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Working on gui threading.
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@jgoppert
jgoppert committed Jan 25, 2012
1 parent 53c0d45 commit 646240b
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Showing 6 changed files with 75 additions and 110 deletions.
4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -158,14 +158,14 @@ install(DIRECTORY "${PROJECT_SOURCE_DIR}/systems" DESTINATION share/${PROJECT_NA
install(DIRECTORY ${EP_BASE_DIR}/${EP_INSTALL_PREFIX} DESTINATION ${CMAKE_INSTALL_PREFIX})

# pkgconfig
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/pc.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc)
install(FILES
${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc
DESTINATION lib/pkgconfig
)

# config file
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/config.h)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h)

# build settings
include_directories(src src/simgear/xml)
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0 config.h.cmake → config.h.in
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File renamed without changes.
160 changes: 64 additions & 96 deletions gui/MainWindow.cpp
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Expand Up @@ -156,15 +156,15 @@ void MainWindow::readSettings()

settings->beginGroup("aircraft");
lineEdit_modelSimRate->setText(settings->value("modelSimRate",120).toString());
lineEdit_enginePath->setText(settings->value("enginePath",root+"/aircraft/easystar/Engines").toString());
lineEdit_systemsPath->setText(settings->value("systemsPath",root+"/aircraft/easystar/Systems").toString());
lineEdit_aircraftPath->setText(settings->value("aircraftPath",root+"/aircraft/easystar").toString());
lineEdit_aircraft->setText(settings->value("aircraft","easystar-windtunnel").toString());
lineEdit_initScript->setText(settings->value("initScript","").toString());
lineEdit_enginePath->setText(settings->value("enginePath",root+"/engine").toString());
lineEdit_systemsPath->setText(settings->value("systemsPath",root+"/aircraft/f16/Systems").toString());
lineEdit_aircraftPath->setText(settings->value("aircraftPath",root+"/aircraft/f16").toString());
lineEdit_aircraft->setText(settings->value("aircraft","f16").toString());
lineEdit_initScript->setText(settings->value("initScript","/aircraft/f16/reset00.xml").toString());
settings->endGroup();

settings->beginGroup("trim");
lineEdit_velocity->setText(settings->value("velocity",40).toString());
lineEdit_velocity->setText(settings->value("velocity",600).toString());
lineEdit_rollRate->setText(settings->value("rollRate",0).toString());
lineEdit_pitchRate->setText(settings->value("pitchRate",0).toString());
lineEdit_yawRate->setText(settings->value("yawRate",0).toString());
Expand Down Expand Up @@ -277,35 +277,12 @@ void MainWindow::on_toolButton_initScript_pressed()

void MainWindow::on_pushButton_trim_pressed()
{
on_pushButton_stop_pressed();
writeSettings();
try
{
trimThread.start();
}
catch(const std::exception & e)
{
label_status->setText(e.what());
}
catch(...)
{
label_status->setText("unknown exception");
}
trimThread.start();
}

void MainWindow::on_pushButton_linearize_pressed()
{
on_pushButton_stop_pressed();
linearize();
}

void MainWindow::linearize() {
using namespace JSBSim;
on_pushButton_stop_pressed();

setupFdm();

QMutexLocker locker(&fdmMutex);

writeSettings();

Expand Down Expand Up @@ -357,16 +334,14 @@ void MainWindow::linearize() {

void MainWindow::on_pushButton_stop_pressed()
{
stopSolver();
simThread.quit();
trimThread.quit();
label_status->setText("stopped");
}

void MainWindow::on_pushButton_simulate_pressed()
{
on_pushButton_stop_pressed();
setupFdm();
if (!fdm) return;
simThread.start();
label_status->setText("simulating");
}
Expand All @@ -383,36 +358,34 @@ void MainWindow::showMsg(const QString & str)
msgBox.exec();
};

void MainWindow::setupFdm() {
bool MainWindow::setupFdm() {
using namespace JSBSim;


QMutexLocker locker(&fdmMutex);

if (fdm) delete fdm;
fdm = new FGFDMExec;
trimmer->setFdm(fdm);
ss->setFdm(fdm);

double dt = 1./atof(lineEdit_modelSimRate->text().toAscii());
int debugLevel = atoi(comboBox_debugLevel->currentText().toAscii());
fdm->Setdt(dt);

fdm->SetDebugLevel(debugLevel);

// paths
std::string aircraft=lineEdit_aircraft->text().toStdString();
std::string aircraftPath=lineEdit_aircraftPath->text().toStdString();
std::string enginePath=lineEdit_enginePath->text().toStdString();
std::string systemsPath=lineEdit_systemsPath->text().toStdString();

std::string initScript=lineEdit_initScript->text().toStdString();

// flight conditions
bool stabAxisRoll = checkBox_stabAxisRoll->isChecked();
bool variablePropPitch = checkBox_variablePropPitch->isChecked();

if (!fdm->LoadModel(aircraftPath,enginePath,systemsPath,aircraft,false))
{
label_status->setText("model paths incorrect");
return;
label_status->setText("model paths incorrect");
return false;
}
std::string aircraftName = fdm->GetAircraft()->GetAircraftName();
std::cout << "\tsuccessfully loaded: " << aircraftName << std::endl;
Expand Down Expand Up @@ -465,23 +438,33 @@ void MainWindow::setupFdm() {
// state feedback
ss->y = ss->x;


// if there is a trim solution, load it
if (trimmer && solver && solver->status() == 0) {
trimmer->printSolution(solver->getSolution()); // this also loads the solution into the fdm
}
return true;
}

void MainWindow::simulate()
{
fdm->Run();
double maxDeflection = 20.0*3.14/180.0; // TODO: this is rough
viewer->mutex.lock();
plane->setEuler(ss->x.get(6),ss->x.get(2),ss->x.get(9));
plane->setU(ss->u.get(0),ss->u.get(1)*maxDeflection,
ss->u.get(2)*maxDeflection,ss->u.get(3)*maxDeflection);
viewer->mutex.unlock();
}

void MainWindow::trim()
{
using namespace JSBSim;

setupFdm();

QMutexLocker locker(&fdmMutex);


label_status->setText("trimming");
if (!setupFdm()) {
simThread.quit();
trimThread.quit();
return;
}

// constraints
constraints->velocity = atof(lineEdit_velocity->text().toAscii());
Expand All @@ -496,7 +479,6 @@ void MainWindow::trim()
bool showConvergeStatus = checkBox_showConvergence->isChecked();
bool showSimplex = checkBox_showSimplex->isChecked();
bool pause = checkBox_pause->isChecked();
int debugLevel = atoi(comboBox_debugLevel->currentText().toAscii());
double rtol = atof(lineEdit_rtol->text().toAscii());
double abstol = atof(lineEdit_abstol->text().toAscii());
double speed = atof(lineEdit_speed->text().toAscii());
Expand Down Expand Up @@ -541,78 +523,64 @@ void MainWindow::trim()
iterMax,rtol,abstol,speed, random, showConvergeStatus,showSimplex,pause,callback);
stopRequested = false;
while(1) {
if (stopRequested) {
label_status->setText("solver stopped");
return;
} else if (solver->status()==0) {
label_status->setText("solver converged");
if (stopRequested || (solver->status() != 1) ) {
break;
} else if (solver->status()==-1) {
label_status->setText("solver failed to converge");
break;
} else if (solver->status()==1) {
solver->update();
} else {
label_status->setText("unknown solver status");
return;
solver->update();
}
}

// output
trimmer->printSolution(solver->getSolution()); // this also loads the solution into the fdm

//std::cout << "\nsimulating flight to determine trim stability" << std::endl;

//std::cout << "\nt = 5 seconds" << std::endl;
//for (int i=0;i<5*120;i++) fdm.Run();
//trimmer->printState();

//std::cout << "\nt = 10 seconds" << std::endl;
//for (int i=0;i<5*120;i++) fdm.Run();
//trimmer->printState();

}

void MainWindow::simulate()
{
QMutexLocker locker(&fdmMutex);
fdm->Run();
double maxDeflection = 20.0*3.14/180.0; // TODO: this is rough
viewer->mutex.lock();
plane->setEuler(ss->x.get(6),ss->x.get(2),ss->x.get(9));
plane->setU(ss->u.get(0),ss->u.get(1)*maxDeflection,
ss->u.get(2)*maxDeflection,ss->u.get(3)*maxDeflection);
viewer->mutex.unlock();
}

SimulateThread::SimulateThread(MainWindow * window) : window(window), timer(this)
{
connect(&timer, SIGNAL(timeout()), window, SLOT(simulate()));
moveToThread(this);
connect(&timer, SIGNAL(timeout()), window, SLOT(simulate()),Qt::QueuedConnection);
}

void SimulateThread::run()
{
using namespace JSBSim;
std::cout << "simulation started" << std::endl;
timer.start(1000/120);
exec();
}

void SimulateThread::quit()
{
timer.stop();
QThread::quit();
}

TrimThread::TrimThread(MainWindow * window) : window(window)
{
moveToThread(this);
}

void TrimThread::trim() {
window->trim();
}

void TrimThread::run()
{
try
{
window->trim();
}
catch(std::exception & e)
{
std::cerr << "exception: " << e.what() << std::endl;
window->label_status->setText(e.what());
}
window->label_status->setText("trimming");
QTimer::singleShot(0,this,SLOT(trim()));
exec();
}

void TrimThread::quit()
{
window->stopSolver();
if (window->stopRequested) {
window->label_status->setText("solver stopped");
} else if (window->solver->status()==0) {
window->label_status->setText("solver converged");
} else if (window->solver->status()==-1) {
window->label_status->setText("solver failed to converge");
} else {
window->label_status->setText("unknown solver status");
}
QThread::quit();
}

// vim:ts=4:sw=4
16 changes: 6 additions & 10 deletions gui/MainWindow.hpp
View file
Expand Up @@ -30,7 +30,6 @@
#include <stdexcept>
#include <math/FGStateSpace.h>
#include <initialization/FGTrimmer.h>
#include <QMutex>

class MainWindow;

Expand All @@ -43,20 +42,19 @@ class SimulateThread : public QThread
void run();
MainWindow * window;
QTimer timer;
void quit()
{
timer.stop();
QThread::quit();
}
void quit();
};

class TrimThread : public QThread
{
Q_OBJECT
private slots:
void trim();
public:
TrimThread(MainWindow * window);
void run();
MainWindow * window;
void quit();
};

class MainWindow : public QMainWindow, private Ui::MainWindow
Expand All @@ -67,7 +65,6 @@ class MainWindow : public QMainWindow, private Ui::MainWindow
public:
MainWindow();
virtual ~MainWindow();
QMutex fdmMutex;

signals:
void showMsgBuffered(const QString & str);
Expand All @@ -84,7 +81,7 @@ private slots:
void on_pushButton_simulate_pressed();
void showMsg(const QString & str);
void simulate();
void trim();
void trim();

private:
class SolverCallback : public JSBSim::FGNelderMead::Callback
Expand Down Expand Up @@ -129,8 +126,7 @@ private slots:
QSettings * settings;
void writeSettings();
void readSettings();
void setupFdm();
void linearize();
bool setupFdm();
arkosg::Plane * plane;
JSBSim::FGFDMExec * fdm;
JSBSim::FGStateSpace * ss;
Expand Down
0 pc.cmake → pc.in
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File renamed without changes.
5 changes: 3 additions & 2 deletions src/initialization/FGTrimmer.cpp
View file
Expand Up @@ -378,14 +378,14 @@ double FGTrimmer::eval(const std::vector<double> & v)
dq0 = dq;
dr0 = dr;

if (deltaCost < std::numeric_limits<double>::epsilon() || deltaCost < 1e-12)
if (deltaCost < std::numeric_limits<double>::epsilon() || deltaCost < 1e-11)
{
if (steadyCount++ > 10) {
//std::cout << "\tcost converged in " << iter << " cycles" << std::endl;
break;
}
}
else if (iter>1000)
else if (iter>10000)
{
std::cout << "\ncost failed to converge to steady value"
<< std::scientific
Expand All @@ -394,6 +394,7 @@ double FGTrimmer::eval(const std::vector<double> & v)
<< "\ncheck constraints and initial conditions"
<< std::endl;
throw(std::runtime_error("FGTrimmer: cost failed to converge to steady value, most likely out of flight envelope, check constraints and initial conditions"));
cost = 1e30;
}
else
{
Expand Down

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