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Add support for custom JSON constructors for vehicle sub-systems #490

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Add support for custom JSON constructors for vehicle sub-systems #490

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926240d
Add support for custom JSON constructors for vehicle sub-systems
edvinsternvik Feb 14, 2024
98db907
Merge branch 'main' into main
edvinsternvik Apr 5, 2024
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35 changes: 26 additions & 9 deletions src/chrono_vehicle/tracked_vehicle/vehicle/TrackedVehicle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,18 +28,23 @@ namespace vehicle {

// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
TrackedVehicle::TrackedVehicle(const std::string& filename, ChContactMethod contact_method)
TrackedVehicle::TrackedVehicle(const std::string& filename,
ChContactMethod contact_method,
CustomConstructorsTV custom_constructors)
: ChTrackedVehicle("", contact_method) {
Create(filename);
Create(filename, custom_constructors);
}

TrackedVehicle::TrackedVehicle(ChSystem* system, const std::string& filename) : ChTrackedVehicle("", system) {
Create(filename);
TrackedVehicle::TrackedVehicle(ChSystem* system,
const std::string& filename,
CustomConstructorsTV custom_constructors)
: ChTrackedVehicle("", system) {
Create(filename, custom_constructors);
}

// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void TrackedVehicle::Create(const std::string& filename) {
void TrackedVehicle::Create(const std::string& filename, CustomConstructorsTV custom_constructors) {
// -------------------------------------------
// Open and parse the input file
// -------------------------------------------
Expand Down Expand Up @@ -68,7 +73,10 @@ void TrackedVehicle::Create(const std::string& filename) {

{
std::string file_name = d["Chassis"]["Input File"].GetString();
m_chassis = ReadChassisJSON(vehicle::GetDataFile(file_name));
m_chassis = ReadChassisJSON(
vehicle::GetDataFile(file_name),
custom_constructors.chassis_constructor
);
if (d["Chassis"].HasMember("Output")) {
m_chassis->SetOutput(d["Chassis"]["Output"].GetBool());
}
Expand All @@ -84,15 +92,21 @@ void TrackedVehicle::Create(const std::string& filename) {

{
std::string file_name = d["Track Assemblies"][0u]["Input File"].GetString();
m_tracks[VehicleSide::LEFT] = ReadTrackAssemblyJSON(vehicle::GetDataFile(file_name));
m_tracks[VehicleSide::LEFT] = ReadTrackAssemblyJSON(
vehicle::GetDataFile(file_name),
custom_constructors.track_assembly_constructor
);
if (d["Track Assemblies"][0u].HasMember("Output")) {
m_tracks[VehicleSide::LEFT]->SetOutput(d["Track Assemblies"][0u]["Output"].GetBool());
}
m_track_offset[LEFT] = d["Track Assemblies"][0u]["Offset"].GetDouble();
}
{
std::string file_name = d["Track Assemblies"][1u]["Input File"].GetString();
m_tracks[VehicleSide::RIGHT] = ReadTrackAssemblyJSON(vehicle::GetDataFile(file_name));
m_tracks[VehicleSide::RIGHT] = ReadTrackAssemblyJSON(
vehicle::GetDataFile(file_name),
custom_constructors.track_assembly_constructor
);
if (d["Track Assemblies"][1u].HasMember("Output")) {
m_tracks[VehicleSide::RIGHT]->SetOutput(d["Track Assemblies"][1u]["Output"].GetBool());
}
Expand All @@ -107,7 +121,10 @@ void TrackedVehicle::Create(const std::string& filename) {

{
std::string file_name = d["Driveline"]["Input File"].GetString();
m_driveline = ReadDrivelineTVJSON(vehicle::GetDataFile(file_name));
m_driveline = ReadDrivelineTVJSON(
vehicle::GetDataFile(file_name),
custom_constructors.driveline_tv_constructor
);
if (d["Driveline"].HasMember("Output")) {
m_driveline->SetOutput(d["Driveline"]["Output"].GetBool());
}
Expand Down
27 changes: 24 additions & 3 deletions src/chrono_vehicle/tracked_vehicle/vehicle/TrackedVehicle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,19 +27,40 @@ namespace vehicle {
/// @addtogroup vehicle_tracked
/// @{

/// Constructors for different vehicle subsystems. Used to construct custom
/// instances of the subsystems from a JSON document.
struct CH_VEHICLE_API CustomConstructorsTV {

/// A constructor for creating a vehicle subsystem from a JSON document.
template<typename T>
using CustomConstructor =
std::function<std::shared_ptr<T>(
const std::string&, /// The name of the template to create an instance of
const rapidjson::Document& /// The JSON document
)>;

CustomConstructor<ChChassis> chassis_constructor;
CustomConstructor<ChTrackAssembly> track_assembly_constructor;
CustomConstructor<ChDrivelineTV> driveline_tv_constructor;
};

/// Tracked vehicle model constructed from a JSON specification file.
class CH_VEHICLE_API TrackedVehicle : public ChTrackedVehicle {
public:
TrackedVehicle(const std::string& filename, ChContactMethod contact_method = ChContactMethod::NSC);
TrackedVehicle(const std::string& filename,
ChContactMethod contact_method = ChContactMethod::NSC,
CustomConstructorsTV custom_constructors = {});

TrackedVehicle(ChSystem* system, const std::string& filename);
TrackedVehicle(ChSystem* system,
const std::string& filename,
CustomConstructorsTV custom_constructors = {});

~TrackedVehicle() {}

virtual void Initialize(const ChCoordsys<>& chassisPos, double chassisFwdVel = 0) override;

private:
void Create(const std::string& filename);
void Create(const std::string& filename, CustomConstructorsTV custom_constructors);

private:
double m_track_offset[2]; ///< offsets for the left and right track assemblies
Expand Down
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