yandexdataschool · bamasa · Feb 28, 2022 · Mar 3, 2022 · Mar 3, 2022
diff --git a/api/README.md b/api/README.md
@@ -0,0 +1,33 @@
+# API for the maneuvers calculation.
+
+### Server
+
+Run server:
+
+```shell
+export FLASK_APP=api/api_v0.py
+export FLASK_ENV=development
+flask run
+```
+
+### User
+
+Generate protected satellite parameters (or use your own):
+
+```shell
+python api/generate_params.py --save_path <<save path .json>>
+```
+
+then just open [http://127.0.0.1:5000/](http://127.0.0.1:5000/), upload the satellite parameters and download your
+maneuver example.
+
+Here, the collision situation is generated with several dangerous debris. After that, it is calculated
+the maneuver using CE-method. This calculated maneuver is downloaded after all.
+
+### Additional
+
+Also, you could visualize the maneuver and the environment:
+
+```shell
+python  examples/collision.py -env api/data/generated_collision_api.env -model api/data/maneuvers.csv
+```
diff --git a/api/api_v0.py b/api/api_v0.py
@@ -0,0 +1,79 @@
+import os
+from flask import Flask, flash, request, redirect, url_for, send_file
+from werkzeug.utils import secure_filename
+from other import generate_env
+import json
+
+UPLOAD_FOLDER = '/home/dev/projects/satellite-collision-avoidance/api/data'
+if not os.path.exists(UPLOAD_FOLDER):
+    os.makedirs(UPLOAD_FOLDER)
+
+ALLOWED_EXTENSIONS = {'json'}
+JSON_PATH = 'protected_params_api.json'
+
+ENV_PATH = "generated_collision_api.env"
+MANEUVERS_PATH = "maneuvers.csv"
+
+app = Flask(__name__)
+app.config['UPLOAD_FOLDER'] = UPLOAD_FOLDER
+
+
+def allowed_file(filename):
+    return '.' in filename and \
+           filename.rsplit('.', 1)[1].lower() in ALLOWED_EXTENSIONS
+
+
+@app.route('/', methods=['GET', 'POST'])
+def upload_file():
+    if request.method == 'POST':
+        # check if the post request has the file part
+        if 'file' not in request.files:
+            flash('No file part')
+            return redirect(request.url)
+        file = request.files['file']
+        # If the user does not select a file, the browser submits an
+        # empty file without a filename.
+        if file.filename == '':
+            flash('No selected file')
+            return redirect(request.url)
+        if file and allowed_file(file.filename):
+            filename = secure_filename(file.filename)
+            # file.save(os.path.join(app.config['UPLOAD_FOLDER'], filename))
+            file.save(os.path.join(app.config['UPLOAD_FOLDER'], JSON_PATH))
+            return redirect(url_for('sent_result', name=filename))
+    return '''
+    <!doctype html>
+    <title>TensorLab</title>
+    <h1>Upload your satellite parameters in .json</h1>
+    <form method=post enctype=multipart/form-data>
+      <input type=file name=file>
+      <input type=submit value=Upload>
+    </form>
+    '''
+
+
+@app.route('/sent_result')
+def sent_result():
+    with open(JSON_PATH, "r") as read_file:
+        protected_params = json.load(read_file)
+
+    env_path = os.path.join(app.config['UPLOAD_FOLDER'], ENV_PATH)
+    maneuvers_path = os.path.join(app.config['UPLOAD_FOLDER'], MANEUVERS_PATH)
+
+    generate_env(protected_params, env_path)
+
+    os.system(
+        f'python training/CE/CE_train_for_collision.py -env {env_path} -print true -save_path {maneuvers_path} \
+    -r false -n_m 1')
+    # os.system(f'python examples/collision.py -env {ENV_PATH} -model {MANEUVERS_PATH} -v False')
+
+    return send_file(
+        maneuvers_path,
+        mimetype='text/csv',
+        attachment_filename='maneuver.csv',
+        as_attachment=True
+    )
+
+
+if __name__ == '__main__':
+    app.run(debug=True)
diff --git a/api/generate_params.py b/api/generate_params.py
@@ -0,0 +1,20 @@
+from space_navigator.generator import Generator
+import json
+import click
+
+
+@click.command()
+@click.option('--save_path', default='protected_params_api.json', help='save path .json')
+def main(save_path):
+    start_time = 6600  # TODO: start and end time to import json
+    end_time = 6600.1
+
+    generator = Generator(start_time, end_time)
+    generator.add_protected()
+    protected_params = generator.get_protected_params()
+    with open(save_path, 'w') as f:
+        json.dump(protected_params, f)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/api/other.py b/api/other.py
@@ -0,0 +1,42 @@
+from space_navigator.generator import Generator
+import json
+
+import os
+
+start_time = 6600  # TODO: start and end time to import json
+end_time = 6600.1
+
+ENV_PATH = "generated_collision_api.env"
+MANEUVERS_PATH = "maneuvers.csv"
+
+
+def generate_env(protected_params, save_path=ENV_PATH):
+    n_debris = 5
+    time_before_start_time = 0.1
+    pos_sigma = 0
+    vel_ratio_sigma = 0.05
+    i_threshold = 0.5
+
+    generator = Generator(start_time, end_time)
+    generator.add_protected_by_params(protected_params)
+    for _ in range(n_debris):
+        generator.add_debris(pos_sigma, vel_ratio_sigma, i_threshold)
+    generator.save_env(save_path, time_before_start_time)
+
+
+if __name__ == "__main__":
+    # generate debris
+    json_path = 'protected_params_api.json'
+    with open(json_path, "r") as read_file:
+        protected_params = json.load(read_file)
+    generate_env(protected_params)
+
+    # calculate maneuvers
+    # TODO: without OS
+    os.system(
+        f'python training/CE/CE_train_for_collision.py -env {ENV_PATH} -print true -save_path {MANEUVERS_PATH} \
+-r false -n_m 1')
+
+    # TODO: sent graphs and gif
+    # run simulator
+    os.system(f'python examples/collision.py -env {ENV_PATH} -model {MANEUVERS_PATH} -v False')
diff --git a/requirements.txt b/requirements.txt
@@ -1,7 +1,10 @@
-numpy==1.14.5
-pykep==2.1
-pandas==0.20.3
-matplotlib==2.1.0
-scipy==1.0.1
-torch==0.4.0
-tqdm==4.23.4
+numpy # ==1.14.5
+pykep # ==2.1
+pandas # ==0.20.3
+matplotlib # ==2.1.0
+scipy # ==1.0.1
+torch #==0.4.0
+tqdm # ==4.23.4
+Flask
+Flask-RESTful
+Werkzeug
diff --git a/setup.py b/setup.py
@@ -23,11 +23,11 @@
     # What does your project relate to?
     keywords='machine learning, reinforcement learning, collision avoidance, spacecraft',
 
-    install_requires=[
-        'pykep == 2.1',
-        'pandas >= 0.20.3',
-        'matplotlib >= 2.1.0',
-        'numpy >= 1.14.2',
-        'scipy >= 1.0.1'
-    ],
+    # install_requires=[
+    #     'pykep == 2.1',
+    #     'pandas >= 0.20.3',
+    #     'matplotlib >= 2.1.0',
+    #     'numpy >= 1.14.2',
+    #     'scipy >= 1.0.1'
+    # ],
 )
diff --git a/space_navigator/api/api.py b/space_navigator/api/api.py
@@ -300,7 +300,7 @@ def _update_reward(self):
                 [self.get_fuel_consumption()],
                 np.abs(self.get_trajectory_deviation()),
             )
-        ).astype(np.float)
+        ).astype(np.float64)
         reward_arr = reward_func(values, self._reward_thr)
         coll_prob_r = reward_arr[0]
         fuel_r = reward_arr[1]

diff --git a/space_navigator/generator/generator.py b/space_navigator/generator/generator.py
@@ -5,7 +5,6 @@
 import numpy as np
 import pykep as pk
 
-
 from .generator_utils import SpaceObject2srt, rotate_velocity
 from ..api import SpaceObject
 
@@ -22,13 +21,14 @@ class Generator:
     def __init__(self, start_time, end_time):
         # TODO - random start/end time with duration?
         # TODO - random duration?
-        self.start_time = pk.epoch(start_time, "mjd2000")
-        self.end_time = pk.epoch(end_time, "mjd2000")
+        self.start_time = start_time  # pk.epoch(start_time, "mjd2000")
+        self.end_time = end_time  # pk.epoch(end_time, "mjd2000")
 
         self.protected = None
         self.debris = []
 
         self.collision_epochs = []
+        self.protected_params = None
 
     def add_protected(self):
         """Add protected object."""
@@ -70,8 +70,8 @@ def add_protected(self):
         elements = [a, e, i, W, w, M]
 
         # protected object parameters
-        params = {
-            "epoch": self.start_time,
+        protected_params = {
+            "start_time": self.start_time,
             "elements": elements,
             "mu_central_body": pk.MU_EARTH,
             "mu_self": mu_self,
@@ -80,7 +80,14 @@ def add_protected(self):
             "fuel": fuel
         }
 
-        self.protected = SpaceObject("PROTECTED", "osc", params)
+        self.add_protected_by_params(protected_params)
+
+    def add_protected_by_params(self, protected_params):
+        self.protected_params = protected_params
+        protected_params_with_epoch = self.protected_params.copy()
+        protected_params_with_epoch["epoch"] = pk.epoch(protected_params_with_epoch['start_time'], "mjd2000")
+        del protected_params_with_epoch['start_time']
+        self.protected = SpaceObject("PROTECTED", "osc", protected_params_with_epoch)
 
     def add_debris(self, pos_sigma=0, vel_ratio_sigma=0.05,
                    i_threshold=0.5):
@@ -104,9 +111,12 @@ def add_debris(self, pos_sigma=0, vel_ratio_sigma=0.05,
         if not self.protected:
             raise Exception("no protected object")
 
+        start_time = pk.epoch(self.start_time, "mjd2000")
+        end_time = pk.epoch(self.end_time, "mjd2000")
+
         # TODO - indent?
         collision_time = np.random.uniform(
-            self.start_time.mjd2000, self.end_time.mjd2000
+            start_time.mjd2000, end_time.mjd2000
         )
 
         collision_time = pk.epoch(collision_time, "mjd2000")
@@ -157,13 +167,18 @@ def add_debris(self, pos_sigma=0, vel_ratio_sigma=0.05,
         self.debris.append(SpaceObject(name, "eph", params))
 
     def save_env(self, save_path, time_before_start_time=0):
+        start_time = pk.epoch(self.start_time, "mjd2000")
+        end_time = pk.epoch(self.end_time, "mjd2000")
         with open(save_path, 'w') as f:
-            f.write(f'{self.start_time.mjd2000 - time_before_start_time}, {self.end_time.mjd2000}\n')
+            f.write(f'{start_time.mjd2000 - time_before_start_time}, {end_time.mjd2000}\n')
             f.write('osc\n')
-            f.write(SpaceObject2srt(self.protected, self.start_time))
+            f.write(SpaceObject2srt(self.protected, start_time))
             for debr, epoch in zip(self.debris, self.collision_epochs):
                 f.write(SpaceObject2srt(debr, epoch))
 
+    def get_protected_params(self):
+        return self.protected_params
+
     def env(self):
         pass
 

diff --git a/space_navigator/simulator/simulator.py b/space_navigator/simulator/simulator.py
@@ -94,7 +94,7 @@ def __init__(self, curr_time, prob, fuel_cons, traj_dev, reward_components, rewa
         self.fig = plt.figure(figsize=[14, 12])
         self.gs = gridspec.GridSpec(15, 2)
         self.subplot_3d = self.fig.add_subplot(self.gs[:, 0], projection='3d')
-        self.subplot_3d.set_aspect("equal")
+        self.subplot_3d.set_aspect("auto")
         self.subplot_p = self.fig.add_subplot(self.gs[:3, 1])
         self.subplot_f = self.fig.add_subplot(self.gs[4:7, 1])
         self.subplot_r_t = self.fig.add_subplot(self.gs[8:11, 1])
@@ -126,7 +126,7 @@ def update_data(self, curr_time, prob, fuel_cons, traj_dev, reward_components, r
 
     def plot_planet(self, satellite, t, size, color):
         """ Plot a pykep.planet object. """
-        plot_planet(satellite, ax=self.subplot_3d,
+        plot_planet(satellite, axes=self.subplot_3d,
                     t0=t, s=size, legend=True, color=color)
 
     def plot_earth(self):