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212 lines
8.9 KiB
212 lines
8.9 KiB
#!/usr/bin/env python
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#flightgear interface to uhd_modes.py
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#outputs UDP data to add traffic to FGFS
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import struct
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import socket
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import air_modes
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from air_modes import mlat
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import sqlite3
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import string, threading, math, time
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from air_modes.sql import output_sql
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from Quaternion import Quat
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import numpy
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from air_modes.exceptions import *
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class output_flightgear:
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def __init__(self, cprdec, hostname, port, pub):
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self.hostname = hostname
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self.port = port
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self.positions = {}
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self.velocities = {}
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self.callsigns = {}
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self._cpr = cprdec
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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# self.sock.connect((self.hostname, self.port))
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pub.subscribe("type17_dl", self.output)
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def output(self, msg):
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try:
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msgtype = msg.data["df"]
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if msgtype == 17: #ADS-B report
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icao24 = msg.data["aa"]
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bdsreg = msg.data["me"].get_type()
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if bdsreg == 0x08: #ident packet
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(ident, actype) = air_modes.parseBDS08(msg.data)
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#select model based on actype
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self.callsigns[icao24] = [ident, actype]
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elif bdsreg == 0x06: #BDS0,6 pos
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[ground_track, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS06(msg.data, self._cpr)
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self.positions[icao24] = [decoded_lat, decoded_lon, 0]
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self.update(icao24)
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elif bdsreg == 0x05: #BDS0,5 pos
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[altitude, decoded_lat, decoded_lon, rnge, bearing] = air_modes.parseBDS05(msg.data, self._cpr)
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self.positions[icao24] = [decoded_lat, decoded_lon, altitude]
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self.update(icao24)
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elif bdsreg == 0x09: #velocity
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subtype = msg.data["bds09"].get_type()
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if subtype == 0:
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[velocity, heading, vert_spd, turnrate] = air_modes.parseBDS09_0(msg.data)
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elif subtype == 1:
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[velocity, heading, vert_spd] = air_modes.parseBDS09_1(msg.data)
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turnrate = 0
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else:
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return
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self.velocities[icao24] = [velocity, heading, vert_spd, turnrate]
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except ADSBError:
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pass
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def update(self, icao24):
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#check to see that ICAO24 appears in all three records and that the data looks valid
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complete = (icao24 in self.positions)\
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and (icao24 in self.velocities)\
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and (icao24 in self.callsigns)
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if complete:
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print("FG update: %s" % (self.callsigns[icao24][0]))
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msg = fg_posmsg(self.callsigns[icao24][0],
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self.callsigns[icao24][1],
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self.positions[icao24][0],
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self.positions[icao24][1],
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self.positions[icao24][2],
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self.velocities[icao24][1],
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self.velocities[icao24][0],
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self.velocities[icao24][2],
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self.velocities[icao24][3]).pack()
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self.sock.sendto(msg, (self.hostname, self.port))
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class fg_header:
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def __init__(self):
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self.magic = "FGFS"
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self.proto = 0x00010001
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self.msgid = 0
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self.msglen = 0 #in bytes, though they swear it isn't
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self.replyaddr = 0 #unused
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self.replyport = 0 #unused
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self.callsign = "UNKNOWN"
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self.data = None
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hdrfmt = '!4sLLLLL8s0L'
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def pack(self):
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self.msglen = 32 + len(self.data)
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packed = struct.pack(self.hdrfmt, self.magic, self.proto, self.msgid, self.msglen, self.replyaddr, self.replyport, self.callsign)
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return packed
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#so this appears to work, but FGFS doesn't display it in flight for some reason. not in the chat window either. oh well.
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class fg_chatmsg(fg_header):
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def __init__(self, msg):
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fg_header.__init__(self)
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self.chatmsg = msg
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self.msgid = 1
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def pack(self):
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self.chatfmt = '!' + str(len(self.chatmsg)) + 's'
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#print "Packing with strlen %i " % len(self.chatmsg)
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self.data = struct.pack(self.chatfmt, self.chatmsg)
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return fg_header.pack(self) + self.data
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modelmap = { None: 'Aircraft/777-200/Models/777-200ER.xml',
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"NO INFO": 'Aircraft/777-200/Models/777-200ER.xml',
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"LIGHT": 'Aircraft/c172p/Models/c172p.xml',
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"SMALL": 'Aircraft/CitationX/Models/Citation-X.xml',
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"LARGE": 'Aircraft/CRJ700-family/Models/CRJ700.xml',
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"LARGE HIGH VORTEX": 'Aircraft/757-200/Models/757-200.xml',
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"HEAVY": 'Aircraft/IDG-A32X/Models/A320neo-CFM.xml',
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"HIGH PERFORMANCE": 'Aircraft/SR71-BlackBird/Models/Blackbird-SR71B.xml', #yeah i know
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"ROTORCRAFT": 'Aircraft/ec130/Models/ec130b4.xml',
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"GLIDER": 'Aircraft/ASK21-MI/Models/ask21mi.xml',
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"BALLOON/BLIMP": 'Aircraft/ZLT-NT/Models/ZLT-NT.xml',
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"ULTRALIGHT": 'Aircraft/cri-cri/Models/MC-15.xml',
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"UAV": 'Aircraft/YardStik/Models/yardstik.xml', #hahahaha
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"SPACECRAFT": 'Aircraft/SpaceShip-One/Models/spaceshipone.xml',
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"SURFACE EMERGENCY VEHICLE": 'Aircraft/followme/Models/follow_me.xml', #not the best
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"SURFACE SERVICE VEHICLE": 'Aircraft/pushback/Models/Pushback.xml'
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}
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class fg_posmsg(fg_header):
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def __init__(self, callsign, modelname, lat, lon, alt, hdg, vel, vs, turnrate):
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#from the above, calculate valid FGFS mp vals
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#this is the translation layer between ADS-B and FGFS
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fg_header.__init__(self)
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self.callsign = callsign
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if self.callsign is None:
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self.callsign = "UNKNOWN"
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self.modelname = modelname
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if self.modelname not in modelmap:
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#this should keep people on their toes when strange aircraft types are seen
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self.model = 'Aircraft/santa/Models/santa.xml'
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else:
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self.model = modelmap[self.modelname]
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self.lat = lat
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self.lon = lon
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self.alt = alt
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self.hdg = hdg
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self.vel = vel
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self.vs = vs
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self.turnrate = turnrate
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self.msgid = 7
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self.time = time.time()
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self.lag = 0
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def pack(self):
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#this is, in order:
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#model, time (time.time() is fine), lag, position, orientation, linear vel, angular vel, linear accel, angular accel (accels unused), 0
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#position is in ECEF format -- same as mlat uses. what luck!
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pos = mlat.llh2ecef([self.lat, self.lon, self.alt * 0.3048]) #alt is in meters!
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#get the rotation quaternion to rotate to local reference frame from lat/lon
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rotquat = Quat([self.lat, self.lon])
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#get the quaternion corresponding to aircraft orientation
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acquat = Quat([self.hdg, 0, 0])
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#rotate aircraft into ECEF frame
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ecefquat = rotquat * acquat
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#get it in angle/axis representation
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(angle, axis) = ecefquat._get_angle_axis()
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orientation = angle * axis
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kts_to_ms = 0.514444444 #convert kts to m/s
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vel_ms = self.vel * kts_to_ms
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velvec = (vel_ms,0,0) #velocity vector in m/s -- is this in the local frame? looks like [0] is fwd vel,
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#we'll pretend the a/c is always moving the dir it's pointing
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turnvec = (0,0,self.turnrate * (math.pi / 180.) ) #turn rates in rad/s [roll, pitch, yaw]
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accelvec = (0,0,0)
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turnaccelvec = (0,0,0)
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self.posfmt = '!96s' + 'd' + 'd' + '3d' + '3f' + '3f' + '3f' + '3f' + '3f' + 'I'
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self.data = struct.pack(self.posfmt,
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self.model,
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self.time,
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self.lag,
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pos[0], pos[1], pos[2],
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orientation[0], orientation[1], orientation[2],
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velvec[0], velvec[1], velvec[2],
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turnvec[0], turnvec[1], turnvec[2],
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accelvec[0], accelvec[1], accelvec[2],
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turnaccelvec[0], turnaccelvec[1], turnaccelvec[2],
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0)
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return fg_header.pack(self) + self.data
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if __name__ == '__main__':
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timeoffset = time.time()
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iof = open('27augrudi3.txt')
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localpos = [37.409066,-122.077836]
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hostname = "localhost"
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port = 5000
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fgout = output_flightgear(localpos, hostname, port)
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for line in iof:
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timetosend = float(line.split()[6])
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while (time.time() - timeoffset) < timetosend:
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time.sleep(0.02)
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fgout.output(line)
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