"""
MyCar Class
===========
The `MyCar` class represents a complete vehicle dynamics simulation model.
It integrates various subsystems essential for vehicle behavior simulation,
including the chassis, wheels, and suspension components.
The class is composed of the following subclasses:
- **Chassis**: Represents the main body of the vehicle, including mass, dimensions, and inertia properties.
- **Wheel**: Four instances of the `Wheel` class represent the front-left, front-right, rear-left, and rear-right wheels.
- **Suspension**: Four instances of the `Suspension` class simulate the dynamic response of the suspension system at each wheel.
"""
from pymycar.files import prepare_simulation
import os
[docs]
class MyCar:
"""
The `MyCar` class integrates the vehicle dynamics subsystems: chassis, wheels, and suspensions.
Attributes
----------
chassis : Chassis
Represents the main vehicle body.
left_rear_wheel : Wheel
Instance of the `Wheel` class for the rear-left wheel.
right_rear_wheel : Wheel
Instance of the `Wheel` class for the rear-right wheel.
left_front_wheel : Wheel
Instance of the `Wheel` class for the front-left wheel.
right_front_wheel : Wheel
Instance of the `Wheel` class for the front-right wheel.
left_rear_suspension : Suspension
Instance of the `Suspension` class for the rear-left suspension.
right_rear_suspension : Suspension
Instance of the `Suspension` class for the rear-right suspension.
left_front_suspension : Suspension
Instance of the `Suspension` class for the front-left suspension.
right_front_suspension : Suspension
Instance of the `Suspension` class for the front-right suspension.
Methods
-------
__init__(chassis, left_rear_wheel, right_rear_wheel, left_front_wheel, right_front_wheel, left_rear_suspension, right_rear_suspension, left_front_suspension, right_front_suspension)
Initializes the MyCar instance with provided subsystem objects.
save_log_info(logger)
Logs the simulation parameters of the vehicle and its subsystems.
"""
def __init__(
self,
chassis=None,
left_rear_wheel=None,
right_rear_wheel=None,
left_front_wheel=None,
right_front_wheel=None,
left_rear_suspension=None,
right_rear_suspension=None,
left_front_suspension=None,
right_front_suspension=None,
path=None,
result_folder_name="results"
):
"""
Initialize the `MyCar` instance with provided subsystem objects.
Parameters
----------
chassis : Chassis, optional
Instance of the `Chassis` class (default is None).
left_rear_wheel : Wheel, optional
Instance of the `Wheel` class for the rear-left wheel (default is None).
right_rear_wheel : Wheel, optional
Instance of the `Wheel` class for the rear-right wheel (default is None).
left_front_wheel : Wheel, optional
Instance of the `Wheel` class for the front-left wheel (default is None).
right_front_wheel : Wheel, optional
Instance of the `Wheel` class for the front-right wheel (default is None).
left_rear_suspension : Suspension, optional
Instance of the `Suspension` class for the rear-left suspension (default is None).
right_rear_suspension : Suspension, optional
Instance of the `Suspension` class for the rear-right suspension (default is None).
left_front_suspension : Suspension, optional
Instance of the `Suspension` class for the front-left suspension (default is None).
right_front_suspension : Suspension, optional
Instance of the `Suspension` class for the front-right suspension (default is None).
"""
self.result_folder_name = result_folder_name
self.path = path
# if self.path is None:
# self.path = os.getcwd()
# else:
# self.path = path
#prepare_simulation(self.path, self.result_folder_name)
# Chassis
self.chassis = chassis
# Wheels
self.left_rear_wheel = left_rear_wheel
self.right_rear_wheel = right_rear_wheel
self.left_front_wheel = left_front_wheel
self.right_front_wheel = right_front_wheel
# Suspensions
self.left_rear_suspension = left_rear_suspension
self.right_rear_suspension = right_rear_suspension
self.left_front_suspension = left_front_suspension
self.right_front_suspension = right_front_suspension
[docs]
def save_state_2_text_file(self):
self.chassis.save_state_2_text_file(os.path.join(self.path, self.result_folder_name, "chassis.dof"))
self.left_rear_wheel.save_state_2_text_file(os.path.join(self.path, self.result_folder_name, "left_rear_wheel.dof"))
self.right_rear_wheel.save_state_2_text_file(os.path.join(self.path, self.result_folder_name, "right_rear_wheel.dof"))
self.left_front_wheel.save_state_2_text_file(os.path.join(self.path, self.result_folder_name, "left_front_wheel.dof"))
self.right_front_wheel.save_state_2_text_file(os.path.join(self.path, self.result_folder_name, "right_front_suspension.dof"))
[docs]
def save_log_info(self, logger):
"""
Log the simulation parameters of the vehicle and its subsystems.
Parameters
----------
logger : logging.Logger
An instance of a logger to log the details.
Notes
-----
The logger outputs detailed information for the following components:
- Chassis
- Each of the four wheels
- Each of the four suspension systems
"""
logger.info(" ")
logger.info("********************************************************")
logger.info("* MyCar Parameters *************************************")
logger.info("********************************************************")
logger.info(" ")
# Log Chassis Info
if self.chassis:
self.chassis.save_log_info(logger)
else:
logger.info("Chassis information not provided.")
logger.info(" ")
# Log Wheel Info
wheels = {
"left rear wheel": self.left_rear_wheel,
"right rear wheel": self.right_rear_wheel,
"left front wheel": self.left_front_wheel,
"right front wheel": self.right_front_wheel,
}
for name, wheel in wheels.items():
if wheel:
wheel.save_log_info(logger, name)
else:
logger.info(f"{name} information not provided.")
logger.info(" ")
# Log Suspension Info
suspensions = {
"left rear suspension": self.left_rear_suspension,
"right rear suspension": self.right_rear_suspension,
"left front suspension": self.left_front_suspension,
"right front suspension": self.right_front_suspension,
}
for name, suspension in suspensions.items():
if suspension:
suspension.save_log_info(logger, name)
else:
logger.info(f"{name} information not provided.")
logger.info(" ")
# # view ####
# self.left_rear_wheel.x = -self.chassis.rear_axle_to_com
# self.left_rear_wheel.y = -self.chassis.rear_track
# self.left_rear_wheel.z = 0.0
# self.right_rear_wheel.x = -self.chassis.rear_axle_to_com
# self.right_rear_wheel.y = self.chassis.rear_track
# self.right_rear_wheel.z = 0.0
# self.left_front_wheel.x = +self.chassis.front_axle_to_com
# self.left_front_wheel.y = -self.chassis.front_track
# self.left_front_wheel.z = 0.0
# self.right_front_wheel.x = +self.chassis.front_axle_to_com
# self.right_front_wheel.y = +self.chassis.front_track
# self.right_front_wheel.z = 0.0
# ######
# self.cad = None
# def set_cad(self):
# self.chassis.set_cad()
# self.left_rear_wheel.set_cad()
# self.right_rear_wheel.set_cad()
# self.left_front_wheel.set_cad()
# self.right_front_wheel.set_cad()
# self.cad = pv.MultiBlock([self.chassis.cad,
# self.left_rear_wheel.cad,
# self.right_rear_wheel.cad,
# self.left_front_wheel.cad,
# self.right_front_wheel.cad])
# def view_cad(self):
# if self.cad == None:
# self.set_cad()
# plotter = pv.Plotter()
# plotter.add_mesh(self.chassis.cad, color ="red", show_edges=True)
# plotter.add_mesh(self.left_rear_wheel.cad, color ="black", show_edges=True)
# plotter.add_mesh(self.right_rear_wheel.cad, color ="black", show_edges=True)
# plotter.add_mesh(self.left_front_wheel.cad, color ="black", show_edges=True)
# plotter.add_mesh(self.right_front_wheel.cad, color ="black", show_edges=True)
# # if self.left_rear_suspension!=None:
# # plotter.add_mesh(self.left_rear_suspension.cad, color ="blue", show_edges=True)
# # if self.right_rear_suspension!=None:
# # plotter.add_mesh(self.right_rear_suspension.cad, color ="yellow", show_edges=True)
# plotter.show()
