459 lines
13 KiB
Python
459 lines
13 KiB
Python
import sys
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import re
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import json
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from time import sleep
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from telnetlib import Telnet
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from adapt.intent import IntentBuilder
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from mycroft import MycroftSkill, intent_handler
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from mycroft.skills.core import MycroftSkill
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from mycroft.util.log import getLogger
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LOGGER = getLogger(__name__)
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class FlightGearCopilotSkill(MycroftSkill):
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def __init__(self):
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super(FlightGearCopilotSkill, self).__init__()
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self.settings['host'] = "localhost"
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self.settings['port'] = 8081
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# TODO add self.settings['profiles'] with default profiles (A32X and c172p)
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# DEFINITION of the settings['profiles'] structure
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# [
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# {
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# "name": "<profile-name>",
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# "acid":
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# [
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# "<Aircraft-id> can be found in /???",
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# ...
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# ],
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# flaps:
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# [
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# {
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# "id": "<flaps-name> can be up|down|full|number",
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# "min-spd": "<minimum speed for save retraction>",
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# "max-spd": "<maximum speed for save extention>",
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# "value": "<value in the prop tree>"
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# },
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# ...
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# ]
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# "flaps-path": "<path to current flaps-position>"
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# "gear-retractable": "<true|false>"
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# },
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# ...
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# ]
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# might be useful
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# make_active()
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# TODO make it possible, to play a .mp3 file instead of tts
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#################################################################
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# #
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# Actions #
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# #
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#################################################################
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#########################
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# #
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# Flaps #
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# #
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#########################
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@intent_handler(IntentBuilder('FlapsIntent').require('flaps'))
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def handle_flaps_intent(self, message):
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flaps_request = message.data['utterance']
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if flaps_request == "flaps":
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self.speak_dialog("no.setting")
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sys.exit(0)
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# extracting the flaps setting from the utterance
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match = re.match(r'.*flaps.* (up|full|down|\d{1,2}).*', flaps_request, re.I)
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if match == None:
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self.speak_dialog("no.valid.flaps")
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sys.exit(0)
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flaps_request = match.group(1)
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tn = self.connect()
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# get acid
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acid = self.get_prop(tn, "/sim/aircraft")
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# read acid to know which profile to use
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profile = None
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for i_profiles in self.settings['profiles']:
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for i_acid in i_profiles['acid']:
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if i_acid == acid:
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profile = i_profiles
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break
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if profile != None:
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break
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# check if the profile was found
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if profile == None:
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# TODO when creation of profiles via voice is possible, add dialog how to
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self.speak("Profile not found")
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self.exit(tn)
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# get kias
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kias = int(float(self.get_prop(tn, "/velocities/airspeed-kt")))
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# find the flaps settings for the flaps id
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o_flaps = None
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for i_flaps in profile['flaps']:
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if str(i_flaps['id']) == str(flaps_request):
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o_flaps = i_flaps
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break
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# check if flaps setting is known
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if o_flaps == None:
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self.speak_dialog("flaps.setting.unknown")
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self.exit(tn)
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flaps = int(self.get_prop(tn, str(profile['flaps-path'])))
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# check if extend or retract flaps
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if str(flaps_request) == "down" or str(flaps_request) == "full":
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if flaps == o_flaps['value']:
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self.speak_dialog("keep.flaps")
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self.exit(tn)
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else:
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flaps_mov = "extend"
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flaps_name = flaps_request
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flaps_request = o_flaps['value']
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elif str(flaps_request) == "up":
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if flaps == o_flaps['value']:
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self.speak_dialog("keep.flaps")
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self.exit(tn)
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else:
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flaps_mov = "retract"
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flaps_name = flaps_request
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flaps_request = o_flaps['value']
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else:
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flaps_name = str(flaps_request)
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if int(flaps_request) > flaps:
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flaps_mov = "extend"
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elif int(flaps_request) < flaps:
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flaps_mov = "retract"
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else:
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self.speak_dialog("keep.flaps")
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self.exit(tn)
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# get ground speed
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gs = int(float(self.get_prop(tn, "/velocities/groundspeed-kt")))
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# skip speed check is speed is <= 30
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if gs > 30:
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# check if speed is high/low enough for retraction/extention
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if flaps_mov == "extend":
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if o_flaps['max-spd'] < kias:
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self.speak_dialog("spd.high")
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self.exit(tn)
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else:
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self.speak("Speed checked.")
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else:
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if o_flaps['min-spd'] > kias:
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self.speak_dialog("spd.low")
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self.exit(tn)
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else:
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self.speak("Speed checked.")
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flaps_request = int(flaps_request)
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if flaps_mov == "extend":
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pos_reached = 0
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while pos_reached == 0:
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self.nasal_exec(tn, "controls.flapsDown(1);")
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flaps = int(self.get_prop(tn, str(profile['flaps-path'])))
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if flaps == flaps_request:
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pos_reached = 1
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else:
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pos_reached = 0
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while pos_reached == 0:
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self.nasal_exec(tn, "controls.flapsDown(-1);")
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flaps = int(self.get_prop(tn, str(profile['flaps-path'])))
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if flaps == flaps_request:
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pos_reached = 1
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self.speak("Flaps " + flaps_name)
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tn.close
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#########################
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# #
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# Gear #
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# #
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#########################
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@intent_handler(IntentBuilder('GearUpIntent').require('gearup'))
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def handle_gear_up_intent(self, message):
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tn = self.connect()
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# get acid
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acid = self.get_prop(tn, "/sim/aircraft")
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# read acid to know which profile to use
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profile = None
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for i_profiles in self.settings['profiles']:
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for i_acid in i_profiles['acid']:
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if i_acid == acid:
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profile = i_profiles
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break
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if profile != None:
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break
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if profile == None:
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# TODO when creation of profiles via voice is possible, add dialog how to
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self.speak("Profile not found")
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self.exit(tn)
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if profile['gear-retractable'] == "true":
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self.speak("Gear up")
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self.nasal_exec(tn, "controls.gearDown(-1)")
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else:
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self.speak_dialog("gear.not.retractable")
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@intent_handler(IntentBuilder('GearDownIntent').require('geardown'))
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def handle_gear_down_intent(self, message):
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tn = self.connect()
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# get acid
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acid = self.get_prop(tn, "/sim/aircraft")
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# read acid to know which profile to use
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profile = None
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for i_profiles in self.settings['profiles']:
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for i_acid in i_profiles['acid']:
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if i_acid == acid:
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profile = i_profiles
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break
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if profile != None:
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break
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if profile == None:
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# TODO when creation of profiles via voice is possible, add dialog how to
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self.speak("Profile not found")
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self.exit(tn)
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if profile['gear-retractable'] == "true":
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self.speak("Gear down")
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self.nasal_exec(tn, "controls.gearDown(1)")
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else:
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self.speak_dialog("gear.not.retractable")
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#################################################################
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# #
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# Checklists #
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# #
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#################################################################
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@intent_handler(IntentBuilder('CheckListIntent').require('check.list'))
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def handle_check_list_intent(self, message):
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tn = self.connect()
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cl_request = message.data['utterance']
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checklist_count = self.get_item_count(tn, "/sim/checklists")
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if checklist_count == 0:
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self.speak("No checklists has been found")
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self.exit(tn)
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for i in range(0, checklist_count):
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checklist = i
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checklist_title = self.get_prop(tn, "/sim/checklists/checklist[" + str(checklist) + "]/title")
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checklist_title = checklist_title.replace('/', '|')
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checklist_title = "^" + checklist_title
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match = re.search(checklist_title, cl_request, re.I)
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if match != None:
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self.speak(checklist_title + " checklist")
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break
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if match == None:
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self.speak("Required checklist wasn't found")
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self.exit(tn)
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# TODO make the programm use all pages, not only the first
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page = ""
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if self.prop_exist(tn, "page", "/sim/checklists/checklist[" + str(checklist) + "]") == 1:
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page = "page/"
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item_count = self.get_item_count(tn, "/sim/checklists/checklist[" + str(checklist) + "]/" + page)
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if item_count == 0:
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self.speak("The required checklist has no entrys")
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self.exit(tn)
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for i in range(0, item_count):
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item = i
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item_name = self.get_prop(tn, "/sim/checklists/checklist[" + str(checklist) + "]/" + page + "item[" + str(item) + "]/name")
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item_value = self.get_prop(tn, "/sim/checklists/checklist[" + str(checklist) + "]/" + page + "item[" + str(item) + "]/value")
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item_name = self.expand_adverbations(item_name)
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item_name = item_name.replace('/', ' ') # maybe make the replace '/' -> ' and ' to be spoken out better
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self.speak(item_name)
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response = self.get_response("dummy")
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if response == None:
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self.speak("Checklist not completed")
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sys.exit(0)
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# check if F/O has to confirm as well
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item_value_check = re.sub("\(BOTH\)", "", item_value, flags=re.I) # Add more indication of this case, that are used in other A/C
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fo_conf = 0
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if item_value_check != item_value:
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fo_conf = 1
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item_value = item_value_check
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item_value = self.expand_adverbations(item_value)
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item_value = re.sub('/', '|', item_value)
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item_value = re.sub('_', '', item_value)
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item_value = re.sub('\(', ' ', item_value)
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item_value = re.sub('\)', ' ', item_value)
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response = self.expand_adverbations(response)
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match = re.search(item_value, response, re.I)
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if match == None:
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self.speak("Checklist not completed")
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sys.exit(0)
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if fo_conf == 1:
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self.speak(item_value)
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self.speak(checklist_title + " checklist completed")
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@intent_handler(IntentBuilder('FlightControlCheckIntent').require('flight.control.check'))
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def handle_securing_check_intent(self, message):
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self.speak("Full up")
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sleep(2)
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self.speak("Full down")
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sleep(2)
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self.speak("Neutral")
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sleep(2)
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self.speak("Full left")
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sleep(2)
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self.speak("Full right")
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sleep(2)
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self.speak("Neutral")
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sleep(2)
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self.speak("Full left")
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sleep(4)
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self.speak("Full right")
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sleep(4)
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self.speak("Neutral")
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sleep(2)
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self.speak("Flight controls checked")
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#################################################################
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# #
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# Help functions #
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# #
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#################################################################
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# connect to fg
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def connect(self):
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try:
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tn = Telnet(self.settings['host'], self.settings['port'])
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except:
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self.speak_dialog("no.telnet.con")
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sys.exit(0)
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# switch to data mode
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tn.write("data\r\n")
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return tn
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# running a nasal command
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def nasal_exec(self, tn, call):
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tn.write("nasal\r\n")
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tn.write(call + "\r\n")
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tn.write("##EOF##\r\n")
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# get a prop from the property tree
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def get_prop(self, tn, prop):
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tn.write("get " + prop + "\r\n")
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ret = tn.read_until("\r")
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tn.read_until("\n")
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return ret[:-1]
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# count number of items in a prop tree dir
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def get_item_count(self, tn, directory):
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tn.write("ls " + directory + "\r\n")
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ret = 0
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result = " "
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while result != "":
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result = tn.read_until("\n", 1)
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ret = ret + 1
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ret = ret - 1
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return ret
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# checks if a property exists at a given path
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def prop_exist(self, tn, prop, path):
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tn.write("ls " + path + "\r\n")
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found = 0
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result = " "
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while result != "":
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result = tn.read_until("\n", 1)
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match = re.search(prop, result, re.I)
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if match != None:
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found = 1
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break
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return found
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# expands adverbations to full words
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def expand_adverbations(self, text):
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# TODO reduce collisions when used with other a/c
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# TODO add more adverbations
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text = re.sub("\sALT\s?", "altitude", text, flags=re.I)
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text = re.sub("L/G", "landing gear", text, flags=re.I)
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text = re.sub("SPLRS", "spoilers", text, flags=re.I)
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text = re.sub("PREP", "preperation", text, flags=re.I)
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text = re.sub("^TO ", "take off ", text)
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text = re.sub(" TO$", " take off", text) # have it twice to prevent collisions with words containing 'to'
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text = re.sub("REF", "reference", text, flags=re.I)
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text = re.sub("A/SKID", "anti skid", text, flags=re.I)
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text = re.sub("N/W", "nose weel", text, flags=re.I)
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text = re.sub("A/THR", "auto thrust", text, flags=re.I)
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text = re.sub(" THR ", "thrust", text, flags=re.I)
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text = re.sub("Eng ", "engine", text, flags=re.I)
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text = re.sub("Mstr", "master", text, flags=re.I)
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text = re.sub("PB", "push button", text, flags=re.I)
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text = re.sub("man", "manual", text, flags=re.I)
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text = re.sub("FLT", "flight", text, flags=re.I)
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text = re.sub("INST", "instruments", text, flags=re.I)
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text = re.sub("TEMP", "temperature", text, flags=re.I)
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text = re.sub(" LT", "light", text, flags=re.I)
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text = re.sub("SEL", "selector", text, flags=re.I)
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text = re.sub("LDG", "landing", text, flags=re.I)
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text = re.sub("MDA", "minimum decent altitude", text, flags=re.I)
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text = re.sub("DH", "decision height", text, flags=re.I)
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text = re.sub("EXT", "external", text, flags=re.I)
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text = re.sub("FLX", "flex", text, flags=re.I)
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text = re.sub("EMER", "emergency", text, flags=re.I)
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text = re.sub("BRK", "break", text, flags=re.I)
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text = re.sub("KG", "kilogram", text, flags=re.I)
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text = re.sub("LB", "pounds", text, flags=re.I)
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text = re.sub("LBS", "pounds", text, flags=re.I)
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text = re.sub("AS RQRD", "on|set|off|normal", text, flags=re.I) # since we don't know, what is needed in the current situation
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text = re.sub("CONF", "config", text, flags=re.I)
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text = re.sub(" OR ", "|", text, flags=re.I)
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text = re.sub("0", "zero", text, flags=re.I)
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return text
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# exit routine to properly close the tn con
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def exit(self, tn):
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tn.close
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sys.exit(0)
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def stop(self):
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pass
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def create_skill():
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return FlightGearCopilotSkill()
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