132 lines
3.4 KiB
Rust
132 lines
3.4 KiB
Rust
mod engine;
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use engine::*;
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mod camera;
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mod config;
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mod drone;
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mod helpers;
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mod logger;
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mod rendering;
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mod simulation;
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mod graphics_util;
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use crate::drone::input::*;
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use crate::simulation::{SimMode, Simulation};
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use crate::config::SimulationConfig;
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use helpers::list_files;
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use std::fs;
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const INPUTS_DIR: &str = "inputs/";
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const CONFIGS_DIR: &str = "configurations/final/";
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const RESULTS_DIR: &str = "results/";
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use std::path::PathBuf;
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use std::thread::JoinHandle;
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fn main() {
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run_batch();
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}
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fn run_batch() {
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let _ = fs::remove_dir_all(RESULTS_DIR);
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let _ = fs::create_dir_all(RESULTS_DIR);
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let input_files = list_files(INPUTS_DIR);
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let config_files = list_files(CONFIGS_DIR);
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let mut handles: Vec<JoinHandle<()>> = Default::default();
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for input_path in input_files {
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for config_path in &config_files {
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let cp = config_path.clone();
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let ip = input_path.clone();
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handles.push(std::thread::spawn(move || {
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run(&ip, &cp);
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}));
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}
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}
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for handle in handles {
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handle.join().unwrap();
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}
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println!("All simulations completed.");
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}
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fn run(input_path: &PathBuf, config_path: &PathBuf) {
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let input_name = input_path.file_stem().unwrap().to_string_lossy();
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let inputs = InputRecording::load_from_file(input_path.to_str().unwrap())
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.expect("Failed to load input recording");
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let config_name = config_path.file_stem().unwrap().to_string_lossy();
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let config: SimulationConfig =
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toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");
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println!(
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"Running simulation: input={} config={}",
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input_name, config_name
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);
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let mut world = World::new(config.tickrate);
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let drone = drone::Drone::new(
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&mut world,
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Box::new(drone::stacked::StackedController::new(config.clone())),
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drone::MotorCharacteristics {
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max_thrust: config.max_thrust,
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max_torque: config.max_torque,
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time_constant: config.time_constant,
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..Default::default()
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},
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config.mass,
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);
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let result_file = format!("{}/{}_{}.csv", RESULTS_DIR, input_name, config_name);
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let mut sim = Simulation::new(
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drone,
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world,
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SimMode::Playback(inputs.clone(), 0.0),
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Some(result_file),
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config.drone_tick_rate,
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);
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sim.run().unwrap();
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}
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async fn run_record(output: String, config_path: &PathBuf) {
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println!(
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"Recording inputs to {}, using config {}",
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output,
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config_path.to_str().unwrap_or("<INVALID CONFIG PATH>")
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);
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let config: SimulationConfig =
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toml::from_str(&fs::read_to_string(config_path).unwrap()).expect("Invalid config file");
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let mut world = World::new(config.tickrate);
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let drone = drone::Drone::new(
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&mut world,
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Box::new(drone::stacked::StackedController::new(config.clone())),
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drone::MotorCharacteristics {
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max_thrust: config.max_thrust,
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max_torque: config.max_torque,
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time_constant: config.time_constant,
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..Default::default()
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},
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config.mass,
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);
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let mut sim = Simulation::new(
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drone,
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world,
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SimMode::Record(InputRecording::default(), output),
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None,
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config.drone_tick_rate,
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);
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sim.run_and_render().await.unwrap();
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}
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