Python util.pexpect_drain函数代码示例

    def update(self):
        # watch files
        rin = [self.jsb_in.fileno(), self.jsb_console.fileno(), self.jsb.fileno(), self.sitl.port.fileno()]
        
        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            return

        if self.jsb_in.fileno() in rin:
            self.process_sensor_data()
            
        if self.sitl.port.fileno() in rin:
            msg = self.sitl.recv_msg()
            self.Controls = aircraft.Controls.from_mavlink(msg)
            self.Controls.send_to_jsbsim(self.jsb_console)
        
        if self.jsb_console.fileno() in rin:
            util.pexpect_drain(self.jsb_console)

        if self.jsb.fileno() in rin:
            util.pexpect_drain(self.jsb)
            
        return True

def expect_callback(e):
    '''called when waiting for a expect pattern'''
    global expect_list
    for p in expect_list:
        if p == e:
            continue
        util.pexpect_drain(p)

    def update(self):
        # watch files
        rin = [self.jsb_in.fileno(), self.jsb_console.fileno(), self.jsb.fileno(), self.gcs.fd]

        # receive messages on serial port
        while self.master.port.inWaiting() > 0:
            self.process_master()

        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            return

        # if new gcs input, process it
        if self.gcs.fd in rin:
            self.process_gcs()

        # if new jsbsim input, process it
        if self.jsb_in.fileno() in rin:
            if self.mode == "state":
                if (time.time() - self.t_hil_state) > 1.0 / 50:
                    self.t_hil_state = time.time()
                    self.ac.send_state(self.master.mav)
            elif self.mode == "sensor":
                self.ac.send_sensors(self.master.mav)
            self.process_jsb_input()
            # gcs not currently getting HIL_STATE message
            # self.x.send_to_mav(self.gcs.mav)
            self.frame_count += 1

        # show any jsbsim console output
        if self.jsb_console.fileno() in rin:
            util.pexpect_drain(self.jsb_console)
        if self.jsb.fileno() in rin:
            util.pexpect_drain(self.jsb)

        dt_report = time.time() - self.last_report
        if dt_report > 5:
            print "\nmode: {0:X}, JSBSim {1:5.0f} Hz, {2:d} sent, {3:d} received, {4:d} errors, bwin={5:.1f} kB/s, bwout={6:.1f} kB/s".format(
                self.master.base_mode,
                self.frame_count / dt_report,
                self.master.mav.total_packets_sent,
                self.master.mav.total_packets_received,
                self.master.mav.total_receive_errors,
                0.001 * (self.master.mav.total_bytes_received - self.bytes_recv) / dt_report,
                0.001 * (self.master.mav.total_bytes_sent - self.bytes_sent) / dt_report,
            )
            print self.counts
            self.bytes_sent = self.master.mav.total_bytes_sent
            self.bytes_recv = self.master.mav.total_bytes_received
            self.frame_count = 0
            self.last_report = time.time()

        return True

def main_loop():
    '''run main loop'''
    tnow = time.time()
    last_report = tnow
    last_sim_input = tnow
    paused = False

    while True:
        rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            continue

        tnow = time.time()

        if jsb_in.fileno() in rin:
            buf = jsb_in.recv(fdm.packet_size())
            process_jsb_input(buf)

        if sim_in.fileno() in rin:
            simbuf = sim_in.recv(28)
            process_sitl_input(simbuf)
            last_sim_input = tnow

        # show any jsbsim console output
        if jsb_console.fileno() in rin:
            util.pexpect_drain(jsb_console)
        if jsb.fileno() in rin:
            util.pexpect_drain(jsb)

        if tnow - last_sim_input > 0.2:
            if not paused:
                print("PAUSING SIMULATION")
                paused = True
        else:
            if paused:
                print("RESUMING SIMULATION")
                paused = False

        # only simulate wind above 5 meters, to prevent crashes while
        # waiting for takeoff

        if tnow - last_report > 3:
            print("asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
                fdm.get('altitude', units='meters'),
                fdm.get('agl', units='meters'),
                fdm.get('phi', units='degrees'),
                fdm.get('theta', units='degrees'),
                fdm.get('A_X_pilot', units='mpss'),
                fdm.get('A_Y_pilot', units='mpss'),
                fdm.get('A_Z_pilot', units='mpss')))

            last_report = time.time()

    def run(self):
        # send something to simulator to get it running
        self.sitl = mavutil.mavudp(self.sitl_address, input=False)
        self.sitl.write("hello")

        #setup output to flightgear

        if self.fg_address is not None:
            fg_address = (self.fg_address.split(':')[0], int(self.fg_address.split(':')[1]))
            self.fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
            self.fg_out.connect(fg_address)

        self.init_JSBSim()
        util.pexpect_drain(self.jsb_console)
        self.jsb_console.send('resume\n')
        self.jsb_set('simulation/reset',1)
        self.update()
        self.jsb.expect("\(Trim\) executed")
        
        while self.update(): pass

def main_loop():
    '''run main loop'''
    last_report = time.time()
    frame_count = 0

    while True:
        rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            continue

        if jsb_in.fileno() in rin:
            buf = jsb_in.recv(fdm.packet_size())
            process_jsb_input(buf)
            frame_count += 1

        if sim_in.fileno() in rin:
            simbuf = sim_in.recv(22)
            process_sitl_input(simbuf)

        # show any jsbsim console output
        if jsb_console.fileno() in rin:
            util.pexpect_drain(jsb_console)
        if jsb.fileno() in rin:
            util.pexpect_drain(jsb)

        if time.time() - last_report > 0.5:
            print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
                frame_count / (time.time() - last_report),
                fdm.get('altitude', units='meters'),
                fdm.get('agl', units='meters'),
                fdm.get('phi', units='degrees'),
                fdm.get('theta', units='degrees'),
                fdm.get('A_X_pilot', units='mpss'),
                fdm.get('A_Y_pilot', units='mpss'),
                fdm.get('A_Z_pilot', units='mpss')))

            frame_count = 0
            last_report = time.time()

def main_loop():
    '''run main loop'''
    tnow = time.time()
    last_report = tnow
    last_sim_input = tnow
    last_wind_update = tnow
    frame_count = 0
    paused = False
    simstep = 1.0/opts.rate
    simtime = simstep
    frame_time = 1.0/opts.rate
    scaled_frame_time = frame_time/opts.speedup
    last_wall_time = time.time()
    achieved_rate = opts.speedup

    while True:
        new_frame = False
        rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            continue

        tnow = time.time()

        if jsb_in.fileno() in rin:
            buf = jsb_in.recv(fdm.packet_size())
            process_jsb_input(buf, simtime)
            frame_count += 1
            new_frame = True

        #if sim_in.fileno() in rin:
        #simbuf = sim_in.recv(28)
        simbuf = ""
        process_sitl_input(simbuf)
        simtime += simstep
        last_sim_input = tnow

        # show any jsbsim console output
        if jsb_console.fileno() in rin:
            util.pexpect_drain(jsb_console)
        if jsb.fileno() in rin:
            util.pexpect_drain(jsb)

        # only simulate wind above 5 meters, to prevent crashes while
        # waiting for takeoff
        if tnow - last_wind_update > 0.1:
            update_wind(wind)
            last_wind_update = tnow

        if tnow - last_report > 3:
            print("FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f) AR=%.1f" % (
                frame_count / (time.time() - last_report),
                fdm.get('altitude', units='meters'),
                fdm.get('agl', units='meters'),
                fdm.get('phi', units='degrees'),
                fdm.get('theta', units='degrees'),
                fdm.get('A_X_pilot', units='mpss'),
                fdm.get('A_Y_pilot', units='mpss'),
                fdm.get('A_Z_pilot', units='mpss'),
                achieved_rate))

            frame_count = 0
            last_report = time.time()

        if new_frame:
            now = time.time()
            if now < last_wall_time + scaled_frame_time:
                dt = last_wall_time+scaled_frame_time - now
                time.sleep(last_wall_time+scaled_frame_time - now)
                now = time.time()

            if now > last_wall_time and now - last_wall_time < 0.1:
                rate = 1.0/(now - last_wall_time)
                achieved_rate = (0.98*achieved_rate) + (0.02*rate)
                if achieved_rate < opts.rate*opts.speedup:
                    scaled_frame_time *= 0.999
                else:
                    scaled_frame_time *= 1.001

            last_wall_time = now

def idle_hook(mav):
    '''called when waiting for a mavlink message'''
    global expect_list
    for p in expect_list:
        util.pexpect_drain(p)

def main_loop():
    """run main loop"""
    tnow = time.time()
    last_report = tnow
    last_sim_input = tnow
    last_wind_update = tnow
    frame_count = 0
    paused = False

    while True:
        rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
        try:
            (rin, win, xin) = select.select(rin, [], [], 1.0)
        except select.error:
            util.check_parent()
            continue

        tnow = time.time()

        if jsb_in.fileno() in rin:
            buf = jsb_in.recv(fdm.packet_size())
            process_jsb_input(buf)
            frame_count += 1

        if sim_in.fileno() in rin:
            simbuf = sim_in.recv(22)
            process_sitl_input(simbuf)
            last_sim_input = tnow

        # show any jsbsim console output
        if jsb_console.fileno() in rin:
            util.pexpect_drain(jsb_console)
        if jsb.fileno() in rin:
            util.pexpect_drain(jsb)

        if tnow - last_sim_input > 0.2:
            if not paused:
                print("PAUSING SIMULATION")
                paused = True
                jsb_console.send("hold\n")
        else:
            if paused:
                print("RESUMING SIMULATION")
                paused = False
                jsb_console.send("resume\n")

        if tnow - last_wind_update > 0.1:
            update_wind(wind)
            last_wind_update = tnow

        if tnow - last_report > 0.5:
            print(
                "FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)"
                % (
                    frame_count / (time.time() - last_report),
                    fdm.get("altitude", units="meters"),
                    fdm.get("agl", units="meters"),
                    fdm.get("phi", units="degrees"),
                    fdm.get("theta", units="degrees"),
                    fdm.get("A_X_pilot", units="mpss"),
                    fdm.get("A_Y_pilot", units="mpss"),
                    fdm.get("A_Z_pilot", units="mpss"),
                )
            )

            frame_count = 0
            last_report = time.time()

def main_loop():
    '''run main loop'''
    tnow = time.time()
    tFinal = 80
    last_report = tnow
    last_sim_input = tnow
    last_wind_update = tnow
    frame_count = 0
    input_count = 0
    paused = False

    # Load attack definitions and set the desired attack
    execfile('jsbsim/attackDefinitions.py', globals())
    print L
    attack1 = imuGyroNoise
    attack2 = gainAccelX

    global latFreq
    global rNoiseVar

    latFreq = attack1.nominal
    rNoiseVar = attack2.nominal

    resultKeys = ['flightFail', 'missionFail']
    innerSize = len(attack1.attack_values)
    outerSize = len(attack2.attack_values)

    results = dict.fromkeys(resultKeys)
    for key in results:
        results[key] = numpy.empty(shape=(innerSize, outerSize))
    
    for outerIndex, outerValue in enumerate(attack1.attack_values):
        iterResults = defaultdict(list)

        for innerIndex, innerValue in enumerate(attack2.attack_values):
            latFreq = attack1.attack_values[outerIndex]
            rNoiseVar = attack2.attack_values[innerIndex]

            # Reset the vehicle state
            tstart = reset_sim()

            tstart_sim = time.time() #fdm.get('time', units='seconds'),

            missionFailed = False

            while True:
                rin = [jsb_in.fileno(), sim_in.fileno(), jsb_console.fileno(), jsb.fileno()]
                try:
                    (rin, win, xin) = select.select(rin, [], [], 1.0)
                except select.error:
                    util.check_parent()
                    continue

                tnow = time.time()

                if jsb_in.fileno() in rin:
                    buf = jsb_in.recv(fdm.packet_size())
                    process_jsb_input(buf)
                    frame_count += 1

                if sim_in.fileno() in rin:
                    simbuf = sim_in.makefile().readline()
                    process_sitl_input(simbuf)
                    last_sim_input = tnow
                    input_count +=1

                # show any jsbsim console output
                if jsb_console.fileno() in rin:
                    util.pexpect_drain(jsb_console)
                if jsb.fileno() in rin:
                    util.pexpect_drain(jsb)

                #if tnow - last_sim_input > 0.5:
                    #if not paused:
                        #print("PAUSING SIMULATION")
                        #paused = True
                        #jsb_console.send('hold\n')
                #else:
                    #if paused:
                        #print("RESUMING SIMULATION")
                        #paused = False
                        #jsb_console.send('resume\n')

                # only simulate wind above 5 meters, to prevent crashes while
                # waiting for takeoff
                if tnow - last_wind_update > 0.1:
                    update_wind(wind)
                    last_wind_update = tnow

                if tnow - last_report > 3:
                    print("IPS %u FPS %u asl=%.1f agl=%.1f roll=%.1f pitch=%.1f a=(%.2f %.2f %.2f)" % (
                        input_count/(time.time() - last_report),
                        frame_count / (time.time() - last_report),
                        fdm.get('altitude', units='meters'),
                        fdm.get('agl', units='meters'),
                        fdm.get('phi', units='degrees'),
                        fdm.get('theta', units='degrees'),
                        fdm.get('A_X_pilot', units='mpss'),
                        fdm.get('A_Y_pilot', units='mpss'),
                        fdm.get('A_Z_pilot', units='mpss')))
#.........这里部分代码省略.........