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YASim: Move variables and methods for input properties from FGFDM to ControlMap.

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This commit is contained in:
Henning Stahlke 2017-02-06 17:47:45 +01:00
parent f14cc3be33
commit 2cac4e4671
4 changed files with 124 additions and 97 deletions
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79
src/FDM/YASim/ControlMap.cpp
View file

@ -21,25 +21,29 @@ namespace yasim {
ControlMap::~ControlMap()
{
int i;
for(i=0; i<_inputs.size(); i++) {
Vector* v = (Vector*)_inputs.get(i);
int j;
for(j=0; j<v->size(); j++)
int i;
for(i=0; i<_inputs.size(); i++) {
Vector* v = (Vector*)_inputs.get(i);
int j;
for(j=0; j<v->size(); j++)
delete (MapRec*)v->get(j);
delete v;
}
delete v;
}
for(i=0; i<_outputs.size(); i++)
delete (OutRec*)_outputs.get(i);
}
int ControlMap::newInput()
{
Vector* v = new Vector();
return _inputs.add(v);
for(i=0; i<_outputs.size(); i++)
delete (OutRec*)_outputs.get(i);
for(i=0; i<_properties.size(); i++) {
PropHandle* p = (PropHandle*)_properties.get(i);
delete[] p->name;
delete p;
}
}
/**
input : index to _inputs
type: identifier (see enum OutputType)
*/
void ControlMap::addMapping(int input, int type, void* object, int options,
float src0, float src1, float dst0, float dst1)
{
@ -55,6 +59,10 @@ void ControlMap::addMapping(int input, int type, void* object, int options,
m->dst1 = dst1;
}
/**
input : index to _inputs
type: identifier (see enum OutputType)
*/
void ControlMap::addMapping(int input, int type, void* object, int options)
{
// See if the output object already exists
@ -278,4 +286,45 @@ float ControlMap::rangeMax(int type)
}
}
/// duplicate null-terminated string
char* ControlMap::dup(const char* s)
{
int len=0;
while(s[len++]);
char* s2 = new char[len+1];
char* p = s2;
while((*p++ = *s++));
s2[len] = 0;
return s2;
}
/// compare null-terminated strings
bool ControlMap::eq(const char* a, const char* b)
{
while(*a && *b && *a == *b) { a++; b++; }
// equal if both a and b points to null chars
return !(*a || *b);
}
/// register property name, return ID (int)
int ControlMap::propertyHandle(const char* name)
{
for(int i=0; i < _properties.size(); i++) {
PropHandle* p = (PropHandle*)_properties.get(i);
if(eq(p->name, name))
return p->handle;
}
// create new
PropHandle* p = new PropHandle();
p->name = dup(name);
fgGetNode(p->name, true);
Vector* v = new Vector();
p->handle = _inputs.add(v);
_properties.add(p);
return p->handle;
}
} // namespace yasim

20
src/FDM/YASim/ControlMap.hpp
View file

@ -1,6 +1,7 @@
#ifndef _CONTROL_MAP_HPP
#define _CONTROL_MAP_HPP
#include <simgear/props/props.hxx>
#include "Vector.hpp"
namespace yasim {
@ -26,9 +27,7 @@ public:
OPT_INVERT = 0x02,
OPT_SQUARE = 0x04 };
// Returns a new, not-yet-used "input handle" for addMapping and
// setInput. This typically corresponds to one user axis.
int newInput();
struct PropHandle { char* name; int handle; };
// Adds a mapping to between input handle and a particular setting
// on an output object. The value of output MUST match the type
@ -45,9 +44,9 @@ public:
// setInput() invokations.
void reset();
// Sets the specified input (as returned by newInput) to the
// Sets the specified input (as returned by propertyHandle) to the
// specified value.
void setInput(int input, float value);
void setInput(int propHandle, float value);
/// Calculates and applies the settings received since the last reset().
/// dt defaults to a large value used at solve time.
@ -73,6 +72,15 @@ public:
float getOutput(int handle);
float getOutputR(int handle);
// register property name, return handle
int propertyHandle(const char* name);
int numProperties() { return _properties.size(); }
PropHandle* getProperty(const int i) { return ((PropHandle*)_properties.get(i)); }
// helper
char* dup(const char* s);
bool eq(const char* a, const char* b);
private:
struct OutRec { int type; void* object; Vector maps;
float oldL, oldR, time; };
@ -85,6 +93,8 @@ private:
// An unordered list of output settings.
Vector _outputs;
// control properties
Vector _properties;
};
}; // namespace yasim

116
src/FDM/YASim/FGFDM.cpp
View file

@ -59,7 +59,7 @@ FGFDM::FGFDM()
// Map /controls/flight/elevator to the approach elevator control. This
// should probably be settable, but there are very few aircraft
// who trim their approaches using things other than elevator.
_airplane.setElevatorControl(parseAxis("/controls/flight/elevator-trim"));
_airplane.setElevatorControl(_airplane.getControlMap()->propertyHandle("/controls/flight/elevator-trim"));
// FIXME: read seed from somewhere?
int seed = 0;
@ -68,12 +68,6 @@ FGFDM::FGFDM()
FGFDM::~FGFDM()
{
for(int i=0; i<_axes.size(); i++) {
AxisRec* a = (AxisRec*)_axes.get(i);
delete[] a->name;
delete a;
}
for(int i=0; i<_thrusters.size(); i++) {
EngRec* er = (EngRec*)_thrusters.get(i);
delete[] er->prefix;
@ -113,7 +107,7 @@ void FGFDM::iterate(float dt)
_airplane.setFuel(i, LBS2KG * _tank_level_lbs[i]->getFloatValue());
}
_airplane.calcFuelWeights();
setOutputProperties(dt);
}
@ -320,7 +314,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
if(a->hasAttribute("spool-time"))
j->setSpooling(attrf(a, "spool-time"));
j->setPosition(v);
_airplane.addThruster(j, mass, v);
sprintf(buf, "/engines/engine[%d]", _nextEngine++);
@ -459,14 +453,14 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
float cy = attrf(a, "cy", 1);
float cz = attrf(a, "cz", 1);
float idrag = attrf(a, "idrag", 1);
_airplane.addFuselage(v, b, attrf(a, "width"), taper, mid,
_airplane.addFuselage(v, b, attrf(a, "width"), taper, mid,
cx, cy, cz, idrag);
} else if(eq(name, "tank")) {
v[0] = attrf(a, "x");
v[1] = attrf(a, "y");
v[2] = attrf(a, "z");
float density = 6.0; // gasoline, in lbs/gal
if(a->hasAttribute("jet")) density = 6.72;
if(a->hasAttribute("jet")) density = 6.72;
density *= LBS2KG*CM2GALS;
_airplane.addTank(v, attrf(a, "capacity") * LBS2KG, density);
} else if(eq(name, "ballast")) {
@ -497,7 +491,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
} else if(eq(name, "cyclic")) {
((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
*/
*/
} else if(eq(name, "actionpt")) {
v[0] = attrf(a, "x");
v[1] = attrf(a, "y");
@ -508,33 +502,32 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
v[1] = attrf(a, "y");
v[2] = attrf(a, "z");
((Thruster*)_currObj)->setDirection(v);
} else if(eq(name, "control-setting")) {
// A cruise or approach control setting
const char* axis = a->getValue("axis");
float value = attrf(a, "value", 0);
if(_cruiseCurr)
_airplane.addCruiseControl(parseAxis(axis), value);
else
_airplane.addApproachControl(parseAxis(axis), value);
} else if(eq(name, "control-input")) {
// A mapping of input property to a control
int axis = parseAxis(a->getValue("axis"));
int control = parseOutput(a->getValue("control"));
int opt = 0;
opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
ControlMap* cm = _airplane.getControlMap();
if(a->hasAttribute("src0")) {
cm->addMapping(axis, control, _currObj, opt,
attrf(a, "src0"), attrf(a, "src1"),
} else if(eq(name, "control-setting")) {
// A cruise or approach control setting
const char* axis = a->getValue("axis");
float value = attrf(a, "value", 0);
ControlMap* cm = _airplane.getControlMap();
if(_cruiseCurr)
_airplane.addCruiseControl(cm->propertyHandle(axis), value);
else
_airplane.addApproachControl(cm->propertyHandle(axis), value);
} else if(eq(name, "control-input")) {
ControlMap* cm = _airplane.getControlMap();
// A mapping of input property to a control
int axis = cm->propertyHandle(a->getValue("axis"));
int control = parseOutput(a->getValue("control"));
int opt = 0;
opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
if(a->hasAttribute("src0")) {
cm->addMapping(axis, control, _currObj, opt,
attrf(a, "src0"), attrf(a, "src1"),
attrf(a, "dst0"), attrf(a, "dst1"));
} else {
cm->addMapping(axis, control, _currObj, opt);
}
} else if(eq(name, "control-output")) {
} else {
cm->addMapping(axis, control, _currObj, opt);
}
} else if(eq(name, "control-output")) {
// A property output for a control on the current object
ControlMap* cm = _airplane.getControlMap();
int type = parseOutput(a->getValue("control"));
@ -555,7 +548,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
int type = parseOutput(a->getValue("control"));
int handle = cm->getOutputHandle(_currObj, type);
float time = attrf(a, "transition-time", 0);
cm->setTransitionTime(handle, time);
} else {
SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '"
@ -575,10 +568,10 @@ void FGFDM::getExternalInput(float dt)
ControlMap* cm = _airplane.getControlMap();
cm->reset();
for(int i=0; i<_axes.size(); i++) {
AxisRec* a = (AxisRec*)_axes.get(i);
float val = fgGetFloat(a->name, 0);
cm->setInput(a->handle, val);
for(int i=0; i < cm->numProperties(); i++) {
ControlMap::PropHandle *p = cm->getProperty(i);
float val = fgGetFloat(p->name, 0);
cm->setInput(p->handle, val);
}
cm->applyControls(dt);
@ -716,7 +709,7 @@ void FGFDM::setOutputProperties(float dt)
// cockpit code can scale them to the right values.
float pnorm = j->getPerfNorm();
moveprop(node, "oilp-norm", pnorm, dt/3); // 3s seek time
moveprop(node, "oilt-norm", pnorm, dt/30); // 30s
moveprop(node, "oilt-norm", pnorm, dt/30); // 30s
moveprop(node, "itt-norm", pnorm, dt/1); // 1s
}
}
@ -824,9 +817,9 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
w->setTiltCenterZ(attrf(a,"tiltcenterz",0.0));
w->setDownwashFactor(attrf(a, "downwashfactor", 1));
if(attrb(a,"ccw"))
w->setCcw(1);
w->setCcw(1);
if(attrb(a,"sharedflaphinge"))
w->setSharedFlapHinge(true);
w->setSharedFlapHinge(true);
if(a->hasAttribute("name"))
w->setName(a->getValue("name") );
@ -845,7 +838,7 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
w->setPowerAtPitch0(attrf(a, "poweratpitch-0", 300));
w->setPowerAtPitchB(attrf(a, "poweratpitch-b", 3000));
if(attrb(a,"notorque"))
w->setNotorque(1);
w->setNotorque(1);
#define p(x) if (a->hasAttribute(#x)) w->setParameter((char *)#x,attrf(a,#x) );
#define p2(x,y) if (a->hasAttribute(y)) w->setParameter((char *)#x,attrf(a,y) );
@ -893,7 +886,7 @@ void FGFDM::parsePistonEngine(XMLAttributes* a)
eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
if(a->hasAttribute("compression"))
eng->setCompression(attrf(a, "compression"));
eng->setCompression(attrf(a, "compression"));
if(a->hasAttribute("min-throttle"))
eng->setMinThrottle(attrf(a, "min-throttle"));
@ -944,7 +937,7 @@ void FGFDM::parsePropeller(XMLAttributes* a)
if(a->hasAttribute("displacement"))
eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
if(a->hasAttribute("compression"))
eng->setCompression(attrf(a, "compression"));
eng->setCompression(attrf(a, "compression"));
if(a->hasAttribute("turbo-mul")) {
float mul = attrf(a, "turbo-mul");
float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
@ -1005,26 +998,7 @@ void FGFDM::parsePropeller(XMLAttributes* a)
_currObj = thruster;
}
// Turns a string axis name into an integer for use by the
// ControlMap. Creates a new axis if this one hasn't been defined
// yet.
int FGFDM::parseAxis(const char* name)
{
for(int i=0; i<_axes.size(); i++) {
AxisRec* a = (AxisRec*)_axes.get(i);
if(eq(a->name, name))
return a->handle;
}
// Not there, make a new one.
AxisRec* a = new AxisRec();
a->name = dup(name);
fgGetNode( a->name, true ); // make sure the property name exists
a->handle = _airplane.getControlMap()->newInput();
_axes.add(a);
return a->handle;
}
/// map identifier (string) to int (enum in ControlMap)
int FGFDM::parseOutput(const char* name)
{
if(eq(name, "THROTTLE")) return ControlMap::THROTTLE;
@ -1061,7 +1035,7 @@ int FGFDM::parseOutput(const char* name)
if(eq(name, "TILTYAW")) return ControlMap::TILTYAW;
if(eq(name, "ROTORGEARENGINEON")) return ControlMap::ROTORENGINEON;
if(eq(name, "ROTORBRAKE")) return ControlMap::ROTORBRAKE;
if(eq(name, "ROTORENGINEMAXRELTORQUE"))
if(eq(name, "ROTORENGINEMAXRELTORQUE"))
return ControlMap::ROTORENGINEMAXRELTORQUE;
if(eq(name, "ROTORRELTARGET")) return ControlMap::ROTORRELTARGET;
if(eq(name, "ROTORBALANCE")) return ControlMap::ROTORBALANCE;
@ -1143,7 +1117,7 @@ float FGFDM::attrf(XMLAttributes* atts, const char* attr, float def)
{
const char* val = atts->getValue(attr);
if(val == 0) return def;
else return (float)atof(val);
else return (float)atof(val);
}
double FGFDM::attrd(XMLAttributes* atts, const char* attr)

6
src/FDM/YASim/FGFDM.hpp
View file

@ -31,7 +31,6 @@ public:
float getVehicleRadius(void) const { return _vehicle_radius; }
private:
struct AxisRec { char* name; int handle; };
struct EngRec { char* prefix; Thruster* eng; };
struct WeightRec { char* prop; float size; int handle; };
struct PropOut { SGPropertyNode* prop; int handle, type; bool left;
@ -41,7 +40,6 @@ private:
Rotor* parseRotor(XMLAttributes* a, const char* name);
Wing* parseWing(XMLAttributes* a, const char* name, Version * version);
int parseAxis(const char* name);
int parseOutput(const char* name);
void parseWeight(XMLAttributes* a);
void parseTurbineEngine(XMLAttributes* a);
@ -64,10 +62,6 @@ private:
// Aerodynamic turbulence model
Turbulence* _turb;
// The list of "axes" that we expect to find as input. These are
// typically property names.
Vector _axes;
// Settable weights
Vector _weights;