/** Go Straight using the IMU */
public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle, ServoParameters parameters, float targetHeading, float maxOutput)
{
_pidgey = pigeonImu;
_driveTrain = driveTrain;
_selectedStyle = selectedStyle;
_targetHeading = targetHeading;
_servoParams = parameters;
_maxOutput = maxOutput;
}
private void Start()
{
_drivetrain = GetComponentInChildren <IDrivetrain>();
if (_drivetrain == null)
{
Debug.LogWarning($"Missing {nameof(IDrivetrain)} in children of {transform.name}");
}
}
public ShifterTableConfiguration(ShifterTableConfigurationDefault def, IDrivetrain drivetrain, int spdPerGear, float staticMass)
{
Mode = def;
SpdPerGear = spdPerGear;
Mass = staticMass;
Air = new Ets2Aero();
Drivetrain = drivetrain;
MaximumSpeed = 600;
switch (def)
{
case ShifterTableConfigurationDefault.PeakRpm:
DefaultByPeakRpm();
break;
case ShifterTableConfigurationDefault.Performance:
DefaultByPowerPerformance();
break;
case ShifterTableConfigurationDefault.Economy:
DefaultByPowerEconomy();
break;
case ShifterTableConfigurationDefault.Efficiency:
DefaultByPowerEfficiency();
break;
case ShifterTableConfigurationDefault.AlsEenOpa:
DefaultByOpa();
break;
case ShifterTableConfigurationDefault.Henk:
DefaultByHenk();
break;
case ShifterTableConfigurationDefault.PowerEfficiency:
DefaultByPowerEfficiency2();
break;
}
if (spdPerGear > 0)
{
var spdPerGearReduced = spdPerGear - staticMass/1000/1.25;
if (spdPerGearReduced < 1) spdPerGearReduced = 1;
Console.WriteLine("Spd per gear:"+spdPerGearReduced);
MinimumSpeedPerGear((int)Math.Round(spdPerGearReduced));
}
string l = "";
for(var r = 0; r < 2500; r+=10)
{
var fuel=Drivetrain.CalculateFuelConsumption(r, 1);
var ratio = drivetrain.CalculatePower(r, 1)/fuel;
l += r + "," + Drivetrain.CalculatePower(r, 1) + "," + Drivetrain.CalculatePower(r, 0) + ","+fuel+","+ratio+"\r\n";
}
//File.WriteAllText("./ets2engine.csv", l);
}
public SimulationEnvironment()
{
drivetrain = new Ets2Drivetrain();
Main.Load(drivetrain, "Settings/Drivetrain/eurotrucks2.scania.g7ld6x2.ini");
shifter = new ShifterTableConfiguration(ShifterTableConfigurationDefault.Performance, drivetrain, 1, 0);
Speed = 30/3.6;
StringBuilder sim = new StringBuilder();
for (int k = 0; k < 10000; k++)
{
Tick();
sim.AppendLine(k + "," + Speed);
}
File.WriteAllText("./sim.csv", sim.ToString());
}
public SimulationEnvironment()
{
drivetrain = new Ets2Drivetrain();
Main.Load(drivetrain, "Settings/Drivetrain/eurotrucks2.scania.g7ld6x2.ini");
shifter = new ShifterTableConfiguration(ShifterTableConfigurationDefault.Performance, drivetrain, 1, 0);
Speed = 30 / 3.6;
StringBuilder sim = new StringBuilder();
for (int k = 0; k < 10000; k++)
{
Tick();
sim.AppendLine(k + "," + Speed);
}
File.WriteAllText("./sim.csv", sim.ToString());
}
/** Go Straight using the IMU */
public ServoHoldHeadingWithImu(PigeonIMU pigeonImu, IDrivetrain driveTrain, Styles.BasicStyle selectedStyle)
{
_pidgey = pigeonImu;
_driveTrain = driveTrain;
_selectedStyle = selectedStyle;
}
public ShifterTableConfiguration(ShifterTableConfigurationDefault def, IDrivetrain drivetrain, int spdPerGear, float staticMass)
{
Mode = def;
SpdPerGear = spdPerGear;
Mass = staticMass;
Air = new Ets2Aero();
Drivetrain = drivetrain;
MaximumSpeed = 600;
switch (def)
{
case ShifterTableConfigurationDefault.PeakRpm:
DefaultByPeakRpm();
break;
case ShifterTableConfigurationDefault.Performance:
DefaultByPowerPerformance();
break;
case ShifterTableConfigurationDefault.Economy:
DefaultByPowerEconomy();
break;
case ShifterTableConfigurationDefault.Efficiency:
DefaultByPowerEfficiency();
break;
case ShifterTableConfigurationDefault.AlsEenOpa:
DefaultByOpa();
break;
case ShifterTableConfigurationDefault.Henk:
DefaultByHenk();
break;
case ShifterTableConfigurationDefault.PowerEfficiency:
DefaultByPowerEfficiency2();
break;
}
if (spdPerGear > 0)
{
var spdPerGearReduced = spdPerGear - staticMass / 1000 / 1.25;
if (spdPerGearReduced < 1)
{
spdPerGearReduced = 1;
}
Console.WriteLine("Spd per gear:" + spdPerGearReduced);
MinimumSpeedPerGear((int)Math.Round(spdPerGearReduced));
}
string l = "";
for (var r = 0; r < 2500; r += 10)
{
var fuel = Drivetrain.CalculateFuelConsumption(r, 1);
var ratio = drivetrain.CalculatePower(r, 1) / fuel;
l += r + "," + Drivetrain.CalculatePower(r, 1) + "," + Drivetrain.CalculatePower(r, 0) + "," + fuel + "," + ratio + "\r\n";
}
//File.WriteAllText("./ets2engine.csv", l);
}
public static bool Setup()
{
if (requiresSetup)
{
requiresSetup = false;
JoystickInput deskCtrl, g25Wheel, ps4Ctrl;
// Joysticks
var dskObj = JoystickInputDevice.Search("Hotas").FirstOrDefault();
deskCtrl = dskObj == null ? default(JoystickInput) : new JoystickInput(dskObj);
var ps4Obj = JoystickInputDevice.Search("Wireless Controller").FirstOrDefault();
ps4Ctrl = ps4Obj== null ? default(JoystickInput) : new JoystickInput(ps4Obj);
var g25Obj = JoystickInputDevice.Search("G25").FirstOrDefault();
g25Wheel = g25Obj == null ? default(JoystickInput) : new JoystickInput(g25Obj);
var vJoy = new JoystickOutput();
// add main controller:
if (dskCtlActive)
RawJoysticksIn.Add(deskCtrl);
else if (ps4CtlActive)
RawJoysticksIn.Add(ps4Ctrl);
else
RawJoysticksIn.Add(default(JoystickInput));
RawJoysticksIn.Add(g25Wheel);
RawJoysticksOut.Add(vJoy);
// Data source
Data = new DataArbiter();
Data.CarChanged += (s, e) =>
{
if (Data.Active.Application == "eurotrucks2")
Drivetrain = new Ets2Drivetrain();
else
Drivetrain = new GenericDrivetrain();
// reset all modules
Antistall.ResetParameters();
CruiseControl.ResetParameters();
Drivetrain.ResetParameters();
Transmission.ResetParameters();
TractionControl.ResetParameters();
Speedlimiter.ResetParameters();
CarProfile = new Profiles(Data.Active.Application, Data.Telemetry.Car);
LoadNextProfile(10000);
};
// TODO: Temporary..
Data.AppActive += (s, e) =>
{
CameraHorizon.CameraHackEnabled = Data.Active.Application == "TestDrive2";
};
if (deskCtrl == null && g25Wheel == null && ps4Ctrl == null)
{
//MessageBox.Show("No controllers found");
return false;
}
// Modules
Antistall = new Antistall();
ACC = new ACC();
CruiseControl = new CruiseControl();
Drivetrain = new GenericDrivetrain();
Transmission = new Transmission();
TractionControl = new TractionControl();
ProfileSwitcher = new ProfileSwitcher();
Speedlimiter = new Speedlimiter();
LaunchControl = new LaunchControl();
DrivetrainCalibrator = new DrivetrainCalibrator();
TransmissionCalibrator = new TransmissionCalibrator();
LaneAssistance = new LaneAssistance();
VariableSpeedControl = new VariableSpeedTransmission();
CameraHorizon = new CameraHorizon();
// Controls
Controls = new ControlChain();
Data.Run();
return true;
}
return false;
}
public static bool Setup()
{
if (requiresSetup)
{
requiresSetup = false;
JoystickInput deskCtrl, g25Wheel, ps4Ctrl;
// Joysticks
var dskObj = JoystickInputDevice.Search("Hotas").FirstOrDefault();
deskCtrl = dskObj == null ? default(JoystickInput) : new JoystickInput(dskObj);
var ps4Obj = JoystickInputDevice.Search("Wireless Controller").FirstOrDefault();
ps4Ctrl = ps4Obj == null ? default(JoystickInput) : new JoystickInput(ps4Obj);
var g25Obj = JoystickInputDevice.Search("G25").FirstOrDefault();
g25Wheel = g25Obj == null ? default(JoystickInput) : new JoystickInput(g25Obj);
var vJoy = new JoystickOutput();
// add main controller:
if (dskCtlActive)
{
RawJoysticksIn.Add(deskCtrl);
}
else if (ps4CtlActive)
{
RawJoysticksIn.Add(ps4Ctrl);
}
else
{
RawJoysticksIn.Add(default(JoystickInput));
}
RawJoysticksIn.Add(g25Wheel);
RawJoysticksOut.Add(vJoy);
// Data source
Data = new DataArbiter();
Data.CarChanged += (s, e) =>
{
if (Data.Active.Application == "eurotrucks2")
{
Drivetrain = new Ets2Drivetrain();
}
else
{
Drivetrain = new GenericDrivetrain();
}
// reset all modules
Antistall.ResetParameters();
CruiseControl.ResetParameters();
Drivetrain.ResetParameters();
Transmission.ResetParameters();
TractionControl.ResetParameters();
Speedlimiter.ResetParameters();
CarProfile = new Profiles(Data.Active.Application, Data.Telemetry.Car);
LoadNextProfile(10000);
};
// TODO: Temporary..
Data.AppActive += (s, e) =>
{
CameraHorizon.CameraHackEnabled = Data.Active.Application == "TestDrive2";
};
if (deskCtrl == null && g25Wheel == null && ps4Ctrl == null)
{
//MessageBox.Show("No controllers found");
return(false);
}
// Modules
Antistall = new Antistall();
ACC = new ACC();
CruiseControl = new CruiseControl();
Drivetrain = new GenericDrivetrain();
Transmission = new Transmission();
TractionControl = new TractionControl();
ProfileSwitcher = new ProfileSwitcher();
Speedlimiter = new Speedlimiter();
LaunchControl = new LaunchControl();
DrivetrainCalibrator = new DrivetrainCalibrator();
TransmissionCalibrator = new TransmissionCalibrator();
LaneAssistance = new LaneAssistance();
VariableSpeedControl = new VariableSpeedTransmission();
CameraHorizon = new CameraHorizon();
// Controls
Controls = new ControlChain();
Data.Run();
return(true);
}
return(false);
}
