stanleybak / aerobenchvvpython Goto Github PK

#!/bin/bash

time python3 run_GCAS_anim3d.py gcas.mp4
time python3 run_GCAS_anim3d.py gcas.gif

$ ./run_gcas.sh 
saving result to 'gcas.mp4'
GCAS transition waiting -> roll at time 4.999999999999992
GCAS transition roll -> pull at time 6.233333333333321
GCAS transition pull -> standby at time 11.833333333333302
Simulation Completed in 0.35 seconds

Saving 'gcas.mp4' at 40.00 fps using ffmpeg with codec 'libx264'.
Frame: 0/451 - Index 0 frame 0/451
Traceback (most recent call last):
  File "/home/hawkinsw/dependable/AeroBenchVVPython/code/aerobench/visualize/anim3d.py", line 359, in make_anim
    anim_obj.save(filename, fps=fps, extra_args=extra_args)
  File "/home/hawkinsw/.local/lib/python3.8/site-packages/matplotlib/animation.py", line 1128, in save
    anim._init_draw()  # Clear the initial frame
  File "/home/hawkinsw/.local/lib/python3.8/site-packages/matplotlib/animation.py", line 1703, in _init_draw
    self._draw_frame(next(self.new_frame_seq()))
  File "/home/hawkinsw/.local/lib/python3.8/site-packages/matplotlib/animation.py", line 1726, in _draw_frame
    self._drawn_artists = self._func(framedata, *self._args)
  File "/home/hawkinsw/dependable/AeroBenchVVPython/code/aerobench/visualize/anim3d.py", line 325, in anim_func
    trail_line.set_3d_properties(pos_zs[start_index:frame])
  File "/home/hawkinsw/.local/lib/python3.8/site-packages/mpl_toolkits/mplot3d/art3d.py", line 143, in set_3d_properties
    zs = np.broadcast_to(zs, xs.shape)
AttributeError: 'list' object has no attribute 'shape'

        @abc.abstractmethod
        def advance(self, t, x_f16, autopilot_state, xd, u, Nz, ps, Ny_r):
        '''advance the automaton state based on the current aircraft state'''

        airspeed = x_f16[0]
        self.check('airspeed', t, airspeed, self.flightLimits.vMin, self.flightLimits.vMax)

        alpha = rad2deg(x_f16[1])
        self.check('alpha', t, alpha, self.flightLimits.alphaMinDeg, self.flightLimits.alphaMaxDeg)

        beta = rad2deg(x_f16[2])
        self.check('beta', t, beta, -self.flightLimits.betaMaxDeg, self.flightLimits.betaMaxDeg)

        self.check('Nz', t, Nz, self.flightLimits.NzMin, self.flightLimits.NzMax)

        altitude = x_f16[11]
        self.check('altitude', t, altitude, self.flightLimits.altitudeMin, self.flightLimits.altitudeMax)

        def get_checked_u_ref(self, t, x_f16):
        '''
        for the current discrete state, get the reference inputs signals and check them against ctrl limits
        '''

        rv = np.array(self.get_u_ref(t, x_f16), dtype=float)

        assert rv.size % 4 == 0, "get_u_ref should return Nz, ps, Ny_r, throttle for each aircraft"

        for i in range(rv.size //4):
            Nz, _ps, _Ny_r, _throttle = rv[4*i:4*(i+1)]

            l, u = self.llc.ctrlLimits.NzMin, self.llc.ctrlLimits.NzMax
            assert l <= Nz <= u, f"autopilot commanded invalid Nz ({Nz}). Not in range [{l}, {u}]"

        return rv