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MAJOR FIX: Recconect Loop working with dictionaries holding state parameters

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cs-powell
2025-03-29 23:15:21 -04:00
parent fc068ef1d0
commit 44d167bbbb
2 changed files with 87 additions and 46 deletions
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92
Python3/src/cognitiveModel.py
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@@ -11,11 +11,11 @@ class scaleFactor():
###Define variables/parameters for aircraft class/category : Wisdom of Raju ###Define variables/parameters for aircraft class/category : Wisdom of Raju
class AircraftLandingModel(pyactr.ACTRModel): class AircraftLandingModel(pyactr.ACTRModel):
def __init__(self,client): def __init__(self,client,printFlag):
super().__init__() super().__init__()
self.client = client self.client = client
self.inProgress = True self.inProgress = True
self.printControlsFlag = False self.printControlsFlag = printFlag
""" """
Setting DREF variables and loading into drefs array Setting DREF variables and loading into drefs array
@@ -35,13 +35,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : airspeedDREF, "airspeed" : airspeedDREF,
"roll" : rollDREF, "roll" : rollDREF,
"heading" : magneticHeadingDREF, "heading" : magneticHeadingDREF,
"verticalSpeed" : verticalSpeedDREF, "vertical speed" : verticalSpeedDREF,
"altitude": altitudeAGLDREF, "altitude": altitudeAGLDREF,
"pitch" : pitchDREF, "pitch" : pitchDREF,
"brake": brakeDREF, "brakes": brakeDREF,
"wheelSpeed": wheelSpeedDREF, "wheelSpeed": wheelSpeedDREF,
"wheelWeight": wheelWeightDREF "wheelWeight": wheelWeightDREF
} }
""" """
Initial Initialization of destination Variables and loading into destinations array Initial Initialization of destination Variables and loading into destinations array
""" """
@@ -71,13 +72,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : self.airspeed, "airspeed" : self.airspeed,
"roll" : self.roll, "roll" : self.roll,
"heading" : self.heading, "heading" : self.heading,
"verticalSpeed" : self.descent_rate, "vertical speed" : self.descent_rate,
"altitude": self.altitude, "altitude": self.altitude,
"pitch" : self.pitch, "pitch" : self.pitch,
"brake": self.brakes, "brakes": self.brakes,
"wheelSpeed": self.wheelSpeed, "wheelSpeed": self.wheelSpeed,
"wheelWeight": self.wheelWeight "wheelWeight": self.wheelWeight
} }
""" """
Initial Initialization of target Values Initial Initialization of target Values
""" """
@@ -95,7 +97,12 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.flare = False self.flare = False
self.rollOut = False self.rollOut = False
self.currentState = 0 self.currentState = 0
self.stateFlags = [self.descent,self.flare,self.rollOut] # self.stateFlags = [self.descent,self.flare,self.rollOut]
self.phaseFlags = {
"descent" : self.descent,
"flare" : self.flare,
"roll out" : self.rollOut
}
# Declare the state for previous values # Declare the state for previous values
@@ -127,6 +134,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
# while(idx < len(self.sources) - 1): # while(idx < len(self.sources) - 1):
# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]] # self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
# idx += 1 # idx += 1
def dictionaryAccess(self,dictionary,key):
# print("dictionary access for: " + str(key))
result = dictionary[key]
if isinstance(result, tuple):
return result[0]
else:
return result
def reassignClient(self,newClient): def reassignClient(self,newClient):
self.client = newClient self.client = newClient
@@ -136,9 +155,9 @@ class AircraftLandingModel(pyactr.ACTRModel):
for key in self.sources: for key in self.sources:
self.destinations[key] = results[idx] self.destinations[key] = results[idx]
idx+=1 idx+=1
print("getDrefs: " + str(results[1][0])) # print("getDrefs: " + str(results[1][0]))
print("current destination: " + str(self.destinations["airspeed"])) # print("current destination: " + str(self.destinations["airspeed"]))
print("current main Airspeed: " + str(self.airspeed)) # print("current main Airspeed: " + str(self.airspeed))
# while(idx < len(results) - 2): # while(idx < len(results) - 2):
# self.destinations[idx] = results[idx][0] # self.destinations[idx] = results[idx][0]
@@ -150,17 +169,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
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")
if(calculated == 1): if(calculated == 1):
# print("* Calculated Controls *") # print("* Calculated Controls *")
# print("*Parameter,Target,Current,Yoke Pull: " + "Airspeed, " + str(self.target_airspeed) + "," + str(self.airspeed)+ "," + str(yokePull)) # print("*Parameter,Target,Current,Yoke Pull: " + "Airspeed, " + str(self.target_airspeed) + "," + str(self.airspeed)+ "," + str(yokePull))
# print("*Parameter,Target,Current,Yoke Steer: " + "Roll, " + str(self.target_roll) + "," + str(self.roll)+ "," + str(yokeSteer)) # print("*Parameter,Target,Current,Yoke Steer: " + "Roll, " + str(self.target_roll) + "," + str(self.destinations["roll"])+ "," + str(yokeSteer))
# print("*Parameter,Target,Current,Rudder: " + "Heading, " + str(self.target_heading) + "," + str(self.heading)+ "," + str(rudder)) # print("*Parameter,Target,Current,Rudder: " + "Heading, " + str(self.target_heading) + "," + str(self.heading)+ "," + str(rudder))
# print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle)) # print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle))
parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"] parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"]
target = [str(round(self.target_airspeed)),str(round(self.target_roll)),str(round(self.target_heading,3)),str(round(self.target_descent_rate,3)),str(round(self.altitude,3)),str(round(self.target_pitch,3)),0, 0] target = [str(round(self.target_airspeed)),str(round(self.target_roll)),str(round(self.target_heading,3)),str(round(self.target_descent_rate,3)),str(round(self.altitude,3)),str(round(self.target_pitch,3)),0, 0]
current = [str(round(self.destinations["airspeed"],3)),str(round(self.roll,3)),str(round(self.heading,3)),str(round(self.descent_rate,3)),str(round(self.altitude,3)),str(round(self.pitch,3)),str(round(self.wheelSpeed,3)),str(round(self.wheelWeight,3))] current = [str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"roll"),3)),str(round(self.dictionaryAccess(self.destinations,"heading"),3)),str(round(self.dictionaryAccess(self.destinations,"vertical speed"),3)),
controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3)),str(self.flare),str(round(self.brakes,3)),str(round(self.brakes,3))] str(round(self.dictionaryAccess(self.destinations,"altitude"),3)),str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"wheelSpeed"),3)),str(round(self.dictionaryAccess(self.destinations,"wheelWeight"),3))]
controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3)),str(self.dictionaryAccess(self.phaseFlags,"flare")),str(round(self.dictionaryAccess(self.destinations,"brakes"),3)),str(round(self.dictionaryAccess(self.destinations,"brakes"),3))]
header_row = "{:<20} {:<20} {:<20} {:>10}" header_row = "{:<20} {:<20} {:<20} {:>10}"
headers = "Parameter Target Current Control_Value".split() headers = "Parameter Target Current Control_Value".split()
@@ -226,16 +246,15 @@ class AircraftLandingModel(pyactr.ACTRModel):
# print("In update controls") # print("In update controls")
# print("Entered Update Controls Simultaneously") # print("Entered Update Controls Simultaneously")
# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle) # Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
if(self.flare): if(self.dictionaryAccess(self.phaseFlags,"flare")):
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.pitch, yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.dictionaryAccess(self.destinations,"pitch"),
self.target_pitch, self.target_pitch,
self.integral_pitch, self.integral_pitch,
scaleFactor.SCALEYOKEPULL) scaleFactor.SCALEYOKEPULL)
print("Flare Control Scheme Active")
if(self.flare == False): if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
self.target_pitch = 10 self.target_pitch = 10
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.pitch, yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.dictionaryAccess(self.destinations,"pitch"),
self.target_pitch, self.target_pitch,
self.integral_pitch, self.integral_pitch,
scaleFactor.SCALEYOKEPULL) scaleFactor.SCALEYOKEPULL)
@@ -244,22 +263,23 @@ class AircraftLandingModel(pyactr.ACTRModel):
# self.integral_airspeed, # self.integral_airspeed,
# scaleFactor.SCALEYOKEPULL) # scaleFactor.SCALEYOKEPULL)
yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.roll, self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER) yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"roll"), self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER)
rudder, self.integral_heading = self.proportionalIntegralControl(0,self.heading, self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER) rudder, self.integral_heading = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"heading"), self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.descent_rate, self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE) throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"vertical speed"), self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
### 1. For Calculated Yoke and Throttle Values ### 1. For Calculated Yoke and Throttle Values
#Invert Throttle Control & divide by 5 to scale #Invert Throttle Control & divide by 5 to scale
throttle = -throttle throttle = -throttle
throttle = throttle/5 throttle = throttle/5
#Invert Yoke Pull & divide by 5 to scale #Invert Yoke Pull & divide by 5 to scale
yoke_pull = yoke_pull/5 yoke_pull = yoke_pull/5
## 2. For Constant Yoke and Throttle Values ## 2. For Constant Yoke and Throttle Values
# Constant yoke "back pressure" equal to 20% of total travel distance # Constant yoke "back pressure" equal to 20% of total travel distance
if(self.flare == False): if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
yoke_pull = yoke_pull * 20 yoke_pull = yoke_pull * 20
# yoke_pull = 0.23 # yoke_pull = 0.23
throttle = 0.28 throttle = 0.28
if(self.flare == True): if(self.dictionaryAccess(self.phaseFlags,"flare") == True):
# yoke_pull = -yoke_pull # yoke_pull = -yoke_pull
yoke_pull = yoke_pull * 20 yoke_pull = yoke_pull * 20
throttle = 0 throttle = 0
@@ -302,17 +322,17 @@ class AircraftLandingModel(pyactr.ACTRModel):
# print("Yoke Pull:" + str(yoke_pull)) # print("Yoke Pull:" + str(yoke_pull))
#Set the Trim to a value that allows the aircraft to osscilate around the target airspeed #Set the Trim to a value that allows the aircraft to osscilate around the target airspeed
if(self.flare == False): if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
trimdref = "sim/flightmodel/controls/elv_trim" trimdref = "sim/flightmodel/controls/elv_trim"
trim = -0.3 trim = -0.3
self.client.sendDREF(trimdref,trim) self.client.sendDREF(trimdref,trim)
if(self.flare): if(self.dictionaryAccess(self.phaseFlags,"flare")):
trimdref = "sim/flightmodel/controls/elv_trim" trimdref = "sim/flightmodel/controls/elv_trim"
trim = 0 trim = 0
self.client.sendDREF(trimdref,trim) self.client.sendDREF(trimdref,trim)
if(self.rollOut): if(self.dictionaryAccess(self.phaseFlags,"roll out")):
#Cut the Throttle #Cut the Throttle
throttle = 0 throttle = 0
#Release Yoke Back Pressure (Pitch Up Pressure from the flare maneuver) #Release Yoke Back Pressure (Pitch Up Pressure from the flare maneuver)
@@ -325,19 +345,26 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998]) # Control inputs: [yoke_pull, yoke_steer, rudder, throttle] self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998]) # Control inputs: [yoke_pull, yoke_steer, rudder, throttle]
def conditionChecks(self): def conditionChecks(self):
if(self.wheelWeight > 0.01 and self.wheelSpeed > 1):
if(self.dictionaryAccess(self.destinations,"wheelWeight") > 0.01
and self.dictionaryAccess(self.destinations,"wheelSpeed") > 1):
#Two Parameters to Confirm Touchdown and wheel contact #Two Parameters to Confirm Touchdown and wheel contact
# "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels) # "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels)
# "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate # "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate
self.rollOut = True self.phaseFlags["roll out"] = True
print("Hit the brakes") print("Hit the brakes")
if(self.altitude <= 20): if(self.dictionaryAccess(self.destinations,"altitude") <= 20
self.flare = True and self.dictionaryAccess(self.phaseFlags,"flare") == False):
self.phaseFlags["flare"] = True
self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
print("Altitude < 500; Flare Set True") print("Altitude < 500; Flare Set True")
print("*******FLAG*******")
if(self.wheelWeight > 0.01 and self.wheelSpeed > 1 and self.destinations["airspeed"] < 1 and self.brakes == 1): if(self.dictionaryAccess(self.destinations,"wheelWeight") > 0.01
and self.dictionaryAccess(self.destinations,"wheelSpeed") < 1
and self.dictionaryAccess(self.destinations,"airspeed") < 2
and self.dictionaryAccess(self.destinations,"brakes") == 1):
self.inProgress = False self.inProgress = False
def simulationStatus(self): def simulationStatus(self):
@@ -350,6 +377,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
Faster Method Faster Method
""" """
self.getAndLoadDREFS() self.getAndLoadDREFS()
print("midpoint")
self.conditionChecks() self.conditionChecks()

33
Python3/src/testPlatform.py
View File

@@ -1,4 +1,5 @@
import datetime import datetime
import os
import time import time
from time import sleep from time import sleep
import xpc import xpc
@@ -12,7 +13,8 @@ def runExperiment(title):
startTime = 0 startTime = 0
endTime = 0 endTime = 0
difference = endTime - startTime difference = endTime - startTime
while(difference < 10): experimentLive = True
while(difference < 3 and experimentLive):
print("Time Elapsed: -----> " + str(difference)) print("Time Elapsed: -----> " + str(difference))
try: try:
with xpc.XPlaneConnect() as client: with xpc.XPlaneConnect() as client:
@@ -25,7 +27,7 @@ def runExperiment(title):
# print("Error establishing connection to X-Plane.") # print("Error establishing connection to X-Plane.")
# print("Exiting...") # print("Exiting...")
# return # return
cogModel = AircraftLandingModel(client) cogModel = AircraftLandingModel(client,True)
# # 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
@@ -117,11 +119,11 @@ def runExperiment(title):
client.pauseSim(False) client.pauseSim(False)
# 39.96239°N/104.69713°W # 39.96239°N/104.69713°W
runModel = True # # 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]
client.sendCTRL(ctrl) client.sendCTRL(ctrl)
print("past setting controls")
# Pitch, Roll, Rudder, Throttle # Pitch, Roll, Rudder, Throttle
# Pause the sim # Pause the sim
# client.pauseSim(False) # client.pauseSim(False)
@@ -130,11 +132,15 @@ def runExperiment(title):
clockStart = time.time() clockStart = time.time()
#Doing stuff In between Test SECOND INCREMENTS #Doing stuff In between Test SECOND INCREMENTS
retry = 0 retry = 0
while(cogModel.simulationStatus() and runModel and retry < 50): while(cogModel.simulationStatus()):
# print("Start of innerwhile loop")
clockStart = time.time() #START TIMER clockStart = time.time() #START TIMER
# client.pauseSim(True) # Pause Simulator # client.pauseSim(True) # Pause Simulator
#Run Model #Run Model
# print("----------------> 1 <")
cogModel.update_aircraft_state() cogModel.update_aircraft_state()
# print("----------------> 2 <")
cogModel.update_controls_simultaneously() cogModel.update_controls_simultaneously()
client.pauseSim(False) #Unpause Simulator client.pauseSim(False) #Unpause Simulator
clockEnd = time.time() # STOP TIMER clockEnd = time.time() # STOP TIMER
@@ -184,31 +190,38 @@ def runExperiment(title):
# print("Breaking out of Timeout exception loop") # print("Breaking out of Timeout exception loop")
# break # break
startTime = time.time() startTime = time.time()
experimentLive = cogModel.simulationStatus()
except: except:
print("except detected") print("except detected")
endTime = time.time() endTime = time.time()
print("Start Time:" + str(startTime))
print("End Time:" + str(endTime))
difference = endTime - startTime difference = endTime - startTime
continue continue
if(difference >= 3):
print("Timeout[" + str(difference) +"]:"+"Error, please run test again")
else:
print("Model has finished running") 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
now = datetime.datetime now = datetime.datetime
shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt") shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt")
print("CLEAN UP: Data File Copied and saved")
os.remove("/Users/flyingtopher/X-Plane 11/Data.txt")
print("CLEAN UP: Data File Deleted and Reset")
input("Press any key to exit...") input("Press any key to exit...")
## Copy Data.txt to the repository file for analysis
##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection) ##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
def ex(): def ex():
##Store Experiment Battery ##Store Experiment Battery
##Different paramters on every run of the model ##Different paramters on every run of the model
## Nested loops: ## Nested loops:
##wind conditions, pilot conditions ##wind conditions, pilot conditions
title = input("Please Enter Experiment Set Title, leave blank for trial runs") title = input("Please Enter Experiment Set Title, leave blank for trial runs")
count = 0 count = 0
while(count<1): while(count<2):
input("Press Enter to Start Experiment #" + str(count) + ": ")
runExperiment(title) runExperiment(title)
count+=1 count+=1
print("Experiment Battery Complete") print("Experiment Battery Complete")