Description

Interactive driver model using keyboard inputs.

Irrlicht-based GUI driver for the a vehicle. This class implements the functionality required by its base ChDriver class using keyboard or joystick inputs. As an Irrlicht event receiver, its OnEvent() callback is used to keep track and update the current driver inputs.

See also: ChDataDriver

#include <ChIrrGuiDriver.h>

Inheritance diagram for chrono::vehicle::ChIrrGuiDriver:

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Collaboration diagram for chrono::vehicle::ChIrrGuiDriver:

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Public Types
enum	InputMode { InputMode::LOCK, InputMode::KEYBOARD, InputMode::DATAFILE, InputMode::JOYSTICK }
	Functioning modes for a ChIrrGuiDriver. More...

Public Member Functions
	ChIrrGuiDriver (ChVehicleVisualSystemIrrlicht &vsys)
	Construct an Irrlicht GUI driver.

virtual bool	OnEvent (const irr::SEvent &event) override
	Intercept and process keyboard inputs.

virtual void	Initialize () override
	Initialize this driver system.

virtual void	Synchronize (double time) override
	Update the state of this driver system at the specified time.

virtual void	Advance (double step) override
	Advance the state of this driver system by the specified time step.

void	SetInputMode (InputMode mode)
	Set the current functioning mode.

std::string	GetInputModeAsString () const
	Return the current functioning mode as a string.

void	SetThrottleDelta (double delta)
	Set the increment in throttle input for each recorded keypress (default 1/50).

void	SetSteeringDelta (double delta)
	Set the increment in steering input for each recorded keypress (default 1/50).

void	SetBrakingDelta (double delta)
	Set the increment in braking input for each recorded keypress (default 1/50).

void	SetStepsize (double val)
	Set the step size for integration of the internal driver dynamics.

void	SetGains (double steering_gain, double throttle_gain, double braking_gain)
	Set gains for internal dynamics. More...

void	SetInputDataFile (const std::string &filename)
	Set the input file for the underlying data driver.

void	SetJoystickConfigFile (const std::string &filename)
	Set joystick JSON configuration file name.

void	SetJoystickDebug (bool val)
	Enable/disable joystick debugging output (default: false).

void	SetButtonCallback (int button, void(*cbfun)())
	Feed button number and callback function to implement a custom callback.

Public Member Functions inherited from chrono::vehicle::ChDriver
	ChDriver (ChVehicle &vehicle)
	Construct a driver subsystem associated with the given vehicle.

double	GetThrottle () const
	Get the driver throttle input (in the range [0,1])

double	GetSteering () const
	Get the driver steering input (in the range [-1,+1])

double	GetBraking () const
	Get the driver braking input (in the range [0,1])

DriverInputs	GetInputs () const
	Get all current inputs at once.

bool	LogInit (const std::string &filename)
	Initialize output file for recording driver inputs.

bool	Log (double time)
	Record the current driver inputs to the log file.

void	SetSteering (double val, double min_val=-1, double max_val=1)
	Overwrite the value for the driver steering input.

void	SetThrottle (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver throttle input.

void	SetBraking (double val, double min_val=0, double max_val=1)
	Overwrite the value for the driver braking input.

Protected Member Functions
bool	ProcessJoystickEvents (const irr::SEvent &event)

bool	ProcessKeyboardEvents (const irr::SEvent &event)

Protected Attributes
ChVehicleVisualSystemIrrlicht &	m_vsys

InputMode	m_mode
	current mode of the driver

double	m_steering_target
	current target value for steering input

double	m_throttle_target
	current target value for throttle input

double	m_braking_target
	current target value for braking input

double	m_stepsize
	time step for internal dynamics

double	m_steering_delta
	steering increment on each keypress

double	m_throttle_delta
	throttle increment on each keypress

double	m_braking_delta
	braking increment on each keypress

double	m_steering_gain
	gain for steering internal dynamics

double	m_throttle_gain
	gain for throttle internal dynamics

double	m_braking_gain
	gain for braking internal dynamics

irr::core::array< irr::SJoystickInfo >	m_joystick_info
	Irrlicht joystick information.

std::string	m_joystick_file
	JSON specification file.

int	m_joystick_proccess_frame
	counter for successive event processing frames

bool	m_joystick_debug
	enable/disable debug output

int	m_joystick_debug_frame
	counter for successive output frames

ChIrrJoystickAxis	steerAxis

ChIrrJoystickAxis	throttleAxis

ChIrrJoystickAxis	brakeAxis

ChIrrJoystickAxis	clutchAxis

ChIrrJoystickButton	shiftUpButton

ChIrrJoystickButton	shiftDownButton

ChIrrJoystickButton	gearReverseButton

ChIrrJoystickButton	gear1Button

ChIrrJoystickButton	gear2Button

ChIrrJoystickButton	gear3Button

ChIrrJoystickButton	gear4Button

ChIrrJoystickButton	gear5Button

ChIrrJoystickButton	gear6Button

ChIrrJoystickButton	gear7Button

ChIrrJoystickButton	gear8Button

ChIrrJoystickButton	gear9Button

ChIrrJoystickButton	toggleManualGearboxButton

int	m_callback_button
	joystick button associated to the custom callback

void(*	m_callback_function )()
	custom callback, can be implemented in the application

double	m_time_shift
	time at which mode was switched to DATAFILE

std::shared_ptr< ChDataDriver >	m_data_driver
	embedded data driver (for playback)

Protected Attributes inherited from chrono::vehicle::ChDriver
ChVehicle &	m_vehicle
	reference to associated vehicle

double	m_throttle
	current value of throttle input

double	m_steering
	current value of steering input

double	m_braking
	current value of braking input

Member Enumeration Documentation

◆ InputMode

enum chrono::vehicle::ChIrrGuiDriver::InputMode

strong

Functioning modes for a ChIrrGuiDriver.

Enumerator
LOCK	driver inputs locked at current values
KEYBOARD	driver inputs from keyboard
DATAFILE	driver inputs from data file
JOYSTICK	driver inputs from joystick

Member Function Documentation

◆ ProcessJoystickEvents()

bool chrono::vehicle::ChIrrGuiDriver::ProcessJoystickEvents ( const irr::SEvent & event )

protected

Gear is set to reverse

◆ SetGains()

void chrono::vehicle::ChIrrGuiDriver::SetGains	(	double	steering_gain,
		double	throttle_gain,
		double	braking_gain
	)

Set gains for internal dynamics.

Default values are 4.0.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChIrrGuiDriver.h
/builds/uwsbel/chrono/src/chrono_vehicle/driver/ChIrrGuiDriver.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ InputMode

Member Function Documentation

◆ ProcessJoystickEvents()

◆ SetGains()