157 lines
4 KiB
Python
157 lines
4 KiB
Python
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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