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source: src/mlx/xplane.py@ 708:2e411a2d77a0

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Last change on this file since 708:2e411a2d77a0 was 642:c2d51278efcd, checked in by István Váradi <ivaradi@…>, 9 years ago
Using a different speed brake dataref for the FlyJSim Dash 8 (re #271)
File size: 76.1 KB

Line
1
2	import fs
3	import const
4	import util
5	from watchdog import Watchdog
6
7	import threading
8	import time
9	import calendar
10	import datetime
11	import sys
12	import codecs
13	import math
14
15	from xplra import XPlane, MultiGetter, MultiSetter, ProtocolException
16	from xplra import TYPE_INT, TYPE_FLOAT, TYPE_DOUBLE
17	from xplra import TYPE_FLOAT_ARRAY, TYPE_INT_ARRAY, TYPE_BYTE_ARRAY
18	from xplra import HOTKEY_MODIFIER_SHIFT, HOTKEY_MODIFIER_CONTROL
19
20	#------------------------------------------------------------------------------
21
22	## @package mlx.xplane
23	#
24	# The module towards X-Plane
25	#
26	# This module implements the simulator interface to X-Plane via the
27	# X-Plane Remote Access (xplra) plugin.
28
29	#------------------------------------------------------------------------------
30
31	_hgin2hpa = 1013.25 / 29.92
32
33	_mps2knots = 3600.0 / 1852
34
35	#------------------------------------------------------------------------------
36
37	class Request(object):
38	"""Base class for one-shot requests."""
39	def __init__(self, handler, callback, extra):
40	"""Construct the request."""
41	self._handler = handler
42	self._callback = callback
43	self._extra = extra
44	self._result = None
45
46	def process(self, time):
47	"""Process the request.
48
49	Return True if the request has succeeded, False if data validation
50	has failed for a reading request. An exception may also be thrown
51	if there is some lower-level communication problem."""
52	if self._process(time):
53	Handler._callSafe(lambda: self._callback(self._result,
54	self._extra))
55	return True
56	else:
57	return False
58
59	def fail(self):
60	"""Handle the failure of this request."""
61	Handler._callSafe(lambda: self._callback(False, self._extra))
62
63	class DataRequest(Request):
64	"""A simple, one-shot data read or write request."""
65	def __init__(self, handler, forWrite, data, callback, extra,
66	validator = None):
67	"""Construct the request."""
68	super(DataRequest, self).__init__(handler, callback, extra)
69
70	self._forWrite = forWrite
71	self._validator = validator
72
73	xplane = handler._xplane
74	self._multiBuffer = xplane.createMultiSetter() if forWrite \
75	else xplane.createMultiGetter()
76
77	Handler._setupMultiBuffer(self._multiBuffer,
78	[(d[0], d[1]) for d in data])
79
80	if forWrite:
81	index = 0
82	for (_, _, value) in data:
83	self._multiBuffer[index] = value
84	index += 1
85
86
87	def fail(self):
88	"""Handle the failure of this request."""
89	if self._forWrite:
90	super(DataRequest, self).fail()
91	else:
92	Handler._callSafe(lambda: self._callback(None, self._extra))
93
94	def _process(self, time):
95	"""Process the request."""
96	if self._forWrite:
97	self._multiBuffer.execute()
98	self._result = True
99	return True
100
101	try:
102	if Handler._performRead(self._multiBuffer,
103	self._extra, self._validator):
104	self._result = self._multiBuffer
105	return True
106	else:
107	return False
108	except ProtocolException, e:
109	self._result = None
110	return True
111
112	class ShowMessageRequest(Request):
113	"""Request to show a message in the simulator window."""
114	def __init__(self, handler, message, duration, callback, extra):
115	"""Construct the request."""
116	super(ShowMessageRequest, self).__init__(handler,
117	callback, extra)
118	self._message = message
119	self._duration = duration
120
121	def _process(self, time):
122	"""Process the request."""
123	self._handler._xplane.showMessage(self._message, self._duration)
124	self._result = True
125	return True
126
127	class RegisterHotkeysRequest(Request):
128	"""Request to register hotkeys with the simulator."""
129	def __init__(self, handler, hotkeyCodes, callback, extra):
130	"""Construct the request."""
131	super(RegisterHotkeysRequest, self).__init__(handler,
132	callback,
133	extra)
134	self._hotkeyCodes = hotkeyCodes
135
136	def _process(self, time):
137	"""Process the request."""
138	self._handler._xplane.registerHotkeys(self._hotkeyCodes)
139	self._result = True
140	return True
141
142	class UnregisterHotkeysRequest(Request):
143	"""Request to register hotkeys with the simulator."""
144	def _process(self, time):
145	"""Process the request."""
146	self._handler._xplane.unregisterHotkeys()
147	self._result = True
148	return True
149
150	class PeriodicRequest(object):
151	"""A periodic request."""
152	def __init__(self, handler, id, period, callback, extra):
153	"""Construct the periodic request."""
154	self._handler = handler
155	self._id = id
156	self._period = period
157	self._nextFire = time.time()
158	self._callback = callback
159	self._extra = extra
160	self._result = None
161
162	@property
163	def id(self):
164	"""Get the ID of this periodic request."""
165	return self._id
166
167	@property
168	def nextFire(self):
169	"""Get the next firing time."""
170	return self._nextFire
171
172	def process(self, now):
173	"""Check if this request should be executed, and if so, do so.
174
175	now is the time at which the request is being executed. If this
176	function is called too early, nothing is done, and True is
177	returned.
178
179	Return True if the request has succeeded, False if data validation
180	has failed. An exception may also be thrown if there is some
181	lower-level communication problem."""
182	if now<self._nextFire:
183	return True
184
185	isOK = self._process(time)
186
187	if isOK:
188	Handler._callSafe(lambda: self._callback(self._result,
189	self._extra))
190	now = time.time()
191	while self._nextFire <= now:
192	self._nextFire += self._period
193
194	return isOK
195
196	def fail(self):
197	"""Handle the failure of this request."""
198	pass
199
200	def __cmp__(self, other):
201	"""Compare two periodic requests. They are ordered by their next
202	firing times."""
203	return cmp(self._nextFire, other._nextFire)
204
205	class PeriodicDataRequest(PeriodicRequest):
206	"""A periodic request."""
207	def __init__(self, handler, id, period, data, callback, extra,
208	validator):
209	"""Construct the periodic request."""
210	super(PeriodicDataRequest, self).__init__(handler, id, period,
211	callback, extra)
212	self._validator = validator
213	self._multiGetter = handler._xplane.createMultiGetter()
214	Handler._setupMultiBuffer(self._multiGetter, data)
215
216	def _process(self, now):
217	"""Process the request."""
218	if Handler._performRead(self._multiGetter,
219	self._extra, self._validator):
220	self._result = self._multiGetter
221	return True
222	else:
223	return False
224
225	#------------------------------------------------------------------------------
226
227	class HotkeysStateRequest(PeriodicRequest):
228	"""Periodic hotkey query request."""
229	def _process(self, now):
230	"""Process the request."""
231	self._result = self._handler._xplane.queryHotkeys()
232	return True
233
234	#------------------------------------------------------------------------------
235
236	class Handler(threading.Thread):
237	"""The thread to handle the requests towards X-Plane."""
238	@staticmethod
239	def _callSafe(fun):
240	"""Call the given function and swallow any exceptions."""
241	try:
242	return fun()
243	except Exception, e:
244	print >> sys.stderr, util.utf2unicode(str(e))
245	return None
246
247	# The number of times a read is attempted
248	NUM_READATTEMPTS = 3
249
250	# The number of connection attempts
251	NUM_CONNECTATTEMPTS = 3
252
253	# The interval between successive connect attempts
254	CONNECT_INTERVAL = 0.25
255
256	@staticmethod
257	def _setupMultiBuffer(buffer, dataSpec):
258	"""Setup the given multi-dataref buffer for the given data
259	specification.
260
261	The specification is a list of tuples of two items:
262	- the name of the dataref
263	- the type of the dataref. It can be one of the following:
264	- an integer denoting the type. If it denotes an array type, the
265	length will be -1 (i.e. as many as returned when reading the
266	value), and the offset will be 0
267	- a tuple of two or three items:
268	- the first item is the type constant
269	- the second item is the length
270	- the third item is the offset, which defaults to 0."""
271	for (name, typeInfo) in dataSpec:
272	length = -1
273	offset = 0
274	type = 0
275	if isinstance(typeInfo, tuple):
276	type = typeInfo[0]
277	length = typeInfo[1]
278	offset = 0 if len(typeInfo)<3 else typeInfo[2]
279	else:
280	type = typeInfo
281
282	if type==TYPE_INT:
283	buffer.addInt(name)
284	elif type==TYPE_FLOAT:
285	buffer.addFloat(name)
286	elif type==TYPE_DOUBLE:
287	buffer.addDouble(name)
288	elif type==TYPE_FLOAT_ARRAY:
289	buffer.addFloatArray(name, length = length, offset = offset)
290	elif type==TYPE_INT_ARRAY:
291	buffer.addIntArray(name, length = length, offset = offset)
292	elif type==TYPE_BYTE_ARRAY:
293	buffer.addByteArray(name, length = length, offset = offset)
294	else:
295	raise TypeError("xplane.Handler._setupMultiBuffer: invalid type info: %s for dataref '%s'" % (typeInfo, name))
296
297
298
299	@staticmethod
300	def _performRead(multiGetter, extra, validator):
301	"""Perform a read request.
302
303	If there is a validator, that will be called with the return values,
304	and if the values are wrong, the request is retried at most a certain
305	number of times.
306
307	Return True if the request has succeeded, False if validation has
308	failed during all attempts. An exception may also be thrown if there is
309	some lower-level communication problem."""
310	attemptsLeft = Handler.NUM_READATTEMPTS
311	while attemptsLeft>0:
312	try:
313	multiGetter.execute()
314	except ProtocolException, e:
315	print "xplane.Handler._performRead: " + str(e)
316	raise
317
318	if validator is None or \
319	Handler._callSafe(lambda: validator(multiGetter, extra)):
320	return True
321	else:
322	attemptsLeft -= 1
323	return False
324
325	def __init__(self, connectionListener,
326	connectAttempts = -1, connectInterval = 0.2):
327	"""Construct the handler with the given connection listener."""
328	threading.Thread.__init__(self)
329
330	self._connectionListener = connectionListener
331	self._connectAttempts = connectAttempts
332	self._connectInterval = connectInterval
333
334	self._xplane = XPlane()
335
336	self._requestCondition = threading.Condition()
337	self._connectionRequested = False
338	self._connected = False
339
340	self._requests = []
341	self._nextPeriodicID = 1
342	self._periodicRequests = []
343
344	self._watchdogClient = Watchdog.get().addClient(2.0, "xplane.Handler")
345
346	self.daemon = True
347
348	def requestRead(self, data, callback, extra = None, validator = None):
349	"""Request the reading of some data.
350
351	data is a list of tuples of the following items:
352	- the offset of the data as an integer
353	- the type letter of the data as a string
354
355	callback is a function that receives two pieces of data:
356	- the values retrieved or None on error
357	- the extra parameter
358
359	It will be called in the handler's thread!
360	"""
361	with self._requestCondition:
362	self._requests.append(DataRequest(self, False, data,
363	callback, extra,
364	validator))
365	self._requestCondition.notify()
366
367	def requestWrite(self, data, callback, extra = None):
368	"""Request the writing of some data.
369
370	data is a list of tuples of the following items:
371	- the offset of the data as an integer
372	- the type letter of the data as a string
373	- the data to write
374
375	callback is a function that receives two pieces of data:
376	- a boolean indicating if writing was successful
377	- the extra data
378	It will be called in the handler's thread!
379	"""
380	with self._requestCondition:
381	request = DataRequest(self, True, data, callback, extra)
382	#print "xplane.Handler.requestWrite", request
383	self._requests.append(request)
384	self._requestCondition.notify()
385
386	def requestPeriodicRead(self, period, data, callback, extra = None,
387	validator = None):
388	"""Request a periodic read of data.
389
390	period is a floating point number with the period in seconds.
391
392	This function returns an identifier which can be used to cancel the
393	request."""
394	with self._requestCondition:
395	id = self._nextPeriodicID
396	self._nextPeriodicID += 1
397	request = PeriodicDataRequest(self, id, period,
398	data, callback,
399	extra, validator)
400	self._periodicRequests.append(request)
401	self._requestCondition.notify()
402	return id
403
404	def clearPeriodic(self, id):
405	"""Clear the periodic request with the given ID."""
406	with self._requestCondition:
407	for i in range(0, len(self._periodicRequests)):
408	if self._periodicRequests[i].id==id:
409	del self._periodicRequests[i]
410	return True
411	return False
412
413	def requestShowMessage(self, message, duration, callback, extra = None):
414	"""Request showing a message in the simulator."""
415	with self._requestCondition:
416	self._requests.append(ShowMessageRequest(self,
417	message, duration,
418	callback, extra))
419	self._requestCondition.notify()
420
421	def registerHotkeys(self, hotkeys, callback, extra = None):
422	"""Request registering the given hotkeys."""
423	with self._requestCondition:
424	self._requests.append(RegisterHotkeysRequest(self, hotkeys,
425	callback, extra))
426	self._requestCondition.notify()
427
428	def requestHotkeysState(self, period, callback, extra = None):
429	"""Request a periodic query of the hotkey status."""
430	with self._requestCondition:
431	id = self._nextPeriodicID
432	self._nextPeriodicID += 1
433	request = HotkeysStateRequest(self, id, period, callback, extra)
434	self._periodicRequests.append(request)
435	self._requestCondition.notify()
436	return id
437
438	def unregisterHotkeys(self, callback, extra = None):
439	"""Request unregistering the hotkeys."""
440	with self._requestCondition:
441	self._requests.append(UnregisterHotkeysRequest(self,
442	callback, extra))
443	self._requestCondition.notify()
444
445	def connect(self):
446	"""Initiate the connection to the flight simulator."""
447	with self._requestCondition:
448	if not self._connectionRequested:
449	self._connectionRequested = True
450	self._requestCondition.notify()
451
452	def disconnect(self):
453	"""Disconnect from the flight simulator."""
454	with self._requestCondition:
455	self._requests = []
456	if self._connectionRequested:
457	self._connectionRequested = False
458	self._requestCondition.notify()
459
460	def clearRequests(self):
461	"""Clear the outstanding one-shot requests."""
462	with self._requestCondition:
463	self._requests = []
464
465	def run(self):
466	"""Perform the operation of the thread."""
467	while True:
468	self._waitConnectionRequest()
469
470	if self._connect()>0:
471	self._handleConnection()
472
473	self._disconnect()
474
475	def _waitConnectionRequest(self):
476	"""Wait for a connection request to arrive."""
477	with self._requestCondition:
478	while not self._connectionRequested:
479	self._requestCondition.wait()
480
481	def _connect(self, autoReconnection = False, attempts = 0):
482	"""Try to connect to the flight simulator via XPLRA
483
484	Returns True if the connection has been established, False if it was
485	not due to no longer requested.
486	"""
487	while self._connectionRequested:
488	if attempts>=self.NUM_CONNECTATTEMPTS:
489	self._connectionRequested = False
490	if autoReconnection:
491	Handler._callSafe(lambda:
492	self._connectionListener.disconnected())
493	else:
494	Handler._callSafe(lambda:
495	self._connectionListener.connectionFailed())
496	return 0
497
498	try:
499	attempts += 1
500	self._xplane.connect()
501
502	(xplaneVersion, xplmVersion, xplraVersion) = \
503	self._xplane.getVersions()
504
505	description = "(X-Plane version: %d, XPLM version: %d, XPLRA version: %03d)" % \
506	(xplaneVersion, xplmVersion, xplraVersion)
507	if not autoReconnection:
508	fsType = const.SIM_XPLANE10 if xplaneVersion>=10000 else const.SIM_XPLANE9
509
510	Handler._callSafe(lambda:
511	self._connectionListener.connected(fsType,
512	description))
513	self._connected = True
514	return attempts
515	except Exception, e:
516	print "xplane.Handler._connect: connection failed: " + \
517	util.utf2unicode(str(e)) + \
518	" (attempts: %d)" % (attempts,)
519	if attempts<self.NUM_CONNECTATTEMPTS:
520	time.sleep(self.CONNECT_INTERVAL)
521	self._xplane.disconnect()
522
523	def _handleConnection(self):
524	"""Handle a living connection."""
525	with self._requestCondition:
526	while self._connectionRequested:
527	self._processRequests()
528	self._waitRequest()
529
530	def _waitRequest(self):
531	"""Wait for the time of the next request.
532
533	Returns also, if the connection is no longer requested.
534
535	Should be called with the request condition lock held."""
536	while self._connectionRequested:
537	timeout = None
538	if self._periodicRequests:
539	self._periodicRequests.sort()
540	timeout = self._periodicRequests[0].nextFire - time.time()
541
542	if self._requests or \
543	(timeout is not None and timeout <= 0.0):
544	return
545
546	self._requestCondition.wait(timeout)
547
548	def _disconnect(self):
549	"""Disconnect from the flight simulator."""
550	print "xplane.Handler._disconnect"
551	if self._connected:
552	try:
553	self._xplane.disconnect()
554	except:
555	pass
556
557	self._connected = False
558
559	def _processRequest(self, request, time, attempts):
560	"""Process the given request.
561
562	If an exception occurs or invalid data is read too many times, we try
563	to reconnect.
564
565	This function returns only if the request has succeeded, or if a
566	connection is no longer requested.
567
568	This function is called with the request lock held, but is relased
569	whole processing the request and reconnecting."""
570	self._requestCondition.release()
571
572	#print "xplane.Handler._processRequest", request
573
574	needReconnect = False
575	try:
576	self._watchdogClient.set()
577	try:
578	if not request.process(time):
579	print "xplane.Handler._processRequest: X-Plane returned invalid data too many times, reconnecting"
580	needReconnect = True
581	except Exception as e:
582	print "xplane.Handler._processRequest: X-Plane connection failed (" + \
583	util.utf2unicode(str(e)) + \
584	"), reconnecting (attempts=%d)." % (attempts,)
585	needReconnect = True
586
587	if needReconnect:
588	with self._requestCondition:
589	self._requests.insert(0, request)
590	self._disconnect()
591	return self._connect(autoReconnection = True, attempts = attempts)
592	else:
593	return 0
594	finally:
595	self._watchdogClient.clear()
596	self._requestCondition.acquire()
597
598	def _processRequests(self):
599	"""Process any pending requests.
600
601	Will be called with the request lock held."""
602	attempts = 0
603	while self._connectionRequested and self._periodicRequests:
604	self._periodicRequests.sort()
605	request = self._periodicRequests[0]
606
607	t = time.time()
608
609	if request.nextFire>t:
610	break
611
612	attempts = self._processRequest(request, t, attempts)
613
614	while self._connectionRequested and self._requests:
615	request = self._requests[0]
616	del self._requests[0]
617
618	attempts = self._processRequest(request, None, attempts)
619
620	return self._connectionRequested
621
622	#------------------------------------------------------------------------------
623
624	class Simulator(object):
625	"""The simulator class representing the interface to the flight simulator
626	via XPLRA."""
627	# The basic data that should be queried all the time once we are connected
628	timeData = [ ("sim/time/local_date_days", TYPE_INT),
629	("sim/time/zulu_time_sec", TYPE_FLOAT) ]
630
631	normalData = timeData + \
632	[ ("sim/aircraft/view/acf_tailnum", TYPE_BYTE_ARRAY),
633	("sim/aircraft/view/acf_author", TYPE_BYTE_ARRAY),
634	("sim/aircraft/view/acf_descrip", TYPE_BYTE_ARRAY),
635	("sim/aircraft/view/acf_notes", TYPE_BYTE_ARRAY),
636	("sim/aircraft/view/acf_ICAO", TYPE_BYTE_ARRAY),
637	("sim/aircraft/view/acf_livery_path", TYPE_BYTE_ARRAY) ]
638
639	flareData1 = [ ("sim/time/zulu_time_sec", TYPE_FLOAT),
640	("sim/flightmodel/position/y_agl", TYPE_FLOAT),
641	("sim/flightmodel/position/vh_ind_fpm2", TYPE_FLOAT) ]
642
643	flareStartData = [ ("sim/weather/wind_speed_kt[0]", TYPE_FLOAT),
644	("sim/weather/wind_direction_degt[0]", TYPE_FLOAT),
645	("sim/weather/visibility_reported_m", TYPE_FLOAT) ]
646
647	flareData2 = [ ("sim/time/zulu_time_sec", TYPE_FLOAT),
648	("sim/flightmodel/failures/onground_any", TYPE_INT),
649	("sim/flightmodel/position/vh_ind_fpm2", TYPE_FLOAT),
650	("sim/flightmodel/position/indicated_airspeed2",
651	TYPE_FLOAT),
652	("sim/flightmodel/position/theta", TYPE_FLOAT),
653	("sim/flightmodel/position/phi", TYPE_FLOAT),
654	("sim/flightmodel/position/psi", TYPE_FLOAT) ]
655
656	TIME_SYNC_INTERVAL = 3.0
657
658	@staticmethod
659	def _getTimestamp(data):
660	"""Convert the given data into a timestamp."""
661	year = datetime.date.today().year
662	timestamp = calendar.timegm(time.struct_time([year,
663	1, 1, 0, 0, 0, -1, 1, 0]))
664	timestamp += data[0] * 24 * 3600
665	timestamp += data[1]
666
667	return timestamp
668
669	@staticmethod
670	def _getHotkeyCode(hotkey):
671	"""Get the hotkey code for the given hot key."""
672	code = ord(hotkey.key)
673	if hotkey.shift: code \|= HOTKEY_MODIFIER_SHIFT
674	if hotkey.ctrl: code \|= HOTKEY_MODIFIER_CONTROL
675	return code
676
677	def __init__(self, connectionListener, connectAttempts = -1,
678	connectInterval = 0.2):
679	"""Construct the simulator.
680
681	The aircraft object passed must provide the following members:
682	- type: one of the AIRCRAFT_XXX constants from const.py
683	- modelChanged(aircraftName, modelName): called when the model handling
684	the aircraft has changed.
685	- handleState(aircraftState): handle the given state.
686	- flareStarted(windSpeed, windDirection, visibility, flareStart,
687	flareStartFS): called when the flare has
688	started. windSpeed is in knots, windDirection is in degrees and
689	visibility is in metres. flareStart and flareStartFS are two time
690	values expressed in seconds that can be used to calculate the flare
691	time.
692	- flareFinished(flareEnd, flareEndFS, tdRate, tdRateCalculatedByFS,
693	ias, pitch, bank, heading): called when the flare has
694	finished, i.e. the aircraft is on the ground. flareEnd and flareEndFS
695	are the two time values corresponding to the touchdown time. tdRate is
696	the touch-down rate, tdRateCalculatedBySim indicates if the data comes
697	from the simulator or was calculated by the adapter. The other data
698	are self-explanatory and expressed in their 'natural' units."""
699	self._fsType = None
700	self._aircraft = None
701
702	self._handler = Handler(self,
703	connectAttempts = connectAttempts,
704	connectInterval = connectInterval)
705	self._connectionListener = connectionListener
706	self._handler.start()
707
708	self._syncTime = False
709	self._nextSyncTime = -1
710
711	self._normalRequestID = None
712
713	self._monitoringRequested = False
714	self._monitoring = False
715
716	self._aircraftInfo = None
717	self._aircraftModel = None
718
719	self._flareRequestID = None
720	self._flareRates = []
721	self._flareStart = None
722	self._flareStartFS = None
723
724	self._hotkeyLock = threading.Lock()
725	self._hotkeyCodes = None
726	self._hotkeySetID = 0
727	self._hotkeySetGeneration = 0
728	self._hotkeyOffets = None
729	self._hotkeyRequestID = None
730	self._hotkeyCallback = None
731
732	self._latin1decoder = codecs.getdecoder("iso-8859-1")
733	self._fuelCallback = None
734
735	def connect(self, aircraft):
736	"""Initiate a connection to the simulator."""
737	self._aircraft = aircraft
738	self._aircraftInfo = None
739	self._aircraftModel = None
740	self._handler.connect()
741	if self._normalRequestID is None:
742	self._nextSyncTime = -1
743	self._startDefaultNormal()
744
745	def reconnect(self):
746	"""Initiate a reconnection to the simulator.
747
748	It does not reset already set up data, just calls connect() on the
749	handler."""
750	self._handler.connect()
751
752	def requestZFW(self, callback):
753	"""Send a request for the ZFW."""
754	data = [ ("sim/aircraft/weight/acf_m_empty", TYPE_FLOAT),
755	("sim/flightmodel/weight/m_fixed", TYPE_FLOAT) ]
756	self._handler.requestRead(data, self._handleZFW, extra = callback)
757
758	def requestWeights(self, callback):
759	"""Request the following weights: DOW, ZFW, payload.
760
761	These values will be passed to the callback function in this order, as
762	separate arguments."""
763	data = [ ("sim/aircraft/weight/acf_m_empty", TYPE_FLOAT),
764	("sim/flightmodel/weight/m_fixed", TYPE_FLOAT),
765	("sim/flightmodel/weight/m_total", TYPE_FLOAT) ]
766	self._handler.requestRead(data, self._handleWeights,
767	extra = callback)
768
769	def requestTime(self, callback):
770	"""Request the time from the simulator."""
771	self._handler.requestRead(Simulator.timeData, self._handleTime,
772	extra = callback)
773
774	def startMonitoring(self):
775	"""Start the periodic monitoring of the aircraft and pass the resulting
776	state to the aircraft object periodically."""
777	assert not self._monitoringRequested
778	self._monitoringRequested = True
779
780	def stopMonitoring(self):
781	"""Stop the periodic monitoring of the aircraft."""
782	assert self._monitoringRequested
783	self._monitoringRequested = False
784
785	def startFlare(self):
786	"""Start monitoring the flare time.
787
788	At present it is assumed to be called from the handler thread, hence no
789	protection."""
790	#self._aircraft.logger.debug("startFlare")
791	if self._flareRequestID is None:
792	self._flareRates = []
793	self._flareRequestID = \
794	self._handler.requestPeriodicRead(0.1,
795	Simulator.flareData1,
796	self._handleFlare1)
797
798	def cancelFlare(self):
799	"""Cancel monitoring the flare time.
800
801	At present it is assumed to be called from the handler thread, hence no
802	protection."""
803	if self._flareRequestID is not None:
804	self._handler.clearPeriodic(self._flareRequestID)
805	self._flareRequestID = None
806
807	def sendMessage(self, message, duration = 3,
808	_disconnect = False):
809	"""Send a message to the pilot via the simulator.
810
811	duration is the number of seconds to keep the message displayed."""
812	print "xplra.Simulator.sendMessage:", message
813	self._handler.requestShowMessage(message, duration,
814	self._handleMessageSent,
815	extra = _disconnect)
816
817	def getFuel(self, callback):
818	"""Get the fuel information for the current model.
819
820	The callback will be called with a list of triplets with the following
821	items:
822	- the fuel tank identifier
823	- the current weight of the fuel in the tank (in kgs)
824	- the current total capacity of the tank (in kgs)."""
825	if self._aircraftModel is None:
826	self._fuelCallback = callback
827	else:
828	self._aircraftModel.getFuel(self._handler, callback)
829
830	def setFuelLevel(self, levels):
831	"""Set the fuel level to the given ones.
832
833	levels is an array of two-tuples, where each tuple consists of the
834	following:
835	- the const.FUELTANK_XXX constant denoting the tank that must be set,
836	- the requested level of the fuel as a floating-point value between 0.0
837	and 1.0."""
838	if self._aircraftModel is not None:
839	self._aircraftModel.setFuelLevel(self._handler, levels)
840
841	def enableTimeSync(self):
842	"""Enable the time synchronization."""
843	self._nextSyncTime = -1
844	self._syncTime = True
845
846	def disableTimeSync(self):
847	"""Enable the time synchronization."""
848	self._syncTime = False
849	self._nextSyncTime = -1
850
851	def listenHotkeys(self, hotkeys, callback):
852	"""Start listening to the given hotkeys.
853
854	callback is function expecting two arguments:
855	- the ID of the hotkey set as returned by this function,
856	- the list of the indexes of the hotkeys that were pressed."""
857	with self._hotkeyLock:
858	assert self._hotkeyCodes is None
859
860	self._hotkeyCodes = \
861	[self._getHotkeyCode(hotkey) for hotkey in hotkeys]
862	self._hotkeySetID += 1
863	self._hotkeySetGeneration = 0
864	self._hotkeyCallback = callback
865
866	self._handler.registerHotkeys(self._hotkeyCodes,
867	self._handleHotkeysRegistered,
868	(self._hotkeySetID,
869	self._hotkeySetGeneration))
870
871	return self._hotkeySetID
872
873	def clearHotkeys(self):
874	"""Clear the current hotkey set.
875
876	Note that it is possible, that the callback function set either
877	previously or after calling this function by listenHotkeys() will be
878	called with data from the previous hotkey set.
879
880	Therefore it is recommended to store the hotkey set ID somewhere and
881	check that in the callback function. Right before calling
882	clearHotkeys(), this stored ID should be cleared so that the check
883	fails for sure."""
884	with self._hotkeyLock:
885	if self._hotkeyCodes is not None:
886	self._hotkeyCodes = None
887	self._hotkeySetID += 1
888	self._hotkeyCallback = None
889	self._clearHotkeyRequest()
890
891	def disconnect(self, closingMessage = None, duration = 3):
892	"""Disconnect from the simulator."""
893	assert not self._monitoringRequested
894
895	print "xplra.Simulator.disconnect", closingMessage, duration
896
897	self._stopNormal()
898	self.clearHotkeys()
899	if closingMessage is None:
900	self._handler.disconnect()
901	else:
902	self.sendMessage(closingMessage, duration = duration,
903	_disconnect = True)
904
905	def connected(self, fsType, descriptor):
906	"""Called when a connection has been established to the flight
907	simulator of the given type."""
908	self._fsType = fsType
909
910	with self._hotkeyLock:
911	if self._hotkeyCodes is not None:
912	self._hotkeySetGeneration += 1
913
914	self._handler.registerHotkeys(self._hotkeyCodes,
915	self._handleHotkeysRegistered,
916	(self._hotkeySetID,
917	self._hotkeySetGeneration))
918
919	self._connectionListener.connected(fsType, descriptor)
920
921	def connectionFailed(self):
922	"""Called when the connection could not be established."""
923	with self._hotkeyLock:
924	self._clearHotkeyRequest()
925	self._connectionListener.connectionFailed()
926
927	def disconnected(self):
928	"""Called when a connection to the flight simulator has been broken."""
929	with self._hotkeyLock:
930	self._clearHotkeyRequest()
931	self._connectionListener.disconnected()
932
933	def _startDefaultNormal(self):
934	"""Start the default normal periodic request."""
935	assert self._normalRequestID is None
936	self._normalRequestID = \
937	self._handler.requestPeriodicRead(1.0,
938	Simulator.normalData,
939	self._handleNormal)
940
941	def _stopNormal(self):
942	"""Stop the normal period request."""
943	assert self._normalRequestID is not None
944	self._handler.clearPeriodic(self._normalRequestID)
945	self._normalRequestID = None
946	self._monitoring = False
947
948	def _handleNormal(self, data, extra):
949	"""Handle the reply to the normal request.
950
951	At the beginning the result consists the data for normalData. When
952	monitoring is started, it contains the result also for the
953	aircraft-specific values.
954	"""
955	timestamp = Simulator._getTimestamp(data)
956
957	createdNewModel = self._setAircraftName(timestamp,
958	data.getString(2),
959	data.getString(3),
960	data.getString(4),
961	data.getString(5),
962	data.getString(6),
963	data.getString(7))
964	if self._fuelCallback is not None:
965	self._aircraftModel.getFuel(self._handler, self._fuelCallback)
966	self._fuelCallback = None
967
968	if self._monitoringRequested and not self._monitoring:
969	self._stopNormal()
970	self._startMonitoring()
971	elif self._monitoring and not self._monitoringRequested:
972	self._stopNormal()
973	self._startDefaultNormal()
974	elif self._monitoring and self._aircraftModel is not None and \
975	not createdNewModel:
976	aircraftState = self._aircraftModel.getAircraftState(self._aircraft,
977	timestamp, data)
978
979	self._aircraft.handleState(aircraftState)
980
981	def _setAircraftName(self, timestamp, tailnum, author, description,
982	notes, icao, liveryPath):
983	"""Set the name of the aicraft and if it is different from the
984	previous, create a new model for it.
985
986	If so, also notifty the aircraft about the change.
987
988	Return if a new model was created."""
989	author = self._latin1decoder(author)[0]
990	description = self._latin1decoder(description)[0]
991	notes = self._latin1decoder(notes)[0]
992	liveryPath = self._latin1decoder(liveryPath)[0]
993
994	aircraftInfo = (tailnum, author, description, notes, icao, liveryPath)
995	if aircraftInfo==self._aircraftInfo:
996	return False
997
998	print "xplane.Simulator: new data: %s, %s, %s, %s, %s, %s" % \
999	(tailnum, author, description, notes, icao, liveryPath)
1000
1001	self._aircraftInfo = aircraftInfo
1002	needNew = self._aircraftModel is None
1003	needNew = needNew or\
1004	not self._aircraftModel.doesHandle(self._aircraft, aircraftInfo)
1005	if not needNew:
1006	specialModel = AircraftModel.findSpecial(self._aircraft,
1007	aircraftInfo)
1008	needNew = specialModel is not None and \
1009	specialModel is not self._aircraftModel.__class__
1010
1011	if needNew:
1012	self._setAircraftModel(AircraftModel.create(self._aircraft,
1013	aircraftInfo))
1014
1015	self._aircraft.modelChanged(timestamp, description,
1016	self._aircraftModel.name)
1017
1018	return needNew
1019
1020	def _setAircraftModel(self, model):
1021	"""Set a new aircraft model.
1022
1023	It will be queried for the data to monitor and the monitoring request
1024	will be replaced by a new one."""
1025	self._aircraftModel = model
1026	model.simulator = self
1027
1028	if self._monitoring:
1029	self._stopNormal()
1030	self._startMonitoring()
1031
1032	def _startMonitoring(self):
1033	"""Start monitoring with the current aircraft model."""
1034	data = Simulator.normalData[:]
1035	self._aircraftModel.addMonitoringData(data, self._fsType)
1036
1037	self._normalRequestID = \
1038	self._handler.requestPeriodicRead(1.0, data,
1039	self._handleNormal)
1040	self._monitoring = True
1041
1042	def _addFlareRate(self, data):
1043	"""Append a flare rate to the list of last rates."""
1044	if len(self._flareRates)>=3:
1045	del self._flareRates[0]
1046	self._flareRates.append(data)
1047
1048	def _handleFlare1(self, data, normal):
1049	"""Handle the first stage of flare monitoring."""
1050	#self._aircraft.logger.debug("handleFlare1: " + str(data))
1051	if data[1]<=50.0*0.3048:
1052	self._flareStart = time.time()
1053	self._flareStartFS = data[0]
1054	self._handler.clearPeriodic(self._flareRequestID)
1055	self._handler.requestRead(Simulator.flareStartData,
1056	self._handleFlareStart)
1057
1058	self._addFlareRate(data[2])
1059
1060	def _handleFlareStart(self, data, extra):
1061	"""Handle the data need to notify the aircraft about the starting of
1062	the flare."""
1063	#self._aircraft.logger.debug("handleFlareStart: " + str(data))
1064	if data is not None:
1065	windDirection = data[1]
1066	if windDirection<0.0: windDirection += 360.0
1067	self._aircraft.flareStarted(data[0], windDirection, data[2],
1068	self._flareStart, self._flareStartFS)
1069
1070	self._flareRequestID = \
1071	self._handler.requestPeriodicRead(0.1,
1072	Simulator.flareData2,
1073	self._handleFlare2)
1074
1075	def _handleFlare2(self, data, normal):
1076	"""Handle the first stage of flare monitoring."""
1077	#self._aircraft.logger.debug("handleFlare2: " + str(data))
1078	if data[1]!=0:
1079	flareEnd = time.time()
1080	self._handler.clearPeriodic(self._flareRequestID)
1081	self._flareRequestID = None
1082
1083	flareEndFS = data[0]
1084	if flareEndFS<self._flareStartFS:
1085	flareEndFS += 86400.0
1086
1087	tdRate = min(self._flareRates)
1088	tdRateCalculatedByFS = False
1089
1090	heading = data[6]
1091	if heading<0.0: heading += 360.0
1092
1093	self._aircraft.flareFinished(flareEnd, flareEndFS,
1094	tdRate, tdRateCalculatedByFS,
1095	data[3], data[4], data[5], heading)
1096	else:
1097	self._addFlareRate(data[2])
1098
1099	def _handleZFW(self, data, callback):
1100	"""Callback for a ZFW retrieval request."""
1101	zfw = data[0] + data[1]
1102	callback(zfw)
1103
1104	def _handleTime(self, data, callback):
1105	"""Callback for a time retrieval request."""
1106	callback(Simulator._getTimestamp(data))
1107
1108	def _handleWeights(self, data, callback):
1109	"""Callback for the weights retrieval request."""
1110	dow = data[0]
1111	payload = data[1]
1112	zfw = dow + payload
1113	grossWeight = data[2]
1114	callback(dow, payload, zfw, grossWeight)
1115
1116	def _handleMessageSent(self, success, disconnect):
1117	"""Callback for a message sending request."""
1118	#print "xplra.Simulator._handleMessageSent", disconnect
1119	if disconnect:
1120	self._handler.disconnect()
1121
1122	def _handleHotkeysRegistered(self, success, (id, generation)):
1123	"""Handle the result of the hotkeys having been written."""
1124	with self._hotkeyLock:
1125	if success and id==self._hotkeySetID and \
1126	generation==self._hotkeySetGeneration:
1127	self._hotkeyRequestID = \
1128	self._handler.requestHotkeysState(0.5,
1129	self._handleHotkeys,
1130	(id, generation))
1131
1132	def _handleHotkeys(self, data, (id, generation)):
1133	"""Handle the hotkeys."""
1134	with self._hotkeyLock:
1135	if id!=self._hotkeySetID or generation!=self._hotkeySetGeneration:
1136	return
1137
1138	callback = self._hotkeyCallback
1139	offsets = self._hotkeyOffets
1140
1141	hotkeysPressed = []
1142	for i in range(0, len(data)):
1143	if data[i]:
1144	hotkeysPressed.append(i)
1145
1146	if hotkeysPressed:
1147	callback(id, hotkeysPressed)
1148
1149	def _clearHotkeyRequest(self):
1150	"""Clear the hotkey request in the handler if there is any."""
1151	if self._hotkeyRequestID is not None:
1152	self._handler.unregisterHotkeys(self._hotkeysUnregistered)
1153	self._handler.clearPeriodic(self._hotkeyRequestID)
1154	self._hotkeyRequestID = None
1155
1156	def _hotkeysUnregistered(self, result, extra):
1157	"""Called when the hotkeys have been unregistered."""
1158	pass
1159
1160	#------------------------------------------------------------------------------
1161
1162	class AircraftModel(object):
1163	"""Base class for the aircraft models.
1164
1165	Aircraft models handle the data arriving from X-Plane and turn it into an
1166	object describing the aircraft's state."""
1167	monitoringData = [ ("paused",
1168	"sim/time/paused", TYPE_INT),
1169	("latitude",
1170	"sim/flightmodel/position/latitude", TYPE_DOUBLE),
1171	("longitude",
1172	"sim/flightmodel/position/longitude", TYPE_DOUBLE),
1173	("replay",
1174	"sim/operation/prefs/replay_mode", TYPE_INT),
1175	("overspeed",
1176	"sim/flightmodel/failures/over_vne", TYPE_INT),
1177	("stalled",
1178	"sim/flightmodel/failures/stallwarning", TYPE_INT),
1179	("onTheGround",
1180	"sim/flightmodel/failures/onground_any", TYPE_INT),
1181	("emptyWeight",
1182	"sim/aircraft/weight/acf_m_empty", TYPE_FLOAT),
1183	("payloadWeight",
1184	"sim/flightmodel/weight/m_fixed", TYPE_FLOAT),
1185	("grossWeight",
1186	"sim/flightmodel/weight/m_total", TYPE_FLOAT),
1187	("heading",
1188	"sim/flightmodel/position/psi", TYPE_FLOAT),
1189	("pitch",
1190	"sim/flightmodel/position/theta", TYPE_FLOAT),
1191	("bank",
1192	"sim/flightmodel/position/phi", TYPE_FLOAT),
1193	("ias",
1194	"sim/flightmodel/position/indicated_airspeed2",
1195	TYPE_FLOAT),
1196	("mach",
1197	"sim/flightmodel/misc/machno", TYPE_FLOAT),
1198	("groundSpeed",
1199	"sim/flightmodel/position/groundspeed", TYPE_FLOAT),
1200	("vs",
1201	"sim/flightmodel/position/vh_ind_fpm2", TYPE_FLOAT),
1202	("radioAltitude",
1203	"sim/flightmodel/position/y_agl", TYPE_FLOAT),
1204	("altitude",
1205	"sim/flightmodel/position/elevation", TYPE_FLOAT),
1206	("gLoad",
1207	"sim/flightmodel/forces/g_nrml", TYPE_FLOAT),
1208	("flapsControl",
1209	"sim/flightmodel/controls/flaprqst", TYPE_FLOAT),
1210	("flapsLeft",
1211	"sim/flightmodel/controls/flaprat", TYPE_FLOAT),
1212	("flapsRight",
1213	"sim/flightmodel/controls/flap2rat", TYPE_FLOAT),
1214	("navLights",
1215	"sim/cockpit/electrical/nav_lights_on", TYPE_INT),
1216	("beaconLights",
1217	"sim/cockpit/electrical/beacon_lights_on", TYPE_INT),
1218	("strobeLights",
1219	"sim/cockpit/electrical/strobe_lights_on", TYPE_INT),
1220	("landingLights",
1221	"sim/cockpit/electrical/landing_lights_on", TYPE_INT),
1222	("pitot",
1223	"sim/cockpit/switches/pitot_heat_on", TYPE_INT),
1224	("parking",
1225	"sim/flightmodel/controls/parkbrake", TYPE_FLOAT),
1226	("gearControl",
1227	"sim/cockpit2/controls/gear_handle_down", TYPE_INT),
1228	("noseGear",
1229	"sim/flightmodel2/gear/deploy_ratio",
1230	(TYPE_FLOAT_ARRAY, 1)),
1231	("spoilers",
1232	"sim/flightmodel/controls/lsplrdef", TYPE_FLOAT),
1233	("altimeter",
1234	"sim/cockpit/misc/barometer_setting", TYPE_FLOAT),
1235	("qnh",
1236	"sim/physics/earth_pressure_p", TYPE_FLOAT),
1237	("nav1",
1238	"sim/cockpit/radios/nav1_freq_hz", TYPE_INT),
1239	("nav1_obs",
1240	"sim/cockpit/radios/nav1_obs_degm", TYPE_FLOAT),
1241	("nav2",
1242	"sim/cockpit/radios/nav2_freq_hz", TYPE_INT),
1243	("nav2_obs",
1244	"sim/cockpit/radios/nav2_obs_degm", TYPE_FLOAT),
1245	("adf1",
1246	"sim/cockpit/radios/adf1_freq_hz", TYPE_INT),
1247	("adf2",
1248	"sim/cockpit/radios/adf2_freq_hz", TYPE_INT),
1249	("squawk",
1250	"sim/cockpit/radios/transponder_code", TYPE_INT),
1251	("windSpeed",
1252	"sim/weather/wind_speed_kt[0]", TYPE_FLOAT),
1253	("windDirection",
1254	"sim/weather/wind_direction_degt[0]", TYPE_FLOAT),
1255	("visibility",
1256	"sim/weather/visibility_reported_m", TYPE_FLOAT),
1257	("cog",
1258	"sim/flightmodel/misc/cgz_ref_to_default", TYPE_FLOAT),
1259	("xpdrC",
1260	"sim/cockpit/radios/transponder_mode", TYPE_INT),
1261	("apMaster",
1262	"sim/cockpit/autopilot/autopilot_mode", TYPE_INT),
1263	("apState",
1264	"sim/cockpit/autopilot/autopilot_state", TYPE_INT),
1265	("apHeading",
1266	"sim/cockpit/autopilot/heading_mag", TYPE_FLOAT),
1267	("apAltitude",
1268	"sim/cockpit/autopilot/altitude", TYPE_FLOAT),
1269	("elevatorTrim",
1270	"sim/flightmodel/controls/elv_trim", TYPE_FLOAT),
1271	("antiIceOn",
1272	"sim/cockpit/switches/anti_ice_on", TYPE_INT),
1273	("surfaceHeat",
1274	"sim/cockpit/switches/anti_ice_surf_heat", TYPE_INT),
1275	("propHeat",
1276	"sim/cockpit/switches/anti_ice_prop_heat", TYPE_INT),
1277	("autopilotOn",
1278	"sim/cockpit2/autopilot/autopilot_on", TYPE_INT),
1279	("apHeadingMode",
1280	"sim/cockpit2/autopilot/heading_mode", TYPE_INT)]
1281
1282
1283	specialModels = []
1284
1285	@staticmethod
1286	def registerSpecial(clazz):
1287	"""Register the given class as a special model."""
1288	AircraftModel.specialModels.append(clazz)
1289
1290	@staticmethod
1291	def findSpecial(aircraft, aircraftInfo):
1292	for specialModel in AircraftModel.specialModels:
1293	if specialModel.doesHandle(aircraft, aircraftInfo):
1294	return specialModel
1295	return None
1296
1297	@staticmethod
1298	def create(aircraft, aircraftInfo):
1299	"""Create the model for the given aircraft name, and notify the
1300	aircraft about it."""
1301	specialModel = AircraftModel.findSpecial(aircraft, aircraftInfo)
1302	if specialModel is not None:
1303	return specialModel()
1304	if aircraft.type in _genericModels:
1305	return _genericModels[aircraft.type]()
1306	else:
1307	return GenericModel()
1308
1309	@staticmethod
1310	def _convertFrequency(value):
1311	"""Convert the given frequency value into a string."""
1312	return "%.2f" % (value/100.0,)
1313
1314	@staticmethod
1315	def _convertOBS(value):
1316	"""Convert the given OBS value into an integer."""
1317	while value<0.0:
1318	value += 360.0
1319	return int(round(value))
1320
1321	def __init__(self, flapsNotches):
1322	"""Construct the aircraft model.
1323
1324	flapsNotches is a list of degrees of flaps that are available on the aircraft."""
1325	self._flapsNotches = flapsNotches
1326	self._simulator = None
1327
1328	@property
1329	def name(self):
1330	"""Get the name for this aircraft model."""
1331	return "X-Plane/Generic"
1332
1333	@property
1334	def simulator(self):
1335	"""Get the simulator this aircraft model works for."""
1336	return self._simulator
1337
1338	@simulator.setter
1339	def simulator(self, simulator):
1340	"""Get the simulator this aircraft model works for."""
1341	self._simulator = simulator
1342
1343	def doesHandle(self, aircraft, aircraftInfo):
1344	"""Determine if the model handles the given aircraft name.
1345
1346	This default implementation returns False."""
1347	return False
1348
1349	def _addDatarefWithIndexMember(self, dest, name, type, attrName = None):
1350	"""Add the given X-Plane dataref name and type to the given array and a
1351	member attribute with the given name."""
1352	dest.append((name, type))
1353	if attrName is not None:
1354	setattr(self, attrName, len(dest)-1)
1355
1356	def _addDataWithIndexMembers(self, dest, prefix, data):
1357	"""Add X-Plane dataref data to the given array and also corresponding
1358	index member variables with the given prefix.
1359
1360	data is a list of triplets of the following items:
1361	- the name of the data item. The index member variable will have a name
1362	created by prepending the given prefix to this name.
1363	- the X-Plane dataref name
1364	- the dataref type
1365
1366	The latter two items will be appended to dest."""
1367	for (name, datarefName, type) in data:
1368	self._addDatarefWithIndexMember(dest, datarefName, type,
1369	prefix + name)
1370
1371	def addMonitoringData(self, data, fsType):
1372	"""Add the model-specific monitoring data to the given array."""
1373	self._addDataWithIndexMembers(data, "_monidx_",
1374	AircraftModel.monitoringData)
1375
1376	def getAircraftState(self, aircraft, timestamp, data):
1377	"""Get an aircraft state object for the given monitoring data."""
1378	state = fs.AircraftState()
1379
1380	lnavOn = data[self._monidx_autopilotOn]!=0 and \
1381	data[self._monidx_apHeadingMode]==2
1382
1383	state.timestamp = timestamp
1384
1385	state.latitude = data[self._monidx_latitude]
1386	state.longitude = data[self._monidx_longitude]
1387	if state.longitude>180.0: state.longitude = 360.0 - state.longitude
1388
1389	state.paused = data[self._monidx_paused]!=0 or \
1390	data[self._monidx_replay]!=0
1391	state.trickMode = data[self._monidx_replay]!=0
1392
1393	state.overspeed = data[self._monidx_overspeed]!=0
1394	state.stalled = data[self._monidx_stalled]!=0
1395	state.onTheGround = data[self._monidx_onTheGround]!=0
1396
1397	state.zfw = data[self._monidx_emptyWeight] + \
1398	data[self._monidx_payloadWeight]
1399	state.grossWeight = data[self._monidx_grossWeight]
1400
1401	state.heading = data[self._monidx_heading]
1402
1403	state.pitch = -1.0 * data[self._monidx_pitch]
1404	state.bank = data[self._monidx_bank]
1405
1406	state.ias = data[self._monidx_ias]
1407	state.mach = data[self._monidx_mach]
1408	state.groundSpeed = data[self._monidx_groundSpeed] * _mps2knots
1409	state.vs = data[self._monidx_vs]
1410
1411	state.radioAltitude = data[self._monidx_radioAltitude]/.3048
1412	state.altitude = data[self._monidx_altitude]/.3048
1413
1414	state.gLoad = data[self._monidx_gLoad]
1415
1416	flapsControl = data[self._monidx_flapsControl]
1417	flapsIndex = int(flapsControl * (len(self._flapsNotches)-1))
1418	state.flapsSet = 0 if flapsIndex<1 else self._flapsNotches[flapsIndex]
1419
1420	state.flaps = self._flapsNotches[-1]*data[self._monidx_flapsLeft]
1421
1422	state.navLightsOn = data[self._monidx_navLights] != 0
1423	state.antiCollisionLightsOn = data[self._monidx_beaconLights] != 0
1424	state.landingLightsOn = data[self._monidx_landingLights] != 0
1425	state.strobeLightsOn = data[self._monidx_strobeLights] != 0
1426
1427	state.pitotHeatOn = data[self._monidx_pitot]!=0
1428
1429	state.parking = data[self._monidx_parking]>=0.5
1430
1431	state.gearControlDown = data[self._monidx_gearControl]!=0
1432	state.gearsDown = data[self._monidx_noseGear][0]>0.99
1433
1434	state.spoilersArmed = None
1435
1436	state.spoilersExtension = data[self._monidx_spoilers]*100.0
1437
1438	state.altimeter = data[self._monidx_altimeter]* _hgin2hpa
1439	state.altimeterReliable = True
1440	state.qnh = data[self._monidx_qnh]/100.0
1441
1442	state.ils = None
1443	state.ils_obs = None
1444	state.ils_manual = False
1445	state.nav1 = self._convertFrequency(data[self._monidx_nav1])
1446	state.nav1_obs = self._convertOBS(data[self._monidx_nav1_obs])
1447	state.nav1_manual = True
1448	state.nav2 = self._convertFrequency(data[self._monidx_nav2])
1449	state.nav2_obs = self._convertOBS(data[self._monidx_nav2_obs])
1450	state.nav2_manual = not lnavOn
1451	state.adf1 = str(data[self._monidx_adf1])
1452	state.adf2 = str(data[self._monidx_adf2])
1453
1454	state.squawk = "%04d" % (data[self._monidx_squawk],)
1455
1456	state.windSpeed = data[self._monidx_windSpeed]
1457	state.windDirection = data[self._monidx_windDirection]
1458	if state.windDirection<0.0: state.windDirection += 360.0
1459
1460	state.visibility = data[self._monidx_visibility]
1461
1462	state.cog = data[self._monidx_cog]
1463
1464	state.xpdrC = data[self._monidx_xpdrC]==2
1465	state.autoXPDR = False
1466
1467	state.apMaster = data[self._monidx_apMaster]==2
1468	apState = data[self._monidx_apState]
1469	if lnavOn:
1470	state.apHeadingHold = None
1471	state.apHeading = None
1472	else:
1473	state.apHeadingHold = (apState&0x00002)!=0
1474	state.apHeading = data[self._monidx_apHeading]
1475
1476	state.apAltitudeHold = (apState&0x04000)!=0
1477	state.apAltitude = data[self._monidx_apAltitude]
1478
1479	state.elevatorTrim = data[self._monidx_elevatorTrim] * 180.0 / math.pi
1480
1481	state.antiIceOn = data[self._monidx_antiIceOn]!=0 or \
1482	data[self._monidx_surfaceHeat]!=0 or \
1483	data[self._monidx_propHeat]!=0
1484
1485	return state
1486
1487	#------------------------------------------------------------------------------
1488
1489	class GenericAircraftModel(AircraftModel):
1490	"""A generic aircraft model that can handle the fuel levels, the N1 or RPM
1491	values and some other common parameters in a generic way."""
1492
1493	def __init__(self, flapsNotches, fuelTanks, numEngines, isN1 = True):
1494	"""Construct the generic aircraft model with the given data.
1495
1496	flapsNotches is an array of how much degrees the individual flaps
1497	notches mean.
1498
1499	fuelTanks is an array of const.FUELTANK_XXX constants about the
1500	aircraft's fuel tanks. They will be converted to offsets.
1501
1502	numEngines is the number of engines the aircraft has.
1503
1504	isN1 determines if the engines have an N1 value or an RPM value
1505	(e.g. pistons)."""
1506	super(GenericAircraftModel, self).__init__(flapsNotches = flapsNotches)
1507
1508	self._fuelTanks = fuelTanks
1509	self._fuelTankCapacities = [1.0] * len(fuelTanks)
1510	self._fuelIndex = None
1511	self._numEngines = numEngines
1512	self._engineStartIndex = None
1513	self._isN1 = isN1
1514
1515	def doesHandle(self, aircraft, aircraftInfo):
1516	"""Determine if the model handles the given aircraft name.
1517
1518	This implementation returns True."""
1519	return True
1520
1521	def addMonitoringData(self, data, fsType):
1522	"""Add the model-specific monitoring data to the given array."""
1523	super(GenericAircraftModel, self).addMonitoringData(data, fsType)
1524
1525	self._fuelIndex = self._addFuelData(data)
1526
1527	self._engineStartIndex = len(data)
1528	if self._isN1:
1529	self._addDatarefWithIndexMember(data,
1530	"sim/flightmodel/engine/ENGN_N1_",
1531	(TYPE_FLOAT_ARRAY,
1532	self._numEngines))
1533	else:
1534	self._addDatarefWithIndexMember(data,
1535	"sim/flightmodel/engine/POINT_tacrad",
1536	(TYPE_FLOAT_ARRAY,
1537	self._numEngines))
1538
1539	self._addDatarefWithIndexMember(data,
1540	"sim/flightmodel/engine/ENGN_propmode",
1541	(TYPE_INT_ARRAY, self._numEngines))
1542
1543	def getAircraftState(self, aircraft, timestamp, data):
1544	"""Get the aircraft state.
1545
1546	Get it from the parent, and then add the data about the fuel levels and
1547	the engine parameters."""
1548	state = super(GenericAircraftModel, self).getAircraftState(aircraft,
1549	timestamp,
1550	data)
1551
1552	state.fuel = []
1553	state.totalFuel = 0.0
1554
1555	fuelAmounts = data[self._fuelIndex]
1556	for i in range(0, len(self._fuelTanks)):
1557	amount = fuelAmounts[i]
1558	state.fuel.append((self._fuelTanks[i], amount))
1559	state.totalFuel += amount
1560
1561	power = data[self._engineStartIndex]
1562
1563	state.n1 = power[:] if self._isN1 else None
1564	state.rpm = None if self._isN1 else power[:]
1565
1566	propMode = data[self._engineStartIndex+1]
1567	state.reverser = [mode == 3 for mode in propMode]
1568
1569	return state
1570
1571	def getFuel(self, handler, callback):
1572	"""Get the fuel information for this model.
1573
1574	See Simulator.getFuel for more information. This
1575	implementation simply queries the fuel tanks given to the
1576	constructor."""
1577	data = []
1578	self._addFuelData(data)
1579	data.append( ("sim/aircraft/weight/acf_m_fuel_tot", TYPE_FLOAT) )
1580	data.append( ("sim/aircraft/overflow/acf_tank_rat",
1581	(TYPE_FLOAT_ARRAY, len(self._fuelTanks)) ) )
1582
1583	handler.requestRead(data, self._handleFuelRetrieved,
1584	extra = callback)
1585
1586	def setFuelLevel(self, handler, levels):
1587	"""Set the fuel level.
1588
1589	See the description of Simulator.setFuelLevel. This
1590	implementation simply sets the fuel tanks as given."""
1591	data = []
1592	for (tank, level) in levels:
1593	try:
1594	index = self._fuelTanks.index(tank)
1595	data.append( ("sim/flightmodel/weight/m_fuel",
1596	(TYPE_FLOAT_ARRAY, 1, index),
1597	[level * self._fuelTankCapacities[index]]) )
1598	except:
1599	print "xplane.Simulator.setFuelLevel: invalid tank constant: %d" % \
1600	(tank,)
1601
1602	handler.requestWrite(data, self._handleFuelWritten)
1603
1604	def _addFuelData(self, data):
1605	"""Add the fuel offsets to the given data array.
1606
1607	Returns the index of the first fuel tank's data."""
1608	fuelStartIndex = len(data)
1609	data.append( ("sim/flightmodel/weight/m_fuel",
1610	(TYPE_FLOAT_ARRAY, len(self._fuelTanks) ) ) )
1611
1612	return fuelStartIndex
1613
1614	def _convertFuelData(self, data, index = 0, addCapacities = False):
1615	"""Convert the given data into a fuel info list.
1616
1617	The list consists of two or three-tuples of the following
1618	items:
1619	- the fuel tank ID,
1620	- the amount of the fuel in kg,
1621	- if addCapacities is True, the total capacity of the tank."""
1622	fuelWeight = data[index] / 256.0
1623	index += 1
1624
1625	result = []
1626	totalFuel = 0
1627	for fuelTank in self._fuelTanks:
1628	capacity = data[index+1] * fuelWeight * const.LBSTOKG
1629	if capacity>=1.0:
1630	amount = data[index] * capacity / 128.0 / 65536.0
1631
1632	result.append( (fuelTank, amount, capacity) if addCapacities
1633	else (fuelTank, amount))
1634	totalFuel += amount
1635	index += 2
1636
1637	return (result, totalFuel)
1638
1639	def _handleFuelRetrieved(self, data, callback):
1640	"""Callback for a fuel retrieval request."""
1641	result = []
1642	totalCapacity = data[1]
1643	for index in range(0, len(self._fuelTanks)):
1644	amount = data[0][index]
1645	capacity = data[2][index] * totalCapacity
1646	self._fuelTankCapacities[index] = capacity
1647	result.append( (self._fuelTanks[index], amount, capacity) )
1648
1649	callback(result)
1650
1651	def _handleFuelWritten(self, success, extra):
1652	"""Callback for a fuel setting request."""
1653	pass
1654
1655	#------------------------------------------------------------------------------
1656
1657	class GenericModel(GenericAircraftModel):
1658	"""Generic aircraft model for an unknown type."""
1659	def __init__(self):
1660	"""Construct the model."""
1661	super(GenericModel, self). \
1662	__init__(flapsNotches = [0, 10, 20, 30],
1663	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_RIGHT],
1664	numEngines = 2)
1665
1666	@property
1667	def name(self):
1668	"""Get the name for this aircraft model."""
1669	return "X-Plane/Generic"
1670
1671	#------------------------------------------------------------------------------
1672
1673	class B737Model(GenericAircraftModel):
1674	"""Generic model for the Boeing 737 Classing and NG aircraft."""
1675	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_CENTRE, const.FUELTANK_RIGHT]
1676
1677	def __init__(self):
1678	"""Construct the model."""
1679	super(B737Model, self). \
1680	__init__(flapsNotches = [0, 1, 2, 5, 10, 15, 25, 30, 40],
1681	fuelTanks = B737Model.fuelTanks,
1682	numEngines = 2)
1683
1684	@property
1685	def name(self):
1686	"""Get the name for this aircraft model."""
1687	return "X-Plane/Generic Boeing 737"
1688
1689	#------------------------------------------------------------------------------
1690
1691	class B767Model(GenericAircraftModel):
1692	"""Generic model for the Boeing 767 aircraft."""
1693	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_CENTRE, const.FUELTANK_RIGHT]
1694
1695	def __init__(self):
1696	"""Construct the model."""
1697	super(B767Model, self). \
1698	__init__(flapsNotches = [0, 1, 5, 15, 20, 25, 30],
1699	fuelTanks = B767Model.fuelTanks,
1700	numEngines = 2)
1701
1702	@property
1703	def name(self):
1704	"""Get the name for this aircraft model."""
1705	return "X-Plane/Generic Boeing 767"
1706
1707	#------------------------------------------------------------------------------
1708
1709	class DH8DModel(GenericAircraftModel):
1710	"""Generic model for the Bombardier Dash 8-Q400 aircraft."""
1711	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_RIGHT]
1712
1713	def __init__(self):
1714	"""Construct the model."""
1715	super(DH8DModel, self). \
1716	__init__(flapsNotches = [0, 5, 10, 15, 35],
1717	fuelTanks = DH8DModel.fuelTanks,
1718	numEngines = 2)
1719
1720	@property
1721	def name(self):
1722	"""Get the name for this aircraft model."""
1723	return "X-Plane/Generic Bombardier Dash 8-Q400"
1724
1725	#------------------------------------------------------------------------------
1726
1727	class FJSDH8DModel(DH8DModel):
1728	"""Model handler for the FlyJSim Dash 8-Q400."""
1729	@staticmethod
1730	def doesHandle(aircraft, (tailnum, author, description, notes,
1731	icao, liveryPath)):
1732	"""Determine if this model handler handles the aircraft with the given
1733	name."""
1734	return aircraft.type==const.AIRCRAFT_DH8D and \
1735	description.find("Dash 8 Q400")!=-1 and \
1736	((author in ["2012", "2013"] and tailnum=="N62890") or \
1737	author.find("Jack Skieczius")!=-1)
1738
1739	@property
1740	def name(self):
1741	"""Get the name for this aircraft model."""
1742	return "X-Plane/FlyJSim Bombardier Dash 8-Q400"
1743
1744	def addMonitoringData(self, data, fsType):
1745	"""Add the model-specific monitoring data to the given array."""
1746	super(FJSDH8DModel, self).addMonitoringData(data, fsType)
1747
1748	self._speedBrakeIndex = len(data)
1749	self._addDatarefWithIndexMember(data,
1750	"sim/flightmodel2/wing/speedbrake1_deg",
1751	(TYPE_FLOAT_ARRAY, 2))
1752	self._addDatarefWithIndexMember(data,
1753	"sim/flightmodel2/wing/speedbrake2_deg",
1754	(TYPE_FLOAT_ARRAY, 2))
1755
1756
1757	def getAircraftState(self, aircraft, timestamp, data):
1758	"""Get the aircraft state.
1759
1760	Get it from the parent, and then invert the pitot heat state."""
1761	state = super(FJSDH8DModel, self).getAircraftState(aircraft,
1762	timestamp,
1763	data)
1764	state.antiCollisionLightsOn = \
1765	state.antiCollisionLightsOn or state.strobeLightsOn
1766	state.cog = (state.cog / 0.0254 + 21.504) / 94.512
1767
1768	# It seems that N1 does not always go down to 0 properly
1769	# (maybe due to winds?)
1770	state.n1 = [0 if n1<2.0 else n1 for n1 in state.n1]
1771
1772	state.spoilersExtension = \
1773	sum(data[self._speedBrakeIndex] + data[self._speedBrakeIndex+1])/4
1774
1775	return state
1776
1777	#------------------------------------------------------------------------------
1778
1779	class CRJ2Model(GenericAircraftModel):
1780	"""Generic model for the Bombardier CRJ-200 aircraft."""
1781	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_CENTRE, const.FUELTANK_RIGHT]
1782
1783	def __init__(self):
1784	"""Construct the model."""
1785	super(CRJ2Model, self). \
1786	__init__(flapsNotches = [0, 8, 20, 30, 45],
1787	fuelTanks = CRJ2Model.fuelTanks,
1788	numEngines = 2)
1789
1790	@property
1791	def name(self):
1792	"""Get the name for this aircraft model."""
1793	return "X-Plane/Generic Bombardier CRJ-200"
1794
1795	#------------------------------------------------------------------------------
1796
1797	class F70Model(GenericAircraftModel):
1798	"""Generic model for the Fokker F70 aircraft."""
1799	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_CENTRE, const.FUELTANK_RIGHT]
1800
1801	def __init__(self):
1802	"""Construct the model."""
1803	super(F70Model, self). \
1804	__init__(flapsNotches = [0, 8, 15, 25, 42],
1805	fuelTanks = F70Model.fuelTanks,
1806	numEngines = 2)
1807
1808	@property
1809	def name(self):
1810	"""Get the name for this aircraft model."""
1811	return "X-Plane/Generic Fokker 70"
1812
1813	#------------------------------------------------------------------------------
1814
1815	class DC3Model(GenericAircraftModel):
1816	"""Generic model for the Lisunov Li-2 (DC-3) aircraft."""
1817	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_CENTRE,
1818	const.FUELTANK_RIGHT]
1819	# fuelTanks = [const.FUELTANK_LEFT_AUX, const.FUELTANK_LEFT,
1820	# const.FUELTANK_RIGHT, const.FUELTANK_RIGHT_AUX]
1821
1822	def __init__(self):
1823	"""Construct the model."""
1824	super(DC3Model, self). \
1825	__init__(flapsNotches = [0, 15, 30, 45],
1826	fuelTanks = DC3Model.fuelTanks,
1827	numEngines = 2, isN1 = False)
1828	self._leftLevel = 0.0
1829	self._rightLevel = 0.0
1830
1831	@property
1832	def name(self):
1833	"""Get the name for this aircraft model."""
1834	return "X-Plane/Generic Lisunov Li-2 (DC-3)"
1835
1836	#------------------------------------------------------------------------------
1837
1838	class T134Model(GenericAircraftModel):
1839	"""Generic model for the Tupolev Tu-134 aircraft."""
1840	fuelTanks = [const.FUELTANK_LEFT_TIP, const.FUELTANK_EXTERNAL1,
1841	const.FUELTANK_LEFT_AUX,
1842	const.FUELTANK_CENTRE,
1843	const.FUELTANK_RIGHT_AUX,
1844	const.FUELTANK_EXTERNAL2, const.FUELTANK_RIGHT_TIP]
1845
1846	def __init__(self):
1847	"""Construct the model."""
1848	super(T134Model, self). \
1849	__init__(flapsNotches = [0, 10, 20, 30],
1850	fuelTanks = T134Model.fuelTanks,
1851	numEngines = 2)
1852
1853	@property
1854	def name(self):
1855	"""Get the name for this aircraft model."""
1856	return "X-Plane/Generic Tupolev Tu-134"
1857
1858	#------------------------------------------------------------------------------
1859
1860	class T154Model(GenericAircraftModel):
1861	"""Generic model for the Tupolev Tu-134 aircraft."""
1862	fuelTanks = [const.FUELTANK_LEFT_AUX, const.FUELTANK_LEFT,
1863	const.FUELTANK_CENTRE, const.FUELTANK_CENTRE2,
1864	const.FUELTANK_RIGHT, const.FUELTANK_RIGHT_AUX]
1865
1866	def __init__(self):
1867	"""Construct the model."""
1868	super(T154Model, self). \
1869	__init__(flapsNotches = [0, 15, 28, 45],
1870	fuelTanks = T154Model.fuelTanks,
1871	numEngines = 3)
1872
1873	@property
1874	def name(self):
1875	"""Get the name for this aircraft model."""
1876	return "X-Plane/Generic Tupolev Tu-154"
1877
1878	def getAircraftState(self, aircraft, timestamp, data):
1879	"""Get an aircraft state object for the given monitoring data.
1880
1881	This removes the reverser value for the middle engine."""
1882	state = super(T154Model, self).getAircraftState(aircraft, timestamp, data)
1883	del state.reverser[1]
1884	return state
1885
1886	#------------------------------------------------------------------------------
1887
1888	class YK40Model(GenericAircraftModel):
1889	"""Generic model for the Yakovlev Yak-40 aircraft."""
1890	fuelTanks = [const.FUELTANK_LEFT, const.FUELTANK_RIGHT]
1891
1892	def __init__(self):
1893	"""Construct the model."""
1894	super(YK40Model, self). \
1895	__init__(flapsNotches = [0, 20, 35],
1896	fuelTanks = YK40Model.fuelTanks,
1897	numEngines = 2)
1898
1899	@property
1900	def name(self):
1901	"""Get the name for this aircraft model."""
1902	return "X-Plane/Generic Yakovlev Yak-40"
1903
1904	#------------------------------------------------------------------------------
1905
1906	_genericModels = { const.AIRCRAFT_B736 : B737Model,
1907	const.AIRCRAFT_B737 : B737Model,
1908	const.AIRCRAFT_B738 : B737Model,
1909	const.AIRCRAFT_B738C : B737Model,
1910	const.AIRCRAFT_B733 : B737Model,
1911	const.AIRCRAFT_B734 : B737Model,
1912	const.AIRCRAFT_B735 : B737Model,
1913	const.AIRCRAFT_DH8D : DH8DModel,
1914	const.AIRCRAFT_B762 : B767Model,
1915	const.AIRCRAFT_B763 : B767Model,
1916	const.AIRCRAFT_CRJ2 : CRJ2Model,
1917	const.AIRCRAFT_F70 : F70Model,
1918	const.AIRCRAFT_DC3 : DC3Model,
1919	const.AIRCRAFT_T134 : T134Model,
1920	const.AIRCRAFT_T154 : T154Model,
1921	const.AIRCRAFT_YK40 : YK40Model }
1922
1923	#------------------------------------------------------------------------------
1924
1925	AircraftModel.registerSpecial(FJSDH8DModel)
1926
1927	#------------------------------------------------------------------------------
1928
1929	# if __name__ == "__main__":
1930	# class ConnectionListener:
1931	# def connected(self, fsType, descriptor):
1932	# """Called when a connection has been established to the flight
1933	# simulator of the given type."""
1934	# print "fs.ConnectionListener.connected, fsType:", fsType, ", descriptor:", descriptor
1935
1936	# def connectionFailed(self):
1937	# """Called when the connection could not be established."""
1938	# print "fs.ConnectionListener.connectionFailed"
1939
1940	# def disconnected(self):
1941	# """Called when a connection to the flight simulator has been broken."""
1942	# print "fs.ConnectionListener.disconnected"
1943
1944	# class Config:
1945	# def __init__(self):
1946	# self.onlineACARS = False
1947	# self.realIASSmoothingLength = 2
1948	# self.realVSSmoothingLength = 2
1949	# self.enableSounds = False
1950	# self.usingFS2Crew = False
1951
1952	# def isMessageTypeFS(self, type):
1953	# return True
1954
1955
1956
1957	# class GUI:
1958	# def __init__(self):
1959	# self.config = Config()
1960	# self.entranceExam = False
1961	# self.zfw = 30000.0
1962
1963	# def resetFlightStatus(self):
1964	# pass
1965
1966	# def setRating(self, value):
1967	# pass
1968
1969	# def insertFlightLogLine(self, index, ts, text, isFault):
1970	# pass
1971
1972	# def setStage(self, stage):
1973	# pass
1974
1975
1976	# from i18n import setLanguage
1977
1978	# setLanguage("/home/vi/munka/repules/mlx", "en")
1979
1980	# from logger import Logger
1981	# from flight import Flight
1982	# from acft import DH8D
1983
1984	# gui = GUI()
1985
1986	# logger = Logger(gui)
1987
1988	# flight = Flight(logger, gui)
1989	# acft = DH8D(flight)
1990
1991	# Watchdog()
1992
1993	# connectionListener = ConnectionListener()
1994	# simulator = Simulator(connectionListener, connectAttempts = 3)
1995
1996	# simulator.connect(acft)
1997
1998	# time.sleep(2)
1999
2000	# simulator.startMonitoring()
2001
2002	# simulator.sendMessage("[MLX] Flight stage: Taxi", duration = 3)
2003
2004	# time.sleep(4)
2005
2006	# simulator.sendMessage("[MLX] Free gates: 1, 2, 3, 4, 5, 6, 25, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 42, 43, 45, 107, 108, 109, R113, R114, R115, R116, R117, R210, R211, R212, R212A, R220, R221, R222, R223, R224, R225, R226, R227, R270, R271, R272, R274, R275, R276, R277, R278, R278A, R279", duration = 20)
2007	# #simulator.sendMessage("[MLX] Free gates: 1, 2, 3, 4, 5, 6, 25, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 42, 43, 45, 107, 108, 109, R113, R114, R115, R116", duration = 20)
2008	# #simulator.sendMessage("[MLX] Free gates: 1, 2, 3, 4, 5, 6, 25, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 42, 43, 45, 107, 108, 109, R113, R114, R115", duration = 20)
2009
2010	# time.sleep(30)
2011
2012	# simulator.sendMessage("[MLX] Hello", duration = 3)
2013
2014	# time.sleep(10)

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