void Robots::AddRobot(std::string robotfilename)
{
Robot* robot = new Robot();
//
robot->fi = new ModRobotInterface();
robot->fi->loadAirplane(robotfilename.c_str(), (FDMEnviroment*)0, (SimpleXMLTransfer*)0);
if (robot->fi->robot)
{
SimpleXMLTransfer* header = robot->fi->robot->GetHeader();
std::string filename = FileSysTools::getDataPath(header->getString("airplane.file"));
SimpleXMLTransfer* xml = new SimpleXMLTransfer(filename);
XMLModelFile::SetGraphics(xml, header->getInt("airplane.graphics"));
SimpleXMLTransfer* graphics = XMLModelFile::getGraphics(xml);
//
robot->vis_id = Video::new_visualization("objects/" + graphics->attribute("model"),
"textures",
CRRCMath::Vector3(), // todo
xml);
list.push_back(robot);
}
}
void T_Calibration::init(SimpleXMLTransfer* cfgfile,
std::string childname)
{
#if DEBUG_TX_INTERFACE > 0
printf("T_Calibration::init(cfg, child)\n");
printf(" <-- %s\n", childname.c_str());
#endif
int size;
SimpleXMLTransfer* item;
SimpleXMLTransfer* group;
SimpleXMLTransfer* item2;
child_in_cfg = childname;
// try to load config
printf("Loading calibration settings from %s:\n", childname.c_str());
try
{
item = cfgfile->getChild(childname, true);
group = item->getChild("calibration", true);
int nVer = group->getInt("version", 1);
size = group->getChildCount();
if (size > TX_MAXAXIS)
size = TX_MAXAXIS;
for (int n = 0; n < size; n++)
{
item2 = group->getChildAt(n);
switch (nVer)
{
case 1:
{
float scale = item2->getDouble("scale", 1.0);
float off = item2->getDouble("offset", 0.0);
// old: out = scale * in + offset
val_min[n] = (-0.5 - off) / scale;
val_max[n] = ( 0.5 - off) / scale;
val_mid[n] = 0.5 * (val_min[n] + val_max[n]);
printf(" (1)");
}
break;
case 2:
val_min[n] = item2->getDouble("val_min", -1.0);
val_mid[n] = item2->getDouble("val_mid", 0.0);
val_max[n] = item2->getDouble("val_max", 1.0);
printf(" (2)");
break;
}
printf(" axis=%i val_min=%f val_mid=%f val_max=%f\n", n, val_min[n], val_mid[n], val_max[n]);
}
}
catch (XMLException e)
{
fprintf(stderr, "*** T_Calibration::init(): %s\n", e.what());
}
}
void CRRCAirplaneLaRCSim::initSound(SimpleXMLTransfer* xml)
{
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
SimpleXMLTransfer* sndcfg = cfg->getChild("sound", true);
int children = sndcfg->getChildCount();
int units = sndcfg->getInt("units", 0);
for (int i = 0; i < children; i++)
{
SimpleXMLTransfer *child = sndcfg->getChildAt(i);
std::string name = child->getName();
if (name.compare("sample") == 0)
{
T_AirplaneSound *sample;
// assemble relative path
std::string soundfile;
soundfile = child->attribute("filename");
// other sound attributes
int sound_type = child->getInt("type", SOUND_TYPE_GLIDER);
double dPitchFactor = child->getDouble("pitchfactor", 0.002);
double dMaxVolume = child->getDouble("maxvolume", 1.0);
if (dMaxVolume < 0.0)
{
dMaxVolume = 0.0;
}
else if (dMaxVolume > 1.0)
{
dMaxVolume = 1.0;
}
//~ if (cfg->indexOfChild("power") < 0)
//~ max_thrust = 0;
//~ else
//~ max_thrust = 1;
if (soundfile != "")
{
// Get full path (considering search paths).
soundfile = FileSysTools::getDataPath("sounds/" + soundfile);
}
// File ok? Use default otherwise.
if (!FileSysTools::fileExists(soundfile))
soundfile = FileSysTools::getDataPath("sounds/fan.wav");
std::cout << "soundfile: " << soundfile << "\n";
//~ std::cout << "max_thrust: " << max_thrust << "\n";
std::cout << "soundserver: " << Global::soundserver << "\n";
// Only make noise if a sound file is available
if (soundfile != "" && Global::soundserver != (CRRCAudioServer*)0)
{
std::cout << "Using airplane sound " << soundfile << ", type " << sound_type << ", max vol " << dMaxVolume << std::endl;
if (sound_type == SOUND_TYPE_GLIDER)
{
T_GliderSound *glidersound;
float flMinRelV, flMaxRelV, flMaxDist;
flMinRelV = (float)child->getDouble("v_min", 1.5);
flMaxRelV = (float)child->getDouble("v_max", 4.0);
flMaxDist = (float)child->getDouble("dist_max", 300);
if (units == 1)
{
// convert from metric units to ft.
flMaxDist *= M_TO_FT;
}
glidersound = new T_GliderSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
glidersound->setMinRelVelocity(flMinRelV);
glidersound->setMaxRelVelocity(flMaxRelV);
glidersound->setMaxDistanceFeet(flMaxDist);
sample = glidersound;
}
else
{
sample = new T_EngineSound(soundfile.c_str(), Global::soundserver->getAudioSpec());
}
sample->setType(sound_type);
sample->setPitchFactor(dPitchFactor);
sample->setMaxVolume(dMaxVolume);
sample->setChannel(Global::soundserver->playSample((T_SoundSample*)sample));
sound.push_back(sample);
}
}
}
}
void CRRC_AirplaneSim_MCopter01::LoadFromXML(SimpleXMLTransfer* xml, int nVerbosity)
{
if (xml->getString("type").compare("mcopter01") != 0 ||
xml->getInt("version") != 1)
{
throw XMLException("file is not for mcopter01");
}
SimpleXMLTransfer* i;
SimpleXMLTransfer* cfg = XMLModelFile::getConfig(xml);
{
double to_slug;
double to_slug_ft_ft;
i = cfg->getChild("mass_inertia");
switch (i->getInt("units"))
{
case 0:
to_slug = 1;
to_slug_ft_ft = 1;
break;
case 1:
to_slug = KG_TO_SLUG;
to_slug_ft_ft = KG_M_M_TO_SLUG_FT_FT;
break;
default:
{
throw std::runtime_error("Unknown units in mass_inertia");
}
break;
}
Mass = i->getDouble("Mass") * to_slug;
I_xx = i->getDouble("I_xx") * to_slug_ft_ft;
I_yy = i->getDouble("I_yy") * to_slug_ft_ft;
I_zz = i->getDouble("I_zz") * to_slug_ft_ft;
I_xz = i->getDouble("I_xz") * to_slug_ft_ft;
}
{
speed_damp = cfg->getDouble("aero.speed.damp");
roll_damp1 = cfg->getDouble("aero.roll.damp1", 0);
yaw_damp1 = cfg->getDouble("aero.yaw.damp1", 0);
roll_damp2 = cfg->getDouble("aero.roll.damp2", 0);
yaw_damp2 = cfg->getDouble("aero.yaw.damp2", 0);
yaw_dist = cfg->getDouble("aero.yaw.dist", 0);
roll_dist = cfg->getDouble("aero.roll.dist", 0);
pitch_dist = cfg->getDouble("aero.pitch.dist", roll_dist);
// The ground effect parameters should be quite independent of the helicopter
// parameters...shouldn't they? However, they can be adjusted.
dGEDistMul = xml->getDouble("GroundEffect.dist.mul", 1.5);
{
double tau = xml->getDouble("Disturbance.tau_filter", 0.2);
dist_t_init = xml->getDouble("Disturbance.time", 0.2);
filt_rnd_yaw.SetTau(tau);
filt_rnd_roll.SetTau(tau);
filt_rnd_pitch.SetTau(tau);
}
}
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
wheels.init(xml, 0);
dRotorRadius = wheels.getWingspan()*0.5;
dRotorZ = wheels.getZHigh();
props.clear();
i = cfg->getChild("aero.props");
for (int n=0; n<i->getChildCount(); n++)
props.push_back(Propdata(i->getChildAt(n)));
if (power.size() == 0)
{
for (unsigned int n=0; n<props.size(); n++)
power.push_back(new Power::Power(cfg, nVerbosity));
dURef = 0.7 * cfg->getDouble("power.battery.U_0");
}
else
{
for (unsigned int n=0; n<power.size(); n++)
power[n]->ReloadParams(cfg, nVerbosity);
}
controllers.clear();
Controller::LoadList(cfg->getChild("controllers"), controllers);
}