private string GetSimulationScriptEntry(CyPhy.CarSimulation sim)
{
if (sim.Kind == "Acceleration")
{
AccelSim outp = new AccelSim();
CyPhy.Acceleration accelsim = sim as CyPhy.Acceleration;
CyPhy.Parameter endtimeparam = accelsim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
outp.ModelName = "DefaultCar";
outp.InitialVelocity = "3";
outp.NumSteps = (endtime * 10).ToString();
outp.EndTime = endtime.ToString();
outp.FinalThrottle = "100.0";
outp.StepDuration = "1.0";
outp.StartTime = "0.0";
outp.ShiftGears = "no";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.GearPosition = "2";
outp.Acceleration = "0";
outp.RoadData = "acar_shared/roads.tbl/2d_flat.rdf";
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime" });
return outp.TransformText();
}
else if (sim.Kind == "Braking")
{
BrakingSim outp = new BrakingSim();
outp.ModelName = "DefaultCar";
outp.InitialVelocity = "20";
outp.NumSteps = "300";
outp.EndTime = "30";
outp.FinalBrake = "100.0";
outp.StepDuration = "1.0";
outp.StartValue = "0.0";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.GearPosition = "5";
return outp.TransformText();
}
else if (sim.Kind == "ConstantSpeed")
{
ConstantSpeedSim outp = new ConstantSpeedSim();
CyPhy.ConstantSpeed csim = sim as CyPhy.ConstantSpeed;
CyPhy.Parameter endtimeparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
CyPhy.Parameter speedparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Speed").FirstOrDefault();
CyPhy.Parameter gearparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Gear").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
int speed = GetParamOrDefault(speedparam, 15);
int gear = GetParamOrDefault(gearparam, 2);
outp.ModelName = "DefaultCar";
outp.InitialVelocity = speed.ToString();
outp.NumSteps = (endtime * 10).ToString();
outp.GearPosition = gear.ToString();
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.EndTime = endtime.ToString();
outp.RoadData = "roads.tbl\\pothole_4in.rdf";
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime" });
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(speedparam).Name, ParamID = "Speed" });
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(gearparam).Name, ParamID = "Gear" });
/*AccelSim outp = new AccelSim();
CyPhy.ConstantSpeed csim = sim as CyPhy.ConstantSpeed;
CyPhy.Parameter endtimeparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
outp.ModelName = "DefaultCar";
outp.InitialVelocity = "3";
outp.NumSteps = (endtime * 10).ToString();
outp.EndTime = endtime.ToString();
outp.FinalThrottle = "100.0";
outp.StepDuration = "5.0";
outp.StartTime = "0.0";
outp.ShiftGears = "no";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.GearPosition = "2";
outp.Acceleration = "1";
outp.RoadData = "isis_test\\roads.tbl\\pothole_4in.rdf";
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime" });
*/
return outp.TransformText();
}
else if (sim.Kind == "Steering")
{
SteerSim outp = new SteerSim();
CyPhy.Steering ssim = sim as CyPhy.Steering;
CyPhy.Parameter endtimeparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
CyPhy.Parameter speedparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Speed").FirstOrDefault();
CyPhy.Parameter angleparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Angle").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
int speed = GetParamOrDefault(speedparam, 50);
int angle = GetParamOrDefault(angleparam, 20);
outp.ModelName = "DefaultCar";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.EndTime = endtime.ToString();
outp.InitialVelocity = speed.ToString();
outp.NumSteps = (endtime * 10).ToString();
outp.SteerAngle = angle.ToString();
outp.GearPosition = "1";
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime" });
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(speedparam).Name, ParamID = "Speed" });
CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(angleparam).Name, ParamID = "Angle" });
return outp.TransformText();
}
else
{
GMEConsole.Warning.WriteLine("Unknown simulation type:" + sim.Kind);
}
return null;
}
private string GetSimulationScriptEntry(CyPhy.CarSimulation sim)
{
if (sim.Kind == "Acceleration")
{
AccelSim outp = new AccelSim();
CyPhy.Acceleration accelsim = sim as CyPhy.Acceleration;
CyPhy.Parameter endtimeparam = accelsim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
outp.ModelName = "DefaultCar";
outp.InitialVelocity = "3";
outp.NumSteps = (endtime * 10).ToString();
outp.EndTime = endtime.ToString();
outp.FinalThrottle = "100.0";
outp.StepDuration = "1.0";
outp.StartTime = "0.0";
outp.ShiftGears = "no";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.GearPosition = "2";
outp.Acceleration = "0";
outp.RoadData = "acar_shared/roads.tbl/2d_flat.rdf";
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime"
});
return(outp.TransformText());
}
else if (sim.Kind == "Braking")
{
BrakingSim outp = new BrakingSim();
outp.ModelName = "DefaultCar";
outp.InitialVelocity = "20";
outp.NumSteps = "300";
outp.EndTime = "30";
outp.FinalBrake = "100.0";
outp.StepDuration = "1.0";
outp.StartValue = "0.0";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.GearPosition = "5";
return(outp.TransformText());
}
else if (sim.Kind == "ConstantSpeed")
{
ConstantSpeedSim outp = new ConstantSpeedSim();
CyPhy.ConstantSpeed csim = sim as CyPhy.ConstantSpeed;
CyPhy.Parameter endtimeparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
CyPhy.Parameter speedparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Speed").FirstOrDefault();
CyPhy.Parameter gearparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Gear").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
int speed = GetParamOrDefault(speedparam, 15);
int gear = GetParamOrDefault(gearparam, 2);
outp.ModelName = "DefaultCar";
outp.InitialVelocity = speed.ToString();
outp.NumSteps = (endtime * 10).ToString();
outp.GearPosition = gear.ToString();
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.EndTime = endtime.ToString();
outp.RoadData = "roads.tbl\\pothole_4in.rdf";
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime"
});
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(speedparam).Name, ParamID = "Speed"
});
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(gearparam).Name, ParamID = "Gear"
});
/*AccelSim outp = new AccelSim();
* CyPhy.ConstantSpeed csim = sim as CyPhy.ConstantSpeed;
* CyPhy.Parameter endtimeparam = csim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
* int endtime = GetParamOrDefault(endtimeparam, 20);
* outp.ModelName = "DefaultCar";
* outp.InitialVelocity = "3";
* outp.NumSteps = (endtime * 10).ToString();
* outp.EndTime = endtime.ToString();
* outp.FinalThrottle = "100.0";
* outp.StepDuration = "5.0";
* outp.StartTime = "0.0";
* outp.ShiftGears = "no";
* outp.OutputPrefix = "test";
* outp.OutputPostfix = sim.Kind;
* outp.GearPosition = "2";
* outp.Acceleration = "1";
* outp.RoadData = "isis_test\\roads.tbl\\pothole_4in.rdf";
* CarParamMap.Add(new CarParamMapping() { FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime" });
*/
return(outp.TransformText());
}
else if (sim.Kind == "Steering")
{
SteerSim outp = new SteerSim();
CyPhy.Steering ssim = sim as CyPhy.Steering;
CyPhy.Parameter endtimeparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "EndTime").FirstOrDefault();
CyPhy.Parameter speedparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Speed").FirstOrDefault();
CyPhy.Parameter angleparam = ssim.Children.ParameterCollection.Where(p => ((MgaFCO)p.Impl).MetaRole.Name == "Angle").FirstOrDefault();
int endtime = GetParamOrDefault(endtimeparam, 20);
int speed = GetParamOrDefault(speedparam, 50);
int angle = GetParamOrDefault(angleparam, 20);
outp.ModelName = "DefaultCar";
outp.OutputPrefix = "test";
outp.OutputPostfix = sim.Kind;
outp.EndTime = endtime.ToString();
outp.InitialVelocity = speed.ToString();
outp.NumSteps = (endtime * 10).ToString();
outp.SteerAngle = angle.ToString();
outp.GearPosition = "1";
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(endtimeparam).Name, ParamID = "EndTime"
});
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(speedparam).Name, ParamID = "Speed"
});
CarParamMap.Add(new CarParamMapping()
{
FileName = "adams_car.cmd", TBParamName = FollowParam(angleparam).Name, ParamID = "Angle"
});
return(outp.TransformText());
}
else
{
GMEConsole.Warning.WriteLine("Unknown simulation type:" + sim.Kind);
}
return(null);
}
