[3] | 1 | # Module handling the connection to FSUIPC
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| 2 |
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[4] | 3 | #------------------------------------------------------------------------------
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| 4 |
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| 5 | import fs
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| 6 | import const
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| 7 | import util
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| 8 |
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[3] | 9 | import threading
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| 10 | import os
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| 11 | import time
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[4] | 12 | import calendar
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| 13 | import sys
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[3] | 14 |
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| 15 | if os.name == "nt":
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| 16 | import pyuipc
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| 17 | else:
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| 18 | import pyuipc_emu as pyuipc
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| 19 |
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[4] | 20 | #------------------------------------------------------------------------------
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| 21 |
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[3] | 22 | class Handler(threading.Thread):
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| 23 | """The thread to handle the FSUIPC requests."""
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[4] | 24 | @staticmethod
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| 25 | def _callSafe(fun):
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| 26 | """Call the given function and swallow any exceptions."""
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| 27 | try:
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| 28 | return fun()
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| 29 | except Exception, e:
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| 30 | print >> sys.stderr, str(e)
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| 31 | return None
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| 32 |
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[3] | 33 | class Request(object):
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| 34 | """A simple, one-shot request."""
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| 35 | def __init__(self, forWrite, data, callback, extra):
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| 36 | """Construct the request."""
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| 37 | self._forWrite = forWrite
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| 38 | self._data = data
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| 39 | self._callback = callback
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| 40 | self._extra = extra
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| 41 |
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| 42 | def process(self, time):
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[4] | 43 | """Process the request."""
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[3] | 44 | if self._forWrite:
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| 45 | pyuipc.write(self._data)
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[4] | 46 | Handler._callSafe(lambda: self._callback(True, self._extra))
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[3] | 47 | else:
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| 48 | values = pyuipc.read(self._data)
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[4] | 49 | Handler._callSafe(lambda: self._callback(values, self._extra))
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[3] | 50 |
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| 51 | return True
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| 52 |
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[4] | 53 | def fail(self):
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| 54 | """Handle the failure of this request."""
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| 55 | if self._forWrite:
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| 56 | Handler._callSafe(lambda: self._callback(False, self._extra))
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| 57 | else:
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| 58 | Handler._callSafe(lambda: self._callback(None, self._extra))
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| 59 |
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[3] | 60 | class PeriodicRequest(object):
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| 61 | """A periodic request."""
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| 62 | def __init__(self, id, period, data, callback, extra):
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| 63 | """Construct the periodic request."""
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| 64 | self._id = id
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| 65 | self._period = period
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| 66 | self._nextFire = time.time() + period
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| 67 | self._data = data
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| 68 | self._preparedData = None
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| 69 | self._callback = callback
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| 70 | self._extra = extra
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| 71 |
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| 72 | @property
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| 73 | def id(self):
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| 74 | """Get the ID of this periodic request."""
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| 75 | return self._id
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| 76 |
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| 77 | @property
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| 78 | def nextFire(self):
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| 79 | """Get the next firing time."""
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| 80 | return self._nextFire
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| 81 |
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| 82 | def process(self, time):
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| 83 | """Check if this request should be executed, and if so, do so.
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| 84 |
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| 85 | Return a boolean indicating if the request was executed."""
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| 86 | if time < self._nextFire:
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| 87 | return False
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| 88 |
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| 89 | if self._preparedData is None:
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| 90 | self._preparedData = pyuipc.prepare_data(self._data)
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| 91 | self._data = None
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| 92 |
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| 93 | values = pyuipc.read(self._preparedData)
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| 94 |
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[4] | 95 | Handler._callSafe(lambda: self._callback(values, self._extra))
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[3] | 96 |
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| 97 | while self._nextFire <= time:
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| 98 | self._nextFire += self._period
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| 99 |
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| 100 | return True
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| 101 |
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[4] | 102 | def fail(self):
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| 103 | """Handle the failure of this request."""
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| 104 | pass
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| 105 |
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[3] | 106 | def __cmp__(self, other):
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| 107 | """Compare two periodic requests. They are ordered by their next
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| 108 | firing times."""
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| 109 | return cmp(self._nextFire, other._nextFire)
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| 110 |
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| 111 | def __init__(self, connectionListener):
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| 112 | """Construct the handler with the given connection listener."""
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| 113 | threading.Thread.__init__(self)
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| 114 |
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| 115 | self._connectionListener = connectionListener
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| 116 |
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| 117 | self._requestCondition = threading.Condition()
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| 118 | self._connectionRequested = False
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| 119 |
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| 120 | self._requests = []
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| 121 | self._nextPeriodicID = 1
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| 122 | self._periodicRequests = []
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| 123 |
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| 124 | self.daemon = True
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| 125 |
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| 126 | def requestRead(self, data, callback, extra = None):
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| 127 | """Request the reading of some data.
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| 128 |
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| 129 | data is a list of tuples of the following items:
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| 130 | - the offset of the data as an integer
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| 131 | - the type letter of the data as a string
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| 132 |
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| 133 | callback is a function that receives two pieces of data:
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[4] | 134 | - the values retrieved or None on error
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[3] | 135 | - the extra parameter
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| 136 |
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| 137 | It will be called in the handler's thread!
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| 138 | """
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| 139 | with self._requestCondition:
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| 140 | self._requests.append(Handler.Request(False, data, callback, extra))
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| 141 | self._requestCondition.notify()
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| 142 |
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| 143 | def requestWrite(self, data, callback, extra = None):
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| 144 | """Request the writing of some data.
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| 145 |
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| 146 | data is a list of tuples of the following items:
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| 147 | - the offset of the data as an integer
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| 148 | - the type letter of the data as a string
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| 149 | - the data to write
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| 150 |
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[4] | 151 | callback is a function that receives two pieces of data:
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| 152 | - a boolean indicating if writing was successful
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| 153 | - the extra data
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| 154 | It will be called in the handler's thread!
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[3] | 155 | """
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| 156 | with self._requestCondition:
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| 157 | self._requests.append(Handler.Request(True, data, callback, extra))
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| 158 | self._requestCondition.notify()
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| 159 |
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[4] | 160 | @staticmethod
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| 161 | def _readWriteCallback(data, extra):
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| 162 | """Callback for the read() and write() calls below."""
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| 163 | extra.append(data)
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| 164 | with extra[0] as condition:
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| 165 | condition.notify()
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| 166 |
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| 167 | def read(self, data):
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| 168 | """Read the given data synchronously.
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| 169 |
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| 170 | If a problem occurs, an exception is thrown."""
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| 171 | with threading.Condition() as condition:
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| 172 | extra = [condition]
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| 173 | self._requestRead(data, self._readWriteCallback, extra)
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| 174 | while len(extra)<2:
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| 175 | condition.wait()
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| 176 | if extra[1] is None:
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| 177 | raise fs.SimulatorException("reading failed")
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| 178 | else:
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| 179 | return extra[1]
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| 180 |
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| 181 | def write(self, data):
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| 182 | """Write the given data synchronously.
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| 183 |
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| 184 | If a problem occurs, an exception is thrown."""
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| 185 | with threading.Condition() as condition:
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| 186 | extra = [condition]
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| 187 | self._requestWrite(data, self._writeCallback, extra)
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| 188 | while len(extra)<2:
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| 189 | condition.wait()
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| 190 | if extra[1] is None:
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| 191 | raise fs.SimulatorException("writing failed")
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| 192 |
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[3] | 193 | def requestPeriodicRead(self, period, data, callback, extra = None):
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| 194 | """Request a periodic read of data.
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| 195 |
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| 196 | period is a floating point number with the period in seconds.
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| 197 |
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| 198 | This function returns an identifier which can be used to cancel the
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| 199 | request."""
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| 200 | with self._requestCondition:
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| 201 | id = self._nextPeriodicID
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| 202 | self._nextPeriodicID += 1
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| 203 | request = Handler.PeriodicRequest(id, period, data, callback, extra)
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| 204 | self._periodicRequests.append(request)
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| 205 | self._requestCondition.notify()
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| 206 | return id
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| 207 |
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| 208 | def clearPeriodic(self, id):
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| 209 | """Clear the periodic request with the given ID."""
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| 210 | with self._requestCondition:
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| 211 | for i in range(0, len(self._periodicRequests)):
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| 212 | if self._periodicRequests[i].id==id:
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| 213 | del self._periodicRequests[i]
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| 214 | return True
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| 215 | return False
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| 216 |
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| 217 | def connect(self):
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| 218 | """Initiate the connection to the flight simulator."""
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| 219 | with self._requestCondition:
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| 220 | if not self._connectionRequested:
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| 221 | self._connectionRequested = True
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| 222 | self._requestCondition.notify()
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| 223 |
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| 224 | def disconnect(self):
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| 225 | """Disconnect from the flight simulator."""
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| 226 | with self._requestCondition:
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| 227 | if self._connectionRequested:
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| 228 | self._connectionRequested = False
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| 229 | self._requestCondition.notify()
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| 230 |
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| 231 | def run(self):
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| 232 | """Perform the operation of the thread."""
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| 233 | while True:
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| 234 | self._waitConnectionRequest()
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| 235 |
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| 236 | if self._connect():
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| 237 | self._handleConnection()
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| 238 |
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| 239 | self._disconnect()
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| 240 |
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| 241 | def _waitConnectionRequest(self):
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| 242 | """Wait for a connection request to arrive."""
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| 243 | with self._requestCondition:
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| 244 | while not self._connectionRequested:
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| 245 | self._requestCondition.wait()
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| 246 |
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| 247 | def _connect(self):
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| 248 | """Try to connect to the flight simulator via FSUIPC"""
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| 249 | while self._connectionRequested:
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| 250 | try:
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| 251 | pyuipc.open(pyuipc.SIM_FS2K4)
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| 252 | description = "(FSUIPC version: 0x%04x, library version: 0x%04x, FS version: %d)" % \
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| 253 | (pyuipc.fsuipc_version, pyuipc.lib_version,
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| 254 | pyuipc.fs_version)
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[4] | 255 | Handler._callSafe(lambda:
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| 256 | self._connectionListener.connected(const.TYPE_MSFS9,
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| 257 | description))
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[3] | 258 | return True
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| 259 | except Exception, e:
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| 260 | print "fsuipc.Handler._connect: connection failed: " + str(e)
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[4] | 261 | time.sleep(0.1)
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[3] | 262 |
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| 263 | return False
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| 264 |
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| 265 | def _handleConnection(self):
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| 266 | """Handle a living connection."""
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| 267 | with self._requestCondition:
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| 268 | while self._connectionRequested:
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| 269 | if not self._processRequests():
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| 270 | return
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| 271 | timeout = None
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| 272 | if self._periodicRequests:
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| 273 | self._periodicRequests.sort()
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| 274 | timeout = self._periodicRequests[0].nextFire - time.time()
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| 275 | if timeout is None or timeout > 0.0:
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| 276 | self._requestCondition.wait(timeout)
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| 277 |
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| 278 | def _disconnect(self):
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| 279 | """Disconnect from the flight simulator."""
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| 280 | pyuipc.close()
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[4] | 281 | Handler._callSafe(lambda: self._connectionListener.disconnected())
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| 282 |
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| 283 | def _failRequests(self, request):
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| 284 | """Fail the outstanding, single-shot requuests."""
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| 285 | request.fail()
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| 286 | with self._requestCondition:
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| 287 | for request in self._requests:
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| 288 | try:
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| 289 | self._requestCondition.release()
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| 290 | request.fail()
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| 291 | finally:
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| 292 | self._requestCondition.acquire()
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| 293 | self._requests = []
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[3] | 294 |
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| 295 | def _processRequest(self, request, time):
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| 296 | """Process the given request.
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| 297 |
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| 298 | If an exception occurs, we try to reconnect.
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| 299 |
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| 300 | Returns what the request's process() function returned or None if
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| 301 | reconnection failed."""
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| 302 |
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| 303 | self._requestCondition.release()
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| 304 |
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| 305 | try:
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| 306 | return request.process(time)
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| 307 | except Exception as e:
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| 308 | print "fsuipc.Handler._processRequest: FSUIPC connection failed (" + \
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| 309 | str(e) + ") reconnecting."
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| 310 | self._disconnect()
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[4] | 311 | self._failRequests(request)
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[3] | 312 | if not self._connect(): return None
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| 313 | else: return True
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| 314 | finally:
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| 315 | self._requestCondition.acquire()
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| 316 |
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| 317 | def _processRequests(self):
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| 318 | """Process any pending requests.
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| 319 |
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| 320 | Will be called with the request lock held."""
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| 321 | while self._connectionRequested and self._periodicRequests:
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| 322 | self._periodicRequests.sort()
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| 323 | request = self._periodicRequests[0]
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| 324 | result = self._processRequest(request, time.time())
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| 325 | if result is None: return False
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| 326 | elif not result: break
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| 327 |
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| 328 | while self._connectionRequested and self._requests:
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| 329 | request = self._requests[0]
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| 330 | del self._requests[0]
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| 331 |
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| 332 | if self._processRequest(request, None) is None:
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| 333 | return False
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| 334 |
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| 335 | return self._connectionRequested
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[4] | 336 |
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| 337 | #------------------------------------------------------------------------------
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| 338 |
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| 339 | class Simulator(object):
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| 340 | """The simulator class representing the interface to the flight simulator
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| 341 | via FSUIPC."""
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| 342 | def __init__(self, connectionListener):
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| 343 | """Construct the simulator."""
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| 344 | self._handler = Handler(connectionListener)
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| 345 | self._handler.start()
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| 346 | self._aircraft = None
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| 347 | self._aircraftName = None
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| 348 | self._aircraftModel = None
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| 349 | self._monitoringRequestID = None
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| 350 |
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| 351 | def connect(self):
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| 352 | """Initiate a connection to the simulator."""
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| 353 | self._handler.connect()
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| 354 |
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| 355 | def startMonitoring(self, aircraft):
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| 356 | """Start the periodic monitoring of the aircraft and pass the resulting
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| 357 | state to the given aircraft object periodically.
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| 358 |
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| 359 | The aircraft object passed must provide the following members:
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| 360 | - type: one of the AIRCRAFT_XXX constants from const.py
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| 361 | - modelChanged(aircraftName, modelName): called when the model handling
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| 362 | the aircraft has changed.
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| 363 | - handleState(aircraftState): handle the given state."""
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| 364 | assert self._aircraft is None
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| 365 |
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| 366 | self._aircraft = aircraft
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| 367 | self._startMonitoring()
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| 368 |
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| 369 | def stopMonitoring(self):
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| 370 | """Stop the periodic monitoring of the aircraft."""
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| 371 | self._aircraft = None
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| 372 |
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| 373 | def disconnect(self):
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| 374 | """Disconnect from the simulator."""
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| 375 | self._handler.disconnect()
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| 376 |
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| 377 | def _startMonitoring(self):
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| 378 | """The internal call to start monitoring."""
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| 379 | self._handler.requestRead([(0x3d00, -256)], self._monitoringStartCallback)
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| 380 |
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| 381 | def _monitoringStartCallback(self, data, extra):
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| 382 | """Callback for the data read when the monitoring has started.
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| 383 |
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| 384 | The following data items are expected:
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| 385 | - the name of the aircraft
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| 386 | """
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| 387 | if self._aircraft is None:
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| 388 | return
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| 389 | elif data is None:
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| 390 | self._startMonitoring()
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| 391 | else:
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| 392 | self._setAircraftName(data[0])
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| 393 |
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| 394 | def _setAircraftName(self, name):
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| 395 | """Set the name of the aicraft and if it is different from the
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| 396 | previous, create a new model for it.
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| 397 |
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| 398 | If so, also notifty the aircraft about the change."""
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| 399 | if name==self._aircraftName:
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| 400 | return
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| 401 |
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| 402 | self._aircraftName = name
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| 403 | if self._aircraftModel is None or \
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| 404 | not self._aircraftModel.doesHandle(name):
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| 405 | self._setAircraftModel(AircraftModel.create(self._aircraft, name))
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| 406 |
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| 407 | self._aircraft.modelChanged(self._aircraftName,
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| 408 | self._aircraftModel.name)
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| 409 |
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| 410 | def _setAircraftModel(self, model):
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| 411 | """Set a new aircraft model.
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| 412 |
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| 413 | It will be queried for the data to monitor and the monitoring request
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| 414 | will be replaced by a new one."""
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| 415 | self._aircraftModel = model
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| 416 |
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| 417 | if self._monitoringRequestID is not None:
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| 418 | self._handler.clearPeriodic(self._monitoringRequestID)
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| 419 |
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| 420 | self._monitoringRequestID = \
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| 421 | self._handler.requestPeriodicRead(1.0,
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| 422 | model.getMonitoringData(),
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| 423 | self._handleMonitoringData)
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| 424 |
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| 425 | def _handleMonitoringData(self, data, extra):
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| 426 | """Handle the monitoring data."""
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| 427 | if self._aircraft is None:
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| 428 | self._handler.clearPeriodic(self._monitoringRequestID)
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| 429 | return
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| 430 |
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| 431 | self._setAircraftName(data[0])
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| 432 | aircraftState = self._aircraftModel.getAircraftState(self._aircraft, data)
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| 433 | self._aircraft.handleState(aircraftState)
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| 434 |
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| 435 | #------------------------------------------------------------------------------
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| 436 |
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| 437 | class AircraftModel(object):
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| 438 | """Base class for the aircraft models.
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| 439 |
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| 440 | Aircraft models handle the data arriving from FSUIPC and turn it into an
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| 441 | object describing the aircraft's state."""
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| 442 | monitoringData = [("aircraftName", 0x3d00, -256),
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| 443 | ("year", 0x0240, "H"),
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| 444 | ("dayOfYear", 0x023e, "H"),
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| 445 | ("zuluHour", 0x023b, "b"),
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| 446 | ("zuluMinute", 0x023c, "b"),
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| 447 | ("seconds", 0x023a, "b"),
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| 448 | ("paused", 0x0264, "H"),
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| 449 | ("frozen", 0x3364, "H"),
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| 450 | ("slew", 0x05dc, "H"),
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| 451 | ("overspeed", 0x036d, "b"),
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| 452 | ("stalled", 0x036c, "b"),
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| 453 | ("onTheGround", 0x0366, "H"),
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| 454 | ("grossWeight", 0x30c0, "f"),
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| 455 | ("heading", 0x0580, "d"),
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| 456 | ("pitch", 0x0578, "d"),
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| 457 | ("bank", 0x057c, "d"),
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| 458 | ("ias", 0x02bc, "d"),
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| 459 | ("vs", 0x02c8, "d"),
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| 460 | ("altitude", 0x0570, "l"),
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| 461 | ("flapsControl", 0x0bdc, "d"),
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| 462 | ("flapsLeft", 0x0be0, "d"),
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| 463 | ("flapsRight", 0x0be4, "d"),
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| 464 | ("lights", 0x0d0c, "H"),
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| 465 | ("pitot", 0x029c, "b"),
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| 466 | ("noseGear", 0x0bec, "d"),
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| 467 | ("spoilersArmed", 0x0bcc, "d"),
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| 468 | ("spoilers", 0x0bd0, "d")]
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| 469 |
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| 470 | @staticmethod
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| 471 | def create(aircraft, aircraftName):
|
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| 472 | """Create the model for the given aircraft name, and notify the
|
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| 473 | aircraft about it."""
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| 474 | return AircraftModel([0, 10, 20, 30])
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| 475 |
|
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| 476 | def __init__(self, flapsNotches):
|
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| 477 | """Construct the aircraft model.
|
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| 478 |
|
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| 479 | flapsNotches is a list of degrees of flaps that are available on the aircraft."""
|
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| 480 | self._flapsNotches = flapsNotches
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| 481 |
|
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| 482 | @property
|
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| 483 | def name(self):
|
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| 484 | """Get the name for this aircraft model."""
|
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| 485 | return "FSUIPC/Generic"
|
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| 486 |
|
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| 487 | def doesHandle(self, aircraftName):
|
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| 488 | """Determine if the model handles the given aircraft name.
|
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| 489 |
|
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| 490 | This default implementation returns True."""
|
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| 491 | return True
|
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| 492 |
|
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| 493 | def addDataWithIndexMembers(self, dest, prefix, data):
|
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| 494 | """Add FSUIPC data to the given array and also corresponding index
|
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| 495 | member variables with the given prefix.
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| 496 |
|
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| 497 | data is a list of triplets of the following items:
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| 498 | - the name of the data item. The index member variable will have a name
|
---|
| 499 | created by prepending the given prefix to this name.
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| 500 | - the FSUIPC offset
|
---|
| 501 | - the FSUIPC type
|
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| 502 |
|
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| 503 | The latter two items will be appended to dest."""
|
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| 504 | index = len(dest)
|
---|
| 505 | for (name, offset, type) in data:
|
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| 506 | setattr(self, prefix + name, index)
|
---|
| 507 | dest.append((offset, type))
|
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| 508 | index += 1
|
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| 509 |
|
---|
| 510 | def getMonitoringData(self):
|
---|
| 511 | """Get the data specification for monitoring.
|
---|
| 512 |
|
---|
| 513 | The first item should always be the aircraft name (0x3d00, -256)."""
|
---|
| 514 | data = []
|
---|
| 515 | self.addDataWithIndexMembers(data, "_monidx_",
|
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| 516 | AircraftModel.monitoringData)
|
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| 517 | return data
|
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| 518 |
|
---|
| 519 | def getAircraftState(self, aircraft, data):
|
---|
| 520 | """Get an aircraft state object for the given monitoring data."""
|
---|
| 521 | state = fs.AircraftState()
|
---|
| 522 |
|
---|
| 523 | timestamp = calendar.timegm(time.struct_time([data[self._monidx_year],
|
---|
| 524 | 1, 1, 0, 0, 0, -1, 1, 0]))
|
---|
| 525 | timestamp += data[self._monidx_dayOfYear] * 24 * 3600
|
---|
| 526 | timestamp += data[self._monidx_zuluHour] * 3600
|
---|
| 527 | timestamp += data[self._monidx_zuluMinute] * 60
|
---|
| 528 | timestamp += data[self._monidx_seconds]
|
---|
| 529 | state.timestamp = timestamp
|
---|
| 530 |
|
---|
| 531 | state.paused = data[self._monidx_paused]!=0 or \
|
---|
| 532 | data[self._monidx_frozen]!=0
|
---|
| 533 | state.trickMode = data[self._monidx_slew]!=0
|
---|
| 534 |
|
---|
| 535 | state.overspeed = data[self._monidx_overspeed]!=0
|
---|
| 536 | state.stalled = data[self._monidx_stalled]!=0
|
---|
| 537 | state.onTheGround = data[self._monidx_onTheGround]!=0
|
---|
| 538 |
|
---|
| 539 | state.grossWeight = data[self._monidx_grossWeight] * util.LBSTOKG
|
---|
| 540 |
|
---|
| 541 | state.heading = data[self._monidx_heading]*360.0/65536.0/65536.0
|
---|
| 542 | if state.heading<0.0: state.heading += 360.0
|
---|
| 543 |
|
---|
| 544 | state.pitch = data[self._monidx_pitch]*360.0/65536.0/65536.0
|
---|
| 545 | state.bank = data[self._monidx_bank]*360.0/65536.0/65536.0
|
---|
| 546 |
|
---|
| 547 | state.ias = data[self._monidx_ias]/128.0
|
---|
| 548 | state.vs = data[self._monidx_vs]*60.0*3.28984/256.0
|
---|
| 549 |
|
---|
| 550 | state.altitude = data[self._monidx_altitude]*3.28084/65536.0/65536.0
|
---|
| 551 |
|
---|
| 552 | numNotchesM1 = len(self._flapsNotches) - 1
|
---|
| 553 | flapsIncrement = 16383 / numNotchesM1
|
---|
| 554 | flapsControl = data[self._monidx_flapsControl]
|
---|
| 555 | flapsIndex = flapsControl / flapsIncrement
|
---|
| 556 | if flapsIndex < numNotchesM1:
|
---|
| 557 | if (flapsControl - (flapsIndex*flapsIncrement) >
|
---|
| 558 | (flapsIndex+1)*flapsIncrement - flapsControl):
|
---|
| 559 | flapsIndex += 1
|
---|
| 560 | state.flapsSet = self._flapsNotches[flapsIndex]
|
---|
| 561 |
|
---|
| 562 | flapsLeft = data[self._monidx_flapsLeft]
|
---|
| 563 | flapsIndex = flapsLeft / flapsIncrement
|
---|
| 564 | state.flaps = self._flapsNotches[flapsIndex]
|
---|
| 565 | if flapsIndex != numNotchesM1:
|
---|
| 566 | thisNotch = flapsIndex * flapsIncrement
|
---|
| 567 | nextNotch = thisNotch + flapsIncrement
|
---|
| 568 |
|
---|
| 569 | state.flaps += (self._flapsNotches[flapsIndex+1] - state.flaps) * \
|
---|
| 570 | (flapsLeft - thisNotch) / (nextNotch - thisNotch)
|
---|
| 571 |
|
---|
| 572 | lights = data[self._monidx_lights]
|
---|
| 573 |
|
---|
| 574 | state.navLightsOn = (lights%0x01) != 0
|
---|
| 575 | state.antiCollisionLightsOn = (lights%0x02) != 0
|
---|
| 576 | state.landingLightsOn = (lights%0x04) != 0
|
---|
| 577 | state.strobeLightsOn = (lights%0x10) != 0
|
---|
| 578 |
|
---|
| 579 | state.pitotHeatOn = data[self._monidx_pitot]!=0
|
---|
| 580 |
|
---|
| 581 | state.gearsDown = data[self._monidx_noseGear]==16383
|
---|
| 582 |
|
---|
| 583 | state.spoilersArmed = data[self._monidx_spoilersArmed]!=0
|
---|
| 584 |
|
---|
| 585 | spoilers = data[self._monidx_spoilers]
|
---|
| 586 | if spoilers<=4800:
|
---|
| 587 | state.spoilersExtension = 0.0
|
---|
| 588 | else:
|
---|
| 589 | state.spoilersExtension = (spoilers - 4800) * 100.0 / (16383 - 4800)
|
---|
| 590 |
|
---|
| 591 | return state
|
---|