pythonnnnnnnnnnnnnn
This commit is contained in:
cs-powell
145
Python3/src/basicExample copy.py
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145
Python3/src/basicExample copy.py
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from time import sleep
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import xpc
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from model import AircraftLandingModel
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def ex():
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print("X-Plane Connect example script")
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print("Setting up simulation")
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with xpc.XPlaneConnect() as client:
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# Verify connection
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try:
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# If X-Plane does not respond to the request, a timeout error
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# will be raised.
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client.getDREF("sim/test/test_float")
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except:
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print("Error establishing connection to X-Plane.")
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print("Exiting...")
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return
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test = AircraftLandingModel(client)
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# # Set position of the player aircraft
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# print("Setting position")
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# # Lat Lon Alt Pitch Roll Yaw Gear
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# posi = [37.524, -122.06899, 2500, 0, 0, 0, 1]
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# client.sendPOSI(posi)
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# # Set position of a non-player aircraft
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# print("Setting NPC position")
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# # Lat Lon Alt Pitch Roll Yaw Gear
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# posi = [37.52465, -122.06899, 2500, 0, 20, 0, 1]
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# client.sendPOSI(posi, 1)
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# # Set angle of attack, velocity, and orientation using the DATA command
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# print("Setting orientation")
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# data = [\
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# [18, 0, -998, 0, -998, -998, -998, -998, -998],\
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# [ 3, 130, 130, 130, 130, -998, -998, -998, -998],\
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# [16, 0, 0, 0, -998, -998, -998, -998, -998]\
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# ]
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# client.sendDATA(data)
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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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client.sendCTRL(ctrl)
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# Pitch, Roll, Rudder, Throttle
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# Pause the sim
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client.pauseSim(False)
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count = 0
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innercount = 0
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#ONE SECOND INCREMENTS
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# while(count < 1000000 ):
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# client.pauseSim(False)
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# sleep(1.0)
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# print("Pausing" + str(count))
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# client.pauseSim(True)
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# sleep(1.0)
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# count+=1
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#0.1 SECOND INCREMENTS
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# while(count < 1000000 ):
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# client.pauseSim(False)
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# sleep(0.1)
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# print("Pausing" + str(count))
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# client.pauseSim(True)
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# sleep(0.1)
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# count+=1
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#0.001 SECOND INCREMENTS
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# while(count < 1000000 ):
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# client.pauseSim(False)
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# sleep(0.001)
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# print("Pausing" + str(count))
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# client.pauseSim(True)
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# sleep(0.001)
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# count+=1
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#0.00001 SECOND INCREMENTS
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# while(count < 1000000 ):
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# client.pauseSim(False)
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# sleep(0.00001)
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# print("Pausing" + str(count))
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# client.pauseSim(True)
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# sleep(0.00001)
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# count+=1
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# sim/operation/override/override_timestep
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#Doing stuff In between Test SECOND INCREMENTS
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while(count < 1000000 ):
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#50 Millisecond Timesteps
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sleep(0.05)
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client.pauseSim(False) #Unpause
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sleep(0.05) # Run 50 Milliseconds
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client.pauseSim(True) # Pause Simulator
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#Run Model (Send commands to simulator within this process)
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####Insert Model Here, some assembly required#######
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test.update_aircraft_state()
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test.update_controls_simultaneously()
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#Please work
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#Repeat
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print("Advanced 50 Milliseconds: Step #" + str(count))
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count+=1
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# print("Pausing" + str(count))
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# innercount = 0
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# client.pauseSim(True)
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# sleep(0.05) #Simulate 50 milliseconds
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# sleep(0.01) #Simulate 50 milliseconds
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# # while(innercount < 100000):
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# # # print("Doing Stuff" + str(innercount)) # Simulates the model running and computing for 50 Milliseconds maybe?
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# # innercount+=1
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# # else:
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# client.pauseSim(False)
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# print("Exit Pause" + str(count))
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# sleep(0.5)
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# count+=1
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# Toggle pause state to resume
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print("Resuming")
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client.pauseSim(False)
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# Let the sim run for a bit.
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sleep(4)
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print("End of Python client example")
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input("Press any key to exit...")
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if __name__ == "__main__":
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ex()
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142
Python3/src/model.py
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142
Python3/src/model.py
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import pyactr
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# from XPlaneConnect import *
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import xpc
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# Initialize XPlaneConnect client
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class AircraftLandingModel(pyactr.ACTRModel):
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def __init__(self,client):
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super().__init__()
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# Initialize the declarative memory (DM)
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# self.decmem.add(
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# [
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# ("airspeed", 100), # Current airspeed (e.g., 100 knots)
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# ("roll", 0), # Current roll (0 for wings level)
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# ("heading", 0), # Current heading
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# ("descent_rate", 500), # Current descent rate in fpm
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# ("target_airspeed", 80), # Target airspeed during descent
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# ("target_roll", 0), # Target roll (wings level)
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# ("target_heading", 90), # Target heading (runway heading)
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# ("target_descent_rate", 500) # Target descent rate (fpm)
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# ]
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# )
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self.client = client
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self.airspeed = 100
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self.roll = 0
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self.heading = 0
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self.descent_rate = 500
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self.target_airspeed = 80
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self.target_roll = 0
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self.target_heading = 0
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self.target_descent_rate = 500
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# Declare the state for previous values
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self.previous_airspeed = None
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self.previous_roll = None
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self.previous_heading = None
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self.previous_descent_rate = None
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# Initialize the integral errors for each parameter
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self.integral_airspeed = 0
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self.integral_roll = 0
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self.integral_heading = 0
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self.integral_descent_rate = 0
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# Integral gains (tune these values for performance)
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self.Kp = 0.1 # Proportional gain
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self.Ki = 0.01 # Integral gain
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def proportionalIntegralControl(self, current, target, integral_error):
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"""
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Proportional-Integral control rule implementation for multiple parameters.
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"""
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# Calculate the error (current - target)
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error = target - current
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# Update the integral of the error
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integral_error += error
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# Calculate the control value using the PI formula
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control_value = (self.Kp * error) + (self.Ki * integral_error)
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return control_value, integral_error # Return control value and updated integral error
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def update_controls_simultaneously(self):
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"""
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Update all controls at the same time by calculating control values for each parameter.
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"""
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# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
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yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(self.airspeed, self.target_airspeed, self.integral_airspeed)
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yoke_steer, self.integral_roll = self.proportionalIntegralControl(self.roll, self.target_roll, self.integral_roll)
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rudder, self.integral_heading = self.proportionalIntegralControl(self.heading, self.target_heading, self.integral_heading)
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throttle, self.integral_descent_rate = self.proportionalIntegralControl(self.descent_rate, self.target_descent_rate, self.integral_descent_rate)
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# Send all controls simultaneously to X-Plane
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self.send_controls_to_xplane(yoke_pull, yoke_steer, rudder, throttle)
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def send_controls_to_xplane(self, yoke_pull, yoke_steer, rudder, throttle):
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"""
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Sends all control inputs to X-Plane using XPlaneConnect
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"""
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# Send yoke pull, yoke steer, rudder, and throttle simultaneously
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self.client.sendControls([yoke_pull, yoke_steer, 0, rudder, throttle]) # Control inputs: [yoke_pull, yoke_steer, roll/pitch, rudder, throttle]
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# Update the model's DM based on X-Plane data
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def update_aircraft_state(self):
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# Retrieve current data from X-Plane
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airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot")
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roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
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heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
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descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
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# Update the model's declarative memory
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# model.declarative_memory["airspeed"] = airspeed
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# model.declarative_memory["roll"] = roll
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# model.declarative_memory["heading"] = heading
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# model.declarative_memory["descent_rate"] = descent_rate
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self.airspeed = airspeed
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self.roll = roll
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self.heading = heading
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self.descent_rate = descent_rate
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# def rules(self):
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# """
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# Define the rules for descent control using proportional-integral control for all controls at once.
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# """
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# return [
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# # Rule to adjust all controls simultaneously based on PI control for each parameter
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# pyactr.Production(
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# condition=pyactr.Condition("airspeed", "airspeed") &
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# pyactr.Condition("roll", "roll") &
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# pyactr.Condition("heading", "heading") &
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# pyactr.Condition("descent_rate", "descent_rate") &
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# pyactr.Condition("target_airspeed", "target_airspeed") &
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# pyactr.Condition("target_roll", "target_roll") &
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# pyactr.Condition("target_heading", "target_heading") &
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# pyactr.Condition("target_descent_rate", "target_descent_rate"),
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# action=self.update_controls_simultaneously(),
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# ),
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# ]
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# # Function to get the current dataref value for a given parameter
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# def getDref(parameter_name):
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# # Depending on the parameter name, you would query X-Plane datarefs
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# if parameter_name == "Airspeed":
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# # Get airspeed dataref
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# return client.getData([DATAREF_AIRSPEED])
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# elif parameter_name == "Roll":
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# # Get roll angle dataref
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# return client.getData([DATAREF_ROLL])
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# elif parameter_name == "Hdg":
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# # Get heading dataref
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# return client.getData([DATAREF_HEADING])
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# elif parameter_name == "DescentRate":
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# # Get descent rate dataref
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# return client.getData([DATAREF_DESCENT_RATE])
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174
Python3/src/pyactrDemo.py
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174
Python3/src/pyactrDemo.py
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from time import sleep
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import xpc
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import pyactr as actr #Importing ACT-R python edition
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def ex():
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## ACT-R Setup
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playing_memory = actr.ACTRModel()
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actr.chunktype("pitch", "up, throttle")
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initial_chunk = actr.makechunk(typename="pitch", up="20")
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## Define new chunk type(s)
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#
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# Control Updates
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# Rudder = #### (0.5)
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# Elevator = #### (0)
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# Aileron = ####
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# Throttle = #####
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# Rules to define How much to change based on current parameters
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# Within a given rule, multiple values can be updated (which values depend on
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# acceptable ranges/current envrionment state/current goal state(pre-touchdown (cares about altitude) vs.
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# after touchdown braking (doesn't care about altitude)))
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actr.chunktype("Control Update", "rudder, elevator, aileron, throttle")
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##Use goal states to frame acceptable ranges for parameters (descent vs touchdown vs level flight etc etc.)
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## Divide landing task into subproblems
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## Level Flight
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# Initial Descent
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# .......
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# and/or tracking landing signal (ILS, RNAV, etc.) [Quantitative measure]
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## Environment Conditions: Calm...very calm
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##First Focus: Begin Simulation with the tedious button pressing all complete -- [go the route of Dead Reckoning]
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# (i.e. focus on command and control not beuracracy)
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# Define acceptable range of parameters for each stage
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# Stabilized descent (Maintaining a given descent rate in FPM -- Maintaining Speed, loosing altitude)
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# --> Rudder
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# --> Aileron
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# --> Elevator
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# --> Throttle
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# -->> Altitude (Throtte)
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# -->> Airspeed (Pitch = Elevator)
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# -->> Pitch (Elevator)
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# -->>>>>>>>>> Transition Point
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# Initial Parameter Above a certain altitude (50ish feet)
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# Search for established equations & control schema/relationships for the controls and/or environmental stimuli
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# Round out/ Flare & Crosswind Corections(i.e. don't land sideways) [Arresting the descent, maintaing wings level,
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# Letting the speed bleed off while maintaing altitude]
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# -->
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# Touchdown
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# -->
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# Rollout & Braking & Centerline tracking
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# -->
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goal = playing_memory.set_goal("goal")
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goal.add(initial_chunk)
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print(goal)
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playing_memory.productionstring(name="startpitch", string="""
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=goal>
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isa pitch
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up 20
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throttle None
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?manual>
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state free
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==>
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=goal>
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isa pitch
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throttle 100""") #this rule will be modified later
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playing_memory.productionstring(name="modifyPitch", string="""
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=goal>
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isa pitch
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up 20
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throttle 100
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==>
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+manual>
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isa _manual
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#
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cmd press_key
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key 1
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#
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=goal>
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isa pitch
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throttle None""") #this rule works correctly
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simulation_game = playing_memory.simulation()
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simulation_game.run()
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# print(goal)
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# final_chunk = goal.pop()
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# print(final_chunk)
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# print("X-Plane Connect example script")
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# print("Setting up simulation")
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# with xpc.XPlaneConnect() as client:
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# # Verify connection
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# try:
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# # If X-Plane does not respond to the request, a timeout error
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# # will be raised.
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# client.getDREF("sim/test/test_float")
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# except:
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# print("Error establishing connection to X-Plane.")
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# print("Exiting...")
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# return
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# # Set position of the player aircraft
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# print("Setting position")
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# # Lat Lon Alt Pitch Roll Yaw Gear
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# posi = [37.524, -122.06899, 2500, 0, 0, 0, 1]
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# client.sendPOSI(posi)
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# # Set position of a non-player aircraft
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# print("Setting NPC position")
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# # Lat Lon Alt Pitch Roll Yaw Gear
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# posi = [37.52465, -122.06899, 2500, 0, 20, 0, 1]
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# client.sendPOSI(posi, 1)
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# # Set angle of attack, velocity, and orientation using the DATA command
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# print("Setting orientation")
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# data = [\
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# [18, 0, -998, 0, -998, -998, -998, -998, -998],\
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# [ 3, 130, 130, 130, 130, -998, -998, -998, -998],\
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# [16, 0, 0, 0, -998, -998, -998, -998, -998]\
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# ]
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# client.sendDATA(data)
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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, 0.8]
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# client.sendCTRL(ctrl)
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# # Pause the sim
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# print("Pausing")
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# client.pauseSim(True)
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# sleep(2)
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# # Toggle pause state to resume
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# print("Resuming")
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# client.pauseSim(False)
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# # Stow landing gear using a dataref
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# print("Stowing gear")
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# gear_dref = "sim/cockpit/switches/gear_handle_status"
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# client.sendDREF(gear_dref, 0)
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# # Let the sim run for a bit.
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# sleep(4)
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# # Make sure gear was stowed successfully
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# gear_status = client.getDREF(gear_dref)
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# if gear_status[0] == 0:
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# print("Gear stowed")
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# else:
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# print("Error stowing gear")
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print("End of Python client example")
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input("Press any key to exit...")
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if __name__ == "__main__":
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ex()
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