement host_main_loop") + def close(self): + """Gracefully close all resources and shutdown the host. + + This method can be called at any point during the host lifecycle + and will properly clean up resources. + """ + raise NotImplementedError("Subclass must implement close") + class CrazyFlieRealRaceHost(RealRaceHost): """LSY's implementation of RealRaceHost for multi-drone racing with Crazyflies.""" @@ -425,34 +543,23 @@ class CrazyFlieRealRaceHost(RealRaceHost): _drone_ids: list[int] _drone_channels: list[int] _drone_models: list[str] - _drone_connections: dict[int, DroneConnection] + _drone_connections: dict[int, DroneConnection] | None _drone_control_freq: list[float] _all_clients_ready_event: "mp.synchronize.Event | None" + _mp_ctx: mp.context.BaseContext - _zenoh_session: zenoh.Session | None - _host_ready_pub: ZenohPublisher | None - _race_start_pub: ZenohPublisher | None - _client_ready_subs: dict[int, ZenohSubscriber] - _client_state_subs: dict[int, ZenohSubscriber] def __init__(self, config: ConfigDict): """Initialize LSYRealRaceHost.""" super().__init__(config) - self.gates = None - self.obstacles = None - self.drones_track = None - self.n_gates = 0 - self.n_obstacles = 0 - self.pos_limit_low = None - self.pos_limit_high = None - self._all_clients_ready_event = mp.Event() + self._mp_ctx = mp.get_context("spawn") + self._all_clients_ready_event = self._mp_ctx.Event() + self._drone_connections = None # Initialize early so close() can access it logger.info("Host: In IDLE state - checking track...") # TODO: Testing the pipeline without checking the track - # self.check_track(rng_config = config.env.randomizations) - logger.info("Host: Connecting to drones...") - self.connect_drones() + # self.check_track(rng_config = config.env.randomizations) def load_config(self, config: ConfigDict): """Load track configuration.""" @@ -468,7 +575,7 @@ def load_config(self, config: ConfigDict): self._drone_ids = [drone['id'] for drone in config.deploy.drones] self._drone_channels = [drone['channel'] for drone in config.deploy.drones] self._drone_models = [drone['drone_model'] for drone in config.deploy.drones] - self._drone_control_freq = [drone['freq'] for drone in config.env.kwargs.freq] + self._drone_control_freq = [kwargs['freq'] for kwargs in config.env.kwargs] # Initialize client tracking for rank in range(self._num_drones): @@ -542,26 +649,43 @@ def init_drone_connector(): logger.info("Host: Track check passed") def connect_drones(self): - """Connect to all Crazyflie drones by spawning individual processes.""" + """Connect to all Crazyflie drones by spawning individual processes. + + Uses non-blocking polling to wait for connections, allowing responsive + shutdown via stop_event during the connection phase. + """ logger.info(f"Host: Spawning processes for {self._num_drones} Crazyflie drones...") self._drone_connections = {} + # Create shared failure event for all workers + failure_event = self._mp_ctx.Event() + for rank in range(self._num_drones): drone_id = self._drone_ids[rank] channel = self._drone_channels[rank] drone_model = self._drone_models[rank] control_freq = self._drone_control_freq[rank] - init_pose = Tr(self.drones_track.pos[rank], R.from_quat(self.drones_track.quat[rank])) - control_mode = self._config.env.kwargs.control_mode + init_pose = Tr.from_components(translation=self.drones_track.pos[rank],rotation = R.from_quat(self.drones_track.quat[rank])) + control_mode = self._config.env.kwargs[rank]['control_mode'] # Create synchronization events - ready_event = mp.Event() - stop_event = mp.Event() + ready_event = self._mp_ctx.Event() + stop_event = self._mp_ctx.Event() # Spawn process - process = mp.Process( + process = self._mp_ctx.Process( target=crazyflie_process_worker, - args=(rank, drone_id, channel, drone_model, ready_event, stop_event, init_pose, control_mode, control_freq, self._all_clients_ready_event), + args=(rank, + drone_id, + channel, + drone_model, + ready_event, + stop_event, + init_pose, + control_mode, + self._all_clients_ready_event, + failure_event, + control_freq), name=f"CrazyflieProcess-{rank}", ) process.start() @@ -574,30 +698,56 @@ def connect_drones(self): process=process, ready_event=ready_event, stop_event=stop_event, + failure_event=failure_event, connected=False, ) self._drone_connections[rank] = conn logger.info(f"Spawned process for Crazyflie {rank} (PID: {process.pid})") - # Wait for all processes to be ready + # Non-blocking polling for process readiness logger.info("Waiting for all Crazyflie processes to be ready...") timeout = 30 # seconds + poll_interval = 0.5 # check every 500ms + start_time = time.perf_counter() + + while time.perf_counter() - start_time < timeout: + # Check if any worker has failed + if failure_event.is_set(): + logger.error("Worker failure detected! Signaling all workers to stop...") + # Signal all workers to stop + for conn in self._drone_connections.values(): + conn.stop_event.set() + raise RuntimeError("Connection failed in one of the Crazyflie workers. Stopping all workers.") + + # Check if all processes are ready + all_ready = all(conn.ready_event.is_set() for conn in self._drone_connections.values()) + if all_ready: + for conn in self._drone_connections.values(): + conn.connected = True + logger.info(f"Crazyflie {conn.rank} is ready") + logger.info(f"Host: All {self._num_drones} Crazyflie processes are ready") + self.state = RealRaceHostState.INITIALIZED + return + + # Check if any process has died unexpectedly + for rank, conn in self._drone_connections.items(): + if conn.process and not conn.process.is_alive() and not conn.ready_event.is_set(): + logger.error(f"Crazyflie process {rank} died unexpectedly without signaling ready") + # Signal all workers to stop + for other_conn in self._drone_connections.values(): + other_conn.stop_event.set() + raise RuntimeError(f"Process {rank} terminated unexpectedly during connection phase") + + # Poll with small delay to allow responsiveness to signals + time.sleep(poll_interval) - for rank, conn in self._drone_connections.items(): - if not conn.ready_event.wait(timeout=timeout): - raise TimeoutError(f"Timeout waiting for Crazyflie {rank} to be ready") - else: - conn.connected = True - logger.info(f"Crazyflie {rank} is ready") - - if len(self._drone_connections) == self._num_drones: - logger.info(f"Host: All {self._num_drones} Crazyflie processes are ready") - self.state = RealRaceHostState.INITIALIZED - else: - raise RuntimeError( - f"Host: Only {sum(c.connected for c in self._drone_connections.values())}/{self._num_drones} Crazyflie processes ready" - ) + # Timeout occurred + logger.error(f"Timeout waiting for Crazyflie processes to become ready") + # Signal all workers to stop + for conn in self._drone_connections.values(): + conn.stop_event.set() + raise TimeoutError(f"Timeout waiting for all {self._num_drones} Crazyflie processes to connect") def _update_track_poses(self, ros_connector: ROSConnector): """Update track poses from motion capture system. @@ -625,75 +775,56 @@ def _update_track_poses(self, ros_connector: ROSConnector): except Exception: logger.warning(f"Could not update pose for {tf_name}") - def _cleanup(self): - """Clean up Crazyflie-specific resources.""" - # Signal drone processes to stop - logger.info("Signaling Crazyflie processes to stop...") - for conn in self._drone_connections.values(): - if conn.stop_event: - conn.stop_event.set() - - # Wait for processes to finish - logger.info("Waiting for Crazyflie processes to finish...") - for rank, conn in self._drone_connections.items(): - if conn.process and conn.process.is_alive(): - conn.process.join(timeout=5) - if conn.process.is_alive(): - logger.warning(f"Crazyflie process {rank} did not terminate, killing...") - conn.process.terminate() - conn.process.join(timeout=2) - - # Close Zenoh publishers/subscribers + def close(self): + """Gracefully close all Crazyflie-specific resources and shutdown. + + This method performs shutdown in phases: + 1. Signal all drone processes to stop + 2. Wait for drone processes to finish with timeout + 3. Terminate any unresponsive processes + 4. Close Zenoh communication + """ + logger.info("Host shutting down...") + + # Phase 1: Signal all drone processes to stop + if self._drone_connections is not None: + logger.info("Phase 1: Signaling all Crazyflie processes to stop...") + for conn in self._drone_connections.values(): + if conn.stop_event: + conn.stop_event.set() + + # Phase 2: Wait for drone processes to finish with reasonable timeout + logger.info("Phase 2: Waiting for Crazyflie processes to finish...") + max_wait_per_process = 5 # seconds + for rank, conn in self._drone_connections.items(): + if conn.process and conn.process.is_alive(): + conn.process.join(timeout=max_wait_per_process) + if conn.process.is_alive(): + logger.warning(f"Process {rank} did not terminate, terminating...") + conn.process.terminate() + conn.process.join(timeout=2) + if conn.process.is_alive(): + logger.warning(f"Process {rank} still alive after terminate, killing...") + conn.process.kill() + conn.process.join() + else: + logger.info(f"Process {rank} terminated successfully") + + # Phase 3: Close Zenoh communication + logger.info("Phase 3: Closing Zenoh communication...") if self._host_ready_pub: self._host_ready_pub.close() if self._race_start_pub: self._race_start_pub.close() - for sub in self._client_state_subs.values(): - sub.close() - - # Close Zenoh session + if self._client_state_subs: + for sub in self._client_state_subs.values(): + sub.close() if self._zenoh_session: self._zenoh_session.close() - # Call parent cleanup - super()._cleanup() - - logger.info("Host: CrazyflieRaceHost cleanup complete") + logger.info("Host shutdown complete") + - def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: - """Initialize Zenoh communication.""" - self._client_state_subs = {} - self._zenoh_session = create_zenoh_session(conf) - - # Create publishers - self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") - self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") - - # Subscribe to client state messages for readiness detection and stopped detection - for rank in range(self._num_drones): - def on_client_state(payload: str, rank=rank): - msg = deserialize_message(payload, ClientStateMessage) - latency_ms = compute_latency_ms(msg.timestamp) - - # Mark client as ready on first state message - if not self._clients_ready[rank]: - logger.debug(f"Client {rank} ready (received first state message, latency: {latency_ms:.2f}ms)") - self._clients_ready[rank] = True - - # Track stopped clients - if msg.stopped: - logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}, latency: {latency_ms:.2f}ms)") - self._clients_stopped[rank] = True - - sub = ZenohSubscriber( - self._zenoh_session, - f"lsy_drone_racing/client/{rank}/state", - on_client_state, - ) - self._client_state_subs[rank] = sub - - logger.info("Zenoh communication initialized") - return self._zenoh_session def host_main_loop(self, race_update_freq : float = 50.0): """Main loop of the host.""" @@ -702,9 +833,6 @@ def host_main_loop(self, race_update_freq : float = 50.0): if self.state != RealRaceHostState.INITIALIZED: raise RuntimeError("Host: Failed to reach INITIALIZED state") - # Initialize Zenoh - self.init_zenoh() - 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sha256: 7916034efa867927892635733a3b6af8cd95ceb10566fd7f1e0d2763c2ee8b12 + sha256: ce6724bb7cb3d0543dcba17206dce909f94176e68220b8eafee72e9f92bcf542 requires_dist: - glfw-preview ; extra == 'preview' - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.86.2-hbcf1ec1_0.conda @@ -6390,7 +6383,7 @@ packages: - pypi: ./ name: lsy-drone-racing version: 0.0.1 - sha256: a03e3d11ff0e0c911bb17472120138b41d89e9d20de14173ca42d64acf75dfc2 + sha256: 4b40dd0a8fef1b3c3df3207c0602e5f87ca7eb1acc5b17c92180bdbe02732df4 requires_dist: - fire>=0.6.0 - numpy @@ -6406,6 +6399,7 @@ packages: - jax[cuda12] ; extra == 'gpu' - cfclient ; extra == 'deploy' - drone-estimators ; extra == 'deploy' + - eclipse-zenoh @ git+https://github.com/eclipse-zenoh/zenoh-python.git@1.7.2 ; extra == 'deploy' - torch==2.8.0 ; extra == 'rl' - wandb ; extra == 'rl' requires_python: '>=3.10' diff --git a/pyproject.toml b/pyproject.toml index fe91aa62f..062dccec9 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -42,6 +42,7 @@ gpu = ["jax[cuda12]"] deploy = [ "cfclient", "drone-estimators", + "eclipse-zenoh @ git+https://github.com/eclipse-zenoh/zenoh-python.git@1.7.2" ] # option[rl]: train rl policy rl = ["torch == 2.8.0", "wandb"] @@ -161,6 +162,18 @@ tests = { cmd = "pytest -v tests", description = "Run tests" } [tool.pixi.feature.tests.dependencies] pytest = "*" +[tool.pixi.feature.deploy.tasks.mocap] +cmd = "ros2 launch motion_capture_tracking launch.py" + +[tool.pixi.feature.deploy.tasks.estimator] +cmd = ["python", + "-m", + "drone_estimators.ros_nodes.ros2_node", + "--drone_name", + "{{drone_name}}"] +args = [{ "arg" = "drone_name", "default" = "cf10" }] + + # environments [tool.pixi.environments] default = { features = ["sim"], solve-group = "default" } diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 793cbe998..0bd9f37a4 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -29,7 +29,7 @@ def main( - config: str = "multi_level0.toml", + config: str = "multi_level2.toml", controller: str | None = None, drone_rank: int | None = None, ): @@ -61,7 +61,7 @@ def main( # Create environment env: RealMultiDroneRaceEnvClient = gymnasium.make( - "RealMultiDroneRacingClient-v0", + "RealMultiDroneRaceEnvClient-v0", drones=config_obj.deploy.drones, rank=drone_rank, freq=config_obj.env.kwargs[drone_rank]['freq'], @@ -84,7 +84,7 @@ def main( # Wait for race to start logger.info(f"Client {drone_rank}: Waiting for race to start...") - env.lock_until_race_start(timeout=60.0) + env.unwrapped.lock_until_race_start(timeout=60.0) logger.info(f"Client {drone_rank}: Starting control loop at {config_obj.env.kwargs[drone_rank]['freq']} Hz") start_time = time.perf_counter() diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 36831e52a..8acbe036c 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -25,39 +25,41 @@ logger = logging.getLogger(__name__) -def main(config: str = "multi_level0.toml"): +def main(config: str = "multi_level2.toml"): """Deploy and run the race host. Args: config: Path to the competition configuration. Assumes the file is in `config/`. """ # Setup logging - logging.basicConfig(level=logging.WARNING) + logging.basicConfig(level=logging.DEBUG) logging.getLogger("jax").setLevel(logging.ERROR) + logging.getLogger("cflib").setLevel(logging.WARNING) logger.setLevel(logging.INFO) - logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) + logging.getLogger("lsy_drone_racing").setLevel(logging.DEBUG) # Initialize ROS2 rclpy.init() + host = None try: # Load configuration config_obj = load_config(Path(__file__).parents[1] / "config" / config) - - # Create and run host + # Create host host = CrazyFlieRealRaceHost(config_obj) - logger.info("Host created, starting main loop...") + # Connect to drones + logger.info("Host created, connecting to drones...") + host.connect_drones() + # Start main loop + logger.info("Drones connected, starting main loop...") host.host_main_loop() - except KeyboardInterrupt: - logger.info("Host interrupted by user") + logger.info("Received keyboard interrupt, shutting down...") except Exception as e: logger.error(f"Host encountered an error: {e}", exc_info=True) finally: - try: - host._cleanup() - except Exception: - logger.exception("Error during host cleanup") + if host: + host.close() rclpy.shutdown() logger.info("Host shutdown complete") From 5764cad37dcf4d74aaa531fe5472875860500484 Mon Sep 17 00:00:00 2001 From: N0OB Date: Tue, 3 Mar 2026 22:27:01 +0100 Subject: [PATCH 06/97] Added latency calibration --- lsy_drone_racing/envs/real_race_env_client.py | 33 +++++++++ lsy_drone_racing/envs/real_race_host.py | 69 +++++++++++++++++-- lsy_drone_racing/utils/zenoh_utils.py | 33 ++++++++- 3 files changed, 127 insertions(+), 8 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 89e59bacf..fd69269da 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -31,6 +31,8 @@ from lsy_drone_racing.utils.zenoh_utils import ( ClientStateMessage, HostReadyMessage, + HostPingMessage, + ClientPongMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, @@ -141,8 +143,10 @@ def __init__( # Zenoh communication self._zenoh_session: zenoh.Session | None = None self._host_ready_sub: ZenohSubscriber | None = None + self._host_ping_sub: ZenohSubscriber | None = None self._race_start_sub: ZenohSubscriber | None = None self._client_state_pub: ZenohPublisher | None = None + self._client_pong_pub: ZenohPublisher | None = None # Race state self._host_ready = False @@ -151,6 +155,8 @@ def __init__( self._race_start_time = 0.0 self._should_stop = False self._last_host_elapsed_time = 0.0 + self._last_race_start_timestamp = 0.0 + self._clock_offset = 0.0 # Will be set during calibration self._jit_compiled = False @@ -240,12 +246,34 @@ def on_host_ready(payload: str): on_host_ready, ) + def on_host_ping(payload: str): + """Handle ping from host by immediately sending pong.""" + try: + msg = deserialize_message(payload, HostPingMessage) + if msg.drone_rank == self.rank: + pong_msg = ClientPongMessage( + drone_rank=self.rank, + host_timestamp=msg.host_timestamp, + client_timestamp=time.perf_counter(), + ) + self._client_pong_pub.publish(pong_msg) + logger.debug(f"Client {self.rank}: Sent pong for clock calibration") + except Exception as e: + logger.error(f"Error processing host ping message: {e}") + + self._host_ping_sub = ZenohSubscriber( + self._zenoh_session, + "lsy_drone_racing/host/ping", + on_host_ping, + ) + def on_race_start(payload: str): try: msg = deserialize_message(payload, RaceStartMessage) self._race_started = True self._race_start_time = time.perf_counter() - msg.elapsed_time self._last_host_elapsed_time = msg.elapsed_time + self._last_race_start_timestamp = msg.timestamp # Store for echo latency_ms = compute_latency_ms(msg.timestamp) logger.info(f"Client {self.rank}: Received race start (elapsed: {msg.elapsed_time:.3f}s, latency: {latency_ms:.2f}ms)") except Exception as e: @@ -263,6 +291,11 @@ def on_race_start(payload: str): f"lsy_drone_racing/client/{self.rank}/state", ) + self._client_pong_pub = ZenohPublisher( + self._zenoh_session, + f"lsy_drone_racing/client/{self.rank}/pong", + ) + logger.info(f"Client {self.rank}: Zenoh communication initialized") def _jit(self): diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index d0f023511..4f036b3af 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -41,6 +41,8 @@ from lsy_drone_racing.utils.zenoh_utils import ( ClientStateMessage, HostReadyMessage, + HostPingMessage, + ClientPongMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, @@ -169,14 +171,12 @@ def _send_action(self, action: NDArray[np.float32]): def _on_client_state(self, payload: str): """Handle client state messages containing actions.""" msg = deserialize_message(payload, ClientStateMessage) - latency_ms = compute_latency_ms(msg.timestamp) with self.action_lock: self.last_action = msg.action self.logger.debug( f"Received action from client (gate={msg.next_gate_idx}, " - f"latency={latency_ms:.2f}ms)" ) def _connect_drone(self): @@ -483,22 +483,22 @@ def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: # Create publishers self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") + self._host_ping_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ping") self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") # Subscribe to client state messages for readiness detection and stopped detection for rank in range(self._num_drones): def on_client_state(payload: str, rank=rank): msg = deserialize_message(payload, ClientStateMessage) - latency_ms = compute_latency_ms(msg.timestamp) # Mark client as ready on first state message if not self._clients_ready[rank]: - logger.debug(f"Client {rank} ready (received first state message, latency: {latency_ms:.2f}ms)") + logger.debug(f"Client {rank} ready (received first state message") self._clients_ready[rank] = True # Track stopped clients if msg.stopped: - logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}, latency: {latency_ms:.2f}ms)") + logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}") self._clients_stopped[rank] = True sub = ZenohSubscriber( @@ -508,6 +508,27 @@ def on_client_state(payload: str, rank=rank): ) self._client_state_subs[rank] = sub + # Subscribe to pong messages for clock offset calibration + self._client_pong_subs = {} + for rank in range(self._num_drones): + def on_client_pong(payload: str, rank=rank): + msg = deserialize_message(payload, ClientPongMessage) + # Calculate round-trip time + rtt = time.perf_counter() - msg.host_timestamp + # Clock offset = (RTT / 2) + (client_timestamp - host_timestamp) + # This accounts for the network delay and clock difference + half_rtt = rtt / 2.0 + clock_offset = (msg.client_timestamp - msg.host_timestamp) - half_rtt + self._client_clock_offsets[rank] = clock_offset + logger.info(f"Client {rank} clock offset calibrated: {clock_offset*1000:.2f}ms (RTT: {rtt*1000:.2f}ms)") + + sub = ZenohSubscriber( + self._zenoh_session, + f"lsy_drone_racing/client/{rank}/pong", + on_client_pong, + ) + self._client_pong_subs[rank] = sub + logger.info("Zenoh communication initialized") return self._zenoh_session @@ -547,7 +568,7 @@ class CrazyFlieRealRaceHost(RealRaceHost): _drone_control_freq: list[float] _all_clients_ready_event: "mp.synchronize.Event | None" _mp_ctx: mp.context.BaseContext - + _client_clock_offsets : dict[int, float] def __init__(self, config: ConfigDict): @@ -556,6 +577,7 @@ def __init__(self, config: ConfigDict): self._mp_ctx = mp.get_context("spawn") self._all_clients_ready_event = self._mp_ctx.Event() self._drone_connections = None # Initialize early so close() can access it + self._client_clock_offsets = {} # Store clock offsets for each client logger.info("Host: In IDLE state - checking track...") # TODO: Testing the pipeline without checking the track @@ -814,11 +836,16 @@ def close(self): logger.info("Phase 3: Closing Zenoh communication...") if self._host_ready_pub: self._host_ready_pub.close() + if self._host_ping_pub: + self._host_ping_pub.close() if self._race_start_pub: self._race_start_pub.close() if self._client_state_subs: for sub in self._client_state_subs.values(): sub.close() + if self._client_pong_subs: + for sub in self._client_pong_subs.values(): + sub.close() if self._zenoh_session: self._zenoh_session.close() @@ -826,6 +853,33 @@ def close(self): + + def _calibrate_client_clocks(self): + """Calibrate clock offsets with all clients via ping-pong. + + This should be called after all clients are ready but before the race starts. + """ + logger.info("Host: Calibrating client clocks via ping-pong...") + self._client_clock_offsets = {} + + # Send pings to all clients + for rank in range(self._num_drones): + msg = HostPingMessage(drone_rank=rank, host_timestamp=time.perf_counter()) + self._host_ping_pub.publish(msg) + + # Wait for all pongs with timeout + timeout = 10.0 # seconds + poll_interval = 0.01 # 10ms + start_time = time.perf_counter() + + while time.perf_counter() - start_time < timeout: + if len(self._client_clock_offsets) == self._num_drones: + logger.info(f"Host: All {self._num_drones} clients calibrated") + return + time.sleep(poll_interval) + + logger.warning(f"Host: Only {len(self._client_clock_offsets)} / {self._num_drones} clients calibrated within timeout") + def host_main_loop(self, race_update_freq : float = 50.0): """Main loop of the host.""" logger.info("Host: Starting main loop") @@ -854,6 +908,9 @@ def host_main_loop(self, race_update_freq : float = 50.0): if not all(self._clients_ready.values()): raise TimeoutError("Host: Timeout waiting for all clients to become ready") + # Calibrate client clocks + self._calibrate_client_clocks() + # Signal drone processes that all clients are ready logger.info("Host: Signaling drone processes that all clients are ready") self._all_clients_ready_event.set() diff --git a/lsy_drone_racing/utils/zenoh_utils.py b/lsy_drone_racing/utils/zenoh_utils.py index b8569489e..175133725 100644 --- a/lsy_drone_racing/utils/zenoh_utils.py +++ b/lsy_drone_racing/utils/zenoh_utils.py @@ -74,6 +74,32 @@ class ClientStateMessage: next_gate_idx: int = 0 +@dataclass +class HostPingMessage: + """Ping message from host to client for latency calibration. + + Attributes: + drone_rank: Rank of the drone. + host_timestamp: Timestamp when host sent this ping. + """ + drone_rank: int + host_timestamp: float + + +@dataclass +class ClientPongMessage: + """Pong message from client back to host for latency calibration. + + Attributes: + drone_rank: Rank of the drone. + host_timestamp: Echo of the host's timestamp from the ping. + client_timestamp: Timestamp when client sent this pong. + """ + drone_rank: int + host_timestamp: float + client_timestamp: float + + def serialize_message(message: Any) -> str: """Serialize a message dataclass to JSON. @@ -104,16 +130,19 @@ def deserialize_message(json_str: str, message_class: type) -> Any: return message_class(**msg_dict) -def compute_latency_ms(timestamp: float) -> float: +def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: """Compute latency in milliseconds from a given timestamp. Args: timestamp: Original timestamp when message was sent. + clock_offset: Optional clock offset between machines (in seconds) for correction. + Set this to the calibrated offset from ping-pong to correct for + clock skew between host and client machines. Returns: Latency in milliseconds. """ - return (time.perf_counter() - timestamp) * 1000 + return (time.perf_counter() - timestamp - clock_offset) * 1000 class ZenohPublisher: From f12bbf11bdc698c1c0442b4363c3da6e15798464 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 3 Mar 2026 22:50:51 +0100 Subject: [PATCH 07/97] Make unknown observation nan instead of zero --- lsy_drone_racing/envs/real_race_env_client.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 89e59bacf..7174d2deb 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -196,10 +196,10 @@ def _get_all_drone_states(self) -> tuple[np.ndarray, np.ndarray]: Returns: Tuple of (positions, quaternions). """ - pos = np.zeros((self.n_drones, 3), dtype=np.float32) - quat = np.zeros((self.n_drones, 4), dtype=np.float32) - ang_vel = np.zeros((self.n_drones, 3), dtype=np.float32) - vel = np.zeros((self.n_drones, 3), dtype=np.float32) + pos = np.full((self.n_drones, 3), np.nan, dtype=np.float32) + quat = np.full((self.n_drones, 4), np.nan, dtype=np.float32) + ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) + vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) # Own drone from high-precision estimator pos[self.rank] = self._ros_connector_own.pos[self.drone_name] quat[self.rank] = self._ros_connector_own.quat[self.drone_name] @@ -387,6 +387,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: # Check safety bounds if np.any((self.pos_limit_low > drone_pos[self.rank, :]) | (drone_pos[self.rank, :] > self.pos_limit_high)): + logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") terminated = True From 1e373f6892f3652abf8a6d7b9b54f4446937bca7 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 3 Mar 2026 23:07:23 +0100 Subject: [PATCH 08/97] Switched to time.time() from perf_counter() --- lsy_drone_racing/envs/real_race_env_client.py | 12 +++--- lsy_drone_racing/envs/real_race_host.py | 42 +++++++++---------- lsy_drone_racing/utils/zenoh_utils.py | 2 +- scripts/deploy_client.py | 10 ++--- 4 files changed, 33 insertions(+), 33 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index f70cf5f1a..e25a2f6c7 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -254,7 +254,7 @@ def on_host_ping(payload: str): pong_msg = ClientPongMessage( drone_rank=self.rank, host_timestamp=msg.host_timestamp, - client_timestamp=time.perf_counter(), + client_timestamp=time.time(), ) self._client_pong_pub.publish(pong_msg) logger.debug(f"Client {self.rank}: Sent pong for clock calibration") @@ -271,7 +271,7 @@ def on_race_start(payload: str): try: msg = deserialize_message(payload, RaceStartMessage) self._race_started = True - self._race_start_time = time.perf_counter() - msg.elapsed_time + self._race_start_time = time.time() - msg.elapsed_time self._last_host_elapsed_time = msg.elapsed_time self._last_race_start_timestamp = msg.timestamp # Store for echo latency_ms = compute_latency_ms(msg.timestamp) @@ -377,9 +377,9 @@ def send_state_messages(): def lock_until_race_start(self, timeout: float = 60.0): """Block until the race starts, with a timeout.""" logger.info(f"Client {self.rank}: Waiting for race to start...") - start_time = time.perf_counter() + start_time = time.time() while not self._race_started: - if time.perf_counter() - start_time > timeout: + if time.time() - start_time > timeout: raise TimeoutError(f"Client {self.rank}: Timeout waiting for race to start after {timeout}s.") logger.info(f"Client {self.rank}: Race started, proceeding with control loop") @@ -442,13 +442,13 @@ def _send_state_update(self, action: NDArray, stopped: bool): action: Current control action. stopped: Whether this client has stopped. """ - elapsed_time = time.perf_counter() - self._race_start_time if self._race_started else 0.0 + elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 state_msg = ClientStateMessage( drone_rank=self.rank, action=action.tolist() if isinstance(action, np.ndarray) else list(action), elapsed_time=elapsed_time, - timestamp=time.perf_counter(), + timestamp=time.time(), stopped=stopped or self._should_stop, next_gate_idx=int(self.data.target_gate[self.rank]), ) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 4f036b3af..cee49d498 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -190,8 +190,8 @@ def _connect_drone(self): try: power_switch = PowerSwitch(uri) power_switch.stm_power_cycle() - wait_deadline = time.perf_counter() + 5.0 - while time.perf_counter() < wait_deadline: + wait_deadline = time.time() + 5.0 + while time.time() < wait_deadline: if self.stop_event.is_set(): raise InterruptedError("Stop requested during power-cycle wait") time.sleep(0.05) @@ -224,8 +224,8 @@ def on_disconnected(uri_disconnected): timeout = 5.0 poll_interval = 0.05 - start_time = time.perf_counter() - while time.perf_counter() - start_time < timeout: + start_time = time.time() + while time.time() - start_time < timeout: if self.stop_event.is_set(): raise InterruptedError("Stop requested while connecting to drone") if connection_failed_event.is_set(): @@ -269,7 +269,7 @@ def _control_loop(self): dt = 1.0 / self.control_freq while not self.stop_event.is_set(): - start_time = time.perf_counter() + start_time = time.time() with self.action_lock: action = self.last_action @@ -279,7 +279,7 @@ def _control_loop(self): self._send_action(action_array) # Maintain control frequency - elapsed = time.perf_counter() - start_time + elapsed = time.time() - start_time if elapsed > dt: self.logger.warning(f"Control loop overrun: {elapsed:.3f}s, expected to be under {dt:.3f}s") sleep_time = max(0, dt - elapsed) @@ -467,7 +467,7 @@ def __init__(self, config: ConfigDict): self._shutdown_event = threading.Event() self._clients_ready: dict[int, bool] = {} self._clients_stopped: dict[int, bool] = {} - self._start_time = time.perf_counter() + self._start_time = time.time() self._host_ready_pub = None self._race_start_pub = None @@ -514,11 +514,11 @@ def on_client_state(payload: str, rank=rank): def on_client_pong(payload: str, rank=rank): msg = deserialize_message(payload, ClientPongMessage) # Calculate round-trip time - rtt = time.perf_counter() - msg.host_timestamp + rtt = time.time() - msg.host_timestamp # Clock offset = (RTT / 2) + (client_timestamp - host_timestamp) # This accounts for the network delay and clock difference half_rtt = rtt / 2.0 - clock_offset = (msg.client_timestamp - msg.host_timestamp) - half_rtt + clock_offset = (float(msg.client_timestamp) - float(msg.host_timestamp)) - half_rtt self._client_clock_offsets[rank] = clock_offset logger.info(f"Client {rank} clock offset calibrated: {clock_offset*1000:.2f}ms (RTT: {rtt*1000:.2f}ms)") @@ -731,9 +731,9 @@ def connect_drones(self): logger.info("Waiting for all Crazyflie processes to be ready...") timeout = 30 # seconds poll_interval = 0.5 # check every 500ms - start_time = time.perf_counter() + start_time = time.time() - while time.perf_counter() - start_time < timeout: + while time.time() - start_time < timeout: # Check if any worker has failed if failure_event.is_set(): logger.error("Worker failure detected! Signaling all workers to stop...") @@ -864,15 +864,15 @@ def _calibrate_client_clocks(self): # Send pings to all clients for rank in range(self._num_drones): - msg = HostPingMessage(drone_rank=rank, host_timestamp=time.perf_counter()) + msg = HostPingMessage(drone_rank=rank, host_timestamp=time.time()) self._host_ping_pub.publish(msg) # Wait for all pongs with timeout timeout = 10.0 # seconds poll_interval = 0.01 # 10ms - start_time = time.perf_counter() + start_time = time.time() - while time.perf_counter() - start_time < timeout: + while time.time() - start_time < timeout: if len(self._client_clock_offsets) == self._num_drones: logger.info(f"Host: All {self._num_drones} clients calibrated") return @@ -890,12 +890,12 @@ def host_main_loop(self, race_update_freq : float = 50.0): # INITIALIZED state: Wait for clients to be ready logger.info("Host: In INITIALIZED state - waiting for clients...") host_ready_freq = 10 # Hz - timeout = 30 # seconds - t_start = time.perf_counter() + timeout = 300 # seconds + t_start = time.time() - while time.perf_counter() - t_start < timeout: + while time.time() - t_start < timeout: # Send host ready messages - msg = HostReadyMessage(elapsed_time=0.0, timestamp=time.perf_counter()) + msg = HostReadyMessage(elapsed_time=0.0, timestamp=time.time()) self._host_ready_pub.publish(msg) # Check if all clients are ready @@ -918,16 +918,16 @@ def host_main_loop(self, race_update_freq : float = 50.0): # OPERATION state: Race started logger.info("Host: In OPERATION state - race started") self.state = RealRaceHostState.OPERATION - self._start_time = time.perf_counter() + self._start_time = time.time() while self.state == RealRaceHostState.OPERATION: - elapsed_time = time.perf_counter() - self._start_time + elapsed_time = time.time() - self._start_time # Send periodic race start messages finished = all(self._clients_stopped.values()) msg = RaceStartMessage( elapsed_time=elapsed_time, - timestamp=time.perf_counter(), + timestamp=time.time(), finished=finished, ) self._race_start_pub.publish(msg) diff --git a/lsy_drone_racing/utils/zenoh_utils.py b/lsy_drone_racing/utils/zenoh_utils.py index 175133725..b016e35ab 100644 --- a/lsy_drone_racing/utils/zenoh_utils.py +++ b/lsy_drone_racing/utils/zenoh_utils.py @@ -142,7 +142,7 @@ def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: Returns: Latency in milliseconds. """ - return (time.perf_counter() - timestamp - clock_offset) * 1000 + return (time.time() - timestamp - clock_offset) * 1000 class ZenohPublisher: diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 0bd9f37a4..7412203a6 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -84,14 +84,14 @@ def main( # Wait for race to start logger.info(f"Client {drone_rank}: Waiting for race to start...") - env.unwrapped.lock_until_race_start(timeout=60.0) + env.unwrapped.lock_until_race_start(timeout=120.0) logger.info(f"Client {drone_rank}: Starting control loop at {config_obj.env.kwargs[drone_rank]['freq']} Hz") - start_time = time.perf_counter() + start_time = time.time() # Main control loop while rclpy.ok(): - t_loop = time.perf_counter() + t_loop = time.time() # Compute control action = controller.compute_control(obs, info) @@ -110,14 +110,14 @@ def main( break # Maintain control frequency - dt = time.perf_counter() - t_loop + dt = time.time() - t_loop sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]['freq'] - dt if sleep_time > 0: time.sleep(sleep_time) else: logger.warning(f"Client {drone_rank}: Control loop exceeded frequency (overrun: {-sleep_time*1000:.1f}ms)") - ep_time = time.perf_counter() - start_time + ep_time = time.time() - start_time finished = obs["target_gate"][drone_rank] == -1 logger.info( f"Client {drone_rank}: Episode completed in {ep_time:.3f}s " From 756c5aa15017ffb808a0ba7e6716e240dbf507ff Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 17 Mar 2026 22:37:17 +0100 Subject: [PATCH 09/97] Made it work --- .../control/attitude_controller.py | 71 +-- lsy_drone_racing/control/state_controller.py | 5 +- lsy_drone_racing/envs/real_race_env_client.py | 110 +++-- lsy_drone_racing/envs/real_race_host.py | 458 ++++++++++-------- lsy_drone_racing/envs/utils.py | 11 +- lsy_drone_racing/utils/zenoh_utils.py | 44 +- scripts/deploy_client.py | 2 - scripts/deploy_host.py | 17 +- 8 files changed, 413 insertions(+), 305 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index b28482b2b..b9b4d84fa 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -37,8 +37,9 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self._freq = config.env.freq + self.rank = info.get('rank', 0) + self._freq = config.env.freq drone_params = load_params(config.sim.physics, config.sim.drone_model) self.drone_mass = drone_params["mass"] # alternatively from sim.drone_mass @@ -52,7 +53,8 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic # Same waypoints as in the position controller. Determined by trial and error. waypoints = np.array( [ - [-1.5, 0.75, 0.05], + [-1.5, 1.5, 0.05], + [-1.5, 1.2, 0.4], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], @@ -64,7 +66,9 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 15 # s + + + self._t_total = 20 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() @@ -87,46 +91,49 @@ def compute_control( [r_des, p_des, y_des, t_des] as a numpy array. """ t = min(self._tick / self._freq, self._t_total) - if t >= 3.0: # Maximum duration reached + if t >= 60.0: # Maximum duration reached self._finished = True - # des_pos = self._des_pos_spline(t) - # des_vel = self._des_vel_spline(t) - # des_yaw = 0.0 + des_pos = self._des_pos_spline(t) + des_vel = self._des_vel_spline(t) + des_yaw = 0.0 + + # Calculate the deviations from the desired trajectory + pos_error = des_pos - obs["pos"][self.rank] + vel_error = des_vel - obs["vel"][self.rank] - # # Calculate the deviations from the desired trajectory - # pos_error = des_pos - obs["pos"] - # vel_error = des_vel - obs["vel"] - # # Update integral error - # self.i_error += pos_error * (1 / self._freq) - # self.i_error = np.clip(self.i_error, -self.ki_range, self.ki_range) + # Update integral error + self.i_error += pos_error * (1 / self._freq) + self.i_error = np.clip(self.i_error, -self.ki_range, self.ki_range) - # # Compute target thrust - # target_thrust = np.zeros(3) - # target_thrust += self.kp * pos_error - # target_thrust += self.ki * self.i_error - # target_thrust += self.kd * vel_error - # target_thrust[2] += self.drone_mass * self.g + # Compute target thrust + target_thrust = np.zeros(3) + target_thrust += self.kp * pos_error + target_thrust += self.ki * self.i_error + target_thrust += self.kd * vel_error + target_thrust[2] += self.drone_mass * self.g - # # Update z_axis to the current orientation of the drone + # Update z_axis to the current orientation of the drone # z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] + z_axis = R.from_quat(obs["quat"][self.rank]).as_matrix()[:, 2] - # # update current thrust - # thrust_desired = target_thrust.dot(z_axis) + # update current thrust + thrust_desired = target_thrust.dot(z_axis) - # # update z_axis_desired - # z_axis_desired = target_thrust / np.linalg.norm(target_thrust) - # x_c_des = np.array([math.cos(des_yaw), math.sin(des_yaw), 0.0]) - # y_axis_desired = np.cross(z_axis_desired, x_c_des) - # y_axis_desired /= np.linalg.norm(y_axis_desired) - # x_axis_desired = np.cross(y_axis_desired, z_axis_desired) + # update z_axis_desired + z_axis_desired = target_thrust / np.linalg.norm(target_thrust) + x_c_des = np.array([math.cos(des_yaw), math.sin(des_yaw), 0.0]) + y_axis_desired = np.cross(z_axis_desired, x_c_des) + y_axis_desired /= np.linalg.norm(y_axis_desired) + x_axis_desired = np.cross(y_axis_desired, z_axis_desired) - # R_desired = np.vstack([x_axis_desired, y_axis_desired, z_axis_desired]).T - # euler_desired = R.from_matrix(R_desired).as_euler("xyz", degrees=False) + R_desired = np.vstack([x_axis_desired, y_axis_desired, z_axis_desired]).T + euler_desired = R.from_matrix(R_desired).as_euler("xyz", degrees=False) - # action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) - action = np.array([0.0,0.0,0.0,0.05], dtype=np.float32) + action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) + + # action = np.array([0.0,0.0,0.0,0.05], dtype=np.float32) return action def step_callback( diff --git a/lsy_drone_racing/control/state_controller.py b/lsy_drone_racing/control/state_controller.py index 45ae73637..b87bd55d3 100644 --- a/lsy_drone_racing/control/state_controller.py +++ b/lsy_drone_racing/control/state_controller.py @@ -36,12 +36,13 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic information such as disturbance configurations, randomizations, etc. """ super().__init__(obs, info, config) + self.rank = info.get('rank', 0) self._freq = config.env.freq - + # Same waypoints as in the attitude controller. Determined by trial and error. waypoints = np.array( [ - [-1.5, 0.75, 0.05], + [-1.5, 0.5, 0.03], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index e25a2f6c7..de95c2071 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -27,12 +27,12 @@ from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track -from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier from lsy_drone_racing.utils.zenoh_utils import ( ClientStateMessage, HostReadyMessage, - HostPingMessage, - ClientPongMessage, + HostInitializedMessage, + ClientPingMessage, + HostPongMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, @@ -125,9 +125,6 @@ def __init__( self.pos_limit_low = np.array(track.safety_limits["pos_limit_low"]) self.pos_limit_high = np.array(track.safety_limits["pos_limit_high"]) - # Store config - self.randomizations = randomizations - # Initialize JAX self.device = jax.devices("cpu")[0] @@ -162,8 +159,6 @@ def __init__( def _init_ros_connectors(self): """Initialize ROS connectors in parallel for speed.""" - - def init_own_connector(): """Initialize high-precision estimator connector for own drone.""" return ROSConnector( @@ -182,16 +177,13 @@ def init_others_connector(): timeout=10.0, ) - logger.info(f"Client {self.rank}: Initializing ROS connectors in parallel...") - try: - with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: - future_own = executor.submit(init_own_connector) - future_others = executor.submit(init_others_connector) - self._ros_connector_own = future_own.result() - self._ros_connector_others = future_others.result() - except Exception as e: - logger.error(f"Client {self.rank}: Failed to initialize ROS connectors: {e}") - raise + logger.info(f"Client {self.rank}: Initializing ROS connectors for drones in parallel...") + with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: + future_own = executor.submit(init_own_connector) + future_others = executor.submit(init_others_connector) + self._ros_connector_own = future_own.result() + self._ros_connector_others = future_others.result() + logger.info(f"Client {self.rank}: ROS connectors initialized") @@ -246,25 +238,46 @@ def on_host_ready(payload: str): on_host_ready, ) - def on_host_ping(payload: str): - """Handle ping from host by immediately sending pong.""" + def on_host_initialized(payload: str): + """Handle initialized message from host - trigger clock calibration.""" try: - msg = deserialize_message(payload, HostPingMessage) + msg = deserialize_message(payload, HostInitializedMessage) if msg.drone_rank == self.rank: - pong_msg = ClientPongMessage( + # Send ping immediately with client timestamp + ping_msg = ClientPingMessage( drone_rank=self.rank, - host_timestamp=msg.host_timestamp, client_timestamp=time.time(), ) - self._client_pong_pub.publish(pong_msg) - logger.debug(f"Client {self.rank}: Sent pong for clock calibration") + self._client_ping_pub.publish(ping_msg) + logger.debug(f"Client {self.rank}: Sent ping for clock calibration") + except Exception as e: + logger.error(f"Error processing host initialized message: {e}") + + self._host_initialized_sub = ZenohSubscriber( + self._zenoh_session, + "lsy_drone_racing/host/initialized", + on_host_initialized, + ) + + def on_host_pong(payload: str): + """Handle pong from host - calculate and store clock offset.""" + try: + msg = deserialize_message(payload, HostPongMessage) + if msg.drone_rank == self.rank: + # Calculate clock offset for this client + # offset = (host_time - client_time) - RTT/2 + # Since we're measuring RTT now, we approximate: + # offset = host_time - client_time (measured at approximately same moment) + # The RTT is typically small (~1-10ms for local/nearby machines) + self._clock_offset = float(msg.host_timestamp) - time.time() + logger.info(f"Client {self.rank}: Clock offset calibrated: {self._clock_offset*1000:.2f}ms") except Exception as e: - logger.error(f"Error processing host ping message: {e}") + logger.error(f"Error processing host pong message: {e}") - self._host_ping_sub = ZenohSubscriber( + self._host_pong_sub = ZenohSubscriber( self._zenoh_session, - "lsy_drone_racing/host/ping", - on_host_ping, + "lsy_drone_racing/host/pong", + on_host_pong, ) def on_race_start(payload: str): @@ -275,7 +288,6 @@ def on_race_start(payload: str): self._last_host_elapsed_time = msg.elapsed_time self._last_race_start_timestamp = msg.timestamp # Store for echo latency_ms = compute_latency_ms(msg.timestamp) - logger.info(f"Client {self.rank}: Received race start (elapsed: {msg.elapsed_time:.3f}s, latency: {latency_ms:.2f}ms)") except Exception as e: logger.error(f"Error processing race start message: {e}") @@ -291,9 +303,9 @@ def on_race_start(payload: str): f"lsy_drone_racing/client/{self.rank}/state", ) - self._client_pong_pub = ZenohPublisher( + self._client_ping_pub = ZenohPublisher( self._zenoh_session, - f"lsy_drone_racing/client/{self.rank}/pong", + f"lsy_drone_racing/client/{self.rank}/ping", ) logger.info(f"Client {self.rank}: Zenoh communication initialized") @@ -332,9 +344,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl Initial observation and info. """ options = {} if options is None else options - - logger.info(f"Client {self.rank}: Resetting environment...") - + # Initialize ROS connectors if not already done if self._ros_connector_own is None: self._init_ros_connectors() @@ -356,7 +366,13 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl def send_state_messages(): """Background thread to send state messages every 0.1s until race starts.""" while not stop_sending.is_set(): - self._send_state_update(np.zeros(4), stopped=False) + if self.control_mode == "attitude": + dummy_action = np.zeros(4, dtype=np.float32) + else: + dummy_action = np.zeros(13, dtype=np.float32) + dummy_action[:3] = current_positions[self.rank] # Send current position as dummy action + dummy_action[2] = 0.3 + self._send_state_update(dummy_action, stopped=False) time.sleep(0.1) sender_thread = threading.Thread(target=send_state_messages, daemon=True) @@ -395,7 +411,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: """ # Get drone states - drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() + drone_pos, _, _, _ = self._get_all_drone_states() # Check sensor visibility dpos = drone_pos[:, None, :2] - self.gates.pos[None, :, :2] @@ -420,7 +436,6 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: # Check safety bounds if np.any((self.pos_limit_low > drone_pos[self.rank, :]) | (drone_pos[self.rank, :] > self.pos_limit_high)): - logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") terminated = True @@ -444,11 +459,14 @@ def _send_state_update(self, action: NDArray, stopped: bool): """ elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 + # Adjust timestamp to match host's clock using calibrated offset + adjusted_timestamp = time.time() + self._clock_offset + state_msg = ClientStateMessage( drone_rank=self.rank, action=action.tolist() if isinstance(action, np.ndarray) else list(action), elapsed_time=elapsed_time, - timestamp=time.time(), + timestamp=adjusted_timestamp, stopped=stopped or self._should_stop, next_gate_idx=int(self.data.target_gate[self.rank]), ) @@ -495,7 +513,7 @@ def obs(self) -> dict[str, NDArray]: def info(self) -> dict: """Get info dictionary.""" - return {} + return {'rank': self.rank} def close(self): """Close the environment.""" @@ -503,16 +521,22 @@ def close(self): # Send final stop message if self._client_state_pub: - self._send_state_update(np.zeros(4), stopped=True) - time.sleep(0.1) # Give message time to send + if self.control_mode == "attitude": + self._send_state_update(np.zeros(4), stopped=True) - # Close Zenoh + # Close Zenoh subscribers and publishers if self._host_ready_sub: self._host_ready_sub.close() + if self._host_initialized_sub: + self._host_initialized_sub.close() + if self._host_pong_sub: + self._host_pong_sub.close() if self._race_start_sub: self._race_start_sub.close() if self._client_state_pub: self._client_state_pub.close() + if self._client_ping_pub: + self._client_ping_pub.close() if self._zenoh_session: self._zenoh_session.close() diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index cee49d498..700ebbbea 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -41,8 +41,9 @@ from lsy_drone_racing.utils.zenoh_utils import ( ClientStateMessage, HostReadyMessage, - HostPingMessage, - ClientPongMessage, + HostInitializedMessage, + ClientPingMessage, + HostPongMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, @@ -60,12 +61,21 @@ class CrazyflieWorker: """Worker class for managing a single Crazyflie drone in a separate process.""" - - def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: str, - ready_event: "mp.synchronize.Event", stop_event: "mp.synchronize.Event", - init_pose: Tr, control_mode: str, control_freq: float = 50.0, + POS_UPDATE_FREQ = 30 + + def __init__(self, + rank: int, + drone_id: int, + drone_channel: int, + drone_model: str, + ready_event: "mp.synchronize.Event", + stop_event: "mp.synchronize.Event", + init_pose: Tr, + control_mode: str, + control_freq: float = 50.0, start_event: "mp.synchronize.Event | None" = None, - failure_event: "mp.synchronize.Event | None" = None): + failure_event: "mp.synchronize.Event | None" = None, + clock_offset : float = 0.0): """Initialize the Crazyflie worker. Args: @@ -92,7 +102,8 @@ def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: st self.init_pose = init_pose self.control_mode = control_mode.lower() self.control_freq = control_freq - + self.clock_offset = clock_offset + # Configure logging for subprocess logging.basicConfig( level=logging.INFO, @@ -100,38 +111,40 @@ def __init__(self, rank: int, drone_id: int, drone_channel: int, drone_model: st ) self.logger = logging.getLogger(__name__) + self.drone_name = f"cf{drone_id}" self.drone = None self.zenoh_session = None self.state_sub = None self.params = None self.last_action = None self.action_lock = threading.Lock() + self._ros_connector: ROSConnector | None = None + self._last_drone_pos_update: float = 0.0 - @staticmethod - def _apply_drone_settings(drone: Crazyflie): + def _apply_drone_settings(self): """Apply firmware settings to the drone. Note: These settings are also required to make the high-level drone commander work properly. """ # Estimators: 1: complementary, 2: kalman. We recommend kalman based on real-world tests - drone.param.set_value("stabilizer.estimator", 2) + self.drone.param.set_value("stabilizer.estimator", 2) time.sleep(0.1) # TODO: Maybe remove # enable/disable tumble control. Required 0 for agressive maneuvers - drone.param.set_value("supervisor.tmblChckEn", 1) + self.drone.param.set_value("supervisor.tmblChckEn", 1) # Choose controller: 1: PID; 2:Mellinger - drone.param.set_value("stabilizer.controller", 2) + self.drone.param.set_value("stabilizer.controller", 2) # rate: 0, angle: 1 - drone.param.set_value("flightmode.stabModeRoll", 1) - drone.param.set_value("flightmode.stabModePitch", 1) - drone.param.set_value("flightmode.stabModeYaw", 1) + self.drone.param.set_value("flightmode.stabModeRoll", 1) + self.drone.param.set_value("flightmode.stabModePitch", 1) + self.drone.param.set_value("flightmode.stabModeYaw", 1) time.sleep(0.1) # Wait for settings to be applied def _crazyflie_reset(self): """Reset the Crazyflie drone to a safe state.""" # Send zero command to motors self.drone.platform.send_arming_request(True) - self._apply_drone_settings(self.drone) + self._apply_drone_settings() pos = self.init_pose.translation # Reset Kalman filter values self.drone.param.set_value("kalman.initialX", pos[0]) @@ -142,6 +155,9 @@ def _crazyflie_reset(self): self.drone.param.set_value("kalman.resetEstimation", "1") time.sleep(0.1) self.drone.param.set_value("kalman.resetEstimation", "0") + if self.control_mode == "attitude": + # Unlock thrust mode protection by sending a zero thrust command + self.drone.commander.send_setpoint(0, 0, 0, 0) def _send_action(self, action: NDArray[np.float32]): """Send action command to the drone. @@ -156,6 +172,7 @@ def _send_action(self, action: NDArray[np.float32]): action[3], self.params["thrust_max"] * 4, self.params["pwm_max"] ) pwm = np.clip(pwm, self.params["pwm_min"], self.params["pwm_max"]) + self.logger.info(f"Sending attitude command: roll={action[0]}, pitch={action[1]}, yaw={action[2]}, thrust={action[3]}N (pwm={pwm})") action_cmd = (*np.rad2deg(action[:3]), int(pwm)) self.drone.commander.send_setpoint(*action_cmd) else: # state control @@ -164,6 +181,7 @@ def _send_action(self, action: NDArray[np.float32]): pos, vel, acc = action[:3], action[3:6], action[6:9] quat = R.from_euler("z", action[9]).as_quat() rollrate, pitchrate, yawrate = action[10:] + logger.info(f"Sending state command: pos={pos}, vel={vel}, acc={acc}, yaw={action[9]}, rollrate={rollrate}, pitchrate={pitchrate}, yawrate={yawrate}") self.drone.commander.send_full_state_setpoint( pos, vel, acc, quat, rollrate, pitchrate, yawrate ) @@ -175,8 +193,12 @@ def _on_client_state(self, payload: str): with self.action_lock: self.last_action = msg.action + # Client sends timestamps already adjusted for clock offset, + # so we can calculate latency directly using host's time.time() + latency_ms = (time.time() - msg.timestamp) * 1000 self.logger.debug( f"Received action from client (gate={msg.next_gate_idx}, " + f"latency = {latency_ms:.2f}ms)" ) def _connect_drone(self): @@ -185,17 +207,17 @@ def _connect_drone(self): self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) cflib.crtp.init_drivers() uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" - # logger.info(f"URI : {uri}") failure_msg: dict[str, str] = {"message": ""} try: power_switch = PowerSwitch(uri) power_switch.stm_power_cycle() - wait_deadline = time.time() + 5.0 + wait_deadline = time.time() + 10.0 while time.time() < wait_deadline: if self.stop_event.is_set(): raise InterruptedError("Stop requested during power-cycle wait") time.sleep(0.05) except InterruptedError as e: + self.logger.info(f"Interrupted during power cycle wait: {e}") raise e except Exception as e: self.logger.error(f'{e}') @@ -204,25 +226,32 @@ def _connect_drone(self): connection_event = mp.Event() connection_failed_event = mp.Event() - + def on_connected(uri_connected): self.logger.info(f"Connected to {uri_connected}") connection_event.set() - + def on_connection_failed(uri_failed, msg): failure_msg["message"] = f"Connection failed to {uri_failed}: {msg}" connection_failed_event.set() - + + def on_connection_lost(uri_lost, msg): + # Triggered by e.g. "Too many packets lost" — treat as fatal during connection phase + if not connection_event.is_set(): + failure_msg["message"] = f"Connection lost to {uri_lost}: {msg}" + connection_failed_event.set() + def on_disconnected(uri_disconnected): self.logger.info(f"Disconnected from {uri_disconnected}") - + self.drone.fully_connected.add_callback(on_connected) self.drone.connection_failed.add_callback(on_connection_failed) + self.drone.connection_lost.add_callback(on_connection_lost) self.drone.disconnected.add_callback(on_disconnected) - + self.drone.open_link(uri) - timeout = 5.0 + timeout = 10.0 poll_interval = 0.05 start_time = time.time() while time.time() - start_time < timeout: @@ -236,6 +265,7 @@ def on_disconnected(uri_disconnected): time.sleep(poll_interval) if not connection_event.is_set(): + self.failure_event.set() raise TimeoutError(f"Timed out while waiting for the drone {self.drone_id} on channel {self.drone_channel}.") self.logger.info("Drone connected successfully") @@ -252,41 +282,54 @@ def _init_zenoh(self): self._on_client_state, ) - self.logger.info(f"Zenoh session for drone {self.rank} initialized") - + self.logger.debug(f"Zenoh session for drone {self.rank} initialized") + + def _init_ros_connector(self): + """Initialize ROS connector for reading own drone pose.""" + self.logger.info(f"Initializing ROS connector for {self.drone_name}...") + self._ros_connector = ROSConnector( + estimator_names=[self.drone_name], + cmd_topic=f"/drones/{self.drone_name}/command", + timeout=10.0, + ) + self.logger.info(f"ROS connector for {self.drone_name} initialized") + def _control_loop(self): """Main control loop - send actions to drone at control frequency.""" # Wait for all clients to be ready before executing actions - + dt = 1.0 / self.control_freq self.logger.info("Waiting for all clients to be ready...") while not self.start_event.is_set(): if self.stop_event.is_set(): self.logger.info("Stop event set while waiting for start event") return - time.sleep(0.05) - self.logger.info("All clients ready, starting action execution") - - dt = 1.0 / self.control_freq - + time.sleep(0.001) + + self._last_drone_pos_update = time.perf_counter() + while not self.stop_event.is_set(): start_time = time.time() - with self.action_lock: action = self.last_action - if action is not None: action_array = np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) self._send_action(action_array) - - # Maintain control frequency elapsed = time.time() - start_time if elapsed > dt: self.logger.warning(f"Control loop overrun: {elapsed:.3f}s, expected to be under {dt:.3f}s") sleep_time = max(0, dt - elapsed) + if (t := time.perf_counter()) - self._last_drone_pos_update > 1 / self.POS_UPDATE_FREQ: + pos = self._ros_connector.pos[self.drone_name] + quat = self._ros_connector.quat[self.drone_name] + self.drone.extpos.send_extpose(*pos, *quat) + self._last_drone_pos_update = t + time.sleep(sleep_time) def _cleanup(self): """Clean up resources.""" + if self._ros_connector: + self._ros_connector.close() if self.state_sub: self.state_sub.close() if self.zenoh_session: @@ -300,10 +343,12 @@ def _cleanup(self): self.drone.send_packet(pk) finally: self.drone.close_link() + rclpy.shutdown() self.logger.info("Drone process finished") def run(self): """Main entry point for the worker process.""" + rclpy.init() try: # Check if stop requested before doing any work if self.stop_event.is_set(): @@ -314,7 +359,7 @@ def run(self): # Load drone parameters self.params = load_params(physics = "first_principles", drone_model = self.drone_model) - self.logger.info(f"Loaded parameters for {self.drone_model}") + self.logger.debug(f"Loaded parameters for {self.drone_model}") # Check if stop requested before connecting if self.stop_event.is_set(): @@ -326,21 +371,8 @@ def run(self): self._connect_drone() except InterruptedError as e: # InterruptedError with stop_event set is an intentional shutdown path. - self.logger.info(f"Connection interrupted by stop request: {e}") return - except (TimeoutError, RuntimeError) as e: - self.logger.error(f"Failed to connect to drone: {e}") - # Signal failure to host and other workers - if self.failure_event: - self.failure_event.set() - self.logger.info("Failure event set, notifying host to stop other workers") - raise - except Exception as e: - self.logger.error(f"Unexpected error during drone connection: {e}", exc_info=True) - if self.failure_event: - self.failure_event.set() - self.logger.info("Failure event set due to unexpected error, notifying host to stop other workers") - raise + # Check if stop requested after connection but before reset if self.stop_event.is_set(): self.logger.info("Stop event set after connection, exiting") @@ -349,14 +381,17 @@ def run(self): # Reset drone to initial state self._crazyflie_reset() - # Check if stop requested before zenoh init + # Check if stop requested before ROS/Zenoh init if self.stop_event.is_set(): - self.logger.info("Stop event set before Zenoh initialization, exiting") + self.logger.info("Stop event set before ROS/Zenoh initialization, exiting") return - + + # Initialize ROS connector for extpos updates + self._init_ros_connector() + # Initialize Zenoh self._init_zenoh() - + # Signal ready self.ready_event.set() self.logger.info("Drone process ready") @@ -365,8 +400,6 @@ def run(self): if self.stop_event.is_set(): self.logger.info("Stop event set before control loop, exiting") return - - # Run control loop self._control_loop() self.logger.info("Drone process stopping") @@ -387,7 +420,7 @@ def crazyflie_process_worker( start_event: "mp.synchronize.Event", failure_event: "mp.synchronize.Event | None" = None, control_freq: float = 50.0, - + clock_offset : float = 0.0 ): """Entry point for Crazyflie worker process. @@ -407,6 +440,7 @@ def crazyflie_process_worker( control_freq=control_freq, start_event=start_event, failure_event=failure_event, + clock_offset=clock_offset ) worker.run() @@ -483,22 +517,23 @@ def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: # Create publishers self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") - self._host_ping_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ping") + self._host_initialized_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/initialized") + self._host_pong_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/pong") self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") # Subscribe to client state messages for readiness detection and stopped detection for rank in range(self._num_drones): - def on_client_state(payload: str, rank=rank): + def on_client_state(payload: str, rank = rank): msg = deserialize_message(payload, ClientStateMessage) # Mark client as ready on first state message if not self._clients_ready[rank]: - logger.debug(f"Client {rank} ready (received first state message") + logger.debug(f"Client {rank} ready (received first state message)") self._clients_ready[rank] = True # Track stopped clients if msg.stopped: - logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx}") + logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx})") self._clients_stopped[rank] = True sub = ZenohSubscriber( @@ -508,26 +543,26 @@ def on_client_state(payload: str, rank=rank): ) self._client_state_subs[rank] = sub - # Subscribe to pong messages for clock offset calibration - self._client_pong_subs = {} + # Subscribe to client ping messages for clock offset calibration + # Clients send ping after receiving initialized message + self._client_ping_subs = {} for rank in range(self._num_drones): - def on_client_pong(payload: str, rank=rank): - msg = deserialize_message(payload, ClientPongMessage) - # Calculate round-trip time - rtt = time.time() - msg.host_timestamp - # Clock offset = (RTT / 2) + (client_timestamp - host_timestamp) - # This accounts for the network delay and clock difference - half_rtt = rtt / 2.0 - clock_offset = (float(msg.client_timestamp) - float(msg.host_timestamp)) - half_rtt - self._client_clock_offsets[rank] = clock_offset - logger.info(f"Client {rank} clock offset calibrated: {clock_offset*1000:.2f}ms (RTT: {rtt*1000:.2f}ms)") + def on_client_ping(payload: str, rank = rank): + # msg = deserialize_message(payload, ClientPingMessage) + # Send pong immediately with host timestamp + pong_msg = HostPongMessage( + drone_rank=rank, + host_timestamp=time.time(), + ) + self._host_pong_pub.publish(pong_msg) + logger.debug(f"Host: Sent pong to client {rank}") sub = ZenohSubscriber( self._zenoh_session, - f"lsy_drone_racing/client/{rank}/pong", - on_client_pong, + f"lsy_drone_racing/client/{rank}/ping", + on_client_ping, ) - self._client_pong_subs[rank] = sub + self._client_ping_subs[rank] = sub logger.info("Zenoh communication initialized") return self._zenoh_session @@ -579,9 +614,8 @@ def __init__(self, config: ConfigDict): self._drone_connections = None # Initialize early so close() can access it self._client_clock_offsets = {} # Store clock offsets for each client - logger.info("Host: In IDLE state - checking track...") # TODO: Testing the pipeline without checking the track - # self.check_track(rng_config = config.env.randomizations) + def load_config(self, config: ConfigDict): """Load track configuration.""" @@ -603,72 +637,43 @@ def load_config(self, config: ConfigDict): for rank in range(self._num_drones): self._clients_ready[rank] = False self._clients_stopped[rank] = False + + + def check_track(self, + rng_config: ConfigDict, + check_objects: bool = True, + check_drones: bool = True) -> None: + """Check and validate the track and drones""" + + if not check_objects and not check_drones: + logger.info("Skipping track check (check_objects and check_drones are both False)") + return + + logger.info("Checking track configuration...") - def check_track(self, rng_config: ConfigDict): - """Check and validate the track.""" - logger.info("Host: Checking track configuration...") - - # Initialize ROS connectors in parallel - def init_track_connector(): - """Initialize connector for track objects.""" - tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] - tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] - try: - ros_connector = ROSConnector(tf_names=tf_names, timeout=10.0) - return ros_connector - - except Exception as e: - return e - - def init_drone_connector(): - """Initialize connector for drone positions.""" - try: - ros_connector = ROSConnector(tf_names=self._drone_names, timeout=10.0) - return ros_connector - except Exception as e: - return e - - logger.info("Host: Initializing ROS connectors in parallel...") - with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: - future_track = executor.submit(init_track_connector) - future_drones = executor.submit(init_drone_connector) - - ros_connector_track = future_track.result() - ros_connector_drones = future_drones.result() - - if isinstance(ros_connector_track, Exception): - raise ros_connector_track - if isinstance(ros_connector_drones, Exception): - raise ros_connector_drones - - # Update track poses from motion capture - self._update_track_poses(ros_connector_track) - - # Check race track - check_race_track( - gates_pos=self.gates.pos, - nominal_gates_pos=self.gates.nominal_pos, - gates_quat=self.gates.quat, - nominal_gates_quat=self.gates.nominal_quat, - obstacles_pos=self.obstacles.pos, - nominal_obstacles_pos=self.obstacles.nominal_pos, - rng_config=rng_config, - ) - - # Check drone start positions - for rank, drone_name in enumerate(self._drone_names): - check_drone_start_pos( - nominal_pos=self.drones_track.pos[rank], - real_pos=ros_connector_drones.pos[drone_name], + if check_objects: + check_race_track( + gates_pos=self.gates.pos, + nominal_gates_pos=self.gates.nominal_pos, + gates_quat=self.gates.quat, + nominal_gates_quat=self.gates.nominal_quat, + obstacles_pos=self.obstacles.pos, + nominal_obstacles_pos=self.obstacles.nominal_pos, rng_config=rng_config, - drone_name=drone_name, ) + logger.info("Track object check passed") + + if check_drones: + for rank, drone_name in enumerate(self._drone_names): + check_drone_start_pos( + nominal_pos=self.drones_track.nominal_pos[rank], + real_pos=self.drones_track.pos[rank], + rng_config=rng_config, + drone_name=drone_name, + ) + logger.info("Drone start position check passed") + - # Close temporary connectors - ros_connector_track.close() - ros_connector_drones.close() - - logger.info("Host: Track check passed") def connect_drones(self): """Connect to all Crazyflie drones by spawning individual processes. @@ -676,7 +681,7 @@ def connect_drones(self): Uses non-blocking polling to wait for connections, allowing responsive shutdown via stop_event during the connection phase. """ - logger.info(f"Host: Spawning processes for {self._num_drones} Crazyflie drones...") + logger.info(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._drone_connections = {} # Create shared failure event for all workers @@ -707,36 +712,36 @@ def connect_drones(self): control_mode, self._all_clients_ready_event, failure_event, - control_freq), + control_freq, + 0.00), name=f"CrazyflieProcess-{rank}", ) process.start() # Store connection info conn = DroneConnection( - rank=rank, - drone_id=drone_id, - drone_channel=channel, - process=process, - ready_event=ready_event, - stop_event=stop_event, - failure_event=failure_event, - connected=False, + rank = rank, + drone_id = drone_id, + drone_channel = channel, + process = process, + ready_event = ready_event, + stop_event = stop_event, + failure_event = failure_event, + connected = False, ) self._drone_connections[rank] = conn - logger.info(f"Spawned process for Crazyflie {rank} (PID: {process.pid})") + logger.debug(f"Spawned process for Crazyflie {rank} (PID: {process.pid})") # Non-blocking polling for process readiness logger.info("Waiting for all Crazyflie processes to be ready...") - timeout = 30 # seconds - poll_interval = 0.5 # check every 500ms + timeout = 100 # seconds + poll_interval = 0.1 start_time = time.time() while time.time() - start_time < timeout: # Check if any worker has failed if failure_event.is_set(): - logger.error("Worker failure detected! Signaling all workers to stop...") # Signal all workers to stop for conn in self._drone_connections.values(): conn.stop_event.set() @@ -755,7 +760,6 @@ def connect_drones(self): # Check if any process has died unexpectedly for rank, conn in self._drone_connections.items(): if conn.process and not conn.process.is_alive() and not conn.ready_event.is_set(): - logger.error(f"Crazyflie process {rank} died unexpectedly without signaling ready") # Signal all workers to stop for other_conn in self._drone_connections.values(): other_conn.stop_event.set() @@ -764,41 +768,78 @@ def connect_drones(self): # Poll with small delay to allow responsiveness to signals time.sleep(poll_interval) - # Timeout occurred - logger.error(f"Timeout waiting for Crazyflie processes to become ready") # Signal all workers to stop for conn in self._drone_connections.values(): conn.stop_event.set() raise TimeoutError(f"Timeout waiting for all {self._num_drones} Crazyflie processes to connect") - def _update_track_poses(self, ros_connector: ROSConnector): - """Update track poses from motion capture system. + def update_poses(self, track_obj: bool = False, drones : bool = False) -> None: + """Update poses from motion capture system. Args: - ros_connector: ROSConnector with track object tf_names. + track_obj: Whether to update track object poses (gates and obstacles) from ROS tf_names + drones: Whether to update drone poses from ROS tf_names """ - tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] - for i, tf_name in enumerate(tf_names): - try: - pos = ros_connector.pos[tf_name] - quat = ros_connector.quat[tf_name] - self.gates.pos[i] = pos - self.gates.quat[i] = quat - except Exception: - logger.warning(f"Could not update pose for {tf_name}") - - tf_names = [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] - for i, tf_name in enumerate(tf_names): - try: - pos = ros_connector.pos[tf_name] - quat = ros_connector.quat[tf_name] - self.obstacles.pos[i] = pos - self.obstacles.quat[i] = quat - except Exception: - logger.warning(f"Could not update pose for {tf_name}") - + if not track_obj and not drones: + logger.debug("No pose updates requested for track objects or drones") + return + + logger.info("Initializing ROS connectors in for pose updates...") + + ros_connector_track = None + ros_connector_drones = None + + def init_track_connector() -> ROSConnector | None: + """Initialize connector for track objects.""" + tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] + tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] + return ROSConnector(tf_names=tf_names, timeout=10.0) + + + def init_drone_connector() -> ROSConnector | None: + """Initialize connector for drone positions.""" + return ROSConnector(tf_names=self._drone_names, timeout=10.0) + + try: + with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: + if track_obj: + future_track = executor.submit(init_track_connector) + if drones: + future_drones = executor.submit(init_drone_connector) + if track_obj: + ros_connector_track = future_track.result() + if drones: + ros_connector_drones = future_drones.result() + + if track_obj: + tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] + for i, tf_name in enumerate(tf_names): + pos = ros_connector_track.pos[tf_name] + quat = ros_connector_track.quat[tf_name] + self.gates.pos[i] = pos + self.gates.quat[i] = quat + tf_names = [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] + for i, tf_name in enumerate(tf_names): + pos = ros_connector_track.pos[tf_name] + quat = ros_connector_track.quat[tf_name] + self.obstacles.pos[i] = pos + self.obstacles.quat[i] = quat + + if drones: + for rank, drone_name in enumerate(self._drone_names): + pos = ros_connector_drones.pos[drone_name] + quat = ros_connector_drones.quat[drone_name] + self.drones_track.pos[rank] = pos + self.drones_track.quat[rank] = quat + finally: + if ros_connector_track: + ros_connector_track.close() + if ros_connector_drones: + ros_connector_drones.close() + + def close(self): - """Gracefully close all Crazyflie-specific resources and shutdown. + """Close all Crazyflie-specific resources and shutdown. This method performs shutdown in phases: 1. Signal all drone processes to stop @@ -810,13 +851,13 @@ def close(self): # Phase 1: Signal all drone processes to stop if self._drone_connections is not None: - logger.info("Phase 1: Signaling all Crazyflie processes to stop...") + logger.info("Signaling all Crazyflie processes to stop...") for conn in self._drone_connections.values(): if conn.stop_event: conn.stop_event.set() # Phase 2: Wait for drone processes to finish with reasonable timeout - logger.info("Phase 2: Waiting for Crazyflie processes to finish...") + logger.info("Waiting for Crazyflie processes to finish...") max_wait_per_process = 5 # seconds for rank, conn in self._drone_connections.items(): if conn.process and conn.process.is_alive(): @@ -833,53 +874,48 @@ def close(self): logger.info(f"Process {rank} terminated successfully") # Phase 3: Close Zenoh communication - logger.info("Phase 3: Closing Zenoh communication...") + logger.info("Closing Zenoh communication...") if self._host_ready_pub: self._host_ready_pub.close() - if self._host_ping_pub: - self._host_ping_pub.close() + if self._host_initialized_pub: + self._host_initialized_pub.close() + if self._host_pong_pub: + self._host_pong_pub.close() if self._race_start_pub: self._race_start_pub.close() if self._client_state_subs: for sub in self._client_state_subs.values(): sub.close() - if self._client_pong_subs: - for sub in self._client_pong_subs.values(): + if self._client_ping_subs: + for sub in self._client_ping_subs.values(): sub.close() if self._zenoh_session: self._zenoh_session.close() logger.info("Host shutdown complete") - - + def _calibrate_client_clocks(self): - """Calibrate clock offsets with all clients via ping-pong. + """Trigger clock offset calibration with all clients. + Sends HostInitializedMessage to signal clients to begin calibration. + Clients will send pings and host will respond with pongs. This should be called after all clients are ready but before the race starts. """ - logger.info("Host: Calibrating client clocks via ping-pong...") - self._client_clock_offsets = {} + logger.info("Host: Triggering client clock calibration...") - # Send pings to all clients + # Send initialized message to all clients for rank in range(self._num_drones): - msg = HostPingMessage(drone_rank=rank, host_timestamp=time.time()) - self._host_ping_pub.publish(msg) - - # Wait for all pongs with timeout - timeout = 10.0 # seconds - poll_interval = 0.01 # 10ms - start_time = time.time() - - while time.time() - start_time < timeout: - if len(self._client_clock_offsets) == self._num_drones: - logger.info(f"Host: All {self._num_drones} clients calibrated") - return - time.sleep(poll_interval) + msg = HostInitializedMessage(drone_rank=rank, timestamp=time.time()) + self._host_initialized_pub.publish(msg) - logger.warning(f"Host: Only {len(self._client_clock_offsets)} / {self._num_drones} clients calibrated within timeout") - + # Clients will initiate ping-pong calibration when they receive this message. + # Give them time to complete calibration (typically 1-2 seconds) + logger.info("Host: Waiting for clients to complete calibration...") + time.sleep(3.0) + logger.info("Host: Clock calibration complete") + def host_main_loop(self, race_update_freq : float = 50.0): """Main loop of the host.""" logger.info("Host: Starting main loop") diff --git a/lsy_drone_racing/envs/utils.py b/lsy_drone_racing/envs/utils.py index 65629d5ea..40a8abc08 100644 --- a/lsy_drone_racing/envs/utils.py +++ b/lsy_drone_racing/envs/utils.py @@ -45,11 +45,16 @@ def load_track(track: ConfigDict) -> tuple[ConfigDict, ConfigDict, ConfigDict]: } obstacle_pos = np.array([o["pos"] for o in track.obstacles], dtype=np.float32) obstacles = {"pos": obstacle_pos, "nominal_pos": obstacle_pos.copy()} + + drone_pos = np.array([drone.get('pos') for drone in track.drones], dtype=np.float32) + drone_quat = R.from_euler("xyz", np.array([drone.get('rpy') for drone in track.drones])).as_quat().astype(np.float32) drones = { - k: np.array([drone.get(k) for drone in track.drones], dtype=np.float32) - for k in track.drones[0].keys() + "pos" : drone_pos, + "quat" : drone_quat, + "nominal_pos": drone_pos.copy(), + "nominal_quat": drone_quat.copy() } - drones["quat"] = R.from_euler("xyz", drones["rpy"]).as_quat().astype(np.float32) + return ConfigDict(gates), ConfigDict(obstacles), ConfigDict(drones) diff --git a/lsy_drone_racing/utils/zenoh_utils.py b/lsy_drone_racing/utils/zenoh_utils.py index b016e35ab..7ad5a9733 100644 --- a/lsy_drone_racing/utils/zenoh_utils.py +++ b/lsy_drone_racing/utils/zenoh_utils.py @@ -74,9 +74,45 @@ class ClientStateMessage: next_gate_idx: int = 0 +@dataclass +class HostInitializedMessage: + """Initialization message sent by host to signal clients can start calibration. + + Attributes: + drone_rank: Rank of the drone. + timestamp: Timestamp when the message was sent. + """ + drone_rank: int + timestamp: float + + +@dataclass +class ClientPingMessage: + """Ping message from client to host for clock offset calibration. + + Attributes: + drone_rank: Rank of the drone. + client_timestamp: Timestamp when client sent this ping (in client's clock). + """ + drone_rank: int + client_timestamp: float + + +@dataclass +class HostPongMessage: + """Pong message from host to client in response to ping. + + Attributes: + drone_rank: Rank of the drone. + host_timestamp: Timestamp when host sent this pong (in host's clock). + """ + drone_rank: int + host_timestamp: float + + @dataclass class HostPingMessage: - """Ping message from host to client for latency calibration. + """[DEPRECATED] Ping message from host to client for latency calibration. Attributes: drone_rank: Rank of the drone. @@ -88,7 +124,7 @@ class HostPingMessage: @dataclass class ClientPongMessage: - """Pong message from client back to host for latency calibration. + """[DEPRECATED] Pong message from client back to host for latency calibration. Attributes: drone_rank: Rank of the drone. @@ -158,7 +194,7 @@ def __init__(self, session: zenoh.Session, key: str): self.session = session self.key = key self.publisher = session.declare_publisher(key) - logger.info(f"Declared publisher on '{key}'") + logger.debug(f"Declared publisher on '{key}'") def publish(self, message: Any): """Publish a message. @@ -202,7 +238,7 @@ def listener(sample: zenoh.Sample): logger.error(f"Error in subscriber callback: {e}") self.subscriber = session.declare_subscriber(key, listener) - logger.info(f"Declared subscriber on '{key}'") + logger.debug(f"Declared subscriber on '{key}'") def close(self): """Close the subscriber.""" diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 7412203a6..9cf22603c 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -58,7 +58,6 @@ def main( config_obj = load_config(Path(__file__).parents[1] / "config" / config) if controller is not None: config_obj.controller[drone_rank]['file'] = controller - # Create environment env: RealMultiDroneRaceEnvClient = gymnasium.make( "RealMultiDroneRaceEnvClient-v0", @@ -81,7 +80,6 @@ def main( controller_cls = load_controller(controller_path) config_extracted = extract_config_for_rank(config_obj, drone_rank) controller = controller_cls(obs, info, config_extracted) - # Wait for race to start logger.info(f"Client {drone_rank}: Waiting for race to start...") env.unwrapped.lock_until_race_start(timeout=120.0) diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 8acbe036c..d9b5ae428 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -41,16 +41,17 @@ def main(config: str = "multi_level2.toml"): # Initialize ROS2 rclpy.init() - host = None + config_obj = load_config(Path(__file__).parents[1] / "config" / config) + deploy = config_obj.deploy + host = CrazyFlieRealRaceHost(config_obj) try: - # Load configuration - config_obj = load_config(Path(__file__).parents[1] / "config" / config) - # Create host - host = CrazyFlieRealRaceHost(config_obj) - # Connect to drones - logger.info("Host created, connecting to drones...") + host.update_poses(track_obj = deploy.real_track_objects, + drones = deploy.check_drone_start_pos + ) + host.check_track(rng_config=config_obj.env.randomizations, + check_objects = deploy.real_track_objects and deploy.check_race_track, + check_drones = deploy.check_drone_start_pos) host.connect_drones() - # Start main loop logger.info("Drones connected, starting main loop...") host.host_main_loop() except KeyboardInterrupt: From b87f41a90c762e04f16888266b2841cc9940f9f4 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 17 Mar 2026 22:38:41 +0100 Subject: [PATCH 10/97] Added rank to other controllers --- lsy_drone_racing/control/attitude_mpc.py | 7 ++++--- lsy_drone_racing/control/attitude_rl.py | 7 ++++--- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index eff035a62..9aa5104bf 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -178,6 +178,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) + self.rank = info.get('rank', 0) self._N = 25 self._dt = 1 / config.env.freq self._T_HORIZON = self._N * self._dt @@ -242,9 +243,9 @@ def compute_control( self._finished = True # Setting initial state - obs["rpy"] = R.from_quat(obs["quat"]).as_euler("xyz") - obs["drpy"] = ang_vel2rpy_rates(obs["quat"], obs["ang_vel"]) - x0 = np.concatenate((obs["pos"], obs["rpy"], obs["vel"], obs["drpy"])) + rpy = R.from_quat(obs["quat"][self.rank]).as_euler("xyz") + drpy = ang_vel2rpy_rates(obs["quat"][self.rank], obs["ang_vel"][self.rank]) + x0 = np.concatenate((obs["pos"][self.rank], rpy, obs["vel"][self.rank], drpy)) self._acados_ocp_solver.set(0, "lbx", x0) self._acados_ocp_solver.set(0, "ubx", x0) diff --git a/lsy_drone_racing/control/attitude_rl.py b/lsy_drone_racing/control/attitude_rl.py index 9917281f4..6213aa90c 100644 --- a/lsy_drone_racing/control/attitude_rl.py +++ b/lsy_drone_racing/control/attitude_rl.py @@ -38,6 +38,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) + self.rank = info.get('rank', 0) self.freq = config.env.freq drone_params = load_params(config.sim.physics, config.sim.drone_model) @@ -82,7 +83,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self.agent.load_state_dict(torch.load(model_path, map_location=torch.device("cpu"))) self.last_action = np.array([0.0, 0.0, 0.0, self.drone_mass * 9.81], dtype=np.float32) self.basic_obs_key = ["pos", "quat", "vel", "ang_vel"] - basic_obs = np.concatenate([obs[k] for k in self.basic_obs_key], axis=-1) + basic_obs = np.concatenate([obs[k][self.rank] for k in self.basic_obs_key], axis=-1) self.prev_obs = np.tile(basic_obs[None, :], (self.n_obs, 1)) self._finished = False @@ -118,9 +119,9 @@ def compute_control( def _obs_rl(self, obs: dict[str, NDArray[np.floating]]) -> NDArray[np.floating]: """Extract the relevant parts of the observation for the RL policy.""" obs_rl = {} - obs_rl["basic_obs"] = np.concatenate([obs[k] for k in self.basic_obs_key], axis=-1) + obs_rl["basic_obs"] = np.concatenate([obs[k][self.rank] for k in self.basic_obs_key], axis=-1) idx = np.clip(self._tick + self.sample_offsets, 0, self.trajectory.shape[0] - 1) - dpos = self.trajectory[idx] - obs["pos"] # (n_samples, 3) + dpos = self.trajectory[idx] - obs["pos"][self.rank] # (n_samples, 3) obs_rl["local_samples"] = dpos.reshape(-1) # (n_samples*3,) obs_rl["prev_obs"] = self.prev_obs.reshape(-1) # (n_obs*13,) obs_rl["last_action"] = self.last_action # (4,) From df93e9646b2581f608c8d6ca390133498b527488 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 17 Mar 2026 22:39:39 +0100 Subject: [PATCH 11/97] Made a demo for different controller, different frequency in different processes --- config/multi_level2.toml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/config/multi_level2.toml b/config/multi_level2.toml index 67e862200..ce156dde2 100644 --- a/config/multi_level2.toml +++ b/config/multi_level2.toml @@ -4,7 +4,7 @@ # | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: | # | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | [[controller]] -file = "attitude_controller.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` +file = "state_controller.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` [[controller]] file = "attitude_controller.py" @@ -15,7 +15,7 @@ check_race_track = true # Whether to check if the drone start position is within the limits specified down below. check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. -real_track_objects = true +real_track_objects = false [[deploy.drones]] id = 10 @@ -48,7 +48,7 @@ seed = "random" # Either "random" for a random behavior or an integer fo [[env.kwargs]] freq = 50 # Frequency of the environment's step function, in Hz sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. -control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" +control_mode = "state" # Control mode of the environment. Can be either "state" or "attitude" [[env.kwargs]] freq = 100 sensor_range = 0.7 @@ -87,12 +87,12 @@ pos = [-1.5, -0.25, 1.55] pos = [-0.5, -0.75, 1.55] [[env.track.drones]] -pos = [-1.5, 0.75, 0.01] +pos = [-1.5, 0.5, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] [[env.track.drones]] -pos = [-1.3, 0.75, 0.01] +pos = [-1.5, 1.5, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] @@ -100,7 +100,7 @@ ang_vel = [0, 0, 0] # If the drones exceed those bounds in real, the run will be stopped and the drone will safely be returned to the starting position [env.track.safety_limits] pos_limit_low = [-2.5, -1.5, -1.0] -pos_limit_high = [2.5, 1.5, 2.0] +pos_limit_high = [2.5, 2.0, 2.0] [env.disturbances.action] fn = "normal" From d7f6654c06444dda5191a2756fd89800bc8dc3e8 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Tue, 17 Mar 2026 22:54:36 +0100 Subject: [PATCH 12/97] Clean up codes --- lsy_drone_racing/envs/real_race_env_client.py | 464 ++++------ lsy_drone_racing/envs/real_race_host.py | 824 +++++++----------- scripts/deploy_client.py | 92 +- scripts/deploy_host.py | 38 +- 4 files changed, 552 insertions(+), 866 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index de95c2071..2ca0e8e3f 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -9,10 +9,10 @@ from __future__ import annotations +import concurrent.futures import logging import threading import time -from pathlib import Path from typing import TYPE_CHECKING, Literal import jax @@ -20,19 +20,15 @@ import rclpy import zenoh from drone_estimators.ros_nodes.ros2_connector import ROSConnector -from drone_models.core import load_params from gymnasium import Env -from scipy.spatial.transform import Rotation as R -import concurrent.futures from lsy_drone_racing.envs.utils import gate_passed, load_track -from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track from lsy_drone_racing.utils.zenoh_utils import ( + ClientPingMessage, ClientStateMessage, - HostReadyMessage, HostInitializedMessage, - ClientPingMessage, HostPongMessage, + HostReadyMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, @@ -49,29 +45,17 @@ class ClientEnvData: - """Data structure for client-side environment state.""" - + """Auxiliary state for the client-side environment, mirroring :class:`EnvData`.""" + def __init__(self, n_drones: int, n_gates: int, n_obstacles: int): - """Initialize client environment data. - - Args: - n_drones: Number of drones in the race. - n_gates: Number of gates in the track. - n_obstacles: Number of obstacles in the track. - """ - self.n_drones = n_drones - self.n_gates = n_gates - self.n_obstacles = n_obstacles - self.target_gate = np.zeros(n_drones, dtype=int) self.gates_visited = np.zeros((n_drones, n_gates), dtype=bool) self.obstacles_visited = np.zeros((n_drones, n_obstacles), dtype=bool) self.last_drone_pos = np.zeros((n_drones, 3), dtype=np.float32) - self.taken_off = False - + def reset(self, last_drone_pos: NDArray[np.float32]): - """Reset the environment data.""" + """Reset all dynamic fields and seed last drone positions.""" self.target_gate[:] = 0 self.gates_visited[:] = False self.obstacles_visited[:] = False @@ -80,12 +64,24 @@ def reset(self, last_drone_pos: NDArray[np.float32]): class RealMultiDroneRaceEnvClient(Env): - """Client-side environment for multi-drone racing. - - This environment is designed to run on each drone's computing unit, communicating with - the central host via Zenoh for coordination and supervision. + """Client-side Gymnasium environment for multi-drone racing. + + Runs on each drone's computing unit. Receives host coordination messages via Zenoh, + computes observations and gate tracking locally, and forwards actions to the host + which relays them to the physical drone. + + Observation space: + A dictionary containing the state of all drones in the race, mirroring + :class:`lsy_drone_racing.envs.multi_drone_race.MultiDroneRaceEnv`. + + Action space: + A single action vector for the drone identified by ``rank``. See + :class:`~lsy_drone_racing.envs.real_race_host.CrazyflieWorker` for format details. + + Note: + rclpy must be initialized before creating this environment. """ - + def __init__( self, drones: list[dict[str, int]], @@ -97,407 +93,302 @@ def __init__( control_mode: Literal["state", "attitude"] = "state", ): """Initialize the client-side multi-drone environment. - + Args: - drones: List of all drones in the race. - rank: Rank of this drone. - freq: Control frequency. - track: Track configuration. - randomizations: Randomization configuration. - sensor_range: Sensor range for gates/obstacles. - control_mode: "state" or "attitude" control. + drones: List of all drones in the race, each with ``id``, ``channel``, and + ``drone_model`` keys. + rank: Index of this drone among all drones in the race. + freq: Control frequency in Hz. + track: Track configuration (see :func:`~lsy_drone_racing.envs.utils.load_track`). + randomizations: Randomization configuration (unused on the client side). + sensor_range: Distance in metres at which gate/obstacle true poses are revealed. + control_mode: Either ``"state"`` or ``"attitude"``. """ - # Basic setup self.n_drones = len(drones) self.rank = rank self.freq = freq self.sensor_range = sensor_range self.control_mode = control_mode - - # Load drone info self.drone_names = [f"cf{drone['id']}" for drone in drones] self.drone_name = self.drone_names[rank] - # Load track self.gates, self.obstacles, self.drones_track = load_track(track) self.n_gates = len(self.gates.pos) self.n_obstacles = len(self.obstacles.pos) self.pos_limit_low = np.array(track.safety_limits["pos_limit_low"]) self.pos_limit_high = np.array(track.safety_limits["pos_limit_high"]) - - # Initialize JAX + self.device = jax.devices("cpu")[0] - - # Initialize ROS connectors - # High-precision estimator for own drone - self._ros_connector_own = None - # TF-based connector for other drones - self._ros_connector_others = None - - # Initialize environment data + self._ros_connector_own: ROSConnector | None = None + self._ros_connector_others: ROSConnector | None = None self.data = ClientEnvData(self.n_drones, self.n_gates, self.n_obstacles) - - # Zenoh communication + self._zenoh_session: zenoh.Session | None = None self._host_ready_sub: ZenohSubscriber | None = None - self._host_ping_sub: ZenohSubscriber | None = None + self._host_initialized_sub: ZenohSubscriber | None = None + self._host_pong_sub: ZenohSubscriber | None = None self._race_start_sub: ZenohSubscriber | None = None self._client_state_pub: ZenohPublisher | None = None - self._client_pong_pub: ZenohPublisher | None = None - - # Race state - self._host_ready = False + self._client_ping_pub: ZenohPublisher | None = None + self._host_ready_event = threading.Event() self._race_started = False self._race_start_time = 0.0 self._should_stop = False - self._last_host_elapsed_time = 0.0 - self._last_race_start_timestamp = 0.0 - self._clock_offset = 0.0 # Will be set during calibration - - self._jit_compiled = False - + self._clock_offset = 0.0 + def _init_ros_connectors(self): - """Initialize ROS connectors in parallel for speed.""" - def init_own_connector(): - """Initialize high-precision estimator connector for own drone.""" + """Open ROS connectors for own drone (estimator) and others (TF), in parallel.""" + def init_own_connector() -> ROSConnector: return ROSConnector( estimator_names=[self.drone_name], cmd_topic=f"/drones/{self.drone_name}/command", timeout=10.0, ) - - def init_others_connector(): - """Initialize TF-based connector for other drones.""" - other_drone_names = [name for i, name in enumerate(self.drone_names) if i != self.rank] - if not other_drone_names: + + def init_others_connector() -> ROSConnector | None: + other_names = [n for i, n in enumerate(self.drone_names) if i != self.rank] + if not other_names: return None - return ROSConnector( - tf_names=other_drone_names, - timeout=10.0, - ) - - logger.info(f"Client {self.rank}: Initializing ROS connectors for drones in parallel...") + return ROSConnector(tf_names=other_names, timeout=10.0) + + logger.info(f"Client {self.rank}: Initializing ROS connectors...") with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: future_own = executor.submit(init_own_connector) future_others = executor.submit(init_others_connector) self._ros_connector_own = future_own.result() self._ros_connector_others = future_others.result() - - logger.info(f"Client {self.rank}: ROS connectors initialized") - - - def _get_all_drone_states(self) -> tuple[np.ndarray, np.ndarray]: - """Get full state of all drones. - + + def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: + """Read positions, quaternions, velocities, and angular velocities for all drones. + + Own drone state comes from the high-precision estimator; other drones from TF. + Fields for unreachable drones are filled with NaN. + Returns: - Tuple of (positions, quaternions). + Tuple of ``(pos, quat, vel, ang_vel)``, each of shape ``(n_drones, ...)``. """ pos = np.full((self.n_drones, 3), np.nan, dtype=np.float32) quat = np.full((self.n_drones, 4), np.nan, dtype=np.float32) - ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) - # Own drone from high-precision estimator + ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) pos[self.rank] = self._ros_connector_own.pos[self.drone_name] quat[self.rank] = self._ros_connector_own.quat[self.drone_name] vel[self.rank] = self._ros_connector_own.vel[self.drone_name] ang_vel[self.rank] = self._ros_connector_own.ang_vel[self.drone_name] - - - # Other drones from TF if self._ros_connector_others is not None: for i, name in enumerate(self.drone_names): if i != self.rank: pos[i] = self._ros_connector_others.pos[name] quat[i] = self._ros_connector_others.quat[name] - # vel[i] = self._ros_connector_others.vel[name] - # ang_vel[i] = self._ros_connector_others.ang_vel[name] - return pos, quat, vel, ang_vel - + def _init_zenoh(self): - """Initialize Zenoh communication.""" + """Open a Zenoh session and register all host/client publishers and subscribers.""" self._zenoh_session = create_zenoh_session() - - # Subscribe to host messages + def on_host_ready(payload: str): try: msg = deserialize_message(payload, HostReadyMessage) - self._host_ready = True - self._host_ready_event.set() # Signal waiting thread - latency_ms = compute_latency_ms(msg.timestamp) - - logger.debug(f"Client {self.rank}: Received host ready (latency: {latency_ms:.2f}ms)") + self._host_ready_event.set() + logger.debug(f"Client {self.rank}: Host ready (latency: {compute_latency_ms(msg.timestamp):.2f}ms)") except Exception as e: - logger.error(f"Error processing host ready message: {e}") - + logger.error(f"Client {self.rank}: Error processing host ready message: {e}") + self._host_ready_sub = ZenohSubscriber( - self._zenoh_session, - "lsy_drone_racing/host/ready", - on_host_ready, + self._zenoh_session, "lsy_drone_racing/host/ready", on_host_ready ) - + def on_host_initialized(payload: str): - """Handle initialized message from host - trigger clock calibration.""" try: msg = deserialize_message(payload, HostInitializedMessage) if msg.drone_rank == self.rank: - # Send ping immediately with client timestamp - ping_msg = ClientPingMessage( - drone_rank=self.rank, - client_timestamp=time.time(), + self._client_ping_pub.publish( + ClientPingMessage(drone_rank=self.rank, client_timestamp=time.time()) ) - self._client_ping_pub.publish(ping_msg) - logger.debug(f"Client {self.rank}: Sent ping for clock calibration") except Exception as e: - logger.error(f"Error processing host initialized message: {e}") - + logger.error(f"Client {self.rank}: Error processing host initialized message: {e}") + self._host_initialized_sub = ZenohSubscriber( - self._zenoh_session, - "lsy_drone_racing/host/initialized", - on_host_initialized, + self._zenoh_session, "lsy_drone_racing/host/initialized", on_host_initialized ) - + def on_host_pong(payload: str): - """Handle pong from host - calculate and store clock offset.""" try: msg = deserialize_message(payload, HostPongMessage) if msg.drone_rank == self.rank: - # Calculate clock offset for this client - # offset = (host_time - client_time) - RTT/2 - # Since we're measuring RTT now, we approximate: - # offset = host_time - client_time (measured at approximately same moment) - # The RTT is typically small (~1-10ms for local/nearby machines) + # Approximate clock offset as host_time - client_time; RTT is typically <10ms self._clock_offset = float(msg.host_timestamp) - time.time() - logger.info(f"Client {self.rank}: Clock offset calibrated: {self._clock_offset*1000:.2f}ms") + logger.info(f"Client {self.rank}: Clock offset: {self._clock_offset * 1000:.2f}ms") except Exception as e: - logger.error(f"Error processing host pong message: {e}") - + logger.error(f"Client {self.rank}: Error processing host pong message: {e}") + self._host_pong_sub = ZenohSubscriber( - self._zenoh_session, - "lsy_drone_racing/host/pong", - on_host_pong, + self._zenoh_session, "lsy_drone_racing/host/pong", on_host_pong ) - + def on_race_start(payload: str): try: msg = deserialize_message(payload, RaceStartMessage) self._race_started = True self._race_start_time = time.time() - msg.elapsed_time - self._last_host_elapsed_time = msg.elapsed_time - self._last_race_start_timestamp = msg.timestamp # Store for echo - latency_ms = compute_latency_ms(msg.timestamp) except Exception as e: - logger.error(f"Error processing race start message: {e}") - + logger.error(f"Client {self.rank}: Error processing race start message: {e}") + self._race_start_sub = ZenohSubscriber( - self._zenoh_session, - "lsy_drone_racing/host/race_start", - on_race_start, + self._zenoh_session, "lsy_drone_racing/host/race_start", on_race_start ) - - # Create publishers + self._client_state_pub = ZenohPublisher( - self._zenoh_session, - f"lsy_drone_racing/client/{self.rank}/state", + self._zenoh_session, f"lsy_drone_racing/client/{self.rank}/state" ) - self._client_ping_pub = ZenohPublisher( - self._zenoh_session, - f"lsy_drone_racing/client/{self.rank}/ping", + self._zenoh_session, f"lsy_drone_racing/client/{self.rank}/ping" ) - logger.info(f"Client {self.rank}: Zenoh communication initialized") - - def _jit(self): - """Compile JAX functions.""" - if self._jit_compiled: - return - - # Dummy call to compile gate_passed function - try: - dummy_drone_pos = np.zeros((self.n_drones, 3), dtype=np.float32) - dummy_gate_pos = np.zeros((self.n_drones, 3), dtype=np.float32) - dummy_gate_quat = np.zeros((self.n_drones, 4), dtype=np.float32) - - with jax.default_device(self.device): - gate_passed( - dummy_drone_pos, - dummy_drone_pos, - dummy_gate_pos, - dummy_gate_quat, - (0.45, 0.45), - ) - self._jit_compiled = True - except Exception as e: - logger.warning(f"Client {self.rank}: JAX compilation warning: {e}") - + def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: - """Reset the environment. - + """Reset the environment and wait for the host to signal readiness. + + Sends dummy state messages at 10 Hz in the background so the host can detect + this client as ready. Blocks until :class:`HostReadyMessage` is received. + Args: - seed: Random seed (unused in real environment). - options: Options dictionary from deployment. - + seed: Unused in real environments. + options: Unused in real environments. + Returns: - Initial observation and info. + Initial observation and info dictionaries. + + Raises: + TimeoutError: If the host does not respond within 120 seconds. """ - options = {} if options is None else options - - # Initialize ROS connectors if not already done if self._ros_connector_own is None: self._init_ros_connectors() - - # Initialize Zenoh if not already done if self._zenoh_session is None: self._init_zenoh() - - # Get current drone positions + current_positions, _, _, _ = self._get_all_drone_states() self.data.reset(current_positions) - + logger.info(f"Client {self.rank}: Waiting for host ready message...") - max_wait_time = 120.0 - - # Send state messages in background thread to signal readiness stop_sending = threading.Event() - + def send_state_messages(): - """Background thread to send state messages every 0.1s until race starts.""" while not stop_sending.is_set(): if self.control_mode == "attitude": - dummy_action = np.zeros(4, dtype=np.float32) + dummy_action = np.zeros(4, dtype=np.float32) else: dummy_action = np.zeros(13, dtype=np.float32) - dummy_action[:3] = current_positions[self.rank] # Send current position as dummy action + dummy_action[:3] = current_positions[self.rank] dummy_action[2] = 0.3 self._send_state_update(dummy_action, stopped=False) time.sleep(0.1) - - sender_thread = threading.Thread(target=send_state_messages, daemon=True) - sender_thread.start() - - # Wait for host ready with timeout - if not self._host_ready_event.wait(timeout=max_wait_time): + + threading.Thread(target=send_state_messages, daemon=True).start() + if not self._host_ready_event.wait(timeout=120.0): stop_sending.set() raise TimeoutError( - f"Client {self.rank}: Timeout waiting for host ready after {max_wait_time}s. " + f"Client {self.rank}: Timeout waiting for host ready. " "Host may not be running or network connection failed." ) - stop_sending.set() logger.info(f"Client {self.rank}: Environment reset complete") return self.obs(), self.info() - + def lock_until_race_start(self, timeout: float = 60.0): - """Block until the race starts, with a timeout.""" + """Block until the host broadcasts the first :class:`RaceStartMessage`. + + Args: + timeout: Maximum time in seconds to wait before raising. + + Raises: + TimeoutError: If the race does not start within ``timeout`` seconds. + """ logger.info(f"Client {self.rank}: Waiting for race to start...") - start_time = time.time() + t_start = time.time() while not self._race_started: - if time.time() - start_time > timeout: - raise TimeoutError(f"Client {self.rank}: Timeout waiting for race to start after {timeout}s.") - - logger.info(f"Client {self.rank}: Race started, proceeding with control loop") + if time.time() - t_start > timeout: + raise TimeoutError(f"Client {self.rank}: Timeout waiting for race start after {timeout}s.") + logger.info(f"Client {self.rank}: Race started") def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: - """Perform a control step. - + """Perform a control step: update gate tracking, check bounds, and send the action. + Args: action: Control action for this drone. - + Returns: - Observation, reward, terminated, truncated, info. - """ - - # Get drone states + Observation, reward (always 0.0), terminated, truncated (always False), info. + """ drone_pos, _, _, _ = self._get_all_drone_states() - - # Check sensor visibility + dpos = drone_pos[:, None, :2] - self.gates.pos[None, :, :2] self.data.gates_visited |= np.linalg.norm(dpos, axis=-1) < self.sensor_range dpos = drone_pos[:, None, :2] - self.obstacles.pos[None, :, :2] self.data.obstacles_visited |= np.linalg.norm(dpos, axis=-1) < self.sensor_range - - # Check gate passage + gate_pos = self.gates.pos[self.data.target_gate] gate_quat = self.gates.quat[self.data.target_gate] - with jax.default_device(self.device): passed = gate_passed(drone_pos, self.data.last_drone_pos, gate_pos, gate_quat, (0.45, 0.45)) - self.data.target_gate += np.asarray(passed) self.data.target_gate[self.data.target_gate >= self.n_gates] = -1 self.data.last_drone_pos[...] = drone_pos self.data.taken_off |= drone_pos[self.rank, 2] > 0.1 - - # Check if this drone finished or failed - terminated = self.data.target_gate[self.rank] == -1 - - # Check safety bounds - if np.any((self.pos_limit_low > drone_pos[self.rank, :]) | (drone_pos[self.rank, :] > self.pos_limit_high)): + + terminated = bool(self.data.target_gate[self.rank] == -1) + if np.any((self.pos_limit_low > drone_pos[self.rank]) | (drone_pos[self.rank] > self.pos_limit_high)): logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") terminated = True - # Send action to drone (via Zenoh to host) and to ROS for external estimator self._send_action_ros(action) - # Send state message to host self._send_state_update(action, terminated) - - # Mark stopped if terminated if terminated: self._should_stop = True - + return self.obs(), 0.0, terminated, False, self.info() - + def _send_state_update(self, action: NDArray, stopped: bool): - """Send state update to host. - + """Publish a :class:`ClientStateMessage` to the host. + + The timestamp is adjusted by the calibrated clock offset so the host can + measure accurate latency without clock skew. + Args: action: Current control action. - stopped: Whether this client has stopped. + stopped: Whether this client has finished or crashed. """ elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 - - # Adjust timestamp to match host's clock using calibrated offset - adjusted_timestamp = time.time() + self._clock_offset - - state_msg = ClientStateMessage( - drone_rank=self.rank, - action=action.tolist() if isinstance(action, np.ndarray) else list(action), - elapsed_time=elapsed_time, - timestamp=adjusted_timestamp, - stopped=stopped or self._should_stop, - next_gate_idx=int(self.data.target_gate[self.rank]), + self._client_state_pub.publish( + ClientStateMessage( + drone_rank=self.rank, + action=action.tolist() if isinstance(action, np.ndarray) else list(action), + elapsed_time=elapsed_time, + timestamp=time.time() + self._clock_offset, + stopped=stopped or self._should_stop, + next_gate_idx=int(self.data.target_gate[self.rank]), + ) ) - self._client_state_pub.publish(state_msg) - + def _send_action_ros(self, action: NDArray): - """Publishes to ROS for external estimator to track commands. + """Publish the action to ROS so the external estimator can track motor commands. + Args: - action: Control action. + action: Control action (only used in attitude mode). """ - # Publish command to ROS for external estimator - if self.control_mode == "attitude": - if self._ros_connector_own is not None: - self._ros_connector_own.publish_cmd(action) - else: - logger.warning(f"Client {self.rank}: ROS connector not initialized, cannot send command!") - - + if self.control_mode == "attitude" and self._ros_connector_own is not None: + self._ros_connector_own.publish_cmd(action) + def obs(self) -> dict[str, NDArray]: - """Get current observation.""" + """Return the current observation dictionary.""" mask = self.data.gates_visited[..., None] gates_pos = np.where(mask, self.gates.pos, self.gates.nominal_pos).astype(np.float32) gates_quat = np.where(mask, self.gates.quat, self.gates.nominal_quat).astype(np.float32) - mask = self.data.obstacles_visited[..., None] - obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype( - np.float32 - ) - + obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype(np.float32) drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() - return { "pos": drone_pos, "quat": drone_quat, @@ -510,35 +401,22 @@ def obs(self) -> dict[str, NDArray]: "obstacles_pos": obstacles_pos, "obstacles_visited": self.data.obstacles_visited, } - + def info(self) -> dict: - """Get info dictionary.""" - return {'rank': self.rank} - + """Return the info dictionary.""" + return {"rank": self.rank} + def close(self): - """Close the environment.""" + """Send a final stop message and close all Zenoh and ROS connections.""" logger.info(f"Client {self.rank}: Closing environment...") - - # Send final stop message if self._client_state_pub: - if self.control_mode == "attitude": - self._send_state_update(np.zeros(4), stopped=True) - - # Close Zenoh subscribers and publishers - if self._host_ready_sub: - self._host_ready_sub.close() - if self._host_initialized_sub: - self._host_initialized_sub.close() - if self._host_pong_sub: - self._host_pong_sub.close() - if self._race_start_sub: - self._race_start_sub.close() - if self._client_state_pub: - self._client_state_pub.close() - if self._client_ping_pub: - self._client_ping_pub.close() + self._send_state_update(np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True) + for sub in [self._host_ready_sub, self._host_initialized_sub, self._host_pong_sub, self._race_start_sub]: + if sub: + sub.close() + for pub in [self._client_state_pub, self._client_ping_pub]: + if pub: + pub.close() if self._zenoh_session: self._zenoh_session.close() - logger.info(f"Client {self.rank}: Environment closed") - diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 700ebbbea..7a9313918 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -11,43 +11,40 @@ from __future__ import annotations -import json +import concurrent.futures import logging import multiprocessing as mp +import signal +import struct import threading import time from dataclasses import dataclass from enum import Enum from pathlib import Path from typing import TYPE_CHECKING -import concurrent.futures -import struct -import signal + +import cflib import numpy as np -from scipy.spatial.transform import Rotation as R, RigidTransform as Tr import rclpy import zenoh -import cflib from cflib.crazyflie import Crazyflie, Localization from cflib.crtp.crtpstack import CRTPPacket, CRTPPort from cflib.utils.power_switch import PowerSwitch -from cflib.crazyflie import Crazyflie from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params from drone_models.transform import force2pwm +from scipy.spatial.transform import Rotation as R, RigidTransform as Tr from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track from lsy_drone_racing.utils.zenoh_utils import ( ClientStateMessage, - HostReadyMessage, HostInitializedMessage, - ClientPingMessage, HostPongMessage, + HostReadyMessage, RaceStartMessage, ZenohPublisher, ZenohSubscriber, - compute_latency_ms, create_zenoh_session, deserialize_message, ) @@ -60,36 +57,46 @@ class CrazyflieWorker: - """Worker class for managing a single Crazyflie drone in a separate process.""" - POS_UPDATE_FREQ = 30 - - def __init__(self, - rank: int, - drone_id: int, - drone_channel: int, - drone_model: str, - ready_event: "mp.synchronize.Event", - stop_event: "mp.synchronize.Event", - init_pose: Tr, - control_mode: str, - control_freq: float = 50.0, - start_event: "mp.synchronize.Event | None" = None, - failure_event: "mp.synchronize.Event | None" = None, - clock_offset : float = 0.0): + """Manages a single Crazyflie drone in a dedicated subprocess. + + Connects to the drone via radio, resets it to its initial state, and runs + a control loop that forwards actions received from the client over Zenoh. + External position updates from the ROS estimator are forwarded to the drone's + Kalman filter at a fixed rate. + """ + + POS_UPDATE_FREQ = 30 # Hz at which MoCap poses are forwarded to the drone's Kalman filter + + def __init__( + self, + rank: int, + drone_id: int, + drone_channel: int, + drone_model: str, + ready_event: mp.synchronize.Event, + stop_event: mp.synchronize.Event, + init_pose: Tr, + control_mode: str, + control_freq: float = 50.0, + start_event: mp.synchronize.Event | None = None, + failure_event: mp.synchronize.Event | None = None, + ): """Initialize the Crazyflie worker. - + Args: - rank: Drone rank/index - drone_id: Crazyflie ID - drone_channel: Radio channel - drone_model: Drone model name for loading parameters - ready_event: Event to signal when drone is connected - stop_event: Event to signal process should stop - init_pose: Initial pose of the drone as a RigidTransform - control_mode: Control mode, either "attitude" or "state" - control_freq: Control frequency in Hz - start_event: Event to signal when all clients are ready (actions disabled until set) - failure_event: Event to signal if connection fails (shared with other workers) + rank: Index of this drone among all drones in the race. + drone_id: Crazyflie hardware ID (used to build the radio URI). + drone_channel: Radio channel to connect on. + drone_model: Drone model name for loading thrust/PWM parameters. + ready_event: Set once the drone is connected and initialized. + stop_event: Set by the host to request a graceful shutdown. + init_pose: Initial pose used to seed the drone's Kalman filter. + control_mode: Either ``"attitude"`` or ``"state"``. + control_freq: Frequency in Hz at which actions are forwarded to the drone. + start_event: Set by the host once all clients are ready; the control loop + blocks until this is set so that all drones start simultaneously. + failure_event: Shared event set on connection failure to notify all other + workers and the host. """ self.rank = rank self.drone_id = drone_id @@ -102,51 +109,41 @@ def __init__(self, self.init_pose = init_pose self.control_mode = control_mode.lower() self.control_freq = control_freq - self.clock_offset = clock_offset - # Configure logging for subprocess - logging.basicConfig( - level=logging.INFO, - format=f'[Drone {rank}] %(levelname)s: %(message)s', - ) + logging.basicConfig(level=logging.INFO, format=f"[Drone {rank}] %(levelname)s: %(message)s") + logging.getLogger("cflib").setLevel(logging.WARNING) self.logger = logging.getLogger(__name__) - + self.drone_name = f"cf{drone_id}" - self.drone = None - self.zenoh_session = None - self.state_sub = None - self.params = None - self.last_action = None + self.drone: Crazyflie | None = None + self.zenoh_session: zenoh.Session | None = None + self.state_sub: ZenohSubscriber | None = None + self.params: dict | None = None + self.last_action: list | None = None self.action_lock = threading.Lock() self._ros_connector: ROSConnector | None = None self._last_drone_pos_update: float = 0.0 - + def _apply_drone_settings(self): - """Apply firmware settings to the drone. + """Apply firmware settings required for racing. Note: These settings are also required to make the high-level drone commander work properly. """ - # Estimators: 1: complementary, 2: kalman. We recommend kalman based on real-world tests - self.drone.param.set_value("stabilizer.estimator", 2) - time.sleep(0.1) # TODO: Maybe remove - # enable/disable tumble control. Required 0 for agressive maneuvers + self.drone.param.set_value("stabilizer.estimator", 2) # 1: complementary, 2: kalman + time.sleep(0.1) self.drone.param.set_value("supervisor.tmblChckEn", 1) - # Choose controller: 1: PID; 2:Mellinger - self.drone.param.set_value("stabilizer.controller", 2) - # rate: 0, angle: 1 - self.drone.param.set_value("flightmode.stabModeRoll", 1) + self.drone.param.set_value("stabilizer.controller", 2) # 1: PID, 2: Mellinger + self.drone.param.set_value("flightmode.stabModeRoll", 1) # 0: rate, 1: angle self.drone.param.set_value("flightmode.stabModePitch", 1) self.drone.param.set_value("flightmode.stabModeYaw", 1) - time.sleep(0.1) # Wait for settings to be applied + time.sleep(0.1) def _crazyflie_reset(self): - """Reset the Crazyflie drone to a safe state.""" - # Send zero command to motors + """Arm the drone and reset the Kalman filter to the initial pose.""" self.drone.platform.send_arming_request(True) self._apply_drone_settings() pos = self.init_pose.translation - # Reset Kalman filter values self.drone.param.set_value("kalman.initialX", pos[0]) self.drone.param.set_value("kalman.initialY", pos[1]) self.drone.param.set_value("kalman.initialZ", pos[2]) @@ -156,105 +153,94 @@ def _crazyflie_reset(self): time.sleep(0.1) self.drone.param.set_value("kalman.resetEstimation", "0") if self.control_mode == "attitude": - # Unlock thrust mode protection by sending a zero thrust command + # Required to unlock the firmware's thrust protection before the first setpoint self.drone.commander.send_setpoint(0, 0, 0, 0) def _send_action(self, action: NDArray[np.float32]): - """Send action command to the drone. - + """Forward an action to the drone. + Args: - action: Action array, shape depends on control_mode + action: For attitude mode, a 4-element array ``[roll, pitch, yaw, thrust]`` in + radians and Newtons. For state mode, a 13-element array + ``[x, y, z, vx, vy, vz, ax, ay, az, yaw, rollrate, pitchrate, yawrate]``. """ if self.control_mode == "attitude": if action.shape[0] != 4: - raise ValueError("For attitude control, action must be of shape (4,) representing [roll, pitch, yaw, thrust]") - pwm = force2pwm( - action[3], self.params["thrust_max"] * 4, self.params["pwm_max"] - ) + raise ValueError(f"Attitude action must have shape (4,), got {action.shape}") + pwm = force2pwm(action[3], self.params["thrust_max"] * 4, self.params["pwm_max"]) pwm = np.clip(pwm, self.params["pwm_min"], self.params["pwm_max"]) - self.logger.info(f"Sending attitude command: roll={action[0]}, pitch={action[1]}, yaw={action[2]}, thrust={action[3]}N (pwm={pwm})") - action_cmd = (*np.rad2deg(action[:3]), int(pwm)) - self.drone.commander.send_setpoint(*action_cmd) - else: # state control + self.drone.commander.send_setpoint(*np.rad2deg(action[:3]), int(pwm)) + else: if action.shape[0] != 13: - raise ValueError("For state control, action must be of shape (13,)") + raise ValueError(f"State action must have shape (13,), got {action.shape}") pos, vel, acc = action[:3], action[3:6], action[6:9] quat = R.from_euler("z", action[9]).as_quat() rollrate, pitchrate, yawrate = action[10:] - logger.info(f"Sending state command: pos={pos}, vel={vel}, acc={acc}, yaw={action[9]}, rollrate={rollrate}, pitchrate={pitchrate}, yawrate={yawrate}") - self.drone.commander.send_full_state_setpoint( - pos, vel, acc, quat, rollrate, pitchrate, yawrate - ) + self.drone.commander.send_full_state_setpoint(pos, vel, acc, quat, rollrate, pitchrate, yawrate) def _on_client_state(self, payload: str): - """Handle client state messages containing actions.""" + """Store the latest action from the client state message.""" msg = deserialize_message(payload, ClientStateMessage) - with self.action_lock: self.last_action = msg.action - - # Client sends timestamps already adjusted for clock offset, - # so we can calculate latency directly using host's time.time() latency_ms = (time.time() - msg.timestamp) * 1000 - self.logger.debug( - f"Received action from client (gate={msg.next_gate_idx}, " - f"latency = {latency_ms:.2f}ms)" - ) + self.logger.debug(f"Action received (gate={msg.next_gate_idx}, latency={latency_ms:.2f}ms)") def _connect_drone(self): - """Connect to the Crazyflie drone via radio.""" + """Connect to the Crazyflie drone via radio. + + Power-cycles the drone first, then opens the radio link. Raises on connection + failure, link loss (e.g. "Too many packets lost"), or timeout. + + Raises: + InterruptedError: If ``stop_event`` is set during the connection attempt. + RuntimeError: If the connection fails or the link is lost before full connection. + TimeoutError: If the drone does not connect within 10 seconds. + """ self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) cflib.crtp.init_drivers() uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" failure_msg: dict[str, str] = {"message": ""} try: - power_switch = PowerSwitch(uri) - power_switch.stm_power_cycle() - wait_deadline = time.time() + 10.0 - while time.time() < wait_deadline: + PowerSwitch(uri).stm_power_cycle() + deadline = time.time() + 10.0 + while time.time() < deadline: if self.stop_event.is_set(): raise InterruptedError("Stop requested during power-cycle wait") time.sleep(0.05) - except InterruptedError as e: - self.logger.info(f"Interrupted during power cycle wait: {e}") - raise e + except InterruptedError: + raise except Exception as e: - self.logger.error(f'{e}') self.failure_event.set() raise e connection_event = mp.Event() connection_failed_event = mp.Event() - def on_connected(uri_connected): - self.logger.info(f"Connected to {uri_connected}") + def on_connected(_: str): connection_event.set() - def on_connection_failed(uri_failed, msg): + def on_connection_failed(uri_failed: str, msg: str): failure_msg["message"] = f"Connection failed to {uri_failed}: {msg}" connection_failed_event.set() - def on_connection_lost(uri_lost, msg): - # Triggered by e.g. "Too many packets lost" — treat as fatal during connection phase + def on_connection_lost(uri_lost: str, msg: str): if not connection_event.is_set(): failure_msg["message"] = f"Connection lost to {uri_lost}: {msg}" connection_failed_event.set() - def on_disconnected(uri_disconnected): + def on_disconnected(uri_disconnected: str): self.logger.info(f"Disconnected from {uri_disconnected}") self.drone.fully_connected.add_callback(on_connected) self.drone.connection_failed.add_callback(on_connection_failed) self.drone.connection_lost.add_callback(on_connection_lost) self.drone.disconnected.add_callback(on_disconnected) - self.drone.open_link(uri) - timeout = 10.0 - poll_interval = 0.05 start_time = time.time() - while time.time() - start_time < timeout: + while time.time() - start_time < 10.0: if self.stop_event.is_set(): raise InterruptedError("Stop requested while connecting to drone") if connection_failed_event.is_set(): @@ -262,72 +248,66 @@ def on_disconnected(uri_disconnected): raise RuntimeError(failure_msg["message"]) if connection_event.is_set(): break - time.sleep(poll_interval) + time.sleep(0.05) if not connection_event.is_set(): self.failure_event.set() - raise TimeoutError(f"Timed out while waiting for the drone {self.drone_id} on channel {self.drone_channel}.") - - self.logger.info("Drone connected successfully") - + raise TimeoutError(f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}.") + + self.logger.info(f"Connected to {uri}") + def _init_zenoh(self): - """Initialize Zenoh session and subscribe to client state.""" - self.logger.info("Initializing Zenoh session...") + """Open a Zenoh session and subscribe to client state messages for this drone.""" self.zenoh_session = create_zenoh_session() - - # Subscribe to client state for this drone self.state_sub = ZenohSubscriber( self.zenoh_session, f"lsy_drone_racing/client/{self.rank}/state", self._on_client_state, ) - - self.logger.debug(f"Zenoh session for drone {self.rank} initialized") def _init_ros_connector(self): - """Initialize ROS connector for reading own drone pose.""" + """Open a ROS connector for reading this drone's pose from the estimator.""" self.logger.info(f"Initializing ROS connector for {self.drone_name}...") self._ros_connector = ROSConnector( estimator_names=[self.drone_name], cmd_topic=f"/drones/{self.drone_name}/command", timeout=10.0, ) - self.logger.info(f"ROS connector for {self.drone_name} initialized") def _control_loop(self): - """Main control loop - send actions to drone at control frequency.""" - # Wait for all clients to be ready before executing actions + """Send actions to the drone at the configured control frequency. + + Blocks until ``start_event`` is set, then forwards the latest action from + the client to the drone and sends periodic external position updates to the + drone's Kalman filter. + """ dt = 1.0 / self.control_freq - self.logger.info("Waiting for all clients to be ready...") + self.logger.info("Waiting for start signal...") while not self.start_event.is_set(): if self.stop_event.is_set(): - self.logger.info("Stop event set while waiting for start event") return time.sleep(0.001) self._last_drone_pos_update = time.perf_counter() - while not self.stop_event.is_set(): - start_time = time.time() + t_start = time.time() with self.action_lock: action = self.last_action if action is not None: action_array = np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) self._send_action(action_array) - elapsed = time.time() - start_time + elapsed = time.time() - t_start if elapsed > dt: - self.logger.warning(f"Control loop overrun: {elapsed:.3f}s, expected to be under {dt:.3f}s") - sleep_time = max(0, dt - elapsed) + self.logger.warning(f"Control loop overrun: {elapsed*1000:.1f}ms (budget: {dt*1000:.1f}ms)") if (t := time.perf_counter()) - self._last_drone_pos_update > 1 / self.POS_UPDATE_FREQ: pos = self._ros_connector.pos[self.drone_name] quat = self._ros_connector.quat[self.drone_name] self.drone.extpos.send_extpose(*pos, *quat) self._last_drone_pos_update = t + time.sleep(max(0.0, dt - elapsed)) - time.sleep(sleep_time) - def _cleanup(self): - """Clean up resources.""" + """Send an emergency stop, close all connections, and shut down ROS.""" if self._ros_connector: self._ros_connector.close() if self.state_sub: @@ -345,67 +325,34 @@ def _cleanup(self): self.drone.close_link() rclpy.shutdown() self.logger.info("Drone process finished") - + def run(self): - """Main entry point for the worker process.""" + """Run the worker: connect to the drone, initialize, and enter the control loop.""" rclpy.init() try: - # Check if stop requested before doing any work if self.stop_event.is_set(): - self.logger.info("Stop event set before initialization, exiting immediately") return - - assert self.control_mode in ["attitude", "state"], "control_mode must be either 'attitude' or 'state'" - - # Load drone parameters - self.params = load_params(physics = "first_principles", drone_model = self.drone_model) - self.logger.debug(f"Loaded parameters for {self.drone_model}") - - # Check if stop requested before connecting + assert self.control_mode in ["attitude", "state"] + self.params = load_params(physics="first_principles", drone_model=self.drone_model) if self.stop_event.is_set(): - self.logger.info("Stop event set before connection attempt, exiting") return - - # Connect to drone (catch connection failures and signal other workers) try: self._connect_drone() - except InterruptedError as e: - # InterruptedError with stop_event set is an intentional shutdown path. + except InterruptedError: return - - # Check if stop requested after connection but before reset if self.stop_event.is_set(): - self.logger.info("Stop event set after connection, exiting") return - - # Reset drone to initial state self._crazyflie_reset() - - # Check if stop requested before ROS/Zenoh init if self.stop_event.is_set(): - self.logger.info("Stop event set before ROS/Zenoh initialization, exiting") return - - # Initialize ROS connector for extpos updates self._init_ros_connector() - - # Initialize Zenoh self._init_zenoh() - - # Signal ready self.ready_event.set() - self.logger.info("Drone process ready") - - # Check if stop requested before control loop if self.stop_event.is_set(): - self.logger.info("Stop event set before control loop, exiting") return self._control_loop() - - self.logger.info("Drone process stopping") finally: self._cleanup() - def crazyflie_process_worker( @@ -413,22 +360,20 @@ def crazyflie_process_worker( drone_id: int, drone_channel: int, drone_model: str, - ready_event: "mp.synchronize.Event", - stop_event: "mp.synchronize.Event", + ready_event: mp.synchronize.Event, + stop_event: mp.synchronize.Event, init_pose: Tr, control_mode: str, - start_event: "mp.synchronize.Event", - failure_event: "mp.synchronize.Event | None" = None, + start_event: mp.synchronize.Event, + failure_event: mp.synchronize.Event | None = None, control_freq: float = 50.0, - clock_offset : float = 0.0 ): - """Entry point for Crazyflie worker process. - - This function is called by multiprocessing and creates a CrazyflieWorker instance. + """Multiprocessing entry point that creates and runs a :class:`CrazyflieWorker`. + + SIGINT is ignored so that only the host process handles keyboard interrupts. """ signal.signal(signal.SIGINT, signal.SIG_IGN) - - worker = CrazyflieWorker( + CrazyflieWorker( rank=rank, drone_id=drone_id, drone_channel=drone_channel, @@ -440,20 +385,19 @@ def crazyflie_process_worker( control_freq=control_freq, start_event=start_event, failure_event=failure_event, - clock_offset=clock_offset - ) - worker.run() + ).run() class RealRaceHostState(Enum): - """States of the RealRaceHost. - + """State machine states for the :class:`RealRaceHost`. + Attributes: IDLE: Loading track configuration and checking track/drone positions. - INITIALIZED: Connected to drones, waiting for clients to be ready. - OPERATION: Race in progress, supervising clients. - STOPPING: Shutting down gracefully. + INITIALIZED: Connected to all drones, waiting for clients to signal readiness. + OPERATION: Race in progress, forwarding actions and supervising clients. + STOPPING: All clients finished, shutting down gracefully. """ + IDLE = 0 INITIALIZED = 1 OPERATION = 2 @@ -462,39 +406,38 @@ class RealRaceHostState(Enum): @dataclass class DroneConnection: - """Information about a drone connection managed by the host.""" + """Book-keeping for a single drone subprocess managed by the host.""" + rank: int drone_id: int drone_channel: int process: mp.Process | None = None - ready_event: "mp.synchronize.Event | None" = None - stop_event: "mp.synchronize.Event | None" = None - failure_event: "mp.synchronize.Event | None" = None + ready_event: mp.synchronize.Event | None = None + stop_event: mp.synchronize.Event | None = None + failure_event: mp.synchronize.Event | None = None connected: bool = False class RealRaceHost: - """Base host class for real-world drone racing. - - This class coordinates multi-drone races by managing track validation, drone connections, - and client synchronization via Zenoh communication. + """Base class for multi-drone race hosts. + + Subclasses implement :meth:`load_config`, :meth:`connect_drones`, + :meth:`host_main_loop`, and :meth:`close` for a specific drone platform. """ - + state: RealRaceHostState _num_drones: int = 0 _config: ConfigDict | None = None - _zenoh_session: zenoh.Session | None _host_ready_pub: ZenohPublisher | None _race_start_pub: ZenohPublisher | None - _client_state_subs: dict[int, ZenohSubscriber] | None def __init__(self, config: ConfigDict): - """Initialize the RealRaceHost. - + """Initialize the host and open Zenoh communication. + Args: - config: Configuration dictionary containing deploy, env, and sim settings. + config: Full configuration dictionary (deploy + env sections). """ self.state = RealRaceHostState.IDLE self._config = config @@ -502,155 +445,141 @@ def __init__(self, config: ConfigDict): self._clients_ready: dict[int, bool] = {} self._clients_stopped: dict[int, bool] = {} self._start_time = time.time() - self._host_ready_pub = None self._race_start_pub = None self._client_state_subs = None - self.load_config(config) self.init_zenoh() def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: - """Initialize Zenoh communication.""" + """Open a Zenoh session and set up all publishers and subscribers. + + Args: + conf: Optional Zenoh configuration. Uses defaults if ``None``. + + Returns: + The opened Zenoh session. + """ self._client_state_subs = {} self._zenoh_session = create_zenoh_session(conf) - - # Create publishers self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") self._host_initialized_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/initialized") self._host_pong_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/pong") self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") - - # Subscribe to client state messages for readiness detection and stopped detection + for rank in range(self._num_drones): - def on_client_state(payload: str, rank = rank): + def on_client_state(payload: str, rank: int = rank): msg = deserialize_message(payload, ClientStateMessage) - - # Mark client as ready on first state message if not self._clients_ready[rank]: - logger.debug(f"Client {rank} ready (received first state message)") + logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True - - # Track stopped clients if msg.stopped: - logger.info(f"Client {rank} stopped (next_gate_idx={msg.next_gate_idx})") + logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") self._clients_stopped[rank] = True - - sub = ZenohSubscriber( + + self._client_state_subs[rank] = ZenohSubscriber( self._zenoh_session, f"lsy_drone_racing/client/{rank}/state", on_client_state, ) - self._client_state_subs[rank] = sub - - # Subscribe to client ping messages for clock offset calibration - # Clients send ping after receiving initialized message - self._client_ping_subs = {} + + self._client_ping_subs: dict[int, ZenohSubscriber] = {} for rank in range(self._num_drones): - def on_client_ping(payload: str, rank = rank): - # msg = deserialize_message(payload, ClientPingMessage) - # Send pong immediately with host timestamp - pong_msg = HostPongMessage( - drone_rank=rank, - host_timestamp=time.time(), - ) - self._host_pong_pub.publish(pong_msg) - logger.debug(f"Host: Sent pong to client {rank}") - - sub = ZenohSubscriber( + def on_client_ping(payload: str, rank: int = rank): + self._host_pong_pub.publish(HostPongMessage(drone_rank=rank, host_timestamp=time.time())) + + self._client_ping_subs[rank] = ZenohSubscriber( self._zenoh_session, f"lsy_drone_racing/client/{rank}/ping", on_client_ping, ) - self._client_ping_subs[rank] = sub - + logger.info("Zenoh communication initialized") return self._zenoh_session - + def load_config(self, config: ConfigDict): - """Load configuration. - - Args: - config: Configuration dictionary. - """ - raise NotImplementedError("Subclass must implement load_config") - + """Load and validate the configuration. Must be implemented by subclasses.""" + raise NotImplementedError + def connect_drones(self): - """Connect to all drones.""" - raise NotImplementedError("Subclass must implement connect_drones") - + """Connect to all drones. Must be implemented by subclasses.""" + raise NotImplementedError + def host_main_loop(self): - """Main loop of the host.""" - raise NotImplementedError("Subclass must implement host_main_loop") + """Run the host's main coordination loop. Must be implemented by subclasses.""" + raise NotImplementedError def close(self): - """Gracefully close all resources and shutdown the host. - - This method can be called at any point during the host lifecycle - and will properly clean up resources. - """ - raise NotImplementedError("Subclass must implement close") + """Release all resources. Must be implemented by subclasses.""" + raise NotImplementedError class CrazyFlieRealRaceHost(RealRaceHost): - """LSY's implementation of RealRaceHost for multi-drone racing with Crazyflies.""" - + """Race host implementation for multi-drone racing with Crazyflie drones. + + Each drone runs in its own subprocess (:class:`CrazyflieWorker`) that handles + radio communication independently. The host coordinates the race lifecycle via + Zenoh messages to the client processes. + """ + _drone_names: list[str] _drone_ids: list[int] _drone_channels: list[int] _drone_models: list[str] _drone_connections: dict[int, DroneConnection] | None _drone_control_freq: list[float] - _all_clients_ready_event: "mp.synchronize.Event | None" + _all_clients_ready_event: mp.synchronize.Event | None _mp_ctx: mp.context.BaseContext - _client_clock_offsets : dict[int, float] - def __init__(self, config: ConfigDict): - """Initialize LSYRealRaceHost.""" + """Initialize the host. + + Args: + config: Full configuration dictionary (deploy + env sections). + """ super().__init__(config) self._mp_ctx = mp.get_context("spawn") self._all_clients_ready_event = self._mp_ctx.Event() - self._drone_connections = None # Initialize early so close() can access it - self._client_clock_offsets = {} # Store clock offsets for each client - - # TODO: Testing the pipeline without checking the track - - + self._drone_connections = None + def load_config(self, config: ConfigDict): - """Load track configuration.""" + """Parse drone and track information from the configuration. + + Args: + config: Full configuration dictionary (deploy + env sections). + """ self._config = config self.gates, self.obstacles, self.drones_track = load_track(config.env.track) self.n_gates = len(self.gates.pos) self.n_obstacles = len(self.obstacles.pos) self.pos_limit_low = np.array(config.env.track.safety_limits["pos_limit_low"]) self.pos_limit_high = np.array(config.env.track.safety_limits["pos_limit_high"]) - self._num_drones = len(config.deploy.drones) self._drone_names = [f"cf{drone['id']}" for drone in config.deploy.drones] - self._drone_ids = [drone['id'] for drone in config.deploy.drones] - self._drone_channels = [drone['channel'] for drone in config.deploy.drones] - self._drone_models = [drone['drone_model'] for drone in config.deploy.drones] - self._drone_control_freq = [kwargs['freq'] for kwargs in config.env.kwargs] - - # Initialize client tracking + self._drone_ids = [drone["id"] for drone in config.deploy.drones] + self._drone_channels = [drone["channel"] for drone in config.deploy.drones] + self._drone_models = [drone["drone_model"] for drone in config.deploy.drones] + self._drone_control_freq = [kwargs["freq"] for kwargs in config.env.kwargs] for rank in range(self._num_drones): self._clients_ready[rank] = False self._clients_stopped[rank] = False + def check_track( + self, + rng_config: ConfigDict, + check_objects: bool = True, + check_drones: bool = True, + ) -> None: + """Verify that gates, obstacles, and drones are within their allowed tolerances. - def check_track(self, - rng_config: ConfigDict, - check_objects: bool = True, - check_drones: bool = True) -> None: - """Check and validate the track and drones""" - + Args: + rng_config: Randomization config used to determine position tolerances. + check_objects: Whether to validate gate and obstacle positions. + check_drones: Whether to validate drone start positions. + """ if not check_objects and not check_drones: - logger.info("Skipping track check (check_objects and check_drones are both False)") return - logger.info("Checking track configuration...") - if check_objects: check_race_track( gates_pos=self.gates.pos, @@ -662,7 +591,6 @@ def check_track(self, rng_config=rng_config, ) logger.info("Track object check passed") - if check_drones: for rank, drone_name in enumerate(self._drone_names): check_drone_start_pos( @@ -673,216 +601,153 @@ def check_track(self, ) logger.info("Drone start position check passed") - - def connect_drones(self): - """Connect to all Crazyflie drones by spawning individual processes. - - Uses non-blocking polling to wait for connections, allowing responsive - shutdown via stop_event during the connection phase. + """Spawn one subprocess per drone and wait until all are connected and ready. + + Raises: + RuntimeError: If any worker fails to connect or exits prematurely. + TimeoutError: If all drones are not ready within 100 seconds. """ logger.info(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._drone_connections = {} - - # Create shared failure event for all workers failure_event = self._mp_ctx.Event() - + for rank in range(self._num_drones): - drone_id = self._drone_ids[rank] - channel = self._drone_channels[rank] - drone_model = self._drone_models[rank] - control_freq = self._drone_control_freq[rank] - init_pose = Tr.from_components(translation=self.drones_track.pos[rank],rotation = R.from_quat(self.drones_track.quat[rank])) - control_mode = self._config.env.kwargs[rank]['control_mode'] - - # Create synchronization events + init_pose = Tr.from_components( + translation=self.drones_track.pos[rank], + rotation=R.from_quat(self.drones_track.quat[rank]), + ) ready_event = self._mp_ctx.Event() stop_event = self._mp_ctx.Event() - - # Spawn process process = self._mp_ctx.Process( target=crazyflie_process_worker, - args=(rank, - drone_id, - channel, - drone_model, + args=( + rank, + self._drone_ids[rank], + self._drone_channels[rank], + self._drone_models[rank], ready_event, stop_event, init_pose, - control_mode, - self._all_clients_ready_event, - failure_event, - control_freq, - 0.00), + self._config.env.kwargs[rank]["control_mode"], + self._all_clients_ready_event, + failure_event, + self._drone_control_freq[rank], + ), name=f"CrazyflieProcess-{rank}", ) process.start() - - # Store connection info - conn = DroneConnection( - rank = rank, - drone_id = drone_id, - drone_channel = channel, - process = process, - ready_event = ready_event, - stop_event = stop_event, - failure_event = failure_event, - connected = False, + self._drone_connections[rank] = DroneConnection( + rank=rank, + drone_id=self._drone_ids[rank], + drone_channel=self._drone_channels[rank], + process=process, + ready_event=ready_event, + stop_event=stop_event, + failure_event=failure_event, ) - self._drone_connections[rank] = conn - - logger.debug(f"Spawned process for Crazyflie {rank} (PID: {process.pid})") - - # Non-blocking polling for process readiness - logger.info("Waiting for all Crazyflie processes to be ready...") - timeout = 100 # seconds - poll_interval = 0.1 + logger.debug(f"Spawned process for drone {rank} (PID: {process.pid})") + start_time = time.time() - - while time.time() - start_time < timeout: - # Check if any worker has failed + while time.time() - start_time < 100.0: if failure_event.is_set(): - # Signal all workers to stop for conn in self._drone_connections.values(): conn.stop_event.set() - raise RuntimeError("Connection failed in one of the Crazyflie workers. Stopping all workers.") - - # Check if all processes are ready + raise RuntimeError("A Crazyflie worker failed to connect. Stopping all workers.") + all_ready = all(conn.ready_event.is_set() for conn in self._drone_connections.values()) if all_ready: for conn in self._drone_connections.values(): conn.connected = True - logger.info(f"Crazyflie {conn.rank} is ready") - logger.info(f"Host: All {self._num_drones} Crazyflie processes are ready") + logger.info(f"Drone {conn.rank} ready") self.state = RealRaceHostState.INITIALIZED return - - # Check if any process has died unexpectedly + for rank, conn in self._drone_connections.items(): if conn.process and not conn.process.is_alive() and not conn.ready_event.is_set(): - # Signal all workers to stop - for other_conn in self._drone_connections.values(): - other_conn.stop_event.set() - raise RuntimeError(f"Process {rank} terminated unexpectedly during connection phase") - - # Poll with small delay to allow responsiveness to signals - time.sleep(poll_interval) - - # Signal all workers to stop + for other in self._drone_connections.values(): + other.stop_event.set() + raise RuntimeError(f"Process for drone {rank} terminated unexpectedly") + + time.sleep(0.1) + for conn in self._drone_connections.values(): conn.stop_event.set() - raise TimeoutError(f"Timeout waiting for all {self._num_drones} Crazyflie processes to connect") - - def update_poses(self, track_obj: bool = False, drones : bool = False) -> None: - """Update poses from motion capture system. - + raise TimeoutError(f"Timeout waiting for {self._num_drones} Crazyflie processes to connect") + + def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: + """Update gate, obstacle, and/or drone poses from the motion capture system. + + Initializes temporary ROS connectors, reads the current TF poses, writes them + into ``self.gates``, ``self.obstacles``, and ``self.drones_track``, then closes + the connectors. + Args: - track_obj: Whether to update track object poses (gates and obstacles) from ROS tf_names - drones: Whether to update drone poses from ROS tf_names + track_obj: Whether to update gate and obstacle poses. + drones: Whether to update drone start poses. """ if not track_obj and not drones: - logger.debug("No pose updates requested for track objects or drones") return - - logger.info("Initializing ROS connectors in for pose updates...") - ros_connector_track = None - ros_connector_drones = None + logger.info("Reading poses from motion capture system...") + ros_connector_track: ROSConnector | None = None + ros_connector_drones: ROSConnector | None = None - def init_track_connector() -> ROSConnector | None: - """Initialize connector for track objects.""" + def init_track_connector() -> ROSConnector: tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] return ROSConnector(tf_names=tf_names, timeout=10.0) - - def init_drone_connector() -> ROSConnector | None: - """Initialize connector for drone positions.""" + def init_drone_connector() -> ROSConnector: return ROSConnector(tf_names=self._drone_names, timeout=10.0) try: with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: - if track_obj: - future_track = executor.submit(init_track_connector) - if drones: - future_drones = executor.submit(init_drone_connector) - if track_obj: + future_track = executor.submit(init_track_connector) if track_obj else None + future_drones = executor.submit(init_drone_connector) if drones else None + if future_track: ros_connector_track = future_track.result() - if drones: + if future_drones: ros_connector_drones = future_drones.result() if track_obj: - tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] - for i, tf_name in enumerate(tf_names): - pos = ros_connector_track.pos[tf_name] - quat = ros_connector_track.quat[tf_name] - self.gates.pos[i] = pos - self.gates.quat[i] = quat - tf_names = [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] - for i, tf_name in enumerate(tf_names): - pos = ros_connector_track.pos[tf_name] - quat = ros_connector_track.quat[tf_name] - self.obstacles.pos[i] = pos - self.obstacles.quat[i] = quat - + for i in range(self.n_gates): + self.gates.pos[i] = ros_connector_track.pos[f"gate{i + 1}"] + self.gates.quat[i] = ros_connector_track.quat[f"gate{i + 1}"] + for i in range(self.n_obstacles): + self.obstacles.pos[i] = ros_connector_track.pos[f"obstacle{i + 1}"] + self.obstacles.quat[i] = ros_connector_track.quat[f"obstacle{i + 1}"] if drones: for rank, drone_name in enumerate(self._drone_names): - pos = ros_connector_drones.pos[drone_name] - quat = ros_connector_drones.quat[drone_name] - self.drones_track.pos[rank] = pos - self.drones_track.quat[rank] = quat + self.drones_track.pos[rank] = ros_connector_drones.pos[drone_name] + self.drones_track.quat[rank] = ros_connector_drones.quat[drone_name] finally: if ros_connector_track: ros_connector_track.close() if ros_connector_drones: ros_connector_drones.close() - - + def close(self): - """Close all Crazyflie-specific resources and shutdown. - - This method performs shutdown in phases: - 1. Signal all drone processes to stop - 2. Wait for drone processes to finish with timeout - 3. Terminate any unresponsive processes - 4. Close Zenoh communication - """ + """Stop all drone subprocesses and close Zenoh communication.""" logger.info("Host shutting down...") - - # Phase 1: Signal all drone processes to stop if self._drone_connections is not None: - logger.info("Signaling all Crazyflie processes to stop...") for conn in self._drone_connections.values(): if conn.stop_event: conn.stop_event.set() - - # Phase 2: Wait for drone processes to finish with reasonable timeout - logger.info("Waiting for Crazyflie processes to finish...") - max_wait_per_process = 5 # seconds for rank, conn in self._drone_connections.items(): if conn.process and conn.process.is_alive(): - conn.process.join(timeout=max_wait_per_process) + conn.process.join(timeout=5) if conn.process.is_alive(): - logger.warning(f"Process {rank} did not terminate, terminating...") + logger.warning(f"Process {rank} unresponsive, terminating...") conn.process.terminate() conn.process.join(timeout=2) if conn.process.is_alive(): - logger.warning(f"Process {rank} still alive after terminate, killing...") conn.process.kill() conn.process.join() - else: - logger.info(f"Process {rank} terminated successfully") - - # Phase 3: Close Zenoh communication - logger.info("Closing Zenoh communication...") - if self._host_ready_pub: - self._host_ready_pub.close() - if self._host_initialized_pub: - self._host_initialized_pub.close() - if self._host_pong_pub: - self._host_pong_pub.close() - if self._race_start_pub: - self._race_start_pub.close() + + for pub in [self._host_ready_pub, self._host_initialized_pub, self._host_pong_pub, self._race_start_pub]: + if pub: + pub.close() if self._client_state_subs: for sub in self._client_state_subs.values(): sub.close() @@ -891,91 +756,66 @@ def close(self): sub.close() if self._zenoh_session: self._zenoh_session.close() - logger.info("Host shutdown complete") - - - + def _calibrate_client_clocks(self): - """Trigger clock offset calibration with all clients. - - Sends HostInitializedMessage to signal clients to begin calibration. - Clients will send pings and host will respond with pongs. - This should be called after all clients are ready but before the race starts. + """Trigger ping-pong clock calibration with all clients. + + Broadcasts :class:`HostInitializedMessage` to all clients, prompting each to + send a ping. The host immediately responds with a pong containing its timestamp, + allowing clients to estimate the clock offset. Waits 3 seconds for calibration + to complete before returning. """ - logger.info("Host: Triggering client clock calibration...") - - # Send initialized message to all clients + logger.info("Triggering client clock calibration...") for rank in range(self._num_drones): - msg = HostInitializedMessage(drone_rank=rank, timestamp=time.time()) - self._host_initialized_pub.publish(msg) - - # Clients will initiate ping-pong calibration when they receive this message. - # Give them time to complete calibration (typically 1-2 seconds) - logger.info("Host: Waiting for clients to complete calibration...") + self._host_initialized_pub.publish(HostInitializedMessage(drone_rank=rank, timestamp=time.time())) time.sleep(3.0) - logger.info("Host: Clock calibration complete") + logger.info("Clock calibration complete") + + def host_main_loop(self, race_update_freq: float = 50.0): + """Run the host coordination loop. + + Broadcasts :class:`HostReadyMessage` until all clients signal readiness, then + performs clock calibration, releases the drone workers, and enters the race loop + where :class:`RaceStartMessage` is broadcast until all clients report stopping. - def host_main_loop(self, race_update_freq : float = 50.0): - """Main loop of the host.""" - logger.info("Host: Starting main loop") - + Args: + race_update_freq: Frequency in Hz at which :class:`RaceStartMessage` is broadcast. + + Raises: + RuntimeError: If the host is not in :attr:`RealRaceHostState.INITIALIZED` state. + TimeoutError: If clients do not become ready within 300 seconds. + """ if self.state != RealRaceHostState.INITIALIZED: - raise RuntimeError("Host: Failed to reach INITIALIZED state") - - # INITIALIZED state: Wait for clients to be ready - logger.info("Host: In INITIALIZED state - waiting for clients...") - host_ready_freq = 10 # Hz - timeout = 300 # seconds + raise RuntimeError("Host must be in INITIALIZED state before starting the main loop") + + logger.info("Waiting for all clients...") t_start = time.time() - - while time.time() - t_start < timeout: - # Send host ready messages - msg = HostReadyMessage(elapsed_time=0.0, timestamp=time.time()) - self._host_ready_pub.publish(msg) - - # Check if all clients are ready + while time.time() - t_start < 300.0: + self._host_ready_pub.publish(HostReadyMessage(elapsed_time=0.0, timestamp=time.time())) if all(self._clients_ready.values()): - logger.info("Host: All clients are ready!") + logger.info("All clients ready") break - - time.sleep(1.0 / host_ready_freq) - + time.sleep(1.0 / 10) + if not all(self._clients_ready.values()): - raise TimeoutError("Host: Timeout waiting for all clients to become ready") - - # Calibrate client clocks + raise TimeoutError("Timeout waiting for all clients to become ready") + self._calibrate_client_clocks() - - # Signal drone processes that all clients are ready - logger.info("Host: Signaling drone processes that all clients are ready") self._all_clients_ready_event.set() - - # OPERATION state: Race started - logger.info("Host: In OPERATION state - race started") + + logger.info("Race started") self.state = RealRaceHostState.OPERATION self._start_time = time.time() - + while self.state == RealRaceHostState.OPERATION: elapsed_time = time.time() - self._start_time - - # Send periodic race start messages finished = all(self._clients_stopped.values()) - msg = RaceStartMessage( - elapsed_time=elapsed_time, - timestamp=time.time(), - finished=finished, + self._race_start_pub.publish( + RaceStartMessage(elapsed_time=elapsed_time, timestamp=time.time(), finished=finished) ) - self._race_start_pub.publish(msg) - if finished: - logger.info("Host: All clients stopped, transitioning to STOPPING state") + logger.info("All clients stopped") self.state = RealRaceHostState.STOPPING break - time.sleep(1.0 / race_update_freq) - - - - - diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 9cf22603c..388395123 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -1,11 +1,12 @@ """Deployment script for multi-drone racing clients (host-client architecture). -Each client runs on a drone's computing unit and communicates with the central host via Zenoh. +Each client runs on a drone's computing unit and communicates with the central host +via Zenoh. Run one instance per drone, specifying its rank. Usage: -python deploy_client.py --config multi_level0.toml --drone_rank 0 -python deploy_client.py --config multi_level0.toml --drone_rank 1 + python deploy_client.py --config multi_level2.toml --drone_rank 0 + python deploy_client.py --config multi_level2.toml --drone_rank 1 """ @@ -34,97 +35,66 @@ def main( drone_rank: int | None = None, ): """Deploy and run a client for multi-drone racing. - + Args: - config: Path to competition configuration (file in `config/`). - controller: Controller file name in `lsy_drone_racing/control/` or None to use config. - drone_rank: Rank of this drone in the multi-drone setup (required). + config: Configuration file name, assumed to be in ``config/``. + controller: Controller file name in ``lsy_drone_racing/control/``, or ``None`` + to use the value from the config file. + drone_rank: Rank of this drone in the multi-drone setup. Required. """ - # Setup logging - logging.basicConfig(level=logging.WARNING) - logging.getLogger("jax").setLevel(logging.ERROR) - logger.setLevel(logging.INFO) - logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) - - # Validate inputs if drone_rank is None: raise ValueError("drone_rank must be specified") - - # Initialize ROS2 + rclpy.init() - try: - # Load configuration config_obj = load_config(Path(__file__).parents[1] / "config" / config) if controller is not None: - config_obj.controller[drone_rank]['file'] = controller - # Create environment + config_obj.controller[drone_rank]["file"] = controller + env: RealMultiDroneRaceEnvClient = gymnasium.make( "RealMultiDroneRaceEnvClient-v0", drones=config_obj.deploy.drones, rank=drone_rank, - freq=config_obj.env.kwargs[drone_rank]['freq'], + freq=config_obj.env.kwargs[drone_rank]["freq"], track=config_obj.env.track, randomizations=config_obj.env.randomizations, - sensor_range=config_obj.env.kwargs[drone_rank]['sensor_range'], - control_mode=config_obj.env.kwargs[drone_rank]['control_mode'], + sensor_range=config_obj.env.kwargs[drone_rank]["sensor_range"], + control_mode=config_obj.env.kwargs[drone_rank]["control_mode"], ) - try: - # Reset environment (wait for host, etc.) obs, info = env.reset(options=config_obj.deploy) - - # Load controller + control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" - controller_path = control_path / config_obj.controller[drone_rank]['file'] - controller_cls = load_controller(controller_path) - config_extracted = extract_config_for_rank(config_obj, drone_rank) - controller = controller_cls(obs, info, config_extracted) - # Wait for race to start - logger.info(f"Client {drone_rank}: Waiting for race to start...") + controller_cls = load_controller(control_path / config_obj.controller[drone_rank]["file"]) + controller = controller_cls(obs, info, extract_config_for_rank(config_obj, drone_rank)) + env.unwrapped.lock_until_race_start(timeout=120.0) - logger.info(f"Client {drone_rank}: Starting control loop at {config_obj.env.kwargs[drone_rank]['freq']} Hz") start_time = time.time() - - # Main control loop + while rclpy.ok(): t_loop = time.time() - - # Compute control action = controller.compute_control(obs, info) - - # Step environment (returns updated obs and info) obs, reward, terminated, truncated, info = env.step(action) - - # Call controller callback - controller_finished = controller.step_callback( - action, obs, reward, terminated, truncated, info - ) - - # Check termination conditions + controller_finished = controller.step_callback(action, obs, reward, terminated, truncated, info) if terminated or truncated or controller_finished: - logger.info(f"Client {drone_rank}: Episode finished (terminated={terminated}, truncated={truncated}, finished={controller_finished})") + logger.info( + f"Client {drone_rank}: Episode finished " + f"(terminated={terminated}, truncated={truncated}, finished={controller_finished})" + ) break - - # Maintain control frequency dt = time.time() - t_loop - sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]['freq'] - dt + sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]["freq"] - dt if sleep_time > 0: time.sleep(sleep_time) else: - logger.warning(f"Client {drone_rank}: Control loop exceeded frequency (overrun: {-sleep_time*1000:.1f}ms)") - + logger.warning(f"Client {drone_rank}: Control loop overrun by {-sleep_time * 1000:.1f}ms") + ep_time = time.time() - start_time finished = obs["target_gate"][drone_rank] == -1 - logger.info( - f"Client {drone_rank}: Episode completed in {ep_time:.3f}s " - f"(finished={finished})" - ) - + logger.info(f"Client {drone_rank}: Episode completed in {ep_time:.3f}s (finished={finished})") finally: env.close() - except KeyboardInterrupt: logger.info(f"Client {drone_rank}: Interrupted by user") except Exception as e: @@ -135,4 +105,8 @@ def main( if __name__ == "__main__": + logging.basicConfig(level=logging.WARNING) + logging.getLogger("jax").setLevel(logging.ERROR) + logger.setLevel(logging.INFO) + logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) fire.Fire(main) diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index d9b5ae428..760f36f4e 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -1,13 +1,11 @@ """Deployment script for the multi-drone racing host. -The host is responsible for: -- Track validation and drone connection -- Coordinating client synchronization via Zenoh -- Supervising the race and handling completion +The host connects to all Crazyflie drones, coordinates client synchronization via +Zenoh, and supervises the race until all clients finish. Usage: -python deploy_host.py --config multi_level0.toml + python deploy_host.py --config multi_level2.toml """ @@ -29,33 +27,24 @@ def main(config: str = "multi_level2.toml"): """Deploy and run the race host. Args: - config: Path to the competition configuration. Assumes the file is in `config/`. + config: Configuration file name, assumed to be in ``config/``. """ - # Setup logging - logging.basicConfig(level=logging.DEBUG) - logging.getLogger("jax").setLevel(logging.ERROR) - logging.getLogger("cflib").setLevel(logging.WARNING) - logger.setLevel(logging.INFO) - logging.getLogger("lsy_drone_racing").setLevel(logging.DEBUG) - - # Initialize ROS2 rclpy.init() - config_obj = load_config(Path(__file__).parents[1] / "config" / config) deploy = config_obj.deploy host = CrazyFlieRealRaceHost(config_obj) try: - host.update_poses(track_obj = deploy.real_track_objects, - drones = deploy.check_drone_start_pos - ) - host.check_track(rng_config=config_obj.env.randomizations, - check_objects = deploy.real_track_objects and deploy.check_race_track, - check_drones = deploy.check_drone_start_pos) + host.update_poses(track_obj=deploy.real_track_objects, drones=deploy.check_drone_start_pos) + host.check_track( + rng_config=config_obj.env.randomizations, + check_objects=deploy.real_track_objects and deploy.check_race_track, + check_drones=deploy.check_drone_start_pos, + ) host.connect_drones() logger.info("Drones connected, starting main loop...") host.host_main_loop() except KeyboardInterrupt: - logger.info("Received keyboard interrupt, shutting down...") + logger.info("Interrupted, shutting down...") except Exception as e: logger.error(f"Host encountered an error: {e}", exc_info=True) finally: @@ -66,4 +55,9 @@ def main(config: str = "multi_level2.toml"): if __name__ == "__main__": + logging.basicConfig(level=logging.DEBUG) + logging.getLogger("jax").setLevel(logging.ERROR) + logging.getLogger("cflib").setLevel(logging.WARNING) + logger.setLevel(logging.INFO) + logging.getLogger("lsy_drone_racing").setLevel(logging.DEBUG) fire.Fire(main) From 22f5aa3c541b9c0d9bcfa00e93afc1f3dbb20491 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:08:49 +0100 Subject: [PATCH 13/97] Removed raw-zenoh and takeoff barrier related code --- lsy_drone_racing/utils/takeoff_barrier.py | 224 ------------------ lsy_drone_racing/utils/zenoh_utils.py | 262 ---------------------- pixi.lock | 8 +- pyproject.toml | 8 +- scripts/multi_deploy.py | 97 -------- scripts/standalone_barrier.py | 105 --------- 6 files changed, 8 insertions(+), 696 deletions(-) delete mode 100644 lsy_drone_racing/utils/takeoff_barrier.py delete mode 100644 lsy_drone_racing/utils/zenoh_utils.py delete mode 100644 scripts/multi_deploy.py delete mode 100644 scripts/standalone_barrier.py diff --git a/lsy_drone_racing/utils/takeoff_barrier.py b/lsy_drone_racing/utils/takeoff_barrier.py deleted file mode 100644 index 5e3788186..000000000 --- a/lsy_drone_racing/utils/takeoff_barrier.py +++ /dev/null @@ -1,224 +0,0 @@ -"""Synchronized takeoff barrier for multi-drone coordination. - -This module provides a TakeOffBarrier class that coordinates the start of multiple drones -across processes or machines. All drones wait on the barrier during environment reset, -ensuring synchronized takeoff. -""" - -from __future__ import annotations - -import json -import logging -import multiprocessing as mp -import socket -import tempfile -import time -from multiprocessing.managers import SyncManager -from pathlib import Path -from threading import BrokenBarrierError - -logger = logging.getLogger(__name__) - - -class TakeOffBarrier: - """Manages a shared multiprocessing barrier for synchronized drone takeoff. - - This class handles barrier creation, discovery, and coordination across processes. - It supports both local and cross-machine setups through environment variables and - shared metadata files. - """ - - def __init__( - self, - authkey: bytes, - timeout_s: float, - filename: str, - port: int, - bind_host: str = "0.0.0.0", - public_host: str | None = None, - ): - """Initialize the TakeOffBarrier. - - Args: - authkey: Authentication key for the barrier manager. - timeout_s: Timeout in seconds for barrier wait. - filename: Filename for metadata storage. - port: Port for the barrier manager. - bind_host: Interface to bind to (default: 0.0.0.0 for all interfaces). - public_host: Public IP address for cross-machine setup. If None, auto-detect. - """ - self.authkey = authkey - self.timeout_s = timeout_s - self.filename = filename - self.port = port - self.bind_host = bind_host - self.public_host = public_host or self._get_public_address() - - self._barrier_manager: SyncManager | None = None - self._owns_barrier_manager = False - - def _barrier_meta_path(self) -> Path: - """Get the path to the barrier metadata file.""" - cache_dir = Path(tempfile.gettempdir()) / "lsy_drone_racing" - cache_dir.mkdir(parents=True, exist_ok=True) - return cache_dir / self.filename - - def _read_barrier_meta(self) -> dict | None: - """Read barrier metadata from file.""" - path = self._barrier_meta_path() - try: - with path.open("r", encoding="ascii") as file: - return json.load(file) - except FileNotFoundError: - return None - except json.JSONDecodeError: - logger.warning("Barrier metadata file is invalid; ignoring it and creating a new one.") - return None - - def _write_barrier_meta(self, meta: dict): - """Write barrier metadata to file.""" - path = self._barrier_meta_path() - tmp_path = path.with_suffix(".tmp") - with tmp_path.open("w", encoding="ascii") as file: - json.dump(meta, file) - tmp_path.replace(path) - - @staticmethod - def _get_public_address() -> str: - """Get the public/local IP address that would be used to reach external networks.""" - try: - # Connect a UDP socket to a public IP without sending data to determine local IP - s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - s.connect(("8.8.8.8", 80)) - addr = s.getsockname()[0] - s.close() - return addr - except OSError: - try: - return socket.gethostbyname(socket.gethostname()) - except OSError: - return "127.0.0.1" - - def _resolve_barrier_hosts(self) -> tuple[str, str, int]: - """Return bind host, public host, and port for the barrier manager.""" - return self.bind_host, self.public_host, self.port - - def _create_barrier_manager(self, parties: int) -> mp.managers.ProxyBase: - """Create a new barrier manager and register metadata.""" - class _BarrierManager(SyncManager): - pass - - barrier_cache: dict[str, mp.Barrier] = {} - - def _get_barrier(): - if "barrier" not in barrier_cache: - barrier_cache["barrier"] = mp.Barrier(parties) - return barrier_cache["barrier"] - - _BarrierManager.register("get_barrier", callable=_get_barrier, exposed=("wait",)) - bind_host, public_host, port = self._resolve_barrier_hosts() - manager = _BarrierManager(address=(bind_host, port), authkey=self.authkey) - manager.start() - meta = { - "host": public_host, - "port": port, - "authkey": self.authkey.hex(), - "parties": parties, - } - self._write_barrier_meta(meta) - self._barrier_manager = manager - self._owns_barrier_manager = True - logger.info( - "Created start barrier manager at %s:%d (bind: %s)", - public_host, - port, - bind_host, - ) - return manager.get_barrier() - - def _connect_to_barrier(self, meta: dict) -> mp.managers.ProxyBase: - """Connect to an existing barrier manager.""" - class _BarrierManager(SyncManager): - pass - - _BarrierManager.register("get_barrier", exposed=("wait",)) - authkey = bytes.fromhex(meta["authkey"]) - manager = _BarrierManager(address=(meta["host"], meta["port"]), authkey=authkey) - manager.connect() - self._barrier_manager = manager - self._owns_barrier_manager = False - return manager.get_barrier() - - def _get_or_create_barrier(self, parties: int) -> mp.managers.ProxyBase: - """Get or create a shared barrier, handling discovery and creation logic.""" - barrier = None - meta = self._read_barrier_meta() - - # Try metadata (works if shared over network storage) - if barrier is None and meta is not None: - try: - barrier = self._connect_to_barrier(meta) - logger.info( - "Connected to existing start barrier manager at %s:%d", - meta.get("host"), - meta.get("port"), - ) - if meta.get("parties") and meta["parties"] != parties: - logger.warning( - "Barrier parties mismatch (meta=%s, current=%s); continuing anyway", - meta["parties"], - parties, - ) - except OSError as exc: - logger.warning("Could not connect to barrier manager (%s); starting a new one.", exc) - try: - self._barrier_meta_path().unlink() - except FileNotFoundError: - pass - - if barrier is None: - barrier = self._create_barrier_manager(parties) - meta = self._read_barrier_meta() - logger.info( - "Started new start barrier manager at %s:%s", - meta.get("host") if meta else "unknown", - meta.get("port") if meta else "unknown", - ) - - return barrier - - def wait(self, rank: int, parties: int, participate: bool = True): - """Wait on the barrier until all parties have arrived. - - Args: - rank: Rank of the calling process. - parties: Total number of parties expected at the barrier. - participate: If True, wait on the barrier. If False, only create/connect to - the barrier manager without participating (useful for manager-only hosts). - - Raises: - RuntimeError: If the barrier times out or is broken. - """ - barrier = self._get_or_create_barrier(parties) - - if not participate: - logger.info("Barrier manager created for %d parties (not participating)", parties) - return - - logger.info("Rank %d waiting on start barrier (%d parties)", rank, parties) - t0 = time.perf_counter() - try: - barrier.wait(timeout=self.timeout_s) - except BrokenBarrierError as exc: - raise RuntimeError("Start barrier broken or timed out") from exc - latency_ms = (time.perf_counter() - t0) * 1000 - logger.info("Rank %d passed start barrier in %.1f ms", rank, latency_ms) - - def close(self): - """Shutdown the barrier manager if owned by this process.""" - if self._barrier_manager is not None and self._owns_barrier_manager: - try: - self._barrier_manager.shutdown() - logger.info("Barrier manager shutdown complete") - except Exception as exc: - logger.warning("Error shutting down barrier manager: %s", exc) diff --git a/lsy_drone_racing/utils/zenoh_utils.py b/lsy_drone_racing/utils/zenoh_utils.py deleted file mode 100644 index 7ad5a9733..000000000 --- a/lsy_drone_racing/utils/zenoh_utils.py +++ /dev/null @@ -1,262 +0,0 @@ -"""Utilities for Zenoh-based host-client communication in multi-drone racing.""" - -from __future__ import annotations - -import json -import logging -import time -from dataclasses import asdict, dataclass -from typing import Any, Callable - -import numpy as np -import zenoh - -logger = logging.getLogger(__name__) - - -@dataclass -class HostReadyMessage: - """Message sent by host to indicate it's ready. - - Attributes: - elapsed_time: Elapsed time since the race started (in IDLE/INITIALIZED, this is 0). - timestamp: Timestamp when the message was sent (for latency measurement). - """ - elapsed_time: float - timestamp: float - - -@dataclass -class ClientReadyMessage: - """Message sent by client in response to host ready message. - - Attributes: - drone_rank: Rank of the drone. - ready: Whether the client is ready. - timestamp: Timestamp when the message was sent (for latency measurement). - """ - drone_rank: int - ready: bool - timestamp: float - - -@dataclass -class RaceStartMessage: - """Message sent by host to start the race. - - Attributes: - elapsed_time: Elapsed time (initially 0, but sent periodically during operation). - timestamp: Timestamp when the message was sent. - finished: Whether the host has finished the race. - """ - elapsed_time: float - timestamp: float - finished: bool = False - - -@dataclass -class ClientStateMessage: - """Message sent by client during operation. - - Attributes: - drone_rank: Rank of the drone. - action: Control action (array or list). - elapsed_time: Elapsed time (should match host's for latency measurement). - timestamp: Timestamp when the message was sent. - stopped: Whether the client has stopped (finished or error). - next_gate_idx: Next gate index to visit (-1 if finished). - """ - drone_rank: int - action: list - elapsed_time: float - timestamp: float - stopped: bool = False - next_gate_idx: int = 0 - - -@dataclass -class HostInitializedMessage: - """Initialization message sent by host to signal clients can start calibration. - - Attributes: - drone_rank: Rank of the drone. - timestamp: Timestamp when the message was sent. - """ - drone_rank: int - timestamp: float - - -@dataclass -class ClientPingMessage: - """Ping message from client to host for clock offset calibration. - - Attributes: - drone_rank: Rank of the drone. - client_timestamp: Timestamp when client sent this ping (in client's clock). - """ - drone_rank: int - client_timestamp: float - - -@dataclass -class HostPongMessage: - """Pong message from host to client in response to ping. - - Attributes: - drone_rank: Rank of the drone. - host_timestamp: Timestamp when host sent this pong (in host's clock). - """ - drone_rank: int - host_timestamp: float - - -@dataclass -class HostPingMessage: - """[DEPRECATED] Ping message from host to client for latency calibration. - - Attributes: - drone_rank: Rank of the drone. - host_timestamp: Timestamp when host sent this ping. - """ - drone_rank: int - host_timestamp: float - - -@dataclass -class ClientPongMessage: - """[DEPRECATED] Pong message from client back to host for latency calibration. - - Attributes: - drone_rank: Rank of the drone. - host_timestamp: Echo of the host's timestamp from the ping. - client_timestamp: Timestamp when client sent this pong. - """ - drone_rank: int - host_timestamp: float - client_timestamp: float - - -def serialize_message(message: Any) -> str: - """Serialize a message dataclass to JSON. - - Args: - message: Dataclass instance to serialize. - - Returns: - JSON string representation of the message. - """ - msg_dict = asdict(message) - return json.dumps(msg_dict, default=str) - - -def deserialize_message(json_str: str, message_class: type) -> Any: - """Deserialize a JSON string to a message dataclass. - - Args: - json_str: JSON string representation. - message_class: Target dataclass type. - - Returns: - Deserialized message instance. - """ - msg_dict = json.loads(json_str) - # Convert action back to list if needed - if "action" in msg_dict and isinstance(msg_dict["action"], (list, dict)): - msg_dict["action"] = list(msg_dict["action"]) if isinstance(msg_dict["action"], (list, tuple)) else msg_dict["action"] - return message_class(**msg_dict) - - -def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: - """Compute latency in milliseconds from a given timestamp. - - Args: - timestamp: Original timestamp when message was sent. - clock_offset: Optional clock offset between machines (in seconds) for correction. - Set this to the calibrated offset from ping-pong to correct for - clock skew between host and client machines. - - Returns: - Latency in milliseconds. - """ - return (time.time() - timestamp - clock_offset) * 1000 - - -class ZenohPublisher: - """Wrapper around Zenoh publisher for convenient publishing.""" - - def __init__(self, session: zenoh.Session, key: str): - """Initialize the publisher. - - Args: - session: Zenoh session. - key: Key expression to publish on. - """ - self.session = session - self.key = key - self.publisher = session.declare_publisher(key) - logger.debug(f"Declared publisher on '{key}'") - - def publish(self, message: Any): - """Publish a message. - - Args: - message: Message dataclass to publish. - """ - payload = serialize_message(message) - self.publisher.put(payload) - - def close(self): - """Close the publisher.""" - self.publisher.undeclare() - - -class ZenohSubscriber: - """Wrapper around Zenoh subscriber for convenient subscribing.""" - - def __init__( - self, - session: zenoh.Session, - key: str, - callback: Callable[[str], None], - ): - """Initialize the subscriber. - - Args: - session: Zenoh session. - key: Key expression to subscribe to. - callback: Callback function to be called with payload when message received. - """ - self.session = session - self.key = key - self.callback = callback - - def listener(sample: zenoh.Sample): - try: - payload = sample.payload.to_string() - self.callback(payload) - except Exception as e: - logger.error(f"Error in subscriber callback: {e}") - - self.subscriber = session.declare_subscriber(key, listener) - logger.debug(f"Declared subscriber on '{key}'") - - def close(self): - """Close the subscriber.""" - self.subscriber.undeclare() - - -def create_zenoh_session(conf: zenoh.Config | None = None) -> zenoh.Session: - """Create and open a Zenoh session. - - Args: - conf: Optional Zenoh configuration. If None, uses default config. - - Returns: - Opened Zenoh session. - """ - zenoh.init_log_from_env_or("error") - if conf is None: - conf = zenoh.Config() - session = zenoh.open(conf) - logger.debug("Zenoh session opened") - return session diff --git a/pixi.lock b/pixi.lock index f8b01e1a9..b099000e8 100644 --- a/pixi.lock +++ b/pixi.lock @@ -953,7 +953,6 @@ environments: - pypi: https://files.pythonhosted.org/packages/d5/0c/f08f0d16b4f97ec2ea6d542b9a70472a344384382fa3543a12ec417cc063/trimesh-4.10.1-py3-none-any.whl - pypi: https://files.pythonhosted.org/packages/ac/a4/dc6f335e54877f5d26ad4e4aac8f49b2d6e7719dee3e08f363d882c8aba4/vispy-0.15.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl - pypi: https://files.pythonhosted.org/packages/ea/85/22c1e2ed47daec6dd40eaf0b11c6b86ad483636b8038453a87d1031f8a36/warp_lang-1.10.1-py3-none-manylinux_2_28_x86_64.whl - - pypi: git+https://github.com/eclipse-zenoh/zenoh-python.git?rev=1.7.2#2ac7c8e189c2343c78d19af0927390cd6afefef0 - pypi: ./ gpu: channels: @@ -2850,10 +2849,6 @@ packages: - casadi>=3.7.0 - array-api-compat - array-api-extra -- pypi: git+https://github.com/eclipse-zenoh/zenoh-python.git?rev=1.7.2#2ac7c8e189c2343c78d19af0927390cd6afefef0 - name: eclipse-zenoh - version: 1.7.2 - requires_python: '>=3.8' - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h171cf75_1.conda sha256: fee3738c2431c13f4930778e9d7daca9328e7e2f2a38928cf6ca5a0daa86474a md5: ea2db216eae84bc83b0b2961f38f5c0d @@ -6383,7 +6378,7 @@ packages: - pypi: ./ name: lsy-drone-racing version: 0.0.1 - sha256: 4b40dd0a8fef1b3c3df3207c0602e5f87ca7eb1acc5b17c92180bdbe02732df4 + sha256: 55e1a1da48c8367abf28094d7e285b497309411349070b8216ee9e3eeda71311 requires_dist: - fire>=0.6.0 - numpy @@ -6399,7 +6394,6 @@ packages: - jax[cuda12] ; extra == 'gpu' - cfclient ; extra == 'deploy' - drone-estimators ; extra == 'deploy' - - eclipse-zenoh @ git+https://github.com/eclipse-zenoh/zenoh-python.git@1.7.2 ; extra == 'deploy' - torch==2.8.0 ; extra == 'rl' - wandb ; extra == 'rl' requires_python: '>=3.10' diff --git a/pyproject.toml b/pyproject.toml index 062dccec9..7d4c73271 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -42,7 +42,6 @@ gpu = ["jax[cuda12]"] deploy = [ "cfclient", "drone-estimators", - "eclipse-zenoh @ git+https://github.com/eclipse-zenoh/zenoh-python.git@1.7.2" ] # option[rl]: train rl policy rl = ["torch == 2.8.0", "wandb"] @@ -137,9 +136,15 @@ rosdep = "*" colcon-common-extensions = "*" # Kilted specific tools ros-kilted-desktop = "*" +ros-kilted-rmw-zenoh-cpp = "*" [tool.pixi.feature.kilted.activation] scripts = ["tools/setup_mocap.sh"] +env = { RMW_IMPLEMENTATION = "rmw_zenoh_cpp", ZENOH_ROUTER_CHECK_ATTEMPTS = "-1" } + +[tool.pixi.feature.kilted.tasks.zenoh-router] +cmd = "ros2 run rmw_zenoh_cpp rmw_zenohd" +description = "Run the Zenoh router on the host machine" [tool.pixi.activation] scripts = ["tools/setup_acados.sh"] @@ -162,6 +167,7 @@ tests = { cmd = "pytest -v tests", description = "Run tests" } [tool.pixi.feature.tests.dependencies] pytest = "*" + [tool.pixi.feature.deploy.tasks.mocap] cmd = "ros2 launch motion_capture_tracking launch.py" diff --git a/scripts/multi_deploy.py b/scripts/multi_deploy.py deleted file mode 100644 index 2cdc86e3b..000000000 --- a/scripts/multi_deploy.py +++ /dev/null @@ -1,97 +0,0 @@ -"""Launch script for the real race with multiple drones. - -Usage: - -python deploy.py - -""" - -from __future__ import annotations - -import logging -import time -from pathlib import Path -from typing import TYPE_CHECKING - -import fire -import gymnasium -import rclpy - -from lsy_drone_racing.utils import extract_config_for_rank, load_config, load_controller - -if TYPE_CHECKING: - from lsy_drone_racing.envs.real_race_env import RealMultiDroneRaceEnv - -logger = logging.getLogger(__name__) - - -def main(config: str = "multi_level0.toml", - controller: str | None = None, - drone_rank: int | None = None, - radio_id: int | None = None): - """Deployment script to run the controller on the real drone. - - Args: - config: Path to the competition configuration. Assumes the file is in `config/`. - controller: The name of the controller file in `lsy_drone_racing/control/` or None. If None, - the controller specified in the config file is used. - drone_rank: The rank of the drone in the multi-drone setup. - radio_id: Radio ID in multi-antenna setups, will be 0 if None. - """ - rclpy.init() - config = load_config(Path(__file__).parents[1] / "config" / config) - if controller is not None: - config.controller.file = controller - - if radio_id is None: - radio_id = 0 - - env: RealMultiDroneRaceEnv = gymnasium.make( - "RealMultiDroneRacing-v0", - drones=config.deploy.drones, - freq=config.env.kwargs[drone_rank]['freq'], - track=config.env.track, - randomizations=config.env.randomizations, - sensor_range=config.env.kwargs[drone_rank]['sensor_range'], - control_mode=config.env.kwargs[drone_rank]['control_mode'], - rank = drone_rank, - radio_id = radio_id, - ) - try: - obs, info = env.reset(options=config.deploy) - next_obs = obs # Set next_obs to avoid errors when the loop never enters - - control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" - controller_path = control_path / config.controller[drone_rank]['file'] - controller_cls = load_controller(controller_path) - config_extracted = extract_config_for_rank(config, drone_rank) - controller = controller_cls(obs, info, config_extracted) - start_time = time.perf_counter() - while rclpy.ok(): - t_loop = time.perf_counter() - obs, info = env.unwrapped.obs(), env.unwrapped.info() - action = controller.compute_control(obs, info) - next_obs, reward, terminated, truncated, info = env.step(action) - controller_finished = controller.step_callback( - action, next_obs, reward, terminated, truncated, info - ) - if terminated or truncated or controller_finished: - break - if (dt := (time.perf_counter() - t_loop)) < (1 / config.env.kwargs[drone_rank]['freq']): - time.sleep(1 / config.env.kwargs[drone_rank]['freq'] - dt) - else: - exc = dt - 1 / config.env.kwargs[drone_rank]['freq'] - logger.warning(f"Controller execution time exceeded loop frequency by {exc:.3f}s.") - ep_time = time.perf_counter() - start_time - finished_track = next_obs["target_gate"] == -1 - logger.info(f"Track time: {ep_time:.3f}s" if finished_track[drone_rank] else "Task not completed") - finally: - env.close() - - -if __name__ == "__main__": - logging.basicConfig(level=logging.WARNING) - logging.getLogger("jax").setLevel(logging.ERROR) - logger.setLevel(logging.INFO) - logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) - fire.Fire(main) diff --git a/scripts/standalone_barrier.py b/scripts/standalone_barrier.py deleted file mode 100644 index a8b2c67e9..000000000 --- a/scripts/standalone_barrier.py +++ /dev/null @@ -1,105 +0,0 @@ -"""Standalone takeoff barrier script. - -This script sets up and manages a shared start barrier for coordinated multi-drone takeoff. -All drone processes should connect to this barrier before starting their episodes. - -Usage: - -python standalone_barrier.py --config multi_level0.toml -python standalone_barrier.py --config multi_level0.toml --num_drones 3 - -Configuration is read from the TOML config file's [deploy.takeoff_barrier] section. -""" - -from __future__ import annotations - -import logging -import sys -from pathlib import Path - -# Add parent directory to path to import from lsy_drone_racing -sys.path.insert(0, str(Path(__file__).parents[1])) - -from lsy_drone_racing.utils import load_config -from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier - -logger = logging.getLogger(__name__) - - -def main(config: str = "multi_level0.toml", num_drones: int | None = None, verbose: bool = False): - """Start a standalone takeoff barrier server. - - Args: - config: Path to the competition configuration. Assumes the file is in `config/`. - num_drones: Number of drones expected to synchronize on this barrier. If None, inferred - from the config file. - verbose: Enable verbose logging (default: False). - """ - if verbose: - logging.basicConfig(level=logging.DEBUG) - else: - logging.basicConfig(level=logging.INFO) - logger.setLevel(logging.INFO) - - # Load configuration - config_obj = load_config(Path(__file__).parents[1] / "config" / config) - - # Determine number of drones - if num_drones is None: - if hasattr(config_obj, "deploy") and hasattr(config_obj.deploy, "drones"): - num_drones = len(config_obj.deploy.drones) - else: - raise ValueError( - "num_drones must be specified or config must have deploy.drones section" - ) - - logger.info("Starting takeoff barrier for %d drones", num_drones) - - # Extract barrier configuration from config file - barrier_cfg = config_obj.deploy.takeoff_barrier - barrier_config = { - "authkey": barrier_cfg["authkey"].encode() - if isinstance(barrier_cfg["authkey"], str) - else barrier_cfg["authkey"], - "timeout_s": barrier_cfg["timeout_s"], - "filename": barrier_cfg["filename"], - "port": barrier_cfg["port"], - "bind_host": barrier_cfg.get("bind_host", "0.0.0.0"), - "public_host": barrier_cfg.get("public_host"), - } - - # Create barrier instance - barrier = TakeOffBarrier(**barrier_config) - - try: - # Create the barrier manager without participating - logger.info("Setting up barrier manager for %d drone(s)...", num_drones) - barrier.wait(rank=0, parties=num_drones, participate=False) - logger.info("Barrier manager is running and ready for %d drones to connect.", num_drones) - logger.info("Press Ctrl+C to shutdown after all drones have passed.") - - # Keep the manager alive indefinitely - import signal - import threading - - shutdown_event = threading.Event() - - def signal_handler(sig, frame): - logger.info("Shutdown signal received. Closing barrier manager...") - shutdown_event.set() - - signal.signal(signal.SIGINT, signal_handler) - signal.signal(signal.SIGTERM, signal_handler) - - shutdown_event.wait() - except Exception as exc: - logger.error("Barrier encountered an error: %s", exc) - sys.exit(1) - finally: - barrier.close() - - -if __name__ == "__main__": - import fire - - fire.Fire(main) From 7d3065849ea2e9dc1afc0636d49fe572273b1e35 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:09:59 +0100 Subject: [PATCH 14/97] Edit host, client and comm node code to make it look neater --- lsy_drone_racing/envs/real_race_env_client.py | 345 +++++----- lsy_drone_racing/envs/real_race_host.py | 607 +++++++++--------- lsy_drone_racing/utils/ros_race_comm.py | 150 +++++ scripts/deploy_client.py | 109 ++-- scripts/deploy_host.py | 5 +- 5 files changed, 656 insertions(+), 560 deletions(-) create mode 100644 lsy_drone_racing/utils/ros_race_comm.py diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 2ca0e8e3f..4f03abc4b 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -1,41 +1,28 @@ """Client-side environment for multi-drone racing with host-client architecture. The RealMultiDroneRaceEnvClient operates as a client in a host-client system: -- Receives coordination messages from the host via Zenoh +- Receives coordination messages from the host via ROS2 - Manages a single drone's state and control -- Sends state updates to the host for supervision +- Sends control actions and state updates to the host for supervision - Handles local observation and gate tracking """ from __future__ import annotations -import concurrent.futures import logging import threading import time -from typing import TYPE_CHECKING, Literal +from typing import TYPE_CHECKING, Any, Literal import jax import numpy as np -import rclpy -import zenoh from drone_estimators.ros_nodes.ros2_connector import ROSConnector from gymnasium import Env +from lsy_race_msgs.msg import ClientState, HostReady, RaceStart # type: ignore[import-untyped] +from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] from lsy_drone_racing.envs.utils import gate_passed, load_track -from lsy_drone_racing.utils.zenoh_utils import ( - ClientPingMessage, - ClientStateMessage, - HostInitializedMessage, - HostPongMessage, - HostReadyMessage, - RaceStartMessage, - ZenohPublisher, - ZenohSubscriber, - compute_latency_ms, - create_zenoh_session, - deserialize_message, -) +from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms if TYPE_CHECKING: from ml_collections import ConfigDict @@ -48,6 +35,7 @@ class ClientEnvData: """Auxiliary state for the client-side environment, mirroring :class:`EnvData`.""" def __init__(self, n_drones: int, n_gates: int, n_obstacles: int): + """Initialize all dynamic fields to default values.""" self.target_gate = np.zeros(n_drones, dtype=int) self.gates_visited = np.zeros((n_drones, n_gates), dtype=bool) self.obstacles_visited = np.zeros((n_drones, n_obstacles), dtype=bool) @@ -66,7 +54,7 @@ def reset(self, last_drone_pos: NDArray[np.float32]): class RealMultiDroneRaceEnvClient(Env): """Client-side Gymnasium environment for multi-drone racing. - Runs on each drone's computing unit. Receives host coordination messages via Zenoh, + Runs on each drone's computing unit. Receives host coordination messages via ROS2, computes observations and gate tracking locally, and forwards actions to the host which relays them to the physical drone. @@ -123,131 +111,15 @@ def __init__( self._ros_connector_others: ROSConnector | None = None self.data = ClientEnvData(self.n_drones, self.n_gates, self.n_obstacles) - self._zenoh_session: zenoh.Session | None = None - self._host_ready_sub: ZenohSubscriber | None = None - self._host_initialized_sub: ZenohSubscriber | None = None - self._host_pong_sub: ZenohSubscriber | None = None - self._race_start_sub: ZenohSubscriber | None = None - self._client_state_pub: ZenohPublisher | None = None - self._client_ping_pub: ZenohPublisher | None = None + self._comm: RaceCommNode | None = None + self._client_state_pub: Any = None + self._clock_calib_client: Any = None self._host_ready_event = threading.Event() self._race_started = False self._race_start_time = 0.0 - self._should_stop = False self._clock_offset = 0.0 - def _init_ros_connectors(self): - """Open ROS connectors for own drone (estimator) and others (TF), in parallel.""" - def init_own_connector() -> ROSConnector: - return ROSConnector( - estimator_names=[self.drone_name], - cmd_topic=f"/drones/{self.drone_name}/command", - timeout=10.0, - ) - - def init_others_connector() -> ROSConnector | None: - other_names = [n for i, n in enumerate(self.drone_names) if i != self.rank] - if not other_names: - return None - return ROSConnector(tf_names=other_names, timeout=10.0) - - logger.info(f"Client {self.rank}: Initializing ROS connectors...") - with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: - future_own = executor.submit(init_own_connector) - future_others = executor.submit(init_others_connector) - self._ros_connector_own = future_own.result() - self._ros_connector_others = future_others.result() - logger.info(f"Client {self.rank}: ROS connectors initialized") - - def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: - """Read positions, quaternions, velocities, and angular velocities for all drones. - - Own drone state comes from the high-precision estimator; other drones from TF. - Fields for unreachable drones are filled with NaN. - - Returns: - Tuple of ``(pos, quat, vel, ang_vel)``, each of shape ``(n_drones, ...)``. - """ - pos = np.full((self.n_drones, 3), np.nan, dtype=np.float32) - quat = np.full((self.n_drones, 4), np.nan, dtype=np.float32) - vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) - ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) - pos[self.rank] = self._ros_connector_own.pos[self.drone_name] - quat[self.rank] = self._ros_connector_own.quat[self.drone_name] - vel[self.rank] = self._ros_connector_own.vel[self.drone_name] - ang_vel[self.rank] = self._ros_connector_own.ang_vel[self.drone_name] - if self._ros_connector_others is not None: - for i, name in enumerate(self.drone_names): - if i != self.rank: - pos[i] = self._ros_connector_others.pos[name] - quat[i] = self._ros_connector_others.quat[name] - return pos, quat, vel, ang_vel - - def _init_zenoh(self): - """Open a Zenoh session and register all host/client publishers and subscribers.""" - self._zenoh_session = create_zenoh_session() - - def on_host_ready(payload: str): - try: - msg = deserialize_message(payload, HostReadyMessage) - self._host_ready_event.set() - logger.debug(f"Client {self.rank}: Host ready (latency: {compute_latency_ms(msg.timestamp):.2f}ms)") - except Exception as e: - logger.error(f"Client {self.rank}: Error processing host ready message: {e}") - - self._host_ready_sub = ZenohSubscriber( - self._zenoh_session, "lsy_drone_racing/host/ready", on_host_ready - ) - - def on_host_initialized(payload: str): - try: - msg = deserialize_message(payload, HostInitializedMessage) - if msg.drone_rank == self.rank: - self._client_ping_pub.publish( - ClientPingMessage(drone_rank=self.rank, client_timestamp=time.time()) - ) - except Exception as e: - logger.error(f"Client {self.rank}: Error processing host initialized message: {e}") - - self._host_initialized_sub = ZenohSubscriber( - self._zenoh_session, "lsy_drone_racing/host/initialized", on_host_initialized - ) - - def on_host_pong(payload: str): - try: - msg = deserialize_message(payload, HostPongMessage) - if msg.drone_rank == self.rank: - # Approximate clock offset as host_time - client_time; RTT is typically <10ms - self._clock_offset = float(msg.host_timestamp) - time.time() - logger.info(f"Client {self.rank}: Clock offset: {self._clock_offset * 1000:.2f}ms") - except Exception as e: - logger.error(f"Client {self.rank}: Error processing host pong message: {e}") - - self._host_pong_sub = ZenohSubscriber( - self._zenoh_session, "lsy_drone_racing/host/pong", on_host_pong - ) - - def on_race_start(payload: str): - try: - msg = deserialize_message(payload, RaceStartMessage) - self._race_started = True - self._race_start_time = time.time() - msg.elapsed_time - except Exception as e: - logger.error(f"Client {self.rank}: Error processing race start message: {e}") - - self._race_start_sub = ZenohSubscriber( - self._zenoh_session, "lsy_drone_racing/host/race_start", on_race_start - ) - - self._client_state_pub = ZenohPublisher( - self._zenoh_session, f"lsy_drone_racing/client/{self.rank}/state" - ) - self._client_ping_pub = ZenohPublisher( - self._zenoh_session, f"lsy_drone_racing/client/{self.rank}/ping" - ) - logger.info(f"Client {self.rank}: Zenoh communication initialized") - def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: """Reset the environment and wait for the host to signal readiness. @@ -266,11 +138,11 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl """ if self._ros_connector_own is None: self._init_ros_connectors() - if self._zenoh_session is None: - self._init_zenoh() + if self._comm is None: + self._init_comm() - current_positions, _, _, _ = self._get_all_drone_states() - self.data.reset(current_positions) + current_pos, _, _, _ = self._get_all_drone_states() + self.data.reset(current_pos) logger.info(f"Client {self.rank}: Waiting for host ready message...") stop_sending = threading.Event() @@ -281,10 +153,9 @@ def send_state_messages(): dummy_action = np.zeros(4, dtype=np.float32) else: dummy_action = np.zeros(13, dtype=np.float32) - dummy_action[:3] = current_positions[self.rank] - dummy_action[2] = 0.3 + dummy_action[:3] = current_pos[self.rank] self._send_state_update(dummy_action, stopped=False) - time.sleep(0.1) + time.sleep(1 / self.freq) threading.Thread(target=send_state_messages, daemon=True).start() if not self._host_ready_event.wait(timeout=120.0): @@ -294,23 +165,32 @@ def send_state_messages(): "Host may not be running or network connection failed." ) stop_sending.set() - logger.info(f"Client {self.rank}: Environment reset complete") + logger.debug(f"Client {self.rank}: Environment reset complete") return self.obs(), self.info() def lock_until_race_start(self, timeout: float = 60.0): - """Block until the host broadcasts the first :class:`RaceStartMessage`. + """Calibrate the clock offset and block until the host broadcasts :class:`RaceStartMessage`. + + Calls the host's calibration service (blocks until available), estimates the + clock offset via N round-trips, then waits for the race start signal. Args: - timeout: Maximum time in seconds to wait before raising. + timeout: Maximum time in seconds to wait for calibration and race start. Raises: - TimeoutError: If the race does not start within ``timeout`` seconds. + TimeoutError: If calibration or race start exceeds ``timeout`` seconds. """ - logger.info(f"Client {self.rank}: Waiting for race to start...") + logger.debug(f"Client {self.rank}: Calibrating clock offset...") + self._clock_offset = calibrate_clock(self._clock_calib_client, n=5, timeout=timeout) + logger.info(f"Client {self.rank}: Clock offset = {self._clock_offset * 1000:.2f}ms") + t_start = time.time() while not self._race_started: if time.time() - t_start > timeout: - raise TimeoutError(f"Client {self.rank}: Timeout waiting for race start after {timeout}s.") + raise TimeoutError( + f"Client {self.rank}: Timeout waiting for race start after {timeout}s." + ) + time.sleep(0.001) logger.info(f"Client {self.rank}: Race started") def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: @@ -332,62 +212,38 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: gate_pos = self.gates.pos[self.data.target_gate] gate_quat = self.gates.quat[self.data.target_gate] with jax.default_device(self.device): - passed = gate_passed(drone_pos, self.data.last_drone_pos, gate_pos, gate_quat, (0.45, 0.45)) + passed = gate_passed( + drone_pos, self.data.last_drone_pos, gate_pos, gate_quat, (0.45, 0.45) + ) self.data.target_gate += np.asarray(passed) self.data.target_gate[self.data.target_gate >= self.n_gates] = -1 self.data.last_drone_pos[...] = drone_pos self.data.taken_off |= drone_pos[self.rank, 2] > 0.1 terminated = bool(self.data.target_gate[self.rank] == -1) - if np.any((self.pos_limit_low > drone_pos[self.rank]) | (drone_pos[self.rank] > self.pos_limit_high)): + if np.any( + (self.pos_limit_low > drone_pos[self.rank]) + | (drone_pos[self.rank] > self.pos_limit_high) + ): logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") terminated = True - self._send_action_ros(action) + if self.control_mode == "attitude" and self._ros_connector_own: + self._ros_connector_own.publish_cmd(action) + self._send_state_update(action, terminated) - if terminated: - self._should_stop = True return self.obs(), 0.0, terminated, False, self.info() - def _send_state_update(self, action: NDArray, stopped: bool): - """Publish a :class:`ClientStateMessage` to the host. - - The timestamp is adjusted by the calibrated clock offset so the host can - measure accurate latency without clock skew. - - Args: - action: Current control action. - stopped: Whether this client has finished or crashed. - """ - elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 - self._client_state_pub.publish( - ClientStateMessage( - drone_rank=self.rank, - action=action.tolist() if isinstance(action, np.ndarray) else list(action), - elapsed_time=elapsed_time, - timestamp=time.time() + self._clock_offset, - stopped=stopped or self._should_stop, - next_gate_idx=int(self.data.target_gate[self.rank]), - ) - ) - - def _send_action_ros(self, action: NDArray): - """Publish the action to ROS so the external estimator can track motor commands. - - Args: - action: Control action (only used in attitude mode). - """ - if self.control_mode == "attitude" and self._ros_connector_own is not None: - self._ros_connector_own.publish_cmd(action) - def obs(self) -> dict[str, NDArray]: """Return the current observation dictionary.""" mask = self.data.gates_visited[..., None] gates_pos = np.where(mask, self.gates.pos, self.gates.nominal_pos).astype(np.float32) gates_quat = np.where(mask, self.gates.quat, self.gates.nominal_quat).astype(np.float32) mask = self.data.obstacles_visited[..., None] - obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype(np.float32) + obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype( + np.float32 + ) drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() return { "pos": drone_pos, @@ -407,16 +263,105 @@ def info(self) -> dict: return {"rank": self.rank} def close(self): - """Send a final stop message and close all Zenoh and ROS connections.""" + """Send a final stop message and close all ROS connections.""" logger.info(f"Client {self.rank}: Closing environment...") if self._client_state_pub: - self._send_state_update(np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True) - for sub in [self._host_ready_sub, self._host_initialized_sub, self._host_pong_sub, self._race_start_sub]: - if sub: - sub.close() - for pub in [self._client_state_pub, self._client_ping_pub]: - if pub: - pub.close() - if self._zenoh_session: - self._zenoh_session.close() - logger.info(f"Client {self.rank}: Environment closed") + try: + self._send_state_update( + np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True + ) + time.sleep(0.1) # allow the executor thread to flush the message before shutdown + except Exception as e: + logger.warning(f"Client {self.rank}: Could not send final stop message: {e}") + if self._comm: + self._comm.close() + logger.debug(f"Client {self.rank}: Environment closed") + + def _send_state_update(self, action: NDArray, stopped: bool): + """Publish a :class:`ClientStateMessage` to the host. + + The timestamp is adjusted by the calibrated clock offset so the host can + measure accurate latency without clock skew. + + Args: + action: Current control action. + stopped: Whether this client has finished or crashed. + """ + elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 + msg = ClientState() + msg.drone_rank = self.rank + msg.action = action.tolist() if isinstance(action, np.ndarray) else list(action) + msg.elapsed_time = elapsed_time + msg.timestamp = time.time() + self._clock_offset + msg.stopped = stopped + msg.next_gate_idx = int(self.data.target_gate[self.rank]) + self._client_state_pub.publish(msg) + + def _init_ros_connectors(self): + """Open ROS connectors for own drone (estimator) and others (TF).""" + self._ros_connector_own = ROSConnector( + estimator_names=[self.drone_name], + cmd_topic=f"/drones/{self.drone_name}/command", + timeout=10.0, + ) + + other_names = [n for i, n in enumerate(self.drone_names) if i != self.rank] + if other_names: + self._ros_connector_others = ROSConnector(tf_names=other_names, timeout=10.0) + + def _init_comm(self): + """Set up the ROS2 communication node with all publishers and subscribers.""" + self._comm = RaceCommNode(f"lsy_race_client_{self.rank}") + node = self._comm.node + + def on_host_ready(msg: HostReady): + self._host_ready_event.set() + logger.debug( + f"Client {self.rank}: Host ready " + f"(latency: {compute_latency_ms(msg.timestamp):.2f}ms)" + ) + + def on_race_start(msg: RaceStart): + self._race_started = True + self._race_start_time = time.time() - msg.elapsed_time + self._host_terminate = bool(msg.finished) + + self._subs = [ + node.create_subscription(HostReady, "lsy_drone_racing/host/ready", on_host_ready, 10), + node.create_subscription( + RaceStart, "lsy_drone_racing/host/race_start", on_race_start, 10 + ), + ] + self._client_state_pub = node.create_publisher( + ClientState, f"lsy_drone_racing/client/drone_{self.rank}/state", 10 + ) + self._clock_calib_client = node.create_client( + CalibrateClock, "lsy_drone_racing/calibrate_clock" + ) + logger.debug(f"Client {self.rank}: ROS2 communication initialized") + + def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: + """Read positions, quaternions, velocities, and angular velocities for all drones. + + Own drone state comes from the high-precision estimator; other drones from TF. + Fields for unreachable drones are filled with NaN. + + Returns: + Tuple of ``(pos, quat, vel, ang_vel)``, each of shape ``(n_drones, ...)``. + """ + pos = np.full((self.n_drones, 3), np.nan, dtype=np.float32) + quat = np.full((self.n_drones, 4), np.nan, dtype=np.float32) + vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) + ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) + pos[self.rank] = self._ros_connector_own.pos[self.drone_name] + quat[self.rank] = self._ros_connector_own.quat[self.drone_name] + vel[self.rank] = self._ros_connector_own.vel[self.drone_name] + ang_vel[self.rank] = self._ros_connector_own.ang_vel[self.drone_name] + if self._ros_connector_others is not None: + for i, name in enumerate(self.drone_names): + if i != self.rank: + pos[i] = self._ros_connector_others.pos.get(name, np.nan) + quat[i] = self._ros_connector_others.quat.get(name, np.nan) + # vel[i] = self._ros_connector_others.vel.get(name, np.nan) + # ang_vel[i] = self._ros_connector_others.ang_vel.get(name, np.nan) + return pos, quat, vel, ang_vel diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 7a9313918..714f15bfe 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -6,12 +6,11 @@ - Race operation and client supervision in OPERATION state - Graceful shutdown in STOPPING state -Communication with clients is handled via Zenoh pub/sub. +Communication with clients is handled via ROS2. """ from __future__ import annotations -import concurrent.futures import logging import multiprocessing as mp import signal @@ -19,39 +18,31 @@ import threading import time from dataclasses import dataclass -from enum import Enum from pathlib import Path from typing import TYPE_CHECKING import cflib import numpy as np import rclpy -import zenoh from cflib.crazyflie import Crazyflie, Localization from cflib.crtp.crtpstack import CRTPPacket, CRTPPort from cflib.utils.power_switch import PowerSwitch from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params from drone_models.transform import force2pwm -from scipy.spatial.transform import Rotation as R, RigidTransform as Tr +from lsy_race_msgs.msg import ClientState, HostReady, RaceStart # type: ignore[import-untyped] +from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] +from scipy.spatial.transform import RigidTransform as Tr +from scipy.spatial.transform import Rotation as R -from lsy_drone_racing.envs.utils import gate_passed, load_track +from lsy_drone_racing.envs.utils import load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track -from lsy_drone_racing.utils.zenoh_utils import ( - ClientStateMessage, - HostInitializedMessage, - HostPongMessage, - HostReadyMessage, - RaceStartMessage, - ZenohPublisher, - ZenohSubscriber, - create_zenoh_session, - deserialize_message, -) +from lsy_drone_racing.utils.ros2_race_comm import RaceCommNode if TYPE_CHECKING: from ml_collections import ConfigDict from numpy.typing import NDArray + from rclpy.publisher import Publisher logger = logging.getLogger(__name__) @@ -75,11 +66,11 @@ def __init__( drone_model: str, ready_event: mp.synchronize.Event, stop_event: mp.synchronize.Event, + start_event: mp.synchronize.Event, + failure_event: mp.synchronize.Event, init_pose: Tr, control_mode: str, control_freq: float = 50.0, - start_event: mp.synchronize.Event | None = None, - failure_event: mp.synchronize.Event | None = None, ): """Initialize the Crazyflie worker. @@ -88,8 +79,8 @@ def __init__( drone_id: Crazyflie hardware ID (used to build the radio URI). drone_channel: Radio channel to connect on. drone_model: Drone model name for loading thrust/PWM parameters. - ready_event: Set once the drone is connected and initialized. - stop_event: Set by the host to request a graceful shutdown. + ready_event: Set by the object itself once the drone is connected and initialized. + stop_event: Set by the host to request a shutdown. init_pose: Initial pose used to seed the drone's Kalman filter. control_mode: Either ``"attitude"`` or ``"state"``. control_freq: Frequency in Hz at which actions are forwarded to the drone. @@ -106,6 +97,8 @@ def __init__( self.stop_event = stop_event self.start_event = start_event self.failure_event = failure_event + self.connection_event = mp.Event() + self.connection_lost_event = mp.Event() self.init_pose = init_pose self.control_mode = control_mode.lower() self.control_freq = control_freq @@ -116,11 +109,10 @@ def __init__( self.drone_name = f"cf{drone_id}" self.drone: Crazyflie | None = None - self.zenoh_session: zenoh.Session | None = None - self.state_sub: ZenohSubscriber | None = None self.params: dict | None = None - self.last_action: list | None = None + self.last_msg: ClientState | None = None self.action_lock = threading.Lock() + self._comm: RaceCommNode | None = None self._ros_connector: ROSConnector | None = None self._last_drone_pos_update: float = 0.0 @@ -176,14 +168,17 @@ def _send_action(self, action: NDArray[np.float32]): pos, vel, acc = action[:3], action[3:6], action[6:9] quat = R.from_euler("z", action[9]).as_quat() rollrate, pitchrate, yawrate = action[10:] - self.drone.commander.send_full_state_setpoint(pos, vel, acc, quat, rollrate, pitchrate, yawrate) + self.drone.commander.send_full_state_setpoint( + pos, vel, acc, quat, rollrate, pitchrate, yawrate + ) - def _on_client_state(self, payload: str): + def _on_client_state(self, msg: ClientState): """Store the latest action from the client state message.""" - msg = deserialize_message(payload, ClientStateMessage) with self.action_lock: - self.last_action = msg.action + self.last_msg = msg + latency_ms = (time.time() - msg.timestamp) * 1000 + self.logger.debug(f"Action received (gate={msg.next_gate_idx}, latency={latency_ms:.2f}ms)") def _connect_drone(self): @@ -193,215 +188,244 @@ def _connect_drone(self): failure, link loss (e.g. "Too many packets lost"), or timeout. Raises: - InterruptedError: If ``stop_event`` is set during the connection attempt. RuntimeError: If the connection fails or the link is lost before full connection. TimeoutError: If the drone does not connect within 10 seconds. """ self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) - cflib.crtp.init_drivers() - uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" - failure_msg: dict[str, str] = {"message": ""} + try: + cflib.crtp.init_drivers() + uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" PowerSwitch(uri).stm_power_cycle() deadline = time.time() + 10.0 while time.time() < deadline: if self.stop_event.is_set(): - raise InterruptedError("Stop requested during power-cycle wait") + return time.sleep(0.05) - except InterruptedError: - raise - except Exception as e: - self.failure_event.set() - raise e - connection_event = mp.Event() - connection_failed_event = mp.Event() + connection_failed_event = threading.Event() - def on_connected(_: str): - connection_event.set() + def on_connected(_: str): + self.connection_event.set() - def on_connection_failed(uri_failed: str, msg: str): - failure_msg["message"] = f"Connection failed to {uri_failed}: {msg}" - connection_failed_event.set() - - def on_connection_lost(uri_lost: str, msg: str): - if not connection_event.is_set(): - failure_msg["message"] = f"Connection lost to {uri_lost}: {msg}" + def on_connection_failed(uri_failed: str, msg: str): + self.logger.error(f"Connection failed to {uri_failed}: {msg}") connection_failed_event.set() - def on_disconnected(uri_disconnected: str): - self.logger.info(f"Disconnected from {uri_disconnected}") + def on_connection_lost(uri_lost: str, msg: str): + if self.connection_event.is_set(): + self.logger.warning(f"Connection lost to {uri_lost}: {msg}") + self.failure_event.set() + self.connection_lost_event.set() - self.drone.fully_connected.add_callback(on_connected) - self.drone.connection_failed.add_callback(on_connection_failed) - self.drone.connection_lost.add_callback(on_connection_lost) - self.drone.disconnected.add_callback(on_disconnected) - self.drone.open_link(uri) + self.drone.fully_connected.add_callback(on_connected) + self.drone.connection_failed.add_callback(on_connection_failed) + self.drone.connection_lost.add_callback(on_connection_lost) + self.drone.open_link(uri) - start_time = time.time() - while time.time() - start_time < 10.0: - if self.stop_event.is_set(): - raise InterruptedError("Stop requested while connecting to drone") - if connection_failed_event.is_set(): + start_time = time.time() + while time.time() - start_time < 10.0: + if self.stop_event.is_set(): + # If interrupted externally before connection, just exit without error. + return + if connection_failed_event.is_set(): + # If the conenction failed callback was triggered, + # set shared failure event and exit + self.logger.error(f"Connection failed to drone {self.drone_id}") + self.failure_event.set() + return + + if self.connection_event.is_set(): + break + time.sleep(0.05) + + if not self.connection_event.is_set(): + # If we never connected within the timeout, set shared failure event and exit self.failure_event.set() - raise RuntimeError(failure_msg["message"]) - if connection_event.is_set(): - break - time.sleep(0.05) + self.logger.error( + f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}." + ) + return - if not connection_event.is_set(): + self.logger.info(f"Connected to {uri}") + except Exception: + # If anything goes wrong during connection, set shared failure event to notify the host + self.logger.error(f"Exception while connecting to drone {self.drone_id}", exc_info=True) self.failure_event.set() - raise TimeoutError(f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}.") - - self.logger.info(f"Connected to {uri}") + return - def _init_zenoh(self): - """Open a Zenoh session and subscribe to client state messages for this drone.""" - self.zenoh_session = create_zenoh_session() - self.state_sub = ZenohSubscriber( - self.zenoh_session, - f"lsy_drone_racing/client/{self.rank}/state", - self._on_client_state, - ) + def _init_ros_comm(self): + """Subscribe to client state messages for this drone via ROS2.""" + try: + self._comm = RaceCommNode(f"lsy_race_worker_{self.rank}") + self._sub = self._comm.node.create_subscription( + ClientState, + f"lsy_drone_racing/client/drone_{self.rank}/state", + self._on_client_state, + 10, + ) + except Exception as e: + self.logger.error(f"Failed to initialize ROS communication: {e}", exc_info=True) + self.failure_event.set() def _init_ros_connector(self): """Open a ROS connector for reading this drone's pose from the estimator.""" self.logger.info(f"Initializing ROS connector for {self.drone_name}...") - self._ros_connector = ROSConnector( - estimator_names=[self.drone_name], - cmd_topic=f"/drones/{self.drone_name}/command", - timeout=10.0, - ) + try: + self._ros_connector = ROSConnector( + estimator_names=[self.drone_name], + cmd_topic=f"/drones/{self.drone_name}/command", + timeout=10.0, + ) + except Exception as e: + self.logger.error(f"Failed to initialize ROS connector for {self.drone_name}: {e}") + self.failure_event.set() def _control_loop(self): - """Send actions to the drone at the configured control frequency. + """Send actions to the drone at the configured control frequency.""" + with self.action_lock: + self.last_msg = None # Clear any stale message received during initialization - Blocks until ``start_event`` is set, then forwards the latest action from - the client to the drone and sends periodic external position updates to the - drone's Kalman filter. - """ dt = 1.0 / self.control_freq - self.logger.info("Waiting for start signal...") - while not self.start_event.is_set(): - if self.stop_event.is_set(): - return - time.sleep(0.001) self._last_drone_pos_update = time.perf_counter() while not self.stop_event.is_set(): t_start = time.time() + with self.action_lock: - action = self.last_action + if self.last_msg and (t_start - self.last_msg.timestamp) > 10 * dt: + self.logger.error( + f"No command received for 10 * {dt:.2f}s, handover control to host..." + ) + break + if self.last_msg and self.last_msg.stopped: + self.logger.info( + "Received stop signal from client, handover control to host..." + ) + break + action = list(self.last_msg.action) if self.last_msg else None + if action is not None: - action_array = np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) + action_array = ( + np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) + ) self._send_action(action_array) - elapsed = time.time() - t_start - if elapsed > dt: - self.logger.warning(f"Control loop overrun: {elapsed*1000:.1f}ms (budget: {dt*1000:.1f}ms)") + if (t := time.perf_counter()) - self._last_drone_pos_update > 1 / self.POS_UPDATE_FREQ: pos = self._ros_connector.pos[self.drone_name] quat = self._ros_connector.quat[self.drone_name] self.drone.extpos.send_extpose(*pos, *quat) self._last_drone_pos_update = t + elapsed = time.time() - t_start + time.sleep(max(0.0, dt - elapsed)) def _cleanup(self): """Send an emergency stop, close all connections, and shut down ROS.""" if self._ros_connector: self._ros_connector.close() - if self.state_sub: - self.state_sub.close() - if self.zenoh_session: - self.zenoh_session.close() + if self._comm: + self._comm.close() if self.drone: try: - pk = CRTPPacket() - pk.port = CRTPPort.LOCALIZATION - pk.channel = Localization.GENERIC_CH - pk.data = struct.pack(" bool: + # If the connection lost + # or any of the other workers reported a failure + # or we were asked to stop during connection, + # just exit + return ( + self.stop_event.is_set() + or self.failure_event.is_set() + or self.connection_lost_event.is_set() + ) + + # TODO: Really bad, but I do not know a better way to do it. + # The motivation is that the Worker should + # NEITHER throw exceptions NOR receive interrupt signals. + # Otherwise it would be very chaotic. try: - if self.stop_event.is_set(): + if early_stop(): return assert self.control_mode in ["attitude", "state"] self.params = load_params(physics="first_principles", drone_model=self.drone_model) - if self.stop_event.is_set(): + if early_stop(): return - try: - self._connect_drone() - except InterruptedError: - return - if self.stop_event.is_set(): + self._connect_drone() + if early_stop(): + # If the connection failed or we were asked to stop during connection, + # just exit without error return self._crazyflie_reset() - if self.stop_event.is_set(): + if early_stop(): return self._init_ros_connector() - self._init_zenoh() - self.ready_event.set() - if self.stop_event.is_set(): + if early_stop(): return + self._init_ros_comm() + if early_stop(): + return + self.ready_event.set() + self.logger.info("Waiting for start signal...") + while not self.start_event.is_set(): + if early_stop(): + return + time.sleep(0.001) self._control_loop() finally: self._cleanup() + @staticmethod + def crazyflie_process_worker( + rank: int, + drone_id: int, + drone_channel: int, + drone_model: str, + ready_event: mp.synchronize.Event, + stop_event: mp.synchronize.Event, + init_pose: Tr, + control_mode: str, + start_event: mp.synchronize.Event, + failure_event: mp.synchronize.Event | None = None, + control_freq: float = 50.0, + ): + """Multiprocessing entry point that creates and runs a :class:`CrazyflieWorker`. -def crazyflie_process_worker( - rank: int, - drone_id: int, - drone_channel: int, - drone_model: str, - ready_event: mp.synchronize.Event, - stop_event: mp.synchronize.Event, - init_pose: Tr, - control_mode: str, - start_event: mp.synchronize.Event, - failure_event: mp.synchronize.Event | None = None, - control_freq: float = 50.0, -): - """Multiprocessing entry point that creates and runs a :class:`CrazyflieWorker`. - - SIGINT is ignored so that only the host process handles keyboard interrupts. - """ - signal.signal(signal.SIGINT, signal.SIG_IGN) - CrazyflieWorker( - rank=rank, - drone_id=drone_id, - drone_channel=drone_channel, - drone_model=drone_model, - ready_event=ready_event, - stop_event=stop_event, - init_pose=init_pose, - control_mode=control_mode, - control_freq=control_freq, - start_event=start_event, - failure_event=failure_event, - ).run() - - -class RealRaceHostState(Enum): - """State machine states for the :class:`RealRaceHost`. - - Attributes: - IDLE: Loading track configuration and checking track/drone positions. - INITIALIZED: Connected to all drones, waiting for clients to signal readiness. - OPERATION: Race in progress, forwarding actions and supervising clients. - STOPPING: All clients finished, shutting down gracefully. - """ - - IDLE = 0 - INITIALIZED = 1 - OPERATION = 2 - STOPPING = 3 + SIGINT is ignored so that only the host process handles keyboard interrupts. + """ + signal.signal(signal.SIGINT, signal.SIG_IGN) + CrazyflieWorker( + rank=rank, + drone_id=drone_id, + drone_channel=drone_channel, + drone_model=drone_model, + ready_event=ready_event, + stop_event=stop_event, + init_pose=init_pose, + control_mode=control_mode, + control_freq=control_freq, + start_event=start_event, + failure_event=failure_event, + ).run() @dataclass @@ -425,13 +449,12 @@ class RealRaceHost: :meth:`host_main_loop`, and :meth:`close` for a specific drone platform. """ - state: RealRaceHostState + _initialized: bool = False _num_drones: int = 0 _config: ConfigDict | None = None - _zenoh_session: zenoh.Session | None - _host_ready_pub: ZenohPublisher | None - _race_start_pub: ZenohPublisher | None - _client_state_subs: dict[int, ZenohSubscriber] | None + _comm: RaceCommNode | None + _host_ready_pub: Publisher | None + _race_start_pub: Publisher | None def __init__(self, config: ConfigDict): """Initialize the host and open Zenoh communication. @@ -439,37 +462,30 @@ def __init__(self, config: ConfigDict): Args: config: Full configuration dictionary (deploy + env sections). """ - self.state = RealRaceHostState.IDLE + self._initialized = False self._config = config self._shutdown_event = threading.Event() self._clients_ready: dict[int, bool] = {} self._clients_stopped: dict[int, bool] = {} self._start_time = time.time() + self._comm = None self._host_ready_pub = None self._race_start_pub = None - self._client_state_subs = None self.load_config(config) - self.init_zenoh() - - def init_zenoh(self, conf: zenoh.Config | None = None) -> zenoh.Session: - """Open a Zenoh session and set up all publishers and subscribers. - - Args: - conf: Optional Zenoh configuration. Uses defaults if ``None``. - - Returns: - The opened Zenoh session. - """ - self._client_state_subs = {} - self._zenoh_session = create_zenoh_session(conf) - self._host_ready_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/ready") - self._host_initialized_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/initialized") - self._host_pong_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/pong") - self._race_start_pub = ZenohPublisher(self._zenoh_session, "lsy_drone_racing/host/race_start") - + self.init_comm() + + def init_comm(self): + """Set up the ROS2 communication node with all publishers and subscribers.""" + self._comm = RaceCommNode("lsy_race_host") + node = self._comm.node + self._host_ready_pub = node.create_publisher(HostReady, "lsy_drone_racing/host/ready", 10) + self._race_start_pub = node.create_publisher( + RaceStart, "lsy_drone_racing/host/race_start", 10 + ) + self._subs = [] for rank in range(self._num_drones): - def on_client_state(payload: str, rank: int = rank): - msg = deserialize_message(payload, ClientStateMessage) + + def on_client_state(msg: ClientState, rank: int = rank): if not self._clients_ready[rank]: logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True @@ -477,25 +493,12 @@ def on_client_state(payload: str, rank: int = rank): logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") self._clients_stopped[rank] = True - self._client_state_subs[rank] = ZenohSubscriber( - self._zenoh_session, - f"lsy_drone_racing/client/{rank}/state", - on_client_state, - ) - - self._client_ping_subs: dict[int, ZenohSubscriber] = {} - for rank in range(self._num_drones): - def on_client_ping(payload: str, rank: int = rank): - self._host_pong_pub.publish(HostPongMessage(drone_rank=rank, host_timestamp=time.time())) - - self._client_ping_subs[rank] = ZenohSubscriber( - self._zenoh_session, - f"lsy_drone_racing/client/{rank}/ping", - on_client_ping, + self._subs.append( + node.create_subscription( + ClientState, f"lsy_drone_racing/client/drone_{rank}/state", on_client_state, 10 + ) ) - - logger.info("Zenoh communication initialized") - return self._zenoh_session + logger.debug("ROS2 communication initialized") def load_config(self, config: ConfigDict): """Load and validate the configuration. Must be implemented by subclasses.""" @@ -510,8 +513,9 @@ def host_main_loop(self): raise NotImplementedError def close(self): - """Release all resources. Must be implemented by subclasses.""" - raise NotImplementedError + """Release all resources.""" + if self._comm: + self._comm.close() class CrazyFlieRealRaceHost(RealRaceHost): @@ -522,12 +526,21 @@ class CrazyFlieRealRaceHost(RealRaceHost): Zenoh messages to the client processes. """ + gates: ConfigDict + obstacles: ConfigDict + drones_pose: ConfigDict + n_gates: int + pos_limit_high: NDArray[np.float32] + pos_limit_low: NDArray[np.float32] + + _num_drones: int _drone_names: list[str] _drone_ids: list[int] _drone_channels: list[int] _drone_models: list[str] _drone_connections: dict[int, DroneConnection] | None _drone_control_freq: list[float] + _drone_control_mode: list[str] _all_clients_ready_event: mp.synchronize.Event | None _mp_ctx: mp.context.BaseContext @@ -548,8 +561,7 @@ def load_config(self, config: ConfigDict): Args: config: Full configuration dictionary (deploy + env sections). """ - self._config = config - self.gates, self.obstacles, self.drones_track = load_track(config.env.track) + self.gates, self.obstacles, self.drones_pose = load_track(config.env.track) self.n_gates = len(self.gates.pos) self.n_obstacles = len(self.obstacles.pos) self.pos_limit_low = np.array(config.env.track.safety_limits["pos_limit_low"]) @@ -560,15 +572,13 @@ def load_config(self, config: ConfigDict): self._drone_channels = [drone["channel"] for drone in config.deploy.drones] self._drone_models = [drone["drone_model"] for drone in config.deploy.drones] self._drone_control_freq = [kwargs["freq"] for kwargs in config.env.kwargs] + self._drone_control_mode = [kwargs["control_mode"] for kwargs in config.env.kwargs] for rank in range(self._num_drones): self._clients_ready[rank] = False self._clients_stopped[rank] = False def check_track( - self, - rng_config: ConfigDict, - check_objects: bool = True, - check_drones: bool = True, + self, rng_config: ConfigDict, check_objects: bool = True, check_drones: bool = True ) -> None: """Verify that gates, obstacles, and drones are within their allowed tolerances. @@ -579,7 +589,7 @@ def check_track( """ if not check_objects and not check_drones: return - logger.info("Checking track configuration...") + logger.debug("Checking track configuration...") if check_objects: check_race_track( gates_pos=self.gates.pos, @@ -590,37 +600,37 @@ def check_track( nominal_obstacles_pos=self.obstacles.nominal_pos, rng_config=rng_config, ) - logger.info("Track object check passed") + logger.debug("Track object check passed") if check_drones: for rank, drone_name in enumerate(self._drone_names): check_drone_start_pos( - nominal_pos=self.drones_track.nominal_pos[rank], - real_pos=self.drones_track.pos[rank], + nominal_pos=self.drones_pose.nominal_pos[rank], + real_pos=self.drones_pose.pos[rank], rng_config=rng_config, drone_name=drone_name, ) - logger.info("Drone start position check passed") + logger.debug("Drone start position check passed") def connect_drones(self): """Spawn one subprocess per drone and wait until all are connected and ready. Raises: RuntimeError: If any worker fails to connect or exits prematurely. - TimeoutError: If all drones are not ready within 100 seconds. + TimeoutError: If all drones are not ready within 10 seconds. """ - logger.info(f"Spawning processes for {self._num_drones} Crazyflie drones...") + logger.debug(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._drone_connections = {} failure_event = self._mp_ctx.Event() for rank in range(self._num_drones): init_pose = Tr.from_components( - translation=self.drones_track.pos[rank], - rotation=R.from_quat(self.drones_track.quat[rank]), + translation=self.drones_pose.pos[rank], + rotation=R.from_quat(self.drones_pose.quat[rank]), ) ready_event = self._mp_ctx.Event() stop_event = self._mp_ctx.Event() process = self._mp_ctx.Process( - target=crazyflie_process_worker, + target=CrazyflieWorker.crazyflie_process_worker, args=( rank, self._drone_ids[rank], @@ -629,7 +639,7 @@ def connect_drones(self): ready_event, stop_event, init_pose, - self._config.env.kwargs[rank]["control_mode"], + self._drone_control_mode[rank], self._all_clients_ready_event, failure_event, self._drone_control_freq[rank], @@ -649,20 +659,19 @@ def connect_drones(self): logger.debug(f"Spawned process for drone {rank} (PID: {process.pid})") start_time = time.time() - while time.time() - start_time < 100.0: - if failure_event.is_set(): - for conn in self._drone_connections.values(): - conn.stop_event.set() - raise RuntimeError("A Crazyflie worker failed to connect. Stopping all workers.") - - all_ready = all(conn.ready_event.is_set() for conn in self._drone_connections.values()) - if all_ready: + while time.time() - start_time < 10.0: + if all(conn.ready_event.is_set() for conn in self._drone_connections.values()): for conn in self._drone_connections.values(): conn.connected = True logger.info(f"Drone {conn.rank} ready") - self.state = RealRaceHostState.INITIALIZED + self._initialized = True return + if failure_event.is_set(): + for other in self._drone_connections.values(): + other.stop_event.set() + raise RuntimeError("One or more drone workers failed to connect") + for rank, conn in self._drone_connections.items(): if conn.process and not conn.process.is_alive() and not conn.ready_event.is_set(): for other in self._drone_connections.values(): @@ -679,7 +688,7 @@ def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: """Update gate, obstacle, and/or drone poses from the motion capture system. Initializes temporary ROS connectors, reads the current TF poses, writes them - into ``self.gates``, ``self.obstacles``, and ``self.drones_track``, then closes + into ``self.gates``, ``self.obstacles``, and ``self.drones_pose``, then closes the connectors. Args: @@ -689,47 +698,38 @@ def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: if not track_obj and not drones: return - logger.info("Reading poses from motion capture system...") - ros_connector_track: ROSConnector | None = None - ros_connector_drones: ROSConnector | None = None - - def init_track_connector() -> ROSConnector: - tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] - tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] - return ROSConnector(tf_names=tf_names, timeout=10.0) - - def init_drone_connector() -> ROSConnector: - return ROSConnector(tf_names=self._drone_names, timeout=10.0) - - try: - with concurrent.futures.ThreadPoolExecutor(max_workers=2) as executor: - future_track = executor.submit(init_track_connector) if track_obj else None - future_drones = executor.submit(init_drone_connector) if drones else None - if future_track: - ros_connector_track = future_track.result() - if future_drones: - ros_connector_drones = future_drones.result() - - if track_obj: + ros_connector: ROSConnector | None = None + if track_obj: + try: + tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] + tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] + ros_connector = ROSConnector(estimator_names=tf_names, timeout=5.0) for i in range(self.n_gates): - self.gates.pos[i] = ros_connector_track.pos[f"gate{i + 1}"] - self.gates.quat[i] = ros_connector_track.quat[f"gate{i + 1}"] + self.gates.pos[i] = ros_connector.pos[f"gate{i + 1}"] + self.gates.quat[i] = ros_connector.quat[f"gate{i + 1}"] for i in range(self.n_obstacles): - self.obstacles.pos[i] = ros_connector_track.pos[f"obstacle{i + 1}"] - self.obstacles.quat[i] = ros_connector_track.quat[f"obstacle{i + 1}"] - if drones: + self.obstacles.pos[i] = ros_connector.pos[f"obstacle{i + 1}"] + self.obstacles.quat[i] = ros_connector.quat[f"obstacle{i + 1}"] + finally: + if ros_connector: + ros_connector.close() + + if drones: + ros_connector = None + try: + ros_connector = ROSConnector(estimator_names=self._drone_names, timeout=5.0) for rank, drone_name in enumerate(self._drone_names): - self.drones_track.pos[rank] = ros_connector_drones.pos[drone_name] - self.drones_track.quat[rank] = ros_connector_drones.quat[drone_name] - finally: - if ros_connector_track: - ros_connector_track.close() - if ros_connector_drones: - ros_connector_drones.close() + self.drones_pose.pos[rank] = ros_connector.pos[drone_name] + self.drones_pose.quat[rank] = ros_connector.quat[drone_name] + finally: + if ros_connector: + ros_connector.close() def close(self): - """Stop all drone subprocesses and close Zenoh communication.""" - logger.info("Host shutting down...") + """Stop all drone subprocesses and close ROS communication.""" + self._race_start_pub.publish( + RaceStart(elapsed_time=-1.0, timestamp=time.time(), finished=True) + ) if self._drone_connections is not None: for conn in self._drone_connections.values(): if conn.stop_event: @@ -738,38 +738,35 @@ def close(self): if conn.process and conn.process.is_alive(): conn.process.join(timeout=5) if conn.process.is_alive(): - logger.warning(f"Process {rank} unresponsive, terminating...") conn.process.terminate() - conn.process.join(timeout=2) + conn.process.join(timeout=5) if conn.process.is_alive(): conn.process.kill() conn.process.join() - for pub in [self._host_ready_pub, self._host_initialized_pub, self._host_pong_pub, self._race_start_pub]: - if pub: - pub.close() - if self._client_state_subs: - for sub in self._client_state_subs.values(): - sub.close() - if self._client_ping_subs: - for sub in self._client_ping_subs.values(): - sub.close() - if self._zenoh_session: - self._zenoh_session.close() + super().close() logger.info("Host shutdown complete") def _calibrate_client_clocks(self): - """Trigger ping-pong clock calibration with all clients. + """Expose the clock calibration service and wait for all clients to calibrate. - Broadcasts :class:`HostInitializedMessage` to all clients, prompting each to - send a ping. The host immediately responds with a pong containing its timestamp, - allowing clients to estimate the clock offset. Waits 3 seconds for calibration - to complete before returning. + Creates a single ``lsy_drone_racing/calibrate_clock`` service server. Clients + discover it via ``wait_for_service`` and call it N times to estimate the clock + offset using the midpoint method. The host waits 3 seconds for all clients to + complete their calls before proceeding. """ - logger.info("Triggering client clock calibration...") - for rank in range(self._num_drones): - self._host_initialized_pub.publish(HostInitializedMessage(drone_rank=rank, timestamp=time.time())) - time.sleep(3.0) + logger.info("Starting clock calibration service...") + + def _handler( + _: CalibrateClock.Request, response: CalibrateClock.Response + ) -> CalibrateClock.Response: + response.host_timestamp = time.time() + return response + + self._calib_srv = self._comm.node.create_service( + CalibrateClock, "lsy_drone_racing/calibrate_clock", _handler + ) + time.sleep(1.0) logger.info("Clock calibration complete") def host_main_loop(self, race_update_freq: float = 50.0): @@ -783,16 +780,16 @@ def host_main_loop(self, race_update_freq: float = 50.0): race_update_freq: Frequency in Hz at which :class:`RaceStartMessage` is broadcast. Raises: - RuntimeError: If the host is not in :attr:`RealRaceHostState.INITIALIZED` state. + RuntimeError: If drones have not been connected yet. TimeoutError: If clients do not become ready within 300 seconds. """ - if self.state != RealRaceHostState.INITIALIZED: - raise RuntimeError("Host must be in INITIALIZED state before starting the main loop") + if not self._initialized: + raise RuntimeError("Drones must be connected before starting the main loop") logger.info("Waiting for all clients...") t_start = time.time() while time.time() - t_start < 300.0: - self._host_ready_pub.publish(HostReadyMessage(elapsed_time=0.0, timestamp=time.time())) + self._host_ready_pub.publish(HostReady(elapsed_time=0.0, timestamp=time.time())) if all(self._clients_ready.values()): logger.info("All clients ready") break @@ -805,17 +802,15 @@ def host_main_loop(self, race_update_freq: float = 50.0): self._all_clients_ready_event.set() logger.info("Race started") - self.state = RealRaceHostState.OPERATION self._start_time = time.time() - while self.state == RealRaceHostState.OPERATION: + while True: elapsed_time = time.time() - self._start_time finished = all(self._clients_stopped.values()) self._race_start_pub.publish( - RaceStartMessage(elapsed_time=elapsed_time, timestamp=time.time(), finished=finished) + RaceStart(elapsed_time=elapsed_time, timestamp=time.time(), finished=finished) ) if finished: - logger.info("All clients stopped") - self.state = RealRaceHostState.STOPPING + logger.info("All clients have stopped") break time.sleep(1.0 / race_update_freq) diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py new file mode 100644 index 000000000..b543d251a --- /dev/null +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -0,0 +1,150 @@ +"""ROS2-based communication for multi-drone racing coordination. + +Uses custom ``lsy_race_msgs`` message types for type-safe pub/sub and the +``CalibrateClock`` service for clock offset estimation. Each participant +creates a :class:`RaceCommNode` which spins a +:class:`~rclpy.executors.SingleThreadedExecutor` in a background daemon thread. + +Clock offset estimation uses the midpoint method over N round-trips:: + + offset = host_timestamp - (t_send + t_recv) / 2 + +Clients apply this offset when timestamping every ``ClientState`` message so +the host observes accurate one-way latency without clock skew. +""" + +from __future__ import annotations + +import logging +import threading +import time +from typing import TYPE_CHECKING + +import rclpy +from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] +from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor + + +def _suppress_shutdown_thread_errors(): + """Install a threading.excepthook that silences expected ROS2 shutdown exceptions. + + Replaces the noisy default traceback for :class:`~rclpy.executors.ExternalShutdownException` + and :class:`KeyboardInterrupt` in background spin threads with a single DEBUG log line. + Any other uncaught thread exception still goes through the default handler. + """ + _original = threading.excepthook + + def _hook(args: threading.ExceptHookArgs) -> None: + if args.exc_type in (ExternalShutdownException, KeyboardInterrupt) or ( + args.exc_type.__name__ == "RCLError" + ): + logger.debug(f"Thread '{args.thread.name}' stopped (shutdown)") + else: + _original(args) + + threading.excepthook = _hook + + +if TYPE_CHECKING: + from rclpy.client import Client + from rclpy.node import Node + +logger = logging.getLogger(__name__) + + +def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: + """Compute one-way latency in milliseconds from a sent timestamp. + + Args: + timestamp: Time the message was sent. + clock_offset: Calibrated offset (host_time − client_time) in seconds. + Zero when called on the host side (timestamps are already in host time). + + Returns: + Estimated one-way latency in milliseconds. + """ + return (time.time() - timestamp - clock_offset) * 1000 + + +def calibrate_clock(client: Client, n: int = 5, timeout: float = 60.0) -> float: + """Estimate clock offset (host_time - client_time) in seconds via N round-trips. + + Blocks until the :class:`~lsy_race_msgs.srv.CalibrateClock` service becomes + available or ``timeout`` is reached. Each call records the send and receive + times; the offset is estimated as:: + + offset = host_timestamp - (t_send + t_recv) / 2 + + and averaged over all ``n`` calls. + + Args: + client: rclpy service client for the ``CalibrateClock`` service. + n: Number of round-trips to average. + timeout: Maximum time in seconds to wait for the service to become available. + + Returns: + Estimated clock offset in seconds. Add this to ``time.time()`` on the client + to get the equivalent host-clock time. + + Raises: + TimeoutError: If the service is not available within ``timeout`` seconds. + """ + if not client.wait_for_service(timeout_sec=timeout): + raise TimeoutError(f"Calibration service not available after {timeout}s") + offsets = [] + for _ in range(n): + t_send = time.time() + future = client.call_async(CalibrateClock.Request()) + while not future.done(): + time.sleep(0.0001) # Don't busy-wait too aggressively + t_recv = time.time() + offsets.append(future.result().host_timestamp - (t_send + t_recv) / 2) + return sum(offsets) / len(offsets) + + +class RaceCommNode: + """ROS2 node for race coordination, spinning in a background daemon thread. + + Access the underlying rclpy node via :attr:`node` to create publishers, + subscriptions, and services directly. All cleanup is handled by :meth:`close`. + + Args: + name: ROS2 node name (must be unique within the process). + """ + + def __init__(self, name: str): + """Initialize and spin the ROS2 node in a background thread.""" + _suppress_shutdown_thread_errors() + self._node = rclpy.create_node(name) + self._executor = SingleThreadedExecutor() + self._executor.add_node(self._node) + + def _spin(): + try: + self._executor.spin() + except (ExternalShutdownException, KeyboardInterrupt): + logger.debug(f"RaceCommNode '{name}' spin thread stopped") + except Exception as e: + if type(e).__name__ == "RCLError": + # TODO: RCLError can not be imported + # but is raised when the context is already shutdown + # while the thread is still spinning + # this is stupid workaround + logger.debug(f"RaceCommNode '{name}' spin thread stopped (context invalid)") + else: + raise + + self._thread = threading.Thread(target=_spin, daemon=True, name=f"spin-{name}") + self._thread.start() + logger.debug(f"RaceCommNode '{name}' started") + + @property + def node(self) -> Node: + """The underlying rclpy node.""" + return self._node + + def close(self): + """Shut down the executor and destroy the node.""" + self._executor.shutdown(timeout_sec=1.0) + self._node.destroy_node() + logger.debug("RaceCommNode closed") diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 388395123..4eaae4bae 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -30,7 +30,7 @@ def main( - config: str = "multi_level2.toml", + config: str = "multi_level2_single.toml", controller: str | None = None, drone_rank: int | None = None, ): @@ -46,62 +46,69 @@ def main( raise ValueError("drone_rank must be specified") rclpy.init() + config_obj = load_config(Path(__file__).parents[1] / "config" / config) + if controller is not None: + config_obj.controller[drone_rank]["file"] = controller + env: RealMultiDroneRaceEnvClient = gymnasium.make( + "RealMultiDroneRaceEnvClient-v0", + drones=config_obj.deploy.drones, + rank=drone_rank, + freq=config_obj.env.kwargs[drone_rank]["freq"], + track=config_obj.env.track, + randomizations=config_obj.env.randomizations, + sensor_range=config_obj.env.kwargs[drone_rank]["sensor_range"], + control_mode=config_obj.env.kwargs[drone_rank]["control_mode"], + ) try: - config_obj = load_config(Path(__file__).parents[1] / "config" / config) - if controller is not None: - config_obj.controller[drone_rank]["file"] = controller - - env: RealMultiDroneRaceEnvClient = gymnasium.make( - "RealMultiDroneRaceEnvClient-v0", - drones=config_obj.deploy.drones, - rank=drone_rank, - freq=config_obj.env.kwargs[drone_rank]["freq"], - track=config_obj.env.track, - randomizations=config_obj.env.randomizations, - sensor_range=config_obj.env.kwargs[drone_rank]["sensor_range"], - control_mode=config_obj.env.kwargs[drone_rank]["control_mode"], + obs, info = env.reset(options=config_obj.deploy) + + control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" + controller_cls = load_controller(control_path / config_obj.controller[drone_rank]["file"]) + controller = controller_cls(obs, info, extract_config_for_rank(config_obj, drone_rank)) + + env.unwrapped.lock_until_race_start(timeout=120.0) + logger.info( + f"Client {drone_rank}: Starting control loop at " + f"{config_obj.env.kwargs[drone_rank]['freq']} Hz" + ) + start_time = time.time() + + while rclpy.ok(): + t_loop = time.time() + action = controller.compute_control(obs, info) + obs, reward, terminated, truncated, info = env.step(action) + controller_finished = controller.step_callback( + action, obs, reward, terminated, truncated, info + ) + if terminated or truncated or controller_finished: + logger.debug( + f"Client {drone_rank}: Episode finished " + f"(terminated={terminated}, " + f"truncated={truncated}, " + f"finished={controller_finished})" + ) + break + + dt = time.time() - t_loop + sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]["freq"] - dt + if sleep_time > 0: + time.sleep(sleep_time) + else: + logger.warning( + f"Client {drone_rank}: Control loop overrun by {-sleep_time * 1000:.1f}ms" + ) + + ep_time = time.time() - start_time + finished = obs["target_gate"][drone_rank] == -1 + logger.info( + f"Client {drone_rank}: Episode completed in {ep_time:.3f}s (finished={finished})" ) - try: - obs, info = env.reset(options=config_obj.deploy) - - control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" - controller_cls = load_controller(control_path / config_obj.controller[drone_rank]["file"]) - controller = controller_cls(obs, info, extract_config_for_rank(config_obj, drone_rank)) - - env.unwrapped.lock_until_race_start(timeout=120.0) - logger.info(f"Client {drone_rank}: Starting control loop at {config_obj.env.kwargs[drone_rank]['freq']} Hz") - start_time = time.time() - - while rclpy.ok(): - t_loop = time.time() - action = controller.compute_control(obs, info) - obs, reward, terminated, truncated, info = env.step(action) - controller_finished = controller.step_callback(action, obs, reward, terminated, truncated, info) - if terminated or truncated or controller_finished: - logger.info( - f"Client {drone_rank}: Episode finished " - f"(terminated={terminated}, truncated={truncated}, finished={controller_finished})" - ) - break - dt = time.time() - t_loop - sleep_time = 1.0 / config_obj.env.kwargs[drone_rank]["freq"] - dt - if sleep_time > 0: - time.sleep(sleep_time) - else: - logger.warning(f"Client {drone_rank}: Control loop overrun by {-sleep_time * 1000:.1f}ms") - - ep_time = time.time() - start_time - finished = obs["target_gate"][drone_rank] == -1 - logger.info(f"Client {drone_rank}: Episode completed in {ep_time:.3f}s (finished={finished})") - finally: - env.close() except KeyboardInterrupt: logger.info(f"Client {drone_rank}: Interrupted by user") - except Exception as e: - logger.error(f"Client {drone_rank}: Encountered error: {e}", exc_info=True) finally: + env.close() rclpy.shutdown() - logger.info(f"Client {drone_rank}: Shutdown complete") + logger.debug(f"Client {drone_rank}: Shutdown complete") if __name__ == "__main__": diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 760f36f4e..66622472b 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -46,10 +46,9 @@ def main(config: str = "multi_level2.toml"): except KeyboardInterrupt: logger.info("Interrupted, shutting down...") except Exception as e: - logger.error(f"Host encountered an error: {e}", exc_info=True) + logger.error(f"Host encountered error: {e}", exc_info=True) finally: - if host: - host.close() + host.close() rclpy.shutdown() logger.info("Host shutdown complete") From 4355b636ac819fb51c9993f706df5445ee3aa539 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:10:21 +0100 Subject: [PATCH 15/97] Resolve naming issues --- lsy_drone_racing/envs/real_race_host.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 714f15bfe..8c70b8820 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -37,7 +37,7 @@ from lsy_drone_racing.envs.utils import load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track -from lsy_drone_racing.utils.ros2_race_comm import RaceCommNode +from lsy_drone_racing.utils.ros_race_comm import RaceCommNode if TYPE_CHECKING: from ml_collections import ConfigDict From c869263a48586ab8c877124969b854b78e276f76 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:11:06 +0100 Subject: [PATCH 16/97] Split the multi and single controllers --- .../control/attitude_controller.py | 14 ++--- .../control/attitude_controller_multi.py | 59 +++++++++++++++++++ lsy_drone_racing/control/attitude_mpc.py | 7 +-- .../control/attitude_mpc_multi.py | 57 ++++++++++++++++++ lsy_drone_racing/control/state_controller.py | 3 +- 5 files changed, 125 insertions(+), 15 deletions(-) create mode 100644 lsy_drone_racing/control/attitude_controller_multi.py create mode 100644 lsy_drone_racing/control/attitude_mpc_multi.py diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index b9b4d84fa..aafacd6b6 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -37,7 +37,6 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self.rank = info.get('rank', 0) self._freq = config.env.freq drone_params = load_params(config.sim.physics, config.sim.drone_model) @@ -53,8 +52,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic # Same waypoints as in the position controller. Determined by trial and error. waypoints = np.array( [ - [-1.5, 1.5, 0.05], - [-1.5, 1.2, 0.4], + [-1.5, 0.5, 0.03], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], @@ -67,7 +65,6 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic ] ) - self._t_total = 20 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) @@ -99,9 +96,8 @@ def compute_control( des_yaw = 0.0 # Calculate the deviations from the desired trajectory - pos_error = des_pos - obs["pos"][self.rank] - vel_error = des_vel - obs["vel"][self.rank] - + pos_error = des_pos - obs["pos"] + vel_error = des_vel - obs["vel"] # Update integral error self.i_error += pos_error * (1 / self._freq) @@ -116,7 +112,7 @@ def compute_control( # Update z_axis to the current orientation of the drone # z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] - z_axis = R.from_quat(obs["quat"][self.rank]).as_matrix()[:, 2] + z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] # update current thrust thrust_desired = target_thrust.dot(z_axis) @@ -132,7 +128,7 @@ def compute_control( euler_desired = R.from_matrix(R_desired).as_euler("xyz", degrees=False) action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) - + # action = np.array([0.0,0.0,0.0,0.05], dtype=np.float32) return action diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py new file mode 100644 index 000000000..bb2a27154 --- /dev/null +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -0,0 +1,59 @@ +"""This module implements an AttitudeController for quadrotor control. + +It utilizes the collective thrust interface for drone control to compute control commands based on +current state observations and desired waypoints. The attitude control is handled by computing a +PID control law for position tracking, incorporating gravity compensation in thrust calculations. + +The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. +Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +from lsy_drone_racing.control.attitude_controller import ( + AttitudeController as SingleAttitudeController, +) + +if TYPE_CHECKING: + import numpy as np + from numpy.typing import NDArray + + +class AttitudeController(SingleAttitudeController): + """Example of a controller using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + super().__init__(obs, info, config) + self.rank = info["rank"] + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + return super().compute_control(obs, info) diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index 9aa5104bf..49a971672 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -178,7 +178,6 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self.rank = info.get('rank', 0) self._N = 25 self._dt = 1 / config.env.freq self._T_HORIZON = self._N * self._dt @@ -243,9 +242,9 @@ def compute_control( self._finished = True # Setting initial state - rpy = R.from_quat(obs["quat"][self.rank]).as_euler("xyz") - drpy = ang_vel2rpy_rates(obs["quat"][self.rank], obs["ang_vel"][self.rank]) - x0 = np.concatenate((obs["pos"][self.rank], rpy, obs["vel"][self.rank], drpy)) + rpy = R.from_quat(obs["quat"]).as_euler("xyz") + drpy = ang_vel2rpy_rates(obs["quat"], obs["ang_vel"]) + x0 = np.concatenate((obs["pos"], rpy, obs["vel"], drpy)) self._acados_ocp_solver.set(0, "lbx", x0) self._acados_ocp_solver.set(0, "ubx", x0) diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py new file mode 100644 index 000000000..cfc8c96f3 --- /dev/null +++ b/lsy_drone_racing/control/attitude_mpc_multi.py @@ -0,0 +1,57 @@ +"""This module implements an example MPC using attitude control for a quadrotor. + +It utilizes the collective thrust interface for drone control to compute control commands based on +current state observations and desired waypoints. + +The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. +Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +from lsy_drone_racing.control.attitude_mpc import AttitudeMPC as SingleAttitudeMPC + +if TYPE_CHECKING: + import numpy as np + from numpy.typing import NDArray + + +class AttitudeMPC(SingleAttitudeMPC): + """Example of a MPC using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + super().__init__(obs, info, config) + self.rank = info["rank"] + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + + return super().compute_control(obs, info) diff --git a/lsy_drone_racing/control/state_controller.py b/lsy_drone_racing/control/state_controller.py index b87bd55d3..ea74d01ba 100644 --- a/lsy_drone_racing/control/state_controller.py +++ b/lsy_drone_racing/control/state_controller.py @@ -36,9 +36,8 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic information such as disturbance configurations, randomizations, etc. """ super().__init__(obs, info, config) - self.rank = info.get('rank', 0) self._freq = config.env.freq - + # Same waypoints as in the attitude controller. Determined by trial and error. waypoints = np.array( [ From b4b790e312ebe254376f00a3afcdf4338d14fdec Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:11:27 +0100 Subject: [PATCH 17/97] Pass ruff checks --- lsy_drone_racing/control/attitude_rl.py | 6 ++++-- lsy_drone_racing/envs/utils.py | 14 +++++++++----- 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/lsy_drone_racing/control/attitude_rl.py b/lsy_drone_racing/control/attitude_rl.py index 6213aa90c..f997b4503 100644 --- a/lsy_drone_racing/control/attitude_rl.py +++ b/lsy_drone_racing/control/attitude_rl.py @@ -38,7 +38,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self.rank = info.get('rank', 0) + self.rank = info.get("rank", 0) self.freq = config.env.freq drone_params = load_params(config.sim.physics, config.sim.drone_model) @@ -119,7 +119,9 @@ def compute_control( def _obs_rl(self, obs: dict[str, NDArray[np.floating]]) -> NDArray[np.floating]: """Extract the relevant parts of the observation for the RL policy.""" obs_rl = {} - obs_rl["basic_obs"] = np.concatenate([obs[k][self.rank] for k in self.basic_obs_key], axis=-1) + obs_rl["basic_obs"] = np.concatenate( + [obs[k][self.rank] for k in self.basic_obs_key], axis=-1 + ) idx = np.clip(self._tick + self.sample_offsets, 0, self.trajectory.shape[0] - 1) dpos = self.trajectory[idx] - obs["pos"][self.rank] # (n_samples, 3) obs_rl["local_samples"] = dpos.reshape(-1) # (n_samples*3,) diff --git a/lsy_drone_racing/envs/utils.py b/lsy_drone_racing/envs/utils.py index 40a8abc08..4fd4fcb43 100644 --- a/lsy_drone_racing/envs/utils.py +++ b/lsy_drone_racing/envs/utils.py @@ -46,13 +46,17 @@ def load_track(track: ConfigDict) -> tuple[ConfigDict, ConfigDict, ConfigDict]: obstacle_pos = np.array([o["pos"] for o in track.obstacles], dtype=np.float32) obstacles = {"pos": obstacle_pos, "nominal_pos": obstacle_pos.copy()} - drone_pos = np.array([drone.get('pos') for drone in track.drones], dtype=np.float32) - drone_quat = R.from_euler("xyz", np.array([drone.get('rpy') for drone in track.drones])).as_quat().astype(np.float32) + drone_pos = np.array([drone.get("pos") for drone in track.drones], dtype=np.float32) + drone_quat = ( + R.from_euler("xyz", np.array([drone.get("rpy") for drone in track.drones])) + .as_quat() + .astype(np.float32) + ) drones = { - "pos" : drone_pos, - "quat" : drone_quat, + "pos": drone_pos, + "quat": drone_quat, "nominal_pos": drone_pos.copy(), - "nominal_quat": drone_quat.copy() + "nominal_quat": drone_quat.copy(), } return ConfigDict(gates), ConfigDict(obstacles), ConfigDict(drones) From 03222bcc5e65a1314ef12e82737f5d4653f5fe98 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:22:23 +0100 Subject: [PATCH 18/97] Added ROS2 package --- .gitignore | 6 +++++- ros_ws/src/lsy_race_msgs/CMakeLists.txt | 14 ++++++++++++++ ros_ws/src/lsy_race_msgs/msg/ClientState.msg | 6 ++++++ ros_ws/src/lsy_race_msgs/msg/HostReady.msg | 2 ++ ros_ws/src/lsy_race_msgs/msg/RaceStart.msg | 3 +++ ros_ws/src/lsy_race_msgs/package.xml | 19 +++++++++++++++++++ .../src/lsy_race_msgs/srv/CalibrateClock.srv | 2 ++ 7 files changed, 51 insertions(+), 1 deletion(-) create mode 100644 ros_ws/src/lsy_race_msgs/CMakeLists.txt create mode 100644 ros_ws/src/lsy_race_msgs/msg/ClientState.msg create mode 100644 ros_ws/src/lsy_race_msgs/msg/HostReady.msg create mode 100644 ros_ws/src/lsy_race_msgs/msg/RaceStart.msg create mode 100644 ros_ws/src/lsy_race_msgs/package.xml create mode 100644 ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv diff --git a/.gitignore b/.gitignore index 243b4c5b4..c8a914814 100644 --- a/.gitignore +++ b/.gitignore @@ -16,5 +16,9 @@ c_generated_code/ # pixi environments .pixi/* !.pixi/config.toml -ros_ws/ +# ROS2 workspace build artifacts +ros_ws/build +ros_ws/install +ros_ws/log +ros_ws/src/motion_capture_tracking acados/ \ No newline at end of file diff --git a/ros_ws/src/lsy_race_msgs/CMakeLists.txt b/ros_ws/src/lsy_race_msgs/CMakeLists.txt new file mode 100644 index 000000000..04c936637 --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.8) +project(lsy_race_msgs) + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/HostReady.msg" + "msg/RaceStart.msg" + "msg/ClientState.msg" + "srv/CalibrateClock.srv" +) + +ament_package() diff --git a/ros_ws/src/lsy_race_msgs/msg/ClientState.msg b/ros_ws/src/lsy_race_msgs/msg/ClientState.msg new file mode 100644 index 000000000..82cf7af54 --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/msg/ClientState.msg @@ -0,0 +1,6 @@ +int32 drone_rank +float64[] action +float64 elapsed_time +float64 timestamp +bool stopped +int32 next_gate_idx diff --git a/ros_ws/src/lsy_race_msgs/msg/HostReady.msg b/ros_ws/src/lsy_race_msgs/msg/HostReady.msg new file mode 100644 index 000000000..f1d43a67e --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/msg/HostReady.msg @@ -0,0 +1,2 @@ +float64 elapsed_time +float64 timestamp diff --git a/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg b/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg new file mode 100644 index 000000000..69e25c646 --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg @@ -0,0 +1,3 @@ +float64 elapsed_time +float64 timestamp +bool finished diff --git a/ros_ws/src/lsy_race_msgs/package.xml b/ros_ws/src/lsy_race_msgs/package.xml new file mode 100644 index 000000000..1236ed24b --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/package.xml @@ -0,0 +1,19 @@ + + + + lsy_race_msgs + 0.1.0 + Custom ROS2 messages and services for LSY drone racing host-client coordination + LSY Drone Racing + MIT + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + diff --git a/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv b/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv new file mode 100644 index 000000000..1e66f903f --- /dev/null +++ b/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv @@ -0,0 +1,2 @@ +--- +float64 host_timestamp From 36b925bb6a8dd44df79f266192efc532bf2c80b0 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Fri, 27 Mar 2026 23:29:10 +0100 Subject: [PATCH 19/97] Removed take-off barrier configuration --- config/multi_level0.toml | 18 +----------------- 1 file changed, 1 insertion(+), 17 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index 4d135b8b0..346bbed5d 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -16,22 +16,6 @@ check_race_track = true check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. real_track_objects = true -# Enable synchronized takeoff barrier (default: true) -sync_start_barrier = true - -[deploy.takeoff_barrier] -# Authentication key for barrier (must be same across all nodes) -authkey = "lsy-drone-barrier-v1" -# Timeout in seconds for barrier wait -timeout_s = 30.0 -# Metadata filename for barrier discovery -filename = "start_barrier.json" -# Port for barrier manager -port = 56000 -# Bind host (interface to listen on, use 0.0.0.0 for all interfaces) -bind_host = "0.0.0.0" -# Public host (IP address that other machines use to reach this barrier) -public_host = "127.0.0.1" [[deploy.drones]] id = 10 @@ -107,7 +91,7 @@ rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] [[env.track.drones]] -pos = [-1.3, 0.75, 0.01] +pos = [-1.5, 0.5, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] From 8e310d7dbd21e09cecf7f027224be59ac8f4af81 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:10:18 +0100 Subject: [PATCH 20/97] Switch power cycle timeout to 2 second and replace waiting loop --- lsy_drone_racing/envs/real_race_host.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 8c70b8820..ec8a275fe 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -198,11 +198,7 @@ def _connect_drone(self): cflib.crtp.init_drivers() uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" PowerSwitch(uri).stm_power_cycle() - deadline = time.time() + 10.0 - while time.time() < deadline: - if self.stop_event.is_set(): - return - time.sleep(0.05) + time.sleep(2) connection_failed_event = threading.Event() From 9fe98bddb25fa3a0041a0f742b90b8510b9507ef Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:19:54 +0100 Subject: [PATCH 21/97] Restored real_race_env to latest commit of branch dev It should be kept unchanged --- lsy_drone_racing/envs/real_race_env.py | 30 +------------------------- 1 file changed, 1 insertion(+), 29 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env.py b/lsy_drone_racing/envs/real_race_env.py index d3faa2217..6eee4f653 100644 --- a/lsy_drone_racing/envs/real_race_env.py +++ b/lsy_drone_racing/envs/real_race_env.py @@ -31,7 +31,6 @@ from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track -from lsy_drone_racing.utils.takeoff_barrier import TakeOffBarrier if TYPE_CHECKING: from ml_collections import ConfigDict @@ -90,7 +89,6 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", - radio_id: int | None = None, ): """Create a deployable version of the drone racing environment. @@ -103,7 +101,6 @@ def __init__( sensor_range: Sensor range. Determines at which distance the exact position of the gates and obstacles is reveiled. control_mode: Control mode of the drone. - radio_id: Radio ID in multi-antenna setups, will be 0 if None. """ assert rclpy.ok(), "ROS2 is not running. Please start ROS2 before creating a deploy env." # Static env data @@ -119,7 +116,6 @@ def __init__( self.drone_channel = drones[rank]["channel"] self.drone_id = drones[rank]["id"] self.rank = rank - self.radio_id = 0 if radio_id is None else radio_id self.freq = freq self.device = jax.devices("cpu")[0] assert control_mode in ["state", "attitude"], f"Invalid control mode {control_mode}" @@ -138,7 +134,6 @@ def __init__( self.data = EnvData.create( n_drones=self.n_drones, n_gates=self.n_gates, n_obstacles=self.n_obstacles ) - self._takeoff_barrier: TakeOffBarrier | None = None self._jit() def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: @@ -168,7 +163,7 @@ def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tup self.data.reset(np.stack([self._ros_connector.pos[n] for n in self.drone_names])) self._connect_radio( - radio_id=self.radio_id, radio_channel=self.drone_channel, drone_id=self.drone_id + radio_id=self.rank, radio_channel=self.drone_channel, drone_id=self.drone_id ) self._last_drone_pos_update = 0 # Last time a position was sent to the drone estimator self._reset_drone() @@ -177,22 +172,6 @@ def _reset(self, *, seed: int | None = None, options: dict | None = None) -> tup # Unlock thrust mode protection by sending a zero thrust command self.drone.commander.send_setpoint(0, 0, 0, 0) - if options.get("sync_start_barrier", True): - # Initialize barrier if not already created - barrier_config = options["takeoff_barrier"] - if self._takeoff_barrier is None: - self._takeoff_barrier = TakeOffBarrier( - authkey=barrier_config["authkey"].encode() - if isinstance(barrier_config["authkey"], str) - else barrier_config["authkey"], - timeout_s=barrier_config["timeout_s"], - filename=barrier_config["filename"], - port=barrier_config["port"], - bind_host=barrier_config.get("bind_host", "0.0.0.0"), - public_host=barrier_config.get("public_host"), - ) - self._takeoff_barrier.wait(rank=self.rank, parties=self.n_drones) - return self.obs(), self.info() def _step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: @@ -487,9 +466,6 @@ def close(self): finally: # Close all ROS connections self._ros_connector.close() - # Cleanup barrier - if self._takeoff_barrier is not None: - self._takeoff_barrier.close() # region Single Drone Env @@ -524,7 +500,6 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", - radio_id: int | None = None, ): """Initialize the multi-drone environment. @@ -559,7 +534,6 @@ def __init__( randomizations=randomizations, sensor_range=sensor_range, control_mode=control_mode, - radio_id=radio_id, ) def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: @@ -630,7 +604,6 @@ def __init__( randomizations: ConfigDict, sensor_range: float = 0.5, control_mode: Literal["state", "attitude"] = "state", - radio_id: int | None = None, ): """Initialize the multi-drone environment. @@ -652,7 +625,6 @@ def __init__( randomizations=randomizations, sensor_range=sensor_range, control_mode=control_mode, - radio_id=radio_id, ) def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: From ddcc4e4d4085648993d5de3277c1d2928c511b5a Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:21:40 +0100 Subject: [PATCH 22/97] Restore the controllers They should be kept unchanged --- lsy_drone_racing/control/attitude_controller.py | 11 ++++------- lsy_drone_racing/control/state_controller.py | 2 +- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index aafacd6b6..827ac2be1 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -37,8 +37,8 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self._freq = config.env.freq + drone_params = load_params(config.sim.physics, config.sim.drone_model) self.drone_mass = drone_params["mass"] # alternatively from sim.drone_mass @@ -52,7 +52,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic # Same waypoints as in the position controller. Determined by trial and error. waypoints = np.array( [ - [-1.5, 0.5, 0.03], + [-1.5, 0.75, 0.05], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], @@ -64,8 +64,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - - self._t_total = 20 # s + self._t_total = 15 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() @@ -88,7 +87,7 @@ def compute_control( [r_des, p_des, y_des, t_des] as a numpy array. """ t = min(self._tick / self._freq, self._t_total) - if t >= 60.0: # Maximum duration reached + if t >= self._t_total: # Maximum duration reached self._finished = True des_pos = self._des_pos_spline(t) @@ -111,7 +110,6 @@ def compute_control( target_thrust[2] += self.drone_mass * self.g # Update z_axis to the current orientation of the drone - # z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] z_axis = R.from_quat(obs["quat"]).as_matrix()[:, 2] # update current thrust @@ -129,7 +127,6 @@ def compute_control( action = np.concatenate([euler_desired, [thrust_desired]], dtype=np.float32) - # action = np.array([0.0,0.0,0.0,0.05], dtype=np.float32) return action def step_callback( diff --git a/lsy_drone_racing/control/state_controller.py b/lsy_drone_racing/control/state_controller.py index ea74d01ba..45ae73637 100644 --- a/lsy_drone_racing/control/state_controller.py +++ b/lsy_drone_racing/control/state_controller.py @@ -41,7 +41,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic # Same waypoints as in the attitude controller. Determined by trial and error. waypoints = np.array( [ - [-1.5, 0.5, 0.03], + [-1.5, 0.75, 0.05], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], From 4f2ae078cdde608426ab56191dcd7eecfbd029e5 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:34:59 +0100 Subject: [PATCH 23/97] Close ros connector upon closing the client --- lsy_drone_racing/envs/real_race_env_client.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 4f03abc4b..62647d6ac 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -123,8 +123,9 @@ def __init__( def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: """Reset the environment and wait for the host to signal readiness. - Sends dummy state messages at 10 Hz in the background so the host can detect - this client as ready. Blocks until :class:`HostReadyMessage` is received. + Sends dummy state messages at the control frequency (``self.freq`` Hz) in the + background so the host can detect this client as ready. Blocks until + :class:`HostReadyMessage` is received. Args: seed: Unused in real environments. @@ -275,6 +276,10 @@ def close(self): logger.warning(f"Client {self.rank}: Could not send final stop message: {e}") if self._comm: self._comm.close() + if self._ros_connector_own: + self._ros_connector_own.close() + if self._ros_connector_others: + self._ros_connector_others.close() logger.debug(f"Client {self.rank}: Environment closed") def _send_state_update(self, action: NDArray, stopped: bool): From 029b2c59a99359ed1a4abfe120ebb52c1547eb0c Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:37:24 +0100 Subject: [PATCH 24/97] Restore utils.py It should not be changed --- lsy_drone_racing/envs/utils.py | 15 +++------------ 1 file changed, 3 insertions(+), 12 deletions(-) diff --git a/lsy_drone_racing/envs/utils.py b/lsy_drone_racing/envs/utils.py index 4fd4fcb43..65629d5ea 100644 --- a/lsy_drone_racing/envs/utils.py +++ b/lsy_drone_racing/envs/utils.py @@ -45,20 +45,11 @@ def load_track(track: ConfigDict) -> tuple[ConfigDict, ConfigDict, ConfigDict]: } obstacle_pos = np.array([o["pos"] for o in track.obstacles], dtype=np.float32) obstacles = {"pos": obstacle_pos, "nominal_pos": obstacle_pos.copy()} - - drone_pos = np.array([drone.get("pos") for drone in track.drones], dtype=np.float32) - drone_quat = ( - R.from_euler("xyz", np.array([drone.get("rpy") for drone in track.drones])) - .as_quat() - .astype(np.float32) - ) drones = { - "pos": drone_pos, - "quat": drone_quat, - "nominal_pos": drone_pos.copy(), - "nominal_quat": drone_quat.copy(), + k: np.array([drone.get(k) for drone in track.drones], dtype=np.float32) + for k in track.drones[0].keys() } - + drones["quat"] = R.from_euler("xyz", drones["rpy"]).as_quat().astype(np.float32) return ConfigDict(gates), ConfigDict(obstacles), ConfigDict(drones) From f16ba560253d27e0c36dcd43c9eb166340f2526d Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 10:38:16 +0100 Subject: [PATCH 25/97] Fixed the default config name in deploy_client.py --- scripts/deploy_client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 4eaae4bae..8b3200473 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -30,7 +30,7 @@ def main( - config: str = "multi_level2_single.toml", + config: str = "multi_level2.toml", controller: str | None = None, drone_rank: int | None = None, ): From 3c30975d2bda466cff6a23506b7869aff913169a Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 21:55:41 +0100 Subject: [PATCH 26/97] -Resolve the pixi lock file again to make it compatible with later commit in dev -Formatted files to pass ruff --- lsy_drone_racing/envs/__init__.py | 2 +- lsy_drone_racing/utils/utils.py | 2 + pixi.lock | 12195 ++++++++++++++-------------- scripts/deploy_client.py | 4 +- 4 files changed, 6125 insertions(+), 6078 deletions(-) diff --git a/lsy_drone_racing/envs/__init__.py b/lsy_drone_racing/envs/__init__.py index 6e6c6d43a..2bb823cb7 100644 --- a/lsy_drone_racing/envs/__init__.py +++ b/lsy_drone_racing/envs/__init__.py @@ -51,4 +51,4 @@ id="RealMultiDroneRaceEnvClient-v0", entry_point="lsy_drone_racing.envs.real_race_env_client:RealMultiDroneRaceEnvClient", disable_env_checker=True, -) \ No newline at end of file +) diff --git a/lsy_drone_racing/utils/utils.py b/lsy_drone_racing/utils/utils.py index 5e5324d7e..c1f9b6ccc 100644 --- a/lsy_drone_racing/utils/utils.py +++ b/lsy_drone_racing/utils/utils.py @@ -28,6 +28,7 @@ logger = logging.getLogger(__name__) + def extract_config_for_rank(config: ConfigDict, rank: int) -> ConfigDict: """Get the configuration for a specific drone rank in a multi-drone setup. @@ -44,6 +45,7 @@ def extract_config_for_rank(config: ConfigDict, rank: int) -> ConfigDict: cfg.env[key] = value return cfg + def load_controller(path: Path) -> Type[Controller]: """Load the controller module from the given path and return the Controller class. diff --git a/pixi.lock b/pixi.lock index f5e90fa38..670a7efde 100644 --- a/pixi.lock +++ b/pixi.lock @@ -7,80 +7,78 @@ environments: - 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size: 122303 - timestamp: 1766076745735 + size: 122618 + timestamp: 1770167931827 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7 md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829 diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 8b3200473..60c0a5848 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -30,9 +30,7 @@ def main( - config: str = "multi_level2.toml", - controller: str | None = None, - drone_rank: int | None = None, + config: str = "multi_level2.toml", controller: str | None = None, drone_rank: int | None = None ): """Deploy and run a client for multi-drone racing. From 39d8c46be56a9a181727fb8dd6cdd1878c501d49 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:19:04 +0100 Subject: [PATCH 27/97] Added gate pose update to clients --- lsy_drone_racing/envs/real_race_env_client.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 62647d6ac..db06fc479 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -23,6 +23,7 @@ from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms +from lsy_drone_racing.utils.ros import track_poses if TYPE_CHECKING: from ml_collections import ConfigDict @@ -137,6 +138,11 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl Raises: TimeoutError: If the host does not respond within 120 seconds. """ + if options and options.get("real_track_objects", False): + self.gates.pos, self.gates.quat, self.obstacles.pos = track_poses( + self.n_gates, self.n_obstacles + ) + if self._ros_connector_own is None: self._init_ros_connectors() if self._comm is None: From e4757daab7b0da5d4beaec1ce6375a9beb2802c1 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:31:37 +0100 Subject: [PATCH 28/97] Remove duplicate entreis in level config --- config/multi_level0.toml | 3 --- 1 file changed, 3 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index 3452192aa..ba28f7039 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -39,10 +39,7 @@ drone_model = "cf21B_500" # Model of the drone, i.e., cf2 camera_view = [5.0, 180.0, -25.0, 0.0, 0.0, 0.0] # Camera view [distance, azimuth, elevation, lookat_x, lookat_y, lookat_z] attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function render = false # Enable/disable PyBullet's GUI -drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 freq = 500 # Simulation frequency, in Hz -attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function -render = true # Enable/disable Crazyflow's GUI camera = -1 # camera id or name, i.e., drone cam ids start at 0, cam names are "fpv_cam:0" or "track_cam:0", where the number is the drone id [[sim.cam_config]] # only used if camera == -1, i.e., world view is activated distance = 5.0 From 07f0b69781a5d0fb9de90cc10cf5a033a96950d2 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:32:44 +0100 Subject: [PATCH 29/97] Reorganized the functions. Now the client will send dummy messages until race starts --- lsy_drone_racing/envs/real_race_env_client.py | 76 +++++++++---------- 1 file changed, 37 insertions(+), 39 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index db06fc479..7e07f192b 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -124,10 +124,6 @@ def __init__( def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: """Reset the environment and wait for the host to signal readiness. - Sends dummy state messages at the control frequency (``self.freq`` Hz) in the - background so the host can detect this client as ready. Blocks until - :class:`HostReadyMessage` is received. - Args: seed: Unused in real environments. options: Unused in real environments. @@ -142,7 +138,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl self.gates.pos, self.gates.quat, self.obstacles.pos = track_poses( self.n_gates, self.n_obstacles ) - + if self._ros_connector_own is None: self._init_ros_connectors() if self._comm is None: @@ -151,7 +147,26 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl current_pos, _, _, _ = self._get_all_drone_states() self.data.reset(current_pos) - logger.info(f"Client {self.rank}: Waiting for host ready message...") + logger.debug(f"Environment reset complete") + return self.obs(), self.info() + + def lock_until_race_start(self, timeout: float = 60.0): + """Sends dummy state messages at the control frequency (``self.freq`` Hz) in the + background so the host can detect this client as ready. Blocks until + the race starts. + + Calibrate the clock offset and block until the host broadcasts :class:`RaceStartMessage`. + + Calls the host's calibration service (blocks until available), estimates the + clock offset via N round-trips, then waits for the race start signal. + + Args: + timeout: Maximum time in seconds to wait for calibration and race start. + + Raises: + TimeoutError: If calibration or race start exceeds ``timeout`` seconds. + """ + logger.info(f"Waiting for host ready message...") stop_sending = threading.Event() def send_state_messages(): @@ -160,45 +175,31 @@ def send_state_messages(): dummy_action = np.zeros(4, dtype=np.float32) else: dummy_action = np.zeros(13, dtype=np.float32) - dummy_action[:3] = current_pos[self.rank] + dummy_action[:3] = self._ros_connector_own.pos[self.drone_name] self._send_state_update(dummy_action, stopped=False) time.sleep(1 / self.freq) threading.Thread(target=send_state_messages, daemon=True).start() - if not self._host_ready_event.wait(timeout=120.0): + + if not self._host_ready_event.wait(timeout=timeout): stop_sending.set() raise TimeoutError( - f"Client {self.rank}: Timeout waiting for host ready. " + f"Timeout waiting for host ready. " "Host may not be running or network connection failed." ) - stop_sending.set() - logger.debug(f"Client {self.rank}: Environment reset complete") - return self.obs(), self.info() - - def lock_until_race_start(self, timeout: float = 60.0): - """Calibrate the clock offset and block until the host broadcasts :class:`RaceStartMessage`. - Calls the host's calibration service (blocks until available), estimates the - clock offset via N round-trips, then waits for the race start signal. - - Args: - timeout: Maximum time in seconds to wait for calibration and race start. - - Raises: - TimeoutError: If calibration or race start exceeds ``timeout`` seconds. - """ - logger.debug(f"Client {self.rank}: Calibrating clock offset...") + logger.info(f"Received host ready message.") self._clock_offset = calibrate_clock(self._clock_calib_client, n=5, timeout=timeout) - logger.info(f"Client {self.rank}: Clock offset = {self._clock_offset * 1000:.2f}ms") + logger.info(f"Clock offset = {self._clock_offset * 1000:.2f}ms") + logger.info(f"Waiting for race start") t_start = time.time() while not self._race_started: if time.time() - t_start > timeout: - raise TimeoutError( - f"Client {self.rank}: Timeout waiting for race start after {timeout}s." - ) + raise TimeoutError(f"Timeout waiting for race start after {timeout}s.") time.sleep(0.001) - logger.info(f"Client {self.rank}: Race started") + stop_sending.set() + logger.info(f"Race starts!") def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: """Perform a control step: update gate tracking, check bounds, and send the action. @@ -232,7 +233,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: (self.pos_limit_low > drone_pos[self.rank]) | (drone_pos[self.rank] > self.pos_limit_high) ): - logger.warning(f"Client {self.rank}: Drone exceeded safety bounds") + logger.warning(f"Drone exceeded safety bounds") terminated = True if self.control_mode == "attitude" and self._ros_connector_own: @@ -271,7 +272,7 @@ def info(self) -> dict: def close(self): """Send a final stop message and close all ROS connections.""" - logger.info(f"Client {self.rank}: Closing environment...") + logger.info(f"Closing environment...") if self._client_state_pub: try: self._send_state_update( @@ -279,14 +280,14 @@ def close(self): ) time.sleep(0.1) # allow the executor thread to flush the message before shutdown except Exception as e: - logger.warning(f"Client {self.rank}: Could not send final stop message: {e}") + logger.warning(f"Could not send final stop message: {e}") if self._comm: self._comm.close() if self._ros_connector_own: self._ros_connector_own.close() if self._ros_connector_others: self._ros_connector_others.close() - logger.debug(f"Client {self.rank}: Environment closed") + logger.debug(f"Environment closed") def _send_state_update(self, action: NDArray, stopped: bool): """Publish a :class:`ClientStateMessage` to the host. @@ -327,10 +328,7 @@ def _init_comm(self): def on_host_ready(msg: HostReady): self._host_ready_event.set() - logger.debug( - f"Client {self.rank}: Host ready " - f"(latency: {compute_latency_ms(msg.timestamp):.2f}ms)" - ) + logger.debug(f"Host ready (latency: {compute_latency_ms(msg.timestamp):.2f}ms)") def on_race_start(msg: RaceStart): self._race_started = True @@ -349,7 +347,7 @@ def on_race_start(msg: RaceStart): self._clock_calib_client = node.create_client( CalibrateClock, "lsy_drone_racing/calibrate_clock" ) - logger.debug(f"Client {self.rank}: ROS2 communication initialized") + logger.debug(f"ROS2 communication initialized") def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: """Read positions, quaternions, velocities, and angular velocities for all drones. From 46212bcf14f6850c9f4c92c167d60bd21ef55abc Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:40:51 +0100 Subject: [PATCH 30/97] Organize imports, docstring and output format to pass ruff check --- lsy_drone_racing/envs/real_race_env_client.py | 32 ++++++++----------- 1 file changed, 14 insertions(+), 18 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 7e07f192b..ec37b714d 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -22,8 +22,8 @@ from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] from lsy_drone_racing.envs.utils import gate_passed, load_track -from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms from lsy_drone_racing.utils.ros import track_poses +from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms if TYPE_CHECKING: from ml_collections import ConfigDict @@ -147,18 +147,14 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl current_pos, _, _, _ = self._get_all_drone_states() self.data.reset(current_pos) - logger.debug(f"Environment reset complete") + logger.debug("Environment reset complete") return self.obs(), self.info() def lock_until_race_start(self, timeout: float = 60.0): - """Sends dummy state messages at the control frequency (``self.freq`` Hz) in the - background so the host can detect this client as ready. Blocks until - the race starts. - - Calibrate the clock offset and block until the host broadcasts :class:`RaceStartMessage`. + """Sends dummy messages at the control frequency (``self.freq`` Hz) until the race starts. - Calls the host's calibration service (blocks until available), estimates the - clock offset via N round-trips, then waits for the race start signal. + After receiving host ready message, the client will calibrate the clock offset and \ + until the host broadcasts :class:`RaceStartMessage`. Args: timeout: Maximum time in seconds to wait for calibration and race start. @@ -166,7 +162,7 @@ def lock_until_race_start(self, timeout: float = 60.0): Raises: TimeoutError: If calibration or race start exceeds ``timeout`` seconds. """ - logger.info(f"Waiting for host ready message...") + logger.info("Waiting for host ready message...") stop_sending = threading.Event() def send_state_messages(): @@ -184,14 +180,14 @@ def send_state_messages(): if not self._host_ready_event.wait(timeout=timeout): stop_sending.set() raise TimeoutError( - f"Timeout waiting for host ready. " + "Timeout waiting for host ready. " "Host may not be running or network connection failed." ) - logger.info(f"Received host ready message.") + logger.info("Received host ready message.") self._clock_offset = calibrate_clock(self._clock_calib_client, n=5, timeout=timeout) logger.info(f"Clock offset = {self._clock_offset * 1000:.2f}ms") - logger.info(f"Waiting for race start") + logger.info("Waiting for race start") t_start = time.time() while not self._race_started: @@ -199,7 +195,7 @@ def send_state_messages(): raise TimeoutError(f"Timeout waiting for race start after {timeout}s.") time.sleep(0.001) stop_sending.set() - logger.info(f"Race starts!") + logger.info("Race starts!") def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: """Perform a control step: update gate tracking, check bounds, and send the action. @@ -233,7 +229,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: (self.pos_limit_low > drone_pos[self.rank]) | (drone_pos[self.rank] > self.pos_limit_high) ): - logger.warning(f"Drone exceeded safety bounds") + logger.warning("Drone exceeded safety bounds") terminated = True if self.control_mode == "attitude" and self._ros_connector_own: @@ -272,7 +268,7 @@ def info(self) -> dict: def close(self): """Send a final stop message and close all ROS connections.""" - logger.info(f"Closing environment...") + logger.info("Closing environment...") if self._client_state_pub: try: self._send_state_update( @@ -287,7 +283,7 @@ def close(self): self._ros_connector_own.close() if self._ros_connector_others: self._ros_connector_others.close() - logger.debug(f"Environment closed") + logger.debug("Environment closed") def _send_state_update(self, action: NDArray, stopped: bool): """Publish a :class:`ClientStateMessage` to the host. @@ -347,7 +343,7 @@ def on_race_start(msg: RaceStart): self._clock_calib_client = node.create_client( CalibrateClock, "lsy_drone_racing/calibrate_clock" ) - logger.debug(f"ROS2 communication initialized") + logger.debug("ROS2 communication initialized") def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: """Read positions, quaternions, velocities, and angular velocities for all drones. From 86dfcbf30fc24dfea2bac8a675d5c33c4b0e453b Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:54:30 +0100 Subject: [PATCH 31/97] Restored attitude rl to latest commit in dev and introduce wrapped attitude rl --- lsy_drone_racing/control/attitude_rl.py | 9 +-- lsy_drone_racing/control/attitude_rl_multi.py | 57 +++++++++++++++++++ 2 files changed, 60 insertions(+), 6 deletions(-) create mode 100644 lsy_drone_racing/control/attitude_rl_multi.py diff --git a/lsy_drone_racing/control/attitude_rl.py b/lsy_drone_racing/control/attitude_rl.py index 23e5d0877..052c7a9cd 100644 --- a/lsy_drone_racing/control/attitude_rl.py +++ b/lsy_drone_racing/control/attitude_rl.py @@ -38,7 +38,6 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self.rank = info.get("rank", 0) self.freq = config.env.freq # For more info on the models, check out https://github.com/utiasDSL/drone-models @@ -84,7 +83,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self.agent.load_state_dict(torch.load(model_path, map_location=torch.device("cpu"))) self.last_action = np.array([0.0, 0.0, 0.0, self.drone_mass * 9.81], dtype=np.float32) self.basic_obs_key = ["pos", "quat", "vel", "ang_vel"] - basic_obs = np.concatenate([obs[k][self.rank] for k in self.basic_obs_key], axis=-1) + basic_obs = np.concatenate([obs[k] for k in self.basic_obs_key], axis=-1) self.prev_obs = np.tile(basic_obs[None, :], (self.n_obs, 1)) self._finished = False @@ -120,11 +119,9 @@ def compute_control( def _obs_rl(self, obs: dict[str, NDArray[np.floating]]) -> NDArray[np.floating]: """Extract the relevant parts of the observation for the RL policy.""" obs_rl = {} - obs_rl["basic_obs"] = np.concatenate( - [obs[k][self.rank] for k in self.basic_obs_key], axis=-1 - ) + obs_rl["basic_obs"] = np.concatenate([obs[k] for k in self.basic_obs_key], axis=-1) idx = np.clip(self._tick + self.sample_offsets, 0, self.trajectory.shape[0] - 1) - dpos = self.trajectory[idx] - obs["pos"][self.rank] # (n_samples, 3) + dpos = self.trajectory[idx] - obs["pos"] # (n_samples, 3) obs_rl["local_samples"] = dpos.reshape(-1) # (n_samples*3,) obs_rl["prev_obs"] = self.prev_obs.reshape(-1) # (n_obs*13,) obs_rl["last_action"] = self.last_action # (4,) diff --git a/lsy_drone_racing/control/attitude_rl_multi.py b/lsy_drone_racing/control/attitude_rl_multi.py new file mode 100644 index 000000000..003d61135 --- /dev/null +++ b/lsy_drone_racing/control/attitude_rl_multi.py @@ -0,0 +1,57 @@ +"""This module implements an AttitudeController for quadrotor control. + +It utilizes the collective thrust interface for drone control to compute control commands based on +current state observations and desired waypoints. The attitude control is handled by computing a +PID control law for position tracking, incorporating gravity compensation in thrust calculations. + +The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. +Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +from lsy_drone_racing.control.attitude_rl import AttitudeRL as SingleAttitudeRL + +if TYPE_CHECKING: + import numpy as np + from numpy.typing import NDArray + +class AttitudeRL(SingleAttitudeRL): + """Example of a controller using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + super().__init__(obs, info, config) + self.rank = info['rank'] + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The collective thrust and orientation [t_des, r_des, p_des, y_des] as a numpy array. + """ + obs["pos"] = obs["pos"][self.rank] + obs["quat"] = obs["quat"][self.rank] + obs["vel"] = obs["vel"][self.rank] + obs["ang_vel"] = obs["ang_vel"][self.rank] + obs["target_gate"] = obs["target_gate"][self.rank] + obs["gates_visited"] = obs["gates_visited"][self.rank] + obs["obstacles_visited"] = obs["obstacles_visited"][self.rank] + return super().compute_control(obs, info) + From fec03814bd5b378d066ed5797d08f417a9a371cb Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Sat, 28 Mar 2026 22:56:05 +0100 Subject: [PATCH 32/97] Pass ruff check --- lsy_drone_racing/control/attitude_rl_multi.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/lsy_drone_racing/control/attitude_rl_multi.py b/lsy_drone_racing/control/attitude_rl_multi.py index 003d61135..541ea9cb9 100644 --- a/lsy_drone_racing/control/attitude_rl_multi.py +++ b/lsy_drone_racing/control/attitude_rl_multi.py @@ -17,7 +17,8 @@ if TYPE_CHECKING: import numpy as np from numpy.typing import NDArray - + + class AttitudeRL(SingleAttitudeRL): """Example of a controller using the collective thrust and attitude interface.""" @@ -31,7 +32,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic config: The configuration of the environment. """ super().__init__(obs, info, config) - self.rank = info['rank'] + self.rank = info["rank"] def compute_control( self, obs: dict[str, NDArray[np.floating]], info: dict | None = None @@ -54,4 +55,3 @@ def compute_control( obs["gates_visited"] = obs["gates_visited"][self.rank] obs["obstacles_visited"] = obs["obstacles_visited"][self.rank] return super().compute_control(obs, info) - From fc5fa94f1a6cf4b1bbf19e5e0ba1b7e608a810e2 Mon Sep 17 00:00:00 2001 From: Jiaming Zhang Date: Tue, 21 Apr 2026 03:33:55 +0200 Subject: [PATCH 33/97] Replace events with barrier. And use only one stop event for now --- lsy_drone_racing/envs/real_race_host.py | 376 +++++++++--------------- 1 file changed, 139 insertions(+), 237 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index ec8a275fe..72ee7f491 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -1,12 +1,8 @@ """Real-world drone racing host for multi-drone coordination. -The RealRaceHost manages the central coordination of multi-drone racing, including: -- Track validation and drone connection in IDLE state -- Synchronization with clients in INITIALIZED state -- Race operation and client supervision in OPERATION state -- Graceful shutdown in STOPPING state - -Communication with clients is handled via ROS2. +The RealRaceHost manages the central coordination of multi-drone racing: +track validation, drone connection, client synchronization, race operation, +and graceful shutdown. Communication with clients is handled via ROS2. """ from __future__ import annotations @@ -17,7 +13,6 @@ import struct import threading import time -from dataclasses import dataclass from pathlib import Path from typing import TYPE_CHECKING @@ -51,7 +46,7 @@ class CrazyflieWorker: """Manages a single Crazyflie drone in a dedicated subprocess. Connects to the drone via radio, resets it to its initial state, and runs - a control loop that forwards actions received from the client over Zenoh. + a control loop that forwards actions received from the client over ROS2. External position updates from the ROS estimator are forwarded to the drone's Kalman filter at a fixed rate. """ @@ -64,10 +59,8 @@ def __init__( drone_id: int, drone_channel: int, drone_model: str, - ready_event: mp.synchronize.Event, stop_event: mp.synchronize.Event, - start_event: mp.synchronize.Event, - failure_event: mp.synchronize.Event, + init_barrier: mp.synchronize.Barrier, init_pose: Tr, control_mode: str, control_freq: float = 50.0, @@ -79,26 +72,26 @@ def __init__( drone_id: Crazyflie hardware ID (used to build the radio URI). drone_channel: Radio channel to connect on. drone_model: Drone model name for loading thrust/PWM parameters. - ready_event: Set by the object itself once the drone is connected and initialized. stop_event: Set by the host to request a shutdown. + init_barrier: Shared barrier; all workers and the host call :meth:`wait` once + initialized so that all drones start simultaneously. Any worker that fails + calls :meth:`abort` to propagate the failure to everyone. init_pose: Initial pose used to seed the drone's Kalman filter. control_mode: Either ``"attitude"`` or ``"state"``. control_freq: Frequency in Hz at which actions are forwarded to the drone. - start_event: Set by the host once all clients are ready; the control loop - blocks until this is set so that all drones start simultaneously. - failure_event: Shared event set on connection failure to notify all other - workers and the host. """ self.rank = rank self.drone_id = drone_id self.drone_channel = drone_channel self.drone_model = drone_model - self.ready_event = ready_event self.stop_event = stop_event - self.start_event = start_event - self.failure_event = failure_event - self.connection_event = mp.Event() - self.connection_lost_event = mp.Event() + self.init_barrier = init_barrier + self.connected = False # Once connected, set to True. + self.connection_failed = ( + False # Set to True if connection fails during the initial connection phase + ) + self.connection_lost = False # Set to True if connection is lost after being established + self.init_pose = init_pose self.control_mode = control_mode.lower() self.control_freq = control_freq @@ -194,89 +187,62 @@ def _connect_drone(self): self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) - try: - cflib.crtp.init_drivers() - uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" - PowerSwitch(uri).stm_power_cycle() - time.sleep(2) - - connection_failed_event = threading.Event() - - def on_connected(_: str): - self.connection_event.set() + cflib.crtp.init_drivers() + uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" + PowerSwitch(uri).stm_power_cycle() + time.sleep(2) - def on_connection_failed(uri_failed: str, msg: str): - self.logger.error(f"Connection failed to {uri_failed}: {msg}") - connection_failed_event.set() + def on_connected(_: str): + self.connected = True - def on_connection_lost(uri_lost: str, msg: str): - if self.connection_event.is_set(): - self.logger.warning(f"Connection lost to {uri_lost}: {msg}") - self.failure_event.set() - self.connection_lost_event.set() + def on_connection_failed(uri_failed: str, msg: str): + self.logger.error(f"Connection failed to {uri_failed}: {msg}") + self.connection_failed = True - self.drone.fully_connected.add_callback(on_connected) - self.drone.connection_failed.add_callback(on_connection_failed) - self.drone.connection_lost.add_callback(on_connection_lost) - self.drone.open_link(uri) + def on_connection_lost(uri_lost: str, msg: str): + if self.connected: + self.logger.warning(f"Connection lost to {uri_lost}: {msg}") + self.connection_lost = True + self.init_barrier.abort() - start_time = time.time() - while time.time() - start_time < 10.0: - if self.stop_event.is_set(): - # If interrupted externally before connection, just exit without error. - return - if connection_failed_event.is_set(): - # If the conenction failed callback was triggered, - # set shared failure event and exit - self.logger.error(f"Connection failed to drone {self.drone_id}") - self.failure_event.set() - return + self.drone.fully_connected.add_callback(on_connected) + self.drone.connection_failed.add_callback(on_connection_failed) + self.drone.connection_lost.add_callback(on_connection_lost) + self.drone.open_link(uri) - if self.connection_event.is_set(): - break - time.sleep(0.05) + start_time = time.time() + while time.time() - start_time < 10.0: + if self.connection_failed or self.connection_lost: + raise RuntimeError(f"Connection failed to drone {self.drone_id}") + if self.connected: + break + time.sleep(0.05) - if not self.connection_event.is_set(): - # If we never connected within the timeout, set shared failure event and exit - self.failure_event.set() - self.logger.error( - f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}." - ) - return + if not self.connected: + raise TimeoutError( + f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}." + ) - self.logger.info(f"Connected to {uri}") - except Exception: - # If anything goes wrong during connection, set shared failure event to notify the host - self.logger.error(f"Exception while connecting to drone {self.drone_id}", exc_info=True) - self.failure_event.set() - return + self.logger.info(f"Connected to {uri}") def _init_ros_comm(self): """Subscribe to client state messages for this drone via ROS2.""" - try: - self._comm = RaceCommNode(f"lsy_race_worker_{self.rank}") - self._sub = self._comm.node.create_subscription( - ClientState, - f"lsy_drone_racing/client/drone_{self.rank}/state", - self._on_client_state, - 10, - ) - except Exception as e: - self.logger.error(f"Failed to initialize ROS communication: {e}", exc_info=True) - self.failure_event.set() + self._comm = RaceCommNode(f"lsy_race_worker_{self.rank}") + self._sub = self._comm.node.create_subscription( + ClientState, + f"lsy_drone_racing/client/drone_{self.rank}/state", + self._on_client_state, + 10, + ) def _init_ros_connector(self): """Open a ROS connector for reading this drone's pose from the estimator.""" self.logger.info(f"Initializing ROS connector for {self.drone_name}...") - try: - self._ros_connector = ROSConnector( - estimator_names=[self.drone_name], - cmd_topic=f"/drones/{self.drone_name}/command", - timeout=10.0, - ) - except Exception as e: - self.logger.error(f"Failed to initialize ROS connector for {self.drone_name}: {e}") - self.failure_event.set() + self._ros_connector = ROSConnector( + estimator_names=[self.drone_name], + cmd_topic=f"/drones/{self.drone_name}/command", + timeout=10.0, + ) def _control_loop(self): """Send actions to the drone at the configured control frequency.""" @@ -286,7 +252,7 @@ def _control_loop(self): dt = 1.0 / self.control_freq self._last_drone_pos_update = time.perf_counter() - while not self.stop_event.is_set(): + while not self.stop_event.is_set() and not self.connection_lost: t_start = time.time() with self.action_lock: @@ -325,7 +291,7 @@ def _cleanup(self): self._comm.close() if self.drone: try: - if self.connection_event.is_set(): + if self.connected and not self.connection_lost: pk = CRTPPacket() pk.port = CRTPPort.LOCALIZATION pk.channel = Localization.GENERIC_CH @@ -339,54 +305,36 @@ def _cleanup(self): def run(self): """Run the worker: connect to the drone, initialize, and enter the control loop. - The worker shall never throw any exceptions; any errors must be caught and logged, - and the failure_event must be set to notify the host. + Exceptions during initialization abort the shared barrier to notify the host and + all other workers. A BrokenBarrierError means another worker already failed. """ rclpy.init() - - def early_stop() -> bool: - # If the connection lost - # or any of the other workers reported a failure - # or we were asked to stop during connection, - # just exit - return ( - self.stop_event.is_set() - or self.failure_event.is_set() - or self.connection_lost_event.is_set() - ) - - # TODO: Really bad, but I do not know a better way to do it. - # The motivation is that the Worker should - # NEITHER throw exceptions NOR receive interrupt signals. - # Otherwise it would be very chaotic. try: - if early_stop(): - return assert self.control_mode in ["attitude", "state"] self.params = load_params(physics="first_principles", drone_model=self.drone_model) - if early_stop(): - return - self._connect_drone() - if early_stop(): - # If the connection failed or we were asked to stop during connection, - # just exit without error - return - self._crazyflie_reset() - if early_stop(): - return - self._init_ros_connector() - if early_stop(): - return - self._init_ros_comm() - if early_stop(): - return - self.ready_event.set() - self.logger.info("Waiting for start signal...") - while not self.start_event.is_set(): - if early_stop(): + tasks = [ + self._connect_drone, + self._crazyflie_reset, + self._init_ros_connector, + self._init_ros_comm, + ] + for task in tasks: + if self.stop_event.is_set(): return - time.sleep(0.001) + task() + self.logger.info("Waiting for start signal...") + self.init_barrier.wait(timeout=None) self._control_loop() + except mp.BrokenBarrierError: + # This will ONLY trigger during initilization phase, + # since no further wait() will be called here + pass + except TimeoutError: + self.logger.error("Initialization timed out, aborting...") + self.init_barrier.abort() + except Exception: + self.init_barrier.abort() + raise finally: self._cleanup() @@ -396,12 +344,10 @@ def crazyflie_process_worker( drone_id: int, drone_channel: int, drone_model: str, - ready_event: mp.synchronize.Event, stop_event: mp.synchronize.Event, init_pose: Tr, control_mode: str, - start_event: mp.synchronize.Event, - failure_event: mp.synchronize.Event | None = None, + init_barrier: mp.synchronize.Barrier, control_freq: float = 50.0, ): """Multiprocessing entry point that creates and runs a :class:`CrazyflieWorker`. @@ -414,30 +360,14 @@ def crazyflie_process_worker( drone_id=drone_id, drone_channel=drone_channel, drone_model=drone_model, - ready_event=ready_event, stop_event=stop_event, init_pose=init_pose, control_mode=control_mode, control_freq=control_freq, - start_event=start_event, - failure_event=failure_event, + init_barrier=init_barrier, ).run() -@dataclass -class DroneConnection: - """Book-keeping for a single drone subprocess managed by the host.""" - - rank: int - drone_id: int - drone_channel: int - process: mp.Process | None = None - ready_event: mp.synchronize.Event | None = None - stop_event: mp.synchronize.Event | None = None - failure_event: mp.synchronize.Event | None = None - connected: bool = False - - class RealRaceHost: """Base class for multi-drone race hosts. @@ -445,7 +375,6 @@ class RealRaceHost: :meth:`host_main_loop`, and :meth:`close` for a specific drone platform. """ - _initialized: bool = False _num_drones: int = 0 _config: ConfigDict | None = None _comm: RaceCommNode | None @@ -453,12 +382,11 @@ class RealRaceHost: _race_start_pub: Publisher | None def __init__(self, config: ConfigDict): - """Initialize the host and open Zenoh communication. + """Initialize the host and set up ROS2 communication. Args: config: Full configuration dictionary (deploy + env sections). """ - self._initialized = False self._config = config self._shutdown_event = threading.Event() self._clients_ready: dict[int, bool] = {} @@ -519,7 +447,7 @@ class CrazyFlieRealRaceHost(RealRaceHost): Each drone runs in its own subprocess (:class:`CrazyflieWorker`) that handles radio communication independently. The host coordinates the race lifecycle via - Zenoh messages to the client processes. + ROS2 messages to the client processes. """ gates: ConfigDict @@ -534,10 +462,11 @@ class CrazyFlieRealRaceHost(RealRaceHost): _drone_ids: list[int] _drone_channels: list[int] _drone_models: list[str] - _drone_connections: dict[int, DroneConnection] | None + _processes: list[mp.Process] _drone_control_freq: list[float] _drone_control_mode: list[str] - _all_clients_ready_event: mp.synchronize.Event | None + _stop_event: mp.synchronize.Event | None + _init_barrier: mp.synchronize.Barrier | None _mp_ctx: mp.context.BaseContext def __init__(self, config: ConfigDict): @@ -548,8 +477,9 @@ def __init__(self, config: ConfigDict): """ super().__init__(config) self._mp_ctx = mp.get_context("spawn") - self._all_clients_ready_event = self._mp_ctx.Event() - self._drone_connections = None + self._processes = [] + self._stop_event = None + self._init_barrier = None def load_config(self, config: ConfigDict): """Parse drone and track information from the configuration. @@ -608,23 +538,22 @@ def check_track( logger.debug("Drone start position check passed") def connect_drones(self): - """Spawn one subprocess per drone and wait until all are connected and ready. + """Spawn one subprocess per drone and wait until all workers finish initialization. - Raises: - RuntimeError: If any worker fails to connect or exits prematurely. - TimeoutError: If all drones are not ready within 10 seconds. + Returns once all workers are waiting at the init barrier, or immediately if the + barrier is broken by a worker failure. The race start is triggered in + :meth:`host_main_loop` when the host calls :meth:`~mp.Barrier.wait` on the barrier. """ logger.debug(f"Spawning processes for {self._num_drones} Crazyflie drones...") - self._drone_connections = {} - failure_event = self._mp_ctx.Event() + self._processes = [] + self._stop_event = self._mp_ctx.Event() + self._init_barrier = self._mp_ctx.Barrier(self._num_drones + 1) for rank in range(self._num_drones): init_pose = Tr.from_components( translation=self.drones_pose.pos[rank], rotation=R.from_quat(self.drones_pose.quat[rank]), ) - ready_event = self._mp_ctx.Event() - stop_event = self._mp_ctx.Event() process = self._mp_ctx.Process( target=CrazyflieWorker.crazyflie_process_worker, args=( @@ -632,53 +561,23 @@ def connect_drones(self): self._drone_ids[rank], self._drone_channels[rank], self._drone_models[rank], - ready_event, - stop_event, + self._stop_event, init_pose, self._drone_control_mode[rank], - self._all_clients_ready_event, - failure_event, + self._init_barrier, self._drone_control_freq[rank], ), name=f"CrazyflieProcess-{rank}", ) process.start() - self._drone_connections[rank] = DroneConnection( - rank=rank, - drone_id=self._drone_ids[rank], - drone_channel=self._drone_channels[rank], - process=process, - ready_event=ready_event, - stop_event=stop_event, - failure_event=failure_event, - ) + self._processes.append(process) logger.debug(f"Spawned process for drone {rank} (PID: {process.pid})") - start_time = time.time() - while time.time() - start_time < 10.0: - if all(conn.ready_event.is_set() for conn in self._drone_connections.values()): - for conn in self._drone_connections.values(): - conn.connected = True - logger.info(f"Drone {conn.rank} ready") - self._initialized = True - return - - if failure_event.is_set(): - for other in self._drone_connections.values(): - other.stop_event.set() - raise RuntimeError("One or more drone workers failed to connect") - - for rank, conn in self._drone_connections.items(): - if conn.process and not conn.process.is_alive() and not conn.ready_event.is_set(): - for other in self._drone_connections.values(): - other.stop_event.set() - raise RuntimeError(f"Process for drone {rank} terminated unexpectedly") - - time.sleep(0.1) - - for conn in self._drone_connections.values(): - conn.stop_event.set() - raise TimeoutError(f"Timeout waiting for {self._num_drones} Crazyflie processes to connect") + logger.debug("Waiting for drones to connect...") + while not self._init_barrier.broken: + if self._init_barrier.n_waiting == self._num_drones: + break + time.sleep(0.05) def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: """Update gate, obstacle, and/or drone poses from the motion capture system. @@ -726,19 +625,19 @@ def close(self): self._race_start_pub.publish( RaceStart(elapsed_time=-1.0, timestamp=time.time(), finished=True) ) - if self._drone_connections is not None: - for conn in self._drone_connections.values(): - if conn.stop_event: - conn.stop_event.set() - for rank, conn in self._drone_connections.items(): - if conn.process and conn.process.is_alive(): - conn.process.join(timeout=5) - if conn.process.is_alive(): - conn.process.terminate() - conn.process.join(timeout=5) - if conn.process.is_alive(): - conn.process.kill() - conn.process.join() + if self._init_barrier is not None: + self._init_barrier.abort() + if self._stop_event is not None: + self._stop_event.set() + for process in self._processes: + if process.is_alive(): + process.join(timeout=5) + if process.is_alive(): + process.terminate() + process.join(timeout=5) + if process.is_alive(): + process.kill() + process.join() super().close() logger.info("Host shutdown complete") @@ -746,10 +645,9 @@ def close(self): def _calibrate_client_clocks(self): """Expose the clock calibration service and wait for all clients to calibrate. - Creates a single ``lsy_drone_racing/calibrate_clock`` service server. Clients - discover it via ``wait_for_service`` and call it N times to estimate the clock - offset using the midpoint method. The host waits 3 seconds for all clients to - complete their calls before proceeding. + Creates a ``lsy_drone_racing/calibrate_clock`` service. Clients discover it via + ``wait_for_service`` and call it N times to estimate the clock offset using the + midpoint method. """ logger.info("Starting clock calibration service...") @@ -768,34 +666,38 @@ def _handler( def host_main_loop(self, race_update_freq: float = 50.0): """Run the host coordination loop. - Broadcasts :class:`HostReadyMessage` until all clients signal readiness, then - performs clock calibration, releases the drone workers, and enters the race loop - where :class:`RaceStartMessage` is broadcast until all clients report stopping. + Broadcasts :class:`HostReady` until all clients signal readiness, then performs + clock calibration and releases the drone workers via the init barrier. Enters the + race loop broadcasting :class:`RaceStart` until all clients report stopping. + Returns early without error if the init barrier was already broken by a worker failure. Args: - race_update_freq: Frequency in Hz at which :class:`RaceStartMessage` is broadcast. + race_update_freq: Frequency in Hz at which :class:`RaceStart` is broadcast. Raises: - RuntimeError: If drones have not been connected yet. TimeoutError: If clients do not become ready within 300 seconds. """ - if not self._initialized: - raise RuntimeError("Drones must be connected before starting the main loop") + if self._init_barrier.broken: + return - logger.info("Waiting for all clients...") + logger.info("Waiting for clients...") t_start = time.time() while time.time() - t_start < 300.0: self._host_ready_pub.publish(HostReady(elapsed_time=0.0, timestamp=time.time())) if all(self._clients_ready.values()): logger.info("All clients ready") break - time.sleep(1.0 / 10) + time.sleep(0.1) if not all(self._clients_ready.values()): raise TimeoutError("Timeout waiting for all clients to become ready") self._calibrate_client_clocks() - self._all_clients_ready_event.set() + + try: + self._init_barrier.wait(timeout=None) + except mp.BrokenBarrierError: + return logger.info("Race started") self._start_time = time.time() @@ -804,9 +706,9 @@ def host_main_loop(self, race_update_freq: float = 50.0): elapsed_time = time.time() - self._start_time finished = all(self._clients_stopped.values()) self._race_start_pub.publish( - RaceStart(elapsed_time=elapsed_time, timestamp=time.time(), finished=finished) + RaceStart(elapsed_time=elapsed_time, timestamp=time.time(), finished=False) ) if finished: - logger.info("All clients have stopped") + logger.info("All clients stopped") break time.sleep(1.0 / race_update_freq) From 75d7c91d72c0bffc06a71bc1b203dd207aabc078 Mon Sep 17 00:00:00 2001 From: ratheron Date: Wed, 22 Apr 2026 16:59:02 +0200 Subject: [PATCH 34/97] Add success/failure indicators in forks --- .github/workflows/competition.yml | 50 +++++++++++++++++++++++-------- 1 file changed, 37 insertions(+), 13 deletions(-) diff --git a/.github/workflows/competition.yml b/.github/workflows/competition.yml index feec7d1ee..84ab63d03 100644 --- a/.github/workflows/competition.yml +++ b/.github/workflows/competition.yml @@ -15,17 +15,41 @@ jobs: runs-on: ubuntu-latest steps: - - name: Send Dispatch to Central Repo + - name: Trigger Central Evaluation and Wait + env: + # The GitHub CLI uses this token to auth with the central repo + GH_TOKEN: ${{ secrets.DISPATCH_TOKEN }} run: | - # Notice the URL now ends with /competition.yaml/dispatches - curl -X POST https://api.github.com/repos/utiasDSL/lsy_drone_racing/actions/workflows/competition.yaml/dispatches \ - -H "Accept: application/vnd.github.v3+json" \ - -H "Authorization: Bearer ${{ secrets.DISPATCH_TOKEN }}" \ - -d '{ - "ref": "competition", - "inputs": { - "repository": "${{ github.repository }}", - "sha": "${{ github.sha }}", - "actor": "${{ github.actor }}" - } - }' \ No newline at end of file + echo "🚀 Dispatching evaluation to central repository..." + + # 1. Trigger the workflow with inputs + gh workflow run competition.yaml \ + --repo utiasDSL/lsy_drone_racing \ + --ref competition \ + -f repository="${{ github.repository }}" \ + -f sha="${{ github.sha }}" \ + -f actor="${{ github.actor }}" + + echo "⏳ Waiting 10 seconds for GitHub to queue the run..." + sleep 10 + + # 2. Fetch the ID of the run that was just created + RUN_ID=$(gh run list \ + --repo utiasDSL/lsy_drone_racing \ + --workflow "competition.yaml" \ + --json databaseId \ + --jq '.[0].databaseId') + + if [ -z "$RUN_ID" ]; then + echo "❌ Could not find the central workflow run. Check your DISPATCH_TOKEN permissions." + exit 1 + fi + + echo "✅ Evaluation started! Watching Run ID: $RUN_ID" + echo "🔗 You can view the live central logs here: https://github.com/utiasDSL/lsy_drone_racing/actions/runs/$RUN_ID" + + # 3. Watch the run until it finishes. + # The --exit-status flag ensures that if the central evaluation fails, this student job fails too! + gh run watch $RUN_ID \ + --repo utiasDSL/lsy_drone_racing \ + --exit-status \ No newline at end of file From 767a622167f02d0c665da4bba0291c113bd98289 Mon Sep 17 00:00:00 2001 From: N0OB Date: Sun, 26 Apr 2026 22:31:38 +0200 Subject: [PATCH 35/97] keep only one example for multi-drone racing wrapping --- .../control/attitude_controller_multi.py | 13 ++--- .../control/attitude_mpc_multi.py | 57 ------------------- lsy_drone_racing/control/attitude_rl_multi.py | 57 ------------------- 3 files changed, 4 insertions(+), 123 deletions(-) delete mode 100644 lsy_drone_racing/control/attitude_mpc_multi.py delete mode 100644 lsy_drone_racing/control/attitude_rl_multi.py diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py index bb2a27154..2e91ee374 100644 --- a/lsy_drone_racing/control/attitude_controller_multi.py +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -1,12 +1,4 @@ -"""This module implements an AttitudeController for quadrotor control. - -It utilizes the collective thrust interface for drone control to compute control commands based on -current state observations and desired waypoints. The attitude control is handled by computing a -PID control law for position tracking, incorporating gravity compensation in thrust calculations. - -The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. -Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. -""" +"""This module is a wrapper for the attitude controller that allows it to be used in a multi-agent environment. It extracts the relevant information for the current agent from the observation and passes it to the single-agent attitude controller.""" from __future__ import annotations # Python 3.10 type hints @@ -50,6 +42,9 @@ def compute_control( The orientation as roll, pitch, yaw angles, and the collective thrust [r_des, p_des, y_des, t_des] as a numpy array. """ + assert obs["pos"].ndim == 2, ( + f"Observation should have 2 dimensions but now it has {obs['pos'].ndim} dimensions. Are you sure you are running the multi-agent environment?" + ) obs = { "pos": obs["pos"][self.rank], "vel": obs["vel"][self.rank], diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py deleted file mode 100644 index cfc8c96f3..000000000 --- a/lsy_drone_racing/control/attitude_mpc_multi.py +++ /dev/null @@ -1,57 +0,0 @@ -"""This module implements an example MPC using attitude control for a quadrotor. - -It utilizes the collective thrust interface for drone control to compute control commands based on -current state observations and desired waypoints. - -The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. -Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. -""" - -from __future__ import annotations # Python 3.10 type hints - -from typing import TYPE_CHECKING - -from lsy_drone_racing.control.attitude_mpc import AttitudeMPC as SingleAttitudeMPC - -if TYPE_CHECKING: - import numpy as np - from numpy.typing import NDArray - - -class AttitudeMPC(SingleAttitudeMPC): - """Example of a MPC using the collective thrust and attitude interface.""" - - def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): - """Initialize the attitude controller. - - Args: - obs: The initial observation of the environment's state. See the environment's - observation space for details. - info: Additional environment information from the reset. - config: The configuration of the environment. - """ - super().__init__(obs, info, config) - self.rank = info["rank"] - - def compute_control( - self, obs: dict[str, NDArray[np.floating]], info: dict | None = None - ) -> NDArray[np.floating]: - """Compute the next desired collective thrust and roll/pitch/yaw of the drone. - - Args: - obs: The current observation of the environment. See the environment's observation space - for details. - info: Optional additional information as a dictionary. - - Returns: - The orientation as roll, pitch, yaw angles, and the collective thrust - [r_des, p_des, y_des, t_des] as a numpy array. - """ - obs = { - "pos": obs["pos"][self.rank], - "vel": obs["vel"][self.rank], - "quat": obs["quat"][self.rank], - "ang_vel": obs["ang_vel"][self.rank], - } - - return super().compute_control(obs, info) diff --git a/lsy_drone_racing/control/attitude_rl_multi.py b/lsy_drone_racing/control/attitude_rl_multi.py deleted file mode 100644 index 541ea9cb9..000000000 --- a/lsy_drone_racing/control/attitude_rl_multi.py +++ /dev/null @@ -1,57 +0,0 @@ -"""This module implements an AttitudeController for quadrotor control. - -It utilizes the collective thrust interface for drone control to compute control commands based on -current state observations and desired waypoints. The attitude control is handled by computing a -PID control law for position tracking, incorporating gravity compensation in thrust calculations. - -The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. -Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. -""" - -from __future__ import annotations # Python 3.10 type hints - -from typing import TYPE_CHECKING - -from lsy_drone_racing.control.attitude_rl import AttitudeRL as SingleAttitudeRL - -if TYPE_CHECKING: - import numpy as np - from numpy.typing import NDArray - - -class AttitudeRL(SingleAttitudeRL): - """Example of a controller using the collective thrust and attitude interface.""" - - def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): - """Initialize the attitude controller. - - Args: - obs: The initial observation of the environment's state. See the environment's - observation space for details. - info: Additional environment information from the reset. - config: The configuration of the environment. - """ - super().__init__(obs, info, config) - self.rank = info["rank"] - - def compute_control( - self, obs: dict[str, NDArray[np.floating]], info: dict | None = None - ) -> NDArray[np.floating]: - """Compute the next desired collective thrust and roll/pitch/yaw of the drone. - - Args: - obs: The current observation of the environment. See the environment's observation space - for details. - info: Optional additional information as a dictionary. - - Returns: - The collective thrust and orientation [t_des, r_des, p_des, y_des] as a numpy array. - """ - obs["pos"] = obs["pos"][self.rank] - obs["quat"] = obs["quat"][self.rank] - obs["vel"] = obs["vel"][self.rank] - obs["ang_vel"] = obs["ang_vel"][self.rank] - obs["target_gate"] = obs["target_gate"][self.rank] - obs["gates_visited"] = obs["gates_visited"][self.rank] - obs["obstacles_visited"] = obs["obstacles_visited"][self.rank] - return super().compute_control(obs, info) From 0940e1c98e3d70c67103e6b299bdc6a367189606 Mon Sep 17 00:00:00 2001 From: N0OB Date: Sun, 26 Apr 2026 23:48:10 +0200 Subject: [PATCH 36/97] Modified ros2 messages. Now the setup_mocap.sh script clones an external repository including the message at https://github.com/rducrist/drone_racing_msgs --- lsy_drone_racing/envs/real_race_env_client.py | 22 ++++++------- lsy_drone_racing/envs/real_race_host.py | 32 +++++++++---------- lsy_drone_racing/utils/ros_race_comm.py | 4 +-- ros_ws/src/lsy_race_msgs/CMakeLists.txt | 14 -------- ros_ws/src/lsy_race_msgs/msg/ClientState.msg | 6 ---- ros_ws/src/lsy_race_msgs/msg/HostReady.msg | 2 -- ros_ws/src/lsy_race_msgs/msg/RaceStart.msg | 3 -- ros_ws/src/lsy_race_msgs/package.xml | 19 ----------- .../src/lsy_race_msgs/srv/CalibrateClock.srv | 2 -- tools/setup_mocap.sh | 7 +++- 10 files changed, 35 insertions(+), 76 deletions(-) delete mode 100644 ros_ws/src/lsy_race_msgs/CMakeLists.txt delete mode 100644 ros_ws/src/lsy_race_msgs/msg/ClientState.msg delete mode 100644 ros_ws/src/lsy_race_msgs/msg/HostReady.msg delete mode 100644 ros_ws/src/lsy_race_msgs/msg/RaceStart.msg delete mode 100644 ros_ws/src/lsy_race_msgs/package.xml delete mode 100644 ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index ec37b714d..2467edd8c 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -18,8 +18,8 @@ import numpy as np from drone_estimators.ros_nodes.ros2_connector import ROSConnector from gymnasium import Env -from lsy_race_msgs.msg import ClientState, HostReady, RaceStart # type: ignore[import-untyped] -from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] +from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart # type: ignore[import-untyped] +from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.ros import track_poses @@ -296,12 +296,12 @@ def _send_state_update(self, action: NDArray, stopped: bool): stopped: Whether this client has finished or crashed. """ elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 - msg = ClientState() + msg = RealClientState() msg.drone_rank = self.rank msg.action = action.tolist() if isinstance(action, np.ndarray) else list(action) msg.elapsed_time = elapsed_time msg.timestamp = time.time() + self._clock_offset - msg.stopped = stopped + msg.controller_finished = stopped msg.next_gate_idx = int(self.data.target_gate[self.rank]) self._client_state_pub.publish(msg) @@ -322,26 +322,26 @@ def _init_comm(self): self._comm = RaceCommNode(f"lsy_race_client_{self.rank}") node = self._comm.node - def on_host_ready(msg: HostReady): + def on_host_ready(msg: RealHostReady): self._host_ready_event.set() logger.debug(f"Host ready (latency: {compute_latency_ms(msg.timestamp):.2f}ms)") - def on_race_start(msg: RaceStart): + def on_race_start(msg: RealRaceStart): self._race_started = True self._race_start_time = time.time() - msg.elapsed_time - self._host_terminate = bool(msg.finished) + self._host_terminate = bool(msg.race_finished) self._subs = [ - node.create_subscription(HostReady, "lsy_drone_racing/host/ready", on_host_ready, 10), + node.create_subscription(RealHostReady, "lsy_drone_racing/host/ready", on_host_ready, 10), node.create_subscription( - RaceStart, "lsy_drone_racing/host/race_start", on_race_start, 10 + RealRaceStart, "lsy_drone_racing/host/race_start", on_race_start, 10 ), ] self._client_state_pub = node.create_publisher( - ClientState, f"lsy_drone_racing/client/drone_{self.rank}/state", 10 + RealClientState, f"lsy_drone_racing/client/drone_{self.rank}/state", 10 ) self._clock_calib_client = node.create_client( - CalibrateClock, "lsy_drone_racing/calibrate_clock" + RealCalibrateClock, "lsy_drone_racing/calibrate_clock" ) logger.debug("ROS2 communication initialized") diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 72ee7f491..3ff615a41 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -25,8 +25,8 @@ from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params from drone_models.transform import force2pwm -from lsy_race_msgs.msg import ClientState, HostReady, RaceStart # type: ignore[import-untyped] -from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] +from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart # type: ignore[import-untyped] +from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from scipy.spatial.transform import RigidTransform as Tr from scipy.spatial.transform import Rotation as R @@ -103,7 +103,7 @@ def __init__( self.drone_name = f"cf{drone_id}" self.drone: Crazyflie | None = None self.params: dict | None = None - self.last_msg: ClientState | None = None + self.last_msg: RealClientState | None = None self.action_lock = threading.Lock() self._comm: RaceCommNode | None = None self._ros_connector: ROSConnector | None = None @@ -165,7 +165,7 @@ def _send_action(self, action: NDArray[np.float32]): pos, vel, acc, quat, rollrate, pitchrate, yawrate ) - def _on_client_state(self, msg: ClientState): + def _on_client_state(self, msg: RealClientState): """Store the latest action from the client state message.""" with self.action_lock: self.last_msg = msg @@ -261,7 +261,7 @@ def _control_loop(self): f"No command received for 10 * {dt:.2f}s, handover control to host..." ) break - if self.last_msg and self.last_msg.stopped: + if self.last_msg and self.last_msg.controller_finished: self.logger.info( "Received stop signal from client, handover control to host..." ) @@ -402,24 +402,24 @@ def init_comm(self): """Set up the ROS2 communication node with all publishers and subscribers.""" self._comm = RaceCommNode("lsy_race_host") node = self._comm.node - self._host_ready_pub = node.create_publisher(HostReady, "lsy_drone_racing/host/ready", 10) + self._host_ready_pub = node.create_publisher(RealHostReady, "lsy_drone_racing/host/ready", 10) self._race_start_pub = node.create_publisher( - RaceStart, "lsy_drone_racing/host/race_start", 10 + RealRaceStart, "lsy_drone_racing/host/race_start", 10 ) self._subs = [] for rank in range(self._num_drones): - def on_client_state(msg: ClientState, rank: int = rank): + def on_client_state(msg: RealClientState, rank: int = rank): if not self._clients_ready[rank]: logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True - if msg.stopped: + if msg.controller_finished: logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") self._clients_stopped[rank] = True self._subs.append( node.create_subscription( - ClientState, f"lsy_drone_racing/client/drone_{rank}/state", on_client_state, 10 + RealClientState, f"lsy_drone_racing/client/drone_{rank}/state", on_client_state, 10 ) ) logger.debug("ROS2 communication initialized") @@ -623,7 +623,7 @@ def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: def close(self): """Stop all drone subprocesses and close ROS communication.""" self._race_start_pub.publish( - RaceStart(elapsed_time=-1.0, timestamp=time.time(), finished=True) + RealRaceStart(elapsed_time=-1.0, timestamp=time.time(), race_finished=True) ) if self._init_barrier is not None: self._init_barrier.abort() @@ -652,13 +652,13 @@ def _calibrate_client_clocks(self): logger.info("Starting clock calibration service...") def _handler( - _: CalibrateClock.Request, response: CalibrateClock.Response - ) -> CalibrateClock.Response: + _: RealCalibrateClock.Request, response: RealCalibrateClock.Response + ) -> RealCalibrateClock.Response: response.host_timestamp = time.time() return response self._calib_srv = self._comm.node.create_service( - CalibrateClock, "lsy_drone_racing/calibrate_clock", _handler + RealCalibrateClock, "lsy_drone_racing/calibrate_clock", _handler ) time.sleep(1.0) logger.info("Clock calibration complete") @@ -683,7 +683,7 @@ def host_main_loop(self, race_update_freq: float = 50.0): logger.info("Waiting for clients...") t_start = time.time() while time.time() - t_start < 300.0: - self._host_ready_pub.publish(HostReady(elapsed_time=0.0, timestamp=time.time())) + self._host_ready_pub.publish(RealHostReady(elapsed_time=0.0, timestamp=time.time())) if all(self._clients_ready.values()): logger.info("All clients ready") break @@ -706,7 +706,7 @@ def host_main_loop(self, race_update_freq: float = 50.0): elapsed_time = time.time() - self._start_time finished = all(self._clients_stopped.values()) self._race_start_pub.publish( - RaceStart(elapsed_time=elapsed_time, timestamp=time.time(), finished=False) + RealRaceStart(elapsed_time=elapsed_time, timestamp=time.time(), race_finished=False) ) if finished: logger.info("All clients stopped") diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index b543d251a..55fce0473 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -21,7 +21,7 @@ from typing import TYPE_CHECKING import rclpy -from lsy_race_msgs.srv import CalibrateClock # type: ignore[import-untyped] +from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor @@ -94,7 +94,7 @@ def calibrate_clock(client: Client, n: int = 5, timeout: float = 60.0) -> float: offsets = [] for _ in range(n): t_send = time.time() - future = client.call_async(CalibrateClock.Request()) + future = client.call_async(RealCalibrateClock.Request()) while not future.done(): time.sleep(0.0001) # Don't busy-wait too aggressively t_recv = time.time() diff --git a/ros_ws/src/lsy_race_msgs/CMakeLists.txt b/ros_ws/src/lsy_race_msgs/CMakeLists.txt deleted file mode 100644 index 04c936637..000000000 --- a/ros_ws/src/lsy_race_msgs/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(lsy_race_msgs) - -find_package(ament_cmake REQUIRED) -find_package(rosidl_default_generators REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "msg/HostReady.msg" - "msg/RaceStart.msg" - "msg/ClientState.msg" - "srv/CalibrateClock.srv" -) - -ament_package() diff --git a/ros_ws/src/lsy_race_msgs/msg/ClientState.msg b/ros_ws/src/lsy_race_msgs/msg/ClientState.msg deleted file mode 100644 index 82cf7af54..000000000 --- a/ros_ws/src/lsy_race_msgs/msg/ClientState.msg +++ /dev/null @@ -1,6 +0,0 @@ -int32 drone_rank -float64[] action -float64 elapsed_time -float64 timestamp -bool stopped -int32 next_gate_idx diff --git a/ros_ws/src/lsy_race_msgs/msg/HostReady.msg b/ros_ws/src/lsy_race_msgs/msg/HostReady.msg deleted file mode 100644 index f1d43a67e..000000000 --- a/ros_ws/src/lsy_race_msgs/msg/HostReady.msg +++ /dev/null @@ -1,2 +0,0 @@ -float64 elapsed_time -float64 timestamp diff --git a/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg b/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg deleted file mode 100644 index 69e25c646..000000000 --- a/ros_ws/src/lsy_race_msgs/msg/RaceStart.msg +++ /dev/null @@ -1,3 +0,0 @@ -float64 elapsed_time -float64 timestamp -bool finished diff --git a/ros_ws/src/lsy_race_msgs/package.xml b/ros_ws/src/lsy_race_msgs/package.xml deleted file mode 100644 index 1236ed24b..000000000 --- a/ros_ws/src/lsy_race_msgs/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - lsy_race_msgs - 0.1.0 - Custom ROS2 messages and services for LSY drone racing host-client coordination - LSY Drone Racing - MIT - - ament_cmake - - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - - - ament_cmake - - diff --git a/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv b/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv deleted file mode 100644 index 1e66f903f..000000000 --- a/ros_ws/src/lsy_race_msgs/srv/CalibrateClock.srv +++ /dev/null @@ -1,2 +0,0 @@ ---- -float64 host_timestamp diff --git a/tools/setup_mocap.sh b/tools/setup_mocap.sh index 3183a56b6..dbedabaf0 100755 --- a/tools/setup_mocap.sh +++ b/tools/setup_mocap.sh @@ -7,7 +7,12 @@ if [ ! -d ros_ws/src/motion_capture_tracking/.git ]; then git clone --recurse-submodules https://github.com/utiasDSL/motion_capture_tracking ros_ws/src/motion_capture_tracking fi -if [ ! -f ros_ws/install/setup.sh ]; then +if [ ! -d ros_ws/src/drone_racing_msgs/.git ]; then + echo "[Pixi activation] Cloning drone_racing_msgs..." + git clone https://github.com/rducrist/drone_racing_msgs.git ros_ws/src/drone_racing_msgs +fi + +if [ ! -f ros_ws/install/setup.sh ] || [ ! -d ros_ws/install/drone_racing_msgs ]; then echo "[Pixi activation] Running colcon build..." (cd ros_ws && colcon build --cmake-args -DCMAKE_POLICY_VERSION_MINIMUM=3.5) fi From 4a810dbaa2ec4c3008a49a7946b199a4649f72c5 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 00:01:17 +0200 Subject: [PATCH 37/97] Made a temporary repository to test the message --- tools/setup_mocap.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/setup_mocap.sh b/tools/setup_mocap.sh index dbedabaf0..49c297016 100755 --- a/tools/setup_mocap.sh +++ b/tools/setup_mocap.sh @@ -9,7 +9,7 @@ fi if [ ! -d ros_ws/src/drone_racing_msgs/.git ]; then echo "[Pixi activation] Cloning drone_racing_msgs..." - git clone https://github.com/rducrist/drone_racing_msgs.git ros_ws/src/drone_racing_msgs + git clone --branch real_race git@github.com:N0OBSTUDENT/drone_racing_msgs.git ros_ws/src/drone_racing_msgs fi if [ ! -f ros_ws/install/setup.sh ] || [ ! -d ros_ws/install/drone_racing_msgs ]; then From 78c29652628b7dade58cb28432e6b451c631455f Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 00:15:12 +0200 Subject: [PATCH 38/97] Reused the EnvData from real_race_env.py --- lsy_drone_racing/envs/real_race_env_client.py | 27 ++++--------------- 1 file changed, 5 insertions(+), 22 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 2467edd8c..d146eadd8 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -24,6 +24,7 @@ from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.ros import track_poses from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms +from lsy_drone_racing.envs.real_race_env import EnvData if TYPE_CHECKING: from ml_collections import ConfigDict @@ -32,26 +33,6 @@ logger = logging.getLogger(__name__) -class ClientEnvData: - """Auxiliary state for the client-side environment, mirroring :class:`EnvData`.""" - - def __init__(self, n_drones: int, n_gates: int, n_obstacles: int): - """Initialize all dynamic fields to default values.""" - self.target_gate = np.zeros(n_drones, dtype=int) - self.gates_visited = np.zeros((n_drones, n_gates), dtype=bool) - self.obstacles_visited = np.zeros((n_drones, n_obstacles), dtype=bool) - self.last_drone_pos = np.zeros((n_drones, 3), dtype=np.float32) - self.taken_off = False - - def reset(self, last_drone_pos: NDArray[np.float32]): - """Reset all dynamic fields and seed last drone positions.""" - self.target_gate[:] = 0 - self.gates_visited[:] = False - self.obstacles_visited[:] = False - self.last_drone_pos[:] = last_drone_pos - self.taken_off = False - - class RealMultiDroneRaceEnvClient(Env): """Client-side Gymnasium environment for multi-drone racing. @@ -110,7 +91,7 @@ def __init__( self.device = jax.devices("cpu")[0] self._ros_connector_own: ROSConnector | None = None self._ros_connector_others: ROSConnector | None = None - self.data = ClientEnvData(self.n_drones, self.n_gates, self.n_obstacles) + self.data = EnvData(self.n_drones, self.n_gates, self.n_obstacles) self._comm: RaceCommNode | None = None self._client_state_pub: Any = None @@ -332,7 +313,9 @@ def on_race_start(msg: RealRaceStart): self._host_terminate = bool(msg.race_finished) self._subs = [ - node.create_subscription(RealHostReady, "lsy_drone_racing/host/ready", on_host_ready, 10), + node.create_subscription( + RealHostReady, "lsy_drone_racing/host/ready", on_host_ready, 10 + ), node.create_subscription( RealRaceStart, "lsy_drone_racing/host/race_start", on_race_start, 10 ), From 6fdd0786466eac72eb847ff0f49c45f8dace485e Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 00:23:24 +0200 Subject: [PATCH 39/97] Merge the ROS connectors --- lsy_drone_racing/envs/real_race_env_client.py | 47 ++++++++----------- 1 file changed, 20 insertions(+), 27 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index d146eadd8..c82480cfb 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -89,8 +89,7 @@ def __init__( self.pos_limit_high = np.array(track.safety_limits["pos_limit_high"]) self.device = jax.devices("cpu")[0] - self._ros_connector_own: ROSConnector | None = None - self._ros_connector_others: ROSConnector | None = None + self._ros_connector: ROSConnector | None = None self.data = EnvData(self.n_drones, self.n_gates, self.n_obstacles) self._comm: RaceCommNode | None = None @@ -120,7 +119,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl self.n_gates, self.n_obstacles ) - if self._ros_connector_own is None: + if self._ros_connector is None: self._init_ros_connectors() if self._comm is None: self._init_comm() @@ -152,7 +151,7 @@ def send_state_messages(): dummy_action = np.zeros(4, dtype=np.float32) else: dummy_action = np.zeros(13, dtype=np.float32) - dummy_action[:3] = self._ros_connector_own.pos[self.drone_name] + dummy_action[:3] = self._ros_connector.pos[self.drone_name] self._send_state_update(dummy_action, stopped=False) time.sleep(1 / self.freq) @@ -213,8 +212,8 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: logger.warning("Drone exceeded safety bounds") terminated = True - if self.control_mode == "attitude" and self._ros_connector_own: - self._ros_connector_own.publish_cmd(action) + if self.control_mode == "attitude" and self._ros_connector: + self._ros_connector.publish_cmd(action) self._send_state_update(action, terminated) @@ -260,10 +259,8 @@ def close(self): logger.warning(f"Could not send final stop message: {e}") if self._comm: self._comm.close() - if self._ros_connector_own: - self._ros_connector_own.close() - if self._ros_connector_others: - self._ros_connector_others.close() + if self._ros_connector: + self._ros_connector.close() logger.debug("Environment closed") def _send_state_update(self, action: NDArray, stopped: bool): @@ -287,17 +284,15 @@ def _send_state_update(self, action: NDArray, stopped: bool): self._client_state_pub.publish(msg) def _init_ros_connectors(self): - """Open ROS connectors for own drone (estimator) and others (TF).""" - self._ros_connector_own = ROSConnector( + """Open ROS connector for own drone (estimator) and others (TF).""" + other_names = [n for i, n in enumerate(self.drone_names) if i != self.rank] + self._ros_connector = ROSConnector( estimator_names=[self.drone_name], cmd_topic=f"/drones/{self.drone_name}/command", + tf_names=other_names, timeout=10.0, ) - other_names = [n for i, n in enumerate(self.drone_names) if i != self.rank] - if other_names: - self._ros_connector_others = ROSConnector(tf_names=other_names, timeout=10.0) - def _init_comm(self): """Set up the ROS2 communication node with all publishers and subscribers.""" self._comm = RaceCommNode(f"lsy_race_client_{self.rank}") @@ -341,15 +336,13 @@ def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: quat = np.full((self.n_drones, 4), np.nan, dtype=np.float32) vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) ang_vel = np.full((self.n_drones, 3), np.nan, dtype=np.float32) - pos[self.rank] = self._ros_connector_own.pos[self.drone_name] - quat[self.rank] = self._ros_connector_own.quat[self.drone_name] - vel[self.rank] = self._ros_connector_own.vel[self.drone_name] - ang_vel[self.rank] = self._ros_connector_own.ang_vel[self.drone_name] - if self._ros_connector_others is not None: - for i, name in enumerate(self.drone_names): - if i != self.rank: - pos[i] = self._ros_connector_others.pos.get(name, np.nan) - quat[i] = self._ros_connector_others.quat.get(name, np.nan) - # vel[i] = self._ros_connector_others.vel.get(name, np.nan) - # ang_vel[i] = self._ros_connector_others.ang_vel.get(name, np.nan) + for i, name in enumerate(self.drone_names): + if i == self.rank: + pos[i] = self._ros_connector.pos[name] + quat[i] = self._ros_connector.quat[name] + vel[i] = self._ros_connector.vel[name] + ang_vel[i] = self._ros_connector.ang_vel[name] + else: + pos[i] = self._ros_connector.pos.get(name, np.nan) + quat[i] = self._ros_connector.quat.get(name, np.nan) return pos, quat, vel, ang_vel From c895bee89538973fd099e5fa939302244c0050ae Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:18:11 +0200 Subject: [PATCH 40/97] Fixed wrong docstring Co-authored-by: Copilot --- lsy_drone_racing/envs/real_race_env_client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index c82480cfb..8dc3501ee 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -106,7 +106,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl Args: seed: Unused in real environments. - options: Unused in real environments. + options: Deploy options to determine whether to load real track object poses Returns: Initial observation and info dictionaries. From eccd03c642cf95c02f8baa8d2fb08001aad307a7 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:19:35 +0200 Subject: [PATCH 41/97] Changed drone_rank check to assert, removed redundant deploy variable --- scripts/deploy_client.py | 9 ++++----- scripts/deploy_host.py | 11 +++++++---- 2 files changed, 11 insertions(+), 9 deletions(-) diff --git a/scripts/deploy_client.py b/scripts/deploy_client.py index 60c0a5848..5e4c919b0 100644 --- a/scripts/deploy_client.py +++ b/scripts/deploy_client.py @@ -40,8 +40,7 @@ def main( to use the value from the config file. drone_rank: Rank of this drone in the multi-drone setup. Required. """ - if drone_rank is None: - raise ValueError("drone_rank must be specified") + assert drone_rank is not None, "drone_rank must be specified" rclpy.init() config_obj = load_config(Path(__file__).parents[1] / "config" / config) @@ -81,9 +80,9 @@ def main( if terminated or truncated or controller_finished: logger.debug( f"Client {drone_rank}: Episode finished " - f"(terminated={terminated}, " - f"truncated={truncated}, " - f"finished={controller_finished})" + f"({terminated=}, " + f"{truncated=}, " + f"{controller_finished=})" ) break diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 66622472b..9853d6727 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -31,14 +31,17 @@ def main(config: str = "multi_level2.toml"): """ rclpy.init() config_obj = load_config(Path(__file__).parents[1] / "config" / config) - deploy = config_obj.deploy host = CrazyFlieRealRaceHost(config_obj) try: - host.update_poses(track_obj=deploy.real_track_objects, drones=deploy.check_drone_start_pos) + host.update_poses( + track_obj=config_obj.deploy.real_track_objects, + drones=config_obj.deploy.check_drone_start_pos, + ) host.check_track( rng_config=config_obj.env.randomizations, - check_objects=deploy.real_track_objects and deploy.check_race_track, - check_drones=deploy.check_drone_start_pos, + check_objects=config_obj.deploy.real_track_objects + and config_obj.deploy.check_race_track, + check_drones=config_obj.deploy.check_drone_start_pos, ) host.connect_drones() logger.info("Drones connected, starting main loop...") From 9142d42b7f70667c305e14479fdff32c61469e24 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:35:39 +0200 Subject: [PATCH 42/97] docstring in attitude_controller_multi.py is shorter now --- lsy_drone_racing/control/attitude_controller_multi.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py index 2e91ee374..359a790a3 100644 --- a/lsy_drone_racing/control/attitude_controller_multi.py +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -1,4 +1,8 @@ -"""This module is a wrapper for the attitude controller that allows it to be used in a multi-agent environment. It extracts the relevant information for the current agent from the observation and passes it to the single-agent attitude controller.""" +"""This module implements a wrapper for the attitude controller for a multi-agent environment. + +It extracts the relevant information for the current agent from the observation, + and passes it to the single-agent attitude controller. +""" from __future__ import annotations # Python 3.10 type hints @@ -43,7 +47,8 @@ def compute_control( [r_des, p_des, y_des, t_des] as a numpy array. """ assert obs["pos"].ndim == 2, ( - f"Observation should have 2 dimensions but now it has {obs['pos'].ndim} dimensions. Are you sure you are running the multi-agent environment?" + f"Observation should have 2 dimensions but now it has {obs['pos'].ndim} dimensions. " + "Are you sure you are running the multi-agent environment?" ) obs = { "pos": obs["pos"][self.rank], From 287dab36f909f15c688eae0cc20c090f05025ab4 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:36:04 +0200 Subject: [PATCH 43/97] Fixed one ignored naming change --- lsy_drone_racing/envs/real_race_host.py | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 3ff615a41..61887e22f 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -25,7 +25,11 @@ from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params from drone_models.transform import force2pwm -from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart # type: ignore[import-untyped] +from drone_racing_msgs.msg import ( # type: ignore[import-untyped] + RealClientState, + RealHostReady, + RealRaceStart, +) from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from scipy.spatial.transform import RigidTransform as Tr from scipy.spatial.transform import Rotation as R @@ -229,7 +233,7 @@ def _init_ros_comm(self): """Subscribe to client state messages for this drone via ROS2.""" self._comm = RaceCommNode(f"lsy_race_worker_{self.rank}") self._sub = self._comm.node.create_subscription( - ClientState, + RealClientState, f"lsy_drone_racing/client/drone_{self.rank}/state", self._on_client_state, 10, @@ -402,7 +406,9 @@ def init_comm(self): """Set up the ROS2 communication node with all publishers and subscribers.""" self._comm = RaceCommNode("lsy_race_host") node = self._comm.node - self._host_ready_pub = node.create_publisher(RealHostReady, "lsy_drone_racing/host/ready", 10) + self._host_ready_pub = node.create_publisher( + RealHostReady, "lsy_drone_racing/host/ready", 10 + ) self._race_start_pub = node.create_publisher( RealRaceStart, "lsy_drone_racing/host/race_start", 10 ) @@ -419,7 +425,10 @@ def on_client_state(msg: RealClientState, rank: int = rank): self._subs.append( node.create_subscription( - RealClientState, f"lsy_drone_racing/client/drone_{rank}/state", on_client_state, 10 + RealClientState, + f"lsy_drone_racing/client/drone_{rank}/state", + on_client_state, + 10, ) ) logger.debug("ROS2 communication initialized") From a3f5b941a8d5dac9398a335237d61096b750699e Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:36:34 +0200 Subject: [PATCH 44/97] Avoided the getter function naming --- lsy_drone_racing/envs/real_race_env_client.py | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 8dc3501ee..058b4c15f 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -17,14 +17,18 @@ import jax import numpy as np from drone_estimators.ros_nodes.ros2_connector import ROSConnector -from gymnasium import Env -from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart # type: ignore[import-untyped] +from drone_racing_msgs.msg import ( # type: ignore[import-untyped] + RealClientState, + RealHostReady, + RealRaceStart, +) from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] +from gymnasium import Env +from lsy_drone_racing.envs.real_race_env import EnvData from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.ros import track_poses from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms -from lsy_drone_racing.envs.real_race_env import EnvData if TYPE_CHECKING: from ml_collections import ConfigDict @@ -124,7 +128,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl if self._comm is None: self._init_comm() - current_pos, _, _, _ = self._get_all_drone_states() + current_pos, _, _, _ = self._all_drone_states() self.data.reset(current_pos) logger.debug("Environment reset complete") @@ -133,7 +137,7 @@ def reset(self, *, seed: int | None = None, options: dict | None = None) -> tupl def lock_until_race_start(self, timeout: float = 60.0): """Sends dummy messages at the control frequency (``self.freq`` Hz) until the race starts. - After receiving host ready message, the client will calibrate the clock offset and \ + After receiving host ready message, the client will calibrate the clock offset and until the host broadcasts :class:`RaceStartMessage`. Args: @@ -186,7 +190,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: Returns: Observation, reward (always 0.0), terminated, truncated (always False), info. """ - drone_pos, _, _, _ = self._get_all_drone_states() + drone_pos, _, _, _ = self._all_drone_states() dpos = drone_pos[:, None, :2] - self.gates.pos[None, :, :2] self.data.gates_visited |= np.linalg.norm(dpos, axis=-1) < self.sensor_range @@ -228,7 +232,7 @@ def obs(self) -> dict[str, NDArray]: obstacles_pos = np.where(mask, self.obstacles.pos, self.obstacles.nominal_pos).astype( np.float32 ) - drone_pos, drone_quat, drone_vel, drone_ang_vel = self._get_all_drone_states() + drone_pos, drone_quat, drone_vel, drone_ang_vel = self._all_drone_states() return { "pos": drone_pos, "quat": drone_quat, @@ -323,7 +327,7 @@ def on_race_start(msg: RealRaceStart): ) logger.debug("ROS2 communication initialized") - def _get_all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: + def _all_drone_states(self) -> tuple[NDArray, NDArray, NDArray, NDArray]: """Read positions, quaternions, velocities, and angular velocities for all drones. Own drone state comes from the high-precision estimator; other drones from TF. From bf9666145bbad471860dd6b1049a23cf4325dbd8 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 01:42:03 +0200 Subject: [PATCH 45/97] Spreaded out the safety limit bound condition --- lsy_drone_racing/envs/real_race_env_client.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 058b4c15f..b736215d3 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -209,10 +209,12 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: self.data.taken_off |= drone_pos[self.rank, 2] > 0.1 terminated = bool(self.data.target_gate[self.rank] == -1) - if np.any( - (self.pos_limit_low > drone_pos[self.rank]) - | (drone_pos[self.rank] > self.pos_limit_high) - ): + + within_bound = np.all( + (drone_pos[self.rank] >= self.pos_limit_low) + & (drone_pos[self.rank] <= self.pos_limit_high) + ) + if not within_bound: logger.warning("Drone exceeded safety bounds") terminated = True From a8dcf2516873fe1511b4cc218054b6fbc867e0fe Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:30:12 +0200 Subject: [PATCH 46/97] Removed the 0.1sec waiting and bare exception at shutdown of client --- lsy_drone_racing/envs/real_race_env_client.py | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index b736215d3..7232300a6 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -256,13 +256,9 @@ def close(self): """Send a final stop message and close all ROS connections.""" logger.info("Closing environment...") if self._client_state_pub: - try: - self._send_state_update( - np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True - ) - time.sleep(0.1) # allow the executor thread to flush the message before shutdown - except Exception as e: - logger.warning(f"Could not send final stop message: {e}") + self._send_state_update( + np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True + ) if self._comm: self._comm.close() if self._ros_connector: From 20919df2ac7af7a3458d660d107e04535182950b Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:31:03 +0200 Subject: [PATCH 47/97] Split the ConfigDict argument in RealRaceHost --- lsy_drone_racing/envs/real_race_host.py | 62 +++++++++---------------- scripts/deploy_host.py | 6 ++- 2 files changed, 28 insertions(+), 40 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 61887e22f..9978d8cc1 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -375,31 +375,28 @@ def crazyflie_process_worker( class RealRaceHost: """Base class for multi-drone race hosts. - Subclasses implement :meth:`load_config`, :meth:`connect_drones`, - :meth:`host_main_loop`, and :meth:`close` for a specific drone platform. + Subclasses implement :meth:`connect_drones`, :meth:`host_main_loop`, and :meth:`close` + for a specific drone platform. """ - _num_drones: int = 0 - _config: ConfigDict | None = None _comm: RaceCommNode | None _host_ready_pub: Publisher | None _race_start_pub: Publisher | None - def __init__(self, config: ConfigDict): + def __init__(self, num_drones: int): """Initialize the host and set up ROS2 communication. Args: - config: Full configuration dictionary (deploy + env sections). + num_drones: Number of drones participating in the race. """ - self._config = config + self._num_drones = num_drones self._shutdown_event = threading.Event() - self._clients_ready: dict[int, bool] = {} - self._clients_stopped: dict[int, bool] = {} + self._clients_ready: dict[int, bool] = {rank: False for rank in range(num_drones)} + self._clients_stopped: dict[int, bool] = {rank: False for rank in range(num_drones)} self._start_time = time.time() self._comm = None self._host_ready_pub = None self._race_start_pub = None - self.load_config(config) self.init_comm() def init_comm(self): @@ -433,10 +430,6 @@ def on_client_state(msg: RealClientState, rank: int = rank): ) logger.debug("ROS2 communication initialized") - def load_config(self, config: ConfigDict): - """Load and validate the configuration. Must be implemented by subclasses.""" - raise NotImplementedError - def connect_drones(self): """Connect to all drones. Must be implemented by subclasses.""" raise NotImplementedError @@ -478,40 +471,31 @@ class CrazyFlieRealRaceHost(RealRaceHost): _init_barrier: mp.synchronize.Barrier | None _mp_ctx: mp.context.BaseContext - def __init__(self, config: ConfigDict): + def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: list[dict]): """Initialize the host. Args: - config: Full configuration dictionary (deploy + env sections). + track: Track configuration (see :func:`~lsy_drone_racing.envs.utils.load_track`). + deploy: List of drone configs, each with ``id``, ``channel``, and ``drone_model``. + drones: Per-drone kwargs, each with ``freq`` and ``control_mode``. """ - super().__init__(config) + self.gates, self.obstacles, self.drones_pose = load_track(track) + self.n_gates = len(self.gates.pos) + self.n_obstacles = len(self.obstacles.pos) + self.pos_limit_low = np.array(track.safety_limits["pos_limit_low"]) + self.pos_limit_high = np.array(track.safety_limits["pos_limit_high"]) + self._drone_names = [f"cf{drone['id']}" for drone in deploy_args.drones] + self._drone_ids = [drone["id"] for drone in deploy_args.drones] + self._drone_channels = [drone["channel"] for drone in deploy_args.drones] + self._drone_models = [drone["drone_model"] for drone in deploy_args.drones] + self._drone_control_freq = [kwargs["freq"] for kwargs in control_args] + self._drone_control_mode = [kwargs["control_mode"] for kwargs in control_args] + super().__init__(num_drones=len(deploy_args.drones)) self._mp_ctx = mp.get_context("spawn") self._processes = [] self._stop_event = None self._init_barrier = None - def load_config(self, config: ConfigDict): - """Parse drone and track information from the configuration. - - Args: - config: Full configuration dictionary (deploy + env sections). - """ - self.gates, self.obstacles, self.drones_pose = load_track(config.env.track) - self.n_gates = len(self.gates.pos) - self.n_obstacles = len(self.obstacles.pos) - self.pos_limit_low = np.array(config.env.track.safety_limits["pos_limit_low"]) - self.pos_limit_high = np.array(config.env.track.safety_limits["pos_limit_high"]) - self._num_drones = len(config.deploy.drones) - self._drone_names = [f"cf{drone['id']}" for drone in config.deploy.drones] - self._drone_ids = [drone["id"] for drone in config.deploy.drones] - self._drone_channels = [drone["channel"] for drone in config.deploy.drones] - self._drone_models = [drone["drone_model"] for drone in config.deploy.drones] - self._drone_control_freq = [kwargs["freq"] for kwargs in config.env.kwargs] - self._drone_control_mode = [kwargs["control_mode"] for kwargs in config.env.kwargs] - for rank in range(self._num_drones): - self._clients_ready[rank] = False - self._clients_stopped[rank] = False - def check_track( self, rng_config: ConfigDict, check_objects: bool = True, check_drones: bool = True ) -> None: diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 9853d6727..cf8bb59a7 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -31,7 +31,11 @@ def main(config: str = "multi_level2.toml"): """ rclpy.init() config_obj = load_config(Path(__file__).parents[1] / "config" / config) - host = CrazyFlieRealRaceHost(config_obj) + host = CrazyFlieRealRaceHost( + track=config_obj.env.track, + deploy_args=config_obj.deploy, + control_args=config_obj.env.kwargs, + ) try: host.update_poses( track_obj=config_obj.deploy.real_track_objects, From b671a7422292dd9dccc98c36f2676ba60c5866f3 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:34:22 +0200 Subject: [PATCH 48/97] Fixed bad docstring --- lsy_drone_racing/envs/real_race_env_client.py | 2 +- lsy_drone_racing/envs/real_race_host.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 7232300a6..0ae44c229 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -258,7 +258,7 @@ def close(self): if self._client_state_pub: self._send_state_update( np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True - ) + ) if self._comm: self._comm.close() if self._ros_connector: diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 9978d8cc1..fa3d6d012 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -476,8 +476,8 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis Args: track: Track configuration (see :func:`~lsy_drone_racing.envs.utils.load_track`). - deploy: List of drone configs, each with ``id``, ``channel``, and ``drone_model``. - drones: Per-drone kwargs, each with ``freq`` and ``control_mode``. + deploy_args: List of drone configs, each with ``id``, ``channel``, and ``drone_model``. + control_args: Per-drone kwargs, each with ``freq`` and ``control_mode``. """ self.gates, self.obstacles, self.drones_pose = load_track(track) self.n_gates = len(self.gates.pos) From bbd9c31920460e30465cb15d5148411b6306a3d2 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:50:19 +0200 Subject: [PATCH 49/97] Replace the busy-wait loop with event blocking the thread --- lsy_drone_racing/utils/ros_race_comm.py | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index 55fce0473..361e4d1fc 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -24,6 +24,12 @@ from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor +if TYPE_CHECKING: + from rclpy.client import Client + from rclpy.node import Node + +logger = logging.getLogger(__name__) + def _suppress_shutdown_thread_errors(): """Install a threading.excepthook that silences expected ROS2 shutdown exceptions. @@ -45,19 +51,12 @@ def _hook(args: threading.ExceptHookArgs) -> None: threading.excepthook = _hook -if TYPE_CHECKING: - from rclpy.client import Client - from rclpy.node import Node - -logger = logging.getLogger(__name__) - - def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: """Compute one-way latency in milliseconds from a sent timestamp. Args: timestamp: Time the message was sent. - clock_offset: Calibrated offset (host_time − client_time) in seconds. + clock_offset: Calibrated offset (host_time - client_time) in seconds. Zero when called on the host side (timestamps are already in host time). Returns: @@ -95,8 +94,10 @@ def calibrate_clock(client: Client, n: int = 5, timeout: float = 60.0) -> float: for _ in range(n): t_send = time.time() future = client.call_async(RealCalibrateClock.Request()) - while not future.done(): - time.sleep(0.0001) # Don't busy-wait too aggressively + ready = threading.Event() + future.add_done_callback(lambda _: ready.set()) + if not ready.wait(timeout=timeout): + raise TimeoutError("Clock calibration call timed out") t_recv = time.time() offsets.append(future.result().host_timestamp - (t_send + t_recv) / 2) return sum(offsets) / len(offsets) From 2ed0147ff70a7a474d2206df94c9eac5b5ed99e3 Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:54:30 +0200 Subject: [PATCH 50/97] Remove the property and make the node externally accessible --- lsy_drone_racing/utils/ros_race_comm.py | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index 361e4d1fc..192f45b16 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -116,9 +116,9 @@ class RaceCommNode: def __init__(self, name: str): """Initialize and spin the ROS2 node in a background thread.""" _suppress_shutdown_thread_errors() - self._node = rclpy.create_node(name) + self.node = rclpy.create_node(name) self._executor = SingleThreadedExecutor() - self._executor.add_node(self._node) + self._executor.add_node(self.node) def _spin(): try: @@ -139,13 +139,9 @@ def _spin(): self._thread.start() logger.debug(f"RaceCommNode '{name}' started") - @property - def node(self) -> Node: - """The underlying rclpy node.""" - return self._node def close(self): """Shut down the executor and destroy the node.""" self._executor.shutdown(timeout_sec=1.0) - self._node.destroy_node() + self.node.destroy_node() logger.debug("RaceCommNode closed") From 245886059808910714b118763d02de378cfed9ac Mon Sep 17 00:00:00 2001 From: N0OB Date: Mon, 27 Apr 2026 02:55:30 +0200 Subject: [PATCH 51/97] Remove unnecessary imports --- lsy_drone_racing/utils/ros_race_comm.py | 1 - 1 file changed, 1 deletion(-) diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index 192f45b16..6c5af9d92 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -26,7 +26,6 @@ if TYPE_CHECKING: from rclpy.client import Client - from rclpy.node import Node logger = logging.getLogger(__name__) From c4f8783e25da64f6f794e4f0d209d6900cb59818 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Fri, 10 Apr 2026 16:49:45 +0200 Subject: [PATCH 52/97] Modifies multi_sim to take in n controllers instead of one. Adds wrappers for both attitude controllers. --- .../control/attitude_controller_multi.py | 59 ++++++++++ .../control/attitude_mpc_multi.py | 57 ++++++++++ scripts/multi_sim.py | 101 ++++++++++++------ 3 files changed, 184 insertions(+), 33 deletions(-) create mode 100644 lsy_drone_racing/control/attitude_controller_multi.py create mode 100644 lsy_drone_racing/control/attitude_mpc_multi.py diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py new file mode 100644 index 000000000..c3724c23b --- /dev/null +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -0,0 +1,59 @@ +"""This module implements an AttitudeController for quadrotor control. + +It utilizes the collective thrust interface for drone control to compute control commands based on +current state observations and desired waypoints. The attitude control is handled by computing a +PID control law for position tracking, incorporating gravity compensation in thrust calculations. + +The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. +Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +from lsy_drone_racing.control.attitude_controller import ( + AttitudeController as SingleAttitudeController, +) + +if TYPE_CHECKING: + import numpy as np + from numpy.typing import NDArray + + +class AttitudeController(SingleAttitudeController): + """Example of a controller using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + super().__init__(obs, info, config) + self.rank = info["rank"] + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + return super().compute_control(obs, info) \ No newline at end of file diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py new file mode 100644 index 000000000..4abc41ead --- /dev/null +++ b/lsy_drone_racing/control/attitude_mpc_multi.py @@ -0,0 +1,57 @@ +"""This module implements an example MPC using attitude control for a quadrotor. + +It utilizes the collective thrust interface for drone control to compute control commands based on +current state observations and desired waypoints. + +The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. +Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +from lsy_drone_racing.control.attitude_mpc import AttitudeMPC as SingleAttitudeMPC + +if TYPE_CHECKING: + import numpy as np + from numpy.typing import NDArray + + +class AttitudeMPC(SingleAttitudeMPC): + """Example of a MPC using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + super().__init__(obs, info, config) + self.rank = info["rank"] + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + + return super().compute_control(obs, info) \ No newline at end of file diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index 4d2afe127..ebe8ae554 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -32,38 +32,44 @@ def simulate( config: str = "multi_level0.toml", - controller: str | None = None, + controllers: str | None = None, n_runs: int = 1, - gui: bool | None = None, + render: bool | None = None, ) -> list[float]: """Evaluate the drone controller over multiple episodes. Args: config: The path to the configuration file. Assumes the file is in `config/`. - controller: The name of the controller file in `lsy_drone_racing/control/` or None. If None, - the controller specified in the config file is used. + controllers: Comma-separated controller filenames in `lsy_drone_racing/control/` or None. + If None, the controllers specified in the config file are used. n_runs: The number of episodes. - gui: Enable/disable the simulation GUI. + render: Enable/disable the simulation GUI. Returns: A list of episode times. """ # Load configuration and check if firmare should be used. config = load_config(Path(__file__).parents[1] / "config" / config) - if gui is None: - gui = config.sim.gui + if render is None: + render = config.sim.render else: - config.sim.gui = gui + config.sim.render = render logger.warning( "The simulation currently only supports running with one controller type and one set of " "environment parameters (i.e. frequencies, control mode etc.). Only using the settings for " "the first drone." ) - # Load the controller module - if controller is None: - controller = config.controller[0]["file"] - controller_path = Path(__file__).parents[1] / "lsy_drone_racing/control" / controller - controller_cls = load_controller(controller_path) # This returns a class, not an instance + # Load the controller modules + control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" + if controllers is None: + controllers = [controller["file"] for controller in config.controller] + else: + controllers = [controller.strip() for controller in controllers.split(",")] + + controller_classes = [ + load_controller(control_path / controller) for controller in controllers + ] # This returns a list of classes, not a list of instances + # Create the racing environment env: MultiDroneRacingEnv = gymnasium.make( "MultiDroneRacing-v0", @@ -81,28 +87,44 @@ def simulate( # rely on this. config.env.freq = config.env.kwargs[0]["freq"] env = JaxToNumpy(env) - n_drones, n_worlds = env.unwrapped.sim.n_drones, env.unwrapped.sim.n_worlds + n_drones = env.unwrapped.sim.n_drones - for _ in range(n_runs): # Run n_runs episodes with the controller + for _ in range(n_runs): # Run n_runs episodes with the controllers obs, info = env.reset() - controller: Controller = controller_cls(obs, info, config) + controllers: list[Controller] = [ + cls(obs, _info_with_rank(info, rank), config) + for rank, cls in enumerate(controller_classes) + ] + finish_times = np.full(n_drones, np.nan, dtype=np.float32) + controller_finished = np.full(n_drones, False, dtype=bool) + i = 0 fps = 60 while True: curr_time = i / config.env.freq - - action = controller.compute_control(obs, info) - action = np.array([action] * n_drones * n_worlds, dtype=np.float32) - action[1, 0] += 0.2 - obs, reward, terminated, truncated, info = env.step(action) - done = terminated | truncated - # Update the controller internal state and models. - controller.step_callback(action, obs, reward, terminated, truncated, info) - # Add up reward, collisions + ranked_infos = [_info_with_rank(info, rank) for rank in range(n_drones)] + + actions = np.stack( + [ + ctrl.compute_control(obs, ctrl_info) + for ctrl, ctrl_info in zip(controllers, ranked_infos) + ], + dtype=np.float32, + ) + + obs, reward, terminated, truncated, info = env.step(actions) + + newly_finished = (obs["target_gate"] == -1) & np.isnan(finish_times) + finish_times[newly_finished] = curr_time + # Update the controllers' internal state and models. + for rank, (ctrl, ctrl_info) in enumerate(zip(controllers, ranked_infos)): + controller_finished[rank] = ctrl.step_callback( + actions[rank], obs, reward, terminated, truncated, ctrl_info + ) # Synchronize the GUI. - if config.sim.gui: + if config.sim.render: if ((i * fps) % config.env.freq) < fps: try: env.render() @@ -112,22 +134,35 @@ def simulate( if not e.args[0].startswith("No known conversion for Jax type"): raise e i += 1 - if done: + if terminated | truncated | controller_finished.all(): break - controller.episode_callback() # Update the controller internal state and models. - log_episode_stats(obs, info, config, curr_time) - controller.episode_reset() + for ctrl in controllers: + ctrl.episode_callback() # Update the controller internal state and models. + ctrl.episode_reset() + log_episode_stats(obs, info, config, finish_times) # Close the environment env.close() -def log_episode_stats(obs: dict, info: dict, config: ConfigDict, curr_time: float): +def _info_with_rank(info: dict, rank: int) -> dict: + """Return a controller-specific info dict with the drone rank attached.""" + return {**info, "rank": rank} + + +def log_episode_stats(obs: dict, info: dict, config: ConfigDict, finish_times: np.ndarray): """Log the statistics of a single episode.""" gates_passed = obs["target_gate"] - finished = gates_passed == -1 - logger.info((f"Flight time (s): {curr_time}\nDrones finished: {finished}\n")) + n_gates = len(config.env.track.gates) + gates_passed = np.where(gates_passed == -1, n_gates, gates_passed) + finished = gates_passed == n_gates + logger.info( + "Flight time (s): %s\nFinished: %s\nGates passed: %s\n", + finish_times.tolist(), + finished.tolist(), + gates_passed.tolist(), + ) if __name__ == "__main__": From 25da75d67f1ed8e58e2a774e004da5ae9aff70d6 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Fri, 10 Apr 2026 16:50:37 +0200 Subject: [PATCH 53/97] Changes flight times for demo attitude controllers to avoid collision --- lsy_drone_racing/control/attitude_controller.py | 2 +- lsy_drone_racing/control/attitude_mpc.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index 218a3042a..02999fb24 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -65,7 +65,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 15 # s + self._t_total = 18 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index 1740261da..c9929f42d 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -198,7 +198,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 15 # s + self._t_total = 12 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() From 915aee7ccc23f591fa1c435a93a8163c588975e1 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Tue, 14 Apr 2026 10:23:48 +0200 Subject: [PATCH 54/97] Adapts documentation for wrappers --- lsy_drone_racing/control/attitude_controller_multi.py | 10 +++------- lsy_drone_racing/control/attitude_mpc_multi.py | 9 +++------ 2 files changed, 6 insertions(+), 13 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py index c3724c23b..c1ec5bb8c 100644 --- a/lsy_drone_racing/control/attitude_controller_multi.py +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -1,11 +1,7 @@ -"""This module implements an AttitudeController for quadrotor control. +"""This module wraps the AttitudeController to handle batched multi-agent environments. -It utilizes the collective thrust interface for drone control to compute control commands based on -current state observations and desired waypoints. The attitude control is handled by computing a -PID control law for position tracking, incorporating gravity compensation in thrust calculations. - -The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. -Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +In multi-agent simulations, observations are batched across all drones. +The rank index is used to select the state of the current drone. """ from __future__ import annotations # Python 3.10 type hints diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py index 4abc41ead..6e94ed85e 100644 --- a/lsy_drone_racing/control/attitude_mpc_multi.py +++ b/lsy_drone_racing/control/attitude_mpc_multi.py @@ -1,10 +1,7 @@ -"""This module implements an example MPC using attitude control for a quadrotor. +"""This module wraps the AttitudeMPC to handle batched multi-agent environments. -It utilizes the collective thrust interface for drone control to compute control commands based on -current state observations and desired waypoints. - -The waypoints are generated using cubic spline interpolation from a set of predefined waypoints. -Note that the trajectory uses pre-defined waypoints instead of dynamically generating a good path. +In multi-agent simulations, observations are batched across all drones. +The rank index is used to select the state of the current drone. """ from __future__ import annotations # Python 3.10 type hints From 284ca13fb676fcce1d781ab99721cba61b9072ce Mon Sep 17 00:00:00 2001 From: radu_dell Date: Tue, 14 Apr 2026 10:25:03 +0200 Subject: [PATCH 55/97] Sets attitude controllers as default --- config/multi_level0.toml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index fc4666be5..b455f6f8c 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -4,9 +4,9 @@ # | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: | # | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | [[controller]] -file = "state_controller.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` +file = "attitude_mpc_multi.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` [[controller]] # Add the controller files for each drone -file = "attitude_controller.py" +file = "attitude_controller_multi.py" [deploy] ### Settings only relevant for deployment @@ -53,7 +53,7 @@ seed = -1 # -1 for random seeds or a non-zero integer for reproduc [[env.kwargs]] freq = 50 # Frequency of the environment's step function, in Hz sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. -control_mode = "state" # Control mode of the environment. Can be either "state" or "attitude" +control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" [[env.kwargs]] freq = 100 sensor_range = 0.7 From 66099147727e94fb46e0c9c352b4db2863cc5b37 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 13:31:32 +0200 Subject: [PATCH 56/97] Rewrites logging to be more readable. Now displays the stats as table --- scripts/multi_sim.py | 52 +++++++++++++++++++++++++++++++------------- 1 file changed, 37 insertions(+), 15 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index ebe8ae554..eca4184ef 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -62,12 +62,12 @@ def simulate( # Load the controller modules control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" if controllers is None: - controllers = [controller["file"] for controller in config.controller] + controller_names = [controller["file"] for controller in config.controller] else: - controllers = [controller.strip() for controller in controllers.split(",")] + controller_names = [controller.strip() for controller in controllers.split(",")] controller_classes = [ - load_controller(control_path / controller) for controller in controllers + load_controller(control_path / controller) for controller in controller_names ] # This returns a list of classes, not a list of instances # Create the racing environment @@ -91,7 +91,7 @@ def simulate( for _ in range(n_runs): # Run n_runs episodes with the controllers obs, info = env.reset() - controllers: list[Controller] = [ + controller_instances: list[Controller] = [ cls(obs, _info_with_rank(info, rank), config) for rank, cls in enumerate(controller_classes) ] @@ -108,7 +108,7 @@ def simulate( actions = np.stack( [ ctrl.compute_control(obs, ctrl_info) - for ctrl, ctrl_info in zip(controllers, ranked_infos) + for ctrl, ctrl_info in zip(controller_instances, ranked_infos) ], dtype=np.float32, ) @@ -118,7 +118,7 @@ def simulate( newly_finished = (obs["target_gate"] == -1) & np.isnan(finish_times) finish_times[newly_finished] = curr_time # Update the controllers' internal state and models. - for rank, (ctrl, ctrl_info) in enumerate(zip(controllers, ranked_infos)): + for rank, (ctrl, ctrl_info) in enumerate(zip(controller_instances, ranked_infos)): controller_finished[rank] = ctrl.step_callback( actions[rank], obs, reward, terminated, truncated, ctrl_info ) @@ -137,10 +137,10 @@ def simulate( if terminated | truncated | controller_finished.all(): break - for ctrl in controllers: + for ctrl in controller_instances: ctrl.episode_callback() # Update the controller internal state and models. ctrl.episode_reset() - log_episode_stats(obs, info, config, finish_times) + log_episode_stats(obs, info, config, finish_times, controller_names) # Close the environment env.close() @@ -151,18 +151,40 @@ def _info_with_rank(info: dict, rank: int) -> dict: return {**info, "rank": rank} -def log_episode_stats(obs: dict, info: dict, config: ConfigDict, finish_times: np.ndarray): +def log_episode_stats( + obs: dict, + info: dict, + config: ConfigDict, + finish_times: np.ndarray, + controller_names: list[str], +): """Log the statistics of a single episode.""" gates_passed = obs["target_gate"] n_gates = len(config.env.track.gates) gates_passed = np.where(gates_passed == -1, n_gates, gates_passed) finished = gates_passed == n_gates - logger.info( - "Flight time (s): %s\nFinished: %s\nGates passed: %s\n", - finish_times.tolist(), - finished.tolist(), - gates_passed.tolist(), - ) + + time_strings = [ + "DNF" if np.isnan(finish_time) else f"{finish_time:.2f}" for finish_time in finish_times + ] + name_width = max(len("controller"), max(len(name) for name in controller_names)) + time_width = max(len("time [s]"), max(len(time_str) for time_str in time_strings)) + finished_width = len("finished") + gates_width = len("gates") + + lines = [ + f"{'controller':<{name_width}} | {'time [s]':>{time_width}} | " + f"{'finished':>{finished_width}} | {'gates':>{gates_width}}" + ] + for i, controller_name in enumerate(controller_names): + lines.append( + f"{controller_name:<{name_width}} | {time_strings[i]:>{time_width}} | " + f"{str(finished[i]):>{finished_width}} | {gates_passed[i]:>{gates_width}}" + ) + + table = "\n".join(lines) + logger.info(f"Episode stats:\n{table}\n") + if __name__ == "__main__": From a11966efe37737376d5cb81b260307bbddfbf1f2 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 13:34:32 +0200 Subject: [PATCH 57/97] Increases offset between drones to prevent collision --- config/multi_level0.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index b455f6f8c..f0bb177d5 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -92,7 +92,7 @@ pos = [-1.5, -0.25, 1.55] pos = [-0.5, -0.75, 1.55] [[env.track.drones]] -pos = [-1.5, 0.75, 0.01] +pos = [-1.5, 1.0, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] From 90ebded2a8b121821a192bf297043e9c5f751c3d Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 17:24:04 +0200 Subject: [PATCH 58/97] Ruff formats --- lsy_drone_racing/control/attitude_controller_multi.py | 2 +- lsy_drone_racing/control/attitude_mpc.py | 2 +- lsy_drone_racing/control/attitude_mpc_multi.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py index c1ec5bb8c..c460f403e 100644 --- a/lsy_drone_racing/control/attitude_controller_multi.py +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -52,4 +52,4 @@ def compute_control( "quat": obs["quat"][self.rank], "ang_vel": obs["ang_vel"][self.rank], } - return super().compute_control(obs, info) \ No newline at end of file + return super().compute_control(obs, info) diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index c9929f42d..63d080e2d 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -198,7 +198,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 12 # s + self._t_total = 14 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py index 6e94ed85e..399661bd3 100644 --- a/lsy_drone_racing/control/attitude_mpc_multi.py +++ b/lsy_drone_racing/control/attitude_mpc_multi.py @@ -51,4 +51,4 @@ def compute_control( "ang_vel": obs["ang_vel"][self.rank], } - return super().compute_control(obs, info) \ No newline at end of file + return super().compute_control(obs, info) From 09ac56afd4469ff32fa9b1c6b8e3e2b5639fec84 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 17:34:43 +0200 Subject: [PATCH 59/97] Ruff check again --- scripts/multi_sim.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index eca4184ef..020014d3a 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -152,11 +152,7 @@ def _info_with_rank(info: dict, rank: int) -> dict: def log_episode_stats( - obs: dict, - info: dict, - config: ConfigDict, - finish_times: np.ndarray, - controller_names: list[str], + obs: dict, info: dict, config: ConfigDict, finish_times: np.ndarray, controller_names: list[str] ): """Log the statistics of a single episode.""" gates_passed = obs["target_gate"] @@ -186,7 +182,6 @@ def log_episode_stats( logger.info(f"Episode stats:\n{table}\n") - if __name__ == "__main__": logging.basicConfig() logging.getLogger("lsy_drone_racing").setLevel(logging.INFO) From 933e4be6212e120835c73d2b0848c9ff0f71f4ce Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 18:07:51 +0200 Subject: [PATCH 60/97] Avoids calling controllers if the respective drones are disabled --- scripts/multi_sim.py | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index 020014d3a..215205fa8 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -88,9 +88,11 @@ def simulate( config.env.freq = config.env.kwargs[0]["freq"] env = JaxToNumpy(env) n_drones = env.unwrapped.sim.n_drones + action_shape = env.action_space.shape[1] for _ in range(n_runs): # Run n_runs episodes with the controllers obs, info = env.reset() + # Inject the rank information when creating the controller controller_instances: list[Controller] = [ cls(obs, _info_with_rank(info, rank), config) for rank, cls in enumerate(controller_classes) @@ -104,14 +106,16 @@ def simulate( while True: curr_time = i / config.env.freq ranked_infos = [_info_with_rank(info, rank) for rank in range(n_drones)] + disabled_drones = env.unwrapped.data.disabled_drones[0] - actions = np.stack( - [ - ctrl.compute_control(obs, ctrl_info) - for ctrl, ctrl_info in zip(controller_instances, ranked_infos) - ], - dtype=np.float32, - ) + # Set default action to zeros only + actions = np.zeros((n_drones, action_shape), dtype=np.float32) + for rank, (ctrl, ctrl_info) in enumerate(zip(controller_instances, ranked_infos)): + # Only compute action if drone is not disabled + if disabled_drones[rank]: + controller_finished[rank] = True + continue + actions[rank] = ctrl.compute_control(obs, ctrl_info) obs, reward, terminated, truncated, info = env.step(actions) @@ -119,6 +123,8 @@ def simulate( finish_times[newly_finished] = curr_time # Update the controllers' internal state and models. for rank, (ctrl, ctrl_info) in enumerate(zip(controller_instances, ranked_infos)): + if disabled_drones[rank]: + continue controller_finished[rank] = ctrl.step_callback( actions[rank], obs, reward, terminated, truncated, ctrl_info ) From dc5c4b98468195e88064bb1ecc5ef73610a93503 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Thu, 16 Apr 2026 18:53:42 +0200 Subject: [PATCH 61/97] Adds start position of drones to waypoints --- config/multi_level0.toml | 4 ++-- lsy_drone_racing/control/attitude_controller.py | 2 ++ lsy_drone_racing/control/attitude_controller_multi.py | 8 +++++++- lsy_drone_racing/control/attitude_mpc.py | 2 ++ lsy_drone_racing/control/attitude_mpc_multi.py | 8 +++++++- scripts/multi_sim.py | 2 +- 6 files changed, 21 insertions(+), 5 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index f0bb177d5..58fca17fb 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -92,12 +92,12 @@ pos = [-1.5, -0.25, 1.55] pos = [-0.5, -0.75, 1.55] [[env.track.drones]] -pos = [-1.5, 1.0, 0.01] +pos = [-1.5, 0.55, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] [[env.track.drones]] -pos = [-1.3, 0.75, 0.01] +pos = [-1.5, 0.95, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index 02999fb24..48bb36994 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -51,8 +51,10 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self.g = 9.81 # Same waypoints as in the position controller. Determined by trial and error. + start_position = obs.get("pos") waypoints = np.array( [ + start_position, [-1.5, 0.75, 0.05], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], diff --git a/lsy_drone_racing/control/attitude_controller_multi.py b/lsy_drone_racing/control/attitude_controller_multi.py index c460f403e..75b7aa860 100644 --- a/lsy_drone_racing/control/attitude_controller_multi.py +++ b/lsy_drone_racing/control/attitude_controller_multi.py @@ -29,8 +29,14 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic info: Additional environment information from the reset. config: The configuration of the environment. """ - super().__init__(obs, info, config) self.rank = info["rank"] + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + super().__init__(obs, info, config) def compute_control( self, obs: dict[str, NDArray[np.floating]], info: dict | None = None diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index 63d080e2d..dda594bb0 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -184,8 +184,10 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self._T_HORIZON = self._N * self._dt # Same waypoints as in the trajectory controller. Determined by trial and error. + start_position = obs.get("pos") waypoints = np.array( [ + start_position, [-1.5, 0.75, 0.05], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], diff --git a/lsy_drone_racing/control/attitude_mpc_multi.py b/lsy_drone_racing/control/attitude_mpc_multi.py index 399661bd3..e6f799a02 100644 --- a/lsy_drone_racing/control/attitude_mpc_multi.py +++ b/lsy_drone_racing/control/attitude_mpc_multi.py @@ -27,8 +27,14 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic info: Additional environment information from the reset. config: The configuration of the environment. """ - super().__init__(obs, info, config) self.rank = info["rank"] + obs = { + "pos": obs["pos"][self.rank], + "vel": obs["vel"][self.rank], + "quat": obs["quat"][self.rank], + "ang_vel": obs["ang_vel"][self.rank], + } + super().__init__(obs, info, config) def compute_control( self, obs: dict[str, NDArray[np.floating]], info: dict | None = None diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index 215205fa8..f0cfa70f4 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -2,7 +2,7 @@ Run as: - $ python scripts/multi_sim.py --config level0.toml + $ python scripts/multi_sim.py --config multi_level0.toml Look for instructions in `README.md` and in the official documentation. """ From edcdc9e1ac408b4548e7af99c612e496aa921fc7 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Mon, 20 Apr 2026 17:28:05 +0200 Subject: [PATCH 62/97] Removes try block, simplyfies info rank logic. --- scripts/multi_sim.py | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index f0cfa70f4..895114e0f 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -94,8 +94,7 @@ def simulate( obs, info = env.reset() # Inject the rank information when creating the controller controller_instances: list[Controller] = [ - cls(obs, _info_with_rank(info, rank), config) - for rank, cls in enumerate(controller_classes) + cls(obs, {**info, "rank": rank}, config) for rank, cls in enumerate(controller_classes) ] finish_times = np.full(n_drones, np.nan, dtype=np.float32) controller_finished = np.full(n_drones, False, dtype=bool) @@ -105,7 +104,7 @@ def simulate( while True: curr_time = i / config.env.freq - ranked_infos = [_info_with_rank(info, rank) for rank in range(n_drones)] + ranked_infos = [{**info, "rank": rank} for rank in range(n_drones)] disabled_drones = env.unwrapped.data.disabled_drones[0] # Set default action to zeros only @@ -132,13 +131,7 @@ def simulate( # Synchronize the GUI. if config.sim.render: if ((i * fps) % config.env.freq) < fps: - try: - env.render() - # TODO: JaxToNumpy not working with None (returned by env.render()). Open issue - # in gymnasium and fix this. - except Exception as e: - if not e.args[0].startswith("No known conversion for Jax type"): - raise e + env.render() i += 1 if terminated | truncated | controller_finished.all(): break @@ -152,11 +145,6 @@ def simulate( env.close() -def _info_with_rank(info: dict, rank: int) -> dict: - """Return a controller-specific info dict with the drone rank attached.""" - return {**info, "rank": rank} - - def log_episode_stats( obs: dict, info: dict, config: ConfigDict, finish_times: np.ndarray, controller_names: list[str] ): From 1d59c53e199f595ce31970d1907e0806ce2c4d15 Mon Sep 17 00:00:00 2001 From: radu_dell Date: Tue, 21 Apr 2026 09:49:18 +0200 Subject: [PATCH 63/97] Removes initial first waypoint from all controllers. Adds z offset to prevent collision. Changes mpc spline time back to 15s --- lsy_drone_racing/control/attitude_controller.py | 2 +- lsy_drone_racing/control/attitude_mpc.py | 4 ++-- lsy_drone_racing/control/state_controller.py | 4 +++- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index 48bb36994..6146ba156 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -55,7 +55,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic waypoints = np.array( [ start_position, - [-1.5, 0.75, 0.05], + start_position + [0.0, 0.0, 0.15], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index dda594bb0..d5f105aeb 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -188,7 +188,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic waypoints = np.array( [ start_position, - [-1.5, 0.75, 0.05], + start_position + [0.0, 0.0, 0.15], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], @@ -200,7 +200,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 14 # s + self._t_total = 15 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) self._des_vel_spline = self._des_pos_spline.derivative() diff --git a/lsy_drone_racing/control/state_controller.py b/lsy_drone_racing/control/state_controller.py index 1cbd5609c..3a55c32c8 100644 --- a/lsy_drone_racing/control/state_controller.py +++ b/lsy_drone_racing/control/state_controller.py @@ -41,9 +41,11 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self._freq = config.env.freq # Same waypoints as in the attitude controller. Determined by trial and error. + start_position = obs.get("pos") waypoints = np.array( [ - [-1.5, 0.75, 0.05], + start_position, + start_position + [0.0, 0.0, 0.15], [-1.0, 0.55, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], From f8f386bf6bf3013e02c07c52fbc765386077fda1 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Thu, 23 Apr 2026 14:34:58 +0200 Subject: [PATCH 64/97] Update waypoints --- lsy_drone_racing/control/attitude_controller.py | 9 ++++----- lsy_drone_racing/control/attitude_mpc.py | 9 ++++----- lsy_drone_racing/control/attitude_rl.py | 7 ++++--- lsy_drone_racing/control/state_controller.py | 9 ++++----- 4 files changed, 16 insertions(+), 18 deletions(-) diff --git a/lsy_drone_racing/control/attitude_controller.py b/lsy_drone_racing/control/attitude_controller.py index 6146ba156..d5162e2fe 100644 --- a/lsy_drone_racing/control/attitude_controller.py +++ b/lsy_drone_racing/control/attitude_controller.py @@ -50,13 +50,12 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self.i_error = np.zeros(3) self.g = 9.81 - # Same waypoints as in the position controller. Determined by trial and error. - start_position = obs.get("pos") + # Same waypoints as in the state controller. Determined by trial and error. + start_pos = obs["pos"] waypoints = np.array( [ - start_position, - start_position + [0.0, 0.0, 0.15], - [-1.0, 0.55, 0.4], + start_pos, + [-1.0, 0.75, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], [0.9, 0.7, 1.2], diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index d5f105aeb..fc84185ea 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -183,13 +183,12 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self._dt = 1 / config.env.freq self._T_HORIZON = self._N * self._dt - # Same waypoints as in the trajectory controller. Determined by trial and error. - start_position = obs.get("pos") + # Same waypoints as in the state controller. Determined by trial and error. + start_pos = obs["pos"] waypoints = np.array( [ - start_position, - start_position + [0.0, 0.0, 0.15], - [-1.0, 0.55, 0.4], + start_pos, + [-1.0, 0.75, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], [0.85, 0.85, 1.2], diff --git a/lsy_drone_racing/control/attitude_rl.py b/lsy_drone_racing/control/attitude_rl.py index 052c7a9cd..a79503ed2 100644 --- a/lsy_drone_racing/control/attitude_rl.py +++ b/lsy_drone_racing/control/attitude_rl.py @@ -57,11 +57,12 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic ) self._tick = 0 - # Same waypoints as in the trajectory controller. Determined by trial and error. + # Same waypoints as in the state controller. Determined by trial and error. + start_pos = obs["pos"] waypoints = np.array( [ - [-1.5, 0.75, 0.05], - [-1.0, 0.55, 0.4], + start_pos, + [-1.0, 0.75, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], [0.85, 0.85, 1.2], diff --git a/lsy_drone_racing/control/state_controller.py b/lsy_drone_racing/control/state_controller.py index 3a55c32c8..8945d8a17 100644 --- a/lsy_drone_racing/control/state_controller.py +++ b/lsy_drone_racing/control/state_controller.py @@ -41,12 +41,11 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic self._freq = config.env.freq # Same waypoints as in the attitude controller. Determined by trial and error. - start_position = obs.get("pos") + start_pos = obs["pos"] waypoints = np.array( [ - start_position, - start_position + [0.0, 0.0, 0.15], - [-1.0, 0.55, 0.4], + start_pos, + [-1.0, 0.75, 0.4], [0.3, 0.35, 0.7], [1.3, -0.15, 0.9], [0.85, 0.85, 1.2], @@ -57,7 +56,7 @@ def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dic [0.5, -0.75, 1.2], ] ) - self._t_total = 15 # s + self._t_total = 18 # s t = np.linspace(0, self._t_total, len(waypoints)) self._des_pos_spline = CubicSpline(t, waypoints) From aec6c333bab542e7b9103842adf8aae7018bc6f2 Mon Sep 17 00:00:00 2001 From: radu workstation Date: Fri, 24 Apr 2026 18:20:04 +0200 Subject: [PATCH 65/97] Adds logic for running controllers at different frequencies --- scripts/multi_sim.py | 59 +++++++++++++++++++++++++++++++------------- 1 file changed, 42 insertions(+), 17 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index 895114e0f..e533fb5f5 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -9,6 +9,7 @@ from __future__ import annotations +import copy import logging from pathlib import Path from typing import TYPE_CHECKING @@ -70,10 +71,18 @@ def simulate( load_controller(control_path / controller) for controller in controller_names ] # This returns a list of classes, not a list of instances + # Load in all controller frequencies and take the largest one as the environment baseline. + controller_freqs = np.array([kwargs["freq"] for kwargs in config.env.kwargs], dtype=np.int64) + base_freq = int(np.max(controller_freqs)) + if np.any(base_freq % controller_freqs != 0): + raise ValueError( + f"Controller frequencies do not evenly divide the base frequency ({controller_freqs.tolist()})" + ) + # Create the racing environment env: MultiDroneRacingEnv = gymnasium.make( "MultiDroneRacing-v0", - freq=config.env.kwargs[0]["freq"], + freq=base_freq, # create the env with the largest control frequency sim_config=config.sim, track=config.env.track, sensor_range=config.env.kwargs[0]["sensor_range"], @@ -82,39 +91,49 @@ def simulate( randomizations=config.env.get("randomizations"), seed=config.env.seed, ) - # We use the same example controllers for this script as for the single-drone case. These expect - # the config to have env.freq set, so we copy it here. Actual multi-drone controllers should not - # rely on this. - config.env.freq = config.env.kwargs[0]["freq"] + env = JaxToNumpy(env) n_drones = env.unwrapped.sim.n_drones action_shape = env.action_space.shape[1] for _ in range(n_runs): # Run n_runs episodes with the controllers obs, info = env.reset() - # Inject the rank information when creating the controller - controller_instances: list[Controller] = [ - cls(obs, {**info, "rank": rank}, config) for rank, cls in enumerate(controller_classes) - ] + + # Inject rank and frequency information when creating the controller. + controller_instances: list[Controller] = [] + for rank, cls in enumerate(controller_classes): + ctrl_config = copy.deepcopy(config) + ctrl_config.env.freq = np.int64(ctrl_config.env.kwargs[rank]["freq"]) + controller_instances.append(cls(obs, {**info, "rank": rank}, ctrl_config)) + finish_times = np.full(n_drones, np.nan, dtype=np.float32) controller_finished = np.full(n_drones, False, dtype=bool) + # Compute the control update period for each controller. + periods = base_freq // controller_freqs + i = 0 fps = 60 + # Set default action to zeros only + actions = np.zeros((n_drones, action_shape), dtype=np.float32) + while True: - curr_time = i / config.env.freq + curr_time = i / base_freq + ranked_infos = [{**info, "rank": rank} for rank in range(n_drones)] disabled_drones = env.unwrapped.data.disabled_drones[0] - # Set default action to zeros only - actions = np.zeros((n_drones, action_shape), dtype=np.float32) + # Create mask for selecting the active controller + controller_mask = (i % periods) == 0 + for rank, (ctrl, ctrl_info) in enumerate(zip(controller_instances, ranked_infos)): # Only compute action if drone is not disabled if disabled_drones[rank]: controller_finished[rank] = True continue - actions[rank] = ctrl.compute_control(obs, ctrl_info) + if controller_mask[rank]: + actions[rank] = ctrl.compute_control(obs, ctrl_info) obs, reward, terminated, truncated, info = env.step(actions) @@ -124,16 +143,22 @@ def simulate( for rank, (ctrl, ctrl_info) in enumerate(zip(controller_instances, ranked_infos)): if disabled_drones[rank]: continue - controller_finished[rank] = ctrl.step_callback( - actions[rank], obs, reward, terminated, truncated, ctrl_info - ) + if controller_mask[rank]: + controller_finished[rank] = ctrl.step_callback( + actions[rank], obs, reward, terminated, truncated, ctrl_info + ) # Synchronize the GUI. if config.sim.render: - if ((i * fps) % config.env.freq) < fps: + if ((i * fps) % base_freq) < fps: env.render() i += 1 if terminated | truncated | controller_finished.all(): + if truncated: + logger.warning( + "If termination was unexpected, check the controller frequency. " + "The environment truncates after 1500 steps." + ) break for ctrl in controller_instances: From 12012975bb3e289dd4f5d284a4816a8f0db5255a Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Mon, 27 Apr 2026 22:30:03 +0200 Subject: [PATCH 66/97] Move prediods --- scripts/multi_sim.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index e533fb5f5..7aa391a1f 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -74,6 +74,7 @@ def simulate( # Load in all controller frequencies and take the largest one as the environment baseline. controller_freqs = np.array([kwargs["freq"] for kwargs in config.env.kwargs], dtype=np.int64) base_freq = int(np.max(controller_freqs)) + periods = base_freq // controller_freqs # Precompute the periods for each controller. if np.any(base_freq % controller_freqs != 0): raise ValueError( f"Controller frequencies do not evenly divide the base frequency ({controller_freqs.tolist()})" @@ -109,9 +110,6 @@ def simulate( finish_times = np.full(n_drones, np.nan, dtype=np.float32) controller_finished = np.full(n_drones, False, dtype=bool) - # Compute the control update period for each controller. - periods = base_freq // controller_freqs - i = 0 fps = 60 From 814cb04e0814ba3d88c9d103a962c3a52012ca20 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Mon, 27 Apr 2026 22:33:48 +0200 Subject: [PATCH 67/97] Fix linting --- scripts/multi_sim.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/scripts/multi_sim.py b/scripts/multi_sim.py index 7aa391a1f..ba5332789 100644 --- a/scripts/multi_sim.py +++ b/scripts/multi_sim.py @@ -76,9 +76,7 @@ def simulate( base_freq = int(np.max(controller_freqs)) periods = base_freq // controller_freqs # Precompute the periods for each controller. if np.any(base_freq % controller_freqs != 0): - raise ValueError( - f"Controller frequencies do not evenly divide the base frequency ({controller_freqs.tolist()})" - ) + raise ValueError(f"Controller frequencies must be multiples ({controller_freqs.tolist()})") # Create the racing environment env: MultiDroneRacingEnv = gymnasium.make( From cd1b24becdfeac36a11b05adc4d0393376568590 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 20:09:41 +0200 Subject: [PATCH 68/97] Restored the attitude mpc implementation --- lsy_drone_racing/control/attitude_mpc.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/lsy_drone_racing/control/attitude_mpc.py b/lsy_drone_racing/control/attitude_mpc.py index b7aa7d5ab..1740261da 100644 --- a/lsy_drone_racing/control/attitude_mpc.py +++ b/lsy_drone_racing/control/attitude_mpc.py @@ -243,9 +243,9 @@ def compute_control( self._finished = True # Setting initial state - rpy = R.from_quat(obs["quat"]).as_euler("xyz") - drpy = ang_vel2rpy_rates(obs["quat"], obs["ang_vel"]) - x0 = np.concatenate((obs["pos"], rpy, obs["vel"], drpy)) + obs["rpy"] = R.from_quat(obs["quat"]).as_euler("xyz") + obs["drpy"] = ang_vel2rpy_rates(obs["quat"], obs["ang_vel"]) + x0 = np.concatenate((obs["pos"], obs["rpy"], obs["vel"], obs["drpy"])) self._acados_ocp_solver.set(0, "lbx", x0) self._acados_ocp_solver.set(0, "ubx", x0) From dbecae626a22a99f267c14b451d77f25b18ae0db Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 20:11:45 +0200 Subject: [PATCH 69/97] Pinned the boost library version to 1.86. Otherwise the mocap package could not be compiled. --- pyproject.toml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 195b8c5c6..22b311204 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -38,10 +38,7 @@ sim = [ # option[gpu]: simulation with gpu gpu = ["jax[cuda12]"] # option[deploy]: deploy to real drones -deploy = [ - "cfclient", - "drone-estimators", -] +deploy = ["cfclient", "drone-estimators"] # option[rl]: train rl policy rl = ["torch == 2.8.0", "wandb"] # option[gamepad]: use a gamepad as input for your drone @@ -102,6 +99,7 @@ cmake = "*" pkg-config = "*" make = "*" ninja = "*" +libboost-devel = ">=1.86,<1.87" # ROS specific tools rosdep = "*" colcon-common-extensions = "*" @@ -123,11 +121,13 @@ description = "Run the Zenoh router on the host machine" cmd = "ros2 launch motion_capture_tracking launch.py" [tool.pixi.feature.deploy.tasks.estimator] -cmd = ["python", - "-m", - "drone_estimators.ros_nodes.ros2_node", - "--drone_name", - "{{drone_name}}"] +cmd = [ + "python", + "-m", + "drone_estimators.ros_nodes.ros2_node", + "--drone_name", + "{{drone_name}}", +] args = [{ "arg" = "drone_name", "default" = "cf10" }] ## feature [tests] @@ -171,7 +171,7 @@ ignore = ["ANN401"] fixable = ["ALL"] unfixable = [] -[tool.ruff.lint.isort] # Prevent ruff from reporting conflicting settings with isort +[tool.ruff.lint.isort] split-on-trailing-comma = false [tool.ruff.lint.per-file-ignores] From 6fe9d1ab232af3b528f1d326bef5a384df179fe1 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 21:38:32 +0200 Subject: [PATCH 70/97] Pinned packaging to avoid conflicts --- pixi.lock | 11593 +++++++++++++++++++++++------------------------ pyproject.toml | 5 +- 2 files changed, 5798 insertions(+), 5800 deletions(-) diff --git a/pixi.lock b/pixi.lock index 670a7efde..89d9a6112 100644 --- a/pixi.lock +++ b/pixi.lock @@ -14,61 +14,60 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda - 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"packaging >= 24.0", + "packaging >= 24.0, < 26", "drone-models", "drone-controllers", "crazyflow @ git+https://github.com/utiasDSL/crazyflow.git@0.1.0b0", @@ -38,7 +38,7 @@ sim = [ # option[gpu]: simulation with gpu gpu = ["jax[cuda12]"] # option[deploy]: deploy to real drones -deploy = ["cfclient", "drone-estimators"] +deploy = ["cfclient >= 2025.9, < 2026.0", "cflib == 0.1.30", "drone-estimators"] # option[rl]: train rl policy rl = ["torch == 2.8.0", "wandb"] # option[gamepad]: use a gamepad as input for your drone @@ -69,6 +69,7 @@ cmake = "*" compilers = ">=1.9.0, <1.11.0" make = "*" openblas = ">=0.3.30,<0.4" +packaging = "<26" [tool.pixi.pypi-dependencies] lsy_drone_racing = { path = ".", editable = true } From 0287df90fa3566fdfb0781f7d57920cc430699cd Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 21:40:04 +0200 Subject: [PATCH 71/97] Replace not-existing Error class with threading --- lsy_drone_racing/envs/real_race_host.py | 7 +++---- lsy_drone_racing/envs/utils.py | 2 ++ scripts/deploy_host.py | 1 - 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index fa3d6d012..15788b328 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -329,7 +329,7 @@ def run(self): self.logger.info("Waiting for start signal...") self.init_barrier.wait(timeout=None) self._control_loop() - except mp.BrokenBarrierError: + except threading.BrokenBarrierError: # This will ONLY trigger during initilization phase, # since no further wait() will be called here pass @@ -672,8 +672,7 @@ def host_main_loop(self, race_update_freq: float = 50.0): """ if self._init_barrier.broken: return - - logger.info("Waiting for clients...") + logger.info("Drones connected, waiting for clients...") t_start = time.time() while time.time() - t_start < 300.0: self._host_ready_pub.publish(RealHostReady(elapsed_time=0.0, timestamp=time.time())) @@ -689,7 +688,7 @@ def host_main_loop(self, race_update_freq: float = 50.0): try: self._init_barrier.wait(timeout=None) - except mp.BrokenBarrierError: + except threading.BrokenBarrierError: return logger.info("Race started") diff --git a/lsy_drone_racing/envs/utils.py b/lsy_drone_racing/envs/utils.py index 65629d5ea..1222779a0 100644 --- a/lsy_drone_racing/envs/utils.py +++ b/lsy_drone_racing/envs/utils.py @@ -49,7 +49,9 @@ def load_track(track: ConfigDict) -> tuple[ConfigDict, ConfigDict, ConfigDict]: k: np.array([drone.get(k) for drone in track.drones], dtype=np.float32) for k in track.drones[0].keys() } + drones["nominal_pos"] = drones["pos"].copy() drones["quat"] = R.from_euler("xyz", drones["rpy"]).as_quat().astype(np.float32) + drones["nominal_quat"] = drones["quat"].copy() return ConfigDict(gates), ConfigDict(obstacles), ConfigDict(drones) diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index cf8bb59a7..6ddb2bf4b 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -48,7 +48,6 @@ def main(config: str = "multi_level2.toml"): check_drones=config_obj.deploy.check_drone_start_pos, ) host.connect_drones() - logger.info("Drones connected, starting main loop...") host.host_main_loop() except KeyboardInterrupt: logger.info("Interrupted, shutting down...") From c79a06086486ebf3625d7ec38a4aed3146b2f61b Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 21:49:13 +0200 Subject: [PATCH 72/97] Fixed LD library path and mocap setup scripts --- tools/setup_acados.sh | 2 +- tools/setup_mocap.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/setup_acados.sh b/tools/setup_acados.sh index 5efb857c0..d5fd677d4 100755 --- a/tools/setup_acados.sh +++ b/tools/setup_acados.sh @@ -62,7 +62,7 @@ fi if [ -f ${ACADOS_DIR}/lib/libacados.so ]; then export ACADOS_SOURCE_DIR="$ACADOS_DIR" export ACADOS_INSTALL_DIR="$ACADOS_DIR" - export LD_LIBRARY_PATH="$ACADOS_DIR/lib" + export LD_LIBRARY_PATH="$ACADOS_DIR/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" export PATH="${ACADOS_DIR}/interfaces/acados_template:${PATH}" fi diff --git a/tools/setup_mocap.sh b/tools/setup_mocap.sh index 49c297016..c837eae9c 100755 --- a/tools/setup_mocap.sh +++ b/tools/setup_mocap.sh @@ -12,7 +12,7 @@ if [ ! -d ros_ws/src/drone_racing_msgs/.git ]; then git clone --branch real_race git@github.com:N0OBSTUDENT/drone_racing_msgs.git ros_ws/src/drone_racing_msgs fi -if [ ! -f ros_ws/install/setup.sh ] || [ ! -d ros_ws/install/drone_racing_msgs ]; then +if [ ! -x ros_ws/install/motion_capture_tracking/lib/motion_capture_tracking/motion_capture_tracking_node ] || [ ! -d ros_ws/install/drone_racing_msgs ]; then echo "[Pixi activation] Running colcon build..." (cd ros_ws && colcon build --cmake-args -DCMAKE_POLICY_VERSION_MINIMUM=3.5) fi From e2c15f6d57efbb0dd61d7cea077699ecdf74f802 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 21:49:37 +0200 Subject: [PATCH 73/97] Update lock file --- pixi.lock | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pixi.lock b/pixi.lock index 89d9a6112..8f2069f24 100644 --- a/pixi.lock +++ b/pixi.lock @@ -6264,7 +6264,7 @@ packages: - pypi: ./ name: lsy-drone-racing version: 0.0.1 - sha256: 1df42881877bcb9dda85e86834b50cc37f220e34d7bb6d7c94b6af7cf006dead + sha256: c29844ce330e02d8933a9ccff54ca902b8b15e47213edb0c6e123153c12872af requires_dist: - fire>=0.6.0 - numpy From 0006ad421e7b181d8eb07cb321267b4c8cd53249 Mon Sep 17 00:00:00 2001 From: N0OBSTUDENT Date: Sun, 10 May 2026 21:53:46 +0200 Subject: [PATCH 74/97] Update ignore file --- .gitignore | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/.gitignore b/.gitignore index e51594a61..89dd2dea9 100644 --- a/.gitignore +++ b/.gitignore @@ -18,8 +18,5 @@ c_generated_code/ .pixi/* !.pixi/config.toml # ROS2 workspace build artifacts -ros_ws/build -ros_ws/install -ros_ws/log -ros_ws/src/motion_capture_tracking -acados/ \ No newline at end of file +ros_ws/** +acados/** \ No newline at end of file From fb33705c8210e64e5e5ff25841b9953f9cdc154d Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:33:07 +0200 Subject: [PATCH 75/97] Add drone racing messages --- .gitignore | 5 +++- ros_ws/src/drone_racing_msgs/CMakeLists.txt | 28 +++++++++++++++++++ ros_ws/src/drone_racing_msgs/msg/Action.msg | 4 +++ .../src/drone_racing_msgs/msg/EpisodeEnd.msg | 3 ++ .../drone_racing_msgs/msg/EpisodeReset.msg | 12 ++++++++ .../drone_racing_msgs/msg/Observations.msg | 15 ++++++++++ ros_ws/src/drone_racing_msgs/msg/RaceEnd.msg | 1 + .../src/drone_racing_msgs/msg/StepResult.msg | 19 +++++++++++++ ros_ws/src/drone_racing_msgs/package.xml | 25 +++++++++++++++++ tools/setup_mocap.sh | 5 ---- 10 files changed, 111 insertions(+), 6 deletions(-) create mode 100644 ros_ws/src/drone_racing_msgs/CMakeLists.txt create mode 100644 ros_ws/src/drone_racing_msgs/msg/Action.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/EpisodeEnd.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/EpisodeReset.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/Observations.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/RaceEnd.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/StepResult.msg create mode 100644 ros_ws/src/drone_racing_msgs/package.xml diff --git a/.gitignore b/.gitignore index 89dd2dea9..0744939dc 100644 --- a/.gitignore +++ b/.gitignore @@ -18,5 +18,8 @@ c_generated_code/ .pixi/* !.pixi/config.toml # ROS2 workspace build artifacts -ros_ws/** +ros_ws/src/motion_capture_tracking +ros_ws/build +ros_ws/install +ros_ws/log acados/** \ No newline at end of file diff --git a/ros_ws/src/drone_racing_msgs/CMakeLists.txt b/ros_ws/src/drone_racing_msgs/CMakeLists.txt new file mode 100644 index 000000000..83a6ec92f --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.11) +project(drone_racing_msgs) + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(std_msgs REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Action.msg" + "msg/EpisodeEnd.msg" + "msg/EpisodeReset.msg" + "msg/Observations.msg" + "msg/StepResult.msg" + "msg/RaceEnd.msg" + DEPENDENCIES builtin_interfaces std_msgs +) + +ament_export_dependencies(rosidl_default_runtime) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/ros_ws/src/drone_racing_msgs/msg/Action.msg b/ros_ws/src/drone_racing_msgs/msg/Action.msg new file mode 100644 index 000000000..6aba7f467 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/Action.msg @@ -0,0 +1,4 @@ +int32 episode_id +int32 step_id +int32 drone_id +float32[] action diff --git a/ros_ws/src/drone_racing_msgs/msg/EpisodeEnd.msg b/ros_ws/src/drone_racing_msgs/msg/EpisodeEnd.msg new file mode 100644 index 000000000..2eb5c4170 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/EpisodeEnd.msg @@ -0,0 +1,3 @@ +int32 episode_id +float32 curr_time +bool finished diff --git a/ros_ws/src/drone_racing_msgs/msg/EpisodeReset.msg b/ros_ws/src/drone_racing_msgs/msg/EpisodeReset.msg new file mode 100644 index 000000000..4941677cf --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/EpisodeReset.msg @@ -0,0 +1,12 @@ +int32 episode_id + +float32[] pos +float32[] quat +float32[] vel +float32[] ang_vel +int32[] target_gate +float32[] gates_pos +float32[] gates_quat +bool[] gates_visited +float32[] obstacles_pos +bool[] obstacles_visited diff --git a/ros_ws/src/drone_racing_msgs/msg/Observations.msg b/ros_ws/src/drone_racing_msgs/msg/Observations.msg new file mode 100644 index 000000000..76bbacccd --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/Observations.msg @@ -0,0 +1,15 @@ +int32 episode_id +int32 step_id + +float32[] pos +float32[] quat +float32[] vel +float32[] ang_vel +int32[] target_gate +float32[] gates_pos +float32[] gates_quat +bool[] gates_visited +float32[] obstacles_pos +bool[] obstacles_visited + + diff --git a/ros_ws/src/drone_racing_msgs/msg/RaceEnd.msg b/ros_ws/src/drone_racing_msgs/msg/RaceEnd.msg new file mode 100644 index 000000000..fdfa68b73 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/RaceEnd.msg @@ -0,0 +1 @@ +bool race_finished \ No newline at end of file diff --git a/ros_ws/src/drone_racing_msgs/msg/StepResult.msg b/ros_ws/src/drone_racing_msgs/msg/StepResult.msg new file mode 100644 index 000000000..e4145dc97 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/StepResult.msg @@ -0,0 +1,19 @@ +int32 episode_id +int32 step_id + +float32[] action + +float32[] pos +float32[] quat +float32[] vel +float32[] ang_vel +int32[] target_gate +float32[] gates_pos +float32[] gates_quat +bool[] gates_visited +float32[] obstacles_pos +bool[] obstacles_visited + +float32[] reward +bool[] terminated +bool[] truncated diff --git a/ros_ws/src/drone_racing_msgs/package.xml b/ros_ws/src/drone_racing_msgs/package.xml new file mode 100644 index 000000000..82632dea1 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/package.xml @@ -0,0 +1,25 @@ + + + + drone_racing_msgs + 0.0.1 + Custom message definitions for drone racing + radu_dell + MIT + + ament_cmake + rosidl_default_generators + + builtin_interfaces + std_msgs + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/tools/setup_mocap.sh b/tools/setup_mocap.sh index c837eae9c..c0221fdb9 100755 --- a/tools/setup_mocap.sh +++ b/tools/setup_mocap.sh @@ -7,11 +7,6 @@ if [ ! -d ros_ws/src/motion_capture_tracking/.git ]; then git clone --recurse-submodules https://github.com/utiasDSL/motion_capture_tracking ros_ws/src/motion_capture_tracking fi -if [ ! -d ros_ws/src/drone_racing_msgs/.git ]; then - echo "[Pixi activation] Cloning drone_racing_msgs..." - git clone --branch real_race git@github.com:N0OBSTUDENT/drone_racing_msgs.git ros_ws/src/drone_racing_msgs -fi - if [ ! -x ros_ws/install/motion_capture_tracking/lib/motion_capture_tracking/motion_capture_tracking_node ] || [ ! -d ros_ws/install/drone_racing_msgs ]; then echo "[Pixi activation] Running colcon build..." (cd ros_ws && colcon build --cmake-args -DCMAKE_POLICY_VERSION_MINIMUM=3.5) From 992cd05a7e9d1c70bb432b82b48671163d1dec6c Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:33:15 +0200 Subject: [PATCH 76/97] Fix ruff --- lsy_drone_racing/utils/ros_race_comm.py | 1 - 1 file changed, 1 deletion(-) diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index 6c5af9d92..f40b45a1e 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -138,7 +138,6 @@ def _spin(): self._thread.start() logger.debug(f"RaceCommNode '{name}' started") - def close(self): """Shut down the executor and destroy the node.""" self._executor.shutdown(timeout_sec=1.0) From 98addb71e15877a33bc89e71e9bf1138c2d26992 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:40:01 +0200 Subject: [PATCH 77/97] Fix tests --- .github/workflows/testing.yml | 2 +- pixi.lock | 19252 ++++++++++++++++---------------- pyproject.toml | 9 +- 3 files changed, 9742 insertions(+), 9521 deletions(-) diff --git a/.github/workflows/testing.yml b/.github/workflows/testing.yml index bacbf46ba..7e6245808 100644 --- a/.github/workflows/testing.yml +++ b/.github/workflows/testing.yml @@ -11,7 +11,7 @@ jobs: - name: Setup Pixi (installs pixi + caches envs) # https://github.com/marketplace/actions/setup-pixi uses: prefix-dev/setup-pixi@v0.9.3 # pin the action version with: - pixi-version: v0.66.0 # pin the pixi binary version (optional) + pixi-version: v0.70.0 # pin the pixi binary version (optional) cache: true # enable caching of installed envs # only write new caches on main pushes (optional) cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }} diff --git a/pixi.lock b/pixi.lock index 8f2069f24..f4e67bc18 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,4 +1,6 @@ -version: 6 +version: 7 +platforms: +- name: linux-64 environments: default: channels: @@ -14,11 +16,11 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.10.0-h2b85faf_0.conda - - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.4.22-hbd8a1cb_0.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.3.2-hc85cc9f_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.26.0-h077f3f9_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.10.0-ha770c72_0.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-13.4.0-h109b0d3_19.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.10.0-h1a2810e_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.8.0-hecca717_0.conda - conda: 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pypi: https://files.pythonhosted.org/packages/fd/7b/122376b1fd3c62c1ed9dc80c931ace4844b3c55407b6fb2d199377c9736f/pydantic-2.13.4-py3-none-any.whl + name: pydantic + version: 2.13.4 + sha256: 45a282cde31d808236fd7ea9d919b128653c8b38b393d1c4ab335c62924d9aba + requires_dist: + - annotated-types>=0.6.0 + - pydantic-core==2.46.4 + - typing-extensions>=4.14.1 + - typing-inspection>=0.4.2 + - email-validator>=2.0.0 ; extra == 'email' + - tzdata ; python_full_version >= '3.9' and sys_platform == 'win32' and extra == 'timezone' + requires_python: '>=3.9' diff --git a/pyproject.toml b/pyproject.toml index 53f0c7613..0980093fb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -65,9 +65,9 @@ python = ">=3.11.12,<3.14" pip = ">=25.0.1,<26" ruff = "*" # Compilers needed for acados -cmake = "*" compilers = ">=1.9.0, <1.11.0" -make = "*" +cmake = "==3.26.0" # Pinned for motion_capture_tracking +make = "==4.4.1" # Pinned for motion_capture_tracking openblas = ">=0.3.30,<0.4" packaging = "<26" @@ -96,10 +96,7 @@ channels = ["https://prefix.dev/robostack-kilted"] [tool.pixi.feature.kilted.dependencies] # Build tools -compilers = "*" -cmake = "*" pkg-config = "*" -make = "*" ninja = "*" libboost-devel = ">=1.86,<1.87" # ROS specific tools @@ -107,6 +104,7 @@ rosdep = "*" colcon-common-extensions = "*" # Kilted specific tools ros-kilted-desktop = "*" +ros2-distro-mutex = "0.12.*" # Pinned for motion_capture_tracking ros-kilted-rmw-zenoh-cpp = "*" [tool.pixi.feature.kilted.activation] @@ -159,6 +157,7 @@ exclude = [ ".vscode", "__pypackages__", "_build", + "acados", "build", "dist", "site-packages", From 9ebb3757bc9bb0d2f3d524c9ea420d3f3676fab8 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:44:50 +0200 Subject: [PATCH 78/97] Add real race messages --- ros_ws/src/drone_racing_msgs/CMakeLists.txt | 4 ++++ ros_ws/src/drone_racing_msgs/msg/RealClientState.msg | 6 ++++++ ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg | 2 ++ ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg | 3 +++ ros_ws/src/drone_racing_msgs/srv/RealCalibrateClock.srv | 2 ++ 5 files changed, 17 insertions(+) create mode 100644 ros_ws/src/drone_racing_msgs/msg/RealClientState.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg create mode 100644 ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg create mode 100644 ros_ws/src/drone_racing_msgs/srv/RealCalibrateClock.srv diff --git a/ros_ws/src/drone_racing_msgs/CMakeLists.txt b/ros_ws/src/drone_racing_msgs/CMakeLists.txt index 83a6ec92f..7afef847b 100644 --- a/ros_ws/src/drone_racing_msgs/CMakeLists.txt +++ b/ros_ws/src/drone_racing_msgs/CMakeLists.txt @@ -13,6 +13,10 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Observations.msg" "msg/StepResult.msg" "msg/RaceEnd.msg" + "msg/RealHostReady.msg" + "msg/RealRaceStart.msg" + "msg/RealClientState.msg" + "srv/RealCalibrateClock.srv" DEPENDENCIES builtin_interfaces std_msgs ) diff --git a/ros_ws/src/drone_racing_msgs/msg/RealClientState.msg b/ros_ws/src/drone_racing_msgs/msg/RealClientState.msg new file mode 100644 index 000000000..d6b183753 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/RealClientState.msg @@ -0,0 +1,6 @@ +int32 drone_rank +float64[] action +float64 elapsed_time +float64 timestamp +bool controller_finished +int32 next_gate_idx diff --git a/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg b/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg new file mode 100644 index 000000000..f1d43a67e --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg @@ -0,0 +1,2 @@ +float64 elapsed_time +float64 timestamp diff --git a/ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg b/ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg new file mode 100644 index 000000000..9475e14e2 --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg @@ -0,0 +1,3 @@ +float64 elapsed_time +float64 timestamp +bool race_finished diff --git a/ros_ws/src/drone_racing_msgs/srv/RealCalibrateClock.srv b/ros_ws/src/drone_racing_msgs/srv/RealCalibrateClock.srv new file mode 100644 index 000000000..1e66f903f --- /dev/null +++ b/ros_ws/src/drone_racing_msgs/srv/RealCalibrateClock.srv @@ -0,0 +1,2 @@ +--- +float64 host_timestamp From df4fafe327df3ae2af7db4ee9ae99a53d031be73 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:49:32 +0200 Subject: [PATCH 79/97] Remove compute latency --- lsy_drone_racing/envs/real_race_env_client.py | 4 ++-- lsy_drone_racing/envs/real_race_host.py | 8 ++------ lsy_drone_racing/utils/ros_race_comm.py | 16 +--------------- 3 files changed, 5 insertions(+), 23 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 0ae44c229..c6fc65d3c 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -28,7 +28,7 @@ from lsy_drone_racing.envs.real_race_env import EnvData from lsy_drone_racing.envs.utils import gate_passed, load_track from lsy_drone_racing.utils.ros import track_poses -from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock, compute_latency_ms +from lsy_drone_racing.utils.ros_race_comm import RaceCommNode, calibrate_clock if TYPE_CHECKING: from ml_collections import ConfigDict @@ -302,7 +302,7 @@ def _init_comm(self): def on_host_ready(msg: RealHostReady): self._host_ready_event.set() - logger.debug(f"Host ready (latency: {compute_latency_ms(msg.timestamp):.2f}ms)") + logger.debug(f"Host ready (latency: {time.time() - msg.timestamp:.2f}ms)") def on_race_start(msg: RealRaceStart): self._race_started = True diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 15788b328..228d65a0f 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -25,12 +25,8 @@ from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params from drone_models.transform import force2pwm -from drone_racing_msgs.msg import ( # type: ignore[import-untyped] - RealClientState, - RealHostReady, - RealRaceStart, -) -from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] +from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart +from drone_racing_msgs.srv import RealCalibrateClock from scipy.spatial.transform import RigidTransform as Tr from scipy.spatial.transform import Rotation as R diff --git a/lsy_drone_racing/utils/ros_race_comm.py b/lsy_drone_racing/utils/ros_race_comm.py index f40b45a1e..2aaf8ae38 100644 --- a/lsy_drone_racing/utils/ros_race_comm.py +++ b/lsy_drone_racing/utils/ros_race_comm.py @@ -21,7 +21,7 @@ from typing import TYPE_CHECKING import rclpy -from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] +from drone_racing_msgs.srv import RealCalibrateClock from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor if TYPE_CHECKING: @@ -50,20 +50,6 @@ def _hook(args: threading.ExceptHookArgs) -> None: threading.excepthook = _hook -def compute_latency_ms(timestamp: float, clock_offset: float = 0.0) -> float: - """Compute one-way latency in milliseconds from a sent timestamp. - - Args: - timestamp: Time the message was sent. - clock_offset: Calibrated offset (host_time - client_time) in seconds. - Zero when called on the host side (timestamps are already in host time). - - Returns: - Estimated one-way latency in milliseconds. - """ - return (time.time() - timestamp - clock_offset) * 1000 - - def calibrate_clock(client: Client, n: int = 5, timeout: float = 60.0) -> float: """Estimate clock offset (host_time - client_time) in seconds via N round-trips. From f28bbad75b041121e75ed3acb73b73431aa51197 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 15:58:00 +0200 Subject: [PATCH 80/97] Revert change --- lsy_drone_racing/envs/real_race_host.py | 119 +++++++++--------------- scripts/deploy_host.py | 4 +- 2 files changed, 45 insertions(+), 78 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 228d65a0f..37c00067d 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -37,7 +37,6 @@ if TYPE_CHECKING: from ml_collections import ConfigDict from numpy.typing import NDArray - from rclpy.publisher import Publisher logger = logging.getLogger(__name__) @@ -368,79 +367,7 @@ def crazyflie_process_worker( ).run() -class RealRaceHost: - """Base class for multi-drone race hosts. - - Subclasses implement :meth:`connect_drones`, :meth:`host_main_loop`, and :meth:`close` - for a specific drone platform. - """ - - _comm: RaceCommNode | None - _host_ready_pub: Publisher | None - _race_start_pub: Publisher | None - - def __init__(self, num_drones: int): - """Initialize the host and set up ROS2 communication. - - Args: - num_drones: Number of drones participating in the race. - """ - self._num_drones = num_drones - self._shutdown_event = threading.Event() - self._clients_ready: dict[int, bool] = {rank: False for rank in range(num_drones)} - self._clients_stopped: dict[int, bool] = {rank: False for rank in range(num_drones)} - self._start_time = time.time() - self._comm = None - self._host_ready_pub = None - self._race_start_pub = None - self.init_comm() - - def init_comm(self): - """Set up the ROS2 communication node with all publishers and subscribers.""" - self._comm = RaceCommNode("lsy_race_host") - node = self._comm.node - self._host_ready_pub = node.create_publisher( - RealHostReady, "lsy_drone_racing/host/ready", 10 - ) - self._race_start_pub = node.create_publisher( - RealRaceStart, "lsy_drone_racing/host/race_start", 10 - ) - self._subs = [] - for rank in range(self._num_drones): - - def on_client_state(msg: RealClientState, rank: int = rank): - if not self._clients_ready[rank]: - logger.debug(f"Client {rank} ready") - self._clients_ready[rank] = True - if msg.controller_finished: - logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") - self._clients_stopped[rank] = True - - self._subs.append( - node.create_subscription( - RealClientState, - f"lsy_drone_racing/client/drone_{rank}/state", - on_client_state, - 10, - ) - ) - logger.debug("ROS2 communication initialized") - - def connect_drones(self): - """Connect to all drones. Must be implemented by subclasses.""" - raise NotImplementedError - - def host_main_loop(self): - """Run the host's main coordination loop. Must be implemented by subclasses.""" - raise NotImplementedError - - def close(self): - """Release all resources.""" - if self._comm: - self._comm.close() - - -class CrazyFlieRealRaceHost(RealRaceHost): +class CrazyflieRealRaceHost: """Race host implementation for multi-drone racing with Crazyflie drones. Each drone runs in its own subprocess (:class:`CrazyflieWorker`) that handles @@ -486,11 +413,50 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis self._drone_models = [drone["drone_model"] for drone in deploy_args.drones] self._drone_control_freq = [kwargs["freq"] for kwargs in control_args] self._drone_control_mode = [kwargs["control_mode"] for kwargs in control_args] - super().__init__(num_drones=len(deploy_args.drones)) + self._num_drones = len(deploy_args.drones) self._mp_ctx = mp.get_context("spawn") self._processes = [] self._stop_event = None self._init_barrier = None + self._shutdown_event = threading.Event() + self._clients_ready: dict[int, bool] = {rank: False for rank in range(self._num_drones)} + self._clients_stopped: dict[int, bool] = {rank: False for rank in range(self._num_drones)} + self._start_time = time.time() + self._comm = None + self._host_ready_pub = None + self._race_start_pub = None + self.init_comm() + + def init_comm(self): + """Set up the ROS2 communication node with all publishers and subscribers.""" + self._comm = RaceCommNode("lsy_race_host") + node = self._comm.node + self._host_ready_pub = node.create_publisher( + RealHostReady, "lsy_drone_racing/host/ready", 10 + ) + self._race_start_pub = node.create_publisher( + RealRaceStart, "lsy_drone_racing/host/race_start", 10 + ) + self._subs = [] + for rank in range(self._num_drones): + + def on_client_state(msg: RealClientState, rank: int = rank): + if not self._clients_ready[rank]: + logger.debug(f"Client {rank} ready") + self._clients_ready[rank] = True + if msg.controller_finished: + logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") + self._clients_stopped[rank] = True + + self._subs.append( + node.create_subscription( + RealClientState, + f"lsy_drone_racing/client/drone_{rank}/state", + on_client_state, + 10, + ) + ) + logger.debug("ROS2 communication initialized") def check_track( self, rng_config: ConfigDict, check_objects: bool = True, check_drones: bool = True @@ -628,7 +594,8 @@ def close(self): process.kill() process.join() - super().close() + if self._comm: + self._comm.close() logger.info("Host shutdown complete") def _calibrate_client_clocks(self): diff --git a/scripts/deploy_host.py b/scripts/deploy_host.py index 6ddb2bf4b..c4637c225 100644 --- a/scripts/deploy_host.py +++ b/scripts/deploy_host.py @@ -17,7 +17,7 @@ import fire import rclpy -from lsy_drone_racing.envs.real_race_host import CrazyFlieRealRaceHost +from lsy_drone_racing.envs.real_race_host import CrazyflieRealRaceHost from lsy_drone_racing.utils import load_config logger = logging.getLogger(__name__) @@ -31,7 +31,7 @@ def main(config: str = "multi_level2.toml"): """ rclpy.init() config_obj = load_config(Path(__file__).parents[1] / "config" / config) - host = CrazyFlieRealRaceHost( + host = CrazyflieRealRaceHost( track=config_obj.env.track, deploy_args=config_obj.deploy, control_args=config_obj.env.kwargs, From fc421b54613c75e7a4b9800027b6919fb4377a77 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 9 Jun 2026 17:26:01 +0200 Subject: [PATCH 81/97] Pin lark dependency --- pyproject.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/pyproject.toml b/pyproject.toml index 0980093fb..c417703c8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -70,6 +70,7 @@ cmake = "==3.26.0" # Pinned for motion_capture_tracking make = "==4.4.1" # Pinned for motion_capture_tracking openblas = ">=0.3.30,<0.4" packaging = "<26" +lark = ">=1.3.1" # Pinned to suppress deprecation warning [tool.pixi.pypi-dependencies] lsy_drone_racing = { path = ".", editable = true } From 6d626bdd55ada51b71882f61b3ac42a673efcee4 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Wed, 10 Jun 2026 16:09:13 +0200 Subject: [PATCH 82/97] Simplify PR by reverting changes --- config/multi_level0.toml | 13 ++++++------- config/multi_level2.toml | 20 ++++++++++---------- lsy_drone_racing/envs/real_race_host.py | 2 +- lsy_drone_racing/envs/utils.py | 2 -- pyproject.toml | 5 ++--- 5 files changed, 19 insertions(+), 23 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index 424208431..ee6b1601f 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -1,8 +1,8 @@ # Level 0 -# | Evaluation Scenario | Rand. Inertial Properties | Randomized Obstacles, Gates | Rand. Between Episodes | Notes | -# | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: | -# | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | +# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes | +# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :---------------: | +# | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | [[controller]] file = "attitude_controller_multi.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` [[controller]] # Add the controller files for each drone @@ -35,11 +35,10 @@ drone_model = "cf21B_500" # Model of the drone, i.e., cf2 # "so_rpy_rotor": Simplified identified model with rotor dynamics. # "so_rpy_rotor_drag": Simplified identified model with rotor dynamics and drag. physics = "first_principles" -drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 -camera_view = [5.0, 180.0, -25.0, 0.0, 0.0, 0.0] # Camera view [distance, azimuth, elevation, lookat_x, lookat_y, lookat_z] -attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function -render = false # Enable/disable PyBullet's GUI +drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 freq = 500 # Simulation frequency, in Hz +attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function +render = true # Enable/disable Crazyflow's GUI camera = -1 # camera id or name, i.e., drone cam ids start at 0, cam names are "fpv_cam:0" or "track_cam:0", where the number is the drone id [[sim.cam_config]] # only used if camera == -1, i.e., world view is activated distance = 5.0 diff --git a/config/multi_level2.toml b/config/multi_level2.toml index 9181a954b..19a8c9841 100644 --- a/config/multi_level2.toml +++ b/config/multi_level2.toml @@ -1,8 +1,8 @@ -# Level 0 +# Level 2 -# | Evaluation Scenario | Rand. Inertial Properties | Randomized Obstacles, Gates | Rand. Between Episodes | Notes | -# | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: | -# | `level0.toml` | *No* | *No* | *No* | Perfect knowledge | +# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes | +# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :-------------------: | +# | `level2.toml` | *Yes* | *Yes* | *No* | Learning, re-planning | [[controller]] file = "attitude_controller_multi.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` [[controller]] @@ -15,7 +15,7 @@ check_race_track = true # Whether to check if the drone start position is within the limits specified down below. check_drone_start_pos = true # Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. -real_track_objects = false +real_track_objects = true [[deploy.drones]] id = 10 @@ -83,7 +83,7 @@ rpy = [0.0, 0.0, 0.0] # Obstacle height: 1.52m + reflective marker on top. Height is measured from the ground to the top of the obstacle. # Obstacles are cylinders with a diameter of 0.03m. [[env.track.obstacles]] -pos = [-1.5, 0.55, 0.01] +pos = [0.0, 0.75, 1.55] [[env.track.obstacles]] pos = [1.0, 0.25, 1.55] [[env.track.obstacles]] @@ -92,20 +92,20 @@ pos = [-1.5, -0.25, 1.55] pos = [-0.5, -0.75, 1.55] [[env.track.drones]] -pos = [-1.5, 0.95, 0.01] +pos = [-1.5, 0.55, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] [[env.track.drones]] -pos = [-1.5, 1.5, 0.01] +pos = [-1.5, 0.95, 0.01] rpy = [0, 0, 0] vel = [0, 0, 0] ang_vel = [0, 0, 0] # If the drones exceed those bounds in real, the run will be stopped and the drone will safely be returned to the starting position [env.track.safety_limits] -pos_limit_low = [-2.5, -1.5, -1.0] -pos_limit_high = [2.5, 2.0, 2.0] +pos_limit_low = [-2.5, -1.5, -1e-3] +pos_limit_high = [2.5, 1.5, 2.0] # We intentionally reduce the disturbances for the multi-drone scenario, so students can focus on the multi-drone aspect for now. [env.disturbances.action] diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 37c00067d..be7540c94 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -353,7 +353,7 @@ def crazyflie_process_worker( SIGINT is ignored so that only the host process handles keyboard interrupts. """ - signal.signal(signal.SIGINT, signal.SIG_IGN) + signal.signal(signal.SIGINT, signal.SIG_IGN) # Ignore SIGINT in worker processes CrazyflieWorker( rank=rank, drone_id=drone_id, diff --git a/lsy_drone_racing/envs/utils.py b/lsy_drone_racing/envs/utils.py index 2ca394802..ab8c1cc15 100644 --- a/lsy_drone_racing/envs/utils.py +++ b/lsy_drone_racing/envs/utils.py @@ -47,9 +47,7 @@ def load_track(track: ConfigDict) -> tuple[ConfigDict, ConfigDict, ConfigDict]: k: np.array([drone.get(k) for drone in track.drones], dtype=np.float32) for k in track.drones[0].keys() } - drones["nominal_pos"] = drones["pos"].copy() drones["quat"] = R.from_euler("xyz", drones["rpy"]).as_quat().astype(np.float32) - drones["nominal_quat"] = drones["quat"].copy() return ConfigDict(gates), ConfigDict(obstacles), ConfigDict(drones) diff --git a/pyproject.toml b/pyproject.toml index c417703c8..10dc87fcb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -69,7 +69,6 @@ compilers = ">=1.9.0, <1.11.0" cmake = "==3.26.0" # Pinned for motion_capture_tracking make = "==4.4.1" # Pinned for motion_capture_tracking openblas = ">=0.3.30,<0.4" -packaging = "<26" lark = ">=1.3.1" # Pinned to suppress deprecation warning [tool.pixi.pypi-dependencies] @@ -176,7 +175,7 @@ ignore = ["ANN401"] fixable = ["ALL"] unfixable = [] -[tool.ruff.lint.isort] +[tool.ruff.lint.isort] # Prevent ruff from reporting conflicting settings with isort split-on-trailing-comma = false [tool.ruff.lint.per-file-ignores] @@ -197,4 +196,4 @@ indent-style = "space" skip-magic-trailing-comma = true line-ending = "auto" docstring-code-format = true -docstring-code-line-length = "dynamic" +docstring-code-line-length = "dynamic" \ No newline at end of file From 365d95605e51c303633315379226b3d5b0586416 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Wed, 10 Jun 2026 16:37:49 +0200 Subject: [PATCH 83/97] Rename files --- lsy_drone_racing/envs/real_race_env_client.py | 3 ++- lsy_drone_racing/envs/real_race_host.py | 3 +-- scripts/{deploy_client.py => multi_deploy_client.py} | 0 scripts/{deploy_host.py => multi_deploy_host.py} | 0 4 files changed, 3 insertions(+), 3 deletions(-) rename scripts/{deploy_client.py => multi_deploy_client.py} (100%) rename scripts/{deploy_host.py => multi_deploy_host.py} (100%) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index c6fc65d3c..721dd4802 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -302,7 +302,8 @@ def _init_comm(self): def on_host_ready(msg: RealHostReady): self._host_ready_event.set() - logger.debug(f"Host ready (latency: {time.time() - msg.timestamp:.2f}ms)") + latency_ms = (time.time() - msg.timestamp) * 1000 + logger.debug(f"Host ready (latency: {latency_ms:.2f}ms)") def on_race_start(msg: RealRaceStart): self._race_started = True diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index be7540c94..3e561ebe9 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -170,7 +170,6 @@ def _on_client_state(self, msg: RealClientState): self.last_msg = msg latency_ms = (time.time() - msg.timestamp) * 1000 - self.logger.debug(f"Action received (gate={msg.next_gate_idx}, latency={latency_ms:.2f}ms)") def _connect_drone(self): @@ -189,7 +188,7 @@ def _connect_drone(self): cflib.crtp.init_drivers() uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" PowerSwitch(uri).stm_power_cycle() - time.sleep(2) + time.sleep(3) def on_connected(_: str): self.connected = True diff --git a/scripts/deploy_client.py b/scripts/multi_deploy_client.py similarity index 100% rename from scripts/deploy_client.py rename to scripts/multi_deploy_client.py diff --git a/scripts/deploy_host.py b/scripts/multi_deploy_host.py similarity index 100% rename from scripts/deploy_host.py rename to scripts/multi_deploy_host.py From 0814a204c5473f8acf07be1d299a7b2c27876d84 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 16 Jun 2026 12:58:00 +0200 Subject: [PATCH 84/97] Fix create --- lsy_drone_racing/envs/real_race_env_client.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_env_client.py index 721dd4802..e58ea8fc8 100644 --- a/lsy_drone_racing/envs/real_race_env_client.py +++ b/lsy_drone_racing/envs/real_race_env_client.py @@ -94,7 +94,7 @@ def __init__( self.device = jax.devices("cpu")[0] self._ros_connector: ROSConnector | None = None - 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- pysdl2~=0.9.14 ; sys_platform == 'darwin' or sys_platform == 'win32' - - pysdl2-dll==2.24.0 ; sys_platform == 'darwin' or sys_platform == 'win32' - - pre-commit ; extra == 'dev' - - cx-freeze==5.1.1 ; sys_platform == 'win32' and extra == 'dev' - - jinja2==2.10.3 ; sys_platform == 'win32' and extra == 'dev' - requires_python: '>=3.10' - pypi: https://files.pythonhosted.org/packages/ea/ee/cd701beb7639f97bed997cc620518b2133c0c4d4bb11af6dddd454388205/jax_cuda12_plugin-0.8.1-cp313-cp313-manylinux_2_27_x86_64.whl name: jax-cuda12-plugin version: 0.8.1 @@ -16673,13 +16652,6 @@ packages: - numpy>=2.0 - ml-dtypes>=0.5.0 requires_python: '>=3.11' -- pypi: https://files.pythonhosted.org/packages/f0/43/5a2331615693b56221a902869fb2094d9a0b9a764a8706c8ba16e915f77c/libusb_package-1.0.26.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl - name: libusb-package - version: 1.0.26.3 - sha256: a83067c3dfdbb3856badb4532eaea22e8502b52ce4245f5ab46acf93d7fbd471 - requires_dist: - - importlib-resources - requires_python: '>=3.7' - pypi: https://files.pythonhosted.org/packages/f5/5f/f17563f28ff03c7b6799c50d01d5d856a1d55f2676f537ca8d28c7f627cd/scipy-1.17.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl name: scipy version: 1.17.1 From a2e431b9a7469578fe5c84a968756876917ce4f5 Mon Sep 17 00:00:00 2001 From: Rather1337 Date: Tue, 16 Jun 2026 15:25:18 +0200 Subject: [PATCH 86/97] Move to cflib2 deployment --- config/multi_level0.toml | 2 + config/multi_level2.toml | 2 + lsy_drone_racing/envs/real_race_host.py | 202 ++++++------------------ 3 files changed, 50 insertions(+), 156 deletions(-) diff --git a/config/multi_level0.toml b/config/multi_level0.toml index ee6b1601f..14fcf0c7d 100644 --- a/config/multi_level0.toml +++ b/config/multi_level0.toml @@ -18,11 +18,13 @@ check_drone_start_pos = true real_track_objects = true [[deploy.drones]] +radio = 0 id = 10 channel = 100 drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 [[deploy.drones]] +radio = 0 id = 20 channel = 100 drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 diff --git a/config/multi_level2.toml b/config/multi_level2.toml index 19a8c9841..8fe0abd47 100644 --- a/config/multi_level2.toml +++ b/config/multi_level2.toml @@ -18,11 +18,13 @@ check_drone_start_pos = true real_track_objects = true [[deploy.drones]] +radio = 0 id = 10 channel = 100 drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 [[deploy.drones]] +radio = 0 id = 20 channel = 100 drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index 3e561ebe9..e1a5512c1 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -10,28 +10,20 @@ import logging import multiprocessing as mp import signal -import struct import threading import time -from pathlib import Path -from typing import TYPE_CHECKING +from typing import TYPE_CHECKING, Literal -import cflib import numpy as np import rclpy -from cflib.crazyflie import Crazyflie, Localization -from cflib.crtp.crtpstack import CRTPPacket, CRTPPort -from cflib.utils.power_switch import PowerSwitch from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params -from drone_models.transform import force2pwm from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart from drone_racing_msgs.srv import RealCalibrateClock -from scipy.spatial.transform import RigidTransform as Tr -from scipy.spatial.transform import Rotation as R from lsy_drone_racing.envs.utils import load_track from lsy_drone_racing.utils.checks import check_drone_start_pos, check_race_track +from lsy_drone_racing.utils.crazyflie import Crazyflie from lsy_drone_racing.utils.ros_race_comm import RaceCommNode if TYPE_CHECKING: @@ -55,19 +47,20 @@ class CrazyflieWorker: def __init__( self, rank: int, + radio_id: int, drone_id: int, drone_channel: int, drone_model: str, stop_event: mp.synchronize.Event, init_barrier: mp.synchronize.Barrier, - init_pose: Tr, - control_mode: str, + control_mode: Literal["attitude", "state"], control_freq: float = 50.0, ): """Initialize the Crazyflie worker. Args: rank: Index of this drone among all drones in the race. + radio_id: USB radio ID (used to build the radio URI). drone_id: Crazyflie hardware ID (used to build the radio URI). drone_channel: Radio channel to connect on. drone_model: Drone model name for loading thrust/PWM parameters. @@ -80,20 +73,20 @@ def __init__( control_freq: Frequency in Hz at which actions are forwarded to the drone. """ self.rank = rank + self.radio_id = radio_id self.drone_id = drone_id self.drone_channel = drone_channel self.drone_model = drone_model self.stop_event = stop_event self.init_barrier = init_barrier - self.connected = False # Once connected, set to True. self.connection_failed = ( False # Set to True if connection fails during the initial connection phase ) self.connection_lost = False # Set to True if connection is lost after being established - self.init_pose = init_pose - self.control_mode = control_mode.lower() - self.control_freq = control_freq + assert control_mode in ["attitude", "state"], "control_mode must be 'attitude' or 'state'" + self._control_mode: Literal["attitude", "state"] = control_mode + self._control_freq = control_freq logging.basicConfig(level=logging.INFO, format=f"[Drone {rank}] %(levelname)s: %(message)s") logging.getLogger("cflib").setLevel(logging.WARNING) @@ -101,69 +94,15 @@ def __init__( self.drone_name = f"cf{drone_id}" self.drone: Crazyflie | None = None - self.params: dict | None = None + self.drone_params: dict = load_params( + physics="first_principles", drone_model=self.drone_model + ) self.last_msg: RealClientState | None = None self.action_lock = threading.Lock() self._comm: RaceCommNode | None = None self._ros_connector: ROSConnector | None = None self._last_drone_pos_update: float = 0.0 - def _apply_drone_settings(self): - """Apply firmware settings required for racing. - - Note: - These settings are also required to make the high-level drone commander work properly. - """ - self.drone.param.set_value("stabilizer.estimator", 2) # 1: complementary, 2: kalman - time.sleep(0.1) - self.drone.param.set_value("supervisor.tmblChckEn", 1) - self.drone.param.set_value("stabilizer.controller", 2) # 1: PID, 2: Mellinger - self.drone.param.set_value("flightmode.stabModeRoll", 1) # 0: rate, 1: angle - self.drone.param.set_value("flightmode.stabModePitch", 1) - self.drone.param.set_value("flightmode.stabModeYaw", 1) - time.sleep(0.1) - - def _crazyflie_reset(self): - """Arm the drone and reset the Kalman filter to the initial pose.""" - self.drone.platform.send_arming_request(True) - self._apply_drone_settings() - pos = self.init_pose.translation - self.drone.param.set_value("kalman.initialX", pos[0]) - self.drone.param.set_value("kalman.initialY", pos[1]) - self.drone.param.set_value("kalman.initialZ", pos[2]) - yaw = self.init_pose.rotation.as_euler("xyz", degrees=False)[2] - self.drone.param.set_value("kalman.initialYaw", yaw) - self.drone.param.set_value("kalman.resetEstimation", "1") - time.sleep(0.1) - self.drone.param.set_value("kalman.resetEstimation", "0") - if self.control_mode == "attitude": - # Required to unlock the firmware's thrust protection before the first setpoint - self.drone.commander.send_setpoint(0, 0, 0, 0) - - def _send_action(self, action: NDArray[np.float32]): - """Forward an action to the drone. - - Args: - action: For attitude mode, a 4-element array ``[roll, pitch, yaw, thrust]`` in - radians and Newtons. For state mode, a 13-element array - ``[x, y, z, vx, vy, vz, ax, ay, az, yaw, rollrate, pitchrate, yawrate]``. - """ - if self.control_mode == "attitude": - if action.shape[0] != 4: - raise ValueError(f"Attitude action must have shape (4,), got {action.shape}") - pwm = force2pwm(action[3], self.params["thrust_max"] * 4, self.params["pwm_max"]) - pwm = np.clip(pwm, self.params["pwm_min"], self.params["pwm_max"]) - self.drone.commander.send_setpoint(*np.rad2deg(action[:3]), int(pwm)) - else: - if action.shape[0] != 13: - raise ValueError(f"State action must have shape (13,), got {action.shape}") - pos, vel, acc = action[:3], action[3:6], action[6:9] - quat = R.from_euler("z", action[9]).as_quat() - rollrate, pitchrate, yawrate = action[10:] - self.drone.commander.send_full_state_setpoint( - pos, vel, acc, quat, rollrate, pitchrate, yawrate - ) - def _on_client_state(self, msg: RealClientState): """Store the latest action from the client state message.""" with self.action_lock: @@ -172,56 +111,13 @@ def _on_client_state(self, msg: RealClientState): latency_ms = (time.time() - msg.timestamp) * 1000 self.logger.debug(f"Action received (gate={msg.next_gate_idx}, latency={latency_ms:.2f}ms)") - def _connect_drone(self): - """Connect to the Crazyflie drone via radio. - - Power-cycles the drone first, then opens the radio link. Raises on connection - failure, link loss (e.g. "Too many packets lost"), or timeout. - - Raises: - RuntimeError: If the connection fails or the link is lost before full connection. - TimeoutError: If the drone does not connect within 10 seconds. - """ - self.logger.info(f"Connecting to drone {self.drone_id} on channel {self.drone_channel}...") - self.drone = Crazyflie(rw_cache=str(Path(__file__).parent / ".cache")) - - cflib.crtp.init_drivers() - uri = f"radio://{self.rank}/{self.drone_channel}/2M/E7E7E7E7{self.drone_id:02X}" - PowerSwitch(uri).stm_power_cycle() - time.sleep(3) - - def on_connected(_: str): - self.connected = True - - def on_connection_failed(uri_failed: str, msg: str): - self.logger.error(f"Connection failed to {uri_failed}: {msg}") - self.connection_failed = True - - def on_connection_lost(uri_lost: str, msg: str): - if self.connected: - self.logger.warning(f"Connection lost to {uri_lost}: {msg}") - self.connection_lost = True - self.init_barrier.abort() - - self.drone.fully_connected.add_callback(on_connected) - self.drone.connection_failed.add_callback(on_connection_failed) - self.drone.connection_lost.add_callback(on_connection_lost) - self.drone.open_link(uri) - - start_time = time.time() - while time.time() - start_time < 10.0: - if self.connection_failed or self.connection_lost: - raise RuntimeError(f"Connection failed to drone {self.drone_id}") - if self.connected: - break - time.sleep(0.05) - - if not self.connected: - raise TimeoutError( - f"Timed out waiting for drone {self.drone_id} on channel {self.drone_channel}." - ) - - self.logger.info(f"Connected to {uri}") + def _init_cf(self): + """Connect to the Crazyflie, reset it, and initialize its Kalman filter.""" + self.logger.info(f"Connecting to Crazyflie with ID {self.drone_id}...") + self.drone = Crazyflie.from_radio(self.radio_id, self.drone_channel, self.drone_id) + self.drone.connect() + self.drone.reset(arm=True) + self.logger.info("Connected to Crazyflie") def _init_ros_comm(self): """Subscribe to client state messages for this drone via ROS2.""" @@ -247,7 +143,7 @@ def _control_loop(self): with self.action_lock: self.last_msg = None # Clear any stale message received during initialization - dt = 1.0 / self.control_freq + dt = 1.0 / self._control_freq self._last_drone_pos_update = time.perf_counter() while not self.stop_event.is_set() and not self.connection_lost: @@ -270,12 +166,21 @@ def _control_loop(self): action_array = ( np.array(action) if isinstance(action, (list, tuple)) else np.array([action]) ) - self._send_action(action_array) + if self._control_mode == "attitude": + self.drone.send_action_attitude( + action_array[:3], action_array[3], self.drone_params + ) + else: + self.drone.send_action_state( + action_array[0:3], + action_array[3:6], + action_array[6:9], + action_array[9], + action_array[10:12], + ) if (t := time.perf_counter()) - self._last_drone_pos_update > 1 / self.POS_UPDATE_FREQ: - pos = self._ros_connector.pos[self.drone_name] - quat = self._ros_connector.quat[self.drone_name] - self.drone.extpos.send_extpose(*pos, *quat) + self.drone.send_external_pose() self._last_drone_pos_update = t elapsed = time.time() - t_start @@ -288,15 +193,7 @@ def _cleanup(self): if self._comm: self._comm.close() if self.drone: - try: - if self.connected and not self.connection_lost: - pk = CRTPPacket() - pk.port = CRTPPort.LOCALIZATION - pk.channel = Localization.GENERIC_CH - pk.data = struct.pack(" None: try: tf_names = [f"gate{i}" for i in range(1, self.n_gates + 1)] tf_names += [f"obstacle{i}" for i in range(1, self.n_obstacles + 1)] - ros_connector = ROSConnector(estimator_names=tf_names, timeout=5.0) + ros_connector = ROSConnector(tf_names=tf_names, timeout=5.0) for i in range(self.n_gates): self.gates.pos[i] = ros_connector.pos[f"gate{i + 1}"] self.gates.quat[i] = ros_connector.quat[f"gate{i + 1}"] @@ -566,7 +456,7 @@ def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: if drones: ros_connector = None try: - ros_connector = ROSConnector(estimator_names=self._drone_names, timeout=5.0) + ros_connector = ROSConnector(tf_names=self._drone_names, timeout=5.0) for rank, drone_name in enumerate(self._drone_names): self.drones_pose.pos[rank] = ros_connector.pos[drone_name] self.drones_pose.quat[rank] = ros_connector.quat[drone_name] From 12d1077c46874ce6e5cec1b24b4b2eea7ac6082e Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Tue, 23 Jun 2026 18:07:18 +0200 Subject: [PATCH 87/97] Adds return to start controller for each worker --- lsy_drone_racing/envs/real_race_host.py | 43 +++++++++++++++++++++++-- 1 file changed, 40 insertions(+), 3 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host.py index e1a5512c1..c95ebde75 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host.py @@ -51,6 +51,8 @@ def __init__( drone_id: int, drone_channel: int, drone_model: str, + start_pos: NDArray[np.floating], + return_to_start_event: mp.synchronize.Event, stop_event: mp.synchronize.Event, init_barrier: mp.synchronize.Barrier, control_mode: Literal["attitude", "state"], @@ -64,6 +66,8 @@ def __init__( drone_id: Crazyflie hardware ID (used to build the radio URI). drone_channel: Radio channel to connect on. drone_model: Drone model name for loading thrust/PWM parameters. + start_pos: Start position the drone should return to after the race. + return_to_start_event: Set while the worker is executing the return maneuver. stop_event: Set by the host to request a shutdown. init_barrier: Shared barrier; all workers and the host call :meth:`wait` once initialized so that all drones start simultaneously. Any worker that fails @@ -77,6 +81,8 @@ def __init__( self.drone_id = drone_id self.drone_channel = drone_channel self.drone_model = drone_model + self.start_pos = np.array(start_pos, dtype=np.float32) + self.return_to_start_event = return_to_start_event self.stop_event = stop_event self.init_barrier = init_barrier self.connection_failed = ( @@ -156,9 +162,8 @@ def _control_loop(self): ) break if self.last_msg and self.last_msg.controller_finished: - self.logger.info( - "Received stop signal from client, handover control to host..." - ) + self.logger.info("Received stop signal from client, returning to start...") + self._return_to_start() break action = list(self.last_msg.action) if self.last_msg else None @@ -197,6 +202,23 @@ def _cleanup(self): rclpy.shutdown() self.logger.info("Drone process finished") + def _return_to_start(self): + """Return the drone to its configured start position if it has taken off.""" + pos = self._ros_connector.pos[self.drone_name] + if pos[2] <= 0.1: + return + obs = { + "pos": pos, + "quat": self._ros_connector.quat[self.drone_name], + "vel": self._ros_connector.vel[self.drone_name], + "ang_vel": self._ros_connector.ang_vel[self.drone_name], + } + self.return_to_start_event.set() + try: + self.drone.return_to_start(self.start_pos, obs, check_ok=rclpy.ok) + finally: + self.return_to_start_event.clear() + def run(self): """Run the worker: connect to the drone, initialize, and enter the control loop. @@ -234,6 +256,8 @@ def crazyflie_process_worker( drone_id: int, drone_channel: int, drone_model: str, + start_pos: NDArray[np.floating], + return_to_start_event: mp.synchronize.Event, stop_event: mp.synchronize.Event, control_mode: Literal["attitude", "state"], init_barrier: mp.synchronize.Barrier, @@ -250,6 +274,8 @@ def crazyflie_process_worker( drone_id=drone_id, drone_channel=drone_channel, drone_model=drone_model, + start_pos=start_pos, + return_to_start_event=return_to_start_event, stop_event=stop_event, control_mode=control_mode, control_freq=control_freq, @@ -309,6 +335,7 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis self._num_drones = len(deploy_args.drones) self._mp_ctx = mp.get_context("spawn") self._processes = [] + self._return_to_start_events = [] self._stop_event = None self._init_barrier = None self._shutdown_event = threading.Event() @@ -394,6 +421,7 @@ def connect_drones(self): """ logger.debug(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._processes = [] + self._return_to_start_events = [self._mp_ctx.Event() for _ in range(self._num_drones)] self._stop_event = self._mp_ctx.Event() self._init_barrier = self._mp_ctx.Barrier(self._num_drones + 1) @@ -406,6 +434,8 @@ def connect_drones(self): self._drone_ids[rank], self._drone_channels[rank], self._drone_models[rank], + self.drones_pose.pos[rank], + self._return_to_start_events[rank], self._stop_event, self._drone_control_mode[rank], self._init_barrier, @@ -471,8 +501,15 @@ def close(self): ) if self._init_barrier is not None: self._init_barrier.abort() + for process, return_event in zip( + self._processes, self._return_to_start_events, strict=False + ): + if process.is_alive() and return_event.is_set(): + process.join(timeout=15) + if self._stop_event is not None: self._stop_event.set() + for process in self._processes: if process.is_alive(): process.join(timeout=5) From ba8d0cda77cd0125faf3a238c79ffb261e4a9e0e Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Thu, 25 Jun 2026 12:09:39 +0200 Subject: [PATCH 88/97] Allocates the return controller height dynamically depending on the finish position --- ..._env_client.py => real_race_client_env.py} | 0 ...eal_race_host.py => real_race_host_env.py} | 59 +++++++++++++++++-- scripts/multi_deploy_client.py | 2 +- scripts/multi_deploy_host.py | 2 +- 4 files changed, 56 insertions(+), 7 deletions(-) rename lsy_drone_racing/envs/{real_race_env_client.py => real_race_client_env.py} (100%) rename lsy_drone_racing/envs/{real_race_host.py => real_race_host_env.py} (90%) diff --git a/lsy_drone_racing/envs/real_race_env_client.py b/lsy_drone_racing/envs/real_race_client_env.py similarity index 100% rename from lsy_drone_racing/envs/real_race_env_client.py rename to lsy_drone_racing/envs/real_race_client_env.py diff --git a/lsy_drone_racing/envs/real_race_host.py b/lsy_drone_racing/envs/real_race_host_env.py similarity index 90% rename from lsy_drone_racing/envs/real_race_host.py rename to lsy_drone_racing/envs/real_race_host_env.py index c95ebde75..e313586f0 100644 --- a/lsy_drone_racing/envs/real_race_host.py +++ b/lsy_drone_racing/envs/real_race_host_env.py @@ -32,6 +32,8 @@ logger = logging.getLogger(__name__) +# region Worker + class CrazyflieWorker: """Manages a single Crazyflie drone in a dedicated subprocess. @@ -53,6 +55,7 @@ def __init__( drone_model: str, start_pos: NDArray[np.floating], return_to_start_event: mp.synchronize.Event, + assigned_return_heights: mp.Array, stop_event: mp.synchronize.Event, init_barrier: mp.synchronize.Barrier, control_mode: Literal["attitude", "state"], @@ -68,6 +71,7 @@ def __init__( drone_model: Drone model name for loading thrust/PWM parameters. start_pos: Start position the drone should return to after the race. return_to_start_event: Set while the worker is executing the return maneuver. + assigned_return_heights: Shared host-assigned return heights for all drones. stop_event: Set by the host to request a shutdown. init_barrier: Shared barrier; all workers and the host call :meth:`wait` once initialized so that all drones start simultaneously. Any worker that fails @@ -83,6 +87,7 @@ def __init__( self.drone_model = drone_model self.start_pos = np.array(start_pos, dtype=np.float32) self.return_to_start_event = return_to_start_event + self.assigned_return_heights = assigned_return_heights self.stop_event = stop_event self.init_barrier = init_barrier self.connection_failed = ( @@ -162,7 +167,7 @@ def _control_loop(self): ) break if self.last_msg and self.last_msg.controller_finished: - self.logger.info("Received stop signal from client, returning to start...") + self.logger.info("Received stop signal from client, waiting for return height...") self._return_to_start() break action = list(self.last_msg.action) if self.last_msg else None @@ -215,10 +220,26 @@ def _return_to_start(self): } self.return_to_start_event.set() try: - self.drone.return_to_start(self.start_pos, obs, check_ok=rclpy.ok) + return_height = self._wait_for_return_height() + self.logger.info(f"Returning to start at height {return_height:.2f}m") + self.drone.return_to_start( + self.start_pos, + obs, + check_ok=rclpy.ok, + return_height=return_height, + ) finally: self.return_to_start_event.clear() + def _wait_for_return_height(self) -> float: + """Wait until the host assigns a return height for this drone.""" + while rclpy.ok() and not self.stop_event.is_set(): + return_height = self.assigned_return_heights[self.rank] + if not np.isnan(return_height): + return float(return_height) + time.sleep(0.01) + raise RuntimeError("Return height assignment was interrupted") + def run(self): """Run the worker: connect to the drone, initialize, and enter the control loop. @@ -258,6 +279,7 @@ def crazyflie_process_worker( drone_model: str, start_pos: NDArray[np.floating], return_to_start_event: mp.synchronize.Event, + assigned_return_heights: mp.Array, stop_event: mp.synchronize.Event, control_mode: Literal["attitude", "state"], init_barrier: mp.synchronize.Barrier, @@ -276,12 +298,13 @@ def crazyflie_process_worker( drone_model=drone_model, start_pos=start_pos, return_to_start_event=return_to_start_event, + assigned_return_heights=assigned_return_heights, stop_event=stop_event, control_mode=control_mode, control_freq=control_freq, init_barrier=init_barrier, ).run() - +# region Host class CrazyflieRealRaceHost: """Race host implementation for multi-drone racing with Crazyflie drones. @@ -336,11 +359,17 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis self._mp_ctx = mp.get_context("spawn") self._processes = [] self._return_to_start_events = [] + self._assigned_return_heights = None self._stop_event = None self._init_barrier = None self._shutdown_event = threading.Event() self._clients_ready: dict[int, bool] = {rank: False for rank in range(self._num_drones)} self._clients_stopped: dict[int, bool] = {rank: False for rank in range(self._num_drones)} + self._finish_order: list[int] = [] + self._return_height_min = float(deploy_args.return_height_min) + self._return_height_max = float(deploy_args.return_height_max) + if self._return_height_min > self._return_height_max: + raise ValueError("return_height_min must be less than or equal to return_height_max") self._start_time = time.time() self._comm = None self._host_ready_pub = None @@ -364,8 +393,15 @@ def on_client_state(msg: RealClientState, rank: int = rank): if not self._clients_ready[rank]: logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True - if msg.controller_finished: - logger.info(f"Client {rank} stopped (gate={msg.next_gate_idx})") + if msg.controller_finished and not self._clients_stopped[rank]: + finish_order = len(self._finish_order) + return_height = self._return_height_for_finish_order(finish_order) + logger.info( + f"Client {rank} stopped (gate={msg.next_gate_idx}), assigning return " + f"height {return_height:.2f}m" + ) + self._assigned_return_heights[rank] = return_height + self._finish_order.append(rank) self._clients_stopped[rank] = True self._subs.append( @@ -422,6 +458,9 @@ def connect_drones(self): logger.debug(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._processes = [] self._return_to_start_events = [self._mp_ctx.Event() for _ in range(self._num_drones)] + self._assigned_return_heights = self._mp_ctx.Array( + "d", [float("nan")] * self._num_drones, lock=False + ) self._stop_event = self._mp_ctx.Event() self._init_barrier = self._mp_ctx.Barrier(self._num_drones + 1) @@ -436,6 +475,7 @@ def connect_drones(self): self._drone_models[rank], self.drones_pose.pos[rank], self._return_to_start_events[rank], + self._assigned_return_heights, self._stop_event, self._drone_control_mode[rank], self._init_barrier, @@ -524,6 +564,15 @@ def close(self): self._comm.close() logger.info("Host shutdown complete") + def _return_height_for_finish_order(self, finish_order: int) -> float: + """Map finish order to a return height between configured max and min.""" + if self._num_drones <= 1: + return self._return_height_max + alpha = finish_order / (self._num_drones - 1) + return self._return_height_max + alpha * ( + self._return_height_min - self._return_height_max + ) + def _calibrate_client_clocks(self): """Expose the clock calibration service and wait for all clients to calibrate. diff --git a/scripts/multi_deploy_client.py b/scripts/multi_deploy_client.py index 5e4c919b0..1772f64fc 100644 --- a/scripts/multi_deploy_client.py +++ b/scripts/multi_deploy_client.py @@ -24,7 +24,7 @@ from lsy_drone_racing.utils import extract_config_for_rank, load_config, load_controller if TYPE_CHECKING: - from lsy_drone_racing.envs.real_race_env_client import RealMultiDroneRaceEnvClient + from lsy_drone_racing.envs.real_race_client_env import RealMultiDroneRaceEnvClient logger = logging.getLogger(__name__) diff --git a/scripts/multi_deploy_host.py b/scripts/multi_deploy_host.py index c4637c225..6e07a6486 100644 --- a/scripts/multi_deploy_host.py +++ b/scripts/multi_deploy_host.py @@ -17,7 +17,7 @@ import fire import rclpy -from lsy_drone_racing.envs.real_race_host import CrazyflieRealRaceHost +from lsy_drone_racing.envs.real_race_host_env import CrazyflieRealRaceHost from lsy_drone_racing.utils import load_config logger = logging.getLogger(__name__) From d223bec4c53f332150727ca1e3722f83d9c85f22 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Fri, 26 Jun 2026 11:47:38 +0200 Subject: [PATCH 89/97] Reduces ROS topics to one ClientAction per drone and one HostState --- lsy_drone_racing/envs/__init__.py | 2 +- lsy_drone_racing/envs/real_race_client_env.py | 63 ++++++------- lsy_drone_racing/envs/real_race_host_env.py | 94 ++++++++++--------- ros_ws/src/drone_racing_msgs/CMakeLists.txt | 5 +- ...alClientState.msg => RealClientAction.msg} | 3 +- .../drone_racing_msgs/msg/RealHostReady.msg | 2 - .../{RealRaceStart.msg => RealHostState.msg} | 2 + 7 files changed, 86 insertions(+), 85 deletions(-) rename ros_ws/src/drone_racing_msgs/msg/{RealClientState.msg => RealClientAction.msg} (61%) delete mode 100644 ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg rename ros_ws/src/drone_racing_msgs/msg/{RealRaceStart.msg => RealHostState.msg} (63%) diff --git a/lsy_drone_racing/envs/__init__.py b/lsy_drone_racing/envs/__init__.py index 2bb823cb7..e2f4f2161 100644 --- a/lsy_drone_racing/envs/__init__.py +++ b/lsy_drone_racing/envs/__init__.py @@ -49,6 +49,6 @@ register( id="RealMultiDroneRaceEnvClient-v0", - entry_point="lsy_drone_racing.envs.real_race_env_client:RealMultiDroneRaceEnvClient", + entry_point="lsy_drone_racing.envs.real_race_client_env:RealMultiDroneRaceEnvClient", disable_env_checker=True, ) diff --git a/lsy_drone_racing/envs/real_race_client_env.py b/lsy_drone_racing/envs/real_race_client_env.py index e58ea8fc8..d1f6f7240 100644 --- a/lsy_drone_racing/envs/real_race_client_env.py +++ b/lsy_drone_racing/envs/real_race_client_env.py @@ -17,11 +17,7 @@ import jax import numpy as np from drone_estimators.ros_nodes.ros2_connector import ROSConnector -from drone_racing_msgs.msg import ( # type: ignore[import-untyped] - RealClientState, - RealHostReady, - RealRaceStart, -) +from drone_racing_msgs.msg import RealClientAction, RealHostState # type: ignore[import-untyped] from drone_racing_msgs.srv import RealCalibrateClock # type: ignore[import-untyped] from gymnasium import Env @@ -97,13 +93,14 @@ def __init__( self.data = EnvData.create(self.n_drones, self.n_gates, self.n_obstacles) self._comm: RaceCommNode | None = None - self._client_state_pub: Any = None + self._client_action_pub: Any = None self._clock_calib_client: Any = None self._host_ready_event = threading.Event() self._race_started = False self._race_start_time = 0.0 self._clock_offset = 0.0 + self._host_finished = False def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: """Reset the environment and wait for the host to signal readiness. @@ -156,7 +153,7 @@ def send_state_messages(): else: dummy_action = np.zeros(13, dtype=np.float32) dummy_action[:3] = self._ros_connector.pos[self.drone_name] - self._send_state_update(dummy_action, stopped=False) + self._send_action_update(dummy_action, stopped=False) time.sleep(1 / self.freq) threading.Thread(target=send_state_messages, daemon=True).start() @@ -221,7 +218,7 @@ def step(self, action: NDArray) -> tuple[dict, float, bool, bool, dict]: if self.control_mode == "attitude" and self._ros_connector: self._ros_connector.publish_cmd(action) - self._send_state_update(action, terminated) + self._send_action_update(action, terminated) return self.obs(), 0.0, terminated, False, self.info() @@ -255,8 +252,8 @@ def info(self) -> dict: def close(self): """Send a final stop message and close all ROS connections.""" logger.info("Closing environment...") - if self._client_state_pub: - self._send_state_update( + if self._client_action_pub: + self._send_action_update( np.zeros(4 if self.control_mode == "attitude" else 13), stopped=True ) if self._comm: @@ -265,8 +262,8 @@ def close(self): self._ros_connector.close() logger.debug("Environment closed") - def _send_state_update(self, action: NDArray, stopped: bool): - """Publish a :class:`ClientStateMessage` to the host. + def _send_action_update(self, action: NDArray, stopped: bool): + """Publish a :class:`ClientActionMessage` to the host. The timestamp is adjusted by the calibrated clock offset so the host can measure accurate latency without clock skew. @@ -276,14 +273,13 @@ def _send_state_update(self, action: NDArray, stopped: bool): stopped: Whether this client has finished or crashed. """ elapsed_time = time.time() - self._race_start_time if self._race_started else 0.0 - msg = RealClientState() + msg = RealClientAction() msg.drone_rank = self.rank msg.action = action.tolist() if isinstance(action, np.ndarray) else list(action) msg.elapsed_time = elapsed_time msg.timestamp = time.time() + self._clock_offset - msg.controller_finished = stopped - msg.next_gate_idx = int(self.data.target_gate[self.rank]) - self._client_state_pub.publish(msg) + msg.controller_stopped = stopped + self._client_action_pub.publish(msg) def _init_ros_connectors(self): """Open ROS connector for own drone (estimator) and others (TF).""" @@ -300,26 +296,23 @@ def _init_comm(self): self._comm = RaceCommNode(f"lsy_race_client_{self.rank}") node = self._comm.node - def on_host_ready(msg: RealHostReady): - self._host_ready_event.set() + def on_host_state(msg: RealHostState): latency_ms = (time.time() - msg.timestamp) * 1000 - logger.debug(f"Host ready (latency: {latency_ms:.2f}ms)") - - def on_race_start(msg: RealRaceStart): - self._race_started = True - self._race_start_time = time.time() - msg.elapsed_time - self._host_terminate = bool(msg.race_finished) - - self._subs = [ - node.create_subscription( - RealHostReady, "lsy_drone_racing/host/ready", on_host_ready, 10 - ), - node.create_subscription( - RealRaceStart, "lsy_drone_racing/host/race_start", on_race_start, 10 - ), - ] - self._client_state_pub = node.create_publisher( - RealClientState, f"lsy_drone_racing/client/drone_{self.rank}/state", 10 + if msg.host_ready and not self._host_ready_event.is_set(): + self._host_ready_event.set() + logger.debug(f"Host ready (latency: {latency_ms:.2f}ms)") + if msg.race_started and not self._race_started: + self._race_started = True + self._race_start_time = time.time() - msg.elapsed_time + logger.debug(f"Race started (latency: {latency_ms:.2f}ms)") + self._host_finished = bool(msg.race_finished) + + # TODO Why do I need to save this if unused? + self._sub = node.create_subscription( + RealHostState, "lsy_drone_racing/host_state", on_host_state, 10 + ) + self._client_action_pub = node.create_publisher( + RealClientAction, f"lsy_drone_racing/client/drone_{self.rank}/action", 10 ) self._clock_calib_client = node.create_client( RealCalibrateClock, "lsy_drone_racing/calibrate_clock" diff --git a/lsy_drone_racing/envs/real_race_host_env.py b/lsy_drone_racing/envs/real_race_host_env.py index e313586f0..c37490cab 100644 --- a/lsy_drone_racing/envs/real_race_host_env.py +++ b/lsy_drone_racing/envs/real_race_host_env.py @@ -18,7 +18,7 @@ import rclpy from drone_estimators.ros_nodes.ros2_connector import ROSConnector from drone_models.core import load_params -from drone_racing_msgs.msg import RealClientState, RealHostReady, RealRaceStart +from drone_racing_msgs.msg import RealClientAction, RealHostState from drone_racing_msgs.srv import RealCalibrateClock from lsy_drone_racing.envs.utils import load_track @@ -108,19 +108,19 @@ def __init__( self.drone_params: dict = load_params( physics="first_principles", drone_model=self.drone_model ) - self.last_msg: RealClientState | None = None + self.last_msg: RealClientAction | None = None self.action_lock = threading.Lock() self._comm: RaceCommNode | None = None self._ros_connector: ROSConnector | None = None self._last_drone_pos_update: float = 0.0 - def _on_client_state(self, msg: RealClientState): - """Store the latest action from the client state message.""" + def _on_client_action(self, msg: RealClientAction): + """Store the latest action received from the client.""" with self.action_lock: self.last_msg = msg latency_ms = (time.time() - msg.timestamp) * 1000 - self.logger.debug(f"Action received (gate={msg.next_gate_idx}, latency={latency_ms:.2f}ms)") + self.logger.debug(f"Action received (latency={latency_ms:.2f}ms)") def _init_cf(self): """Connect to the Crazyflie, reset it, and initialize its Kalman filter.""" @@ -131,12 +131,12 @@ def _init_cf(self): self.logger.info("Connected to Crazyflie") def _init_ros_comm(self): - """Subscribe to client state messages for this drone via ROS2.""" + """Subscribe to client action messages for this drone via ROS2.""" self._comm = RaceCommNode(f"lsy_race_worker_{self.rank}") self._sub = self._comm.node.create_subscription( - RealClientState, - f"lsy_drone_racing/client/drone_{self.rank}/state", - self._on_client_state, + RealClientAction, + f"lsy_drone_racing/client/drone_{self.rank}/action", + self._on_client_action, 10, ) @@ -166,8 +166,10 @@ def _control_loop(self): f"No command received for 10 * {dt:.2f}s, handover control to host..." ) break - if self.last_msg and self.last_msg.controller_finished: - self.logger.info("Received stop signal from client, waiting for return height...") + if self.last_msg and self.last_msg.controller_stopped: + self.logger.info( + "Received stop signal from client, waiting for return height..." + ) self._return_to_start() break action = list(self.last_msg.action) if self.last_msg else None @@ -223,14 +225,12 @@ def _return_to_start(self): return_height = self._wait_for_return_height() self.logger.info(f"Returning to start at height {return_height:.2f}m") self.drone.return_to_start( - self.start_pos, - obs, - check_ok=rclpy.ok, - return_height=return_height, + self.start_pos, obs, check_ok=rclpy.ok, return_height=return_height ) finally: self.return_to_start_event.clear() + # TODO add locking for the mp array def _wait_for_return_height(self) -> float: """Wait until the host assigns a return height for this drone.""" while rclpy.ok() and not self.stop_event.is_set(): @@ -304,8 +304,11 @@ def crazyflie_process_worker( control_freq=control_freq, init_barrier=init_barrier, ).run() + + # region Host + class CrazyflieRealRaceHost: """Race host implementation for multi-drone racing with Crazyflie drones. @@ -372,33 +375,26 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis raise ValueError("return_height_min must be less than or equal to return_height_max") self._start_time = time.time() self._comm = None - self._host_ready_pub = None - self._race_start_pub = None + self._host_state_pub = None self.init_comm() def init_comm(self): """Set up the ROS2 communication node with all publishers and subscribers.""" self._comm = RaceCommNode("lsy_race_host") node = self._comm.node - self._host_ready_pub = node.create_publisher( - RealHostReady, "lsy_drone_racing/host/ready", 10 - ) - self._race_start_pub = node.create_publisher( - RealRaceStart, "lsy_drone_racing/host/race_start", 10 - ) + self._host_state_pub = node.create_publisher(RealHostState, "lsy_drone_racing/host_state", 10) self._subs = [] for rank in range(self._num_drones): - def on_client_state(msg: RealClientState, rank: int = rank): + def on_client_action(msg: RealClientAction, rank: int = rank): if not self._clients_ready[rank]: logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True - if msg.controller_finished and not self._clients_stopped[rank]: + if msg.controller_stopped and not self._clients_stopped[rank]: finish_order = len(self._finish_order) return_height = self._return_height_for_finish_order(finish_order) logger.info( - f"Client {rank} stopped (gate={msg.next_gate_idx}), assigning return " - f"height {return_height:.2f}m" + f"Client {rank} stopped, assigning return height {return_height:.2f}m" ) self._assigned_return_heights[rank] = return_height self._finish_order.append(rank) @@ -406,9 +402,9 @@ def on_client_state(msg: RealClientState, rank: int = rank): self._subs.append( node.create_subscription( - RealClientState, - f"lsy_drone_racing/client/drone_{rank}/state", - on_client_state, + RealClientAction, + f"lsy_drone_racing/client/drone_{rank}/action", + on_client_action, 10, ) ) @@ -536,9 +532,8 @@ def update_poses(self, track_obj: bool = False, drones: bool = False) -> None: def close(self): """Stop all drone subprocesses and close ROS communication.""" - self._race_start_pub.publish( - RealRaceStart(elapsed_time=-1.0, timestamp=time.time(), race_finished=True) - ) + if self._host_state_pub: + self._publish_host_state(host_ready=True, race_started=True, race_finished=True) if self._init_barrier is not None: self._init_barrier.abort() for process, return_event in zip( @@ -569,9 +564,7 @@ def _return_height_for_finish_order(self, finish_order: int) -> float: if self._num_drones <= 1: return self._return_height_max alpha = finish_order / (self._num_drones - 1) - return self._return_height_max + alpha * ( - self._return_height_min - self._return_height_max - ) + return self._return_height_max + alpha * (self._return_height_min - self._return_height_max) def _calibrate_client_clocks(self): """Expose the clock calibration service and wait for all clients to calibrate. @@ -594,16 +587,30 @@ def _handler( time.sleep(1.0) logger.info("Clock calibration complete") + def _publish_host_state( + self, *, host_ready: bool, race_started: bool, race_finished: bool, elapsed_time: float = 0.0 + ) -> None: + """Publish the current host lifecycle state.""" + self._host_state_pub.publish( + RealHostState( + elapsed_time=elapsed_time, + timestamp=time.time(), + host_ready=host_ready, + race_started=race_started, + race_finished=race_finished, + ) + ) + def host_main_loop(self, race_update_freq: float = 50.0): """Run the host coordination loop. - Broadcasts :class:`HostReady` until all clients signal readiness, then performs + Broadcasts :class:`RealHostState` until all clients signal readiness, then performs clock calibration and releases the drone workers via the init barrier. Enters the - race loop broadcasting :class:`RaceStart` until all clients report stopping. + race loop broadcasting host state until all clients report stopping. Returns early without error if the init barrier was already broken by a worker failure. Args: - race_update_freq: Frequency in Hz at which :class:`RaceStart` is broadcast. + race_update_freq: Frequency in Hz at which host state is broadcast. Raises: TimeoutError: If clients do not become ready within 300 seconds. @@ -613,7 +620,7 @@ def host_main_loop(self, race_update_freq: float = 50.0): logger.info("Drones connected, waiting for clients...") t_start = time.time() while time.time() - t_start < 300.0: - self._host_ready_pub.publish(RealHostReady(elapsed_time=0.0, timestamp=time.time())) + self._publish_host_state(host_ready=True, race_started=False, race_finished=False) if all(self._clients_ready.values()): logger.info("All clients ready") break @@ -635,8 +642,11 @@ def host_main_loop(self, race_update_freq: float = 50.0): while True: elapsed_time = time.time() - self._start_time finished = all(self._clients_stopped.values()) - self._race_start_pub.publish( - RealRaceStart(elapsed_time=elapsed_time, timestamp=time.time(), race_finished=False) + self._publish_host_state( + host_ready=True, + race_started=True, + race_finished=finished, + elapsed_time=elapsed_time, ) if finished: logger.info("All clients stopped") diff --git a/ros_ws/src/drone_racing_msgs/CMakeLists.txt b/ros_ws/src/drone_racing_msgs/CMakeLists.txt index 7afef847b..eab8b130f 100644 --- a/ros_ws/src/drone_racing_msgs/CMakeLists.txt +++ b/ros_ws/src/drone_racing_msgs/CMakeLists.txt @@ -13,9 +13,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/Observations.msg" "msg/StepResult.msg" "msg/RaceEnd.msg" - "msg/RealHostReady.msg" - "msg/RealRaceStart.msg" - "msg/RealClientState.msg" + "msg/RealHostState.msg" + "msg/RealClientAction.msg" "srv/RealCalibrateClock.srv" DEPENDENCIES builtin_interfaces std_msgs ) diff --git a/ros_ws/src/drone_racing_msgs/msg/RealClientState.msg b/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg similarity index 61% rename from ros_ws/src/drone_racing_msgs/msg/RealClientState.msg rename to ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg index d6b183753..7a4577b3b 100644 --- a/ros_ws/src/drone_racing_msgs/msg/RealClientState.msg +++ b/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg @@ -2,5 +2,4 @@ int32 drone_rank float64[] action float64 elapsed_time float64 timestamp -bool controller_finished -int32 next_gate_idx +bool controller_stopped \ No newline at end of file diff --git a/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg b/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg deleted file mode 100644 index f1d43a67e..000000000 --- a/ros_ws/src/drone_racing_msgs/msg/RealHostReady.msg +++ /dev/null @@ -1,2 +0,0 @@ -float64 elapsed_time -float64 timestamp diff --git a/ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg b/ros_ws/src/drone_racing_msgs/msg/RealHostState.msg similarity index 63% rename from ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg rename to ros_ws/src/drone_racing_msgs/msg/RealHostState.msg index 9475e14e2..ba058f79b 100644 --- a/ros_ws/src/drone_racing_msgs/msg/RealRaceStart.msg +++ b/ros_ws/src/drone_racing_msgs/msg/RealHostState.msg @@ -1,3 +1,5 @@ float64 elapsed_time float64 timestamp +bool host_ready +bool race_started bool race_finished From 5033cdcbc8ec584b6e084618906e37fcd924813f Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Fri, 26 Jun 2026 11:48:19 +0200 Subject: [PATCH 90/97] Pulls drone estimators from git directly to run legacy estimator --- pyproject.toml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index a76b949b0..87262008d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -40,7 +40,7 @@ gpu = ["jax[cuda12]"] # option[deploy]: deploy to real drones deploy = [ "cflib2 @ git+https://github.com/ratheron/crazyflie-lib-python-v2.git@bccd34092c22392b941bbef9bc5a3718b9d27da0", - "drone-estimators", + "drone-estimators @ git+https://github.com/learnsyslab/drone-estimators.git", ] # option[rl]: train rl policy rl = ["torch == 2.8.0", "wandb"] @@ -130,8 +130,9 @@ cmd = [ "drone_estimators.ros_nodes.ros2_node", "--drone_name", "{{drone_name}}", + "--legacy" ] -args = [{ "arg" = "drone_name", "default" = "cf10" }] +args = [{ "arg" = "drone_name", "default" = "cf52" }] ## feature [deploy] [tool.pixi.feature.deploy.dependencies] From 03f93c0db08096d8232a9dc720bf4f2071480a91 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Fri, 26 Jun 2026 13:19:04 +0200 Subject: [PATCH 91/97] Splits return home hand-off into height_ready_event and wait_for_return_height to avoid busy-waiting --- lsy_drone_racing/envs/real_race_host_env.py | 36 +++++++++++++++------ 1 file changed, 27 insertions(+), 9 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_host_env.py b/lsy_drone_racing/envs/real_race_host_env.py index c37490cab..55a625e4a 100644 --- a/lsy_drone_racing/envs/real_race_host_env.py +++ b/lsy_drone_racing/envs/real_race_host_env.py @@ -55,6 +55,7 @@ def __init__( drone_model: str, start_pos: NDArray[np.floating], return_to_start_event: mp.synchronize.Event, + return_height_ready_event: mp.synchronize.Event, assigned_return_heights: mp.Array, stop_event: mp.synchronize.Event, init_barrier: mp.synchronize.Barrier, @@ -71,6 +72,7 @@ def __init__( drone_model: Drone model name for loading thrust/PWM parameters. start_pos: Start position the drone should return to after the race. return_to_start_event: Set while the worker is executing the return maneuver. + return_height_ready_event: Set by the host once this drone's return height is ready. assigned_return_heights: Shared host-assigned return heights for all drones. stop_event: Set by the host to request a shutdown. init_barrier: Shared barrier; all workers and the host call :meth:`wait` once @@ -87,6 +89,7 @@ def __init__( self.drone_model = drone_model self.start_pos = np.array(start_pos, dtype=np.float32) self.return_to_start_event = return_to_start_event + self.return_height_ready_event = return_height_ready_event self.assigned_return_heights = assigned_return_heights self.stop_event = stop_event self.init_barrier = init_barrier @@ -230,14 +233,12 @@ def _return_to_start(self): finally: self.return_to_start_event.clear() - # TODO add locking for the mp array def _wait_for_return_height(self) -> float: """Wait until the host assigns a return height for this drone.""" while rclpy.ok() and not self.stop_event.is_set(): - return_height = self.assigned_return_heights[self.rank] - if not np.isnan(return_height): - return float(return_height) - time.sleep(0.01) + if self.return_height_ready_event.wait(timeout=0.1): + with self.assigned_return_heights.get_lock(): + return float(self.assigned_return_heights[self.rank]) raise RuntimeError("Return height assignment was interrupted") def run(self): @@ -279,6 +280,7 @@ def crazyflie_process_worker( drone_model: str, start_pos: NDArray[np.floating], return_to_start_event: mp.synchronize.Event, + return_height_ready_event: mp.synchronize.Event, assigned_return_heights: mp.Array, stop_event: mp.synchronize.Event, control_mode: Literal["attitude", "state"], @@ -298,6 +300,7 @@ def crazyflie_process_worker( drone_model=drone_model, start_pos=start_pos, return_to_start_event=return_to_start_event, + return_height_ready_event=return_height_ready_event, assigned_return_heights=assigned_return_heights, stop_event=stop_event, control_mode=control_mode, @@ -362,6 +365,7 @@ def __init__(self, track: ConfigDict, deploy_args: list[dict], control_args: lis self._mp_ctx = mp.get_context("spawn") self._processes = [] self._return_to_start_events = [] + self._return_height_ready_events = [] self._assigned_return_heights = None self._stop_event = None self._init_barrier = None @@ -382,7 +386,9 @@ def init_comm(self): """Set up the ROS2 communication node with all publishers and subscribers.""" self._comm = RaceCommNode("lsy_race_host") node = self._comm.node - self._host_state_pub = node.create_publisher(RealHostState, "lsy_drone_racing/host_state", 10) + self._host_state_pub = node.create_publisher( + RealHostState, "lsy_drone_racing/host_state", 10 + ) self._subs = [] for rank in range(self._num_drones): @@ -396,7 +402,9 @@ def on_client_action(msg: RealClientAction, rank: int = rank): logger.info( f"Client {rank} stopped, assigning return height {return_height:.2f}m" ) - self._assigned_return_heights[rank] = return_height + with self._assigned_return_heights.get_lock(): + self._assigned_return_heights[rank] = return_height + self._return_height_ready_events[rank].set() self._finish_order.append(rank) self._clients_stopped[rank] = True @@ -408,6 +416,7 @@ def on_client_action(msg: RealClientAction, rank: int = rank): 10, ) ) + logger.debug("ROS2 communication initialized") def check_track( @@ -454,8 +463,11 @@ def connect_drones(self): logger.debug(f"Spawning processes for {self._num_drones} Crazyflie drones...") self._processes = [] self._return_to_start_events = [self._mp_ctx.Event() for _ in range(self._num_drones)] + self._return_height_ready_events = [ + self._mp_ctx.Event() for _ in range(self._num_drones) + ] self._assigned_return_heights = self._mp_ctx.Array( - "d", [float("nan")] * self._num_drones, lock=False + "d", [float("nan")] * self._num_drones, lock=True ) self._stop_event = self._mp_ctx.Event() self._init_barrier = self._mp_ctx.Barrier(self._num_drones + 1) @@ -471,6 +483,7 @@ def connect_drones(self): self._drone_models[rank], self.drones_pose.pos[rank], self._return_to_start_events[rank], + self._return_height_ready_events[rank], self._assigned_return_heights, self._stop_event, self._drone_control_mode[rank], @@ -588,7 +601,12 @@ def _handler( logger.info("Clock calibration complete") def _publish_host_state( - self, *, host_ready: bool, race_started: bool, race_finished: bool, elapsed_time: float = 0.0 + self, + *, + host_ready: bool, + race_started: bool, + race_finished: bool, + elapsed_time: float = 0.0, ) -> None: """Publish the current host lifecycle state.""" self._host_state_pub.publish( From 73ddb0af472c9c5fe0015e94c129a9ed437d1a69 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Wed, 1 Jul 2026 13:17:50 +0200 Subject: [PATCH 92/97] Wait for all client controller to init and then start the race --- lsy_drone_racing/envs/real_race_client_env.py | 10 ++++++++-- lsy_drone_racing/envs/real_race_host_env.py | 2 +- ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg | 3 ++- scripts/multi_deploy_client.py | 1 + 4 files changed, 12 insertions(+), 4 deletions(-) diff --git a/lsy_drone_racing/envs/real_race_client_env.py b/lsy_drone_racing/envs/real_race_client_env.py index d1f6f7240..efb70968b 100644 --- a/lsy_drone_racing/envs/real_race_client_env.py +++ b/lsy_drone_racing/envs/real_race_client_env.py @@ -101,6 +101,7 @@ def __init__( self._race_start_time = 0.0 self._clock_offset = 0.0 self._host_finished = False + self._client_ready = False def reset(self, *, seed: int | None = None, options: dict | None = None) -> tuple[dict, dict]: """Reset the environment and wait for the host to signal readiness. @@ -146,7 +147,7 @@ def lock_until_race_start(self, timeout: float = 60.0): logger.info("Waiting for host ready message...") stop_sending = threading.Event() - def send_state_messages(): + def send_action_messages(): while not stop_sending.is_set(): if self.control_mode == "attitude": dummy_action = np.zeros(4, dtype=np.float32) @@ -156,7 +157,7 @@ def send_state_messages(): self._send_action_update(dummy_action, stopped=False) time.sleep(1 / self.freq) - threading.Thread(target=send_state_messages, daemon=True).start() + threading.Thread(target=send_action_messages, daemon=True).start() if not self._host_ready_event.wait(timeout=timeout): stop_sending.set() @@ -262,6 +263,10 @@ def close(self): self._ros_connector.close() logger.debug("Environment closed") + def set_client_ready(self): + """Mark the client as fully initialized and ready for race start.""" + self._client_ready = True + def _send_action_update(self, action: NDArray, stopped: bool): """Publish a :class:`ClientActionMessage` to the host. @@ -278,6 +283,7 @@ def _send_action_update(self, action: NDArray, stopped: bool): msg.action = action.tolist() if isinstance(action, np.ndarray) else list(action) msg.elapsed_time = elapsed_time msg.timestamp = time.time() + self._clock_offset + msg.client_ready = self._client_ready msg.controller_stopped = stopped self._client_action_pub.publish(msg) diff --git a/lsy_drone_racing/envs/real_race_host_env.py b/lsy_drone_racing/envs/real_race_host_env.py index 55a625e4a..51ddb270d 100644 --- a/lsy_drone_racing/envs/real_race_host_env.py +++ b/lsy_drone_racing/envs/real_race_host_env.py @@ -393,7 +393,7 @@ def init_comm(self): for rank in range(self._num_drones): def on_client_action(msg: RealClientAction, rank: int = rank): - if not self._clients_ready[rank]: + if msg.client_ready and not self._clients_ready[rank]: logger.debug(f"Client {rank} ready") self._clients_ready[rank] = True if msg.controller_stopped and not self._clients_stopped[rank]: diff --git a/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg b/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg index 7a4577b3b..ddff7fbeb 100644 --- a/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg +++ b/ros_ws/src/drone_racing_msgs/msg/RealClientAction.msg @@ -2,4 +2,5 @@ int32 drone_rank float64[] action float64 elapsed_time float64 timestamp -bool controller_stopped \ No newline at end of file +bool client_ready +bool controller_stopped diff --git a/scripts/multi_deploy_client.py b/scripts/multi_deploy_client.py index 1772f64fc..8e8572a61 100644 --- a/scripts/multi_deploy_client.py +++ b/scripts/multi_deploy_client.py @@ -62,6 +62,7 @@ def main( control_path = Path(__file__).parents[1] / "lsy_drone_racing/control" controller_cls = load_controller(control_path / config_obj.controller[drone_rank]["file"]) controller = controller_cls(obs, info, extract_config_for_rank(config_obj, drone_rank)) + env.unwrapped.set_client_ready() env.unwrapped.lock_until_race_start(timeout=120.0) logger.info( From ee9a9ef428b9d0ef4a16d5cb302549bdb69dff55 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Wed, 1 Jul 2026 15:05:21 +0200 Subject: [PATCH 93/97] Adds first docs for maadr --- docs/img/multi_adr_scheme.svg | 3 ++ docs/multi_agent/index.md | 95 +++++++++++++++++++++++++++++++++++ properdocs.yml | 2 + 3 files changed, 100 insertions(+) create mode 100644 docs/img/multi_adr_scheme.svg create mode 100644 docs/multi_agent/index.md diff --git a/docs/img/multi_adr_scheme.svg b/docs/img/multi_adr_scheme.svg new file mode 100644 index 000000000..848ef8c19 --- /dev/null +++ b/docs/img/multi_adr_scheme.svg @@ -0,0 +1,3 @@ + + +
Client Machine
lsy_race_client_1
ROSConnector
Gates, Obstacles, Drones
t
lsy_race_host
lsy_drone_racing_client/cf20/action
lsy_drone_racing/client/cf52/action
lsy_drone_racing/calibrate_clock
lsy_drone_racing/host_state
ROSConnector
Gates, Obstacles, Drones
Host Machine
RaceHost
lsy_race_worker_1
ROSConnector
Gates, Obstacles, Drones
CrazyflieWorker
lsy_race_worker_2
ROSConnector
Gates, Obstacles, Drones
CrazyflieWorker
Client Machine
lsy_race_client_1
ROSConnector
Gates, Obstacles, Drones
crazyflie.drone "cf20"
crazyflie.drone "cf52"
Radio
send_action_state()
RealClientAction
- timestamp
- action
- controller_stopped
RealHostState
- timestamp
- elapsed_time
- host_ready
- race_start
- race_end
service
stop_event
send_action_state()
init_barrier
returning_to_start
return height
 \ No newline at end of file diff --git a/docs/multi_agent/index.md b/docs/multi_agent/index.md new file mode 100644 index 000000000..2f9d82a3a --- /dev/null +++ b/docs/multi_agent/index.md @@ -0,0 +1,95 @@ +# Multi-Agent Deployment + +The multi-agent real-world setup uses a host-client architecture. One host machine connects to all +Crazyflies and supervises the race, while each client process runs one controller for one drone +rank and communicates with the host over ROS2/Zenoh. + +## Required Processes + +For a multi-drone race, you typically need these processes: + +1. One Zenoh router on the host machine. +2. One motion capture node on the host machine. +3. One estimator process per drone. +4. One host deployment script on the host machine. +5. One client deployment script per drone, either on the host machine or on the students'. + +## Pixi Commands + +Start all terminals in the `deploy` environment: + +```bash +pixi shell -e deploy +``` + +On the host machine, start the Zenoh router: + +```bash +pixi run -e deploy zenoh-router +``` + +Start motion capture tracking: + +```bash +pixi run -e deploy mocap +``` + +Start one estimator per drone: + +```bash +pixi run -e deploy estimator --drone_name cfXX +``` + +Then launch the host process: + +```bash +python scripts/multi_deploy_host.py --config multi_level2.toml +``` + +On each client machine, launch one client process with its drone rank: + +```bash +python scripts/multi_deploy_client.py --config multi_level2.toml --drone_rank 0 +python scripts/multi_deploy_client.py --config multi_level2.toml --drone_rank 1 +``` + +If you want to override the controller file from the config for a single client, pass +`--controller ` to `multi_deploy_client.py`. + +!!! note + The `drone_rank` must match the order of drones in `deploy.drones` in the config file. + Rank `0` controls the first drone, rank `1` the second, and so on. + +## Environments + +Two different runtime environments are involved during deployment: + +- `lsy_drone_racing.envs.real_race_host_env.CrazyflieRealRaceHost` runs on the host machine. It checks the real track, spawns one worker process per drone, waits for all clients to become ready, calibrates clocks, starts the race, and coordinates shutdown and return-to-start. +- `lsy_drone_racing.envs.real_race_client_env.RealMultiDroneRaceEnvClient` runs on each client. It mirrors the multi-drone Gymnasium interface, reads local estimator state, tracks visited gates and obstacles, waits for the host start signal, and forwards the controller action for its own rank. + +## Host And Client Scripts + +The deployment scripts are thin wrappers around those environments: + +- `scripts/multi_deploy_host.py` loads the multi-drone config, updates and checks real poses from motion capture, connects to all drones, and enters the host coordination loop. +- `scripts/multi_deploy_client.py` loads the controller for one `drone_rank`, creates the client environment, waits for the host to start the race, and runs the local control loop at the configured frequency. + + +
+ Communication Scheme +
+ +## Startup Sequence + +The startup order matters: + +1. Start `zenoh-router`. +2. Start `mocap`. +3. Start all estimator processes. +4. Start the host script. +5. Start all client scripts. + +Once the host is running, it repeatedly publishes a ready signal. Each client waits for that +signal, calibrates its clock against the host, marks itself as ready, and blocks until the host +releases the synchronized race start. During the race, clients send actions to the host and the +host-side worker processes forward those actions to the physical drones. diff --git a/properdocs.yml b/properdocs.yml index 19c3967cf..079457ba9 100644 --- a/properdocs.yml +++ b/properdocs.yml @@ -63,6 +63,8 @@ nav: - utils/index.md - utils.checks: utils/checks.md - utils.utils: utils/utils.md + - Multi Agent: + - multi_agent/index.md plugins: - search From 35a66da589d801507b356376946e56106ab6556f Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Wed, 1 Jul 2026 15:05:56 +0200 Subject: [PATCH 94/97] Fixes packaging version error prevening shell activation --- pyproject.toml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 04840a08d..cf5d02549 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -28,7 +28,7 @@ dependencies = ["fire >= 0.6.0", "numpy", "toml >= 0.10.2"] sim = [ "gymnasium[array-api] >= 1.2.0", "ml-collections >= 1.0", - "packaging >= 24.0, < 26", + "packaging >= 24.0, <26", "drone-models", "drone-controllers", "crazyflow>=0.1.0", @@ -66,6 +66,7 @@ platforms = ["linux-64"] [tool.pixi.dependencies] python = ">=3.11.12,<3.14" pip = ">=25.0.1,<26" +packaging = ">=24,<26" ruff = "*" # Compilers needed for acados compilers = ">=1.9.0, <1.11.0" From 589acc2ba1b013bf282c37c509956a7edbc790f8 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Wed, 1 Jul 2026 15:06:56 +0200 Subject: [PATCH 95/97] Removing unset check that was causing deploy activation failure --- tools/setup_acados.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/setup_acados.sh b/tools/setup_acados.sh index d5fd677d4..3484543d8 100755 --- a/tools/setup_acados.sh +++ b/tools/setup_acados.sh @@ -1,5 +1,5 @@ #!/usr/bin/env bash -set -euo pipefail +set -eo pipefail # Check if environment variable is already set if [ -z "$PIXI_PROJECT_ROOT" ]; then From 7810a05bc91287e243adfcd68a5199797a04f7bb Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Wed, 1 Jul 2026 15:12:31 +0200 Subject: [PATCH 96/97] Updates pixi.lock after getting corrupted during merge --- pixi.lock | 2684 +++++++++++++++++++++++++++-------------------------- 1 file changed, 1376 insertions(+), 1308 deletions(-) diff --git a/pixi.lock b/pixi.lock index ea28d0892..3c4f59e81 100644 --- a/pixi.lock +++ b/pixi.lock @@ -20,24 +20,24 @@ environments: - 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- jaxlib<=0.8.1,>=0.8.1 ; extra == 'cuda12' - - jax-cuda12-plugin[with-cuda]<=0.8.1,>=0.8.1 ; extra == 'cuda12' - - jaxlib<=0.8.1,>=0.8.1 ; extra == 'cuda13' - - jax-cuda13-plugin[with-cuda]<=0.8.1,>=0.8.1 ; extra == 'cuda13' - - jaxlib<=0.8.1,>=0.8.1 ; extra == 'cuda12-local' - - jax-cuda12-plugin<=0.8.1,>=0.8.1 ; extra == 'cuda12-local' - - jaxlib<=0.8.1,>=0.8.1 ; extra == 'cuda13-local' - - jax-cuda13-plugin<=0.8.1,>=0.8.1 ; extra == 'cuda13-local' - - jaxlib<=0.8.1,>=0.8.1 ; extra == 'rocm' - - jax-rocm60-plugin<=0.8.1,>=0.8.1 ; extra == 'rocm' - - kubernetes ; extra == 'k8s' - - xprof ; extra == 'xprof' - requires_python: '>=3.11' - pypi: https://files.pythonhosted.org/packages/fa/07/330e3a0dda4c404d6da83b327270906e9654a24f6c546dc886a0eb0ffb23/charset_normalizer-3.4.7-cp313-cp313-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl name: charset-normalizer version: 3.4.7 From 72e4835ee2fb6d5576bd6c2fb2d0be4cbe7b62d1 Mon Sep 17 00:00:00 2001 From: radu_workstation Date: Tue, 7 Jul 2026 15:11:40 +0200 Subject: [PATCH 97/97] Adds testing deploy scripts for debugging --- config/multi_test.toml | 168 ++++++++++++++++++ config/multi_test_solo.toml | 153 ++++++++++++++++ lsy_drone_racing/control/testing_race_fast.py | 57 ++++++ lsy_drone_racing/control/testing_race_slow.py | 58 ++++++ 4 files changed, 436 insertions(+) create mode 100644 config/multi_test.toml create mode 100644 config/multi_test_solo.toml create mode 100644 lsy_drone_racing/control/testing_race_fast.py create mode 100644 lsy_drone_racing/control/testing_race_slow.py diff --git a/config/multi_test.toml b/config/multi_test.toml new file mode 100644 index 000000000..e2609e27b --- /dev/null +++ b/config/multi_test.toml @@ -0,0 +1,168 @@ +# Level 2 + +# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes | +# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :-------------------: | +# | `level2.toml` | *Yes* | *Yes* | *No* | Learning, re-planning | +[[controller]] +file = "testing_race_slow.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/` +[[controller]] +file = "attitude_mpc_multi.py" + +[deploy] +### Settings only relevant for deployment +# Whether to check if gate and obstacle positions observed by vicon are within the limits defined down below. +check_race_track = false +# Whether to check if the drone start position is within the limits specified down below. +check_drone_start_pos = false +# Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. +real_track_objects = false + +# Specify the minimal and maximal height for the return controller +return_height_min = 1.5 +return_height_max = 1.75 + +[[deploy.drones]] +radio = 0 +id = 52 +channel = 80 +drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 + +[[deploy.drones]] +radio = 1 +id = 20 +channel = 100 +drone_model = "cf21B_500" + + +[sim] +# Physics options: +# "first_principles": first_principles (physics based) model +# "so_rpy": Simplified identified model. +# "so_rpy_rotor": Simplified identified model with rotor dynamics. +# "so_rpy_rotor_drag": Simplified identified model with rotor dynamics and drag. +physics = "first_principles" +drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 +freq = 500 # Simulation frequency, in Hz +attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function +render = true # Enable/disable Crazyflow's GUI +camera = -1 # camera id or name, i.e., drone cam ids start at 0, cam names are "fpv_cam:0" or "track_cam:0", where the number is the drone id +[[sim.cam_config]] # only used if camera == -1, i.e., world view is activated +distance = 5.0 +azimuth = 180.0 +elevation = -25.0 +lookat = [0.0, 0.0, 0.0] + + +[env] +id = "MultiDroneRacing-v0" +seed = -1 # -1 for random seeds or a non-zero integer for reproducibility +[[env.kwargs]] +freq = 50 # Frequency of the environment's step function, in Hz +sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. +control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" +[[env.kwargs]] +freq = 50 # Frequency of the environment's step function, in Hz +sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. +control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" + + +[env.track] +# Full track radomization. When activated, the position (x & y) and orientation (yaw) +# of the below given gates, obstacles and drones is randomized inside the safety limits. +# Note: The order and therefore also height is not randomized! +randomize = false + +# Tall gates: 1.195m height. Short gates: 0.695m height. Height is measured from the ground to the center of the gate. +# Gates are square. Gates are 0.72m wide (outer dimensions of the frame) with a 0.4m wide opening. +[[env.track.gates]] +pos = [0.5 , 0.25, 0.7] +rpy = [0.0, 0.0, -0.78] +[[env.track.gates]] +pos = [1.05, 0.75, 1.2] +rpy = [0.0, 0.0, 2.35] +[[env.track.gates]] +pos = [-1.0, -0.25, 0.7] +rpy = [0.0, 0.0, 3.14] +[[env.track.gates]] +pos = [0.0, -0.75, 1.2] +rpy = [0.0, 0.0, 0.0] + +# Obstacle height: 1.52m + reflective marker on top. Height is measured from the ground to the top of the obstacle. +# Obstacles are cylinders with a diameter of 0.03m. +[[env.track.obstacles]] +pos = [0.0, 0.75, 1.55] +[[env.track.obstacles]] +pos = [1.0, 0.25, 1.55] +[[env.track.obstacles]] +pos = [-1.5, -0.25, 1.55] +[[env.track.obstacles]] +pos = [-0.5, -0.75, 1.55] + +[[env.track.drones]] +pos = [-1.5, 0.50, 0.01] +rpy = [0, 0, 0] +vel = [0, 0, 0] +ang_vel = [0, 0, 0] +[[env.track.drones]] +pos = [-1.5, 1.0, 0.01] +rpy = [0, 0, 0] +vel = [0, 0, 0] +ang_vel = [0, 0, 0] + +# If the drones exceed those bounds in real, the run will be stopped and the drone will safely be returned to the starting position +[env.track.safety_limits] +pos_limit_low = [-2.5, -1.5, -1e-3] +pos_limit_high = [2.5, 1.5, 2.0] + +# We intentionally reduce the disturbances for the multi-drone scenario, so students can focus on the multi-drone aspect for now. +[env.disturbances.action] +fn = "normal" +scale = 0.001 + +[env.disturbances.dynamics] +fn = "uniform" +[env.disturbances.dynamics.kwargs] +minval = [-0.02, -0.02, -0.02] +maxval = [0.02, 0.02, 0.02] + +[env.randomizations.drone_pos] +fn = "uniform" +[env.randomizations.drone_pos.kwargs] +minval = [-0.02, -0.02, 0.0] +maxval = [0.02, 0.02, 0.02] + +[env.randomizations.drone_rpy] +fn = "uniform" +[env.randomizations.drone_rpy.kwargs] +minval = [-0.1, -0.1, -0.1] +maxval = [0.1, 0.1, 0.1] + +[env.randomizations.drone_mass] +fn = "uniform" +[env.randomizations.drone_mass.kwargs] +minval = -0.002 +maxval = 0.002 + +[env.randomizations.drone_inertia] +fn = "uniform" +[env.randomizations.drone_inertia.kwargs] +minval = [-0.000001, -0.000001, -0.000001] +maxval = [0.000001, 0.000001, 0.000001] + +[env.randomizations.gate_pos] +fn = "uniform" +[env.randomizations.gate_pos.kwargs] +minval = [-0.02, -0.02, -0.01] +maxval = [0.02, 0.02, 0.01] + +[env.randomizations.gate_rpy] +fn = "uniform" +[env.randomizations.gate_rpy.kwargs] +minval = [-0.01, -0.01, -0.01] +maxval = [0.01, 0.01, 0.01] + +[env.randomizations.obstacle_pos] +fn = "uniform" +[env.randomizations.obstacle_pos.kwargs] +minval = [-0.02, -0.02, -0.01] +maxval = [0.02, 0.02, 0.01] diff --git a/config/multi_test_solo.toml b/config/multi_test_solo.toml new file mode 100644 index 000000000..40e5b5c5d --- /dev/null +++ b/config/multi_test_solo.toml @@ -0,0 +1,153 @@ +# Level 2 + +# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes | +# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :-------------------: | +# | `level2.toml` | *Yes* | *Yes* | *No* | Learning, re-planning | +[[controller]] +file = "attitude_mpc_multi.py" + +[deploy] +### Settings only relevant for deployment +# Whether to check if gate and obstacle positions observed by vicon are within the limits defined down below. +check_race_track = false +# Whether to check if the drone start position is within the limits specified down below. +check_drone_start_pos = false +# Lets you practice your controller without putting up gates & obstacles, assumes nominal positions given below. +real_track_objects = false + +# Specify the minimal and maximal height for the return controller +return_height_min = 1.5 +return_height_max = 1.75 + + +[[deploy.drones]] +radio = 1 +id = 20 +channel = 100 +drone_model = "cf21B_500" + + +[sim] +# Physics options: +# "first_principles": first_principles (physics based) model +# "so_rpy": Simplified identified model. +# "so_rpy_rotor": Simplified identified model with rotor dynamics. +# "so_rpy_rotor_drag": Simplified identified model with rotor dynamics and drag. +physics = "first_principles" +drone_model = "cf21B_500" # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500 +freq = 500 # Simulation frequency, in Hz +attitude_freq = 500 # Controller frequency, in Hz. This frequency is used to simulate the onboard controller, NOT for the environment's step function +render = true # Enable/disable Crazyflow's GUI +camera = -1 # camera id or name, i.e., drone cam ids start at 0, cam names are "fpv_cam:0" or "track_cam:0", where the number is the drone id +[[sim.cam_config]] # only used if camera == -1, i.e., world view is activated +distance = 5.0 +azimuth = 180.0 +elevation = -25.0 +lookat = [0.0, 0.0, 0.0] + + +[env] +id = "MultiDroneRacing-v0" +seed = -1 # -1 for random seeds or a non-zero integer for reproducibility +[[env.kwargs]] +freq = 50 # Frequency of the environment's step function, in Hz +sensor_range = 0.7 # Range at which the exact location of gates and obstacles become visible to the drone. Objects that are not in the drone's sensor range report their nominal position. +control_mode = "attitude" # Control mode of the environment. Can be either "state" or "attitude" + + +[env.track] +# Full track radomization. When activated, the position (x & y) and orientation (yaw) +# of the below given gates, obstacles and drones is randomized inside the safety limits. +# Note: The order and therefore also height is not randomized! +randomize = false + +# Tall gates: 1.195m height. Short gates: 0.695m height. Height is measured from the ground to the center of the gate. +# Gates are square. Gates are 0.72m wide (outer dimensions of the frame) with a 0.4m wide opening. +[[env.track.gates]] +pos = [0.5 , 0.25, 0.7] +rpy = [0.0, 0.0, -0.78] +[[env.track.gates]] +pos = [1.05, 0.75, 1.2] +rpy = [0.0, 0.0, 2.35] +[[env.track.gates]] +pos = [-1.0, -0.25, 0.7] +rpy = [0.0, 0.0, 3.14] +[[env.track.gates]] +pos = [0.0, -0.75, 1.2] +rpy = [0.0, 0.0, 0.0] + +# Obstacle height: 1.52m + reflective marker on top. Height is measured from the ground to the top of the obstacle. +# Obstacles are cylinders with a diameter of 0.03m. +[[env.track.obstacles]] +pos = [0.0, 0.75, 1.55] +[[env.track.obstacles]] +pos = [1.0, 0.25, 1.55] +[[env.track.obstacles]] +pos = [-1.5, -0.25, 1.55] +[[env.track.obstacles]] +pos = [-0.5, -0.75, 1.55] + +[[env.track.drones]] +pos = [-1.5, 0.50, 0.01] +rpy = [0, 0, 0] +vel = [0, 0, 0] +ang_vel = [0, 0, 0] + + +# If the drones exceed those bounds in real, the run will be stopped and the drone will safely be returned to the starting position +[env.track.safety_limits] +pos_limit_low = [-2.5, -1.5, -1e-3] +pos_limit_high = [2.5, 1.5, 2.0] + +# We intentionally reduce the disturbances for the multi-drone scenario, so students can focus on the multi-drone aspect for now. +[env.disturbances.action] +fn = "normal" +scale = 0.001 + +[env.disturbances.dynamics] +fn = "uniform" +[env.disturbances.dynamics.kwargs] +minval = [-0.02, -0.02, -0.02] +maxval = [0.02, 0.02, 0.02] + +[env.randomizations.drone_pos] +fn = "uniform" +[env.randomizations.drone_pos.kwargs] +minval = [-0.02, -0.02, 0.0] +maxval = [0.02, 0.02, 0.02] + +[env.randomizations.drone_rpy] +fn = "uniform" +[env.randomizations.drone_rpy.kwargs] +minval = [-0.1, -0.1, -0.1] +maxval = [0.1, 0.1, 0.1] + +[env.randomizations.drone_mass] +fn = "uniform" +[env.randomizations.drone_mass.kwargs] +minval = -0.002 +maxval = 0.002 + +[env.randomizations.drone_inertia] +fn = "uniform" +[env.randomizations.drone_inertia.kwargs] +minval = [-0.000001, -0.000001, -0.000001] +maxval = [0.000001, 0.000001, 0.000001] + +[env.randomizations.gate_pos] +fn = "uniform" +[env.randomizations.gate_pos.kwargs] +minval = [-0.02, -0.02, -0.01] +maxval = [0.02, 0.02, 0.01] + +[env.randomizations.gate_rpy] +fn = "uniform" +[env.randomizations.gate_rpy.kwargs] +minval = [-0.01, -0.01, -0.01] +maxval = [0.01, 0.01, 0.01] + +[env.randomizations.obstacle_pos] +fn = "uniform" +[env.randomizations.obstacle_pos.kwargs] +minval = [-0.02, -0.02, -0.01] +maxval = [0.02, 0.02, 0.01] diff --git a/lsy_drone_racing/control/testing_race_fast.py b/lsy_drone_racing/control/testing_race_fast.py new file mode 100644 index 000000000..ed91bf9bd --- /dev/null +++ b/lsy_drone_racing/control/testing_race_fast.py @@ -0,0 +1,57 @@ +"""This module wraps the AttitudeController to handle batched multi-agent environments. + +In multi-agent simulations, observations are batched across all drones. +The rank index is used to select the state of the current drone. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +import numpy as np +from scipy.interpolate import CubicSpline + +from lsy_drone_racing.control.attitude_controller import ( + AttitudeController as SingleAttitudeController, +) + +if TYPE_CHECKING: + from numpy.typing import NDArray + + +class AttitudeController(SingleAttitudeController): + """Example of a controller using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + self.rank = info["rank"] + super().__init__({k: v[self.rank] for k, v in obs.items()}, info, config) + # We don't want the example controllers to crash, so we speed up this one to get ahead + self._t_total = 6 + waypoints = self._des_pos_spline._c[-1] + t = np.linspace(0, self._t_total, len(waypoints)) + self._des_pos_spline = CubicSpline(t, waypoints) + self._des_vel_spline = self._des_pos_spline.derivative() + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + return super().compute_control({k: v[self.rank] for k, v in obs.items()}, info) diff --git a/lsy_drone_racing/control/testing_race_slow.py b/lsy_drone_racing/control/testing_race_slow.py new file mode 100644 index 000000000..7b507cb7e --- /dev/null +++ b/lsy_drone_racing/control/testing_race_slow.py @@ -0,0 +1,58 @@ +"""This module wraps the AttitudeController to handle batched multi-agent environments. + +In multi-agent simulations, observations are batched across all drones. +The rank index is used to select the state of the current drone. +""" + +from __future__ import annotations # Python 3.10 type hints + +from typing import TYPE_CHECKING + +import numpy as np +from scipy.interpolate import CubicSpline + +from lsy_drone_racing.control.attitude_controller import ( + AttitudeController as SingleAttitudeController, +) +import time +if TYPE_CHECKING: + from numpy.typing import NDArray + + +class AttitudeController(SingleAttitudeController): + """Example of a controller using the collective thrust and attitude interface.""" + + def __init__(self, obs: dict[str, NDArray[np.floating]], info: dict, config: dict): + """Initialize the attitude controller. + + Args: + obs: The initial observation of the environment's state. See the environment's + observation space for details. + info: Additional environment information from the reset. + config: The configuration of the environment. + """ + self.rank = info["rank"] + super().__init__({k: v[self.rank] for k, v in obs.items()}, info, config) + # We don't want the example controllers to crash, so we speed up this one to get ahead + self._t_total = 10 + time.sleep(20) + waypoints = self._des_pos_spline._c[-1] + t = np.linspace(0, self._t_total, len(waypoints)) + self._des_pos_spline = CubicSpline(t, waypoints) + self._des_vel_spline = self._des_pos_spline.derivative() + + def compute_control( + self, obs: dict[str, NDArray[np.floating]], info: dict | None = None + ) -> NDArray[np.floating]: + """Compute the next desired collective thrust and roll/pitch/yaw of the drone. + + Args: + obs: The current observation of the environment. See the environment's observation space + for details. + info: Optional additional information as a dictionary. + + Returns: + The orientation as roll, pitch, yaw angles, and the collective thrust + [r_des, p_des, y_des, t_des] as a numpy array. + """ + return super().compute_control({k: v[self.rank] for k, v in obs.items()}, info)