Hi, come with a big push to the simulator on AscendNTNU / ai-sim. This contains sliders that generate noise, and at the same time the possibility that the drone can crash with ground robots if it lands on the ground. The idea behind noise is that our solution should be robust and cope with variations to an extent. By generating noise, we can simulate how perception data becomes more realistic.

Some details: -There is a checkbox that says "Send perfect observations". If this is ticked, the simulator sends the signal with perfect data. If you untick this, the simulator will start sending noisy data.

How to set the noise sliders: -To see how noise is affecting the world, tick "view noisy observation". -You can set how much noise is to be generated by setting frequency and offset. The offset tells x, y, but there are also some sliders for the angle of the ground robots. -There is also something called "Percent of time observed". This causes robots to "blink out of existence". It is to simulate that the neural network does not always find the ground robots.

Is the noise generator realistic? The noise generator makes more noise when something is far away and when the drones are close to the ground, than otherwise.

How to get the drone to land "anywhere". -Use "sim_CommandType_Land" and specify x, y.

Include the following lines in one source file

#define SIM_IMPLEMENTATION
#include "sim.h"

You may #include "sim.h" anywhere else if you want the declared symbols, as long as SIM_IMPLEMENTATION is only defined in one of your source files.

See example1.cpp for an example of a full application that communicates with the real-time simulation, and also uses the library internally.

Linux

$ cd build
$ g++ ../gui.cpp -o sim -lGL `sdl2-config --cflags --libs`

OSX

$ cd build
$ g++ ../gui.cpp -o sim -framework OpenGL `sdl2-config --cflags --libs`

Windows

> cd build
> run_gui.bat
Or compile manually:
> cl -I../lib/sdl ../gui.cpp -MT /link -subsystem:console SDL2.lib SDL2main.lib opengl32.lib -out:gui.exe

Example on how to send text to gui.cpp for debug purposes:

    //Code for how to use custom debug text. Remember to include sim.h to use this.
    //All targets must have a text, and if you have less than 10 targets,
    //you have to delete some of the targets from the list below.
    //If you only want to debug a single groundrobot, all other texts may be left blank(as in "");
    sim_Command cmd;
    const char *target_text[Num_Targets];
    target_text[0] = "Text for zeroth ground robot";
    target_text[1] = "Text for first ground robot";
    target_text[2] = "Text for second ground robot";
    target_text[3] = "Text for third ground robot";
    target_text[4] = "Text for fourth ground robot";
    target_text[5] = "Text for fifth ground robot";
    target_text[6] = "Text for sixt ground robot";
    target_text[7] = "Text for seventh ground robot";
    target_text[8] = "Text for eight ground robot";
    target_text[9] = "Text for ninth ground robot";

    //Set the command text
    get_char_text(cmd.text,"text for drone", target_text);

    //Send the text
    sim_send_cmd(&cmd);