VE Lua Documentation

initSecondStage

Definition

-- @/lua/vehicle/input.lua:143

local function initSecondStage()
  --scale rates based on steering wheel degrees
  local foundSteeringHydro = false

  if hydros then
    for _, h in pairs(hydros.hydros) do
      if h.inputSource == "steering_input" then --check if it's a steering hydro
        foundSteeringHydro = true
        if h.steeringWheelLock then
          vehicleSteeringWheelLock = abs(h.steeringWheelLock)
          break
        end
      end
    end
    for _, h in pairs(hydros.hydros) do
      if h.inputSource == "steering_input" then
        if type(h.steeringAutocenterEnabled) == "boolean" then
          steeringAutocenterEnabled = h.steeringAutocenterEnabled
          break
        end
      end
    end
    for _, h in pairs(hydros.hydros) do
      if h.inputSource == "steering_input" then
        if type(h.lowspeedCoefFFB) == "boolean" then
          M.lowspeedCoefFFB = h.lowspeedCoefFFB
          break
        end
      end
    end
  end

  if v.data.input and v.data.input.steeringWheelLock ~= nil then
    vehicleSteeringWheelLock = v.data.input.steeringWheelLock
  elseif foundSteeringHydro then
    if v.data.input == nil then
      v.data.input = {}
    end
    v.data.input.steeringWheelLock = vehicleSteeringWheelLock
  end

  for wi, wd in pairs(wheels.wheels) do
    if wd.parkingTorque and wd.parkingTorque > 0 then
      handbrakeSoundEngaging = handbrakeSoundEngaging or sounds.createSoundscapeSound("handbrakeEngaging")
      handbrakeSoundDisengaging = handbrakeSoundDisengaging or sounds.createSoundscapeSound("handbrakeDisengaging")
      handbrakeSoundDisengaged = handbrakeSoundDisengaged or sounds.createSoundscapeSound("handbrakeDisengaged")
      break
    end
  end

  -- identify and cache which are the front wheels
  table.clear(frontWheels)
  local debug = false
  for wi1, wd1 in pairs(wheels.wheels) do
    local long1, side1 = getLongitudinalLateralPrefix(wd1.name)
    if debug then
      print(string.format("----- '%s' = %s, %s", wd1.name, long1, side1))
    end
    if long1 == "F" then -- this is a front wheel
      local rearWheels = {}
      for wi2, wd2 in pairs(wheels.wheels) do
        local long2, side2 = getLongitudinalLateralPrefix(wd2.name)
        if long2 == "R" then -- this is a rear wheel
          if side1 == nil then -- we don't know the side of front wheel (maybe it's a 3-wheel pigeon)
            table.insert(rearWheels, wi2)
            if debug then
              print(string.format("    * '%s' = %s, %s", wd2.name, long2, side2))
            end
          elseif side1 == side2 then -- this rear wheel is from the same side
            table.insert(rearWheels, wi2)
            if debug then
              print(string.format("    - '%s' = %s, %s", wd2.name, long2, side2))
            end
          end
        end
      end
      if foundSteeringHydro and not next(rearWheels) then
        log("W", "", "Unable to identify any rear wheels for front wheel: "..dumps(wd1.name))
      end
      table.insert(frontWheels, {wi1, wd1, rearWheels, #rearWheels})
    end
  end
  if foundSteeringHydro and not next(frontWheels) then
    log("W", "", "Unable to identify any front wheels: driving assistants may not work")
  end
  if debug then
    for k, v in ipairs(frontWheels) do
      local namef = wheels.wheels[v[1]].name
      local namesr = {}
      for l, w in ipairs(v[3]) do
        table.insert(namesr, wheels.wheels[w].name)
      end
      print(string.format("front wheel '%s' has these rear wheels: %s", namef, dumps(namesr)))
    end
  end

  rateMult = 5 / 8
  if vehicleSteeringWheelLock ~= 1 then
    rateMult = 450 / vehicleSteeringWheelLock
  end

  kbdOutRateMult = min(kbdOutRate * rateMult, 2.68)
  kbdInRateMult = min(kbdInRate * rateMult, 3.68)
  padSmoother = newTemporalSmoothing()
  kbdSmoother = newTemporalSmoothing()

  M.reset()
end

Callers

local function initSecondStage(jbeamData)
  --merge config data from multiple parts so that some things can be defined in sub-parts. section name needs to be "configuration_xyz"

local function initSecondStage()
  if not v.data.refNodes or not v.data.nodes or not v.data.nodes[v.data.refNodes[0].ref] then

local function initSecondStage(jbeamData)
  electrics.values.hasESC = true

local function initSecondStage(jbeamData)
  tractionControlledWheelGroups = {}

local function initSecondStage(jbeamData)
  local awdActuatorName = jbeamData.awdActuatorName or "electronicSplitShaftLock"

local function initSecondStage(jbeamData)
  local mode = jbeamData.mode or "manualControl"

local function initSecondStage(jbeamData)
  M.isActive = false

  if c.initSecondStage then
    c.initSecondStage(controllerJbeamData[controller.name])
  end

local function initSecondStage()
  for _, v in pairs(sortedControllers) do

    if v.initSecondStage then
      v.initSecondStage(controllerJbeamData[v.name])
    end

    elseif v.initSecondStage then
      v.initSecondStage(controllerJbeamData[v.name])
    end

local function initSecondStage()
  subControllerLookup = {}

local function initSecondStage(jbeamData)
  if not CMU then

local function initSecondStage(jbeamData)
  local displayData = jbeamData.displayData

local function initSecondStage(jbeamData)
  local yawControl = CMU.getSupervisor("yawControl")

  profilerPushEvent("3.3 init - second stage")
  wheels.initSecondStage()
  controller.initSecondStage()

  wheels.initSecondStage()
  controller.initSecondStage()
  drivetrain.init()

  props.init()
  input.initSecondStage() -- needs to go after sounds & electrics
  recovery.init()

local function initSecondStage(jbeamData)
  local tractionControl = CMU.getSupervisor("tractionControl")

local function initSecondStage(jbeamData)
  if not CMU then

local function initSecondStage()
  escPulse = 0

local function initSecondStage(jbeamData)
  if not CMU then

local function initSecondStage(jbeamData)
  local useForTractionControl = jbeamData.useForTractionControl == nil and true or jbeamData.useForTractionControl

-- local function initSecondStage(jbeamData)
-- end

local function initSecondStage(jbeamData)
  --todo create jbeam param to determine if component should be used as TC or ESC component

local function initSecondStage(jbeamData)
  if not CMU then

local function initSecondStage(jbeamData)
  local actuatorName = jbeamData.actuatorName or "airbags"

local function initSecondStage(jbeamData)
  local frontDiffName = jbeamData.frontDiffName or "lockFront"

local function initSecondStage(jbeamData)
  if not CMU then

local function initSecondStage(jbeamData)
  local yawControl = CMU.getSupervisor("yawControl")