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Timing Improvements Complete (233 Miliseconds down to 9 Milliseconds -- 224 Milliseconds Saved)

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cs-powell
2025-03-26 15:59:49 -04:00
parent 66d165f185
commit 1c16a8f344
2 changed files with 92 additions and 77 deletions
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122
Python3/src/cognitiveModel.py
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@@ -13,26 +13,25 @@ class scaleFactor():
class AircraftLandingModel(pyactr.ACTRModel): class AircraftLandingModel(pyactr.ACTRModel):
def __init__(self,client): def __init__(self,client):
super().__init__() super().__init__()
# Initialize the declarative memory (DM)
# self.decmem.add(
# [
# ("airspeed", 100), # Current airspeed (e.g., 100 knots)
# ("roll", 0), # Current roll (0 for wings level)
# ("heading", 0), # Current heading
# ("descent_rate", 500), # Current descent rate in fpm
# ("target_airspeed", 80), # Target airspeed during descent
# ("target_roll", 0), # Target roll (wings level)
# ("target_heading", 90), # Target heading (runway heading)
# ("target_descent_rate", 500) # Target descent rate (fpm)
# ]
# )
self.client = client self.client = client
# TODO: CHANGE TO GETDREFS, respect the runtime calculations.....didnt you learn your lesson on the algorithms midterm
# TODO: Change sendDref to send DREFS
# TODO: look for any rouge get/sendCTRL methods
"""
Setting DREF variables and loading into drefs array
"""
airspeedDREF = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot"
rollDREF = "sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot"
magneticHeadingDREF = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot"
verticalSpeedDREF = "sim/flightmodel/position/vh_ind_fpm"
altitudeAGLDREF = "sim/flightmodel/position/y_agl"
pitchDREF = "sim/flightmodel/position/true_theta"
brakeDREF = "sim/cockpit2/controls/parking_brake_ratio"
wheelSpeedDREF = "sim/flightmodel2/gear/tire_rotation_speed_rad_sec"
wheelWeightDREF = "sim/flightmodel/parts/tire_vrt_def_veh"
self.sources = [airspeedDREF,rollDREF,magneticHeadingDREF,verticalSpeedDREF,altitudeAGLDREF,pitchDREF,brakeDREF,wheelSpeedDREF,wheelWeightDREF]
"""
Initial Initialization of destination Variables and loading into destinations array
"""
airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot") airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot")
roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot") roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot") heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
@@ -44,48 +43,37 @@ class AircraftLandingModel(pyactr.ACTRModel):
wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
# Update the model's declarative memory
# model.declarative_memory["airspeed"] = airspeed
# model.declarative_memory["roll"] = roll
# model.declarative_memory["heading"] = heading
# model.declarative_memory["descent_rate"] = descent_rate
self.airspeed = airspeed[0] self.airspeed = airspeed[0]
self.roll = roll[0] self.roll = roll[0]
self.heading = heading[0] self.heading = heading[0]
self.descent_rate = descent_rate[0] self.descent_rate = descent_rate[0]
self.altitude = altitude[0] self.altitude = altitude[0]
self.brakes = brake[0]
# print(wheelS)
self.wheelSpeed = wheelS[0]
self.wheelWeight = wheelW[0]
#Flare Specific Parameters
self.flare = False
self.pitch = pitch[0] self.pitch = pitch[0]
self.brakes = brake[0]
#Rollout Specific Parameters self.wheelSpeed = wheelS[0]
self.rollOut = False self.wheelWeight = wheelW[0]
self.destinations = [self.airspeed,self.roll,self.heading,self.descent_rate,self.altitude,self.pitch,self.brakes,self.wheelSpeed,self.wheelWeight]
"""
Initial Initialization of target Values
"""
self.target_airspeed = 80 self.target_airspeed = 80
self.target_roll = 0 self.target_roll = 0
self.target_heading = self.heading #Track heading from initialization self.target_heading = self.heading #Track heading from initialization
self.target_descent_rate = 500 self.target_descent_rate = 500
self.target_altitude = -998
self.target_pitch = 20 self.target_pitch = 20
self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_descent_rate,self.target_altitude,self.target_pitch]
#State Flags (Boolean) & Current State (Integer)
self.descent = False
self.flare = False
self.rollOut = False
self.currentState = 0
self.stateFlags = [self.descent,self.flare,self.rollOut]
# Declare the state for previous values # Declare the state for previous values
self.previous_airspeed = None self.previous_airspeed = None
self.previous_roll = None self.previous_roll = None
@@ -107,6 +95,23 @@ class AircraftLandingModel(pyactr.ACTRModel):
# self.Ki = 2 # Integral gain # self.Ki = 2 # Integral gain
"""
Variable Atlas Schema: source => destination => target
"""
# self.variableAtlas = list(xrange(1000))
# idx = 0
# while(idx < len(self.sources) - 1):
# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
# idx += 1
def getAndLoadDREFS(self):
results = self.client.getDREFs(self.sources)
idx = 0
while(idx < len(results) - 2):
self.destinations[idx] = results[idx][0]
idx += 1
def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle): def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
print("In print controls") print("In print controls")
@@ -287,6 +292,9 @@ class AircraftLandingModel(pyactr.ACTRModel):
# Update the model's DM based on X-Plane data # Update the model's DM based on X-Plane data
def update_aircraft_state(self): def update_aircraft_state(self):
"""
Slower Method
"""
# print("In aircraft state") # print("In aircraft state")
# print("Entered Update Aircraft State") # print("Entered Update Aircraft State")
# Retrieve current data from X-Plane # Retrieve current data from X-Plane
@@ -294,7 +302,6 @@ class AircraftLandingModel(pyactr.ACTRModel):
roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot") roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot") heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm") descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
# altitudeMSL = self.client.getDREF("sim/cockpit2/gauges/indicators/altitude_ft_pilot")
altitudeAGL = self.client.getDREF("sim/flightmodel/position/y_agl") altitudeAGL = self.client.getDREF("sim/flightmodel/position/y_agl")
pitch = self.client.getDREF("sim/flightmodel/position/true_theta") pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
@@ -303,13 +310,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
wheelS = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") wheelS = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec")
wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
# Update the model's declarative memory
# model.declarative_memory["airspeed"] = airspeed
# model.declarative_memory["roll"] = roll
# model.declarative_memory["heading"] = heading
# model.declarative_memory["descent_rate"] = descent_rate
self.airspeed = airspeed[0] self.airspeed = airspeed[0]
self.roll = roll[0] self.roll = roll[0]
@@ -321,9 +322,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.wheelWeight = wheelW[0] self.wheelWeight = wheelW[0]
self.brakes = brake[0] self.brakes = brake[0]
##Phase Change Indicator #Phase Change Indicator
# wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels
# wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") #Wheel Rotation Rate wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") #Wheel Rotation Rate
"""
Faster Method
"""
# self.getAndLoadDREFS()
if(self.altitude <= 20): if(self.altitude <= 20):
self.flare = True self.flare = True

47
Python3/src/testPlatform.py
View File

@@ -5,11 +5,10 @@ from cognitiveModel import AircraftLandingModel
def ex(): def ex():
print("X-Plane Connect example script") print("Model Test: Xplane setting up connection")
print("Setting up simulation") print("Setting up simulation")
with xpc.XPlaneConnect() as client: with xpc.XPlaneConnect() as client:
# Verify connection # Verify connection
try: try:
# If X-Plane does not respond to the request, a timeout error # If X-Plane does not respond to the request, a timeout error
# will beff raised. # will beff raised.
@@ -19,8 +18,7 @@ def ex():
print("Exiting...") print("Exiting...")
return return
cogModel = AircraftLandingModel(client) cogModel = AircraftLandingModel(client)
# # Set position of the player aircraft
# # Set position of the player aircraft
# print("Setting position") # print("Setting position")
# # Lat Lon Alt Pitch Roll Yaw Gear # # Lat Lon Alt Pitch Roll Yaw Gear
# posi = [37.524, -122.06899, 2500, 0, 0, 0, 1] # posi = [37.524, -122.06899, 2500, 0, 0, 0, 1]
@@ -66,6 +64,24 @@ def ex():
# ] # ]
# client.sendDATA(data) # client.sendDATA(data)
"""
Set orientation and Position
16 - Angular Velocities
17 - PitchRoll and Headings
18 - Angle of Attack
20 - Latitude and Longitude
"""
print("Setting orientation for test")
data = [\
[16, -998, -998, -998, -998, -998, -998, -998, -998],
[17, -998, -998, -998, -998, -998, -998, -998, -998],\
[18, -998, -998, -998, -998, -998, -998, -998, -998],\
[19, -998, -998, -998, -998, -998, -998, -998, -998],\
[20, -998, -998, -998, -998, -998, -998, -998, -998]\
]
client.sendDATA(data)
# Set control surfaces and throttle of the player aircraft using sendCTRL # Set control surfaces and throttle of the player aircraft using sendCTRL
print("Setting controls") print("Setting controls")
ctrl = [0.0, 0.0, 0.0, 0.0] ctrl = [0.0, 0.0, 0.0, 0.0]
@@ -78,28 +94,21 @@ def ex():
clockStart = time.time() clockStart = time.time()
#Doing stuff In between Test SECOND INCREMENTS #Doing stuff In between Test SECOND INCREMENTS
while(count < 1000000): while(count < 1000000):
clockStart = time.time() clockStart = time.time() #START TIMER
client.pauseSim(True) # Pause Simulator client.pauseSim(True) # Pause Simulator
#Run Model (Send commands to simulator within this process)
#Run Model
cogModel.update_aircraft_state() cogModel.update_aircraft_state()
cogModel.update_controls_simultaneously() cogModel.update_controls_simultaneously()
client.pauseSim(False) #Unpause
clockEnd = time.time() client.pauseSim(False) #Unpause Simulator
clockEnd = time.time() # STOP TIMER
count+=1 count+=1
print("Clock Time: " + str(clockEnd - clockStart)) print("Clock Time: " + str(clockEnd - clockStart)) ## LOG TIME TAKEN
sleep(0.05) # Run 50 Milliseconds sleep(0.05) # LET Simulator Run 50 Milliseconds
##Would need to be logging data during the sleep time......but the code is "sleeping"....multithread?
#Repeat
# #
print("End of Python client example") print("Model has finished running")
#Copy data.txt to the cloudddddd using python magic and accurate filepaths #Copy data.txt to the cloudddddd using python magic and accurate filepaths
input("Press any key to exit...") input("Press any key to exit...")