2011-12-02 00:19:50 -04:00
|
|
|
#!/usr/bin/env python
|
|
|
|
# run a jsbsim model as a child process
|
|
|
|
|
2013-01-08 22:03:22 -04:00
|
|
|
import sys, os, pexpect, socket
|
2011-12-22 20:57:03 -04:00
|
|
|
import math, time, select, struct, signal, errno
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'pysim'))
|
2012-06-15 05:43:34 -03:00
|
|
|
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..', '..', 'mavlink', 'pymavlink'))
|
2011-12-02 00:19:50 -04:00
|
|
|
|
2013-01-08 22:03:22 -04:00
|
|
|
import util, fgFDM, atexit, fdpexpect
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
class control_state(object):
|
|
|
|
def __init__(self):
|
|
|
|
self.aileron = 0
|
|
|
|
self.elevator = 0
|
|
|
|
self.throttle = 0
|
|
|
|
self.rudder = 0
|
|
|
|
self.ground_height = 0
|
|
|
|
|
|
|
|
sitl_state = control_state()
|
|
|
|
|
|
|
|
|
|
|
|
def interpret_address(addrstr):
|
|
|
|
'''interpret a IP:port string'''
|
|
|
|
a = addrstr.split(':')
|
|
|
|
a[1] = int(a[1])
|
|
|
|
return tuple(a)
|
|
|
|
|
|
|
|
def jsb_set(variable, value):
|
|
|
|
'''set a JSBSim variable'''
|
|
|
|
global jsb_console
|
|
|
|
jsb_console.send('set %s %s\r\n' % (variable, value))
|
|
|
|
|
2012-08-14 03:51:35 -03:00
|
|
|
def setup_template(home):
|
|
|
|
'''setup aircraft/Rascal/reset.xml'''
|
2011-12-02 00:19:50 -04:00
|
|
|
v = home.split(',')
|
|
|
|
if len(v) != 4:
|
2012-08-14 03:51:35 -03:00
|
|
|
print("home should be lat,lng,alt,hdg - '%s'" % home)
|
2011-12-02 00:19:50 -04:00
|
|
|
sys.exit(1)
|
|
|
|
latitude = float(v[0])
|
|
|
|
longitude = float(v[1])
|
|
|
|
altitude = float(v[2])
|
|
|
|
heading = float(v[3])
|
|
|
|
sitl_state.ground_height = altitude
|
2012-08-14 03:51:35 -03:00
|
|
|
template = os.path.join('aircraft', 'Rascal', 'reset_template.xml')
|
|
|
|
reset = os.path.join('aircraft', 'Rascal', 'reset.xml')
|
|
|
|
xml = open(template).read() % { 'LATITUDE' : str(latitude),
|
|
|
|
'LONGITUDE' : str(longitude),
|
|
|
|
'HEADING' : str(heading) }
|
|
|
|
open(reset, mode='w').write(xml)
|
|
|
|
print("Wrote %s" % reset)
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
def process_sitl_input(buf):
|
|
|
|
'''process control changes from SITL sim'''
|
2012-08-24 08:22:20 -03:00
|
|
|
control = list(struct.unpack('<14H', buf))
|
|
|
|
pwm = control[:11]
|
|
|
|
(speed, direction, turbulance) = control[11:]
|
|
|
|
|
|
|
|
global wind
|
|
|
|
wind.speed = speed*0.01
|
|
|
|
wind.direction = direction*0.01
|
|
|
|
wind.turbulance = turbulance*0.01
|
|
|
|
|
2011-12-02 07:45:48 -04:00
|
|
|
aileron = (pwm[0]-1500)/500.0
|
|
|
|
elevator = (pwm[1]-1500)/500.0
|
|
|
|
throttle = (pwm[2]-1000)/1000.0
|
|
|
|
rudder = (pwm[3]-1500)/500.0
|
2013-04-04 21:29:15 -03:00
|
|
|
|
|
|
|
if opts.elevon:
|
|
|
|
# fake an elevon plane
|
|
|
|
ch1 = aileron
|
|
|
|
ch2 = elevator
|
|
|
|
aileron = (ch2-ch1)/2.0
|
|
|
|
# the minus does away with the need for RC2_REV=-1
|
|
|
|
elevator = -(ch2+ch1)/2.0
|
2013-04-05 01:20:48 -03:00
|
|
|
|
|
|
|
if opts.vtail:
|
|
|
|
# fake an elevon plane
|
|
|
|
ch1 = elevator
|
|
|
|
ch2 = rudder
|
|
|
|
# this matches VTAIL_OUTPUT==2
|
|
|
|
elevator = (ch2-ch1)/2.0
|
|
|
|
rudder = (ch2+ch1)/2.0
|
2013-04-04 21:29:15 -03:00
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
if aileron != sitl_state.aileron:
|
|
|
|
jsb_set('fcs/aileron-cmd-norm', aileron)
|
|
|
|
sitl_state.aileron = aileron
|
|
|
|
if elevator != sitl_state.elevator:
|
|
|
|
jsb_set('fcs/elevator-cmd-norm', elevator)
|
|
|
|
sitl_state.elevator = elevator
|
|
|
|
if rudder != sitl_state.rudder:
|
|
|
|
jsb_set('fcs/rudder-cmd-norm', rudder)
|
|
|
|
sitl_state.rudder = rudder
|
|
|
|
if throttle != sitl_state.throttle:
|
|
|
|
jsb_set('fcs/throttle-cmd-norm', throttle)
|
|
|
|
sitl_state.throttle = throttle
|
|
|
|
|
2011-12-13 00:28:03 -04:00
|
|
|
def update_wind(wind):
|
|
|
|
'''update wind simulation'''
|
|
|
|
(speed, direction) = wind.current()
|
|
|
|
jsb_set('atmosphere/psiw-rad', math.radians(direction))
|
|
|
|
jsb_set('atmosphere/wind-mag-fps', speed/0.3048)
|
|
|
|
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
def process_jsb_input(buf):
|
|
|
|
'''process FG FDM input from JSBSim'''
|
|
|
|
global fdm, fg_out, sim_out
|
|
|
|
fdm.parse(buf)
|
|
|
|
if fg_out:
|
|
|
|
try:
|
|
|
|
agl = fdm.get('agl', units='meters')
|
|
|
|
fdm.set('altitude', agl+sitl_state.ground_height, units='meters')
|
|
|
|
fdm.set('rpm', sitl_state.throttle*1000)
|
|
|
|
fg_out.send(fdm.pack())
|
|
|
|
except socket.error as e:
|
2011-12-22 20:57:03 -04:00
|
|
|
if e.errno not in [ errno.ECONNREFUSED ]:
|
2011-12-02 00:19:50 -04:00
|
|
|
raise
|
|
|
|
|
2013-03-27 20:28:08 -03:00
|
|
|
simbuf = struct.pack('<17dI',
|
2011-12-02 00:19:50 -04:00
|
|
|
fdm.get('latitude', units='degrees'),
|
|
|
|
fdm.get('longitude', units='degrees'),
|
2011-12-02 07:12:58 -04:00
|
|
|
fdm.get('altitude', units='meters'),
|
2011-12-02 00:19:50 -04:00
|
|
|
fdm.get('psi', units='degrees'),
|
2011-12-02 07:12:58 -04:00
|
|
|
fdm.get('v_north', units='mps'),
|
|
|
|
fdm.get('v_east', units='mps'),
|
2013-03-27 20:28:08 -03:00
|
|
|
fdm.get('v_down', units='mps'),
|
2011-12-02 07:12:58 -04:00
|
|
|
fdm.get('A_X_pilot', units='mpss'),
|
|
|
|
fdm.get('A_Y_pilot', units='mpss'),
|
|
|
|
fdm.get('A_Z_pilot', units='mpss'),
|
2011-12-02 00:19:50 -04:00
|
|
|
fdm.get('phidot', units='dps'),
|
|
|
|
fdm.get('thetadot', units='dps'),
|
|
|
|
fdm.get('psidot', units='dps'),
|
|
|
|
fdm.get('phi', units='degrees'),
|
|
|
|
fdm.get('theta', units='degrees'),
|
|
|
|
fdm.get('psi', units='degrees'),
|
2011-12-02 07:12:58 -04:00
|
|
|
fdm.get('vcas', units='mps'),
|
2013-03-27 20:28:08 -03:00
|
|
|
0x4c56414f)
|
2011-12-02 00:19:50 -04:00
|
|
|
try:
|
|
|
|
sim_out.send(simbuf)
|
|
|
|
except socket.error as e:
|
2011-12-22 20:57:03 -04:00
|
|
|
if e.errno not in [ errno.ECONNREFUSED ]:
|
2011-12-02 00:19:50 -04:00
|
|
|
raise
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
##################
|
|
|
|
# main program
|
|
|
|
from optparse import OptionParser
|
2011-12-15 08:34:05 -04:00
|
|
|
parser = OptionParser("runsim.py [options]")
|
2011-12-02 00:19:50 -04:00
|
|
|
parser.add_option("--simin", help="SITL input (IP:port)", default="127.0.0.1:5502")
|
|
|
|
parser.add_option("--simout", help="SITL output (IP:port)", default="127.0.0.1:5501")
|
2011-12-12 22:45:18 -04:00
|
|
|
parser.add_option("--fgout", help="FG display output (IP:port)", default="127.0.0.1:5503")
|
2011-12-02 00:19:50 -04:00
|
|
|
parser.add_option("--home", type='string', help="home lat,lng,alt,hdg (required)")
|
2011-12-12 22:45:18 -04:00
|
|
|
parser.add_option("--script", type='string', help='jsbsim model script', default='jsbsim/rascal_test.xml')
|
2011-12-02 00:19:50 -04:00
|
|
|
parser.add_option("--options", type='string', help='jsbsim startup options')
|
2013-04-04 21:29:15 -03:00
|
|
|
parser.add_option("--elevon", action='store_true', default=False, help='assume elevon input')
|
2013-04-05 01:20:48 -03:00
|
|
|
parser.add_option("--vtail", action='store_true', default=False, help='assume vtail input')
|
2011-12-13 00:28:03 -04:00
|
|
|
parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
(opts, args) = parser.parse_args()
|
|
|
|
|
|
|
|
for m in [ 'home', 'script' ]:
|
|
|
|
if not opts.__dict__[m]:
|
|
|
|
print("Missing required option '%s'" % m)
|
|
|
|
parser.print_help()
|
|
|
|
sys.exit(1)
|
|
|
|
|
2011-12-02 00:21:15 -04:00
|
|
|
os.chdir(util.reltopdir('Tools/autotest'))
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
# kill off child when we exit
|
|
|
|
atexit.register(util.pexpect_close_all)
|
|
|
|
|
2012-08-14 03:51:35 -03:00
|
|
|
setup_template(opts.home)
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
# start child
|
|
|
|
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=%s" % opts.script
|
|
|
|
if opts.options:
|
|
|
|
cmd += ' %s' % opts.options
|
|
|
|
|
|
|
|
jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
|
|
|
|
jsb.delaybeforesend = 0
|
|
|
|
util.pexpect_autoclose(jsb)
|
|
|
|
i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
|
|
|
|
"Could not bind to socket for input"])
|
|
|
|
if i == 1:
|
|
|
|
print("Failed to start JSBSim - is another copy running?")
|
|
|
|
sys.exit(1)
|
|
|
|
jsb_out_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
|
|
|
|
jsb.expect("Creating UDP socket on port (\d+)")
|
|
|
|
jsb_in_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
|
|
|
|
jsb.expect("Successfully connected to socket for output")
|
|
|
|
jsb.expect("JSBSim Execution beginning")
|
|
|
|
|
|
|
|
# setup output to jsbsim
|
|
|
|
print("JSBSim console on %s" % str(jsb_out_address))
|
|
|
|
jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|
|
|
jsb_out.connect(jsb_out_address)
|
|
|
|
jsb_console = fdpexpect.fdspawn(jsb_out.fileno(), logfile=sys.stdout)
|
|
|
|
jsb_console.delaybeforesend = 0
|
|
|
|
|
|
|
|
# setup input from jsbsim
|
|
|
|
print("JSBSim FG FDM input on %s" % str(jsb_in_address))
|
|
|
|
jsb_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
|
|
jsb_in.bind(jsb_in_address)
|
|
|
|
jsb_in.setblocking(0)
|
|
|
|
|
|
|
|
# socket addresses
|
|
|
|
sim_out_address = interpret_address(opts.simout)
|
|
|
|
sim_in_address = interpret_address(opts.simin)
|
|
|
|
|
|
|
|
# setup input from SITL sim
|
|
|
|
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
|
|
sim_in.bind(sim_in_address)
|
|
|
|
sim_in.setblocking(0)
|
|
|
|
|
|
|
|
# setup output to SITL sim
|
|
|
|
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
|
|
sim_out.connect(interpret_address(opts.simout))
|
|
|
|
sim_out.setblocking(0)
|
|
|
|
|
|
|
|
# setup possible output to FlightGear for display
|
|
|
|
fg_out = None
|
|
|
|
if opts.fgout:
|
|
|
|
fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
|
|
fg_out.connect(interpret_address(opts.fgout))
|
|
|
|
|
|
|
|
|
2011-12-13 00:28:03 -04:00
|
|
|
# setup wind generator
|
|
|
|
wind = util.Wind(opts.wind)
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
fdm = fgFDM.fgFDM()
|
|
|
|
|
|
|
|
jsb_console.send('info\n')
|
|
|
|
jsb_console.send('resume\n')
|
|
|
|
jsb.expect("trim computation time")
|
|
|
|
time.sleep(1.5)
|
|
|
|
jsb_console.logfile = None
|
|
|
|
|
|
|
|
print("Simulator ready to fly")
|
|
|
|
|
|
|
|
def main_loop():
|
|
|
|
'''run main loop'''
|
2011-12-13 00:28:03 -04:00
|
|
|
tnow = time.time()
|
|
|
|
last_report = tnow
|
|
|
|
last_sim_input = tnow
|
|
|
|
last_wind_update = tnow
|
2011-12-02 00:19:50 -04:00
|
|
|
frame_count = 0
|
2011-12-06 07:55:13 -04:00
|
|
|
paused = False
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
while True:
|
|
|
|
rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
|
|
|
|
try:
|
|
|
|
(rin, win, xin) = select.select(rin, [], [], 1.0)
|
|
|
|
except select.error:
|
|
|
|
util.check_parent()
|
|
|
|
continue
|
|
|
|
|
2011-12-06 07:55:13 -04:00
|
|
|
tnow = time.time()
|
|
|
|
|
2011-12-02 00:19:50 -04:00
|
|
|
if jsb_in.fileno() in rin:
|
|
|
|
buf = jsb_in.recv(fdm.packet_size())
|
|
|
|
process_jsb_input(buf)
|
|
|
|
frame_count += 1
|
|
|
|
|
|
|
|
if sim_in.fileno() in rin:
|
2012-08-24 08:22:20 -03:00
|
|
|
simbuf = sim_in.recv(28)
|
2011-12-02 00:19:50 -04:00
|
|
|
process_sitl_input(simbuf)
|
2011-12-06 07:55:13 -04:00
|
|
|
last_sim_input = tnow
|
2011-12-02 00:19:50 -04:00
|
|
|
|
|
|
|
# show any jsbsim console output
|
|
|
|
if jsb_console.fileno() in rin:
|
|
|
|
util.pexpect_drain(jsb_console)
|
|
|
|
if jsb.fileno() in rin:
|
|
|
|
util.pexpect_drain(jsb)
|
|
|
|
|
2011-12-06 07:55:13 -04:00
|
|
|
if tnow - last_sim_input > 0.2:
|
|
|
|
if not paused:
|
|
|
|
print("PAUSING SIMULATION")
|
|
|
|
paused = True
|
|
|
|
jsb_console.send('hold\n')
|
|
|
|
else:
|
|
|
|
if paused:
|
|
|
|
print("RESUMING SIMULATION")
|
|
|
|
paused = False
|
|
|
|
jsb_console.send('resume\n')
|
|
|
|
|
2012-07-02 21:19:20 -03:00
|
|
|
# only simulate wind above 5 meters, to prevent crashes while
|
|
|
|
# waiting for takeoff
|
2012-08-27 03:27:29 -03:00
|
|
|
if tnow - last_wind_update > 0.1:
|
2011-12-13 00:28:03 -04:00
|
|
|
update_wind(wind)
|
|
|
|
last_wind_update = tnow
|
|
|
|
|
2012-04-27 00:32:22 -03:00
|
|
|
if tnow - last_report > 3:
|
2011-12-02 00:19:50 -04:00
|
|
|
print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
|
|
|
|
frame_count / (time.time() - last_report),
|
|
|
|
fdm.get('altitude', units='meters'),
|
|
|
|
fdm.get('agl', units='meters'),
|
|
|
|
fdm.get('phi', units='degrees'),
|
|
|
|
fdm.get('theta', units='degrees'),
|
|
|
|
fdm.get('A_X_pilot', units='mpss'),
|
|
|
|
fdm.get('A_Y_pilot', units='mpss'),
|
|
|
|
fdm.get('A_Z_pilot', units='mpss')))
|
|
|
|
|
|
|
|
frame_count = 0
|
|
|
|
last_report = time.time()
|
|
|
|
|
|
|
|
def exit_handler():
|
|
|
|
'''exit the sim'''
|
|
|
|
signal.signal(signal.SIGINT, signal.SIG_IGN)
|
|
|
|
signal.signal(signal.SIGTERM, signal.SIG_IGN)
|
|
|
|
# JSBSim really doesn't like to die ...
|
|
|
|
if getattr(jsb, 'pid', None) is not None:
|
|
|
|
os.kill(jsb.pid, signal.SIGKILL)
|
|
|
|
jsb_console.send('quit\n')
|
|
|
|
jsb.close(force=True)
|
|
|
|
util.pexpect_close_all()
|
|
|
|
sys.exit(1)
|
|
|
|
|
|
|
|
signal.signal(signal.SIGINT, exit_handler)
|
|
|
|
signal.signal(signal.SIGTERM, exit_handler)
|
|
|
|
|
|
|
|
try:
|
|
|
|
main_loop()
|
|
|
|
except:
|
|
|
|
exit_handler()
|
|
|
|
raise
|