Added a scripts subdirectory with support for running external python
scripts that communicate with FlightGear via it's "telnet" interface.
This commit is contained in:
curt
parent
f9f05aa870
commit
f69a1c8f66
6 changed files with 270 additions and 9 deletions
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@ -35,13 +35,13 @@ RSC=rc.exe
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# PROP Output_Dir "Release"
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# PROP Intermediate_Dir "Release"
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# PROP Target_Dir ""
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# ADD CPP /nologo /W3 /GX /O2 /D "HAVE_CONFIG_H" /I ".." /I ".\src" /I ".\src\include" /I "..\SimGear" /I "..\SimGear\simgear\metakit\include" /D "FGFS" /D "HAVE_CONFIG_H" /D "NDEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /FD /c
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# ADD CPP /nologo /W3 /GX /O2 /D "NDEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /FD /c /MTd /I ".." /I ".\src" /I ".\src\include" /I "..\SimGear" /I "..\SimGear\metakit-2.4.3\include" /I "..\SimGear\zlib-1.1.4" /D "HAVE_CONFIG_H" /D "FGFS" /D "FG_NEW_ENVIRONMENT" /D "ENABLE_AUDIO_SUPPORT" /D "ENABLE_PLIB_JOYSTICK"
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# SUBTRACT CPP /YX
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# ADD RSC /l 0xc09 /d "NDEBUG"
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BSC32=bscmake.exe
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# ADD BSC32 /nologo
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LINK32=link.exe
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# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib uuid.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 /libpath:"..\plib" ssg.lib sg.lib pui.lib fnt.lib sl.lib ul.lib ssgaux.lib net.lib /libpath:"..\SimGear" SimGear.lib /libpath:"..\SimGear\simgear\metakit\builds" mk4vc60s_d.lib
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# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib uuid.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386
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!ELSEIF "$(CFG)" == "FlightGear - Win32 Debug"
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@ -51,12 +51,12 @@ LINK32=link.exe
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# PROP Intermediate_Dir "Debug"
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# PROP Ignore_Export_Lib 0
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# PROP Target_Dir ""
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# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /D "_DEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /FR /FD /GZ /c /D "HAVE_CONFIG_H" /I ".." /I ".\src" /I ".\src\include" /I "..\SimGear" /I "..\SimGear\simgear\metakit\include" /D "FGFS" /D "HAVE_CONFIG_H"
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# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /D "_DEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /FR /FD /GZ /c /MTd /I ".." /I ".\src" /I ".\src\include" /I "..\SimGear" /I "..\SimGear\metakit-2.4.3\include" /I "..\SimGear\zlib-1.1.4" /D "HAVE_CONFIG_H" /D "FGFS" /D "FG_NEW_ENVIRONMENT" /D "ENABLE_AUDIO_SUPPORT" /D "ENABLE_PLIB_JOYSTICK"
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# ADD RSC /l 0xc09 /d "_DEBUG"
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BSC32=bscmake.exe
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# ADD BSC32 /nologo
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LINK32=link.exe
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# ADD LINK32 kernel32.lib user32.lib winspool.lib comdlg32.lib gdi32.lib shell32.lib glut32.lib wsock32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept /libpath:"..\plib" ssg.lib sg.lib pui.lib fnt.lib sl.lib ul.lib ssgaux.lib net.lib /libpath:"..\SimGear" SimGear.lib /libpath:"..\SimGear\simgear\metakit\builds" mk4vc60s_d.lib"
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# ADD LINK32 kernel32.lib user32.lib winspool.lib comdlg32.lib gdi32.lib shell32.lib wsock32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept
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!ENDIF
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@ -1099,6 +1099,36 @@ SOURCE=.\src\Environment\environment_mgr.hxx
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!ENDIF
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# End Source File
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# Begin Source File
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SOURCE=.\src\Environment\environment_ctrl.cxx
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!IF "$(CFG)" == "FlightGear - Win32 Release"
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# PROP Intermediate_Dir "Release\Lib_Environment"
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!ELSEIF "$(CFG)" == "FlightGear - Win32 Debug"
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# PROP Intermediate_Dir "Debug\Lib_Environment"
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!ENDIF
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# End Source File
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# Begin Source File
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SOURCE=.\src\Environment\environment_ctrl.hxx
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!IF "$(CFG)" == "FlightGear - Win32 Release"
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# PROP Intermediate_Dir "Release\Lib_Environment"
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!ELSEIF "$(CFG)" == "FlightGear - Win32 Debug"
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# PROP Intermediate_Dir "Debug\Lib_Environment"
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!ENDIF
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# End Source File
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# End Group
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# Begin Group "Lib_Balloon"
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@ -5660,6 +5690,36 @@ SOURCE=.\src\FDM\MagicCarpet.hxx
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# End Source File
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# Begin Source File
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SOURCE=.\src\FDM\UFO.cxx
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!IF "$(CFG)" == "FlightGear - Win32 Release"
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# PROP Intermediate_Dir "Release\Lib_Flight"
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!ELSEIF "$(CFG)" == "FlightGear - Win32 Debug"
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# PROP Intermediate_Dir "Debug\Lib_Flight"
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!ENDIF
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# End Source File
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# Begin Source File
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SOURCE=.\src\FDM\UFO.hxx
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!IF "$(CFG)" == "FlightGear - Win32 Release"
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# PROP Intermediate_Dir "Release\Lib_Flight"
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!ELSEIF "$(CFG)" == "FlightGear - Win32 Debug"
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# PROP Intermediate_Dir "Debug\Lib_Flight"
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!ENDIF
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# End Source File
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# Begin Source File
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SOURCE=.\src\FDM\NullFDM.cxx
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!IF "$(CFG)" == "FlightGear - Win32 Release"
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@ -8283,7 +8343,6 @@ SOURCE=.\src\WeatherCM\sphrintp.h
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# End Source File
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# End Group
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# Begin Source File
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SOURCE = .\src\Include\config.h-msvc6
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@ -8293,7 +8352,7 @@ SOURCE = .\src\Include\config.h-msvc6
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# Begin Custom Build - Creating config.h
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InputPath=.\src\Include\config.h-msvc6
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".\src\Include\config.h": $(SOURCE) "$(INTDIR)" "$(OUTDIR)"
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".\src\Include\config.h" : $(SOURCE) "$(INTDIR)" "$(OUTDIR)"
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copy .\src\Include\config.h-msvc6 .\src\Include\config.h
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# End Custom Build
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@ -8303,7 +8362,7 @@ InputPath=.\src\Include\config.h-msvc6
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# Begin Custom Build - Creating config.h
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InputPath=.\src\Include\config.h-msvc6
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".\src\Include\config.h": $(SOURCE) "$(INTDIR)" "$(OUTDIR)"
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".\src\Include\config.h" : $(SOURCE) "$(INTDIR)" "$(OUTDIR)"
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copy .\src\Include\config.h-msvc6 .\src\Include\config.h
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# End Custom Build
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@ -1,7 +1,8 @@
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SUBDIRS = \
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tests \
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man \
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src
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src \
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scripts \
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man
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EXTRA_DIST = Thanks acsite.m4 acconfig.h irix-hack.sh \
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FlightGear.dsp FlightGear.dsw
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1
scripts/Makefile.am
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1
scripts/Makefile.am
Normal file
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@ -0,0 +1 @@
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SUBDIRS = python
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157
scripts/python/FlightGear.py
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157
scripts/python/FlightGear.py
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@ -0,0 +1,157 @@
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from telnetlib import Telnet
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import sys
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import socket
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import re
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from string import split, join
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import time
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__all__ = ["FlightGear"]
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CRLF = '\r\n'
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class FGTelnet(Telnet):
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def __init__(self,host,port):
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Telnet.__init__(self,host,port)
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self.prompt = []
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self.prompt.append( re.compile('/[^>]*> ') )
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self.timeout = 5
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#Telnet.set_debuglevel(self,2)
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def help(self):
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return
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def ls(self,dir=None):
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"""
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Returns a list of properties.
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"""
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if dir == None:
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self._putcmd('ls')
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else:
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self._putcmd('ls %s' % dir )
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return self._getresp()
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def dump(self):
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"""Dump current state as XML."""
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self._putcmd('dump')
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return self._getresp()
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def cd(self, dir):
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"""Change directory."""
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self._putcmd('cd ' + dir)
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self._getresp()
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return
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def pwd(self):
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"""Display current path."""
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self._putcmd('pwd')
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return self._getresp()
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def get(self,var):
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"""Retrieve the value of a parameter."""
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self._putcmd('get %s' % var )
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return self._getresp()
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def set(self,var,value):
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"""Set variable to a new value"""
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self._putcmd('set %s %s' % (var,value))
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self._getresp() # Discard response
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def quit(self):
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"""Terminate connection"""
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self._putcmd('quit')
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self.close()
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return
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# Internal: send one command to FlightGear
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def _putcmd(self,cmd):
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cmd = cmd + CRLF;
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Telnet.write(self, cmd)
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return
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# Internal: get a response from FlightGear
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def _getresp(self):
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(i,match,resp) = Telnet.expect(self, self.prompt, self.timeout)
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# Remove the terminating prompt.
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# Everything preceding it is the response.
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return split(resp, '\n')[:-1]
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class FlightGear:
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"""FlightGear interface class.
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An instance of this class represents a connection to a FlightGear telnet
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server.
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Properties are accessed using a dictionary style interface:
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For example:
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# Connect to flightgear telnet server.
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fg = FlightGear('myhost', 5500)
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# parking brake on
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fg['/controls/parking-brake'] = 1
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# Get current heading
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heading = fg['/orientation/heading-deg']
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Other non-property related methods
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"""
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def __init__( self, host = 'localhost', port = 5500 ):
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try:
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self.telnet = FGTelnet(host,port)
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except socket.error, msg:
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self.telnet = None
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raise socket.error, msg
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def __del__(self):
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# Ensure telnet connection is closed cleanly.
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self.quit();
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def __getitem__(self,key):
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"""Get a FlightGear property value.
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Where possible the value is converted to the equivalent Python type.
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"""
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s = self.telnet.get(key)[0]
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(name,x,value,type) = s.split()
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if value == '':
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return None
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else:
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value = value[1:-1] # strip quote characters
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#print "name=%s,value=%s,type=%s" % (name,value,type)
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if type == '(double)':
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return float(value)
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elif type == '(int)':
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return int(value)
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elif type == '(bool)':
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if value == 'true':
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return 1
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else:
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return 0
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else:
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return value
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def __setitem__(self, key, value):
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"""Set a FlightGear property value.
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"""
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self.telnet.set( key, value )
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def quit(self):
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"""Close the telnet connection to FlightGear.
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"""
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if self.telnet:
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self.telnet.quit()
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self.telnet = None
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def view_next(self):
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"""
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"""
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self.telnet._putcmd('view next')
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self.telnet._getresp()
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def view_prev(self):
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"""
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"""
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self.telnet._putcmd('view prev')
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self.telnet._getresp()
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def wait_for_prop_eq(self, prop, value, interval = 0.5):
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while self.__getitem__(prop) != value:
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time.sleep(interval)
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1
scripts/python/Makefile.am
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1
scripts/python/Makefile.am
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@ -0,0 +1 @@
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EXTRA_DIST = FlightGear.py demo.py
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42
scripts/python/demo.py
Normal file
42
scripts/python/demo.py
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@ -0,0 +1,42 @@
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from FlightGear import FlightGear
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import time
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def main():
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fg = FlightGear('localhost', 5500)
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# Wait five seconds for simulator to settle down
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while fg['/sim/time/elapsed-ms'] < 5000:
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time.sleep(1.0)
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# parking brake on
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fg['/controls/parking-brake'] = 1
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heading = fg['/orientation/heading-deg']
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# Switch to external view for for 'walk around'.
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fg.view_next()
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fg['/sim/current-view/goal-heading-offset-deg'] = 180.0
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fg.wait_for_prop_eq('/sim/current-view/heading-offset-deg', 180.0)
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fg['/sim/current-view/goal-heading-offset-deg'] = 90.0
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fg.wait_for_prop_eq('/sim/current-view/heading-offset-deg', 90.0)
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fg['/sim/current-view/goal-heading-offset-deg'] = 0.0
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fg.wait_for_prop_eq('/sim/current-view/heading-offset-deg', 0.0)
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time.sleep(2.0)
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# Switch back to cockpit view
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fg.view_prev()
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time.sleep(2.0)
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# Flaps to take off position
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fg['/controls/flaps'] = 0.34
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fg.wait_for_prop_eq('/surface-positions/flap-pos-norm', 0.34)
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fg.quit()
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if __name__ == '__main__':
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main()
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