mega changes -- transition to Python3
This commit is contained in:
cs-powell
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package CognitiveModel.ModelFiles;
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import java.io.BufferedWriter;
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import java.io.File;
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import java.io.FileWriter;
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import java.io.IOException;
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// import ModelFiles.ActionType;
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// import ModelFiles.MotorType;
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public class Model {
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private MindQueue q; // Queue for actions
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boolean modelActive; // On/Off Switch for the model execution
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XPlaneConnect xpc; // Allows connection to the simulator
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String storedVisionTarget;
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float[] storedVisionResult;
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boolean logCreated;
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boolean logAllowed;
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File dataLogFile = null;
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// Constructors
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public Model() {
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q = new MindQueue();
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modelActive = false;
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logCreated = false;
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}
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public Model(XPlaneConnect xpc) {
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q = new MindQueue();
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modelActive = false;
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this.xpc = xpc;
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logCreated = false;
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}
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/* Getters */
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public MindQueue getQueue() {
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return q;
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}
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/* Setters */
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/*
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* Setup Methods
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* Printing, Empty check, Activation/Deactivation of Model, etc.
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*/
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public void activateModel() {
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modelActive = true;
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}
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public void establishConnection(XPlaneConnect newXPC) {
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this.xpc = newXPC;
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}
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public void deactivateModel() {
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modelActive = false;
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}
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public boolean isEmpty() {
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return q.isEmpty();
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}
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public void push(Action a) {
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q.push(a);
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}
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public boolean isActive() {
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return modelActive;
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}
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public void printModelQueue() {
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System.out.println(q.queueToString());
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}
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public int getModelQueueLength() {
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return q.queueLength();
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}
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public void createAction(ActionType actionType, MotorType motorType, int delay, String target) {
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Action newAction = null;
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switch (actionType) {
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case VISION:
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newAction = new Vision(delay, target);
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this.push(newAction);
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break;
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case MOTOR:
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newAction = new Motor(motorType, delay, target);
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this.push(newAction);
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break;
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case DELAY:
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newAction = new Delay(delay);
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this.push(newAction);
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break;
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}
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}
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/*
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* Processing Methods
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*
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*/
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/*
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* Process the next event in the model queue
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*/
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public float[] next() {
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float[] returnArray = null;
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Action temp = q.pop();
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// System.out.println("Type of Action: " + temp.getType());
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if (temp.getType() == ActionType.VISION) { // Vision Action (Get Data)
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handelVisionAction(temp, returnArray);
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} else if (temp.getType() == ActionType.MOTOR) { // Motor Action (Act Upon Data)
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handleMotorAction(temp);
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} else if (temp.getType() == ActionType.DELAY) {// Pure Delays (Do nothing)
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handleDelayAction(temp);
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}
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// q.push(temp);
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return returnArray;
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}
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/* Next Helpers */
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private void handelVisionAction(Action temp, float[] returnArray) {
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Vision tempV = (Vision) temp;
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initiateDelay(tempV.getDelay());
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String dref = tempV.getTarget();
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try {
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returnArray = xpc.getDREF(dref);
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storedVisionTarget = dref;
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storedVisionResult = returnArray.clone();
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// System.out.println(returnArray[0]);
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} catch (IOException e) {
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}
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}
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private void handleMotorAction(Action temp) {
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/*
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TODO: GoogleDoc Notes 12/11/24
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*/
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Motor tempM = (Motor) temp;
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MotorType motorType = tempM.getMotorType();
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float[] currentControls = null;
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try {
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currentControls = xpc.getCTRL(0);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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try {
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switch (motorType) {
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case PITCHUP:
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float[] pitchUp = { currentControls[0] + 0.01f };
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if (storedVisionResult[0] > 80) {
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if (currentControls[0] < 0.2f) {
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System.out.println("Pitching Up");
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xpc.sendCTRL(pitchUp);
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}
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}
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break;
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case PITCHDOWN:
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float[] pitchDown = { currentControls[0] - 0.01f };
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if (storedVisionResult[0] < 80) {
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if (currentControls[0] > -0.2f) {
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// System.out.println("Sending Pitch Down");
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System.out.println("Pitching Down");
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xpc.sendCTRL(pitchDown);
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}
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}
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break;
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case THROTTLEUP:
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break;
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case THROTTLEDOWN:
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break;
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}
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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}
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private void handleDelayAction(Action temp) {
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Delay tempD = (Delay) temp;
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initiateDelay(tempD.getDelay());
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storedVisionTarget = "INTERRUPTION: DELAY";
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}
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public static void initiateDelay(int delay) {
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try {
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Thread.sleep(delay); // Using the action's Built in Delay
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} catch (InterruptedException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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}
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public float[] getCurrentControls() throws IOException{
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float [] returnArray = null;
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try {
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returnArray = xpc.getCTRL(0);
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} catch (IOException e) {
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// TODO Auto-generated catch block
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while(returnArray == null) {
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System.out.println("Waiting for reconnect");
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returnArray = xpc.getCTRL(0);
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}
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}
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return returnArray;
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}
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public void startLog() {
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logAllowed = true;
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}
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public void stopLog() {
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logAllowed = false;
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logCreated = false;
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}
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public boolean logPermission() {
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return logAllowed;
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}
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public void logData() {
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if(logAllowed) {
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logProcess();
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}
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}
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private void logProcess(){
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if(!logCreated) {
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dataLogFile = new File("./dataLog/" + java.time.LocalDateTime.now() + ".csv");
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logCreated = true;
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try {
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float[] ctrl1 = this.getCurrentControls();
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String setup = "Elevator, Roll, Yaw, Throttle, Flaps\n";
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FileWriter fw = new FileWriter(dataLogFile, true);
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BufferedWriter br = new BufferedWriter(fw);
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br.write(setup);
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br.flush();
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} catch (IOException e) {
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}
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}
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String log = null;
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try {
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float[] ctrl1 = this.getCurrentControls();
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//Labled Format
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log = String.format("[Elevator: %2f] [Roll: %2f] [Yaw: %2f] [Throttle:%2f] [Flaps: %2f] \n",
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ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5]);
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//CSV Format
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log = String.format("%2f, %2f, %2f, %2f, %2f\n",
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ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5]);
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FileWriter fw = new FileWriter(dataLogFile, true);
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BufferedWriter br = new BufferedWriter(fw);
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br.write(log);
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br.flush();
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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System.out.println("No data to log");
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}
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}
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public float[] getStoredVisionResult() {
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return storedVisionResult;
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}
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public String getStoredVisionTarget() {
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return storedVisionTarget;
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}
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}
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