[checkpoint] pre code cleanup pass

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/Users/flyingtopher/Desktop/Code Citadel/School/2. Research/Fork Clone/XPlaneConnectCSP/C"
+}

Python3/src/cognitiveModel.py

@@ -4,14 +4,14 @@ import xpc
 import math
 # import geopy
 from geographiclib.geodesic import Geodesic as geo
-
-
+from rich import print
 
 # Initialize XPlaneConnect client
 class scaleFactor():
     SCALEYOKEPULL = 10
     SCALEYOKESTEER = 10
     SCALERUDDER = 10
+    SCALELATITUDERUDDER = 0.001
     SCALETHROTTLE = 1000
 
 ###Define variables/parameters for aircraft class/category : Wisdom of Raju 
@@ -22,13 +22,15 @@ class AircraftLandingModel(pyactr.ACTRModel):
         self.inProgress = True
         self.printControlsFlag = printFlag
         self.targetLat = 39.895791
-        self.targetLong = -104.696085
+        self.targetLong = -104.696032
         """
         Setting DREF variables and loading into drefs array
         """
         airspeedDREF = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot"
         rollDREF = "sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot"
         magneticHeadingDREF = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot"
+        latitudeDREF = "sim/flightmodel/position/latitude" ## Lat 
+        longitudeDREF = "sim/flightmodel/position/longitude" ##Long
         verticalSpeedDREF = "sim/flightmodel/position/vh_ind_fpm"
         altitudeAGLDREF = "sim/flightmodel/position/y_agl"
         pitchDREF = "sim/flightmodel/position/true_theta"
@@ -41,6 +43,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
             "airspeed" : airspeedDREF,
             "roll" : rollDREF,
             "heading" : magneticHeadingDREF,
+            "latitude": latitudeDREF,
+            "longitude": longitudeDREF,
             "vertical speed" : verticalSpeedDREF,
             "altitude": altitudeAGLDREF,
             "pitch" : pitchDREF,
@@ -55,6 +59,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
         airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot")
         roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
         heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
+        latitude = self.client.getDREF("sim/flightmodel/position/latitude") ##Current Lat 
+        longitude = self.client.getDREF("sim/flightmodel/position/longitude") ##Current Long
         descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
         altitude = self.client.getDREF("sim/flightmodel/position/y_agl")
         pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
@@ -67,6 +73,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
         self.airspeed = airspeed[0]
         self.roll = roll[0]
         self.heading = HARDCODE_HEADING
+        self.latitude = latitude[0]
+        self.longitude = longitude[0]
         self.descent_rate = descent_rate[0]
         self.altitude = altitude[0]
         self.pitch = pitch[0]
@@ -79,6 +87,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
             "airspeed" : self.airspeed,
             "roll" : self.roll,
             "heading" : self.heading,
+            "latitude": self.latitude,
+            "longitude": self.longitude,
             "vertical speed" : self.descent_rate,
             "altitude": self.altitude,
             "pitch" : self.pitch,
@@ -93,10 +103,12 @@ class AircraftLandingModel(pyactr.ACTRModel):
         self.target_airspeed = 80
         self.target_roll = 0
         self.target_heading = self.heading #Track heading from initialization[DEPRECATED]
+        self.target_Lat = 39.895791
+        self.target_Long = -104.696032
         self.target_descent_rate = 500
         self.target_altitude = -998
-        self.target_pitch = 20
-        self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_descent_rate,self.target_altitude,self.target_pitch]
+        self.target_pitch = 25
+        self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_Lat,self.target_Long,self.target_descent_rate,self.target_altitude,self.target_pitch]
         
 
         #State Flags (Boolean)  & Current State (Integer)
@@ -122,6 +134,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
         self.integral_airspeed = 0
         self.integral_roll = 0
         self.integral_heading = 0
+        self.integral_Latitude = 0
+        self.integral_Longitude = 0
         self.integral_descent_rate = 0
 
         #Flare Specific Parameters
@@ -159,7 +173,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
     def get_bearing(self,lat1, lat2, long1, long2):
         brng = geo.WGS84.Inverse(lat1, long1, lat2, long2)['azi1']
         self.target_heading = brng
-        print("TARGET BEARING: " + str(brng))
+        # print("TARGET BEARING: " + str(brng))
 
     def getAndLoadDREFS(self):
         results = self.client.getDREFs(self.sources.values())
@@ -171,6 +185,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
         lat = self.client.getDREF("sim/flightmodel/position/latitude") ##Current Lat 
         long = self.client.getDREF("sim/flightmodel/position/longitude") ##Current Long
         self.get_bearing(lat[0],self.targetLat,long[0],self.targetLong)
+        
 
         # print("getDrefs: " + str(results[1][0]))
         # print("current destination: " + str(self.destinations["airspeed"]))
@@ -193,11 +208,36 @@ class AircraftLandingModel(pyactr.ACTRModel):
             # print("*Parameter,Target,Current,Yoke Steer:     " + "Roll, " + str(self.target_roll) + "," +  str(self.destinations["roll"])+ "," + str(yokeSteer))
             # print("*Parameter,Target,Current,Rudder:         " + "Heading, " + str(self.target_heading) + "," +  str(self.heading)+ "," + str(rudder))
             # print("*Parameter,Target,Current,Throttle:       " + "Descent Rate, " + str(self.target_descent_rate) + "," +  str(self.descent_rate)+ "," + str(throttle))
-            parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"]
-            target =  [str(round(self.target_airspeed)),str(round(self.target_roll)),str(round(self.target_heading,3)),str(round(self.target_descent_rate,3)),str(round(self.altitude,3)),str(round(self.target_pitch,3)),0, 0]
-            current = [str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"roll"),3)),str(round(self.dictionaryAccess(self.destinations,"heading"),3)),str(round(self.dictionaryAccess(self.destinations,"vertical speed"),3)),
-                       str(round(self.dictionaryAccess(self.destinations,"altitude"),3)),str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"wheelSpeed"),3)),str(round(self.dictionaryAccess(self.destinations,"wheelWeight"),3))]
-            controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3)),str(self.dictionaryAccess(self.phaseFlags,"flare")),str(round(self.dictionaryAccess(self.destinations,"brakes"),3)),str(round(self.dictionaryAccess(self.destinations,"brakes"),3))]
+            parameter = ["Airspeed","Roll","Heading","Longitude","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: Wheel Weight"]
+            target =  [str(round(self.target_airspeed)),
+                       str(round(self.target_roll)),
+                       str(round(self.target_heading,3)),
+                       str(round(self.target_Long,6)),
+                       str(round(self.target_descent_rate,3)),
+                       str(round(self.altitude,3)),
+                       str(round(self.target_pitch,3)),
+                       0, 
+                       0]
+            
+            current = [str(round(self.dictionaryAccess(self.destinations,"airspeed"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"roll"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"heading"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"longitude"),6)),
+
+                       str(round(self.dictionaryAccess(self.destinations,"vertical speed"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"altitude"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"wheelSpeed"),3)),
+                       str(round(self.dictionaryAccess(self.destinations,"wheelWeight"),3))]
+            controlVal = [str(round(yokePull,3)),
+                          str(round(yokeSteer,3)),
+                          str(round(rudder,3)),
+                          str(round(rudder,3)), 
+                          str(round(throttle,3)),
+                          str(round(self.altitude,3)),
+                          str(self.dictionaryAccess(self.phaseFlags,"flare")),
+                          str(round(self.dictionaryAccess(self.destinations,"brakes"),3)),
+                          str(round(self.dictionaryAccess(self.destinations,"brakes"),3))]
 
             header_row = "{:<20} {:<20} {:<20} {:>10}"
             headers = "Parameter Target Current Control_Value".split()
@@ -270,7 +310,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
                                                                      scaleFactor.SCALEYOKEPULL)
         
         if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
-             self.target_pitch = 10
+             self.target_pitch = 20
              yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.dictionaryAccess(self.destinations,"pitch"), 
                                                                              self.target_pitch, 
                                                                              self.integral_pitch, 
@@ -281,7 +321,21 @@ class AircraftLandingModel(pyactr.ACTRModel):
             #                                                                  scaleFactor.SCALEYOKEPULL)
 
         yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"roll"), self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER)
-        rudder, self.integral_heading = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"heading"), self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
+
+        """
+        RUDDER CONTROLS
+        """
+        #ORIGINAL
+        # rudder, self.integral_heading = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"heading"), self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER) 
+        #lATITUDE/LONGITUDE
+        if(self.destinations,"longitude" == self.target_Long):
+            self.integral_Longitude = 0
+
+        rudder, self.integral_Longitude = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"longitude"), self.target_Long, self.integral_Longitude,scaleFactor.SCALELATITUDERUDDER)
+
+        
+        
+        
         throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"vertical speed"), self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
         ### 1. For Calculated Yoke and Throttle Values 
         #Invert Throttle Control & divide by 5 to scale
@@ -323,13 +377,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
  
         ##Method 2: Same Control Statements with Change in Parameter to decided pitch from Airspeed ---> Local Pitch Relative to the Horizon
 
-
+        rudder = rudder * -1
+        additive = rudder*1.0
+        
         #Switch Target for Pitch to Local Pitch Axis (ex. +10 Degrees nose up)
         if(self.printControlsFlag):
-            self.printControls(1,0,yoke_pull,yoke_steer,rudder,throttle) #PRINT CONTROLS 
+            self.printControls(1,0,yoke_pull,yoke_steer+additive,rudder,throttle) #PRINT CONTROLS 
         # Send all controls simultaneously to X-Plane
-        self.send_controls_to_xplane(yoke_pull, yoke_steer, rudder, throttle)
-
+        self.send_controls_to_xplane(yoke_pull, yoke_steer+additive, rudder, throttle)
 
     def send_controls_to_xplane(self, yoke_pull, yoke_steer, rudder, throttle):
         """
@@ -383,7 +438,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
            and self.dictionaryAccess(self.destinations,"brakes") == 1):            
             self.inProgress = False
     
-    def simulationStatus(self):
+    def getSimulationStatus(self):
         return self.inProgress
         
 

Python3/src/experiments/weather_files/turbulence.csv

@@ -0,0 +1,61 @@
+Turbulence Experiments,Starting Altitude (AGL),Wind Layer Altitude,Wind Direction,Wind Speed,Turbulence,Thermal Rate,Thermal Percent,Thermal Altitude,Cognitive Delay
+0,2900,0,179,0,1,500,0.9,15000,0.05
+1,2900,0,179,0,1,500,0.9,15000,0.15
+2,2900,0,179,0,1,500,0.9,15000,0.25
+3,2900,0,179,0,1,500,0.9,15000,0.35
+4,2900,0,179,0,1,500,0.9,15000,0.45
+5,2900,0,179,0,1,500,0.9,15000,0.55
+6,2900,0,179,0,2,500,0.9,15000,0.05
+7,2900,0,179,0,2,500,0.9,15000,0.15
+8,2900,0,179,0,2,500,0.9,15000,0.25
+9,2900,0,179,0,2,500,0.9,15000,0.35
+10,2900,0,179,0,2,500,0.9,15000,0.45
+11,2900,0,179,0,2,500,0.9,15000,0.55
+12,2900,0,179,0,3,500,0.9,15000,0.05
+13,2900,0,179,0,3,500,0.9,15000,0.15
+14,2900,0,179,0,3,500,0.9,15000,0.25
+15,2900,0,179,0,3,500,0.9,15000,0.35
+16,2900,0,179,0,3,500,0.9,15000,0.45
+17,2900,0,179,0,3,500,0.9,15000,0.55
+18,2900,0,179,0,4,500,0.9,15000,0.05
+19,2900,0,179,0,4,500,0.9,15000,0.15
+20,2900,0,179,0,4,500,0.9,15000,0.25
+21,2900,0,179,0,4,500,0.9,15000,0.35
+22,2900,0,179,0,4,500,0.9,15000,0.45
+23,2900,0,179,0,4,500,0.9,15000,0.55
+24,2900,0,179,0,5,500,0.9,15000,0.05
+25,2900,0,179,0,5,500,0.9,15000,0.15
+26,2900,0,179,0,5,500,0.9,15000,0.25
+27,2900,0,179,0,5,500,0.9,15000,0.35
+28,2900,0,179,0,5,500,0.9,15000,0.45
+29,2900,0,179,0,5,500,0.9,15000,0.55
+30,2900,0,179,0,6,500,0.9,15000,0.05
+31,2900,0,179,0,6,500,0.9,15000,0.15
+32,2900,0,179,0,6,500,0.9,15000,0.25
+33,2900,0,179,0,6,500,0.9,15000,0.35
+34,2900,0,179,0,6,500,0.9,15000,0.45
+35,2900,0,179,0,6,500,0.9,15000,0.55
+36,2900,0,179,0,7,500,0.9,15000,0.05
+37,2900,0,179,0,7,500,0.9,15000,0.15
+38,2900,0,179,0,7,500,0.9,15000,0.25
+39,2900,0,179,0,7,500,0.9,15000,0.35
+40,2900,0,179,0,7,500,0.9,15000,0.45
+41,2900,0,179,0,7,500,0.9,15000,0.55
+42,2900,0,179,0,8,500,0.9,15000,0.05
+43,2900,0,179,0,8,500,0.9,15000,0.15
+44,2900,0,179,0,8,500,0.9,15000,0.25
+45,2900,0,179,0,8,500,0.9,15000,0.35
+46,2900,0,179,0,8,500,0.9,15000,0.45
+47,2900,0,179,0,8,500,0.9,15000,0.55
+48,2900,0,179,0,9,500,0.9,15000,0.05
+49,2900,0,179,0,9,500,0.9,15000,0.15
+50,2900,0,179,0,9,500,0.9,15000,0.25
+51,2900,0,179,0,9,500,0.9,15000,0.35
+52,2900,0,179,0,9,500,0.9,15000,0.45
+53,2900,0,179,0,9,500,0.9,15000,0.55
+54,2900,0,179,0,10,500,0.9,15000,0.05
+55,2900,0,179,0,10,500,0.9,15000,0.15
+56,2900,0,179,0,10,500,0.9,15000,0.25
+57,2900,0,179,0,10,500,0.9,15000,0.35
+58,2900,0,179,0,10,500,0.9,15000,0.45
+59,2900,0,179,0,10,500,0.9,15000,0.55

Python3/src/experiments/weather_files/weather.csv

@@ -0,0 +1,28 @@
+Wind Experiments,Starting Altitude (AGL),Wind Layer Altitude,Wind Direction,Wind Speed,Direction Offset(Setup Only),Main Heading
+1,2000,0,139,5,-40,179
+2,2000,0,149,5,-30,
+3,2000,0,159,5,-20,
+4,2000,0,169,5,-10,
+5,2000,0,179,5,0,
+6,2000,0,189,5,10,
+7,2000,0,199,5,20,
+8,2000,0,209,5,30,
+9,2000,0,219,5,40,
+10,2000,0,139,10,-40,
+11,2000,0,149,10,-30,
+12,2000,0,159,10,-20,
+13,2000,0,169,10,-10,
+14,2000,0,179,10,0,
+15,2000,0,189,10,10,
+16,2000,0,199,10,20,
+17,2000,0,209,10,30,
+18,2000,0,219,10,40,
+19,2000,0,139,15,-40,
+20,2000,0,149,15,-30,
+21,2000,0,159,15,-20,
+22,2000,0,169,15,-10,
+23,2000,0,179,15,0,
+24,2000,0,189,15,10,
+25,2000,0,199,15,20,
+26,2000,0,209,15,30,
+27,2000,0,219,15,40,

Python3/src/experiments/weather_files/weather_2.csv

@@ -1,5 +0,0 @@
-Wind,2,3,4
-Altitudes,3,4,5
-Turtles,4,5,6
-Ducks,5,6,7
-Penguins,6,7,8

Python3/src/testPlatform.py

@@ -7,9 +7,17 @@ import xpc
 from cognitiveModel import AircraftLandingModel
 import shutil
 import csv
+from enum import Enum
+from playsound import playsound
+import threading as threading
 
 
 
+
+class messageType(Enum):
+    REGULAR = 1
+    ERROR = 2
+
 def eulerToQuat(psiInput,thetaInput,phiInput):
     
     psi = float(pi / 360 * psiInput)
@@ -24,33 +32,30 @@ def eulerToQuat(psiInput,thetaInput,phiInput):
     quat = [q0/e,q1/e,q2/e,q3/e]
     return quat
 
-
-def loadFile(index):
-    filename = "Python3/src/experiments/weather_files/weather_" + str(index) + ".csv"
+def loadFile():
+    filename = "Python3/src/experiments/weather_files/weather.csv"
+    filename = "Python3/src/experiments/weather_files/turbulence.csv"
     with open(filename,"r") as f:
         matrix = list(csv.reader(f,delimiter=','))
         print(matrix)
         return matrix
-
+    
 
 def selectWeather(matrix,experimentNumber):
     return matrix[experimentNumber]
 
-
-
-def experimentSetUp(client,altitudeInput,newExperiment):
-    loadFile(2)
+def experimentSetUp(client,currentConditions,newExperiment,file):
     # input("Check The Loaded File Now")
     print("Entered: EXPERIMENTSETUP")
     if(newExperiment):
         #Location:
         groundLevel = 5434
-        offset = altitudeInput
+        offset = float(currentConditions[1])
         altitudeFEET = groundLevel + offset
         altitudeMETERS = altitudeFEET/3.281
         altitude = altitudeMETERS
         print(str(altitude))
-        location1 =  [20,   -998, 39.96239,  -104.69713, altitude, -998, -998, -998, -998]
+        location1 =  [20,   -998, 39.96239,  -104.696032, altitude, -998, -998, -998, -998]
         # testLocation = [20,   -998, 27.20579,  -80.08621, altitude, -998, -998, -998, -998] # 27.20579°N/80.08621°W
         data = [
             location1\
@@ -58,6 +63,7 @@ def experimentSetUp(client,altitudeInput,newExperiment):
         client.sendDATA(data)
 
 
+
         print("Zero velocities")
         x = "sim/flightmodel/position/local_vx"
         y = "sim/flightmodel/position/local_vy"
@@ -104,19 +110,31 @@ def experimentSetUp(client,altitudeInput,newExperiment):
             # result = client.getDREF(windLayer)
             # print("Wind:" + str(result))
         print("Setting Wind Layers")
-        client.sendDREF(windLayer,6000)
-        client.sendDREF(windLayer2,15000)
-        client.sendDREF(windLayer3,15000)
+        client.sendDREF(windLayer,float(currentConditions[2]))
+        # client.sendDREF(windLayer2,15000)
+        # client.sendDREF(windLayer3,15000)
         print("Setting Wind Direction and Speed")
-        client.sendDREF(windDirection,170)
+        client.sendDREF(windDirection,float(currentConditions[3]))
         print("Set 1")
-
-        client.sendDREF(windSpeed,40)
+        client.sendDREF(windSpeed,float(currentConditions[4]))
         print("Set 2")
 
 
-        # client.sendDREF(turbulence,turbulencePercentage)
+        print("Setting Turbulence Level")
+        turbulenceDREF = "sim/weather/turbulence[0]"
+        client.sendDREF(turbulenceDREF,float(currentConditions[5]))
 
+        print("Setting Thermals")
+        thermalRateDREF = "sim/weather/thermal_rate_ms"
+        thermalPercentDREF = "sim/weather/thermal_percent"
+        thermalAltitudeDREF = "sim/weather/thermal_altitude_msl_m"
+        client.sendDREF(thermalRateDREF,float(currentConditions[6]))
+        client.sendDREF(thermalPercentDREF,float(currentConditions[7]))
+        client.sendDREF(thermalAltitudeDREF,float(currentConditions[8]))
+
+
+
+        # client.sendDREF(turbulence,turbulencePercentage)
         # preset = "sim/weather/region/weather_preset"
         # value = 8
         # client.sendDREF(preset,value)
@@ -125,11 +143,17 @@ def experimentSetUp(client,altitudeInput,newExperiment):
         client.pauseSim(False)
         print("Setting initial velocity")
         zInit = "sim/flightmodel/position/local_vz"
-        client.sendDREF(zInit, 80)
+        client.sendDREF(zInit, 50)
+
+
+
+        print("Setting Fuel to Experiment Level")
+        # fuel = "sim/aircraft/weight/acf_m_fuel_tot"
+        fuel = "sim/flightmodel/weight/m_fuel"
+        fuelLevels = [20,20]
+        client.sendDREF(fuel, fuelLevels)
         print("setup complete")
 
-
-        
         """
         Set orientation and Position
             1 - Time 
@@ -139,121 +163,228 @@ def experimentSetUp(client,altitudeInput,newExperiment):
             18 - Angle of Attack
             20 - Latitude and Longitude
         """
-        kias = -998
-        keas = -998
-        ktas = -998
-        ktgs = -998
-        mph = -998
-        mphas = 80
-        mphgs = 80
+        message = "Conditions are set as\n" \
+        "Experiment #: {} \n"\
+        "Starting Altitude: {} \n" \
+        "Layer Altitude: {} \n" \
+        "Wind Direction: {} \n" \
+        "Wind Speed: {} \n" \
+        "Turbulence: {} \n" \
+        "Thermal Rate: {} \n" \
+        "Thermal Percent: {}\n" \
+        "Thermal Altitude: {}\n" \
+        "Cognitive Delay: {}\n".format(currentConditions[0],currentConditions[1],currentConditions[2],currentConditions[3],currentConditions[4],
+                                        currentConditions[5],currentConditions[6],currentConditions[7],currentConditions[8],currentConditions[9])
+        specialPrint(message,False,messageType.REGULAR)
+        # file.write("[[[" + message + "]]]")
 
-        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)
-        
-        # Set control surfaces and throttle of the player aircraft using sendCTRL
-        # print("Setting controls")
-        # ctrl = [0.0, 0.0, 0.0, 0.0]
-        # cogModel.client.sendCTRL(ctrl)
-        # print("past setting controls")
+          
     else:
         print("Experiment currently in progress, not resetting position and environmental conditions")
 
-def runExperiment(title,printFlag,experimentStart):
-    print("Model Test: Xplane setting up connection")
-    print("Setting up simulation")
+def printLoop(status,data):
+    while(status):
+        print(str(data))
+    if(not status):
+        print("Thread Should Finish Now")
+
+
+def log(cogModel, file,timeElapsed):
+    airspeedDREF = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot"
+    rollDREF = "sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot"
+    magneticHeadingDREF = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot"
+    latitudeDREF = "sim/flightmodel/position/latitude" ## Lat 
+    longitudeDREF = "sim/flightmodel/position/longitude" ##Long
+    verticalSpeedDREF = "sim/flightmodel/position/vh_ind_fpm"
+    altitudeAGLDREF = "sim/flightmodel/position/y_agl"
+    pitchDREF = "sim/flightmodel/position/true_theta"
+    brakeDREF = "sim/cockpit2/controls/parking_brake_ratio"
+    wheelSpeedDREF = "sim/flightmodel2/gear/tire_rotation_speed_rad_sec"
+    wheelWeightDREF = "sim/flightmodel/parts/tire_vrt_def_veh"
+    sources = [latitudeDREF, longitudeDREF,altitudeAGLDREF, pitchDREF,rollDREF]
+    data = cogModel.client.getDREFs(sources)
+    mainString = []
+    # data = client.readDATA()
+    mainString.append(str(timeElapsed))
+    mainString.append(",")
+    for d in data:
+        mainString.append(str(d[0]))
+        mainString.append(",")
+
+    mainString[len(mainString)-1] = "\n"
+    finalString = "".join(mainString)
+    file.write(finalString)
+    file.flush()
+    # file.write(str(timeElapsed) + "," + str(data[0][0]) + "," + str(data[1][0]) + "," + str(data[2][0]) + "," + str(data[3][0]) +"\n")    
+
+
+def runExperiment(title,currentConditions,allowPrinting,isNewExperiment,experimentCount,file):
+    specialPrint("New Experiment\nSetting Up the Simulation",False,messageType.REGULAR)
     startTime = 0
     endTime = 0
-    difference = endTime - startTime
-    experimentLive = True
+    timeElapsed = endTime - startTime
+    experimentInProgress = True
     timeoutLimit = 10
-    newExperiment =  experimentStart
-    while(difference < timeoutLimit and experimentLive):
-        print("Time Elapsed: -----> " + str(difference))
+    newExperiment =  isNewExperiment
+    while(timeElapsed <= timeoutLimit and experimentInProgress):
         try:
             with xpc.XPlaneConnect() as client:
-                # Verify connection
+                """
+                Test Connection
+                """
                 client.getDREF("sim/test/test_float")
-                cogModel = AircraftLandingModel(client,printFlag)
-                experimentSetUp(cogModel.client,2000,newExperiment)
+
+                """
+                Setup Model
+                """
+                cogModel = AircraftLandingModel(client,allowPrinting)
+                """
+                Set Simulator Conditions
+                """
+                experimentSetUp(cogModel.client,currentConditions,newExperiment,file)
+                
+                currentDelay = float(currentConditions[9])
+                """
+                """
                 cogModel.client.pauseSim(False)
-                count = 0
-                innercount = 0
-                clockStart = time.time()
-                retry = 0
                 newExperiment = False
-                while(cogModel.simulationStatus()):  
-                    clockStart = time.time() #START TIMER
-                    #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
-                    startTime = time.time()
-                    experimentLive = cogModel.simulationStatus()
+                """
+                SETUP DATA THREAD
+                """
+                # thread = threading.Thread(target=printLoop(cogModel.getSimulationStatus(),cogModel.destinations.get("airspeed")))
+                # thread.start()
+                """
+                Single Experiment Loop
+                """
+                startTime = time.time()
+                endTime = time.time()
+                elapsed = endTime - startTime
+                while(experimentInProgress):
+                    elapsed = endTime - startTime
+                    if(elapsed > currentDelay):
+                        cogModel.update_aircraft_state() 
+                        cogModel.update_controls_simultaneously()
+                        client.pauseSim(False)          #Unpause Simulator
+                        startTime = time.time()
+                    # sleep(2)                     # Let Simulator Run 50 Milliseconds
+                    log(cogModel,file,elapsed)
+                    experimentInProgress = cogModel.getSimulationStatus()
+                    endTime = time.time()
         except:
-            print("except detected")
             endTime = time.time()
-            print("Start Time:" + str(startTime))
-            print("End Time:" + str(endTime))
-            difference = endTime - startTime
+            timeElapsed = endTime - startTime
+            message = "Except detected\nStart Time: {a}\nEnd Time: {b}\n" \
+            "Time Elapsed: -----> {c} ".format(a= startTime, b=endTime,c=timeElapsed)
+            specialPrint(message,False,messageType.ERROR)
             continue
-    if(difference >= timeoutLimit):
-        print("Timeout[" + str(difference) +"]:"+"Error, please run test again")
+
+    """
+    Parse End Condition: Succesful Run or Timeout-Induced End
+    """
+    if(timeElapsed >= timeoutLimit):
+        print("Timeout[" + str(timeElapsed) +"]:"+"Error, please run test again")
     else: 
         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")
-    # print("CLEAN UP: Data File Copied and saved")
-    # os.remove("/Users/flyingtopher/X-Plane 11/Data.txt")
-    print("CLEAN UP: Data File Deleted and Reset")
-    # exit = input("Press 'y' or any key to continue, press 'n' to exit...")
-    exit = False
-    if(exit == "n"):
-        exit = True
-    else:
-        exit = False
-    return exit
-    ##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
-        
-def ex():
-    ##Store Experiment Battery
-    ##Different paramters on every run of the model
-    ## Nested loops: 
-        ##wind conditions, pilot conditions
-    # title = input("Please Enter Experiment Set Title, leave blank for trial runs")
-    title = 'test'
-    count = 0
-    while(count<7):
-        # input("Press Enter to Start Experiment #" + str(count) + ": ")
-        print("Data File Reset")
-        f = open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
-        exit = runExperiment(title,False,True)
-        if(exit):
-            break
-        count+=1
 
-    print("Experiment Battery Complete")
+    """
+    Ask Experimenter if they would like to exit experiment battery early 
+    """
+    # exitDecision = input("Press 'y' or any key to continue, press 'n' to exit...")
+    exitDecision = "yes"
+    
+    if(exitDecision == "n"):
+        exitExperimentLoop = True
+    else:
+        exitExperimentLoop = False
+    return exitExperimentLoop
+
+
+def say(msg = "Finish", voice = "Victoria"):
+        os.system(f'say -v {voice} {"Hello"}')
+
+# def playSound():
+#     # wave_obj = sa.WaveObject.from_wave_file("Python3/src/experiments/terrain-terrain,-pull-up!-pull-up!-made-with-Voicemod.wav")
+#     # wave_obj.play()
+#     # # play_obj.wait_done()
+#     # song = AudioSegment.from_wav("Python3/src/experiments/terrain-terrain,-pull-up!-pull-up!-made-with-Voicemod.wav")
+#     # play(song)
+#     # playsound('Python3/src/experiments/terrain-terrain,-pull-up!-pull-up!-made-with-Voicemod.wav')
+
+    
+
+def setUp():
+    file = open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
+    file.close()
+    specialPrint("Data Collection File Ready",False,messageType.REGULAR)
+
+def cleanUp(count,title):
+    now = datetime.datetime
+    # shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_"+ count + "_" + str(now.now()) + "_" + ".txt")
+    shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/Current Experiment/" + str(count)+ "_" + title + ".txt")
+    print("CLEAN UP: Data File Deleted and Reset")
+    specialPrint("Data File Ready",False,messageType.REGULAR)
+
+def specialPrint(text, inputRequested,type): 
+    if(type == messageType.REGULAR): 
+        print("-" * 81)
+        print('====> ', end='')
+        print(text, end= " <====\n")
+        print("-" * 81 + "\n")
+        if(inputRequested):
+            inputReceived = input()
+            return inputReceived
+    if(type == messageType.ERROR):
+        print("*" * 81)
+        print(text)
+        print("*" * 81 + "\n")
+
+
+
+def ex():
+    # playSound()
+    """
+    One Time experimental setup
+    """
+    prefix = specialPrint("Please Enter Experiment Set Title, leave blank for trial runs", True, messageType.REGULAR) 
+    experimentConditionMatrix = loadFile()
+    startAt = input("Start At Experiment # 1 to " + str(len(experimentConditionMatrix)-1))
+
+    title = str(prefix + "--" + experimentConditionMatrix[0][0])
+    specialPrint("Title is: " + title, False, messageType.REGULAR)
+    allowPrinting = False
+    isNewExperiment = True
+    experimentCount = int(startAt)
+    header = "Cycle Time,Latitude, Longitude, Altitude, Pitch, Roll\n"
+    file2 = open("/Users/flyingtopher/Desktop/Test Destination/Current Experiment/CurrentExperimentList.txt", 'w')
+    file2.write(str(title) + "\n")
+    startTime = time.time()
+    """
+    Experiment Loop
+    """
+    while(experimentCount<len(experimentConditionMatrix)):
+        setUp()
+        file = open("/Users/flyingtopher/X-Plane 11/Data.txt", 'a')
+        file.write(str(header)) #Write Header to File$
+        currentConditions = experimentConditionMatrix[experimentCount]
+        file2.write(str(experimentCount) +" // " + str(currentConditions))
+        file2.flush()
+        exitExperimentLoop = runExperiment(title,currentConditions,allowPrinting,isNewExperiment,experimentCount,file)
+        if(exitExperimentLoop):
+            break
+        cleanUp(experimentCount,title)
+        experimentCount+=1
+        endTime = time.time()
+        elapsed = endTime-startTime
+        file2.write(" " + str(elapsed) + "\n")
+        # pag.alert(text="Experiment " + str(experimentCount+1) + " complete. Starting new Experiment", title="EXPERIMENT STATUS UPDATE")
+    """
+    End of Experiments
+    """
+    now = datetime.datetime
+    ##Adding something to copy all the battery files into a safe folder so they don't get overwritten
+    shutil.copytree("/Users/flyingtopher/Desktop/Test Destination/Current Experiment", ("/Users/flyingtopher/Desktop/Test Destination/Data Storage/" + title + " " + str(now.now())), dirs_exist_ok=True)
+    specialPrint("Experiment Battery Complete", False,messageType.REGULAR)
 
 if __name__ == "__main__":
     ex()

Python3/src/xpc/__init__.py

@@ -6,6 +6,8 @@ class XPlaneConnect(object):
     socket = None
 
     # Basic Functions
+        # def __init__(self, xpHost='localhost', xpPort=49009, port=0, timeout=100):
+
     def __init__(self, xpHost='localhost', xpPort=49009, port=0, timeout=100):
         """Sets up a new connection to an X-Plane Connect plugin running in X-Plane.