def __init__(self, vehicle, parser): self.parser = parser self.gui = DebugGui() self._idleRpm = self.parser.getEngineRpmIdle() self._maxRpm = self.parser.getEngineRpmMax() self._torqueFuncs = self.parser.getTorqueFuncs() self._curRpm = self._idleRpm self._curTorque = 0. self._gasPedal = 0.0 # Range: 0.0 - 1.0 self._brakePedal = 0.0 self._vehicle = vehicle self._gearbox = AutomaticGearbox(self.parser.getGearRatios(), self.parser.getPoweredAxleRatio())
def start_debug(thermostat):
chatbot = DebugBot(access_codes.jid, access_codes.password, thermostat)
chatbot.register_plugin('xep_0030') # Service Discovery
chatbot.register_plugin('xep_0004') # Data Forms
chatbot.register_plugin('xep_0060') # PubSub
chatbot.register_plugin('xep_0199', {
'keepalive': True,
'interval': 60,
'timeout': 15
}) # XMPP Ping
if chatbot.connect(('talk.google.com', 5222)):
logging.info("logged in to talk.google.com")
chatbot.process(block=False)
else:
logging.warning("login to talk.google.com failed")
sys.exit(0)
app = QApplication(sys.argv)
debugUi = DebugGui("Temp sensor disconnected")
sys.exit(app.exec_())
class Drivetrain:
def __init__(self, vehicle, parser):
self.parser = parser
self.gui = DebugGui()
self._idleRpm = self.parser.getEngineRpmIdle()
self._maxRpm = self.parser.getEngineRpmMax()
self._torqueFuncs = self.parser.getTorqueFuncs()
self._curRpm = self._idleRpm
self._curTorque = 0.
self._gasPedal = 0.0 # Range: 0.0 - 1.0
self._brakePedal = 0.0
self._vehicle = vehicle
self._gearbox = AutomaticGearbox(self.parser.getGearRatios(), self.parser.getPoweredAxleRatio())
# === Engine Stuff ===
def __getTorque(self, gas):
for func in self._torqueFuncs:
if self._curRpm >= func["lo"] and self._curRpm < func["hi"]:
# Take internal resistance (motor brake effect) into account
resistance = 0.5 * self._curRpm# * (1. - gas)
rpm = self._curRpm # Used by "function"
return eval(func["function"]) * gas - resistance
# This really should never happen!
print "[wrn] Drivetrain:Engine:_getTorque(): no matching torque curve for %s rpm!" % (self._curRpm)
return 0.
def __calcOutputTorque(self, dt, outputRpm, inputRpm, inputTorque):
factor = 0
if inputRpm > 0.:
factor = 1 - (outputRpm / inputRpm)
#print "f", factor
if factor < 0:
factor = 0
if factor > 1:
factor = 1
if inputRpm > outputRpm:
if not outputRpm == 0:
factor = inputRpm / outputRpm * -1.
else:
factor = 1
else:
if not inputRpm == 0:
factor = outputRpm / inputRpm
else:
factor = 1
return inputTorque * factor
def __updateEngine(self, dt, inputRpm):
if self._gearbox.getGbState() == "d" and self._curRpm > self._idleRpm:
self._curRpm = inputRpm
virtualGas = self._gasPedal
# Keep ourselves alive
if self._curRpm < (self._idleRpm):
virtualGas = min(self._gasPedal + 0.6, 1.0)
#self._curRpm = self._idleRpm
elif self._curRpm >= (self._maxRpm * 0.9):
print "Engine.update: overrevving, setting gas = 0.!"
virtualGas = 0.
# Apply torque as functions in vehicle.xml specify
self._curTorque = self.__getTorque(virtualGas)
# Do some work!
# TODO: this is bullshit - really?
self._curRpm += self._curTorque * dt
self.gui.update("rpm: " + repr(int(self._curRpm))
+ "\ntrq: " + repr(int(self._curTorque)))
# === Drivetrain Stuff ===
def _calcWheelRpm(self, dt):
# Average the delta rotation value for all powered wheels
drot = 0.
poweredAxleCount = 0
for axIndex in range(0, self.parser.getAxleCount()):
if self.parser.axleIsPowered(axIndex):
# TODO only consider wheels that have ground contact
drot += self._vehicle.getWheel(2 * axIndex).getDeltaRotation()
drot += self._vehicle.getWheel(2 * axIndex + 1).getDeltaRotation()
poweredAxleCount += 1
drot = abs(drot) / (2 * poweredAxleCount)
wheelRpm = drot * (1./dt) # Average of the rear wheels' rotation speed (revs per second)
wheelRpm *= 60 # convert to revs per minute
return wheelRpm
def update(self, dt):
# input: wheels -> engine
inputRpm = self._calcWheelRpm(dt) # effectively is inputRpm approx. the postGearRpm from the last frame
preGearRpm = self._gearbox.getPreRpm(inputRpm)
self.__updateEngine(dt, preGearRpm)
# output: engine -> wheels
postGearRpm = self._gearbox.getPostRpm(self._curRpm)
postGearTorque = self._gearbox.getPostTorque(self._curTorque)
outputTorque = self.__calcOutputTorque(dt, postGearRpm, inputRpm, postGearTorque)
#print "wheel torque: ", outputTorque
if self._gearbox.getGbState() == "p":
for axIndex in range(0, self.parser.getAxleCount()):
self._vehicle.setBrake(self.parser.getParkingBrakeForce() * self._brakePedal, 2 * axIndex)
self._vehicle.setBrake(self.parser.getParkingBrakeForce() * self._brakePedal, 2 * axIndex + 1)
else:
# Use the force!
for axIndex in range(0, self.parser.getAxleCount()):
if self.parser.axleIsPowered(axIndex):
self._vehicle.applyEngineForce(outputTorque, 2 * axIndex)
self._vehicle.applyEngineForce(outputTorque, 2 * axIndex + 1)
# Strong the dark side is in you
for axIndex in range(0, self.parser.getAxleCount()):
self._vehicle.setBrake(self.parser.getBrakingForce() * self._brakePedal, 2 * axIndex)
self._vehicle.setBrake(self.parser.getBrakingForce() * self._brakePedal, 2 * axIndex + 1)
def setGas(self, gas):
if gas <= 1. and gas >= 0.:
self._gasPedal = gas
else:
print "Drivetrain:setGas(gas) out of range! (0 < x < 1)"
def setBrake(self, brake):
if brake <= 1. and brake >= 0.:
self._brakePedal = brake
else:
print "Drivetrain:setBrake(brake) out of range! (0 < x < 1)"
def getRpm(self):
return self._curRpm
def getGasPedal(self):
return self._gasPedal
def getGbState(self):
return self._gearbox.getGbState()
def getGear(self):
return self._gearbox.getGear()
def shiftDrive(self):
self._gearbox.shiftDrive()
def shiftNeutral(self):
self._gearbox.shiftNeutral()
def shiftReverse(self):
self._gearbox.shiftReverse()
def shiftPark(self):
self._gearbox.shiftPark()
