« Drive Cube With Live Sim Data | NewbieIndex | Looking Back On The Doug-Trick Interface »

This article is now out of date. The new simdata plugin has an easier way to do this now!!! — frankie May 19, 2010, at 03:47 PM

Frankie says this article is out of date, but what I think he means is there's easier ways to have EDGE talk to a sim, see this link. — djordan April 7, 2011, at 10:47 AM

Connect the Trick simulation to Doug via the variable server interface.

| spincube_varserver.tcl | || | source "$env(DOUG_HOME)/gui/interface_libraries/trick_comm_library.tcl"

 proc spincube_init { } {

        global spin

        set spin(socket) [set_siminfo localhost 7000 generic 0.01 spincube_connect_cb spincube_receive_data_cb [list qbert.newbiecube.pyr\[0\] qbert.newbiecube.pyr\[1\] qbert.newbiecube.pyr\[2\]]]

        if { [catch { open_connection $spin(socket) } results] != 0 } {
                puts "ERROR: spincube_trick.tcl: Could't connect to sim." 
                puts "       ${results}"
         }
 }

 proc spincube_connect_cb { } {
        global spin
        request_data $spin(socket)
 }

 proc spincube_receive_data_cb { trickdata } {

        set ldata [split $trickdata \t]

        set pitch [lindex $ldata 0]
        set yaw   [lindex $ldata 1]
        set roll  [lindex $ldata 2]

        # Convert to degrees
        set r2d [expr 180.0/3.14159265]
        set pitch [expr $pitch*$r2d]
        set yaw   [expr $yaw*$r2d]
        set roll  [expr $roll*$r2d]


        doug.node CUBE set -pitch $pitch -roll $roll -yaw $yaw
 }

 proc spincube { } {

        spincube_init
 }

 spincube |

| % vi ${USERDATA}/gui/spincube_varserver.tcl Add code above |

| cube-varserver.cfg | || | DOUG { GUI { spincube_trick "${USERDATA}/gui/spincube_varserver.tcl" } } | | % cd ${USERDATA} % vi user.cfg ; # Add above lines in appropriate blocks, like we always do! |

| cube.c | || | Trick 7:

/***************** TRICK HEADER ************************
 PURPOSE:                     (Test cube)
 REFERENCES:                  (none)
 ASSUMPTIONS AND LIMITATIONS: (Autocreated by trick_ui)
 CLASS:                       (scheduled)
 LIBRARY DEPENDENCY:          ((cube.o) (libd_comm_tc.a) 
                               (libdsp.a) (libdl.a))
 PROGRAMMERS:                 ((keith) (Wed Mar 20 2007))
 *********************************************************/
 #include <math.h>
 #include "../include/cube.h"

 #define ONE_DEGREE (M_PI/180.0)
 #define TWO_PI (2*M_PI)

 int cube( XYZPYR* T )
 {
        int ii ;

        for ( ii = 0 ; ii < 3 ; ii++ ) {
                T&rarr;pyr[ii] += ONE_DEGREE ;
                if ( T&rarr;pyr[ii] > TWO_PI ) {
                        T&rarr;pyr[ii] = 0.0 ;
                }
        }

       /* Drive Graphics */
      /* 
       * DCM_SetRPYRD( T&rarr;node_id,  T&rarr;pyr );
       * DCF_Comm(); 
       */

        return 0 ;
 } |

| % cd ${TRICK_MODELS}/models/cube/src % vi cube.c ; # Comment out comm code

Trick 10: cube_spin.c

/*********************************** TRICK HEADER **********
 PURPOSE:            (Test cube)
 LIBRARY DEPENDENCY: ((cube_spin.o)
                     (libd_comm_tc.a)
                     (libdsp.a)
                     (dl.a))
 ************************************************************/
 #include "../include/cube.h"
 #include "d_comm.h" 

 int cube_spin ( CUBE* C ) {

   int ii;

   const double PI = 3.141592;
   double one_degree = PI/180.0;
   double two_pi = 2*PI;

   for ( ii = 0; ii < 3; ii++ ) {

      C&rarr;pyr[ii] += one_degree;

      if ( C&rarr;pyr[ii] > two_pi ) {
         C&rarr;pyr[ii] = 0.0;
      }
   }

      /* DOUG Comm */ 
      /* 
       * DCM_SetRPYRD( C&rarr;node_id,  C&rarr;pyr );
       * DCF_Comm(); 
       */

   return 0 ;
 }                                                                                                        |

| % cd ${TRICK_MODELS}/models/cube/src % vi cube_spin.c ; # Comment out comm code |

| S_define | || | Trick 7:

sim_object {
        sim_services/include: EXECUTIVE exec (sim_services/include/executive.d);

        sim_services/input_processor:
                input_processor( Inout INPUT_PROCESSOR * IP = &sys.exec.ip ) ;
 } sys ;

 #define FREQ 0.01
 sim_object {

          cube: XYZPYR newbiecube  (cube/include/cube_default_data.d) ;

      /*
       * (initialization) cube: cube_init(
       *          Inout   XYZPYR *T = &qbert.newbiecube ) ;
       */

        (FREQ, scheduled) cube: cube(
                Inout   XYZPYR *T = &qbert.newbiecube ) ;

} qbert ;

Trick 10:

/**************** TRICK HEADER ******************************
 PURPOSE:                     (S_define)
 LIBRARY_DEPENDENCY:          ((cube/src/cube_spin.c)
                               (cube/src/cube_default_data.c
 *************************************************************/

 #include "sim_objects/default_trick_sys.sm"

 ##include "cube/include/cube.h"
 ##include "cube/include/cube_proto.h"

 class CubeSimObject : public Trick::SimObject {

   public:
      CUBE cube;
      CubeSimObject() {
         //("initialization") cube_init( &cube );
         ("default_data") cube_default_data( &cube );
         (0.01, "scheduled") cube_spin( &cube );
      }
 };

 CubeSimObject xyzpyr; |

| % cd ${TRICK_USER_HOME}/SIM_cube % vi S_define ; # Comment out init job % CP ; # Rebuild sim. Sim is now Dougless. |

The sim is standalone, no comm to Doug. The tcl gui will connect to Trick's variable server and grab values for pitch, yaw and roll, and then drive the cube.

% cd ${DOUG_HOME}
 % ./run_graphics ; # Cube pops up
 % cd ${TRICK_USER_HOME}/SIM_cube
 % ./S_main*exe RUN_test/input & ; # Cube inits to PYR=0,0,0

The cube should spin.

« Drive Cube With Live Sim Data | NewbieIndex | Looking Back On The Doug-Trick Interface »