def create_simulator(self):
"""Create the Simulator object"""
fdm_builder = FDMBuilder(self.data_path)
fdm_builder.dt = self.dt
fdm_builder.latitude = self.latitude
fdm_builder.longitude = self.longitude
fdm_builder.altitude = self.altitude
fdm_builder.airspeed = self.airspeed
fdm_builder.heading = self.heading
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
aircraft.start_engines()
logger.debug("trimming the aircraft at mode %d", self.trim_mode)
trim_result = aircraft.trim(self.trim_mode)
if not trim_result:
logger.warning("Failed to trim the aircraft")
# reset the aircraft control because the trim operation might
# have messed them up
aircraft.controls.aileron = 0.0
aircraft.controls.elevator = 0.0
aircraft.controls.rudder = 0.0
aircraft.controls.throttle = 0.0
simulator = Simulator(fdmexec)
simulator.trim_mode = self.trim_mode
simulator.start_paused = self.start_paused
result = simulator.step()
if not result:
logger.error("Failed to execute simulator run")
return None
if self.start_paused:
simulator.pause()
return simulator
def create_simulator(self):
"""Create the Simulator object"""
fdm_builder = FDMBuilder(self.data_path)
fdm_builder.dt = self.dt
fdm_builder.latitude = self.latitude
fdm_builder.longitude = self.longitude
fdm_builder.altitude = self.altitude
fdm_builder.airspeed = self.airspeed
fdm_builder.heading = self.heading
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
aircraft.start_engines()
logger.debug("trimming the aircraft at mode %d", self.trim_mode)
trim_result = aircraft.trim(self.trim_mode)
if not trim_result:
logger.warning("Failed to trim the aircraft")
# reset the aircraft control because the trim operation might
# have messed them up
aircraft.controls.aileron = 0.0
aircraft.controls.elevator = 0.0
aircraft.controls.rudder = 0.0
aircraft.controls.throttle = 0.0
simulator = Simulator(fdmexec)
simulator.trim_mode = self.trim_mode
simulator.start_paused = self.start_paused
result = simulator.step()
if not result:
logger.error("Failed to execute simulator run")
return None
if self.start_paused:
simulator.pause()
return simulator
class Simulator(object):
"""The Simulator class is used to perform the simulation of an aircraft"""
def __init__(self, fdmexec):
"""Constructor for the Simulator object
Arguments:
fdmexec: A flight dynamics model
"""
self.aircraft = Aircraft(fdmexec)
self.fdmexec = fdmexec
self.fdm = FDM(fdmexec)
self.trim_mode = TRIM_MODE_FULL
self._crashed = False
self.start_paused = False
@property
def crashed(self):
"""Returns True if the aircraft has crashed"""
return self._crashed
@property
def dt(self):
"""The simulation time step"""
return self.fdmexec.GetDeltaT()
@property
def simulation_time(self):
"""The current simulation time"""
return self.fdmexec.GetSimTime()
def pause(self):
"""Pause the simulator"""
self.fdmexec.Hold()
def resume(self):
"""Resume the simulation"""
if self.crashed:
logger.debug("Not resuming simulation because the aircraft has "
"crashed")
return
if self.fdmexec.IntegrationSuspended():
self.fdmexec.ResumeIntegration()
self.fdmexec.Resume()
def is_paused(self):
"""Check if the simulator is paused"""
return self.fdmexec.Holding()
def reset(self):
"""Reset the simulation"""
logger.debug("Reseting the aircraft")
self._crashed = False
self.pause()
self.aircraft.controls.aileron = 0.0
self.aircraft.controls.elevator = 0.0
self.aircraft.controls.rudder = 0.0
self.aircraft.controls.throttle = 0.0
self.fdmexec.ResetToInitialConditions(0)
if not self.fdmexec.RunIC():
logger.error("Failed to run initial condition")
return False
logger.debug("starting the aircraft's engines")
self.aircraft.start_engines()
trim_result = self.aircraft.trim(self.trim_mode)
if not trim_result:
logger.warning("Failed to trim the aircraft")
# reset the controls because the trim operation might have messed
# them up
self.aircraft.controls.aileron = 0.0
self.aircraft.controls.elevator = 0.0
self.aircraft.controls.rudder = 0.0
self.aircraft.controls.throttle = 0.0
if not self.step():
logger.error("Failed to execute initial run")
return False
logger.debug("Engine thrust after simulation reset %f",
self.aircraft.engine.thrust)
if not self.start_paused:
self.resume()
return True
def step(self):
"""Run the simulation one time"""
if not self.crashed and self.fdm.position.altitude < 0.0:
logger.debug("Aircraft has crashed. Pausing simulator")
self.pause()
self._crashed = True
return True
if self.crashed:
logger.debug("Not executing simulation step because aircraft has "
"crashed")
return True
was_paused = self.is_paused()
if was_paused:
self.resume()
try:
self.fdmexec.ProcessMessage()
self.fdmexec.CheckIncrementalHold()
run_result = self.fdmexec.Run()
except:
raise SimulationError()
if run_result:
if was_paused:
self.pause()
return True
else:
if was_paused:
self.pause()
logger.error("The simulator has failed to run")
return False
def run_for(self, time_to_run):
"""Run the simulation for the given time in seconds
Arguments:
time_to_run: the time in seconds that the simulator will run
"""
if time_to_run < 0.0:
logger.error("Invalid simulator run time length %f", time_to_run)
return False
start_time = self.fdmexec.GetSimTime()
end_time = start_time + time_to_run
while self.fdmexec.GetSimTime() <= end_time:
result = self.step()
if not result:
return False
return True
def run(self):
"""Run the simulation"""
if not self.fdmexec.Holding():
result = self.step()
return result
return True
def set_aircraft_controls(self, aileron, elevator, rudder, throttle):
"""Update the aircraft controls"""
self.aircraft.controls.aileron = aileron
self.aircraft.controls.elevator = elevator
self.aircraft.controls.rudder = rudder
self.aircraft.controls.throttle = throttle
def print_simulator_state(self):
"""Show the current state of the simulation"""
print("Simulation state")
print("================")
print("Time: %f seconds" % self.simulation_time)
print("DT: %f seconds" % self.dt)
print("Running: %s" % (not self.is_paused()))
print("")
class Simulator(object):
"""The Simulator class is used to perform the simulation of an aircraft"""
def __init__(self, fdmexec):
"""Constructor for the Simulator object
Arguments:
fdmexec: A flight dynamics model
"""
self.aircraft = Aircraft(fdmexec)
self.fdmexec = fdmexec
self.fdm = FDM(fdmexec)
self.trim_mode = TRIM_MODE_FULL
self._crashed = False
self.start_paused = False
@property
def crashed(self):
"""Returns True if the aircraft has crashed"""
return self._crashed
@property
def dt(self):
"""The simulation time step"""
return self.fdmexec.GetDeltaT()
@property
def simulation_time(self):
"""The current simulation time"""
return self.fdmexec.GetSimTime()
def pause(self):
"""Pause the simulator"""
self.fdmexec.Hold()
def resume(self):
"""Resume the simulation"""
if self.crashed:
logger.debug("Not resuming simulation because the aircraft has "
"crashed")
return
if self.fdmexec.IntegrationSuspended():
self.fdmexec.ResumeIntegration()
self.fdmexec.Resume()
def is_paused(self):
"""Check if the simulator is paused"""
return self.fdmexec.Holding()
def reset(self):
"""Reset the simulation"""
logger.debug("Reseting the aircraft")
self._crashed = False
self.pause()
self.aircraft.controls.aileron = 0.0
self.aircraft.controls.elevator = 0.0
self.aircraft.controls.rudder = 0.0
self.aircraft.controls.throttle = 0.0
self.fdmexec.ResetToInitialConditions(0)
if not self.fdmexec.RunIC():
logger.error("Failed to run initial condition")
return False
logger.debug("starting the aircraft's engines")
self.aircraft.start_engines()
trim_result = self.aircraft.trim(self.trim_mode)
if not trim_result:
logger.warning("Failed to trim the aircraft")
# reset the controls because the trim operation might have messed
# them up
self.aircraft.controls.aileron = 0.0
self.aircraft.controls.elevator = 0.0
self.aircraft.controls.rudder = 0.0
self.aircraft.controls.throttle = 0.0
if not self.step():
logger.error("Failed to execute initial run")
return False
logger.debug("Engine thrust after simulation reset %f",
self.aircraft.engine.thrust)
if not self.start_paused:
self.resume()
return True
def step(self):
"""Run the simulation one time"""
if not self.crashed and self.fdm.position.altitude < 0.0:
logger.debug("Aircraft has crashed. Pausing simulator")
self.pause()
self._crashed = True
return True
if self.crashed:
logger.debug("Not executing simulation step because aircraft has "
"crashed")
return True
was_paused = self.is_paused()
if was_paused:
self.resume()
try:
self.fdmexec.ProcessMessage()
self.fdmexec.CheckIncrementalHold()
run_result = self.fdmexec.Run()
except:
raise SimulationError()
if run_result:
if was_paused:
self.pause()
return True
else:
if was_paused:
self.pause()
logger.error("The simulator has failed to run")
return False
def run_for(self, time_to_run):
"""Run the simulation for the given time in seconds
Arguments:
time_to_run: the time in seconds that the simulator will run
"""
if time_to_run < 0.0:
logger.error("Invalid simulator run time length %f",
time_to_run)
return False
start_time = self.fdmexec.GetSimTime()
end_time = start_time + time_to_run
while self.fdmexec.GetSimTime() <= end_time:
result = self.step()
if not result:
return False
return True
def run(self):
"""Run the simulation"""
if not self.fdmexec.Holding():
result = self.step()
return result
return True
def set_aircraft_controls(self, aileron, elevator, rudder, throttle):
"""Update the aircraft controls"""
self.aircraft.controls.aileron = aileron
self.aircraft.controls.elevator = elevator
self.aircraft.controls.rudder = rudder
self.aircraft.controls.throttle = throttle
def print_simulator_state(self):
"""Show the current state of the simulation"""
print("Simulation state")
print("================")
print("Time: %f seconds" % self.simulation_time)
print("DT: %f seconds" % self.dt)
print("Running: %s" % (not self.is_paused()))
print("")