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Add wheelslip and abs to test loop

This commit is contained in:
Paul Dino Jones 2024-05-28 15:00:46 +00:00
parent aac41aa882
commit e1ddd73352
1 changed files with 41 additions and 247 deletions
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278
src/monocoque/gameloop/gameloop.c
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@ -1,4 +1,3 @@
#include <stdbool.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@ -6,31 +5,16 @@
#include <sys/stat.h> #include <sys/stat.h>
#include <poll.h> #include <poll.h>
#include <termios.h> #include <termios.h>
#include <signal.h>
#include "gameloop.h" #include "gameloop.h"
#include "../helper/parameters.h" #include "../helper/parameters.h"
#include "../helper/confighelper.h" #include "../helper/confighelper.h"
#include "../devices/simdevice.h" #include "../devices/simdevice.h"
#include "../simulatorapi/simapi/simapi/simdata.h" #include "../simulatorapi/simdata.h"
#include "../simulatorapi/simapi/simapi/simmapper.h" #include "../simulatorapi/simmapper.h"
#include "../slog/slog.h" #include "../slog/slog.h"
#define DEFAULT_UPDATE_RATE 240.0 #define DEFAULT_UPDATE_RATE 120.0
#define SIM_CHECK_RATE 1.0
bool go = false;
bool go2 = false;
struct sigaction act;
void sighandler(int signum, siginfo_t* info, void* ptr)
{
sloge("caught signal");
go = false;
go2 = false;
//gfx_clear(pixels, pixels_len);
//gfx_swapbuffers();
//gfx_close();
}
int showstats(SimData* simdata) int showstats(SimData* simdata)
{ {
@ -181,64 +165,20 @@ int showstats(SimData* simdata)
fflush(stdout); fflush(stdout);
} }
int looper(SimDevice* devices[], int numdevices, Simulator simulator)
{
int clilooper(SimDevice* devices, int numdevices, Parameters* p, SimData* simdata, SimMap* simmap) slogi("preparing game loop with %i devices...", numdevices);
{
struct pollfd mypoll = { STDIN_FILENO, POLLIN|POLLPRI };
double update_rate = DEFAULT_UPDATE_RATE;
char ch;
int t=0;
int s=0;
go2 = true;
while (go2 == true && simdata->simstatus > 1)
{
simdatamap(simdata, simmap, p->sim);
showstats(simdata);
t++;
s++;
if(simdata->rpms<100)
{
simdata->rpms=100;
}
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
if( poll(&mypoll, 1, 1000.0/update_rate) )
{
scanf("%c", &ch);
if(ch == 'q')
{
go2 = false;
}
}
}
simdata->velocity = 0;
simdata->rpms = 100;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
fprintf(stdout, "\n");
return 0;
}
int looper(SimDevice* devices, int numdevices, Parameters* p)
{
memset(&act, 0, sizeof(act));
act.sa_sigaction = sighandler;
act.sa_flags = SA_SIGINFO;
sigaction(SIGTERM, &act, NULL);
sigaction(SIGINT, &act, NULL);
sigaction(SIGTSTP, &act, NULL);
SimData* simdata = malloc(sizeof(SimData)); SimData* simdata = malloc(sizeof(SimData));
SimMap* simmap = malloc(sizeof(SimMap)); SimMap* simmap = malloc(sizeof(SimMap));
int error = siminit(simdata, simmap, simulator);
if (error != MONOCOQUE_ERROR_NONE)
{
return error;
}
struct termios newsettings, canonicalmode; struct termios newsettings, canonicalmode;
tcgetattr(0, &canonicalmode); tcgetattr(0, &canonicalmode);
newsettings = canonicalmode; newsettings = canonicalmode;
@ -249,41 +189,38 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
char ch; char ch;
struct pollfd mypoll = { STDIN_FILENO, POLLIN|POLLPRI }; struct pollfd mypoll = { STDIN_FILENO, POLLIN|POLLPRI };
fprintf(stdout, "Searching for sim data... Press q to quit...\n"); double update_rate = DEFAULT_UPDATE_RATE;
p->simon = false; int t=0;
double update_rate = SIM_CHECK_RATE; int go = true;
go = true;
while (go == true) while (go == true)
{ {
p->simon = false; simdatamap(simdata, simmap, simulator);
getSim(simdata, simmap, &p->simon, &p->sim); showstats(simdata);
t++;
if (p->simon == true && simdata->simstatus > 1) if(simdata->rpms<250)
{ {
slogi("preparing game loop with %i devices...", numdevices); simdata->rpms=250;
}
slogi("sending initial data to devices");
simdata->velocity = 16;
simdata->rpms = 100;
for (int x = 0; x < numdevices; x++) for (int x = 0; x < numdevices; x++)
{ {
devices[x].update(&devices[x], simdata); if (devices[x]->type == SIMDEV_SERIAL)
}
sleep(3);
clilooper(devices, numdevices, p, simdata, simmap);
}
if (p->simon == true)
{ {
p->simon = false; if(t>=update_rate)
fprintf(stdout, "Searching for sim data... Press q again to quit...\n"); {
sleep(2); devupdate(devices[x], simdata);
}
}
else
{
devupdate(devices[x], simdata);
} }
}
if(t>=update_rate)
{
t=0;
}
if( poll(&mypoll, 1, 1000.0/update_rate) ) if( poll(&mypoll, 1, 1000.0/update_rate) )
{
if (go != false )
{ {
scanf("%c", &ch); scanf("%c", &ch);
if(ch == 'q') if(ch == 'q')
@ -292,8 +229,6 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
} }
} }
} }
}
fprintf(stdout, "\n"); fprintf(stdout, "\n");
fflush(stdout); fflush(stdout);
tcsetattr(0, TCSANOW, &canonicalmode); tcsetattr(0, TCSANOW, &canonicalmode);
@ -303,144 +238,3 @@ int looper(SimDevice* devices, int numdevices, Parameters* p)
return 0; return 0;
} }
int tester(SimDevice* devices, int numdevices)
{
slogi("preparing test with %i devices...", numdevices);
SimData* simdata = malloc(sizeof(SimData));
struct termios newsettings, canonicalmode;
tcgetattr(0, &canonicalmode);
newsettings = canonicalmode;
newsettings.c_lflag &= (~ICANON & ~ECHO);
newsettings.c_cc[VMIN] = 1;
newsettings.c_cc[VTIME] = 0;
tcsetattr(0, TCSANOW, &newsettings);
fprintf(stdout, "\n");
simdata->gear = 0;
simdata->velocity = 16;
simdata->rpms = 100;
simdata->maxrpm = 8000;
sleep(3);
fprintf(stdout, "Setting rpms to 1000\n");
simdata->rpms = 1000;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Shifting into first gear\n");
simdata->gear = 2;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting speed to 100\n");
simdata->velocity = 100;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Shifting into second gear\n");
simdata->gear = 3;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting speed to 200\n");
simdata->velocity = 200;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Shifting into third gear\n");
simdata->gear = 4;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting rpms to 2000\n");
simdata->rpms = 2000;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting rpms to 4000\n");
simdata->rpms = 4000;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Shifting into fourth gear\n");
simdata->gear = 5;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting speed to 300\n");
simdata->velocity = 300;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
fprintf(stdout, "Setting rpms to 8000\n");
simdata->rpms = 8000;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(3);
simdata->velocity = 0;
simdata->rpms = 100;
for (int x = 0; x < numdevices; x++)
{
devices[x].update(&devices[x], simdata);
}
sleep(1);
fflush(stdout);
tcsetattr(0, TCSANOW, &canonicalmode);
free(simdata);
return 0;
}