From 46b0613da28adf06e499c5d29466a1da7c8711f9 Mon Sep 17 00:00:00 2001 From: merspieler Date: Fri, 3 Aug 2018 01:40:28 +0200 Subject: [PATCH 1/5] Added autopush v1.0-rc Signed-off-by: merspieler --- A320-main.xml | 60 ++- AircraftConfig/autopush.xml | 297 ++++++++++++++ Models/Autopush/Effects/cursor.eff | 11 + Models/Autopush/cursor.ac | 589 ++++++++++++++++++++++++++++ Models/Autopush/cursor.png | Bin 0 -> 97 bytes Models/Autopush/cursor.xml | 34 ++ Models/Autopush/waypoint.ac | 238 +++++++++++ Models/Autopush/waypoint.xml | 34 ++ Nasal/autopush.nas | 136 +++++++ Nasal/autopush_driver.nas | 99 +++++ Nasal/autopush_route.nas | 224 +++++++++++ Nasal/dynarr.nas | 55 +++ Systems/a320-external-reactions.xml | 2 +- 13 files changed, 1771 insertions(+), 8 deletions(-) create mode 100644 AircraftConfig/autopush.xml create mode 100644 Models/Autopush/Effects/cursor.eff create mode 100644 Models/Autopush/cursor.ac create mode 100644 Models/Autopush/cursor.png create mode 100644 Models/Autopush/cursor.xml create mode 100644 Models/Autopush/waypoint.ac create mode 100644 Models/Autopush/waypoint.xml create mode 100644 Nasal/autopush.nas create mode 100644 Nasal/autopush_driver.nas create mode 100644 Nasal/autopush_route.nas create mode 100644 Nasal/dynarr.nas diff --git a/A320-main.xml b/A320-main.xml index 7f1be5e4..c0c5a3a3 100644 --- a/A320-main.xml +++ b/A320-main.xml @@ -28,10 +28,31 @@ - 5000 - 200 - 500 - 0 + 0 + + 1 + + + + 1.0 + 0.0 + 1.0 + 0.1 + 0.01 + 2.0 + 0.0 + 0.0 + + 5.5 + 5.5 + 5.0 + 0.03 + true + + + + Model View + @@ -223,8 +244,11 @@ - dialog-show - pushback + nasal + @@ -1501,6 +1525,28 @@ Aircraft/IDG-A32X/Nasal/icing.nas + + Nasal/autopush.nas + + + Nasal/autopush_driver.nas + + + Nasal/dynarr.nas + + + Nasal/autopush_route.nas + - + + + + + + + + + + + diff --git a/AircraftConfig/autopush.xml b/AircraftConfig/autopush.xml new file mode 100644 index 00000000..34bae813 --- /dev/null +++ b/AircraftConfig/autopush.xml @@ -0,0 +1,297 @@ + + + + + + + autopush + vbox + + + + hbox + + + + + + + true + + + + + + + + + + + true + vbox + center + top + + + left + + /sim/model/pushback/enabled + true + + dialog-apply + + + + + table + + + 0 + 0 + + left + + + + + + 0 + 2 + -1.0 + 1.0 + /sim/model/pushback/steer-cmd-norm + true + + dialog-apply + + + + + + + + + 1 + 0 + + left + + + + + + 1 + 2 + -25 + 25 + /sim/model/pushback/target-speed-km_h + true + + dialog-apply + + + + + + + + + 1 + 5 + 16 + /sim/model/pushback/target-speed-km_h + %3.0f + true + right + + + + 1 + 6 + + left + + + + + + + + table + + + 0 + 0 + + left + + + + + + + + 1 + 0 + + left + + + + + + + + 1 + 3 + + /sim/model/pushback/route/show + + dialog-apply + + + + + + + + diff --git a/Models/Autopush/Effects/cursor.eff b/Models/Autopush/Effects/cursor.eff new file mode 100644 index 00000000..e3bff206 --- /dev/null +++ b/Models/Autopush/Effects/cursor.eff @@ -0,0 +1,11 @@ + + + Effects/model-combined-deferred + + 1 + 1.0 1.0 1.0 + + cursor.png + + + diff --git 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0.125000 0.500000 +20 0.073033 0.361108 +19 0.080806 0.323223 +SURF 0X0 +mat 1 +refs 3 +32 0.125000 0.500000 +6 0.186299 0.548773 +5 0.182742 0.595671 +SURF 0X0 +mat 1 +refs 3 +32 0.125000 0.500000 +19 0.080806 0.323223 +18 0.090277 0.292133 +SURF 0X0 +mat 1 +refs 3 +32 0.125000 0.500000 +5 0.182742 0.595671 +4 0.176967 0.638893 +kids 0 diff --git a/Models/Autopush/waypoint.xml b/Models/Autopush/waypoint.xml new file mode 100644 index 00000000..f35ac2f3 --- /dev/null +++ b/Models/Autopush/waypoint.xml @@ -0,0 +1,34 @@ + + + + + waypoint.ac + + + false + + + + scale + /sim/model/pushback/driver/D_min-m + 0.0 + 1.0 + + + + Circle + Effects/cursor + + + diff --git a/Nasal/autopush.nas b/Nasal/autopush.nas new file mode 100644 index 00000000..bcb44d76 --- /dev/null +++ b/Nasal/autopush.nas @@ -0,0 +1,136 @@ +# AUTOPUSH +# Basic pushback logic class. +# +# Copyright (c) 2018 Autopush authors: +# Michael Danilov +# Joshua Davidson http://github.com/it0uchpods +# Merspieler http://github.com/merspieler +# Distribute under the terms of GPLv2. + + +var _enabled = 0; +var _K_p = nil; +var _F_p = nil; +var _K_i = nil; +var _F_i = nil; +var _K_d = nil; +var _F_d = nil; +var _F = nil; +var _int = nil; +var _deltaV = nil; +var _T_f = nil; +var _K_yaw = nil; +var _yasim = 0; +var _time = nil; +# (ft / s^2) / ((km / h) / s) +var _unitconv = M2FT / 3.6; +var _debug = nil; + +var _loop = func() { + if (!getprop("/sim/model/pushback/available")) { + _stop(); + return; + } + var force = 0.0; + var x = 0.0; + var y = 0.0; + # Rollspeed is only adequate if the wheel is touching the ground. + if (getprop("/gear/gear[0]/wow")) { + var deltaV = getprop("/sim/model/pushback/target-speed-km_h"); + deltaV -= getprop("/gear/gear[0]/rollspeed-ms") * 3.6; + var dV = deltaV - _deltaV; + var time = getprop("/sim/time/elapsed-sec"); + var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p); + var speedup = getprop("/sim/speed-up"); + dt = time - _time; + # XXX Sanitising dt. Smaller chance of freakout on lag spike. + if(dt > 0.0) { + if(dt < 0.05) { + _int = math.min(math.max(_int + _K_i * dV * dt, -_F_i), _F_i); + } + if(dt > 0.002) { + var deriv = math.min(math.max(_K_d * dV / dt, -_F_d), _F_d); + } + } + var accel = prop + _int + deriv; + if (_debug > 2) { + print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv); + } + _deltaV = deltaV; + _time = time; + if (!_yasim) { + force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv; + } else { + force = accel * getprop("/fdm/yasim/gross-weight-lbs") * _unitconv; + } + var yaw = getprop("/sim/model/pushback/yaw") * _K_yaw; + x = math.cos(yaw); + y = math.sin(yaw); + setprop("/sim/model/pushback/force-x", x); + setprop("/sim/model/pushback/force-y", y); + } + setprop("/sim/model/pushback/force-lbf", force); + if (_yasim) { + # The force is divided by YASim thrust="100000.0" setting. + setprop("/sim/model/pushback/force-x-yasim", x * force * 0.00001); + # YASim's y is to the left. + setprop("/sim/model/pushback/force-y-yasim", -y * force * 0.00001); + } +} + +var _timer = maketimer(0.0167, func{_loop()}); + +var _start = func() { + # Else overwritten by dialog. + settimer(func() { + setprop("/sim/model/pushback/target-speed-km_h", 0.0) + }, 0.1); + _K_p = getprop("/sim/model/pushback/K_p"); + _F_p = getprop("/sim/model/pushback/F_p"); + _K_i = getprop("/sim/model/pushback/K_i"); + _F_i = getprop("/sim/model/pushback/F_i"); + _K_d = getprop("/sim/model/pushback/K_d"); + _F_d = getprop("/sim/model/pushback/F_d"); + _F = getprop("/sim/model/pushback/F"); + _T_f = getprop("/sim/model/pushback/T_f"); + _K_yaw = getprop("/sim/model/pushback/yaw-mult") * D2R; + _yasim = (getprop("/sim/flight-model") == "yasim"); + _debug = getprop("/sim/model/pushback/debug") or 0; + _int = 0.0; + _deltaV = 0.0; + _time = getprop("/sim/time/elapsed-sec"); + setprop("/sim/model/pushback/connected", 1); + if (!_timer.isRunning) { + if (getprop("/sim/model/pushback/chocks")) { + setprop("/sim/model/pushback/chocks", 0); + screen.log.write("(pushback): Pushback connected, chocks removed. Please release brakes."); + } else { + screen.log.write("(pushback): Pushback connected, please release brakes."); + } + } + _timer.start(); +} + +var _stop = func() { + if (_timer.isRunning) { + screen.log.write("(pushback): Pushback and bypass pin removed."); + } + _timer.stop(); + setprop("/sim/model/pushback/force-lbf", 0.0); + if (_yasim) { + setprop("/sim/model/pushback/force-x-yasim", 0.0); + setprop("/sim/model/pushback/force-y-yasim", 0.0); + } + setprop("/sim/model/pushback/connected", 0); + setprop("/sim/model/pushback/enabled", 0); +} + +setlistener("/sim/model/pushback/enabled", func(p) { + var enabled = p.getValue(); + if ((enabled > _enabled) and getprop("/sim/model/pushback/available")) { + _start(); + } else if (enabled < _enabled) { + _stop(); + } + _enabled = enabled; +}); diff --git a/Nasal/autopush_driver.nas b/Nasal/autopush_driver.nas new file mode 100644 index 00000000..58845f37 --- /dev/null +++ b/Nasal/autopush_driver.nas @@ -0,0 +1,99 @@ +# AUTOPUSH +# Pushback driver class. +# +# Command the pushback to tow/push the aircraft. +# +# Copyright (c) 2018 Autopush authors: +# Michael Danilov +# Joshua Davidson http://github.com/it0uchpods +# Merspieler http://github.com/merspieler +# Distribute under the terms of GPLv2. + + +var _K_V = nil; +var _F_V = nil; +var _D_min = nil; +var _K_psi = nil; +var _debug = nil; + +var _route = nil; +var _push = nil; +var _sign = nil; +var _psi_park = nil; + +var _to_wp = nil; + + +var _loop = func() { + if (!getprop("/sim/model/pushback/connected")) { + stop(); + return; + } + var psi = getprop("/orientation/heading-deg") + _push * 180.0; + var (A, D) = courseAndDistance(_route[_to_wp]); + D *= NM2M; + # FIXME Use _K_V and total remaining distance. + var V = _F_V; + if ((D < _D_min) or (abs(geo.normdeg180(A - psi) > 90.0))) { + _to_wp += 1; + if (_to_wp == size(_route)) { + _done(); + autopush_route.clear(); + return; + } + if (_debug) { + print("pushback_driver wp " ~ _to_wp); + } + } + if (_debug > 1) { + print("pushback_driver psi_target " ~ geo.normdeg(A) ~ ", deltapsi " ~ _sign * geo.normdeg180(A - psi)); + } + setprop("/sim/model/pushback/target-speed-km_h", _sign * V); + steering = math.min(math.max(_sign * _K_psi * geo.normdeg180(A - psi), -1.0), 1.0); + setprop("/sim/model/pushback/steer-cmd-norm", steering); +} + +var _timer = maketimer(0.051, func{_loop()}); + +var _done = func() { + stop(); + screen.log.write("(pushback): Pushback complete, please set parking brake."); +} + +var start = func() { + if (_timer.isRunning) { + stop(); + } + if (!getprop("/sim/model/pushback/connected")) { + gui.popupTip("Pushback must be connected"); + return; + } + _route = autopush_route.route(); + if ((_route == nil) or size(_route) < 2) { + autopush_route.enter(1); + return; + } + _K_V = getprop("/sim/model/pushback/driver/K_V"); + _F_V = getprop("/sim/model/pushback/driver/F_V"); + _D_min = getprop("/sim/model/pushback/driver/D_min-m"); + _K_psi = getprop("/sim/model/pushback/driver/K_psi"); + _debug = getprop("/sim/model/pushback/debug") or 0; + var (psi_park, D_park) = courseAndDistance(_route[0], _route[1]); + var (psi_twy, D_twy) = courseAndDistance(_route[size(_route) - 2], _route[size(_route) - 1]); + _psi_park = psi_park; + _push = (abs(geo.normdeg180(getprop("/orientation/heading-deg") - psi_park)) > 90.0); + _sign = 1.0 - 2.0 * _push; + _to_wp = 0; + _timer.start(); + if (_sign < 0.0) { + screen.log.write("(pushback): Push back facing " ~ int(geo.normdeg(psi_twy + 180.0 - magvar())) ~ "."); + } else { + screen.log.write("(pushback): Tow facing " ~ int(geo.normdeg(psi_twy - magvar())) ~ "."); + } +} + +var stop = func() { + _timer.stop(); + setprop("/sim/model/pushback/target-speed-km_h", 0.0); + autopush_route.clear(); +} diff --git a/Nasal/autopush_route.nas b/Nasal/autopush_route.nas new file mode 100644 index 00000000..88bba25f --- /dev/null +++ b/Nasal/autopush_route.nas @@ -0,0 +1,224 @@ +# AUTOPUSH +# Visual entry of pushback route. +# +# Copyright (c) 2018 Autopush authors: +# Michael Danilov +# Joshua Davidson http://github.com/it0uchpods +# Merspieler http://github.com/merspieler +# Distribute under the terms of GPLv2. + + +var _listener = nil; +var _view_listener = nil; +var _user_points = dynarr.dynarr.new(4); +var _route = []; +var _view_index = nil; +var _user_point_models = []; +var _waypoint_models = []; +var _N = 0; +var _show = 0; +var _view_changed_or_external = 0; +var _start_immediately = nil; +var _D_min = nil; + +# TODO find a proper value or add a calculated value so we can get ridge +setprop("/demo/prec/", 10); + + +var _add = func(pos) { + if (_N) { + var (A, S) = courseAndDistance(_user_points.arr[_N - 1], pos); + if (S * NM2M < 3 * _D_min) { + gui.popupTip("Too close to the previous point,\ntry again"); + return; + } + } + _user_points.add(geo.Coord.new(pos)); + setsize(_user_point_models, _N + 1); + _user_point_models[_N] = geo.put_model("Models/Autopush/cursor.xml", pos, 0.0); + _N += 1; + if (_N == 1) { + gui.popupTip("Click waypoints, press \"Done\" to finish"); + } else { + _calculate_bezier(); + _place_waypoint_models(); + } +} + +var _stop = func(fail = 0) { + if (_listener != nil) { + removelistener(_listener); + _listener = nil; + if (!fail) { + settimer(func() { + _reset_view(); + if (_start_immediately) { + autopush_driver.start(); + } else { + gui.popupTip("Done"); + } + }, 1.0); + } else { + _reset_view(); + } + } +} + +var _place_user_point_models = func() { + _clear_user_point_models(); + setsize(_user_point_models, _N); + var user_points = _user_points.get_sliced(); + for (var ii = 1; ii < _N; ii += 1) { + _user_point_models[ii] = geo.put_model("Models/Autopush/cursor.xml", user_points[ii], 0.0); + } +} + +var _clear_user_point_models = func() { + for (var ii = 0; ii < size(_user_point_models); ii += 1) { + if (_user_point_models[ii] != nil) { + _user_point_models[ii].remove(); + _user_point_models[ii] = nil; + } + } + setsize(_user_point_models, 0); +} + +var _place_waypoint_models = func() { + _clear_waypoint_models(); + setsize(_waypoint_models, size(_route)); + for (var ii = 0; ii < size(_route); ii += 1) { + _waypoint_models[ii] = geo.put_model("Models/Autopush/waypoint.xml", _route[ii], 0.0); + } +} + +var _clear_waypoint_models = func() { + for (var ii = 0; ii < size(_waypoint_models); ii += 1) { + if (_waypoint_models[ii] != nil) { + _waypoint_models[ii].remove(); + _waypoint_models[ii] = nil; + } + } + setsize(_waypoint_models, 0); +} + +var _set_view = func() { + if(!getprop("/sim/current-view/internal")){ + _view_changed_or_external = 1; + return; + } + _view_index = getprop("/sim/current-view/view-number"); + setprop("/sim/current-view/view-number", view.indexof("Model View")); + _view_changed_or_external = 0; + _view_listener = setlistener("/sim/current-view/name", func { + _view_changed_or_external = 1; + }); +} + +var _reset_view = func() { + if (!_view_changed_or_external) { + setprop("/sim/current-view/view-number", _view_index); + } + if (_view_listener != nil) { + removelistener(_view_listener); + _view_listener = nil; + } + if (!_show) { + _clear_user_point_models(); + _clear_waypoint_models(); + } +} + +var _calculate_bezier = func() { + # add the first point cause it will be fix at this pos + _route = []; + user_points = _user_points.get_sliced(); + var route = dynarr.dynarr.new(); + route.add(geo.Coord.new(user_points[0])); + + PNumber = size(user_points); + + if (PNumber > 2) { + var pointList = []; + setsize(pointList, PNumber); + for (var i = 0; i < PNumber; i += 1) { + pointList[i] = []; + setsize(pointList[i], PNumber); + } + + pointList[0] = user_points; + + prec = getprop("/demo/prec"); + step = prec / 100; + + for (var i = step; i < 1; i+= step) { + # start iterating from 1 cause we don't need to iterate over Pn + for (var j = 1; j < PNumber; j += 1) { + for (var k = 0; k < PNumber - j; k += 1) { + pointList[j][k] = geo.Coord.new(pointList[j - 1][k]); + var dist = pointList[j - 1][k].distance_to(pointList[j - 1][k + 1]); + var course = pointList[j - 1][k].course_to(pointList[j - 1][k + 1]); + pointList[j][k].apply_course_distance(course, dist * i); + } + } + route.add(geo.Coord.new(pointList[PNumber - 1][0])); + } + } + + if (PNumber > 1) { + # append last user point to route + route.add(geo.Coord.new(user_points[-1])); + } + + _route = route.get_sliced(); +} + +setlistener("/sim/model/pushback/route/show", func(p) { + var show = p.getValue(); + if (_listener == nil) { + if (show > _show) { + _place_user_point_models(); + _place_waypoint_models(); + } else if (show < _show) { + _clear_user_point_models(); + _clear_waypoint_models(); + } + } + _show = show; +}); + + +var enter = func(start_immediately = 0) { + clear(); + _set_view(); + _D_min = getprop("/sim/model/pushback/driver/D_min-m"); + var wp = geo.aircraft_position(); + var H = geo.elevation(wp.lat(), wp.lon()); + if (H != nil) { + wp.set_alt(H); + } + _add(wp); + _listener = setlistener("/sim/signals/click", func { + _add(geo.click_position()); + }); + _start_immediately = start_immediately; +} + +var done = func() { + _stop(0); +} + +var clear = func() { + _stop(1); + _clear_user_point_models(); + _clear_waypoint_models(); + _N = 0; + _user_points = dynarr.dynarr.new(4); +} + +var route = func() { + if (_N < 2) { + return nil; + } + _calculate_bezier(); + return _route; +} diff --git a/Nasal/dynarr.nas b/Nasal/dynarr.nas new file mode 100644 index 00000000..1ae9a610 --- /dev/null +++ b/Nasal/dynarr.nas @@ -0,0 +1,55 @@ +# Class for dynamic arrays +# +# Copyright (c) 2018 dynamic arrays authors: +# Michael Danilov +# Merspieler http://gitlab.com/merspieler +# Distribute under the terms of GPLv2. + +## ERRATA +# delitation of objects + +## Useage +# to create a new object: var = dynarr.new(); +# to add elements: .add(); +# you can access the full stored array as: .arr +# to get only the used area of the array: var = .get_spliced() + +var dynarr = +{ + new: func(size = 8) + { + var this = {parents:[dynarr]}; + this.maxsize = size; + this.size = 0; + this.arr = setsize([], size); + + return this; + }, + + # add a new element to the array + add: func(obj) + { + # case there's no space left + if (me.size + 1 >= me.maxsize) + { + # double array size + me.maxsize *= 2; + me.arr = setsize(me.arr, me.maxsize); + } + + # add object and increase used counter + me.arr[me.size] = obj; + me.size += 1; + }, + + # returns only the filled part of the array or nil if array is empty + get_sliced: func() + { + if (me.size == 0) + { + return nil; + } + + return me.arr[0:me.size - 1]; + } +}; diff --git a/Systems/a320-external-reactions.xml b/Systems/a320-external-reactions.xml index 18f7a135..b9607ee2 100644 --- a/Systems/a320-external-reactions.xml +++ b/Systems/a320-external-reactions.xml @@ -8,7 +8,7 @@ --> - + 7.52385 0 From 40e50640922a220d7e3a7df4f743847750685b54 Mon Sep 17 00:00:00 2001 From: merspieler Date: Wed, 8 Aug 2018 22:30:48 +0200 Subject: [PATCH 2/5] Fixed appearing 'No node found' error Signed-off-by: merspieler --- Systems/pushback.xml | 9 --------- 1 file changed, 9 deletions(-) diff --git a/Systems/pushback.xml b/Systems/pushback.xml index abb72c46..a47b1b20 100644 --- a/Systems/pushback.xml +++ b/Systems/pushback.xml @@ -24,15 +24,6 @@ -gear/unit[0]/wheel-speed-fps - - systems/pushback/speed-error - /sim/model/pushback/kp - /sim/model/pushback/ki - /sim/model/pushback/kd - systems/pushback/linked - /sim/model/pushback/force - - From 9a3ac4e9c97e3dece79f6467efc93c27c0814c01 Mon Sep 17 00:00:00 2001 From: merspieler Date: Wed, 8 Aug 2018 23:28:44 +0200 Subject: [PATCH 3/5] Fixed missplaced pushback model Signed-off-by: merspieler --- Models/Services/Pushback/Douglas.xml | 90 ++++------------------------ 1 file changed, 11 insertions(+), 79 deletions(-) diff --git a/Models/Services/Pushback/Douglas.xml b/Models/Services/Pushback/Douglas.xml index 0a43106d..f872f582 100644 --- a/Models/Services/Pushback/Douglas.xml +++ b/Models/Services/Pushback/Douglas.xml @@ -79,24 +79,6 @@ - - - rotate - sim/model/pushback/position-norm - -90 - 90 -
- 0 - 0 - 0 -
- - 0 - 0 - 1 - - - translate @@ -109,72 +91,22 @@ - - translate - sim/model/pushback/position-norm - - 1.0000000.000000 - 0.9500001.961477 - 0.9000003.910862 - 0.8500005.836134 - 0.8000007.725425 - 0.7500009.567086 - 0.70000011.349763 - 0.65000013.062464 - 0.60000014.694631 - 0.55000016.236201 - 0.50000017.677670 - 0.45000019.010149 - 0.40000020.225425 - 0.35000021.316004 - 0.30000022.275163 - 0.25000023.096988 - 0.20000023.776413 - 0.15000024.309248 - 0.10000024.692209 - 0.05000024.922933 - 0.00000025.000000 - - - -1 - 0 - 0 - - - - - translate - sim/model/pushback/position-norm - - 1.0000000.000000 - 0.9500000.077067 - 0.9000000.307791 - 0.8500000.690752 - 0.8000001.223587 - 0.7500001.903012 - 0.7000002.724837 - 0.6500003.683996 - 0.6000004.774575 - 0.5500005.989851 - 0.5000007.322330 - 0.4500008.763799 - 0.40000010.305369 - 0.35000011.937536 - 0.30000013.650238 - 0.25000015.432914 - 0.20000017.274575 - 0.15000019.163866 - 0.10000021.089138 - 0.05000023.038523 - 0.00000025.000000 - + rotate + gear/gear[0]/steering-norm + -70 +
+ 0 + 0 + 0 +
0 - -1 - 0 + 0 + 1 + From a5f99de25485039b39ba1106599fa63cef16235a Mon Sep 17 00:00:00 2001 From: merspieler Date: Sun, 19 Aug 2018 16:23:54 +0200 Subject: [PATCH 4/5] Fixed problem with 'last' point beeing doubled Signed-off-by: merspieler --- Nasal/autopush_route.nas | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Nasal/autopush_route.nas b/Nasal/autopush_route.nas index 88bba25f..0228495d 100644 --- a/Nasal/autopush_route.nas +++ b/Nasal/autopush_route.nas @@ -160,7 +160,9 @@ var _calculate_bezier = func() { pointList[j][k].apply_course_distance(course, dist * i); } } - route.add(geo.Coord.new(pointList[PNumber - 1][0])); + if (i + step < 1) { + route.add(geo.Coord.new(pointList[PNumber - 1][0])); + } } } From 50f0d6df2914fdfc387347ad20914388b590bd8d Mon Sep 17 00:00:00 2001 From: merspieler Date: Thu, 23 Aug 2018 16:37:44 +0200 Subject: [PATCH 5/5] Updated autopush to v1.0-rc2 Signed-off-by: merspieler --- AircraftConfig/autopush.xml | 36 +- Models/Autopush/Effects/cursor.eff | 11 - Models/Autopush/Goldhofert.xml | 132 +++++++ Models/Autopush/cursor.ac | 542 ++++++++++++++--------------- Models/Autopush/cursor.xml | 7 +- Models/Autopush/cursor_sharp.ac | 67 ++++ Models/Autopush/cursor_sharp.xml | 29 ++ Models/Autopush/waypoint.ac | 236 ++++++------- Models/Autopush/waypoint.xml | 7 +- Nasal/autopush.nas | 2 +- Nasal/autopush_driver.nas | 4 +- Nasal/autopush_route.nas | 112 ++++-- Nasal/dynarr.nas | 12 +- 13 files changed, 755 insertions(+), 442 deletions(-) delete mode 100644 Models/Autopush/Effects/cursor.eff create mode 100644 Models/Autopush/Goldhofert.xml create mode 100644 Models/Autopush/cursor_sharp.ac create mode 100644 Models/Autopush/cursor_sharp.xml diff --git a/AircraftConfig/autopush.xml b/AircraftConfig/autopush.xml index 34bae813..a9c880c0 100644 --- a/AircraftConfig/autopush.xml +++ b/AircraftConfig/autopush.xml @@ -8,7 +8,7 @@ Pushback dialog. Copyright (c) 2018 Autopush authors: Michael Danilov Joshua Davidson http://github.com/it0uchpods - Merspieler http://github.com/merspieler + Merspieler http://gitlab.com/merspieler Original code (c) FlightGear Distribute under the terms of GPLv2. @@ -252,7 +252,7 @@ Distribute under the terms of GPLv2. 1 0 - + left @@ -283,6 +283,7 @@ Distribute under the terms of GPLv2. 1 3 + left /sim/model/pushback/route/show @@ -290,6 +291,37 @@ Distribute under the terms of GPLv2. + + 2 + 0 + + left + + + + + + diff --git a/Models/Autopush/Effects/cursor.eff b/Models/Autopush/Effects/cursor.eff deleted file mode 100644 index e3bff206..00000000 --- a/Models/Autopush/Effects/cursor.eff +++ /dev/null @@ -1,11 +0,0 @@ - - - Effects/model-combined-deferred - - 1 - 1.0 1.0 1.0 - - cursor.png - - - diff --git a/Models/Autopush/Goldhofert.xml b/Models/Autopush/Goldhofert.xml new file mode 100644 index 00000000..2af4c67f --- /dev/null +++ b/Models/Autopush/Goldhofert.xml @@ -0,0 +1,132 @@ + + + + Models/Airport/Pushback/Goldhofert.ac + + + + + Models/Airport/Pushback/Goldhofert-warning-light.xml + + -2.908 + 0.260 + 1.326 + 0 + + + + + Models/Airport/Pushback/Goldhofert-warning-light.xml + + -1.781 + 0.260 + 1.326 + 90 + + + + + spin + wheelfl + wheelfr + + gear/gear[0]/rollspeed-ms + -16.3 +
+ -2.8976 + 0 + 0.5809 +
+ + 0 + 1 + 0 + + + + + spin + wheelrl + wheelrr + + gear/gear[0]/rollspeed-ms + -16.3 +
+ 2.0501 + 0 + 0.5735 +
+ + 0 + 1 + 0 + + + + + select + + + sim/model/pushback/connected + + + + + rotate + sim/model/pushback/yaw + + 60.0 +
+ 0 + 0 + 0 +
+ + 0 + 0 + -1 + + + + + translate + + gear/gear[0]/compression-ft + 0.3048 + + 0 + 0 + 1 + + + + + rotate + + orientation/pitch-deg + + -7.0 +
+ 0 + 0 + 0 +
+ + 0 + 1 + 0 + + + diff --git a/Models/Autopush/cursor.ac b/Models/Autopush/cursor.ac index f7ab7139..0b320677 100644 --- a/Models/Autopush/cursor.ac +++ b/Models/Autopush/cursor.ac @@ -1,589 +1,589 @@ AC3Db -MATERIAL "DefaultWhite" rgb 1.0000 1.0000 1.0000 amb 0.2000 0.2000 0.2000 emis 0.0000 0.0000 0.0000 spec 0.5000 0.5000 0.5000 shi 10 trans 0.0000 -MATERIAL "autopush cursor" rgb 1.0000 1.0000 1.0000 amb 0.0000 0.0000 0.0000 emis 0.0000 0.0000 0.0000 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000 +MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000 amb 0.0000 0.0000 0.0000 emis 1.000 0.173 0.545 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000 OBJECT world -name "Blender_export__cursor.ac" +name "Blender_exporter_v2.26__cursor.ac" kids 1 OBJECT poly name "Circle" -texture "cursor.png" -texrep 1 1 +data 11 +Circle.mesh +crease 40.0 numvert 128 -0.0000001 0.1999999 -0.7499999 -0.0000000 0.1999999 -1.0000000 --0.0980171 0.1999999 -0.9951847 --0.1950903 0.1999999 -0.9807853 --0.2902847 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Copyright (c) 2018 Autopush authors: Michael Danilov Joshua Davidson http://github.com/it0uchpods - Merspieler http://github.com/merspieler + Merspieler http://gitlab.com/merspieler Distribute under the terms of GPLv2. --> @@ -26,9 +26,4 @@ Distribute under the terms of GPLv2. 1.0 - - Circle - Effects/cursor - - diff --git a/Models/Autopush/cursor_sharp.ac b/Models/Autopush/cursor_sharp.ac new file mode 100644 index 00000000..e8992959 --- /dev/null +++ b/Models/Autopush/cursor_sharp.ac @@ -0,0 +1,67 @@ +AC3Db +MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000 amb 0.0000 0.0000 0.0000 emis 1.000 0.173 0.545 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000 +OBJECT world +name "Blender_exporter_v2.26__cursor_sharp.ac" +kids 1 +OBJECT poly +name "Circle" +data 11 +Circle.mesh +crease 40.0 +numvert 12 +0 0.2 -0.75 +0 0.2 -1 +0.64952 0.2 -0.375 +0.86603 0.2 -0.5 +0.64952 0.2 0.375 +0.86603 0.2 0.5 +0 0.2 0.75 +0 0.2 1 +-0.64952 0.2 0.375 +-0.86603 0.2 0.5 +-0.64952 0.2 -0.375 +-0.86603 0.2 -0.5 +numsurf 6 +SURF 0X10 +mat 0 +refs 4 +0 0.125 0.6875 +2 0.171875 0.59375 +3 0.1875 0.625 +1 0.125 0.75 +SURF 0X10 +mat 0 +refs 4 +2 0.171875 0.59375 +4 0.171875 0.40625 +5 0.1875 0.375 +3 0.1875 0.625 +SURF 0X10 +mat 0 +refs 4 +4 0.171875 0.40625 +6 0.125 0.3125 +7 0.125 0.25 +5 0.1875 0.375 +SURF 0X10 +mat 0 +refs 4 +6 0.125 0.3125 +8 0.078125 0.40625 +9 0.0625 0.375 +7 0.125 0.25 +SURF 0X10 +mat 0 +refs 4 +8 0.078125 0.40625 +10 0.078125 0.59375 +11 0.0625 0.625 +9 0.0625 0.375 +SURF 0X10 +mat 0 +refs 4 +10 0.078125 0.59375 +0 0.125 0.6875 +1 0.125 0.75 +11 0.0625 0.625 +kids 0 diff --git a/Models/Autopush/cursor_sharp.xml b/Models/Autopush/cursor_sharp.xml new file mode 100644 index 00000000..2a79bb48 --- /dev/null +++ b/Models/Autopush/cursor_sharp.xml @@ -0,0 +1,29 @@ + + + + + cursor_sharp.ac + + + false + + + + scale + /sim/model/pushback/driver/D_min-m + 0.0 + 1.0 + + + diff --git a/Models/Autopush/waypoint.ac b/Models/Autopush/waypoint.ac index 1fc9a18e..443b4274 100644 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0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 10 0.176967 0.361108 9 0.182743 0.404329 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 -23 0.062500 0.500000 +32 0.125 0.5 +23 0.0625 0.5 22 0.063701 0.451228 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 9 0.182743 0.404329 8 0.186299 0.451228 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 22 0.063701 0.451228 21 0.067258 0.404329 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 8 0.186299 0.451228 -7 0.187500 0.500000 +7 0.1875 0.5 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 21 0.067258 0.404329 20 0.073033 0.361108 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 -7 0.187500 0.500000 +32 0.125 0.5 +7 0.1875 0.5 6 0.186299 0.548773 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 20 0.073033 0.361108 19 0.080806 0.323223 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 6 0.186299 0.548773 5 0.182742 0.595671 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 19 0.080806 0.323223 18 0.090277 0.292133 SURF 0X0 -mat 1 +mat 0 refs 3 -32 0.125000 0.500000 +32 0.125 0.5 5 0.182742 0.595671 4 0.176967 0.638893 kids 0 diff --git a/Models/Autopush/waypoint.xml b/Models/Autopush/waypoint.xml index f35ac2f3..40e528ef 100644 --- a/Models/Autopush/waypoint.xml +++ b/Models/Autopush/waypoint.xml @@ -7,7 +7,7 @@ Waypoint model. Copyright (c) 2018 Autopush authors: Michael Danilov Joshua Davidson http://github.com/it0uchpods - Merspieler http://github.com/merspieler + Merspieler http://gitlab.com/merspieler Distribute under the terms of GPLv2. --> @@ -26,9 +26,4 @@ Distribute under the terms of GPLv2. 1.0 - - Circle - Effects/cursor - - diff --git a/Nasal/autopush.nas b/Nasal/autopush.nas index bcb44d76..18dbb4f5 100644 --- a/Nasal/autopush.nas +++ b/Nasal/autopush.nas @@ -4,7 +4,7 @@ # Copyright (c) 2018 Autopush authors: # Michael Danilov # Joshua Davidson http://github.com/it0uchpods -# Merspieler http://github.com/merspieler +# Merspieler http://gitlab.com/merspieler # Distribute under the terms of GPLv2. diff --git a/Nasal/autopush_driver.nas b/Nasal/autopush_driver.nas index 58845f37..53170c27 100644 --- a/Nasal/autopush_driver.nas +++ b/Nasal/autopush_driver.nas @@ -6,7 +6,7 @@ # Copyright (c) 2018 Autopush authors: # Michael Danilov # Joshua Davidson http://github.com/it0uchpods -# Merspieler http://github.com/merspieler +# Merspieler http://gitlab.com/merspieler # Distribute under the terms of GPLv2. @@ -72,6 +72,8 @@ var start = func() { if ((_route == nil) or size(_route) < 2) { autopush_route.enter(1); return; + }else{ + autopush_route.done(); } _K_V = getprop("/sim/model/pushback/driver/K_V"); _F_V = getprop("/sim/model/pushback/driver/F_V"); diff --git a/Nasal/autopush_route.nas b/Nasal/autopush_route.nas index 0228495d..606c9ff5 100644 --- a/Nasal/autopush_route.nas +++ b/Nasal/autopush_route.nas @@ -4,13 +4,14 @@ # Copyright (c) 2018 Autopush authors: # Michael Danilov # Joshua Davidson http://github.com/it0uchpods -# Merspieler http://github.com/merspieler +# Merspieler http://gitlab.com/merspieler # Distribute under the terms of GPLv2. var _listener = nil; var _view_listener = nil; var _user_points = dynarr.dynarr.new(4); +var _user_point_modes = dynarr.dynarr.new(4); # Modes: 0 = Bezier node, 1 = Bezier end/start node var _route = []; var _view_index = nil; var _user_point_models = []; @@ -21,9 +22,6 @@ var _view_changed_or_external = 0; var _start_immediately = nil; var _D_min = nil; -# TODO find a proper value or add a calculated value so we can get ridge -setprop("/demo/prec/", 10); - var _add = func(pos) { if (_N) { @@ -34,13 +32,35 @@ var _add = func(pos) { } } _user_points.add(geo.Coord.new(pos)); + + if (_user_point_modes.maxsize == 1 and _user_point_modes.size == 1) { + _user_point_modes.arr[0] = 0; + } else { + _user_point_modes.add(0); + } setsize(_user_point_models, _N + 1); _user_point_models[_N] = geo.put_model("Models/Autopush/cursor.xml", pos, 0.0); _N += 1; if (_N == 1) { gui.popupTip("Click waypoints, press \"Done\" to finish"); } else { - _calculate_bezier(); + _calculate_route(); + _place_waypoint_models(); + } +} + +var delete_last = func() { + if (_listener == nil) { + return; + } + if (_N > 1) { + _N -= 1; + _user_points.del(_N); + _user_point_modes.del(_N); + _user_point_models[_N].remove(); + _user_point_models[_N] = nil; + setsize(_user_point_models, _N); + _calculate_route(); _place_waypoint_models(); } } @@ -68,8 +88,12 @@ var _place_user_point_models = func() { _clear_user_point_models(); setsize(_user_point_models, _N); var user_points = _user_points.get_sliced(); - for (var ii = 1; ii < _N; ii += 1) { - _user_point_models[ii] = geo.put_model("Models/Autopush/cursor.xml", user_points[ii], 0.0); + for (var ii = 0; ii < _N; ii += 1) { + var model = "Models/Autopush/cursor.xml"; + if (_user_point_modes.arr[ii] == 1) { + model = "Models/Autopush/cursor_sharp.xml"; + } + _user_point_models[ii] = geo.put_model(model, user_points[ii], 0.0); } } @@ -128,16 +152,40 @@ var _reset_view = func() { } } -var _calculate_bezier = func() { - # add the first point cause it will be fix at this pos +var _calculate_route = func() { _route = []; user_points = _user_points.get_sliced(); var route = dynarr.dynarr.new(); + # add the first point cause it will be fix at this pos route.add(geo.Coord.new(user_points[0])); + n = size(user_points); + var base = 0; + for (var i = 0; i < n; i += 1) { + if (_user_point_modes.arr[i] == 1 or i == n - 1) { + if (i - base > 0) { + var bezier = _calculate_bezier(user_points[base:i]); + + var m = size(bezier); + for (var j = 0; j < m; j += 1) { + route.add(geo.Coord.new(bezier[j])); + } + } + base = i; + route.add(geo.Coord.new(user_points[i])); + } + } + + PNumber = size(user_points); + _route = route.get_sliced(); +} + +var _calculate_bezier = func(user_points) { + var route = dynarr.dynarr.new(); + PNumber = size(user_points); - if (PNumber > 2) { + if (PNumber > 1) { var pointList = []; setsize(pointList, PNumber); for (var i = 0; i < PNumber; i += 1) { @@ -147,10 +195,14 @@ var _calculate_bezier = func() { pointList[0] = user_points; - prec = getprop("/demo/prec"); - step = prec / 100; + var len = 0; + for (var i = 0; i < PNumber - 1; i += 1) { + len += user_points[i].distance_to(user_points[i + 1]); + } - for (var i = step; i < 1; i+= step) { + var step = _D_min / len; + + for (var i = step; i < 1 - step; i+= step) { # start iterating from 1 cause we don't need to iterate over Pn for (var j = 1; j < PNumber; j += 1) { for (var k = 0; k < PNumber - j; k += 1) { @@ -160,18 +212,12 @@ var _calculate_bezier = func() { pointList[j][k].apply_course_distance(course, dist * i); } } - if (i + step < 1) { - route.add(geo.Coord.new(pointList[PNumber - 1][0])); - } + pointList[PNumber - 1][0].set_alt(geo.elevation(pointList[PNumber - 1][0].lat(),pointList[PNumber - 1][0].lon())); + route.add(geo.Coord.new(pointList[PNumber - 1][0])); } } - if (PNumber > 1) { - # append last user point to route - route.add(geo.Coord.new(user_points[-1])); - } - - _route = route.get_sliced(); + return route.get_sliced(); } setlistener("/sim/model/pushback/route/show", func(p) { @@ -205,6 +251,25 @@ var enter = func(start_immediately = 0) { _start_immediately = start_immediately; } +var toggle_node = func() { + if (_listener == nil) { + return; + } + if (_user_point_modes.arr[_N - 1] == 0) { + _user_point_modes.arr[_N - 1] = 1; + } else { + _user_point_modes.arr[_N - 1] = 0; + } + if (_user_point_models[_N - 1] != nil) { + _user_point_models[_N - 1].remove(); + var model = "Models/Autopush/cursor.xml"; + if (_user_point_modes.arr[_N - 1] == 1) { + model = "Models/Autopush/cursor_sharp.xml"; + } + _user_point_models[_N - 1] = geo.put_model(model, _user_points.get_sliced()[_N - 1], 0.0); + } +} + var done = func() { _stop(0); } @@ -215,12 +280,13 @@ var clear = func() { _clear_waypoint_models(); _N = 0; _user_points = dynarr.dynarr.new(4); + _user_point_modes = dynarr.dynarr.new(1); } var route = func() { if (_N < 2) { return nil; } - _calculate_bezier(); + _calculate_route(); return _route; } diff --git a/Nasal/dynarr.nas b/Nasal/dynarr.nas index 1ae9a610..03518aa0 100644 --- a/Nasal/dynarr.nas +++ b/Nasal/dynarr.nas @@ -5,9 +5,6 @@ # Merspieler http://gitlab.com/merspieler # Distribute under the terms of GPLv2. -## ERRATA -# delitation of objects - ## Useage # to create a new object: var = dynarr.new(); # to add elements: .add(); @@ -42,6 +39,15 @@ var dynarr = me.size += 1; }, + # delete an element from the array + del: func(id) + { + me.size -= 1; + for(ii = id; ii < me.size - 1; ii += 1){ + me.arr[ii] = me.arr[ii + 1]; + } + }, + # returns only the filled part of the array or nil if array is empty get_sliced: func() {