new heading tracking via longitude complete
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cs-powell
@@ -1,5 +1,9 @@
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import datetime
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from math import cos, pi, sin, sqrt
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import os
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import time
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from time import sleep
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@@ -7,8 +11,12 @@ import xpc
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from cognitiveModel import AircraftLandingModel
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import shutil
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import csv
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from enum import Enum
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class messageType(Enum):
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REGULAR = 1
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ERROR = 2
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def eulerToQuat(psiInput,thetaInput,phiInput):
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@@ -24,28 +32,25 @@ def eulerToQuat(psiInput,thetaInput,phiInput):
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quat = [q0/e,q1/e,q2/e,q3/e]
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return quat
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def loadFile(index):
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filename = "Python3/src/experiments/weather_files/weather_" + str(index) + ".csv"
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def loadFile():
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filename = "Python3/src/experiments/weather_files/weather.csv"
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with open(filename,"r") as f:
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matrix = list(csv.reader(f,delimiter=','))
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print(matrix)
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return matrix
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def selectWeather(matrix,experimentNumber):
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return matrix[experimentNumber]
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def experimentSetUp(client,altitudeInput,newExperiment):
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loadFile(2)
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def experimentSetUp(client,currentConditions,newExperiment):
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# input("Check The Loaded File Now")
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print("Entered: EXPERIMENTSETUP")
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if(newExperiment):
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#Location:
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groundLevel = 5434
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offset = altitudeInput
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offset = float(currentConditions[1])
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altitudeFEET = groundLevel + offset
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altitudeMETERS = altitudeFEET/3.281
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altitude = altitudeMETERS
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@@ -58,6 +63,7 @@ def experimentSetUp(client,altitudeInput,newExperiment):
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client.sendDATA(data)
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print("Zero velocities")
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x = "sim/flightmodel/position/local_vx"
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y = "sim/flightmodel/position/local_vy"
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@@ -104,19 +110,18 @@ def experimentSetUp(client,altitudeInput,newExperiment):
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# result = client.getDREF(windLayer)
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# print("Wind:" + str(result))
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print("Setting Wind Layers")
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client.sendDREF(windLayer,6000)
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client.sendDREF(windLayer2,15000)
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client.sendDREF(windLayer3,15000)
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client.sendDREF(windLayer,float(currentConditions[2]))
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# client.sendDREF(windLayer2,15000)
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# client.sendDREF(windLayer3,15000)
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print("Setting Wind Direction and Speed")
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client.sendDREF(windDirection,170)
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print("Set 1")
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client.sendDREF(windSpeed,40)
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client.sendDREF(windDirection,float(currentConditions[3]))
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print("Set 1")
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client.sendDREF(windSpeed,float(currentConditions[4]))
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print("Set 2")
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# client.sendDREF(turbulence,turbulencePercentage)
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# preset = "sim/weather/region/weather_preset"
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# value = 8
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# client.sendDREF(preset,value)
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@@ -139,121 +144,133 @@ def experimentSetUp(client,altitudeInput,newExperiment):
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18 - Angle of Attack
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20 - Latitude and Longitude
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"""
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kias = -998
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keas = -998
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ktas = -998
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ktgs = -998
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mph = -998
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mphas = 80
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mphgs = 80
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print("Setting orientation for test")
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# client.sendDREF("sim/operation/override/override_planepath",1)
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# client.pauseSim(True)
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# client.sendDREF("sim/flightmodel/position/local_y",2000)
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# client.sendDREFs(["sim/flightmodel/position/P","sim/flightmodel/position/Q","sim/flightmodel/position/R"],[0,0,0])
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# client.sendDREF("sim/flightmodel/position/q",[0.3, 0, 0, 0.6])
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# data = [\
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# [3, -998, -998, -998, -998, -998, -998, mphas, mphgs],\
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# [16, 0, 0, 0, -998, -998, -998, -998, -998],\
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# [17, 0, 0, 0, -998, -998, -998, -998, -998],\
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# [18, -998, -998, -998, -998, -998, -998, -998, -998],\
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# [19, -998, -998, -998, -998, -998, -998, -998, -998],\
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# testLocation\
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# ]
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# client.sendDATA(data)
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# client.sendDREF("sim/operation/override/override_planepath",0)
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# Set control surfaces and throttle of the player aircraft using sendCTRL
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# print("Setting controls")
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# ctrl = [0.0, 0.0, 0.0, 0.0]
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# cogModel.client.sendCTRL(ctrl)
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# print("past setting controls")
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message = "Conditions are set as\n" \
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"Starting Altitude: {} \n" \
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"Layer Altitude: {} \n" \
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"Wind Direction: {} \n" \
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"Wind Speed: {} \n".format(currentConditions[1],currentConditions[2],currentConditions[3],currentConditions[4])
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specialPrint(message,False,messageType.REGULAR)
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else:
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print("Experiment currently in progress, not resetting position and environmental conditions")
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def runExperiment(title,printFlag,experimentStart):
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print("Model Test: Xplane setting up connection")
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print("Setting up simulation")
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def runExperiment(title,currentConditions,allowPrinting,isNewExperiment):
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specialPrint("New Experiment\nSetting Up the Simulation",False,messageType.REGULAR)
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startTime = 0
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endTime = 0
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difference = endTime - startTime
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experimentLive = True
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timeElapsed = endTime - startTime
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experimentInProgress = True
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timeoutLimit = 10
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newExperiment = experimentStart
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while(difference < timeoutLimit and experimentLive):
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print("Time Elapsed: -----> " + str(difference))
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newExperiment = isNewExperiment
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while(timeElapsed <= timeoutLimit and experimentInProgress):
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# print("Time Elapsed: -----> " + str(timeElapsed))
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try:
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with xpc.XPlaneConnect() as client:
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# Verify connection
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"""
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Test Connection
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"""
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client.getDREF("sim/test/test_float")
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cogModel = AircraftLandingModel(client,printFlag)
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experimentSetUp(cogModel.client,2000,newExperiment)
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"""
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Setup Model
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"""
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cogModel = AircraftLandingModel(client,allowPrinting)
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"""
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Set Simulator Conditions
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"""
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experimentSetUp(cogModel.client,currentConditions,newExperiment)
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"""
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"""
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cogModel.client.pauseSim(False)
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count = 0
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innercount = 0
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clockStart = time.time()
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retry = 0
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newExperiment = False
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while(cogModel.simulationStatus()):
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clockStart = time.time() #START TIMER
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#Run Model
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cogModel.update_aircraft_state()
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"""
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Single Experiment Loop
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"""
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while(experimentInProgress):
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cogModel.update_aircraft_state()
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cogModel.update_controls_simultaneously()
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client.pauseSim(False) #Unpause Simulator
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clockEnd = time.time() # STOP TIMER
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count+=1
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# print("Clock Time: " + str(clockEnd - clockStart)) ## LOG TIME TAKEN
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sleep(0.05) # LET Simulator Run 50 Milliseconds
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client.pauseSim(False) #Unpause Simulator
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sleep(0.05) # Let Simulator Run 50 Milliseconds
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startTime = time.time()
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experimentLive = cogModel.simulationStatus()
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experimentInProgress = cogModel.getSimulationStatus()
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except:
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print("except detected")
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endTime = time.time()
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print("Start Time:" + str(startTime))
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print("End Time:" + str(endTime))
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difference = endTime - startTime
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timeElapsed = endTime - startTime
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message = "Except detected\nStart Time: {a}\nEnd Time: {b}\n" \
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"Time Elapsed: -----> {c} ".format(a= startTime, b=endTime,c=timeElapsed)
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specialPrint(message,False,messageType.ERROR)
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continue
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if(difference >= timeoutLimit):
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print("Timeout[" + str(difference) +"]:"+"Error, please run test again")
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"""
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Parse End Condition: Succesful Run or Timeout-Induced End
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"""
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if(timeElapsed >= timeoutLimit):
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print("Timeout[" + str(timeElapsed) +"]:"+"Error, please run test again")
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else:
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print("Model has finished running")
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#Copy data.txt to the cloudddddd using python magic and accurate filepaths
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"""
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Ask Experimenter if they would like to exit experiment battery early
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"""
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exitDecision = input("Press 'y' or any key to continue, press 'n' to exit...")
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if(exitDecision == "n"):
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exitExperimentLoop = True
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else:
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exitExperimentLoop = False
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return exitExperimentLoop
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def setUp():
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open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
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specialPrint("Data Collection File Ready",False,messageType.REGULAR)
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def cleanUp(title):
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now = datetime.datetime
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shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt")
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# print("CLEAN UP: Data File Copied and saved")
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# os.remove("/Users/flyingtopher/X-Plane 11/Data.txt")
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print("CLEAN UP: Data File Deleted and Reset")
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# exit = input("Press 'y' or any key to continue, press 'n' to exit...")
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exit = False
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if(exit == "n"):
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exit = True
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else:
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exit = False
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return exit
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##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
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def ex():
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##Store Experiment Battery
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##Different paramters on every run of the model
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## Nested loops:
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##wind conditions, pilot conditions
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# title = input("Please Enter Experiment Set Title, leave blank for trial runs")
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title = 'test'
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count = 0
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while(count<7):
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# input("Press Enter to Start Experiment #" + str(count) + ": ")
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print("Data File Reset")
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f = open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
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exit = runExperiment(title,False,True)
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if(exit):
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break
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count+=1
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print("Experiment Battery Complete")
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specialPrint("Data File Ready",False,messageType.REGULAR)
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def specialPrint(text, inputRequested,type):
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if(type == messageType.REGULAR):
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print("-" * 81)
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print(text)
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print("-" * 81 + "\n")
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if(inputRequested):
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inputReceived = input()
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return inputReceived
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if(type == messageType.ERROR):
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print("*" * 81)
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print(text)
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print("*" * 81 + "\n")
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def ex():
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"""
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One Time experimental setup
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"""
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title = specialPrint("Please Enter Experiment Set Title, leave blank for trial runs\n", True, messageType.REGULAR)
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experimentConditionMatrix = loadFile()
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allowPrinting = True
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isNewExperiment = True
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experimentCount = 0
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"""
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Experiment Loop
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"""
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while(experimentCount<len(experimentConditionMatrix)):
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setUp()
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currentConditions = experimentConditionMatrix[experimentCount+1]
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exitExperimentLoop = runExperiment(title,currentConditions,allowPrinting,isNewExperiment)
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if(exitExperimentLoop):
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break
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experimentCount+=1
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cleanUp(title)
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"""
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End of Experiments
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"""
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specialPrint("Experiment Battery Complete", False,messageType.REGULAR)
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if __name__ == "__main__":
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ex()
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