def main():
# Data recording test
drg0 = trick.DRAscii("Ball")
for param in [ 'position' , 'velocity' , 'acceleration' , 'external_force' ] :
for index in range(0,2) :
var = "ball.obj.state.output." + param + "[" + str(index) + "]"
drg0.add_variable(var)
drg0.set_cycle(0.01)
drg0.freq = trick.DR_Always
drg0.thisown = 0
trick.add_data_record_group(drg0, trick.DR_Buffer)
my_integ_loop.getIntegrator(trick.Runge_Kutta_2, 4);
trick_message.mpublisher.sim_name = "ball_sim"
trick.checkpoint_pre_init(False)
trick.checkpoint_post_init(False)
trick.checkpoint_end(False)
trick.exec_set_freeze_frame(0.10)
trick.stop(300.0)
trick_utest.unit_tests.enable() ;
trick_utest.unit_tests.set_file_name( os.getenv("TRICK_HOME") + "/trick_test/SIM_Ball++_L1.xml" ) ;
def main():
# Data recording HDF5 test
drg0 = trick.DRAscii("Ball")
for param in ['position']:
for index in range(0, 2):
var = "ball.obj.state.output." + param + "[" + str(index) + "]"
drg0.add_variable(var)
drg0.set_cycle(0.01)
drg0.freq = trick.DR_Always
drg0.thisown = 0
trick.add_data_record_group(drg0, trick.DR_Buffer)
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
#trick.TMM_hexfloat_checkpoint(True)
#trick.exec_set_rt_nap(False)
#trick_real_time.gtod_clock.set_clock_ID(trick.TRICK_CLOCK_MONOTONIC)
#trick.real_time_change_clock(trick_tpro.tpro_cte)
#trick.real_time_change_clock(trick_bc635.bc635)
trick.message_publish(
trick.MSG_INFO,
"Current clock is = " + trick.real_time_clock_get_name() + "\n")
trick_real_time.rt_sync.align_sim_to_wall_clock = True
#real_time.rt_sync.align_tic_mult = 60.0
#trick.echo_jobs_on() ;
#trick.debug_pause_on() ;
if hasattr(top.cvar, 'trick_jsonvs'):
trick_jsonvs.vs.set_port(50000)
trick.message_publish(
trick.MSG_INFO,
"JSON listen port = " + str(trick_jsonvs.vs.get_port()) + "\n")
# set the software frame and freeze_frame
trick.exec_set_software_frame(0.1)
trick.exec_set_freeze_frame(0.1)
#trick.exec_set_freeze_command(True)
#trick.exec_set_enable_freeze(True)
#trick.exec_set_stack_trace(False)
#trick.freeze()
#trick.freeze(5.0)
#trick.add_read(1.0,"""trick.checkpoint("chkpnt_1.0")""")
my_integ_loop.getIntegrator(trick.Runge_Kutta_2, 4)
trick.exec_set_terminate_time(3000.0)
# Turn on frame logging
#real_time.frame_log.tl_max_samples = 10000;
trick.frame_log_on()
def main():
trick.exec_set_time_tic_value(3000000)
trick.real_time_enable()
trick.itimer_enable()
trick.exec_set_software_frame(0.05)
trick.exec_set_freeze_frame(0.05)
trick.sim_control_panel_set_enabled(True)
trick.exec_set_terminate_time(50000.0)
trick.frame_log_on()
def main():
# Data recording HDF5 test
drg0 = trick.DRAscii("Ball")
for param in [ 'position' ] :
for index in range(0,2) :
var = "ball.obj.state.output." + param + "[" + str(index) + "]"
drg0.add_variable(var)
drg0.set_cycle(0.01)
drg0.freq = trick.DR_Always
drg0.thisown = 0
trick.add_data_record_group(drg0, trick.DR_Buffer)
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
#trick.TMM_hexfloat_checkpoint(True)
#trick.exec_set_rt_nap(False)
#trick_real_time.gtod_clock.set_clock_ID(trick.TRICK_CLOCK_MONOTONIC)
#trick.real_time_change_clock(trick_tpro.tpro_cte)
#trick.real_time_change_clock(trick_bc635.bc635)
trick.message_publish(trick.MSG_INFO, "Current clock is = " + trick.real_time_clock_get_name() + "\n")
trick_real_time.rt_sync.align_sim_to_wall_clock = True
#real_time.rt_sync.align_tic_mult = 60.0
#trick.echo_jobs_on() ;
#trick.debug_pause_on() ;
if hasattr(top.cvar, 'trick_jsonvs'):
trick_jsonvs.vs.set_port(50000)
trick.message_publish(trick.MSG_INFO, "JSON listen port = " + str(trick_jsonvs.vs.get_port()) + "\n")
# set the software frame and freeze_frame
trick.exec_set_software_frame(0.1)
trick.exec_set_freeze_frame(0.1)
#trick.exec_set_freeze_command(True)
#trick.exec_set_enable_freeze(True)
#trick.exec_set_stack_trace(False)
#trick.freeze()
#trick.freeze(5.0)
#trick.add_read(1.0,"""trick.checkpoint("chkpnt_1.0")""")
my_integ_loop.getIntegrator(trick.Runge_Kutta_2, 4)
trick.exec_set_terminate_time(3000.0)
# Turn on frame logging
#real_time.frame_log.tl_max_samples = 10000;
trick.frame_log_on()
def main():
my_integ_loop.getIntegrator(trick.Runge_Kutta_2, 4)
trick_message.mpublisher.sim_name = "ball_sim"
read = 0.0
trick.add_read(read,"""trick.checkpoint("chkpnt_pre_init")""")
trick.exec_set_freeze_frame(0.10)
trick.stop(300.0)
def main():
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
trick.exec_set_software_frame(0.05)
trick.exec_set_freeze_frame(0.05)
trick.exec_set_freeze_command(True)
trick.frame_log_set_max_samples(100)
trick.frame_log_on()
trick.exec_set_thread_process_type(1, trick.PROCESS_TYPE_ASYNC_CHILD)
trick.exec_set_thread_amf_cycle_time(1, 0.1)
def main():
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
trick.exec_set_software_frame(0.05)
trick.exec_set_freeze_frame(0.05)
trick.exec_set_freeze_command(True)
trick.frame_log_set_max_samples(100)
trick.frame_log_on()
trick.exec_set_thread_process_type(1, trick.PROCESS_TYPE_ASYNC_CHILD)
trick.exec_set_thread_amf_cycle_time(1, 0.1)
def main():
trick.exec_set_time_tic_value(3000000)
trick.real_time_enable()
trick.itimer_enable()
trick.exec_set_software_frame(0.05)
trick.exec_set_freeze_frame(0.05)
trick.sim_control_panel_set_enabled(True)
trick.exec_set_terminate_time(50000.0)
trick.frame_log_on()
trick.exec_set_thread_process_type( 1 , trick.PROCESS_TYPE_ASYNC_CHILD )
trick.exec_set_thread_async_cycle_time( 1 , 0.016666666666666666 )
trick.exec_set_thread_cpu_affinity(0 , 0) ;
trick.exec_set_thread_cpu_affinity(1 , 2) ;
comp_vision.tcv.cam_res = trick.RES_640x480
def main():
buggy_so.buggy.chassis_length = 1.2
buggy_so.buggy.chassis_width = 1.0
buggy_so.buggy.wheel_width = 0.2
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
trick.exec_set_software_frame(0.05)
trick.exec_set_freeze_frame(0.05)
trick.exec_set_freeze_command(True)
trick.frame_log_on()
trick.exec_set_thread_process_type(1, trick.PROCESS_TYPE_ASYNC_CHILD)
trick.exec_set_thread_amf_cycle_time(1, 0.1)
def main():
trick.var_server_set_port(50000)
#trick.var_server_set_source_address(None)
#trick.var_server_set_source_address('')
#trick.var_server_set_source_address('192.168.1.23')
#trick.var_server_set_source_address('galvatron')
#trick.var_server_set_source_address('localhost')
#trick.var_server_set_source_address('jfdlkjfklsda')
#trick.var_server_create_tcp_socket('192.168.1.23', 49000)
#trick.var_server_create_udp_socket('', 48000)
trick.var_server_create_multicast_socket('224.10.10.10','', 47000)
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
# set the software frame and freeze_frame
trick.exec_set_software_frame(0.1)
trick.exec_set_freeze_frame(0.1)
trick.exec_set_terminate_time(3000.0)
def main():
trick.var_server_set_port(50000)
#trick.var_server_set_source_address(None)
#trick.var_server_set_source_address('')
#trick.var_server_set_source_address('192.168.1.23')
#trick.var_server_set_source_address('galvatron')
#trick.var_server_set_source_address('localhost')
#trick.var_server_set_source_address('jfdlkjfklsda')
#trick.var_server_create_tcp_socket('192.168.1.23', 49000)
#trick.var_server_create_udp_socket('', 48000)
trick.var_server_create_multicast_socket('224.10.10.10','', 47000)
trick.sim_control_panel_set_enabled(True)
trick.real_time_enable()
trick.itimer_enable()
# set the software frame and freeze_frame
trick.exec_set_software_frame(0.1)
trick.exec_set_freeze_frame(0.1)
trick.exec_set_terminate_time(3000.0)