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RcPilotTrainer.py
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RcPilotTrainer.py
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import sys, pygame
from pygame.locals import *
from pygame.constants import *
from OpenGL.GL import *
from OpenGL.GLU import *
import time
import random
import copy
from operator import attrgetter
import config
from objloader import *
VERSION = "0.1"
TESTRES_OK = 1
TESTREF_HESITATED = 2
TESTRES_FAIL = 2
AXIS_ELEV = 0
AXIS_AIL = 1
AXIS_YAW = 2
POS_FLYAWAY = (0,0,0)
POS_FLYAWAY_INV = (0,180,0)
POS_STRAIGHTUP = (90,0,0)
POS_STRAIGHTDOWN = (-90,0,0)
POS_KNIFEEDGE_L = (90,0,90)
POS_KNIFEEDGE_R = (90,0,-90)
def doFreeMotion():
glLoadIdentity()
glTranslate(0, 0, -8)
glRotate(-90, 1, 0, 0)
glPushMatrix()
rot = [-90,0,0]
while True:
clock.tick(30)
for e in pygame.event.get():
if e.type == QUIT:
sys.exit()
elif e.type == KEYDOWN and e.key == K_ESCAPE:
sys.exit()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPopMatrix()
for inputChannel, axis in ((0,1), (1,0), (5, 2)):
input = joystick.get_axis(inputChannel)
if input < -.1 or input > .1: glRotate(input*4, 1 if axis==0 else 0, 1 if axis==1 else 0, 1 if axis==2 else 0)
glPushMatrix()
glCallList(obj.gl_list)
pygame.display.flip()
def doTest(test):
STATE_WAITING = 1
STATE_TESTING = 2
STATE_COMPLETED = 3
state = STATE_WAITING
glClearColor(0, 0, 0, 0.0)
glLoadIdentity()
glTranslate(0, 0, -8)
glRotate(-90, 1, 0, 0)
glRotate(test.startPos[0], 1, 0, 0)
glRotate(test.startPos[1], 0, 1, 0)
glRotate(test.startPos[2], 0, 0, 1)
glPushMatrix()
startTime = time.time()
while True:
clock.tick(30)
runtime = time.time()-startTime
for e in pygame.event.get():
if e.type == QUIT:
sys.exit()
elif e.type == KEYDOWN and e.key == K_ESCAPE:
sys.exit()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPopMatrix()
rot = [0.0,0.0,0.0]
if state == STATE_TESTING:
for i in range(3): rot[i] += test.rotation[i]
joystickInput = False
for inputChannel, axis in ((0,1), (1,0), (5, 2)):
input = joystick.get_axis(inputChannel)
if input < -.1 or input > .1:
rot[axis] += input *5
joystickInput = True
glRotate(rot[0], 1, 0, 0)
glRotate(rot[1], 0, 1, 0)
glRotate(rot[2], 0, 0, 1)
glPushMatrix()
glCallList(obj.gl_list)
pygame.display.flip()
maxRot = max(map(abs, rot))
if state == STATE_TESTING:
if maxRot < .3:
pygame.mixer.music.load('success.wav')
pygame.mixer.music.play()
state = STATE_COMPLETED
if runtime < 4:
glClearColor(0,1,0,0)
test.nbSuccess += 1
result = TESTRES_OK
else:
glClearColor(1,1,0,0)
test.nbFail += 1
result = TESTREF_HESITATED
if runtime > 15 or maxRot > 1:
pygame.mixer.music.load('fail.wav')
pygame.mixer.music.play()
state = STATE_COMPLETED
glClearColor(1,0,0,0)
test.nbFail += 1
result = TESTRES_FAIL
if state == STATE_WAITING and runtime > 1: state = STATE_TESTING
if state == STATE_COMPLETED and joystickInput == False:
if not pygame.mixer.music.get_busy():
glPopMatrix()
time.sleep(1)
return result
def genStartPosFlatFlight():
angle = random.randrange(0, 360, 45)
return (0, 0, angle)
def genStartPosReversedFlight():
angle = random.randrange(0, 360, 45)
return (180, 0, angle)
def genStartPosStraightUp():
angle = random.randrange(0, 360, 45)
return (90, angle, 0)
def genRotationAilerons():
rot = 1 if random.randrange(2) else -1
return [0, rot, 0]
def genRotationElev():
rot = 1 if random.randrange(2) else -1
return [rot, 0, 0]
def genRotationRudder():
rot = 1 if random.randrange(2) else -1
return [0, 0, rot]
class Test(object):
def __init__(self, startPos, rotation):
self.startPos = copy.copy(startPos)
self.rotation = copy.copy(rotation)
self.nbSuccess = 0
self.nbFail = 0
def getNbTests(self):
return self.nbSuccess + self.nbFail
def getSuccessRate(self):
nbTests = self.getNbTests()
if nbTests > 0:
return float(self.nbSuccess)/(self.nbSuccess+self.nbFail)
else:
return 0
def getConfidence(self):
return self.getSuccessRate() * (self.nbSuccess+5)
def __str__(self):
return "Pos %15s Rot %10s nbSuccess:%2d nbFail:%2d successRate:%3d%% conf:%2.2f" % (str(self.startPos), str(self.rotation), self.nbSuccess, self.nbFail, self.getSuccessRate()*100, self.getConfidence())
def genTests(startPos, startPosAngleAxis, startPosAngleSteps, rotAxises):
res = []
for rotAxis in rotAxises:
for angle in startPosAngleSteps:
start = [x for x in startPos]
start[startPosAngleAxis] += angle
rot = [0,0,0]
rot[rotAxis] = 1
res.append(Test(start, rot))
rot[rotAxis] = -1
res.append(Test(start, rot))
return res
config = config.Config(VERSION)
config.showDialog()
pygame.init()
viewport = (1000,800)
hx = viewport[0]/2
hy = viewport[1]/2
srf = pygame.display.set_mode(viewport, OPENGL | DOUBLEBUF)
pygame.joystick.init()
print "Joystick ",
joystick = None
if pygame.joystick.get_count():
print "FOUND"
joystick = pygame.joystick.Joystick(0)
joystick.init()
else:
print "NOT FOUND"
exit(1)
glLightfv(GL_LIGHT0, GL_POSITION, (-40, 200, 100, 0.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
# LOAD OBJECT AFTER PYGAME INIT
obj = OBJ("cessna.obj", swapyz=True)
clock = pygame.time.Clock()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
width, height = viewport
gluPerspective(90.0, width/float(height), 1, 100.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
startPosOptions = (genStartPosFlatFlight, genStartPosReversedFlight, genStartPosStraightUp)
rotationOptions = (genRotationAilerons, genRotationElev, genRotationRudder)
print "Preparing Tests"
tests = []
rotAxises =[]
if config.Aileron: rotAxises.append(AXIS_AIL)
if config.Elevator: rotAxises.append(AXIS_ELEV)
if config.Yaw: rotAxises.append(AXIS_YAW)
if config.Flat: tests += genTests(POS_FLYAWAY, AXIS_YAW, range(0,360,45), rotAxises)
if config.Inverted: tests += genTests(POS_FLYAWAY_INV, AXIS_YAW, range(0,360,45), rotAxises)
if config.StraightUp: tests += genTests(POS_STRAIGHTUP, AXIS_AIL, range(0,360,45), rotAxises)
if config.StraightDown: tests += genTests(POS_STRAIGHTDOWN, AXIS_AIL, range(0,360,45), rotAxises)
if config.KnifeEdge:
tests += genTests(POS_KNIFEEDGE_L, AXIS_YAW, range(0,360,180), rotAxises)
tests += genTests(POS_KNIFEEDGE_R, AXIS_YAW, range(0,360,180), rotAxises)
random.shuffle(tests)
while True:
tests.sort(key=Test.getConfidence)
# print "\nSorted tests"
# for test in tests:
# print " ", str(test)
test = tests[0]
res = doTest(test)
#