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fgdata/Nasal/aircraft.nas
mfranz caf96d76c8 minor documentation fix
2007-02-07 17:06:52 +00:00

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# These classes provide basic functions for use in aircraft specific
# Nasal context. Note that even if a class is called "door" or "light"
# this doesn't mean that it can't be used for other purposes.
#
# Class instances don't have to be assigned to variables. They do also
# work if they remain anonymous. It's even a good idea to keep them
# anonymous if you don't need further access to their members. On the
# other hand, you can assign the class and apply setters at the same time:
#
# aircraft.light.new("sim/model/foo/beacon", [1, 1]); # anonymous
# var strobe = aircraft.light.new("sim/model/foo/strobe", [1, 1]).cont().switch(1);
#
#
# Classes do create properties, but they don't usually overwrite the contents
# of an existing property. This makes it possible to preset them in
# a *-set.xml file or on the command line. For example:
#
# $ fgfs --aircraft=bo105 --prop:/controls/doors/door[0]/position-norm=1
#
#
# Wherever a property argument can be given, this can either be a path,
# or a node (i.e. property node hash). In return, the property node can
# always be accessed directly as member "node", and turned into a path
# string with node.getPath():
#
# var beacon = aircraft.light.new("sim/model/foo/beacon", [1, 1]);
# print(beacon.node.getPath());
#
# var strobe_node = props.globals.getNode("sim/model/foo/strobe", 1);
# var strobe = aircraft.light.new(strobe_node, [0.05, 1.0]);
#
#
# The classes implement only commonly used features, but are easy to
# extend, as all class members are accessible from outside. For example:
#
# # add custom property to door node:
# frontdoor.node.getNode("name", 1).setValue("front door");
#
# # add method to class instance (or base class -> aircraft.door.print)
# frontdoor.print = func { print(me.position.getValue()) };
#
#
# helper functions
# ==============================================================================
# creates (if necessary) and returns a property node from arg[0],
# which can be a property node already, or a property path
#
makeNode = func {
if (isa(arg[0], props.Node)) {
return arg[0];
} else {
return props.globals.getNode(arg[0], 1);
}
}
# returns arg[1]-th optional argument of vector arg[0] or default value arg[2]
#
optarg = func {
if (size(arg[0]) > arg[1] and arg[0][arg[1]] != nil) {
arg[0][arg[1]];
} else {
arg[2];
}
}
# door
# ==============================================================================
# class for objects moving at constant speed, with the ability to
# reverse moving direction at any point. Appropriate for doors, canopies, etc.
#
# SYNOPSIS:
# door.new(<property>, <swingtime> [, <startpos>]);
#
# property ... door node: property path or node
# swingtime ... time in seconds for full movement (0 -> 1)
# startpos ... initial position (default: 0)
#
# PROPERTIES:
# ./position-norm (double) (default: <startpos>)
# ./enabled (bool) (default: 1)
#
# EXAMPLE:
# var canopy = aircraft.door.new("sim/model/foo/canopy", 5);
# canopy.open();
#
door = {
new : func {
m = { parents : [door] };
m.node = makeNode(arg[0]);
m.swingtime = arg[1];
m.positionN = m.node.getNode("position-norm", 1);
m.enabledN = m.node.getNode("enabled", 1);
if (m.enabledN.getValue() == nil) {
m.enabledN.setBoolValue(1);
}
pos = optarg(arg, 2, 0);
if (m.positionN.getValue() == nil) {
m.positionN.setDoubleValue(pos);
}
m.target = pos < 0.5;
return m;
},
# door.enable(bool) -> set ./enabled
enable : func { me.enabledN.setBoolValue(arg[0]); me },
# door.setpos(double) -> set ./position-norm without movement
setpos : func { me.positionN.setValue(arg[0]); me.target = arg[0] < 0.5; me },
# double door.getpos() -> return current position as double
getpos : func { me.positionN.getValue() },
# door.close() -> move to closed state
close : func { me.move(me.target = 0) },
# door.open() -> move to open state
open : func { me.move(me.target = 1) },
# door.toggle() -> move to opposite end position
toggle : func { me.move(me.target) },
# door.stop() -> stop movement
stop : func { interpolate(me.positionN) },
# door.move(double) -> move to arbitrary position
move : func {
time = abs(me.getpos() - arg[0]) * me.swingtime;
interpolate(me.positionN, arg[0], time);
me.target = !me.target;
},
};
# light
# ==============================================================================
# class for generation of pulsing values. Appropriate for controlling
# beacons, strobes, etc.
#
# SYNOPSIS:
# light.new(<property>, <pattern> [, <switch>]);
# light.new(<property>, <stretch>, <pattern> [, <switch>]);
#
# property ... light node: property path or node
# stretch ... multiplicator for all pattern values
# pattern ... array of on/off time intervals (in seconds)
# switch ... property path or node to use as switch (default: ./enabled)
# instead of ./enabled
#
# PROPERTIES:
# ./state (bool) (default: 0)
# ./enabled (bool) (default: 0) except if <switch> given)
#
# EXAMPLES:
# aircraft.light.new("sim/model/foo/beacon", [0.4, 0.4]); # anonymous light
#-------
# var strobe = aircraft.light.new("sim/model/foo/strobe", [0.05, 0.05, 0.05, 1],
# "controls/lighting/strobe");
# strobe.switch(1);
#-------
# var switch = props.globals.getNode("controls/lighting/strobe", 1);
# var pattern = [0.02, 0.03, 0.02, 1];
# aircraft.light.new("sim/model/foo/strobe-top", 1.001, pattern, switch);
# aircraft.light.new("sim/model/foo/strobe-bot", 1.005, pattern, switch);
#
light = {
new : func {
m = { parents : [light] };
m.node = makeNode(arg[0]);
var stretch = 1.0;
var c = 1;
if (typeof(arg[c]) == "scalar") {
stretch = arg[c];
c += 1;
}
if (typeof(arg[c]) != "vector") {
die("aircraft.nas: the arguments of aircraft.light.new() have changed!\n" ~
" *** BEFORE: aircraft.light.new(property, 0.1, 0.9, switch)\n" ~
" *** NOW: aircraft.light.new(property, [0.1, 0.9], switch)");
}
m.pattern = arg[c];
c += 1;
if (size(arg) > c and arg[c] != nil) {
m.switchN = makeNode(arg[c]);
} else {
m.switchN = m.node.getNode("enabled", 1);
}
if (m.switchN.getValue() == nil) {
m.switchN.setBoolValue(0);
}
m.stateN = m.node.getNode("state", 1);
if (m.stateN.getValue() == nil) {
m.stateN.setBoolValue(0);
}
forindex (var i; m.pattern) {
m.pattern[i] *= stretch;
}
m.index = 0;
m.loopid = 0;
m.continuous = 0;
m.lastswitch = 0;
m.switchL = setlistener(m.switchN, func { m._switch_() }, 1);
return m;
},
# class destructor
del : func {
removelistener(me.switchL);
},
# light.switch(bool) -> set light switch (also affects other lights
# that use the same switch)
switch : func(v) { me.switchN.setBoolValue(v); me },
# light.toggle() -> toggle light switch
toggle : func { me.switchN.setBoolValue(!me.switchN.getValue()); me },
# light.cont() -> continuous light
cont : func {
if (!me.continuous) {
me.continuous = 1;
me.loopid += 1;
me.stateN.setBoolValue(me.lastswitch);
}
me;
},
# light.blink() -> blinking light (default)
blink : func {
if (me.continuous) {
me.continuous = 0;
me.index = 0;
me.stateN.setBoolValue(0);
me.lastswitch and me._loop_(me.loopid += 1);
}
me;
},
_switch_ : func {
var switch = me.switchN.getBoolValue();
switch != me.lastswitch or return;
me.lastswitch = switch;
me.loopid += 1;
if (me.continuous or !switch) {
me.stateN.setBoolValue(switch);
} elsif (switch) {
me.stateN.setBoolValue(0);
me.index = 0;
me._loop_(me.loopid);
}
},
_loop_ : func(id) {
id == me.loopid or return;
me.stateN.setBoolValue(me.index == 2 * int(me.index / 2));
settimer(func { me._loop_(id) }, me.pattern[me.index]);
if ((me.index += 1) >= size(me.pattern)) {
me.index = 0;
}
},
};
# lowpass
# ==============================================================================
# class that implements a variable-interval EWMA (Exponentially Weighted
# Moving Average) lowpass filter with characteristics independent of the
# frame rate.
#
# SYNOPSIS:
# lowpass.new(<coefficient>);
#
# EXAMPLE:
# var lp = aircraft.lowpass.new(0.5);
# print(lp.filter(10)); # prints 10
# print(lp.filter(0));
#
lowpass = {
new : func(coeff) {
var m = { parents : [lowpass] };
m.dtN = props.globals.getNode("/sim/time/delta-realtime-sec", 1);
m.coeff = coeff >= 0 ? coeff : die("aircraft.lowpass(): coefficient must be >= 0");
m.value = nil;
return m;
},
# filter(raw_value) -> push new value, returns filtered value
filter : func(v) {
me.filter = me._filter_;
me.value = v;
},
# get() -> returns filtered value
get : func {
me.value;
},
# set() -> sets new average and returns it
set : func(v) {
me.value = v;
},
_filter_ : func(v) {
var dt = me.dtN.getValue();
var c = dt / (me.coeff + dt);
me.value = v * c + me.value * (1 - c);
},
};
# Data
# ==============================================================================
# class that loads and saves properties to aircraft-specific data files in
# ~/.fgfs/aircraft-data/ (Unix) or %APPDATA%\flightgear.org\aircraft-data\.
# There's no public constructor, as the only needed instance gets created
# by the system.
#
# SYNOPSIS:
# data.add(<properties>);
# data.save([<interval>])
#
# properties ... about any combination of property nodes (props.Node)
# or path name strings, or lists or hashes of them,
# lists of lists of them, etc.
# interval ... save in <interval> minutes intervals, or only once
# if 'nil' or empty (and again at reinit/exit)
#
# SIGNALS:
# /sim/signals/save ... set to 'true' right before saving. Can be used
# to update values that are to be saved
#
# EXAMPLE:
# var p = props.globals.getNode("/sim/model", 1);
# var vec = [p, p];
# var hash = {"foo": p, "bar": p};
#
# # add properties
# aircraft.data.add("/sim/fg-root", p, "/sim/fg-home");
# aircraft.data.add(p, vec, hash, "/sim/fg-root");
#
# # now save only once (and at exit/reinit, which is automatically done)
# aircraft.data.save();
#
# # or save now and every 30 sec (and at exit/reinit)
# aircraft.data.save(0.5);
#
Data = {
new : func {
var m = { parents : [Data] };
m.path = getprop("/sim/fg-home") ~ "/aircraft-data/" ~ getprop("/sim/aircraft") ~ ".xml";
m.signalN = props.globals.getNode("/sim/signals/save", 1);
m.catalog = [];
m.loop_id = 0;
m.interval = 0;
setlistener("/sim/signals/reinit", func { cmdarg().getBoolValue() and m._save_() });
setlistener("/sim/signals/exit", func { m._save_() });
return m;
},
load : func {
printlog("warn", "trying to load aircraft data from ", me.path, " (OK if not found)");
fgcommand("load", props.Node.new({ "file": me.path }));
},
save : func(v = nil) {
me.loop_id += 1;
me.interval = 60 * v;
v == nil ? me._save_() : me._loop_(me.loop_id);
},
_loop_ : func(id) {
id == me.loop_id or return;
me._save_();
settimer(func { me._loop_(id) }, me.interval);
},
_save_ : func {
size(me.catalog) or return;
me.signalN.setBoolValue(1);
var tmp = "_-_-_-_-_-_aircraft.Data_-_-_-_-_-_";
printlog("info", "saving aircraft data to ", me.path);
props.globals.removeChildren(tmp);
var root = props.globals.getNode(tmp, 1);
foreach (var c; me.catalog) {
if (c[0] == `/`) {
c = substr(c, 1);
}
props.copy(props.globals.getNode(c, 1), root.getNode(c, 1));
}
fgcommand("savexml", props.Node.new({ "filename": me.path, "sourcenode": tmp }));
props.globals.removeChildren(tmp);
},
add : func {
foreach (var a; arg) {
var t = typeof(a);
if (isa(a, props.Node)) {
append(me.catalog, a.getPath());
} elsif (t == "scalar") {
append(me.catalog, a);
} elsif (t == "vector") {
foreach (var i; a) {
me.add(i);
}
} elsif (t == "hash") {
foreach (var i; keys(a)) {
me.add(a[i]);
}
} else {
die("aircraft.data.add(): invalid item of type " ~ t);
}
}
},
};
var data = nil;
var L = _setlistener("/sim/signals/nasal-dir-initialized", func {
removelistener(L);
data = Data.new();
Data.new = nil;
if (getprop("/sim/startup/save-on-exit")) {
data.load();
var n = props.globals.getNode("/sim/aircraft-data");
if (n != nil) {
foreach (var c; n.getChildren("path")) {
if (c.getType() != "NONE") {
data.add(c.getValue());
}
}
}
} else {
Data._save_ = func {}
Data._loop_ = func {}
}
});
# timer
# ==============================================================================
# class that implements timer that can be started, stopped, reset, and can
# have its value saved to the aircraft specific data file. Saving the value
# is done automatically by the aircraft.Data class.
#
# SYNOPSIS:
# timer.new(<property> [, <resolution:double> [, <save:bool>]])
#
# <property> ... property path or props.Node hash that holds the timer value
# <resolution> ... timer update resolution -- interval in seconds in which the
# timer property is updated while running (default: 1 s)
# <save> ... bool that defines whether the timer value should be saved
# and restored next time, as needed for Hobbs meters
# (default: 1)
#
# EXAMPLES:
# var hobbs_turbine = aircraft.timer.new("/sim/time/hobbs/turbine[0]", 60);
# hobbs_turbine.start();
#
# aircraft.timer.new("/sim/time/hobbs/battery", 60).start(); # anonymous timer
#
timer = {
new : func(prop, res = 1, save = 1) {
var m = { parents : [timer] };
m.node = makeNode(prop);
if (m.node.getType() == "NONE") {
m.node.setDoubleValue(0);
}
m.systimeN = props.globals.getNode("/sim/time/elapsed-sec", 1);
m.last_systime = nil;
m.interval = res;
m.loop_id = 0;
m.running = 0;
if (save) {
data.add(m.node);
m.saveL = setlistener("/sim/signals/save", func { m._save_() });
} else {
m.saveL = nil;
}
return m;
},
del : func {
me.stop();
if (me.saveL != nil) {
removelistener(me.saveL);
}
},
start : func {
me.running and return;
me.last_systime = me.systimeN.getValue();
me.interval != nil and me._loop_(me.loop_id);
me.running = 1;
me;
},
stop : func {
me.running or return;
me.running = 0;
me.loop_id += 1;
me._apply_();
},
reset : func {
me.node.setDoubleValue(0);
me.last_systime = me.systimeN.getValue();
},
_apply_ : func {
var sys = me.systimeN.getValue();
me.node.setDoubleValue(me.node.getValue() + sys - me.last_systime);
me.last_systime = sys;
},
_save_ : func {
if (me.running) {
me._apply_();
}
},
_loop_ : func(id) {
id != me.loop_id and return;
me._apply_();
settimer(func { me._loop_(id) }, me.interval);
},
};
# HUD control class to handle both HUD implementations.
#
HUDControl = {
new : func {
var m = { parents : [HUDControl] };
m.vis0N = props.globals.getNode("/sim/hud/visibility[0]", 1);
m.vis1N = props.globals.getNode("/sim/hud/visibility[1]", 1);
m.currcolN = props.globals.getNode("/sim/hud/current-color", 1);
m.paletteN = props.globals.getNode("/sim/hud/palette", 1);
m.brightnessN = props.globals.getNode("/sim/hud/color/brightness", 1);
m.currentN = m.vis0N;
return m;
},
cycle_color : func { # h-key
if (!me.currentN.getBoolValue()) { # if off, turn on
return me.currentN.setBoolValue(1);
}
var i = me.currcolN.getValue() + 1; # if through, turn off
if (i < 0 or i >= size(me.paletteN.getChildren("color"))) {
me.currentN.setBoolValue(0);
me.currcolN.setIntValue(0);
} else { # otherwise change color
me.currentN.setBoolValue(1);
me.currcolN.setIntValue(i);
}
},
cycle_brightness : func { # H-key
var br = me.brightnessN.getValue() - 0.2;
me.brightnessN.setValue(br > 0.01 ? br : 1);
},
normal_type : func { # i-key
me.oldinit1();
me.vis0N.setBoolValue(1);
me.vis1N.setBoolValue(0);
me.currentN = me.vis0N;
},
cycle_type : func { # I-key
if (me.currentN == me.vis0N) {
me.vis0N.setBoolValue(0);
me.vis1N.setBoolValue(1);
me.currentN = me.vis1N;
} elsif (me.currentN == me.vis1N) {
me.vis0N.setBoolValue(1);
me.vis1N.setBoolValue(0);
me.oldinit2();
me.currentN = me.vis0N;
}
},
oldinit1 : func { fgcommand("hud-init", props.Node.new()) },
oldinit2 : func { fgcommand("hud-init2", props.Node.new()) },
};
var HUD = nil;
settimer(func { HUD = HUDControl.new() }, 0);
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