mirror of
https://github.com/nasa/trick.git
synced 2024-12-18 20:57:55 +00:00
Merge branch 'master' of github.com:nasa/trick
This commit is contained in:
Scott Fennell
commit
57d29cec8a
@ -341,12 +341,14 @@ The Executive provides several parameters that can help a model developer debug
|
||||
trick.exec_set_trap_sigbus(int on_off)
|
||||
trick.exec_set_trap_sigfpe(int on_off)
|
||||
trick.exec_set_trap_sigsegv(int on_off)
|
||||
trick.exec_set_trap_sigchld(int on_off)
|
||||
trick.exec_get_trap_sigbus()
|
||||
trick.exec_get_trap_sigfpe()
|
||||
trick.exec_get_trap_sigsegv()
|
||||
trick.exec_get_trap_sigchld()
|
||||
```
|
||||
|
||||
The set_trap routines listed above set a signal handler for the SIGBUS, SIGFPE, and SIGSEGV signals respectively. The get_trap routines return the on/off status of the trap. Trapping the signals allows the Trick to gracefully shutdown the simulation and to possibly write important information about the signal before exiting execution. Turning off the traps will revert signal handling to the default system signal handler. By default the traps for SIGBUS and SIGSEGV are true. SIGFPE is not trapped by default.
|
||||
The set_trap routines listed above set a signal handler for the SIGBUS, SIGFPE, SIGSEGV, and SIGCHLD signals respectively. The get_trap routines return the on/off status of the trap. Trapping the signals allows the Trick to gracefully shutdown the simulation and to possibly write important information about the signal before exiting execution. Turning off the traps will revert signal handling to the default system signal handler. By default the traps for SIGBUS, SIGSEGV, and SIGCHLD are true. SIGFPE is not trapped by default.
|
||||
|
||||
#### Printing a Stack (Call) Trace on Signal
|
||||
|
||||
|
||||
@ -50,7 +50,7 @@ section. This is accomplished by adding execfile to the simulation input file.
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||||
Add the line:
|
||||
|
||||
```python
|
||||
execfile("Modified_data/cannon.dr")
|
||||
exec(open("Modified_data/cannon.dr").read())
|
||||
```
|
||||
to the top of the `input.py` file and then save it.
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||||
|
||||
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@ -72,6 +72,9 @@ namespace Trick {
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||||
/** Allows the trapping of SIGABRT signals and graceful shutdown.\n */
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bool trap_sigabrt; /**< trick_units(--) */
|
||||
|
||||
/** Allows the trapping of SIGCHLD signals\n */
|
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bool trap_sigchld; /**< trick_units(--) */
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||||
|
||||
/** Flags a restart was loaded\n */
|
||||
bool restart_called; /**< trick_io(**) trick_units(--) */
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||||
|
||||
@ -540,6 +543,14 @@ namespace Trick {
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||||
*/
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||||
bool get_trap_sigabrt() ;
|
||||
|
||||
/**
|
||||
@userdesc Command to get the trap sigchld toggle value (will SIGCHLD signal be trapped).
|
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@par Python Usage:
|
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@code <my_int> = trick.exec_get_trap_sigsegv() @endcode
|
||||
@return boolean (C integer 0/1) Executive::trap_sigsegv
|
||||
*/
|
||||
bool get_trap_sigchld() ;
|
||||
|
||||
/**
|
||||
@brief @userdesc Command to set the attach debugger toggle value.
|
||||
@param on_off - boolean yes (C integer 1) = attach debugger if signal shuts sim down. no (C integer 0) = do not attach debugger.
|
||||
@ -714,6 +725,15 @@ namespace Trick {
|
||||
*/
|
||||
int set_trap_sigabrt(bool on_off) ;
|
||||
|
||||
/**
|
||||
@userdesc Command to enable/disable the trapping of SIGCHILD signals.
|
||||
@par Python Usage:
|
||||
@code trick.exec_set_trap_child(<on_off>) @endcode
|
||||
@param on_off - boolean yes (C integer 1) = enable trap, no (C integer 0) = disable trap
|
||||
@return always 0
|
||||
*/
|
||||
int set_trap_sigchld(bool on_off) ;
|
||||
|
||||
/**
|
||||
@userdesc Command to get the simulation time in seconds.
|
||||
Formula for simulation time is time_tics / time_tic_value.
|
||||
|
||||
@ -39,6 +39,7 @@ extern "C" {
|
||||
int exec_get_trap_sigfpe(void) ;
|
||||
int exec_get_trap_sigsegv(void) ;
|
||||
int exec_get_trap_sigabrt(void) ;
|
||||
int exec_get_trap_sigchld(void) ;
|
||||
|
||||
int exec_set_attach_debugger(int on_off) ;
|
||||
int exec_set_debugger_command(const char * command) ;
|
||||
@ -69,6 +70,7 @@ extern "C" {
|
||||
int exec_set_trap_sigfpe(int on_off) ;
|
||||
int exec_set_trap_sigsegv(int on_off) ;
|
||||
int exec_set_trap_sigabrt(int on_off) ;
|
||||
int exec_set_trap_sigchld(int on_off) ;
|
||||
int exec_set_version_date_tag(const char * tag) ;
|
||||
int exec_set_build_date(const char * date) ;
|
||||
int exec_set_current_version(const char * version) ;
|
||||
|
||||
10
trick_sims/SIM_lander/Modified_data/realtime.py
Executable file
10
trick_sims/SIM_lander/Modified_data/realtime.py
Executable file
@ -0,0 +1,10 @@
|
||||
|
||||
trick.real_time_enable()
|
||||
trick.exec_set_software_frame(0.1)
|
||||
trick.itimer_enable()
|
||||
|
||||
trick.exec_set_enable_freeze(True)
|
||||
trick.exec_set_freeze_command(True)
|
||||
|
||||
simControlPanel = trick.SimControlPanel()
|
||||
trick.add_external_application(simControlPanel)
|
||||
25
trick_sims/SIM_lander/RUN_test/input.py
Executable file
25
trick_sims/SIM_lander/RUN_test/input.py
Executable file
@ -0,0 +1,25 @@
|
||||
execfile("Modified_data/realtime.py")
|
||||
|
||||
dyn.lander.pos[0] = 0
|
||||
dyn.lander.pos[1] = 1.8
|
||||
dyn.lander.vel[0] = 0.0
|
||||
dyn.lander.vel[1] = 0.0
|
||||
dyn.lander.angleDot = 0.0
|
||||
dyn.lander.angle = 0.0
|
||||
|
||||
#==========================================
|
||||
# Start the Satellite Graphics Client
|
||||
#==========================================
|
||||
varServerPort = trick.var_server_get_port();
|
||||
LanderDisplay_path = "models/graphics/dist/LanderDisplay.jar"
|
||||
|
||||
if (os.path.isfile(LanderDisplay_path)) :
|
||||
LanderDisplay_cmd = "java -jar " \
|
||||
+ LanderDisplay_path \
|
||||
+ " " + str(varServerPort) + " &" ;
|
||||
print(LanderDisplay_cmd)
|
||||
os.system( LanderDisplay_cmd);
|
||||
else :
|
||||
print('==================================================================================')
|
||||
print('LanderDisplay needs to be built. Please \"cd\" into ../models/graphics and type \"make\".')
|
||||
print('==================================================================================')
|
||||
28
trick_sims/SIM_lander/S_define
Executable file
28
trick_sims/SIM_lander/S_define
Executable file
@ -0,0 +1,28 @@
|
||||
/************************************************************
|
||||
PURPOSE:
|
||||
( Simulate a Lander. )
|
||||
LIBRARY DEPENDENCIES:
|
||||
((lander/src/Lander.cpp))
|
||||
*************************************************************/
|
||||
#include "sim_objects/default_trick_sys.sm"
|
||||
##include "lander/include/Lander.hh"
|
||||
class LanderSimObject : public Trick::SimObject {
|
||||
public:
|
||||
Lander lander;
|
||||
|
||||
LanderSimObject() {
|
||||
("default_data") lander.default_data() ;
|
||||
("initialization") lander.state_init() ;
|
||||
("derivative") lander.state_deriv() ;
|
||||
(0.1, "scheduled") lander.control() ;
|
||||
("integration") trick_ret = lander.state_integ() ;
|
||||
("post_integration") lander.check_ground_contact() ;
|
||||
}
|
||||
};
|
||||
|
||||
LanderSimObject dyn;
|
||||
IntegLoop dyn_integloop(0.1) dyn;
|
||||
|
||||
void create_connections() {
|
||||
dyn_integloop.getIntegrator(Runge_Kutta_4, 6);
|
||||
}
|
||||
2
trick_sims/SIM_lander/S_overrides.mk
Executable file
2
trick_sims/SIM_lander/S_overrides.mk
Executable file
@ -0,0 +1,2 @@
|
||||
TRICK_CFLAGS += -Imodels
|
||||
TRICK_CXXFLAGS += -Imodels
|
||||
36
trick_sims/SIM_lander/models/graphics/Makefile
Executable file
36
trick_sims/SIM_lander/models/graphics/Makefile
Executable file
@ -0,0 +1,36 @@
|
||||
SHELL = /bin/sh
|
||||
|
||||
PROJECT_NAME = LanderDisplay
|
||||
SRC_DIR = src
|
||||
BUILD_DIR = build
|
||||
CLASSES_DIR = $(BUILD_DIR)/classes
|
||||
JAR_DIR = dist
|
||||
MAIN_CLASS = LanderDisplay
|
||||
|
||||
all: jar
|
||||
|
||||
clean:
|
||||
rm -rf $(BUILD_DIR)
|
||||
rm -f manifest
|
||||
|
||||
spotless: clean
|
||||
rm -rf dist
|
||||
|
||||
$(CLASSES_DIR):
|
||||
@ mkdir -p $(CLASSES_DIR)
|
||||
|
||||
compile: | $(CLASSES_DIR)
|
||||
javac -sourcepath $(SRC_DIR) -d $(CLASSES_DIR) $(SRC_DIR)/LanderDisplay.java
|
||||
|
||||
manifest:
|
||||
@ echo "Main-Class: $(MAIN_CLASS)" > $@
|
||||
|
||||
$(JAR_DIR):
|
||||
@ mkdir -p $(JAR_DIR)
|
||||
|
||||
jar: compile manifest | $(JAR_DIR)
|
||||
jar cvfm $(JAR_DIR)/$(PROJECT_NAME).jar manifest -C $(CLASSES_DIR) .
|
||||
@ echo "-------------------------------------------------------------------------------"
|
||||
@ echo " BUILD COMPLETE"
|
||||
@ echo "The Java jar file (the Java Executable) is located at: $(JAR_DIR)/$(PROJECT_NAME).jar"
|
||||
@ echo "-------------------------------------------------------------------------------"
|
||||
918
trick_sims/SIM_lander/models/graphics/src/LanderDisplay.java
Executable file
918
trick_sims/SIM_lander/models/graphics/src/LanderDisplay.java
Executable file
@ -0,0 +1,918 @@
|
||||
/*
|
||||
* Trick
|
||||
* 2020 (c) National Aeronautics and Space Administration (NASA)
|
||||
*/
|
||||
|
||||
import java.awt.Color;
|
||||
import java.awt.Graphics2D;
|
||||
import java.awt.Graphics;
|
||||
import java.awt.RenderingHints;
|
||||
import java.awt.event.ActionEvent;
|
||||
import java.awt.event.ActionListener;
|
||||
import java.io.BufferedOutputStream;
|
||||
import java.io.BufferedReader;
|
||||
import java.io.DataOutputStream;
|
||||
import java.io.IOException;
|
||||
import java.io.InputStreamReader;
|
||||
import java.net.Socket;
|
||||
import java.util.*;
|
||||
import javax.swing.BoxLayout;
|
||||
import javax.swing.JButton;
|
||||
import javax.swing.JFrame;
|
||||
import javax.swing.JLabel;
|
||||
import javax.swing.JPanel;
|
||||
import javax.swing.JSlider;
|
||||
import javax.swing.event.ChangeEvent;
|
||||
import javax.swing.event.ChangeListener;
|
||||
import javax.sound.sampled.*;
|
||||
import java.net.URL;
|
||||
import java.awt.event.KeyEvent;
|
||||
import java.awt.event.KeyListener;
|
||||
|
||||
import javax.swing.text.NumberFormatter;
|
||||
import java.text.NumberFormat;
|
||||
import javax.swing.JFormattedTextField;
|
||||
import java.awt.Dimension;
|
||||
|
||||
import javax.swing.BorderFactory;
|
||||
import javax.swing.border.EtchedBorder;
|
||||
import java.awt.Component;
|
||||
/**
|
||||
*
|
||||
* @author penn
|
||||
*/
|
||||
|
||||
class ScenePoly {
|
||||
public Color color;
|
||||
public int n;
|
||||
public double[] x;
|
||||
public double[] y;
|
||||
}
|
||||
|
||||
|
||||
class RangeView extends JPanel {
|
||||
|
||||
private int scale;
|
||||
private Color skyColor;
|
||||
private Color groundColor;
|
||||
|
||||
private Color landerColor;
|
||||
|
||||
// Origin of world coordinates in jpanel coordinates.
|
||||
private int worldOriginX;
|
||||
private int worldOriginY;
|
||||
|
||||
private double[] landerPos;
|
||||
private double[] landerVel;
|
||||
private double landerAngle;
|
||||
private double landerAngleRate;
|
||||
private int landerThrottle; /* percent */
|
||||
|
||||
private ScenePoly left_pad, right_pad;
|
||||
private ScenePoly left_L1, right_L1;
|
||||
private ScenePoly left_L2, right_L2;
|
||||
private ScenePoly left_L3, right_L3;
|
||||
private ScenePoly left_L4, right_L4;
|
||||
private ScenePoly fuselage;
|
||||
private ScenePoly nozzle;
|
||||
private ScenePoly left_rcs_pod, right_rcs_pod;
|
||||
private ScenePoly left_top_rcs_nozzle, right_top_rcs_nozzle, left_bottom_rcs_nozzle, right_bottom_rcs_nozzle;
|
||||
private ScenePoly docking_ring;
|
||||
private ScenePoly flame;
|
||||
|
||||
private int[] workPolyX, workPolyY;
|
||||
|
||||
// Controls
|
||||
private int throttleChange ;
|
||||
private int rcs_state;
|
||||
private boolean altitudeCtrlEnabled;
|
||||
private double altitudeSetPoint;
|
||||
private boolean downRangeCtrlEnabled;
|
||||
private double downRangeSetPoint;
|
||||
|
||||
|
||||
/**
|
||||
* Class constructor.
|
||||
*/
|
||||
public RangeView( int mapScale) {
|
||||
|
||||
setScale(mapScale);
|
||||
|
||||
throttleChange = 0;
|
||||
rcs_state = 0;
|
||||
altitudeCtrlEnabled = false;
|
||||
downRangeCtrlEnabled = false;
|
||||
|
||||
skyColor = new Color(0,0,20);
|
||||
groundColor = new Color(150,150,150);
|
||||
landerColor = new Color(150,10,10);
|
||||
|
||||
landerAngle = 0.0;
|
||||
landerPos = new double[]
|
||||
{5.0, 0.0};
|
||||
landerVel = new double[]
|
||||
{0.0, 0.0};
|
||||
landerThrottle = 0;
|
||||
|
||||
left_pad = new ScenePoly();
|
||||
left_pad.color = new Color(200,200,150);
|
||||
left_pad.x = new double[] { -2.0, -1.6, -1.7, -1.8, -1.9, -2.0, -2.1, -2.2, -2.3, -2.4 };
|
||||
left_pad.y = new double[] { -1.7, -1.7, -1.75, -1.77, -1.79, -1.80, -1.79, -1.77, -1.75, -1.70 };
|
||||
left_pad.n = 10;
|
||||
|
||||
right_pad = new ScenePoly();
|
||||
right_pad.color = new Color(200,200,150);
|
||||
right_pad.x = new double[] { 2.0, 1.6, 1.7, 1.8, 1.9, 2.0, 2.1, 2.2, 2.3, 2.4 };
|
||||
right_pad.y = new double[] { -1.7, -1.7, -1.75, -1.77, -1.79, -1.80, -1.79, -1.77, -1.75, -1.70 };
|
||||
right_pad.n = 10;
|
||||
|
||||
left_L1 = new ScenePoly();
|
||||
left_L1.color = new Color(100,100,100);
|
||||
left_L1.x = new double[] { -1.46, -1.0, -1.0, -1.48 };
|
||||
left_L1.y = new double[] { -0.51, -0.95, -1.0, -0.55};
|
||||
left_L1.n = 4;
|
||||
|
||||
right_L1 = new ScenePoly();
|
||||
right_L1.color = new Color(100,100,100);
|
||||
right_L1.x = new double[] { 1.46, 1.0, 1.0, 1.48 };
|
||||
right_L1.y = new double[] { -0.51, -0.95, -1.0, -0.55};
|
||||
right_L1.n = 4;
|
||||
|
||||
left_L2 = new ScenePoly();
|
||||
left_L2.color = new Color(100,100,100);
|
||||
left_L2.x = new double[] { -1.0, -1.0, -1.75, -1.84};
|
||||
left_L2.y = new double[] { -0.95, -1.0, -1.28,-1.25};
|
||||
left_L2.n = 4;
|
||||
|
||||
right_L2 = new ScenePoly();
|
||||
right_L2.color = new Color(100,100,100);
|
||||
right_L2.x = new double[] { 1.0, 1.0, 1.75, 1.84};
|
||||
right_L2.y = new double[] { -0.95, -1.0, -1.28,-1.25};
|
||||
right_L2.n = 4;
|
||||
|
||||
left_L3 = new ScenePoly();
|
||||
left_L3.color = new Color(50,50,50);
|
||||
left_L3.x = new double[] { -1.0, -1.0, -1.47, -1.75, -1.84, -1.54};
|
||||
left_L3.y = new double[] { -0.15, -0.25, -0.53, -1.28, -1.25, -0.46};
|
||||
left_L3.n = 6;
|
||||
|
||||
right_L3 = new ScenePoly();
|
||||
right_L3.color = new Color(50,50,50);
|
||||
right_L3.x = new double[] { 1.0, 1.0, 1.47, 1.75, 1.84, 1.54};
|
||||
right_L3.y = new double[] { -0.15, -0.25, -0.53, -1.28, -1.25, -0.46};
|
||||
right_L3.n = 6;
|
||||
|
||||
left_L4 = new ScenePoly();
|
||||
left_L4.color = new Color(100,100,100);
|
||||
left_L4.x = new double[] { -1.78, -1.94, -1.98, -1.81};
|
||||
left_L4.y = new double[] { -1.27, -1.7, -1.7, -1.26};
|
||||
left_L4.n = 4;
|
||||
|
||||
right_L4 = new ScenePoly();
|
||||
right_L4.color = new Color(100,100,100);
|
||||
right_L4.x = new double[] { 1.78, 1.94, 1.98, 1.81};
|
||||
right_L4.y = new double[] { -1.27, -1.7, -1.7, -1.26};
|
||||
right_L4.n = 4;
|
||||
|
||||
fuselage = new ScenePoly();
|
||||
fuselage.color = new Color(200,200,220);
|
||||
fuselage.x = new double[] { 0.40, 0.65, 0.90, 1.00, 1.00, -1.00, -1.00, -0.90, -0.65, -0.40};
|
||||
fuselage.y = new double[] { 1.75, 1.60, 1.30, 0.85, -1.00, -1.00, 0.85, 1.30, 1.60, 1.75};
|
||||
fuselage.n = 10;
|
||||
|
||||
nozzle = new ScenePoly();
|
||||
nozzle.color = new Color(150,150,150);
|
||||
nozzle.x = new double[] { -0.3, -0.4, 0.4, 0.3};
|
||||
nozzle.y = new double[] { -1.0, -1.3, -1.3, -1.0};
|
||||
nozzle.n = 4;
|
||||
|
||||
left_rcs_pod = new ScenePoly();
|
||||
left_rcs_pod.color = new Color(100,100,100);
|
||||
left_rcs_pod.x = new double[] { -1.0, -1.25, -1.25, -1.0};
|
||||
left_rcs_pod.y = new double[] { 0.1, 0.1, -0.1, -0.1};
|
||||
left_rcs_pod.n = 4;
|
||||
|
||||
right_rcs_pod = new ScenePoly();
|
||||
right_rcs_pod.color = new Color(100,100,100);
|
||||
right_rcs_pod.x = new double[] { 1.0, 1.25, 1.25, 1.0};
|
||||
right_rcs_pod.y = new double[] { 0.1, 0.1, -0.1, -0.1};
|
||||
right_rcs_pod.n = 4;
|
||||
|
||||
left_top_rcs_nozzle = new ScenePoly();
|
||||
left_top_rcs_nozzle.color = new Color(255,100,100);
|
||||
left_top_rcs_nozzle.x = new double[] { -1.12, -1.18, -1.2, -1.1 };
|
||||
left_top_rcs_nozzle.y = new double[] { 0.1, 0.1, 0.2, 0.2 };
|
||||
left_top_rcs_nozzle.n = 4;
|
||||
|
||||
right_top_rcs_nozzle = new ScenePoly();
|
||||
right_top_rcs_nozzle.color = new Color(255,100,100);
|
||||
right_top_rcs_nozzle.x = new double[] { 1.12, 1.18, 1.2, 1.1 };
|
||||
right_top_rcs_nozzle.y = new double[] { 0.1, 0.1, 0.2, 0.2 };
|
||||
right_top_rcs_nozzle.n = 4;
|
||||
|
||||
left_bottom_rcs_nozzle = new ScenePoly();
|
||||
left_bottom_rcs_nozzle.color = new Color(255,100,100);
|
||||
left_bottom_rcs_nozzle.x = new double[] { -1.12, -1.18, -1.2, -1.1 };
|
||||
left_bottom_rcs_nozzle.y = new double[] { -0.1, -0.1, -0.2, -0.2 };
|
||||
left_bottom_rcs_nozzle.n = 4;
|
||||
|
||||
right_bottom_rcs_nozzle = new ScenePoly();
|
||||
right_bottom_rcs_nozzle.color = new Color(255,100,100);
|
||||
right_bottom_rcs_nozzle.x = new double[] { 1.12, 1.18, 1.2, 1.1 };
|
||||
right_bottom_rcs_nozzle.y = new double[] { -0.1, -0.1, -0.2, -0.2 };
|
||||
right_bottom_rcs_nozzle.n = 4;
|
||||
|
||||
docking_ring = new ScenePoly();
|
||||
docking_ring.color = new Color(100,100,200);
|
||||
docking_ring.x = new double[] { 0.4, 0.4, -0.4, -0.4 };
|
||||
docking_ring.y = new double[] { 2.0, 1.75, 1.75, 2.0 };
|
||||
docking_ring.n = 4;
|
||||
|
||||
flame = new ScenePoly();
|
||||
flame.color = new Color(200,150,100);
|
||||
flame.x = new double[] { 0.0, -0.4, 0.4 };
|
||||
flame.y = new double[] { -6.3, -1.3, -1.3 };
|
||||
flame.n = 3;
|
||||
|
||||
workPolyX = new int[30];
|
||||
workPolyY = new int[30];
|
||||
}
|
||||
|
||||
public void drawScenePoly(Graphics2D g, ScenePoly p, double angle_r , double x, double y) {
|
||||
for (int ii = 0; ii < p.n; ii++) {
|
||||
workPolyX[ii] = (int)(worldOriginX + scale *
|
||||
( Math.cos(angle_r) * p.x[ii] - Math.sin(angle_r) * p.y[ii] + x));
|
||||
workPolyY[ii] = (int)(worldOriginY - scale *
|
||||
( Math.sin(angle_r) * p.x[ii] + Math.cos(angle_r) * p.y[ii] + y));
|
||||
}
|
||||
g.setPaint(p.color);
|
||||
g.fillPolygon(workPolyX, workPolyY, p.n);
|
||||
}
|
||||
|
||||
public void rcs_ccw() { rcs_state = 1; }
|
||||
public void rcs_cw() { rcs_state = -1; }
|
||||
public void rcs_zero() { rcs_state = 0; }
|
||||
public int get_rcs_state() { return rcs_state; }
|
||||
|
||||
public void throttleUp() { throttleChange = 1; }
|
||||
public void throttleDown() { throttleChange = -1; }
|
||||
public void throttleZeroChange() { throttleChange = 0; }
|
||||
public void throttleMaxDown() { throttleChange = -100; }
|
||||
public int getThrottleDelta() { return throttleChange; }
|
||||
|
||||
public boolean getAltitudeCtrlState() { return altitudeCtrlEnabled; }
|
||||
public void toggleAltitudeCtrlState() { altitudeCtrlEnabled = !altitudeCtrlEnabled; }
|
||||
public void disableAltitudeCtrl() { altitudeCtrlEnabled = false; }
|
||||
|
||||
public void setAltitudeSetPoint(double setpoint) { altitudeSetPoint = setpoint; }
|
||||
public double getAltitudeSetPoint() { return altitudeSetPoint; }
|
||||
|
||||
public boolean getDownRangeCtrlState() { return downRangeCtrlEnabled; }
|
||||
public void toggleDownRangeCtrlState() { downRangeCtrlEnabled = !downRangeCtrlEnabled; }
|
||||
public void disableDownRangeCtrl() { downRangeCtrlEnabled = false; }
|
||||
|
||||
public void setDownRangeSetPoint(double setpoint) { downRangeSetPoint = setpoint; }
|
||||
public double getDownRangeSetPoint() { return downRangeSetPoint; }
|
||||
|
||||
public void setLanderAngle(double angle_r) {
|
||||
landerAngle = angle_r;
|
||||
}
|
||||
public void setLanderAngleRate(double angle_rate) {
|
||||
landerAngleRate = angle_rate;
|
||||
}
|
||||
public void setLanderPos(double x, double y) {
|
||||
landerPos[0] = x;
|
||||
landerPos[1] = y;
|
||||
}
|
||||
public void setLanderVel(double vx, double vy) {
|
||||
landerVel[0] = vx;
|
||||
landerVel[1] = vy;
|
||||
}
|
||||
public void setLanderThrottle(int percent) {
|
||||
landerThrottle = percent;
|
||||
}
|
||||
|
||||
public void setScale (int mapScale) {
|
||||
if (mapScale < 4) {
|
||||
scale = 4;
|
||||
} else if (mapScale > 128) {
|
||||
scale = 128;
|
||||
} else {
|
||||
scale = mapScale;
|
||||
}
|
||||
repaint();
|
||||
}
|
||||
|
||||
public int getScale() {
|
||||
return scale;
|
||||
}
|
||||
|
||||
public void drawCenteredCircle(Graphics2D g, int x, int y, int d) {
|
||||
x = x-(d/2);
|
||||
y = y-(d/2);
|
||||
g.fillOval(x,y,d,d);
|
||||
}
|
||||
|
||||
private void doDrawing(Graphics g) {
|
||||
Graphics2D g2d = (Graphics2D) g;
|
||||
|
||||
RenderingHints rh = new RenderingHints(
|
||||
RenderingHints.KEY_ANTIALIASING,
|
||||
RenderingHints.VALUE_ANTIALIAS_ON);
|
||||
|
||||
rh.put(RenderingHints.KEY_RENDERING,
|
||||
RenderingHints.VALUE_RENDER_QUALITY);
|
||||
|
||||
int ii, jj;
|
||||
int width = getWidth();
|
||||
int height = getHeight();
|
||||
|
||||
worldOriginX = (width/2) - (int)(scale * landerPos[0]);
|
||||
worldOriginY = (height/2) + (int)(scale * landerPos[1]);
|
||||
|
||||
// Draw Sky
|
||||
g2d.setPaint(skyColor);
|
||||
g2d.fillRect(0, 0, width, worldOriginY);
|
||||
|
||||
// |jpanel_x| = |origin_x| + |scale 0 | * |cos(angle) -sin(angle)| * |world_x|
|
||||
// |jpanel_y| |origin_y| | 0 -scale| |sin(angle) cos(angle)| |world_y|
|
||||
|
||||
// Draw ground.
|
||||
g2d.setPaint(groundColor);
|
||||
g2d.fillRect(0, worldOriginY, width, height);
|
||||
|
||||
// ===============================================================================
|
||||
// Draw lander
|
||||
// ===============================================================================
|
||||
drawScenePoly(g2d, left_pad, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_pad, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_L1, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_L1, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_L2, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_L2, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_L3, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_L3, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_L4, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_L4, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, fuselage, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, nozzle, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_rcs_pod, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_rcs_pod, landerAngle, landerPos[0], landerPos[1]);
|
||||
|
||||
drawScenePoly(g2d, left_top_rcs_nozzle, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_top_rcs_nozzle, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, left_bottom_rcs_nozzle, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, right_bottom_rcs_nozzle, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, docking_ring, landerAngle, landerPos[0], landerPos[1]);
|
||||
drawScenePoly(g2d, flame, landerAngle, landerPos[0], landerPos[1]);
|
||||
|
||||
// ===============================================================================
|
||||
// Move the first vertex of the triangular polygon that represents the main-engine
|
||||
// plume to make the triangle bigger or smaller depending on the throttle setting.
|
||||
flame.y[0] = - (landerThrottle / 100.0) * 5.0 - 1.3;
|
||||
|
||||
for (ii = 0; ii < flame.n; ii++) {
|
||||
workPolyX[ii] = (int)(worldOriginX + scale *
|
||||
( Math.cos(landerAngle) * flame.x[ii] - Math.sin(landerAngle) * flame.y[ii] + landerPos[0] ));
|
||||
workPolyY[ii] = (int)(worldOriginY - scale *
|
||||
( Math.sin(landerAngle) * flame.x[ii] + Math.cos(landerAngle) * flame.y[ii] + landerPos[1] ));
|
||||
}
|
||||
g2d.setPaint(flame.color);
|
||||
g2d.fillPolygon(workPolyX, workPolyY, flame.n);
|
||||
|
||||
// Draw range markers.
|
||||
int tickRange = 50;
|
||||
if (scale >= 8) tickRange = 20;
|
||||
if (scale >= 16) tickRange = 10;
|
||||
if (scale >= 32) tickRange = 5;
|
||||
if (scale >= 64) tickRange = 1;
|
||||
|
||||
int lower = ((int)(( - worldOriginX)/(scale * tickRange)) + 1) * tickRange;
|
||||
int upper = ((int)((width - worldOriginX)/(scale * tickRange)) + 1) * tickRange;
|
||||
|
||||
g2d.setPaint(Color.WHITE);
|
||||
|
||||
for (ii = lower ; ii < upper ; ii += tickRange) {
|
||||
int mx = (int)(worldOriginX + scale * ii);
|
||||
g2d.drawLine( mx, worldOriginY, mx, worldOriginY + 20);
|
||||
g2d.drawString ( String.format("%d",ii), mx, worldOriginY + 15);
|
||||
}
|
||||
double angle_d = landerAngle * 57.29577;
|
||||
double angle_rate_d = landerAngleRate * 57.29577;
|
||||
g2d.drawString ( String.format("SCALE: %d pixels/meter",scale), 20,20);
|
||||
g2d.drawString ( String.format("Throttle : [%d]", landerThrottle), 20,40);
|
||||
g2d.drawString ( String.format("Lander Angle (Deg): [%.2f]", angle_d), 20,60);
|
||||
g2d.drawString ( String.format("Lander AngleRate (Deg/s): [%.2f]", angle_rate_d), 20,80);
|
||||
g2d.drawString ( String.format("Lander Pos: [%.2f, %.2f]", landerPos[0], landerPos[1]), 20,100);
|
||||
g2d.drawString ( String.format("Lander Vel: [%.2f, %.2f]", landerVel[0], landerVel[1]), 20,120);
|
||||
|
||||
}
|
||||
|
||||
@Override
|
||||
public void paintComponent(Graphics g) {
|
||||
super.paintComponent(g);
|
||||
doDrawing(g);
|
||||
}
|
||||
}
|
||||
|
||||
class TrickSimMode {
|
||||
public static final int INIT = 0;
|
||||
public static final int FREEZE = 1;
|
||||
public static final int RUN = 5;
|
||||
}
|
||||
|
||||
class AltitudeCtrlPanel extends JPanel implements ActionListener {
|
||||
|
||||
private RangeView rangeView;
|
||||
private JButton altCtrlButton;
|
||||
private JButton setButton;
|
||||
private JFormattedTextField altitudeField;
|
||||
|
||||
public AltitudeCtrlPanel(RangeView view) {
|
||||
|
||||
rangeView = view;
|
||||
setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
|
||||
|
||||
altCtrlButton = new JButton("V-Ctrl");
|
||||
altCtrlButton.addActionListener(this);
|
||||
altCtrlButton.setActionCommand("altitude-ctrl");
|
||||
altCtrlButton.setToolTipText("Altitude Control");
|
||||
add(altCtrlButton);
|
||||
|
||||
NumberFormat format = NumberFormat.getInstance();
|
||||
format.setGroupingUsed(false);
|
||||
|
||||
NumberFormatter formatter = new NumberFormatter(format);
|
||||
formatter.setValueClass(Integer.class);
|
||||
formatter.setMinimum(0);
|
||||
formatter.setMaximum(99999);
|
||||
formatter.setAllowsInvalid(true);
|
||||
formatter.setCommitsOnValidEdit(true);
|
||||
|
||||
altitudeField = new JFormattedTextField(formatter);
|
||||
altitudeField.setMaximumSize( new Dimension(80, 20) );
|
||||
altitudeField.setText("0");
|
||||
add(altitudeField);
|
||||
|
||||
setButton = new JButton("Set");
|
||||
setButton.addActionListener(this);
|
||||
setButton.setActionCommand("set");
|
||||
setButton.setToolTipText("Set Desired Altitude.");
|
||||
add(setButton);
|
||||
}
|
||||
|
||||
public void actionPerformed(ActionEvent e) {
|
||||
String s = e.getActionCommand();
|
||||
switch (s) {
|
||||
case "altitude-ctrl":
|
||||
rangeView.toggleAltitudeCtrlState();
|
||||
if (rangeView.getAltitudeCtrlState())
|
||||
altCtrlButton.setForeground(Color.GREEN);
|
||||
else
|
||||
altCtrlButton.setForeground(Color.BLACK);
|
||||
break;
|
||||
case "set":
|
||||
double setpoint = ((Number)altitudeField.getValue()).doubleValue();
|
||||
rangeView.setAltitudeSetPoint(setpoint);
|
||||
break;
|
||||
default:
|
||||
System.out.println("Unknown Action Command:" + s);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
public void update() {
|
||||
if (rangeView.getAltitudeCtrlState()) {
|
||||
altCtrlButton.setForeground(Color.GREEN);
|
||||
} else {
|
||||
altCtrlButton.setForeground(Color.BLACK);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
class DownRangeCtrlPanel extends JPanel implements ActionListener {
|
||||
|
||||
private RangeView rangeView;
|
||||
private JButton drngCtrlButton;
|
||||
private JButton setButton;
|
||||
private JFormattedTextField drngField;
|
||||
|
||||
public DownRangeCtrlPanel(RangeView view) {
|
||||
|
||||
rangeView = view;
|
||||
setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
|
||||
|
||||
drngCtrlButton = new JButton("H-Ctrl");
|
||||
drngCtrlButton.addActionListener(this);
|
||||
drngCtrlButton.setActionCommand("downrange-ctrl");
|
||||
drngCtrlButton.setToolTipText("Down-Range Control");
|
||||
add(drngCtrlButton);
|
||||
|
||||
NumberFormat format = NumberFormat.getInstance();
|
||||
format.setGroupingUsed(false);
|
||||
|
||||
NumberFormatter formatter = new NumberFormatter(format);
|
||||
formatter.setValueClass(Integer.class);
|
||||
formatter.setMinimum(0);
|
||||
formatter.setMaximum(99999);
|
||||
formatter.setAllowsInvalid(true);
|
||||
formatter.setCommitsOnValidEdit(true);
|
||||
|
||||
drngField = new JFormattedTextField(formatter);
|
||||
drngField.setMaximumSize( new Dimension(80, 20) );
|
||||
drngField.setText("0");
|
||||
add(drngField);
|
||||
|
||||
setButton = new JButton("Set");
|
||||
setButton.addActionListener(this);
|
||||
setButton.setActionCommand("set");
|
||||
setButton.setToolTipText("Set Desired Horizontal Position.");
|
||||
add(setButton);
|
||||
|
||||
}
|
||||
|
||||
public void actionPerformed(ActionEvent e) {
|
||||
String s = e.getActionCommand();
|
||||
switch (s) {
|
||||
case "downrange-ctrl":
|
||||
rangeView.toggleDownRangeCtrlState();
|
||||
if (rangeView.getDownRangeCtrlState())
|
||||
drngCtrlButton.setForeground(Color.GREEN);
|
||||
else
|
||||
drngCtrlButton.setForeground(Color.BLACK);
|
||||
break;
|
||||
case "set":
|
||||
double setpoint = ((Number)drngField.getValue()).doubleValue();
|
||||
rangeView.setDownRangeSetPoint(setpoint);
|
||||
break;
|
||||
default:
|
||||
System.out.println("Unknown Action Command:" + s);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
public void update() {
|
||||
if (rangeView.getDownRangeCtrlState()) {
|
||||
drngCtrlButton.setForeground(Color.GREEN);
|
||||
} else {
|
||||
drngCtrlButton.setForeground(Color.BLACK);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
class ManualCtrlPanel extends JPanel implements ActionListener {
|
||||
private RangeView rangeView;
|
||||
private JButton rollLeftButton, rollRightButton;
|
||||
private JButton throttleUpButton, throttleDownButton;
|
||||
|
||||
public ManualCtrlPanel(RangeView view) {
|
||||
rangeView = view;
|
||||
setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
|
||||
setBorder( BorderFactory.createEtchedBorder(EtchedBorder.RAISED));
|
||||
|
||||
rollLeftButton = new JButton("\u21ba");
|
||||
rollLeftButton.addActionListener(this);
|
||||
rollLeftButton.setActionCommand("rollLeft");
|
||||
rollLeftButton.setToolTipText("Roll Left");
|
||||
|
||||
throttleUpButton = new JButton("\u25b2");
|
||||
throttleUpButton.addActionListener(this);
|
||||
throttleUpButton.setActionCommand("throttleUp");
|
||||
throttleUpButton.setToolTipText("Throttle Up");
|
||||
|
||||
throttleDownButton = new JButton("\u25bc");
|
||||
throttleDownButton.addActionListener(this);
|
||||
throttleDownButton.setActionCommand("throttleDown");
|
||||
throttleDownButton.setToolTipText("Throttle Down");
|
||||
|
||||
rollRightButton = new JButton("\u21bb");
|
||||
rollRightButton.addActionListener(this);
|
||||
rollRightButton.setActionCommand("rollRight");
|
||||
rollRightButton.setToolTipText("Roll Right");
|
||||
|
||||
add(rollLeftButton);
|
||||
add(throttleUpButton);
|
||||
add(throttleDownButton);
|
||||
add(rollRightButton);
|
||||
}
|
||||
|
||||
public void actionPerformed(ActionEvent e) {
|
||||
String s = e.getActionCommand();
|
||||
switch (s) {
|
||||
case "rollLeft":
|
||||
rangeView.rcs_ccw();
|
||||
break;
|
||||
case "rollRight":
|
||||
rangeView.rcs_cw();
|
||||
break;
|
||||
case "throttleUp":
|
||||
rangeView.throttleUp();
|
||||
break;
|
||||
case "throttleDown":
|
||||
rangeView.throttleDown();
|
||||
break;
|
||||
default:
|
||||
System.out.println("Unknown Action Command:" + s);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
class ControlPanel extends JPanel implements ActionListener {
|
||||
|
||||
private RangeView rangeView;
|
||||
private JButton zoomOutButton, zoomInButton;
|
||||
private JButton shutDownButton;
|
||||
private ManualCtrlPanel manualCtrlPanel;
|
||||
private AltitudeCtrlPanel altitudeCtrlPanel;
|
||||
private DownRangeCtrlPanel downRangeCtrlPanel;
|
||||
|
||||
public ControlPanel(RangeView view) {
|
||||
|
||||
rangeView = view;
|
||||
setLayout(new BoxLayout(this, BoxLayout.X_AXIS));
|
||||
|
||||
JPanel labeledManualCtrlPanel = new JPanel();
|
||||
labeledManualCtrlPanel.setLayout(new BoxLayout(labeledManualCtrlPanel, BoxLayout.Y_AXIS));
|
||||
JLabel manualControlLabel = new JLabel("Manual Control");
|
||||
manualControlLabel.setAlignmentX(Component.CENTER_ALIGNMENT);
|
||||
labeledManualCtrlPanel.add(manualControlLabel);
|
||||
manualCtrlPanel = new ManualCtrlPanel(rangeView);
|
||||
labeledManualCtrlPanel.add( manualCtrlPanel );
|
||||
|
||||
shutDownButton = new JButton("Shut Down");
|
||||
shutDownButton.addActionListener(this);
|
||||
shutDownButton.setActionCommand("shutdown");
|
||||
shutDownButton.setToolTipText("Set Throttle to zero and turn off automatic control.");
|
||||
shutDownButton.setAlignmentX(Component.CENTER_ALIGNMENT);
|
||||
labeledManualCtrlPanel.add( shutDownButton );
|
||||
add(labeledManualCtrlPanel);
|
||||
|
||||
zoomOutButton = new JButton("Zoom Out");
|
||||
zoomOutButton.addActionListener(this);
|
||||
zoomOutButton.setActionCommand("zoomout");
|
||||
zoomOutButton.setToolTipText("Zoom Out");
|
||||
add(zoomOutButton);
|
||||
|
||||
zoomInButton = new JButton("Zoom In");
|
||||
zoomInButton.addActionListener(this);
|
||||
zoomInButton.setActionCommand("zoomin");
|
||||
zoomInButton.setToolTipText("Zoom In");
|
||||
add(zoomInButton);
|
||||
|
||||
JPanel labeledAutoCtrlPanel = new JPanel();
|
||||
labeledAutoCtrlPanel.setLayout(new BoxLayout(labeledAutoCtrlPanel, BoxLayout.Y_AXIS));
|
||||
JLabel automaticControlLabel = new JLabel("Automatic Control");
|
||||
automaticControlLabel.setAlignmentX(Component.CENTER_ALIGNMENT);
|
||||
labeledAutoCtrlPanel.add(automaticControlLabel);
|
||||
JPanel autoCtrlPanel = new JPanel();
|
||||
autoCtrlPanel.setBorder( BorderFactory.createEtchedBorder(EtchedBorder.RAISED));
|
||||
autoCtrlPanel.setLayout(new BoxLayout(autoCtrlPanel, BoxLayout.Y_AXIS));
|
||||
altitudeCtrlPanel = new AltitudeCtrlPanel(rangeView);
|
||||
autoCtrlPanel.add(altitudeCtrlPanel);
|
||||
downRangeCtrlPanel = new DownRangeCtrlPanel(rangeView);
|
||||
autoCtrlPanel.add(downRangeCtrlPanel);
|
||||
labeledAutoCtrlPanel.add(autoCtrlPanel);
|
||||
add (labeledAutoCtrlPanel);
|
||||
|
||||
}
|
||||
|
||||
public void actionPerformed(ActionEvent e) {
|
||||
String s = e.getActionCommand();
|
||||
switch (s) {
|
||||
case "zoomout":
|
||||
rangeView.setScale( rangeView.getScale() / 2 );
|
||||
break;
|
||||
case "zoomin":
|
||||
rangeView.setScale( rangeView.getScale() * 2 );
|
||||
break;
|
||||
case "shutdown":
|
||||
rangeView.disableAltitudeCtrl();
|
||||
altitudeCtrlPanel.update();
|
||||
rangeView.disableDownRangeCtrl();
|
||||
downRangeCtrlPanel.update();
|
||||
rangeView.throttleMaxDown();
|
||||
break;
|
||||
default:
|
||||
System.out.println("Unknown Action Command:" + s);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} // class ControlPanel
|
||||
|
||||
public class LanderDisplay extends JFrame {
|
||||
|
||||
private RangeView rangeView;
|
||||
private BufferedReader in;
|
||||
private DataOutputStream out;
|
||||
private JPanel panelGroup0;
|
||||
private JPanel panelGroup1;
|
||||
private ControlPanel controlPanel;
|
||||
|
||||
public LanderDisplay(RangeView arena) {
|
||||
setTitle("Lander Range");
|
||||
|
||||
rangeView = arena;
|
||||
|
||||
panelGroup1 = new JPanel();
|
||||
panelGroup1.setLayout(new BoxLayout(panelGroup1, BoxLayout.X_AXIS));
|
||||
panelGroup1.add(rangeView);
|
||||
|
||||
controlPanel = new ControlPanel(rangeView);
|
||||
|
||||
panelGroup0 = new JPanel();
|
||||
panelGroup0.setLayout(new BoxLayout(panelGroup0, BoxLayout.Y_AXIS));
|
||||
panelGroup0.add(panelGroup1);
|
||||
panelGroup0.add(controlPanel);
|
||||
|
||||
add(panelGroup0);
|
||||
|
||||
rangeView.setScale(32);
|
||||
rangeView.setLanderPos (0.0, 1.8);
|
||||
|
||||
setSize(800, 500);
|
||||
setLocationRelativeTo(null);
|
||||
setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
|
||||
setFocusable(true);
|
||||
|
||||
}
|
||||
|
||||
public void connectToServer(String host, int port ) throws IOException {
|
||||
Socket socket = new Socket(host, port);
|
||||
in = new BufferedReader( new InputStreamReader( socket.getInputStream()));
|
||||
out = new DataOutputStream(new BufferedOutputStream(socket.getOutputStream()));
|
||||
}
|
||||
|
||||
public void drawRangeView() {
|
||||
rangeView.repaint();
|
||||
}
|
||||
|
||||
private static void printHelpText() {
|
||||
System.out.println(
|
||||
"----------------------------------------------------------------------\n"
|
||||
+ "usage: java jar LanderDisplay.jar <port-number>\n"
|
||||
+ "----------------------------------------------------------------------\n"
|
||||
);
|
||||
}
|
||||
|
||||
public enum ModelState { INACTIVE, READY, ACTIVE }
|
||||
|
||||
public static void main(String[] args) throws IOException, InterruptedException {
|
||||
|
||||
String host = "localHost";
|
||||
int port = 0;
|
||||
boolean boom = false;
|
||||
|
||||
// ==========================================================
|
||||
// Handle program arguments.
|
||||
// ==========================================================
|
||||
int ii = 0;
|
||||
while (ii < args.length) {
|
||||
switch (args[ii]) {
|
||||
case "-help" :
|
||||
case "--help" : {
|
||||
printHelpText();
|
||||
System.exit(0);
|
||||
} break;
|
||||
default : {
|
||||
port = (Integer.parseInt(args[ii]));
|
||||
} break;
|
||||
}
|
||||
++ii;
|
||||
}
|
||||
|
||||
boolean go = true;
|
||||
double dt = 0.100; // Time between updates (seconds).
|
||||
double posx = 0.0;
|
||||
double posy = 0.0;
|
||||
double angle = 0.0;
|
||||
double angle_rate = 0.0;
|
||||
double velx = 0.0;
|
||||
double vely = 0.0;
|
||||
int throttle = 0;
|
||||
|
||||
// Outbound command variables
|
||||
int throttle_delta;
|
||||
int rcs_state;
|
||||
|
||||
int simMode = 0;
|
||||
boolean standalone = false;
|
||||
|
||||
int mapScale = 32 ; // pixels per meter.
|
||||
|
||||
RangeView rangeView = new RangeView( mapScale);
|
||||
LanderDisplay landerDisplay = new LanderDisplay( rangeView);
|
||||
landerDisplay.setVisible(true);
|
||||
landerDisplay.drawRangeView();
|
||||
|
||||
if (port == 0) {
|
||||
System.out.println("No variable server port specified.");
|
||||
printHelpText();
|
||||
System.exit(0);
|
||||
}
|
||||
|
||||
// Connect to the Trick simulation's variable server
|
||||
System.out.println("Connecting to: " + host + ":" + port);
|
||||
landerDisplay.connectToServer(host, port);
|
||||
|
||||
landerDisplay.out.writeBytes("trick.var_set_client_tag(\"LanderDisplay\") \n");
|
||||
landerDisplay.out.flush();
|
||||
|
||||
// Have the Variable Server send us the simulation mode ONCE.
|
||||
landerDisplay.out.writeBytes( "trick.var_add(\"trick_sys.sched.mode\")\n" +
|
||||
"trick.var_send() \n" +
|
||||
"trick.var_clear() \n");
|
||||
landerDisplay.out.flush();
|
||||
|
||||
// Read the response and extract the simulation mode.
|
||||
try {
|
||||
String line;
|
||||
String field[];
|
||||
line = landerDisplay.in.readLine();
|
||||
field = line.split("\t");
|
||||
simMode = Integer.parseInt( field[1]);
|
||||
} catch (IOException | NullPointerException e ) {
|
||||
go = false;
|
||||
}
|
||||
|
||||
// Configure the Variable Server to cyclically send us the following varibales.
|
||||
// Tell the variable server:
|
||||
// 1) We want the values of the following variables:
|
||||
landerDisplay.out.writeBytes( "trick.var_pause() \n" +
|
||||
"trick.var_add(\"dyn.lander.pos[0]\")\n" +
|
||||
"trick.var_add(\"dyn.lander.pos[1]\")\n" +
|
||||
"trick.var_add(\"dyn.lander.angle\")\n" +
|
||||
"trick.var_add(\"dyn.lander.vel[0]\")\n" +
|
||||
"trick.var_add(\"dyn.lander.vel[1]\")\n" +
|
||||
"trick.var_add(\"dyn.lander.angleDot\")\n" +
|
||||
"trick.var_add(\"dyn.lander.throttle\")\n" +
|
||||
"trick.var_add(\"trick_sys.sched.mode\")\n" +
|
||||
// 2) We want the responses in ASCII:
|
||||
"trick.var_ascii() \n" +
|
||||
// 3) We want values to be updated at the specified rate:
|
||||
String.format("trick.var_cycle(%.3f)\n", dt) +
|
||||
// 4) Start sending values as specified.
|
||||
"trick.var_unpause() \n" );
|
||||
landerDisplay.out.flush();
|
||||
|
||||
while (go) {
|
||||
|
||||
// Recieve and parse periodic data response from the variable server.
|
||||
try {
|
||||
String line;
|
||||
String field[];
|
||||
line = landerDisplay.in.readLine();
|
||||
field = line.split("\t");
|
||||
posx = Double.parseDouble( field[1]);
|
||||
posy = Double.parseDouble( field[2]);
|
||||
angle = Double.parseDouble( field[3]);
|
||||
velx = Double.parseDouble( field[4]);
|
||||
vely = Double.parseDouble( field[5]);
|
||||
angle_rate = Double.parseDouble( field[6]);
|
||||
throttle = Integer.parseInt( field[7]);
|
||||
simMode = Integer.parseInt( field[8]);
|
||||
} catch (IOException | NullPointerException e ) {
|
||||
go = false;
|
||||
}
|
||||
|
||||
// Update the display data.
|
||||
rangeView.setLanderPos(posx, posy);
|
||||
rangeView.setLanderVel(velx, vely);
|
||||
rangeView.setLanderAngle(angle);
|
||||
rangeView.setLanderAngleRate(angle_rate);
|
||||
rangeView.setLanderThrottle(throttle);
|
||||
|
||||
throttle_delta = rangeView.getThrottleDelta();
|
||||
landerDisplay.out.writeBytes( String.format("dyn.lander.manual_throttle_change_command = %d ;\n", throttle_delta ));
|
||||
rangeView.throttleZeroChange();
|
||||
|
||||
rcs_state = rangeView.get_rcs_state();
|
||||
landerDisplay.out.writeBytes( String.format("dyn.lander.manual_rcs_command = %d ;\n", rcs_state ));
|
||||
rangeView.rcs_zero();
|
||||
|
||||
if (rangeView.getAltitudeCtrlState()) {
|
||||
landerDisplay.out.writeBytes("dyn.lander.altitudeCtrlEnabled = 1 ;\n");
|
||||
landerDisplay.out.writeBytes( String.format("dyn.lander.y_cmd = %.2f ;\n", rangeView.getAltitudeSetPoint()));
|
||||
} else {
|
||||
landerDisplay.out.writeBytes("dyn.lander.altitudeCtrlEnabled = 0 ;\n");
|
||||
}
|
||||
|
||||
if (rangeView.getDownRangeCtrlState()) {
|
||||
landerDisplay.out.writeBytes("dyn.lander.downRangeCtrlEnabled = 1 ;\n");
|
||||
double foo = rangeView.getDownRangeSetPoint();
|
||||
landerDisplay.out.writeBytes( String.format("dyn.lander.x_cmd = %.2f ;\n", rangeView.getDownRangeSetPoint()));
|
||||
} else {
|
||||
landerDisplay.out.writeBytes("dyn.lander.downRangeCtrlEnabled = 0 ;\n");
|
||||
}
|
||||
|
||||
landerDisplay.out.flush();
|
||||
|
||||
// Update the scene.
|
||||
landerDisplay.drawRangeView();
|
||||
|
||||
} // while
|
||||
} // main
|
||||
} // class
|
||||
75
trick_sims/SIM_lander/models/lander/include/Lander.hh
Executable file
75
trick_sims/SIM_lander/models/lander/include/Lander.hh
Executable file
@ -0,0 +1,75 @@
|
||||
/************************************************************************
|
||||
PURPOSE: (Simulate a lander.)
|
||||
LIBRARY DEPENDENCIES:
|
||||
((lander/src/Lander.o))
|
||||
**************************************************************************/
|
||||
#ifndef _lander_hh_
|
||||
#define _lander_hh_
|
||||
|
||||
class PIDController {
|
||||
public:
|
||||
double Kp;
|
||||
double Kd;
|
||||
double Ki;
|
||||
double Dt;
|
||||
double error;
|
||||
double previous_error;
|
||||
double integral;
|
||||
double derivative;
|
||||
//int first_time;
|
||||
double integral_max;
|
||||
double prev_set_point_value;
|
||||
|
||||
PIDController( double kp, double ki, double kd, double imax, double dt );
|
||||
double getOutput(double commanded_value, double measured_value);
|
||||
};
|
||||
|
||||
class Lander {
|
||||
|
||||
public:
|
||||
double pos[2] ; /* (m) xy-position */
|
||||
double vel[2] ; /* (m/s) xy-velocity */
|
||||
double acc[2] ; /* (m/s2) xy-acceleration */
|
||||
double angle;
|
||||
double angleDot;
|
||||
double angleDDot;
|
||||
double thrust_max; /* (N) Maximum thrust that the main engine can produce. */
|
||||
double rcs_torque; /* */
|
||||
double mass; /* (kg) */
|
||||
double moment_of_inertia; /* (kg/m2) */
|
||||
double g; /* (m/s2) - acceleration of gravity. */
|
||||
int throttle;
|
||||
int rcs_command;
|
||||
|
||||
// Controls from the client
|
||||
int manual_throttle_change_command; /* add to throttle */
|
||||
int manual_rcs_command; /* -1 = counter-clockwise, 0 = no torque, 1 = clockwise */
|
||||
int altitudeCtrlEnabled;
|
||||
int downRangeCtrlEnabled;
|
||||
|
||||
PIDController* posxCntrl;
|
||||
PIDController* posyCntrl;
|
||||
|
||||
PIDController* thrust_controller;
|
||||
|
||||
PIDController* velxCntrl;
|
||||
PIDController* velyCntrl;
|
||||
PIDController* angleCntrl;
|
||||
|
||||
double x_cmd;
|
||||
double y_cmd;
|
||||
double vy_cmd;
|
||||
double vx_cmd;
|
||||
double ay_cmd;
|
||||
double ax_cmd;
|
||||
double angle_cmd;
|
||||
double angle_dot_cmd;
|
||||
|
||||
int default_data();
|
||||
int state_init();
|
||||
int state_deriv();
|
||||
int state_integ();
|
||||
int check_ground_contact();
|
||||
int control();
|
||||
};
|
||||
#endif
|
||||
196
trick_sims/SIM_lander/models/lander/src/Lander.cpp
Executable file
196
trick_sims/SIM_lander/models/lander/src/Lander.cpp
Executable file
@ -0,0 +1,196 @@
|
||||
/********************************* TRICK HEADER *******************************
|
||||
PURPOSE: ( Simulate a satellite orbiting the Earth. )
|
||||
LIBRARY DEPENDENCY:
|
||||
((Lander.o))
|
||||
*******************************************************************************/
|
||||
#include "../include/Lander.hh"
|
||||
#include "trick/integrator_c_intf.h"
|
||||
#include <math.h>
|
||||
#include <iostream>
|
||||
|
||||
#define RAD_PER_DEG (M_PI / 180.0)
|
||||
#define DEG_PER_RAD (180.0/ M_PI )
|
||||
|
||||
int pid_debug = 0;
|
||||
|
||||
PIDController::PIDController( double kp, double ki, double kd, double imax, double dt ) {
|
||||
Kp=kp; Ki=ki; Kd=kd; Dt=dt;
|
||||
previous_error = 0;
|
||||
integral = 0;
|
||||
integral_max = imax;
|
||||
prev_set_point_value = 0.0;
|
||||
}
|
||||
|
||||
double PIDController::getOutput(double set_point_value, double measured_value) {
|
||||
|
||||
error = set_point_value - measured_value;
|
||||
|
||||
if (prev_set_point_value != set_point_value) {
|
||||
previous_error = error;
|
||||
}
|
||||
|
||||
integral = integral + error * Dt;
|
||||
|
||||
if (integral < -integral_max) integral = -integral_max;
|
||||
if (integral > integral_max) integral = integral_max;
|
||||
|
||||
derivative = (error - previous_error) / Dt;
|
||||
previous_error = error;
|
||||
prev_set_point_value = set_point_value;
|
||||
|
||||
double pterm = Kp * error;
|
||||
double iterm = Ki * integral;
|
||||
double dterm = Kd * derivative;
|
||||
double output = pterm + iterm + dterm;
|
||||
|
||||
return ( output );
|
||||
}
|
||||
|
||||
int Lander::default_data() {
|
||||
|
||||
pos[0] = 0.0;
|
||||
pos[1] = 1.8;
|
||||
vel[0] = 0.0;
|
||||
vel[1] = 0.0;
|
||||
angle = 0.0;
|
||||
angleDot = 0.0;
|
||||
angleDDot = 0.0;
|
||||
|
||||
// thrust_max = 15000;
|
||||
thrust_max = 6500;
|
||||
rcs_torque = 50;
|
||||
mass = 2000;
|
||||
moment_of_inertia = 2000;
|
||||
g = 1.62; // Gravitional acceleration on the moon.
|
||||
|
||||
throttle = 0;
|
||||
rcs_command = 0;
|
||||
|
||||
// Controls
|
||||
manual_throttle_change_command = 0;
|
||||
manual_rcs_command = 0;
|
||||
altitudeCtrlEnabled = 0;
|
||||
downRangeCtrlEnabled = 0;
|
||||
|
||||
// Auto Control Parameters
|
||||
x_cmd = 40.0;
|
||||
y_cmd = 0.0;
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
int Lander::state_init() {
|
||||
|
||||
posxCntrl = new PIDController( 0.20, 0.01, 0.40, 50.0, 0.10 );
|
||||
velxCntrl = new PIDController( 0.20, 0.01, 0.40, 50.0, 0.10 );
|
||||
|
||||
posyCntrl = new PIDController( 0.40, 0.1, 1.0, 50.0, 0.10 );
|
||||
velyCntrl = new PIDController( 0.40, 0.00, 1.0, 10.0, 0.10 );
|
||||
|
||||
angleCntrl = new PIDController( 0.20, 0.02, 0.80, 10.0, 0.10 );
|
||||
|
||||
thrust_controller = new PIDController( 0.2, 0.001, 0.00, 100.0, 0.10 );
|
||||
|
||||
return (0);
|
||||
|
||||
}
|
||||
|
||||
#define MAX_CTRL_ANGLE 30.0
|
||||
int Lander::control() {
|
||||
|
||||
if (altitudeCtrlEnabled == 1) {
|
||||
|
||||
if (pos[1] < 50.0) {
|
||||
vy_cmd = posyCntrl->getOutput(y_cmd, pos[1]);
|
||||
if (vy_cmd > 50.0 ) vy_cmd = 50.0;
|
||||
if (vy_cmd < -5.0) vy_cmd = -5.0;
|
||||
ay_cmd = g + velyCntrl->getOutput(vy_cmd, vel[1]);
|
||||
} else {
|
||||
// This controller is intended to be more energy efficient.
|
||||
ay_cmd = g + thrust_controller->getOutput(
|
||||
g * y_cmd,
|
||||
g * pos[1] + 0.5 * fabs(vel[1]) * vel[1]
|
||||
);
|
||||
}
|
||||
|
||||
throttle = (ay_cmd * mass * 100) / thrust_max;
|
||||
if (throttle > 100 ) throttle = 100;
|
||||
if (throttle < 0) throttle = 0;
|
||||
}
|
||||
|
||||
if (downRangeCtrlEnabled == 1) {
|
||||
if (throttle >= 10 ) {
|
||||
vx_cmd = posxCntrl->getOutput(x_cmd, pos[0]);
|
||||
double thrust = (throttle / 100.0) * thrust_max;
|
||||
double a_max = thrust / mass;
|
||||
ax_cmd = velxCntrl->getOutput(vx_cmd, vel[0]);
|
||||
if (ax_cmd > 0.707 * a_max ) ax_cmd = 0.707 * a_max ;
|
||||
if (ax_cmd < -0.707 * a_max ) ax_cmd = -0.707 * a_max ;
|
||||
double acc_ratio = ax_cmd / a_max ; // must be between 0..1
|
||||
angle_cmd = -asin( acc_ratio );
|
||||
} else {
|
||||
angle_cmd = 0.0;
|
||||
}
|
||||
|
||||
if (angle_cmd > MAX_CTRL_ANGLE * RAD_PER_DEG) angle_cmd = MAX_CTRL_ANGLE * RAD_PER_DEG;
|
||||
if (angle_cmd < -MAX_CTRL_ANGLE * RAD_PER_DEG) angle_cmd = -MAX_CTRL_ANGLE * RAD_PER_DEG;
|
||||
|
||||
pid_debug = 1;
|
||||
angle_dot_cmd = angleCntrl->getOutput(angle_cmd, angle);
|
||||
pid_debug = 0;
|
||||
|
||||
if ((angle_dot_cmd - angleDot) > 0.1 * RAD_PER_DEG) {
|
||||
rcs_command = 1;
|
||||
} else if ((angle_dot_cmd - angleDot) < -0.1 * RAD_PER_DEG) {
|
||||
rcs_command = -1;
|
||||
} else {
|
||||
rcs_command = 0;
|
||||
}
|
||||
|
||||
} else {
|
||||
rcs_command = manual_rcs_command;
|
||||
}
|
||||
|
||||
throttle += manual_throttle_change_command;
|
||||
if (throttle > 100 ) throttle = 100;
|
||||
if (throttle < 0) throttle = 0;
|
||||
|
||||
return (0);
|
||||
}
|
||||
|
||||
int Lander::state_deriv() {
|
||||
|
||||
double thrust = (throttle / 100.0) * thrust_max;
|
||||
|
||||
acc[0] = (thrust * -sin(angle)) / mass;
|
||||
acc[1] = (thrust * cos(angle)) / mass - g;
|
||||
|
||||
angleDDot = rcs_command * rcs_torque / moment_of_inertia;
|
||||
|
||||
return(0);
|
||||
}
|
||||
|
||||
int Lander::state_integ() {
|
||||
|
||||
int integration_step;
|
||||
|
||||
load_state ( &pos[0], &pos[1], &vel[0], &vel[1], &angle, &angleDot, (double*)0);
|
||||
load_deriv ( &vel[0], &vel[1], &acc[0], &acc[1], &angleDot, &angleDDot, (double*)0);
|
||||
|
||||
integration_step = integrate();
|
||||
|
||||
unload_state( &pos[0], &pos[1], &vel[0], &vel[1], &angle, &angleDot, (double*)0);
|
||||
|
||||
return(integration_step);
|
||||
}
|
||||
|
||||
int Lander::check_ground_contact() {
|
||||
if (pos[1] < 1.8) {
|
||||
pos[1] = 1.8;
|
||||
vel[0] = 0.0;
|
||||
vel[1] = 0.0;
|
||||
angle = 0.0;
|
||||
angleDot = 0.0;
|
||||
}
|
||||
return(0);
|
||||
}
|
||||
@ -25,52 +25,52 @@ set( JAVA_LIBS
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/bsaf-1.9.2.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/jdesktop/bsaf/bsaf/1.9.2/bsaf-1.9.2.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/jdesktop/bsaf/bsaf/1.9.2/bsaf-1.9.2.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jcommon-1.0.23.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/jfree/jcommon/1.0.23/jcommon-1.0.23.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/jfree/jcommon/1.0.23/jcommon-1.0.23.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jfreechart-1.0.19.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/jfree/jfreechart/1.0.19/jfreechart-1.0.19.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/jfree/jfreechart/1.0.19/jfreechart-1.0.19.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jfreesvg-2.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/jfree/jfreesvg/2.1/jfreesvg-2.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/jfree/jfreesvg/2.1/jfreesvg-2.1.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jopt-simple-4.8.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/net/sf/jopt-simple/jopt-simple/4.8/jopt-simple-4.8.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/net/sf/jopt-simple/jopt-simple/4.8/jopt-simple-4.8.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/junit-4.12.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo1.maven.org/maven2/junit/junit/4.12/junit-4.12.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo1.maven.org/maven2/junit/junit/4.12/junit-4.12.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/swingx-1.6.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/swinglabs/swingx/1.6.1/swingx-1.6.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/swinglabs/swingx/1.6.1/swingx-1.6.1.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/hamcrest-core-1.3.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/hamcrest/hamcrest-core/1.3/hamcrest-core-1.3.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/hamcrest/hamcrest-core/1.3/hamcrest-core-1.3.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/pdfbox-2.0.11.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/apache/pdfbox/pdfbox/2.0.11/pdfbox-2.0.11.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/apache/pdfbox/pdfbox/2.0.11/pdfbox-2.0.11.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/fontbox-2.0.11.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/apache/pdfbox/fontbox/2.0.11/fontbox-2.0.11.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/apache/pdfbox/fontbox/2.0.11/fontbox-2.0.11.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
@ -80,37 +80,37 @@ add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/commons-log
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-runtime-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/org/glassfish/jaxb/jaxb-runtime/2.4.0-b180830.0438/jaxb-runtime-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/org/glassfish/jaxb/jaxb-runtime/2.4.0-b180830.0438/jaxb-runtime-2.4.0-b180830.0438.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-xjc-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-xjc/2.4.0-b180830.0438/jaxb-xjc-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-xjc/2.4.0-b180830.0438/jaxb-xjc-2.4.0-b180830.0438.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-jxc-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-jxc/2.4.0-b180830.0438/jaxb-jxc-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-jxc/2.4.0-b180830.0438/jaxb-jxc-2.4.0-b180830.0438.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-impl-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-impl/2.4.0-b180830.0438/jaxb-impl-2.4.0-b180830.0438.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-impl/2.4.0-b180830.0438/jaxb-impl-2.4.0-b180830.0438.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-api-2.4.0-b180725.0427.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-core/2.3.0.1/jaxb-core-2.3.0.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/com/sun/xml/bind/jaxb-core/2.3.0.1/jaxb-core-2.3.0.1.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/jaxb-core-2.3.0.1.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/javax/xml/bind/jaxb-api/2.4.0-b180725.0427/jaxb-api-2.4.0-b180725.0427.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/javax/xml/bind/jaxb-api/2.4.0-b180725.0427/jaxb-api-2.4.0-b180725.0427.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libexec/trick/java/lib/javax.activation-1.2.0.jar
|
||||
COMMAND curl --retry 4 -O -s -S http://repo.maven.apache.org/maven2/com/sun/activation/javax.activation/1.2.0/javax.activation-1.2.0.jar
|
||||
COMMAND curl --retry 4 -O -s -S https://repo.maven.apache.org/maven2/com/sun/activation/javax.activation/1.2.0/javax.activation-1.2.0.jar
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/libexec/trick/java/lib
|
||||
)
|
||||
|
||||
|
||||
@ -76,6 +76,7 @@ Trick::Executive::Executive() {
|
||||
trap_sigfpe = false ;
|
||||
trap_sigsegv = false ;
|
||||
trap_sigabrt = false ;
|
||||
trap_sigchld = false ;
|
||||
|
||||
build_date = std::string("unknown") ;
|
||||
current_version = std::string("unknown") ;
|
||||
@ -284,6 +285,10 @@ bool Trick::Executive::get_trap_sigabrt() {
|
||||
return(trap_sigabrt) ;
|
||||
}
|
||||
|
||||
bool Trick::Executive::get_trap_sigchld() {
|
||||
return(trap_sigchld) ;
|
||||
}
|
||||
|
||||
void Trick::Executive::reset_job_cycle_times() {
|
||||
unsigned int ii ;
|
||||
for ( ii = 0 ; ii < all_jobs_vector.size() ; ii++ ) {
|
||||
|
||||
@ -390,6 +390,18 @@ extern "C" int exec_get_trap_sigabrt() {
|
||||
return -1 ;
|
||||
}
|
||||
|
||||
/**
|
||||
* @relates Trick::Executive
|
||||
* @copydoc Trick::Executive::get_trap_sigchld
|
||||
* C wrapper for Trick::Executive::get_trap_sigchld
|
||||
*/
|
||||
extern "C" int exec_get_trap_sigchld() {
|
||||
if ( the_exec != NULL ) {
|
||||
return (int)the_exec->get_trap_sigchld() ;
|
||||
}
|
||||
return -1 ;
|
||||
}
|
||||
|
||||
// -------------------------- SET ------------------------
|
||||
|
||||
/**
|
||||
@ -617,6 +629,18 @@ extern "C" int exec_set_trap_sigabrt( int on_off ) {
|
||||
return -1 ;
|
||||
}
|
||||
|
||||
/**
|
||||
* @relates Trick::Executive
|
||||
* @copydoc Trick::Executive::set_trap_sigsegv
|
||||
* C wrapper for Trick::Executive::set_trap_sigsegv
|
||||
*/
|
||||
extern "C" int exec_set_trap_sigchld( int on_off ) {
|
||||
if ( the_exec != NULL ) {
|
||||
return the_exec->set_trap_sigchld((bool)on_off) ;
|
||||
}
|
||||
return -1 ;
|
||||
}
|
||||
|
||||
/**
|
||||
* @relates Trick::Executive
|
||||
* @copydoc Trick::Executive::set_job_onoff
|
||||
|
||||
@ -135,6 +135,32 @@ int Trick::Executive::set_trap_sigabrt(bool on_off) {
|
||||
return(0) ;
|
||||
}
|
||||
|
||||
/**
|
||||
@details
|
||||
-# If incoming on_off flag is true assign sig_hand() as the signal handler for SIGCHLD
|
||||
-# Else revert to the default signal handler SIG_DFL.
|
||||
-# set trap_sigabrt to the current on_off status
|
||||
Requirement [@ref r_exec_signal_0].
|
||||
*/
|
||||
|
||||
int Trick::Executive::set_trap_sigchld(bool on_off) {
|
||||
static struct sigaction sigact;
|
||||
|
||||
if ( on_off ) {
|
||||
/* Assign sig_hand() as the signal handler for SIGABRT */
|
||||
sigact.sa_handler = (void (*)(int)) child_handler;
|
||||
} else {
|
||||
sigact.sa_handler = SIG_DFL;
|
||||
}
|
||||
|
||||
if (sigaction(SIGCHLD, &sigact, NULL) < 0) {
|
||||
perror("sigaction() failed for SIGCHLD");
|
||||
} else {
|
||||
trap_sigchld = on_off ;
|
||||
}
|
||||
return(0) ;
|
||||
}
|
||||
|
||||
/**
|
||||
@details
|
||||
-# Catch SIGBUS, SIGSEGV, and SIGABRT errors. Don't catch SIGFPE
|
||||
@ -149,11 +175,12 @@ int Trick::Executive::init_signal_handlers() {
|
||||
|
||||
static struct sigaction sigact;
|
||||
|
||||
/* By default catch SIGBUS and SIGSEGV. Don't catch SIGFPE */
|
||||
/* By default catch SIGBUS, SIGSEGV, SIGABRT, and SIGCHLD. Don't catch SIGFPE */
|
||||
set_trap_sigbus(true) ;
|
||||
set_trap_sigfpe(false) ;
|
||||
set_trap_sigsegv(true) ;
|
||||
set_trap_sigabrt(true) ;
|
||||
set_trap_sigchld(true) ;
|
||||
|
||||
/* Assign ctrl_c_hand() as the default signal handler for SIGINT (<CTRL-C> keypress). */
|
||||
sigact.sa_handler = (void (*)(int)) ctrl_c_hand;
|
||||
@ -173,12 +200,6 @@ int Trick::Executive::init_signal_handlers() {
|
||||
perror("sigaction() failed for SIGUSR1");
|
||||
}
|
||||
|
||||
/* Assign child_handler() as the default signal handler for SIGCHLD. */
|
||||
sigact.sa_handler = (void (*)(int)) child_handler;
|
||||
if (sigaction(SIGCHLD, &sigact, NULL) < 0) {
|
||||
perror("sigaction() failed for SIGCHLD");
|
||||
}
|
||||
|
||||
return(0) ;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user