mirror of https://github.com/ArduPilot/ardupilot
386 lines
12 KiB
Python
Executable File
386 lines
12 KiB
Python
Executable File
#!/usr/bin/env python
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"""
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Run a jsbsim model as a child process.
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"""
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from __future__ import print_function
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import atexit
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import errno
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import fdpexpect
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import math
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import os
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import select
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import signal
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import socket
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import struct
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import sys
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import time
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import pexpect
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from pymavlink import fgFDM
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from .. pysim import util
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class control_state(object):
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def __init__(self):
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self.aileron = 0
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self.elevator = 0
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self.throttle = 0
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self.rudder = 0
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self.ground_height = 0
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sitl_state = control_state()
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def interpret_address(addrstr):
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"""Interpret a IP:port string."""
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a = addrstr.split(':')
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a[1] = int(a[1])
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return tuple(a)
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def jsb_set(variable, value):
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"""Set a JSBSim variable."""
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global jsb_console
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jsb_console.send('set %s %s\r\n' % (variable, value))
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def setup_template(home):
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"""Setup aircraft/Rascal/reset.xml ."""
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global opts
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v = home.split(',')
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if len(v) != 4:
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print("home should be lat,lng,alt,hdg - '%s'" % home)
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sys.exit(1)
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latitude = float(v[0])
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longitude = float(v[1])
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altitude = float(v[2])
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heading = float(v[3])
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sitl_state.ground_height = altitude
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template = os.path.join('aircraft', 'Rascal', 'reset_template.xml')
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reset = os.path.join('aircraft', 'Rascal', 'reset.xml')
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xml = open(template).read() % {'LATITUDE': str(latitude),
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'LONGITUDE': str(longitude),
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'HEADING': str(heading)}
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open(reset, mode='w').write(xml)
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print("Wrote %s" % reset)
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baseport = int(opts.simout.split(':')[1])
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template = os.path.join('jsb_sim', 'fgout_template.xml')
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out = os.path.join('jsb_sim', 'fgout.xml')
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xml = open(template).read() % {'FGOUTPORT': str(baseport+3)}
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open(out, mode='w').write(xml)
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print("Wrote %s" % out)
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template = os.path.join('jsb_sim', 'rascal_test_template.xml')
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out = os.path.join('jsb_sim', 'rascal_test.xml')
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xml = open(template).read() % {'JSBCONSOLEPORT': str(baseport+4)}
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open(out, mode='w').write(xml)
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print("Wrote %s" % out)
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def process_sitl_input(buf):
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"""Process control changes from SITL sim."""
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control = list(struct.unpack('<14H', buf))
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pwm = control[:11]
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(speed, direction, turbulance) = control[11:]
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global wind
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wind.speed = speed*0.01
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wind.direction = direction*0.01
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wind.turbulance = turbulance*0.01
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aileron = (pwm[0]-1500)/500.0
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elevator = (pwm[1]-1500)/500.0
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throttle = (pwm[2]-1000)/1000.0
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if opts.revthr:
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throttle = 1.0 - throttle
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rudder = (pwm[3]-1500)/500.0
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if opts.elevon:
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# fake an elevon plane
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ch1 = aileron
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ch2 = elevator
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aileron = (ch2-ch1)/2.0
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# the minus does away with the need for RC2_REVERSED=-1
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elevator = -(ch2+ch1)/2.0
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if opts.vtail:
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# fake an elevon plane
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ch1 = elevator
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ch2 = rudder
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# this matches VTAIL_OUTPUT==2
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elevator = (ch2-ch1)/2.0
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rudder = (ch2+ch1)/2.0
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buf = ''
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if aileron != sitl_state.aileron:
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buf += 'set fcs/aileron-cmd-norm %s\n' % aileron
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sitl_state.aileron = aileron
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if elevator != sitl_state.elevator:
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buf += 'set fcs/elevator-cmd-norm %s\n' % elevator
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sitl_state.elevator = elevator
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if rudder != sitl_state.rudder:
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buf += 'set fcs/rudder-cmd-norm %s\n' % rudder
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sitl_state.rudder = rudder
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if throttle != sitl_state.throttle:
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buf += 'set fcs/throttle-cmd-norm %s\n' % throttle
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sitl_state.throttle = throttle
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buf += 'step\n'
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global jsb_console
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jsb_console.send(buf)
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def update_wind(wind):
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"""Update wind simulation."""
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(speed, direction) = wind.current()
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jsb_set('atmosphere/psiw-rad', math.radians(direction))
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jsb_set('atmosphere/wind-mag-fps', speed/0.3048)
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def process_jsb_input(buf, simtime):
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"""Process FG FDM input from JSBSim."""
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global fdm, fg_out, sim_out
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fdm.parse(buf)
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if fg_out:
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try:
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agl = fdm.get('agl', units='meters')
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fdm.set('altitude', agl+sitl_state.ground_height, units='meters')
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fdm.set('rpm', sitl_state.throttle*1000)
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fg_out.send(fdm.pack())
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except socket.error as e:
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if e.errno not in [errno.ECONNREFUSED]:
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raise
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timestamp = int(simtime*1.0e6)
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simbuf = struct.pack('<Q17dI',
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timestamp,
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fdm.get('latitude', units='degrees'),
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fdm.get('longitude', units='degrees'),
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fdm.get('altitude', units='meters'),
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fdm.get('psi', units='degrees'),
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fdm.get('v_north', units='mps'),
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fdm.get('v_east', units='mps'),
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fdm.get('v_down', units='mps'),
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fdm.get('A_X_pilot', units='mpss'),
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fdm.get('A_Y_pilot', units='mpss'),
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fdm.get('A_Z_pilot', units='mpss'),
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fdm.get('phidot', units='dps'),
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fdm.get('thetadot', units='dps'),
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fdm.get('psidot', units='dps'),
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fdm.get('phi', units='degrees'),
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fdm.get('theta', units='degrees'),
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fdm.get('psi', units='degrees'),
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fdm.get('vcas', units='mps'),
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0x4c56414f)
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try:
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sim_out.send(simbuf)
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except socket.error as e:
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if e.errno not in [errno.ECONNREFUSED]:
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raise
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################## main program ##################
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from optparse import OptionParser
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parser = OptionParser("runsim.py [options]")
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parser.add_option("--simin", help="SITL input (IP:port)", default="127.0.0.1:5502")
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parser.add_option("--simout", help="SITL output (IP:port)", default="127.0.0.1:5501")
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parser.add_option("--fgout", help="FG display output (IP:port)", default="127.0.0.1:5503")
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parser.add_option("--home", type='string', help="home lat,lng,alt,hdg (required)")
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parser.add_option("--script", type='string', help='jsbsim model script', default='jsb_sim/rascal_test.xml')
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parser.add_option("--options", type='string', help='jsbsim startup options')
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parser.add_option("--elevon", action='store_true', default=False, help='assume elevon input')
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parser.add_option("--revthr", action='store_true', default=False, help='reverse throttle')
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parser.add_option("--vtail", action='store_true', default=False, help='assume vtail input')
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parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
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parser.add_option("--rate", type='int', help="Simulation rate (Hz)", default=1000)
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parser.add_option("--speedup", type='float', default=1.0, help="speedup from realtime")
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(opts, args) = parser.parse_args()
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for m in ['home', 'script']:
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if not opts.__dict__[m]:
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print("Missing required option '%s'" % m)
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parser.print_help()
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sys.exit(1)
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os.chdir(util.reltopdir('Tools/autotest'))
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# kill off child when we exit
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atexit.register(util.pexpect_close_all)
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setup_template(opts.home)
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# start child
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cmd = "JSBSim --realtime --suspend --nice --simulation-rate=%u --logdirectivefile=jsb_sim/fgout.xml --script=%s" % (opts.rate, opts.script)
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if opts.options:
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cmd += ' %s' % opts.options
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jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
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jsb.delaybeforesend = 0
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util.pexpect_autoclose(jsb)
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i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
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"Could not bind to socket for input"])
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if i == 1:
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print("Failed to start JSBSim - is another copy running?")
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sys.exit(1)
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jsb_out_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
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jsb.expect("Creating UDP socket on port (\d+)")
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jsb_in_address = interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
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jsb.expect("Successfully connected to socket for output")
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jsb.expect("JSBSim Execution beginning")
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# setup output to jsbsim
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print("JSBSim console on %s" % str(jsb_out_address))
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jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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jsb_out.connect(jsb_out_address)
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jsb_console = fdpexpect.fdspawn(jsb_out.fileno(), logfile=sys.stdout)
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jsb_console.delaybeforesend = 0
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# setup input from jsbsim
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print("JSBSim FG FDM input on %s" % str(jsb_in_address))
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jsb_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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jsb_in.bind(jsb_in_address)
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jsb_in.setblocking(0)
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# socket addresses
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sim_out_address = interpret_address(opts.simout)
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sim_in_address = interpret_address(opts.simin)
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# setup input from SITL sim
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sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_in.bind(sim_in_address)
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sim_in.setblocking(0)
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# setup output to SITL sim
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sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_out.connect(interpret_address(opts.simout))
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sim_out.setblocking(0)
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# setup possible output to FlightGear for display
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fg_out = None
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if opts.fgout:
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fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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fg_out.connect(interpret_address(opts.fgout))
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# setup wind generator
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wind = util.Wind(opts.wind)
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fdm = fgFDM.fgFDM()
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jsb_console.send('info\n')
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jsb_console.send('resume\n')
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jsb.expect(["trim computation time", "Trim Results"])
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time.sleep(1.5)
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jsb_console.send('step\n')
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jsb_console.logfile = None
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print("Simulator ready to fly")
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def main_loop():
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"""Run main loop."""
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tnow = time.time()
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last_report = tnow
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last_wind_update = tnow
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frame_count = 0
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simstep = 1.0/opts.rate
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simtime = simstep
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frame_time = 1.0/opts.rate
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scaled_frame_time = frame_time/opts.speedup
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last_wall_time = time.time()
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achieved_rate = opts.speedup
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while True:
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new_frame = False
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rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
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try:
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(rin, win, xin) = select.select(rin, [], [], 1.0)
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except select.error:
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util.check_parent()
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continue
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tnow = time.time()
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if jsb_in.fileno() in rin:
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buf = jsb_in.recv(fdm.packet_size())
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process_jsb_input(buf, simtime)
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frame_count += 1
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new_frame = True
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if sim_in.fileno() in rin:
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simbuf = sim_in.recv(28)
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process_sitl_input(simbuf)
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simtime += simstep
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last_sim_input = tnow
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# show any jsbsim console output
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if jsb_console.fileno() in rin:
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util.pexpect_drain(jsb_console)
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if jsb.fileno() in rin:
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util.pexpect_drain(jsb)
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# only simulate wind above 5 meters, to prevent crashes while
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# waiting for takeoff
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if tnow - last_wind_update > 0.1:
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update_wind(wind)
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last_wind_update = tnow
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if tnow - last_report > 3:
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print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f) AR=%.1f" % (
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frame_count / (time.time() - last_report),
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fdm.get('altitude', units='meters'),
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fdm.get('agl', units='meters'),
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fdm.get('phi', units='degrees'),
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fdm.get('theta', units='degrees'),
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fdm.get('A_X_pilot', units='mpss'),
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fdm.get('A_Y_pilot', units='mpss'),
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fdm.get('A_Z_pilot', units='mpss'),
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achieved_rate))
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frame_count = 0
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last_report = time.time()
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if new_frame:
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now = time.time()
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if now < last_wall_time + scaled_frame_time:
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time.sleep(last_wall_time+scaled_frame_time - now)
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now = time.time()
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if now > last_wall_time and now - last_wall_time < 0.1:
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rate = 1.0/(now - last_wall_time)
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achieved_rate = (0.98*achieved_rate) + (0.02*rate)
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if achieved_rate < opts.rate*opts.speedup:
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scaled_frame_time *= 0.999
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else:
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scaled_frame_time *= 1.001
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last_wall_time = now
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def exit_handler():
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"""Exit the sim."""
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print("running exit handler")
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signal.signal(signal.SIGINT, signal.SIG_IGN)
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signal.signal(signal.SIGTERM, signal.SIG_IGN)
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# JSBSim really doesn't like to die ...
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if getattr(jsb, 'pid', None) is not None:
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os.kill(jsb.pid, signal.SIGKILL)
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jsb_console.send('quit\n')
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jsb.close(force=True)
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util.pexpect_close_all()
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sys.exit(1)
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signal.signal(signal.SIGINT, exit_handler)
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signal.signal(signal.SIGTERM, exit_handler)
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try:
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main_loop()
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except Exception as ex:
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print(ex)
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exit_handler()
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raise
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