def makePlane(line):
# Eliminiate white space and separate values
line = line.strip().split()
# Create instance of Airplane with values
thisPlane = Airplane(line[0], line[1])
return thisPlane
def SpawnAirplanes(name, A1, A2, pMut=1.0/25.0):
Genome = (name,)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Engine,)
else: Genome += (random.choice(Engines),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Airfoil,)
else: Genome += (random.choice(Airfoils),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Chord,)
else: Genome += (random.uniform(*GeoLims['Chord']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Span,)
else: Genome += (random.uniform(*GeoLims['Span']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FlapX,)
else: Genome += (random.uniform(*GeoLims['FlapX']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FlapAngle,)
else: Genome += (random.uniform(*GeoLims['FlapAngle']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FuseBoxLen,)
else: Genome += (random.uniform(*GeoLims['FuseBoxLen']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FusePyramidLen,)
else: Genome += (random.uniform(*GeoLims['FusePyramidLen']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FuseWidth,)
else: Genome += (random.uniform(*GeoLims['FuseWidth']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].FuseHeight,)
else: Genome += (random.uniform(*GeoLims['FuseHeight']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].TailFoil,)
else: Genome += (random.choice(TailFoils),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].HTailChord,)
else: Genome += (random.uniform(*GeoLims['HTailChord']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].VTailChord,)
else: Genome += (random.uniform(*GeoLims['VTailChord']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].HTailSpan,)
else: Genome += (random.uniform(*GeoLims['HTailSpan']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].VTailSpan,)
else: Genome += (random.uniform(*GeoLims['VTailSpan']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].MGTW,)
else: Genome += (random.uniform(*GeoLims['MGTW']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Sheet,)
else: Genome += (random.choice(Sheets),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].Payload,)
else: Genome += (random.uniform(*GeoLims['Payload']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].CruiseAlt,)
else: Genome += (random.uniform(*GeoLims['CruiseAlt']),)
if random.random() > pMut: Genome += (random.choice([A1, A2])[1].ExtrasWeight,)
else: Genome += (random.uniform(*GeoLims['ExtrasWeight']),)
A = Airplane.Airplane(*Genome)
return (FitnessFunction(A), A)
def MakeRandomAirplane(name):
A = Airplane.Airplane(name,\
random.choice(Engines),\
random.choice(Airfoils),\
random.uniform(*GeoLims['Chord']),\
random.uniform(*GeoLims['Span']),\
random.uniform(*GeoLims['FlapX']),\
random.uniform(*GeoLims['FlapAngle']),\
random.uniform(*GeoLims['FuseBoxLen']),\
random.uniform(*GeoLims['FusePyramidLen']),\
random.uniform(*GeoLims['FuseWidth']),\
random.uniform(*GeoLims['FuseHeight']),\
random.choice(TailFoils),\
random.uniform(*GeoLims['HTailChord']),\
random.uniform(*GeoLims['VTailChord']),\
random.uniform(*GeoLims['HTailSpan']),\
random.uniform(*GeoLims['VTailSpan']),\
random.uniform(*GeoLims['MGTW']),\
random.choice(Sheets),\
random.uniform(*GeoLims['Payload']),\
random.uniform(*GeoLims['CruiseAlt']),\
random.uniform(*GeoLims['ExtrasWeight']))
return (FitnessFunction(A), A)
def start(airplane_config, snd_bk_snsrs=True):
global fms_thread, craft, magnetic_declination_db, send_back_sensors
send_back_sensors = snd_bk_snsrs
rcfg = open(airplane_config, 'r')
rlines = rcfg.readlines()
rcfg.close()
if not rlines:
raise RuntimeError('Empty config file: %s' % sys.argv[1])
craft = Airplane.Airplane()
craft.initialize(rlines)
pitchdb = fix.db.get_item(Globals.FD_PITCH_KEY, True)
pitchdb.min = -90
pitchdb.max = 90
rolldb = fix.db.get_item(Globals.FD_ROLL_KEY, True)
rolldb.min = -90
rolldb.max = 90
altitude_source_db = fix.db.get_item(Globals.ALTITUDE_SOURCE_KEY, True)
altitude_source_db.dtype = 'int'
altitude_source = altitude_source_db.value
altitude_source_db.valueChanged[int].connect(ALTITUDE_SOURCE_changed)
selected_altitude_db = fix.db.get_item(Globals.SELECTED_ALTITUDE_KEY, True)
selected_altitude_db.dtype = 'int'
selected_altitude_db.min = -1000
selected_altitude_db.max = 60000
selected_altitude_db.value = 10000
selected_altitude = selected_altitude_db.value
selected_altitude_db.valueChanged[int].connect(SELECTED_ALTITUDE_changed)
selected_airspeed_db = fix.db.get_item(Globals.SELECTED_AIRSPEED_KEY, True)
selected_airspeed_db.dtype = 'int'
selected_airspeed_db.min = 10
selected_airspeed_db.max = 1000
selected_airspeed_db.value = 120
selected_airspeed = selected_airspeed_db.value
selected_airspeed_db.valueChanged[int].connect(SELECTED_AIRSPEED_changed)
selected_heading_db = fix.db.get_item(Globals.SELECTED_HEADING_KEY, True)
selected_heading_db.dtype = 'int'
selected_heading_db.min = 0
selected_heading_db.max = 359
selected_heading = selected_heading_db.value
selected_heading_db.valueChanged[int].connect(SELECTED_HEADING_changed)
selected_climb_rate_db = fix.db.get_item(Globals.SELECTED_CLIMB_RATE_KEY,
True)
selected_climb_rate_db.dtype = 'int'
selected_climb_rate_db.min = -10000
selected_climb_rate_db.max = 10000
selected_climb_rate_db.value = 500
selected_climb_rate = selected_climb_rate_db.value
selected_climb_rate_db.valueChanged[int].connect(
SELECTED_CLIMB_RATE_changed)
magnetic_declination_db = fix.db.get_item(Globals.MAGNETIC_DECLINATION_KEY)
ap_on_db = fix.db.get_item(Globals.AP_ON_KEY, True)
ap_on_db.dtype = 'bool'
fd_on_db = fix.db.get_item(Globals.FD_ON_KEY, True)
fd_on_db.dtype = 'bool'
ap_on_db.valueChanged[bool].connect(AP_ON_changed)
hnav_mode_db = fix.db.get_item(Globals.HNAV_MODE_KEY, True)
hnav_mode_db.dtype = 'int'
hnav_mode = hnav_mode_db.value
hnav_mode_db.valueChanged[int].connect(HNAV_MODE_changed)
vnav_mode_db = fix.db.get_item(Globals.VNAV_MODE_KEY, True)
vnav_mode_db.dtype = 'int'
vnav_mode = vnav_mode_db.value
vnav_mode_db.valueChanged[int].connect(VNAV_MODE_changed)
start_strategy_db = fix.db.get_item(Globals.START_STRATEGY_KEY, True)
start_strategy_db.dtype = 'int'
start_strategy = start_strategy_db.value
start_strategy_db.valueChanged[int].connect(START_STRATEGY_changed)
selected_turn_rate_db = fix.db.get_item(Globals.SELECTED_TURN_RATE_KEY,
True)
selected_turn_rate = selected_turn_rate_db.value
selected_pitch_db = fix.db.get_item(Globals.SELECTED_PITCH_KEY, True)
selected_pitch_db.dtype = 'int'
selected_pitch_db.min = 0
selected_pitch_db.max = 40
selected_pitch_db.value = 5
selected_pitch = selected_pitch_db.value
selected_pitch_db.valueChanged[int].connect(SELECTED_PITCH_changed)
selected_glideslope_db = fix.db.get_item(Globals.SELECTED_GLIDESLOPE_KEY,
True)
selected_glideslope = selected_glideslope_db.value
selected_waypoint_db = fix.db.get_item(Globals.SELECTED_WAYPOINT_KEY, True)
selected_waypoint_db.dtype = 'int'
selected_waypoint_db.min = 0
selected_waypoint_db.max = 256
selected_waypoint_db.value = 0
selected_waypoint_db.valueChanged[int].connect(SELECTED_WAYPOINT_changed)
CreateWaypoints()
waypoints, WP_altitudes = ReadWaypoints()
ConnectWaypoints()
craft.initialize_input(selected_altitude, selected_airspeed,
selected_heading - magnetic_declination_db.value,
selected_climb_rate, hnav_mode, vnav_mode,
altitude_source, start_strategy, waypoints,
WP_altitudes, selected_turn_rate, selected_pitch,
selected_glideslope)
fms_thread = threading.Thread(target=thread_run)
fms_thread.start()
class FlightSimulator():
def __init__(self, width, height):
self.width = width
self.height = height
self.delay = 30
self.wX = 0
self.wY = 0
self.wZ = 0
self.zoom = 1
self.deltaZoom = 0.1
self.previousMouseX = 0
self.previousMouseY = 0
self.cameraDistance = 25
self.cameraHeight = 4
self.cameraX = 0 + self.cameraDistance
self.cameraY = 4
self.cameraZ = 0
self.cameraXRot = 0
self.cameraZRot = 0
self.cameraRotSpeed = 1.5
self.debug = False
self.flyingSpeed = 1
glutInit(sys.argv)
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH
| GLUT_MULTISAMPLE)
glutInitWindowSize(self.width, self.height)
self.window = glutCreateWindow("Flight Simulator")
glutDisplayFunc(self.draw)
self.initGL()
glutTimerFunc(self.delay, self.timer, self.delay)
glutMouseFunc(self.mouse)
glutSpecialFunc(self.specialKeys)
glutMotionFunc(self.mouseDrag)
glutKeyboardFunc(self.keys)
self.a = 0
def initGL(self):
# self.loadTextures()
# glEnable(GL_TEXTURE_2D)
# glShadeModel(GL_FLAT)
mat_ambient = (0.6, 0.0, 0.0, 1.0)
mat_diffuse = (0, 0.0, 1.0, 1.0)
mat_specular = (1.0, 1.0, 1.0, 1.0)
mat_shininess = (10, )
glClearColor(69 / 255, 160 / 255, 200 / 255, 1.0)
glShadeModel(GL_SMOOTH)
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient)
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse)
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular)
glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess)
glEnable(GL_LIGHTING)
self.light_position = (0, 10, 0, .4)
glEnable(GL_LIGHT0)
glClearDepth(1.0)
glMatrixMode(GL_PROJECTION)
gluPerspective(45, self.width / self.height, 0.1, 100000.0)
# glMatrixMode(GL_MODELVIEW)
glEnable(GL_DEPTH_TEST)
glEnable(GL_MULTISAMPLE)
self.loadObjects()
def loadObjects(self):
self.airplane = Airplane()
self.terrain = Terrain(self.width, self.height)
def loadTextures(self):
self.textures = glGenTextures(2)
################################################################################
glBindTexture(GL_TEXTURE_2D, self.textures[0])
reader = png.Reader(filename='textures/sky.png')
w, h, pixels, metadata = reader.read_flat()
if (metadata['alpha']):
modo = GL_RGBA
else:
modo = GL_RGB
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexImage2D(GL_TEXTURE_2D, 0, modo, w, h, 0, modo, GL_UNSIGNED_BYTE,
pixels.tolist())
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
################################################################################
glBindTexture(GL_TEXTURE_2D, self.textures[1])
reader = png.Reader(filename='textures/PicknGO.png')
w, h, pixels, metadata = reader.read_flat()
if (metadata['alpha']):
modo = GL_RGBA
else:
modo = GL_RGB
glPixelStorei(GL_UNPACK_ALIGNMENT, 1)
glTexImage2D(GL_TEXTURE_2D, 0, modo, w, h, 0, modo, GL_UNSIGNED_BYTE,
pixels.tolist())
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL)
def timer(self, i):
glutPostRedisplay()
value = i + self.delay
self.airplane.timer(self.delay, value)
self.terrain.timer(self.delay, value)
glutTimerFunc(self.delay, self.timer, value)
def run(self):
glutMainLoop()
def mouse(self, btn, state, mouseX, mouseY):
# btn -> 0 == botao esquerdo; 1 == botao rolagem; 2 == botao direito; 3 == rolagem para cima; 4 == rolagem para baixo
if btn == 3:
# self.zoom -= self.deltaZoom
self.zoomCamera(0.8)
if btn == 4:
# self.zoom += self.deltaZoom
self.zoomCamera(1.1)
if btn == 0 and state == 0:
self.previousMouseX = mouseX
self.previousMouseY = mouseY
self.isDragging = True
if btn == 0 and state == 1:
self.isDragging = False
# if btn == 2 and state == 0:
# pause_rotation = not pause_rotation
print(mouseX, mouseY)
def mouseDrag(self, x, y):
if self.isDragging:
self.terrain.mouse(x, y, self.previousMouseX, self.previousMouseY)
# self.rotateCameraHorizontal((x-self.previousMouseX))
# self.rotateCameraVertical((y-self.previousMouseY))
self.previousMouseX = x
self.previousMouseY = y
def specialKeys(self, key, x, y):
# self.airplane.command(key)
self.terrain.command(key)
glutPostRedisplay()
def keys(self, key, x, y):
# self.airplane.command(key)
self.terrain.command(key)
if key == b'p':
self.debug != self.debug
if key == b'r':
del self.airplane
del self.terrain
self.loadObjects()
if key == b'i':
self.rotateCameraHorizontal(self.cameraRotSpeed)
# self.cameraXRot += 0.1
# self.cameraZRot += 0.1
if key == b't':
self.a += 1
if key == b'o':
self.rotateCameraHorizontal(-self.cameraRotSpeed)
# self.cameraXRot -= 0.1
# self.cameraZRot -= 0.1
glutPostRedisplay()
def calculateCameraPos(self):
# self.cameraX = self.airplane.x
# self.cameraY = self.airplane.y + self.cameraHeight
# # (+self.airplane.zRot * .2)
# self.cameraZ = (self.airplane.z + self.zoom + self.cameraDistance) * \
# self.airplane.zRot
# self.cameraX = self.cameraX + self.zoom
# self.cameraY = 20 + self.zoom
# self.cameraZ = (-20 - self.zoom)
self.camLookX = 0
self.camLookY = 0
self.camLookZ = 0
pass
def rotateCameraHorizontal(self, rad):
self.cameraX = self.cameraX * \
math.cos(Utils.radToDegrees(rad)) - self.cameraZ * \
math.sin(Utils.radToDegrees(rad))
self.cameraZ = self.cameraX * \
math.sin(Utils.radToDegrees(rad)) + self.cameraZ * \
math.cos(Utils.radToDegrees(rad))
def rotateCameraVertical(self, rad):
normalizedPosition = Utils.normalize(
(self.cameraX, self.cameraY, self.cameraZ))
if normalizedPosition[1] >= 0.98 and rad > 0:
return
if normalizedPosition[1] <= -0.98 and rad < 0:
return
proj = Utils.project_onto_plane(normalizedPosition, (0, 1, 0))
proj = Utils.normalize(proj)
perpendicular = Utils.perpendicular_vector(proj)
rotMat = Utils.rotation_matrix(perpendicular, Utils.radToDegrees(rad))
self.cameraX, self.cameraY, self.cameraZ = Utils.rotate(
rotMat, [self.cameraX, self.cameraY, self.cameraZ])
def zoomCamera(self, delta):
# self.zoom += delta
self.cameraX *= delta
self.cameraY *= delta
self.cameraZ *= delta
def draw(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.calculateCameraPos()
# print(self.cameraXRot)
# print(self.cameraZRot)
glPushMatrix()
glLightfv(GL_LIGHT0, GL_POSITION, self.light_position)
gluLookAt(self.cameraX, self.cameraY, self.cameraZ, self.camLookX,
self.camLookY, self.camLookZ, 0, 1, 0)
self.airplane.updatePos()
self.airplane.draw()
self.terrain.draw()
# glPushMatrix()
# glTranslatef(0, 0, 6)
# glRotatef(self.a, 1, 0, 0)
# Cubo()
# glPopMatrix()
# ESFERA NO CENTRO DO MUNDO
# glutWireSphere(2, 30, 30)
# CUBO NA DIREITA DO CENTRO
# glTranslatef(0, 0, 7)
# glutSolidCube(4)
if self.debug:
# print('Zoom', self.zoom)
# print('Delta Zoom', self.deltaZoom)
glTranslatef(0, 0, 0)
Materials.GeneralMaterial((1, 1, 1, 1))
glutSolidSphere(.1, 30, 30)
# X
Materials.GeneralMaterial((1, 0, 0, 1))
glLineWidth(3.0)
glBegin(GL_LINES)
glVertex3f(0, 0, 0)
glVertex3f(10, 0, 0)
glEnd()
# Y
Materials.GeneralMaterial((0, 1, 0, 1))
glLineWidth(3.0)
glBegin(GL_LINES)
glVertex3f(0, 0, 0)
glVertex3f(0, 10, 0)
glEnd()
# Z
Materials.GeneralMaterial((0, 0, 1, 1))
glLineWidth(3.0)
glBegin(GL_LINES)
glVertex3f(0, 0, 0)
glVertex3f(0, 0, 10)
glEnd()
glPopMatrix()
glutSwapBuffers()
def loadObjects(self):
self.airplane = Airplane()
self.terrain = Terrain(self.width, self.height)
except:
pass
rootlogger.addHandler(
logging.FileHandler(os.path.join(Globals.LoggingPrefix, 'info.log')))
console_handler = logging.StreamHandler(sys.stdout)
console_handler.setLevel(logging.DEBUG)
rootlogger.addHandler(console_handler)
rootlogger.log(99, log_start)
rcfg = open(args.airplane_config, 'r')
rlines = rcfg.readlines()
rcfg.close()
if not rlines:
raise RuntimeError('Empty config file: %s' % sys.argv[1])
craft = Airplane.Airplane()
craft.initialize(rlines, args.altitude, args.barometer,
(args.wind_heading, args.wind_speed))
if args.magnetic_variation != None:
craft.KnownMagneticVariation(args.magnetic_variation)
if args.altitude != None:
craft.KnownAltitude(args.altitude)
ffp = open(args.flight_plan, 'r')
craft.FlightPlan = ffp.readlines()
ffp.close()
if args.way_points:
wps = open(args.way_points, 'r')
way_points = wps.readlines()
wps.close()