/**************************************************************************** * File: libwhl_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 libwheeled * Created: Mon Jul 13 11:35:57 PDT 1992 * Author: wtaylor * $Revision$ * * Remarks: * * * ****************************************************************************/ #include "libwheeled.h" #include #include #include #include #include #include #include #include #define WHL_MODSAF_MOBILITY_MODEL 1 #define WHL_CCTT_MOBILITY_MODEL 2 #define WHEELED_CCTT_THRESHOLD 0.06 #define WHEELED_CCTT_THRESHOLD_BRAKE 0.01 #define WHEELED_CCTT_GEAR_FORWARD 1 #define WHEELED_CCTT_GEAR_REVERSE 2 #define WHEELED_CCTT_GEAR_STOP 3 #define WHEELED_CCTT_GRAVITY 9.81 /* Short-hand debugging macro (assumes local variable vehicle_id) */ #define DEBUG_WHEELED(format) \ CLASS_DEBUG((CLASS_USER_DATA_TYPE)vtab_get_vehicle(vehicle_id), \ wheeled_user_data_handle, format) #define DEBUG_WHEELED_EXEC(routine) \ CLASS_DEBUG_EXEC((CLASS_USER_DATA_TYPE)vtab_get_vehicle(vehicle_id), \ wheeled_user_data_handle, routine) /* $$$ Constants which really should be parameters $$$ */ #define WHEEL_BASE 3.30 #define MIN_WHEEL_ANGLE 0.05 /* the most the vehicle can turn at max speed so that it doesn't tip over. */ #define MAX_WHEEL_ANGLE 0.4 #define SMALL_WHEEL_ANGLE 0.0002 #define WHEELED_MAX_NODE_LIST_LENGTH 10 typedef struct wheeled_node_key_list { int32 first; int32 last; int32 current; int32 list_cell[WHEELED_MAX_NODE_LIST_LENGTH]; CTDB_MES_NODE_KEY list[WHEELED_MAX_NODE_LIST_LENGTH]; } WHEELED_NODE_KEY_LIST; typedef int32 (*WHEELED_NODE_KEY_LOOK_FCN)( ADDRESS wheeled_vars, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); typedef enum { WHEELED_STATE_HEALTHY , WHEELED_STATE_NOGAS , WHEELED_STATE_STICKING , WHEELED_STATE_STUCK , WHEELED_STATE_DYING , WHEELED_STATE_DEAD, WHEELED_STATE_START_TROUBLE, WHEELED_STATE_IN_TROUBLE } WHEELED_STATE; typedef enum { WHEELED_EXPLICIT , WHEELED_POSITION_DIRECTION , WHEELED_GOAL_CORRIDOR , WHEELED_TARGET_ID , WHEELED_TARGET_POSITION } WHEELED_CONTROL_STATE; /* Per-vehicle wheeled class information */ typedef struct wheeled_vars { /* Index into params structure of last soil type */ int32 soil_latch; /* Operating parameters */ WHEELED_PARAMETRIC_DATA *params; float64 nominal_acceleration; float64 nominal_deceleration; /* Computed from parameters */ float64 min_turn_radius; /* State variable */ WHEELED_STATE state; int32 resolution_level; float64 stuck_position[XYZC]; float64 saved_position[XYZC]; /* Last time tick was called */ uint32 last_command_time; /* time entered in WHEELED_STATE_IN_TROUBLE state */ uint32 waiting_in_trouble_state; float64 saved_desired_speed; /* Current gear */ int32 current_gear; /* How the hull is being controlled */ WHEELED_CONTROL_STATE control_state; /* counter for determining if tick time is out of bounds too long */ int32 res_tick_count; /* 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; /* gravity component on vehicle along wheelbase */ float64 g_component; /* 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 */ WHEELED_NODE_KEY_LOOK_FCN node_look_fcn; WHEELED_NODE_KEY_LIST node_keys; int32 being_moved; /* CALLBACK_EVENT_PTR started_being_moved_event; CALLBACK_EVENT_PTR stopped_being_moved_event; */ int32 within_hydro_surface; int32 within_hydro_subsurface; /* indicate is soil is wet */ uint32 last_check_time; /* holds last time soil wetness check*/ HO_REGISTRATION_PTR ho_event_registration; int32 cells_initted; } WHEELED_VARS; #define WHEELED_MAX_SOIL_CONDITION 2 typedef enum { DRY_SOIL, WET_SOIL } WHEELED_SOIL_CONDITION; typedef struct wheeled_soil_table_type { int32 simnet_soil_type; int32 cctt_soil_type; } WHEELED_SOIL_TABLE_TYPE; #define WHEELED_MAX_SOIL_TYPE 15 /* total soil type found in include/global */ typedef struct wheeled_soil_table { WHEELED_SOIL_CONDITION soil_condition; WHEELED_SOIL_TABLE_TYPE soil_table[WHEELED_MAX_SOIL_TYPE]; } WHEELED_SOIL_TABLE; typedef struct wheeled_speed_table_type { int32 simnet_soil_type; float64 max_speed; } WHEELED_SPEED_TABLE_TYPE; typedef struct wheeled_max_speed_table_type { WHEELED_SOIL_CONDITION soil_condition; WHEELED_SPEED_TABLE_TYPE speed_table[WHEELED_MAX_SOIL_TYPE]; } WHEELED_SPEED_TABLE; typedef struct wheeled_cctt_table { int32 dim; /* dimension of table */ int32 size; /* total size of data table */ int32 *n; /* size of each dimension */ float64 *data; /* table data */ } WHEELED_CCTT_TABLE; /* VERY PRIVATE VARIABLES AND FUNCTIONS! DO NOT USE OUTSIDE! */ extern int32 wheeled_user_data_handle; extern int32 wheeled_mkill_cants_vehicle; extern WHEELED_SOIL_TABLE wheeled_soil_tables[WHEELED_MAX_SOIL_CONDITION]; extern WHEELED_SPEED_TABLE wheeled_speed_tables[WHEELED_MAX_SOIL_CONDITION]; extern void wheeled_init_params(void); extern WHEELED_PARAMETRIC_DATA wheeled_dummy_params; extern float64 wheeled_compute_eta( int32 vehicle_id, WHEELED_VARS *wheeled, float64 *target, int32 cell); extern float64 wheeled_fuel_usage_rate( WHEELED_PARAMETRIC_DATA *params, float64 speed); extern int32 wheeled_find_soil( uint32 soil, WHEELED_VARS *wheeled); extern void wheeled_collision( int32 vehicle_id, COLLISION_NOTIFICATION_DATA *data, ADDRESS user_data); extern void wheeled_bridge_collision( int32 vehicle_id, int32 bridge_id, ADDRESS user_data); extern void wheeled_damage( int32 vehicle_id, uint32 new_kill_level, uint32 old_kill_level, ADDRESS user_data); extern void wheeled_init_subclass(void); extern void wheeled_tick( int32 vehicle_id, uint32 interval_since_last_tick, ADDRESS user_data); extern READER_UNION *wheeled_speeds; extern int32 wheeled_mobility_plus_allow_env; extern int32 wheeled_mobility; extern void wheeled_add_node_key_to_list( WHEELED_VARS *var, int32 node_key_cell, CTDB_MES_NODE_KEY node_key); extern void wheeled_clear_node_key_list( WHEELED_VARS *var, int32 node_key_cell, CTDB_MES_NODE_KEY initial_key); extern int32 wheeled_node_key_look_back( WHEELED_VARS *var, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); extern int32 wheeled_node_key_look_ahead( WHEELED_VARS *var, uint32 how_far, int32 *node_key_cell, CTDB_MES_NODE_KEY *node_key); extern void wheeled_set_current( WHEELED_VARS *wheeled, int32 node_key_cell, CTDB_MES_NODE_KEY node_key); extern float64 wheeled_cctt_get_table_value( WHEELED_CCTT_TABLE *table, int32 *index); extern void wheeled_cctt_read_tables( char *data_path); extern WHEELED_CCTT_TABLE wheeled_cctt_table_vehicle_map; extern WHEELED_CCTT_TABLE wheeled_cctt_table_soil_map; extern WHEELED_CCTT_TABLE wheeled_cctt_table_friction; extern WHEELED_CCTT_TABLE wheeled_cctt_table_force_drive; extern WHEELED_CCTT_TABLE wheeled_cctt_table_force_brake; extern WHEELED_CCTT_TABLE wheeled_cctt_table_max_turn_rate; extern WHEELED_CCTT_TABLE wheeled_cctt_table_max_speed;