Reconnect wrapper v1 complete
This commit is contained in:
cs-powell
@@ -29,8 +29,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
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brakeDREF = "sim/cockpit2/controls/parking_brake_ratio"
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brakeDREF = "sim/cockpit2/controls/parking_brake_ratio"
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wheelSpeedDREF = "sim/flightmodel2/gear/tire_rotation_speed_rad_sec"
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wheelSpeedDREF = "sim/flightmodel2/gear/tire_rotation_speed_rad_sec"
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wheelWeightDREF = "sim/flightmodel/parts/tire_vrt_def_veh"
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wheelWeightDREF = "sim/flightmodel/parts/tire_vrt_def_veh"
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self.sources = [airspeedDREF,rollDREF,magneticHeadingDREF,verticalSpeedDREF,altitudeAGLDREF,pitchDREF,brakeDREF,wheelSpeedDREF,wheelWeightDREF]
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# self.sources = [airspeedDREF,rollDREF,magneticHeadingDREF,verticalSpeedDREF,altitudeAGLDREF,pitchDREF,brakeDREF,wheelSpeedDREF,wheelWeightDREF]
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self.sources = {
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"airspeed" : airspeedDREF,
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"roll" : rollDREF,
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"heading" : magneticHeadingDREF,
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"verticalSpeed" : verticalSpeedDREF,
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"altitude": altitudeAGLDREF,
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"pitch" : pitchDREF,
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"brake": brakeDREF,
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"wheelSpeed": wheelSpeedDREF,
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"wheelWeight": wheelWeightDREF
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}
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"""
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"""
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Initial Initialization of destination Variables and loading into destinations array
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Initial Initialization of destination Variables and loading into destinations array
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"""
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"""
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@@ -54,8 +65,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.brakes = brake[0]
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self.brakes = brake[0]
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self.wheelSpeed = wheelS[0]
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self.wheelSpeed = wheelS[0]
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self.wheelWeight = wheelW[0]
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self.wheelWeight = wheelW[0]
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self.destinations = [self.airspeed,self.roll,self.heading,self.descent_rate,self.altitude,self.pitch,self.brakes,self.wheelSpeed,self.wheelWeight]
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# self.destinations = [self.airspeed,self.roll,self.heading,self.descent_rate,self.altitude,self.pitch,self.brakes,self.wheelSpeed,self.wheelWeight]
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self.destinations = {
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"airspeed" : self.airspeed,
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"roll" : self.roll,
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"heading" : self.heading,
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"verticalSpeed" : self.descent_rate,
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"altitude": self.altitude,
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"pitch" : self.pitch,
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"brake": self.brakes,
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"wheelSpeed": self.wheelSpeed,
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"wheelWeight": self.wheelWeight
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}
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"""
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"""
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Initial Initialization of target Values
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Initial Initialization of target Values
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"""
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"""
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@@ -105,18 +127,26 @@ class AircraftLandingModel(pyactr.ACTRModel):
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# while(idx < len(self.sources) - 1):
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# while(idx < len(self.sources) - 1):
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# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
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# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
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# idx += 1
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# idx += 1
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def reassignClient(self,newClient):
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self.client = newClient
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def getAndLoadDREFS(self):
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def getAndLoadDREFS(self):
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results = self.client.getDREFs(self.sources)
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results = self.client.getDREFs(self.sources.values())
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idx = 0
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idx = 0
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while(idx < len(results) - 2):
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for key in self.sources:
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self.destinations[idx] = results[idx][0]
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self.destinations[key] = results[idx]
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if(idx == 1):
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idx+=1
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print("getDrefs: " + str(results[idx][0]))
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print("getDrefs: " + str(results[1][0]))
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print("current destination: " + str(self.destinations[idx]))
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print("current destination: " + str(self.destinations["airspeed"]))
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print("current main Airspeed: " + str(self.airspeed))
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print("current main Airspeed: " + str(self.airspeed))
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idx += 1
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# while(idx < len(results) - 2):
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# self.destinations[idx] = results[idx][0]
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# if(idx == 1):
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# print("getDrefs: " + str(results[idx][0]))
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# print("current destination: " + str(self.destinations[idx]))
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# print("current main Airspeed: " + str(self.airspeed))
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# idx += 1
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def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
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def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
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@@ -129,7 +159,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
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# print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle))
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# print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle))
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parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"]
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parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"]
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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]
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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]
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current = [str(round(self.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))]
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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))]
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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))]
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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))]
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header_row = "{:<20} {:<20} {:<20} {:>10}"
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header_row = "{:<20} {:<20} {:<20} {:>10}"
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@@ -307,7 +337,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
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self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
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print("Altitude < 500; Flare Set True")
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print("Altitude < 500; Flare Set True")
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if(self.wheelWeight > 0.01 and self.wheelSpeed > 1 and self.airspeed < 1 and self.brakes == 1):
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if(self.wheelWeight > 0.01 and self.wheelSpeed > 1 and self.destinations["airspeed"] < 1 and self.brakes == 1):
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self.inProgress = False
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self.inProgress = False
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def simulationStatus(self):
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def simulationStatus(self):
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@@ -9,140 +9,196 @@ def runExperiment(title):
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print("Model Test: Xplane setting up connection")
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print("Model Test: Xplane setting up connection")
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print("Setting up simulation")
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print("Setting up simulation")
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with xpc.XPlaneConnect() as client:
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startTime = 0
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# Verify connection
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endTime = 0
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difference = endTime - startTime
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while(difference < 10):
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print("Time Elapsed: -----> " + str(difference))
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try:
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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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with xpc.XPlaneConnect() as client:
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# will beff raised.
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# Verify connection
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client.getDREF("sim/test/test_float")
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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 beff 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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cogModel = 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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# client.pauseSim(True)
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# # Set position of the player aircraft
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# print("Setting Experiment Position: Denver Airport Runway")
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# # Lat Lon Alt Pitch Roll Yaw Gear
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# posi = [39.945, -104.70, 2500, 0, 0, 0, 1] #3NM Approach for Denver Intl Runway 16R (16,000 feet)
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# client.sendPOSI(posi)
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# quat = (1.0,0.0,0.0,173.0)
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# quatDref = "sim/flightmodel/position/q"
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# client.sendDREF(quatDref,quat)
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# speed = (1.0,0.0,0.0,173.0)
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# client.sendDREF("sim/flightmodel/position/indicated_airspeed",speed)
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# client.pauseSim(False)
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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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groundLevel = 5434
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offset = 4000
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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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"""
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Set orientation and Position
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1 - Time
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3- Speeds: [3, V-indicated, 3, 2, 2, -998, VindMPH, V trueMPHas, vtrue MPHgs],\
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16 - Angular Velocities
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17 - PitchRoll and Headings: [17, Pitch, Roll, Heading True, -998, -998, -998, -998, -998],\
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18 - Angle of Attack
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20 - Latitude and Longitude
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"""
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location1 = [20, groundLevel + 3000, 39.96239, -104.69713, -998, -998, -998, -998, -998]
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testLocation = [20, -998, 27.20579, -80.08621, altitude, -998, -998, -998, -998] # 27.20579°N/80.08621°W
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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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client.pauseSim(False)
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# 39.96239°N/104.69713°W
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runModel = True
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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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clockStart = time.time()
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#Doing stuff In between Test SECOND INCREMENTS
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retry = 0
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while(cogModel.simulationStatus() and runModel and retry < 50):
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clockStart = time.time() #START TIMER
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# client.pauseSim(True) # Pause Simulator
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#Run Model
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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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##EXCEPTION TEST BED
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# try:
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# clockStart = time.time() #START TIMER
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# # client.pauseSim(True) # Pause Simulator
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# #Run Model
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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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# except TimeoutError as e:
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# clockStart = time.time()
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# difference = 0
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# print("Outer exception retry: " + str(retry))
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# while(difference<10):
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# print("Top of while loop")
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# try:
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# print("Top of TRY")
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# with xpc.XPlaneConnect() as client:
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# print("Top of reassign")
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# cogModel.reassignClient(client)
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# print("Bottom of reassign")
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# ##Test the connection
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# print("TOP: Testing connection")
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# cogModel.client.getDREF("sim/test/test_float") ##EXCEPTION OCCURING HERE
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# print("CONNECTION SUCCESFUL!!!!!!")
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# print("TRY BLOCK, go back to start: " + str(retry))
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# except:
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# print("Top of EXCEPT")
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# print("EXCEPT BLOCK, go back to start: " + str(retry))
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# clockEnd = time.time() # STOP TIMER
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# difference = clockEnd - clockStart
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# retry+=1
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# print("Time Elapsed: -----> " + str(difference))
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# ##Do Nothing, go back to start of difference loop
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# else:
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# print("Breaking out of Timeout exception loop")
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# break
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startTime = time.time()
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except:
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except:
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print("Error establishing connection to X-Plane.")
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print("except detected")
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print("Exiting...")
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endTime = time.time()
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return
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difference = endTime - startTime
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cogModel = AircraftLandingModel(client)
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continue
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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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||||||
|
|
||||||
# client.pauseSim(True)
|
|
||||||
# # Set position of the player aircraft
|
|
||||||
# print("Setting Experiment Position: Denver Airport Runway")
|
|
||||||
# # Lat Lon Alt Pitch Roll Yaw Gear
|
|
||||||
# posi = [39.945, -104.70, 2500, 0, 0, 0, 1] #3NM Approach for Denver Intl Runway 16R (16,000 feet)
|
|
||||||
# client.sendPOSI(posi)
|
|
||||||
# quat = (1.0,0.0,0.0,173.0)
|
|
||||||
# quatDref = "sim/flightmodel/position/q"
|
|
||||||
# client.sendDREF(quatDref,quat)
|
|
||||||
# speed = (1.0,0.0,0.0,173.0)
|
|
||||||
# client.sendDREF("sim/flightmodel/position/indicated_airspeed",speed)
|
|
||||||
# client.pauseSim(False)
|
|
||||||
|
|
||||||
|
|
||||||
# # Set angle of attack, velocity, and orientation using the DATA command
|
print("Model has finished running")
|
||||||
# print("Setting orientation")
|
#Copy data.txt to the cloudddddd using python magic and accurate filepaths
|
||||||
# data = [\
|
now = datetime.datetime
|
||||||
# [18, 0, -998, 0, -998, -998, -998, -998, -998],\
|
shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt")
|
||||||
# [ 3, 130, 130, 130, 130, -998, -998, -998, -998],\
|
|
||||||
# [16, 0, 0, 0, -998, -998, -998, -998, -998]\
|
|
||||||
# ]
|
|
||||||
# client.sendDATA(data)
|
|
||||||
|
|
||||||
groundLevel = 5434
|
input("Press any key to exit...")
|
||||||
offset = 4000
|
## Copy Data.txt to the repository file for analysis
|
||||||
altitudeFEET = groundLevel + offset
|
##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
|
||||||
altitudeMETERS = altitudeFEET/3.281
|
|
||||||
altitude = altitudeMETERS
|
|
||||||
"""
|
|
||||||
Set orientation and Position
|
|
||||||
1 - Time
|
|
||||||
3- Speeds: [3, V-indicated, 3, 2, 2, -998, VindMPH, V trueMPHas, vtrue MPHgs],\
|
|
||||||
16 - Angular Velocities
|
|
||||||
17 - PitchRoll and Headings: [17, Pitch, Roll, Heading True, -998, -998, -998, -998, -998],\
|
|
||||||
18 - Angle of Attack
|
|
||||||
20 - Latitude and Longitude
|
|
||||||
"""
|
|
||||||
location1 = [20, groundLevel + 3000, 39.96239, -104.69713, -998, -998, -998, -998, -998]
|
|
||||||
testLocation = [20, -998, 27.20579, -80.08621, altitude, -998, -998, -998, -998] # 27.20579°N/80.08621°W
|
|
||||||
|
|
||||||
kias = -998
|
|
||||||
keas = -998
|
|
||||||
ktas = -998
|
|
||||||
ktgs = -998
|
|
||||||
mph = -998
|
|
||||||
mphas = 80
|
|
||||||
mphgs = 80
|
|
||||||
|
|
||||||
print("Setting orientation for test")
|
|
||||||
# client.sendDREF("sim/operation/override/override_planepath",1)
|
|
||||||
# client.pauseSim(True)
|
|
||||||
|
|
||||||
# client.sendDREF("sim/flightmodel/position/local_y",2000)
|
|
||||||
# client.sendDREFs(["sim/flightmodel/position/P","sim/flightmodel/position/Q","sim/flightmodel/position/R"],[0,0,0])
|
|
||||||
# client.sendDREF("sim/flightmodel/position/q",[0.3, 0, 0, 0.6])
|
|
||||||
|
|
||||||
# data = [\
|
|
||||||
# [3, -998, -998, -998, -998, -998, -998, mphas, mphgs],\
|
|
||||||
# [16, 0, 0, 0, -998, -998, -998, -998, -998],\
|
|
||||||
# [17, 0, 0, 0, -998, -998, -998, -998, -998],\
|
|
||||||
# [18, -998, -998, -998, -998, -998, -998, -998, -998],\
|
|
||||||
# [19, -998, -998, -998, -998, -998, -998, -998, -998],\
|
|
||||||
# testLocation\
|
|
||||||
# ]
|
|
||||||
# client.sendDATA(data)
|
|
||||||
# client.sendDREF("sim/operation/override/override_planepath",0)
|
|
||||||
|
|
||||||
client.pauseSim(False)
|
|
||||||
|
|
||||||
# 39.96239°N/104.69713°W
|
|
||||||
runModel = True
|
|
||||||
# Set control surfaces and throttle of the player aircraft using sendCTRL
|
|
||||||
print("Setting controls")
|
|
||||||
ctrl = [0.0, 0.0, 0.0, 0.0]
|
|
||||||
client.sendCTRL(ctrl)
|
|
||||||
# Pitch, Roll, Rudder, Throttle
|
|
||||||
# Pause the sim
|
|
||||||
# client.pauseSim(False)
|
|
||||||
count = 0
|
|
||||||
innercount = 0
|
|
||||||
clockStart = time.time()
|
|
||||||
#Doing stuff In between Test SECOND INCREMENTS
|
|
||||||
while(cogModel.simulationStatus() and runModel):
|
|
||||||
clockStart = time.time() #START TIMER
|
|
||||||
# client.pauseSim(True) # Pause Simulator
|
|
||||||
#Run Model
|
|
||||||
cogModel.update_aircraft_state()
|
|
||||||
cogModel.update_controls_simultaneously()
|
|
||||||
client.pauseSim(False) #Unpause Simulator
|
|
||||||
clockEnd = time.time() # STOP TIMER
|
|
||||||
count+=1
|
|
||||||
# print("Clock Time: " + str(clockEnd - clockStart)) ## LOG TIME TAKEN
|
|
||||||
sleep(0.05) # LET Simulator Run 50 Milliseconds
|
|
||||||
|
|
||||||
print("Model has finished running")
|
|
||||||
#Copy data.txt to the cloudddddd using python magic and accurate filepaths
|
|
||||||
now = datetime.datetime
|
|
||||||
shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt")
|
|
||||||
|
|
||||||
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)
|
|
||||||
|
|
||||||
def ex():
|
def ex():
|
||||||
##Store Experiment Battery
|
##Store Experiment Battery
|
||||||
@@ -152,7 +208,7 @@ def ex():
|
|||||||
##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<2):
|
while(count<1):
|
||||||
runExperiment(title)
|
runExperiment(title)
|
||||||
count+=1
|
count+=1
|
||||||
print("Experiment Battery Complete")
|
print("Experiment Battery Complete")
|
||||||
|
|||||||
Reference in New Issue
Block a user