ORAC/orac_visual_simulator.py at main · Kretski/ORAC · GitHub

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import pygame
import numpy as np
import random
import math

WIDTH = 900
HEIGHT = 600

pygame.init()
screen = pygame.display.set_mode((WIDTH, HEIGHT))
pygame.display.set_caption("ORAC v6 Visual Simulator")

clock = pygame.time.Clock()

# colors
WHITE = (255,255,255)
BLACK = (20,20,20)
RED = (220,50,50)
GREEN = (50,220,100)
YELLOW = (240,200,0)

font = pygame.font.SysFont("consolas",18)

class ORAC:

    def __init__(self):

        self.threshold = 0.35
        self.W = 1.0
        self.mode = "NORMAL"
        self.fault = "NONE"

    def cusum(self, window):

        mean = np.mean(window)
        return np.mean(np.abs(window - mean))

    def detect(self,a,b):

        scoreA = self.cusum(a)
        scoreB = self.cusum(b)

        if scoreA > self.threshold and scoreB < self.threshold:
            self.fault = "IMU_A"
        elif scoreB > self.threshold and scoreA < self.threshold:
            self.fault = "IMU_B"
        else:
            self.fault = "NONE"

    def vitality(self,error):

        self.W = 1.0/(1.0 + abs(error)*4)

        if self.W < 0.7:
            self.mode = "SURVIVAL"
        else:
            self.mode = "NORMAL"


class Robot:

    def __init__(self):

        self.x = WIDTH/2
        self.y = HEIGHT/2

        self.angle = 0

        self.speed = 2

        self.path = []

    def move(self,mode):

        if mode == "SURVIVAL":
            speed = 1
        else:
            speed = 2.5

        self.angle += random.uniform(-0.05,0.05)

        self.x += math.cos(self.angle)*speed
        self.y += math.sin(self.angle)*speed

        self.path.append((self.x,self.y))

        if len(self.path) > 200:
            self.path.pop(0)


orac = ORAC()
robot = Robot()

gyroA = []
gyroB = []

fault_timer = 0
inject_fault = False

running = True

while running:

    clock.tick(60)

    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            running = False

        if event.type == pygame.KEYDOWN:

            if event.key == pygame.K_f:
                inject_fault = True

    # simulate sensors
    true_rotation = robot.angle + random.uniform(-0.01,0.01)

    gyroA_val = true_rotation + random.uniform(-0.02,0.02)
    gyroB_val = true_rotation + random.uniform(-0.02,0.02)

    if inject_fault:
        gyroA_val += random.uniform(-0.6,0.6)

    gyroA.append(gyroA_val)
    gyroB.append(gyroB_val)

    if len(gyroA) > 30:
        gyroA.pop(0)
        gyroB.pop(0)

    if len(gyroA) > 10:

        orac.detect(gyroA,gyroB)

        err = gyroA[-1] - gyroB[-1]

        orac.vitality(err)

    robot.move(orac.mode)

    screen.fill(BLACK)

    # draw path
    for p in robot.path:
        pygame.draw.circle(screen,(70,70,70),(int(p[0]),int(p[1])),2)

    # draw robot
    color = GREEN if orac.mode=="NORMAL" else YELLOW
    pygame.draw.circle(screen,color,(int(robot.x),int(robot.y)),12)

    # text
    t1 = font.render(f"Mode: {orac.mode}",True,WHITE)
    t2 = font.render(f"Vitality W: {orac.W:.2f}",True,WHITE)
    t3 = font.render(f"Fault: {orac.fault}",True,WHITE)
    t4 = font.render("Press F to inject sensor fault",True,WHITE)

    screen.blit(t1,(20,20))
    screen.blit(t2,(20,45))
    screen.blit(t3,(20,70))
    screen.blit(t4,(20,100))

    pygame.display.flip()

pygame.quit()