/**************************************************************************** * File: libtrk_local.h * * * Copyright 1995 by Loral Advanced Distributed Simulation, Inc. * * * * Loral Advanced Distributed Simulation, Inc. * * 50 Moulton Street * * Cambridge, MA 02138 * * 617-441-2000 * * * * This software was developed by Loral under U. S. Government contracts * * and may be reproduced by or for the U. S. Government pursuant to * * the copyright license under the clause at DFARS 252.227-7013 * * (OCT 1988). * * * * Contents: Private header file for libtracked * Created: Mon Jul 13 11:35:57 PDT 1992 * Author: jesmith * $Revision$ * * Remarks: * * * ****************************************************************************/ #include "libtracked.h" #include #include #include #include #include #include #include #include /* Short-hand debugging macro (assumes local variable vehicle_id) */ #define DEBUG_TRACKED(format) \ CLASS_DEBUG((CLASS_USER_DATA_TYPE)vtab_get_vehicle(vehicle_id), \ tracked_user_data_handle, format) #define DEBUG_TRACKED_EXEC(routine) \ CLASS_DEBUG_EXEC((CLASS_USER_DATA_TYPE)vtab_get_vehicle(vehicle_id), \ tracked_user_data_handle, routine) /* Mobility Model Constants */ #define TRK_MODSAF_MOBILITY_MODEL 1 #define TRK_CCTT_MOBILITY_MODEL 2 #define TRK_CCTT_MOBILITY_MODEL_X 3 #define TRACKED_CCTT_THRESHOLD 0.005 #define TRACKED_CCTT_GEAR_FORWARD 1 #define TRACKED_CCTT_GEAR_REVERSE 2 #define TRACKED_CCTT_GEAR_STOP 3 #define TRACKED_CCTT_GRAVITY 9.81 #define TRACKED_MAX_NODE_LIST_LENGTH 10 typedef struct tracked_node_key_list { int32 first; int32 last; int32 current; int32 list_cell[TRACKED_MAX_NODE_LIST_LENGTH]; CTDB_MES_NODE_KEY list[TRACKED_MAX_NODE_LIST_LENGTH]; } TRACKED_NODE_KEY_LIST; typedef int32 (*TRACKED_NODE_KEY_LOOK_FCN)( ADDRESS tracked_vars, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); typedef enum { TRACKED_STATE_HEALTHY , TRACKED_STATE_NOGAS , TRACKED_STATE_STICKING , TRACKED_STATE_STUCK , TRACKED_STATE_DYING , TRACKED_STATE_DEAD, TRACKED_STATE_START_TROUBLE, TRACKED_STATE_IN_TROUBLE } TRACKED_STATE; typedef enum { TRACKED_EXPLICIT , TRACKED_EXTERNAL , TRACKED_POSITION_DIRECTION , TRACKED_GOAL_CORRIDOR , TRACKED_TARGET_ID , TRACKED_TARGET_POSITION } TRACKED_CONTROL_STATE; /* Per-vehicle tracked class information */ typedef struct tracked_vars { /* Index into params structure of last soil type */ int32 soil_latch; /* Operating parameters */ TRACKED_PARAMETRIC_DATA *params; /* State variable */ TRACKED_STATE state; float64 stuck_position[XYZC]; float64 saved_position[XYZC]; /* Last time command was given */ uint32 last_command_time; /* time entered in TRACKED_STATE_IN_TROUBLE state */ uint32 waiting_in_trouble_state; float64 saved_desired_speed; /* $$$ DVW wave support */ /* last time we yawed, in seconds */ float64 time_til_yaw; float64 last_rotation[XYZ][XYZ]; int32 roll_sign; /* Current gear */ int32 current_gear; /* How the hull is being controlled */ TRACKED_CONTROL_STATE control_state; /* Control parameters which we use to derive the parameters * which actually drive the dynamics. */ float64 position[XYZC]; float64 direction[XYZC]; float64 approach_speed; float64 corridor_width; int32 target_id; /* Desired parameters */ float64 desired_dir[XYZC]; float64 speed; int32 desired_gear; float64 max_turn; float64 max_accel; /* The id of the bridge we're on */ int32 bridge_id; uint32 bridge_collision_timeout; int32 on_bridge; /* CCTT Mobility Model variables */ float64 commanded_throttle_pos; /* desired throttle position (from 0.0 to 1.0) */ float64 throttle_pos; /* actual throttle position (from 0.0 to 1.0) */ float64 acceleration; /* acceleration */ TRACKED_NODE_KEY_LOOK_FCN node_look_fcn; TRACKED_NODE_KEY_LIST node_keys; /* CCTT Mobility Model X variables */ float64 ccttx_heading_error_rate; /* heading error rate */ float64 ccttx_sin_tangent_angle; /* sin of tangent angle */ uint32 last_check_time; int32 within_hydro_surface; int32 within_hydro_subsurface; int32 being_moved; HO_REGISTRATION_PTR ho_event_registration; int32 cells_initted; float64 sink_state[40]; } TRACKED_VARS; typedef struct tracked_cctt_table { int32 dim; /* dimension of table */ int32 size; /* total size of data table */ int32 *n; /* size of each dimension */ float64 *data; /* table data */ } TRACKED_CCTT_TABLE; typedef enum { DRY_SOIL, WET_SOIL } TRACKED_SOIL_CONDITION; #define TRACKED_MAX_SOIL_CONDITION 2 #define TRACKED_MAX_SOIL_TYPE 15 /* total soil type found in include/global*/ typedef struct tracked_soil_table_type { int32 simnet_soil_type; int32 cctt_soil_type; } TRACKED_SOIL_TABLE_TYPE; typedef struct tracked_soil_table { TRACKED_SOIL_CONDITION soil_condition; TRACKED_SOIL_TABLE_TYPE soil_table[TRACKED_MAX_SOIL_TYPE]; } TRACKED_SOIL_TABLE; /* VERY PRIVATE VARIABLES AND FUNCTIONS! DO NOT USE OUTSIDE! */ extern int32 tracked_user_data_handle; extern int32 tracked_mkill_cants_vehicle; extern int32 tracked_wave_effect; extern TRACKED_SOIL_TABLE tracked_soil_tables[TRACKED_MAX_SOIL_CONDITION]; extern void tracked_init_params(void); extern TRACKED_PARAMETRIC_DATA tracked_dummy_params; extern float64 tracked_compute_eta( int32 vehicle_id, TRACKED_VARS *tracked, float64 *target, int32 cell); extern float64 tracked_fuel_usage_rate( TRACKED_PARAMETRIC_DATA *params, float64 speed); extern int32 tracked_find_soil(uint32 soil, TRACKED_VARS *tracked); extern void tracked_collision( int32 vehicle_id, COLLISION_NOTIFICATION_DATA *data, ADDRESS user_data); extern void tracked_bridge_collision( int32 vehicle_id, int32 bridge_id, ADDRESS user_data); extern void tracked_damage( int32 vehicle_id, uint32 new_kill_level, uint32 old_kill_level, ADDRESS user_data); extern void tracked_init_subclass(void); extern void tracked_tick( int32 vehicle_id, uint32 interval_since_last_tick, ADDRESS user_data); extern READER_UNION *tracked_speeds; extern float64 tracked_cctt_get_table_value( TRACKED_CCTT_TABLE *table, int32 *index); extern void tracked_cctt_read_tables(char *data_path); extern TRACKED_CCTT_TABLE tracked_cctt_table_vehicle_map; extern TRACKED_CCTT_TABLE tracked_cctt_table_soil_map; extern TRACKED_CCTT_TABLE tracked_cctt_table_friction; extern TRACKED_CCTT_TABLE tracked_cctt_table_force_drive; extern TRACKED_CCTT_TABLE tracked_cctt_table_force_brake; extern TRACKED_CCTT_TABLE tracked_cctt_table_max_turn_rate; extern TRACKED_CCTT_TABLE tracked_cctt_table_max_speed; extern char *tracked_plow_cat; /* reader symbol name for plow */ extern char *tracked_bridge_cat; /* reader symbol name for bridge */ extern char *tracked_plow_speeds_symbol; extern char *tracked_dirtmover_cat; extern char *tracked_fwmr_symbol; extern char *tracked_moldboard_symbol; extern int32 tracked_mobility_plus_allow_env; extern int32 tracked_mobility; extern void tracked_add_node_key_to_list( TRACKED_VARS *var, int32 node_key_cell, CTDB_MES_NODE_KEY node_key); extern void tracked_clear_node_key_list( TRACKED_VARS *var, int32 node_key_cell, CTDB_MES_NODE_KEY initial_key); extern int32 tracked_node_key_look_back( TRACKED_VARS *var, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); extern int32 tracked_node_key_look_ahead( TRACKED_VARS *var, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); extern void tracked_init_rao(char *data_path); extern int32 tracked_have_rao(ObjectType guise); extern void tracked_run_rao( int32 vehicle_id, TRACKED_VARS *tracked, ObjectType guise, float64 dt, float32 *roll, float32 *pitch, float64 posit[4], float64 dir[3], float64 vel[3]); extern void tracked_set_current( TRACKED_VARS *tracked, int32 node_key_cell, CTDB_MES_NODE_KEY node_key); extern int32 tracked_rao_veh_id_debug; /* id of vehicle to print debug info */ extern int32 tracked_sink_init( char *data_path, uint32 flags); extern void tracked_sink_add( int32 vehicle_id, TRACKED_VARS *tracked, float64 dt);