pumps now work properly, even if they are very manual :)

src/coolant/fluid_holder.cpp

@@ -1,6 +1,6 @@
 
 #include "fluid_holder.hpp"
-#include "../constants.hpp"
+#include "../util/constants.hpp"
 #include "../conversions/temperature.hpp"
 #include "../reactor/fuel/half_life.hpp"
 
@@ -86,7 +86,7 @@ double fluid_holder::get_pressure() const
 
 	if(V == 0)
 	{
-		return NAN;
+		return 0;
 	}
 	
 	return (n * T * constants::R) / V;
@@ -95,7 +95,7 @@ double fluid_holder::get_pressure() const
 double fluid_holder::get_steam_density() const
 {
 	double v = get_steam_volume();
-	return v > 0 ? steam / v : NAN;
+	return v > 0 ? steam / v : 0;
 }
 
 void fluid_holder::update(double secs)

src/coolant/pump.cpp

@@ -6,15 +6,20 @@
 
 using namespace sim::coolant;
 
-pump::pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double l_per_rev, double friction) :
+pump::pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double power, double l_per_rev, double friction) :
 		src(src), dst(dst), mass(mass), radius(radius), l_per_rev(l_per_rev), friction(friction)
 {
-	power = 1e8;
+	this->power = power;
 }
 
 double pump::get_flow() const
 {
-	return src->fluid.l_to_g(l_per_rev * get_rpm() / 60);
+	return l_per_rev * get_rpm() * 60;
+}
+
+double pump::get_flow_mass() const
+{
+	return src->fluid.l_to_g(get_flow());
 }
 
 double pump::get_rpm() const
@@ -56,40 +61,38 @@ static double calc_work(double j, double mass)
 
 void pump::update(double dt)
 {
+	idling = false;
+
 	if(powered && !idling)
 	{
 		velocity += calc_work(dt * power, mass);
 	}
 	
+	fluid_holder fh_src(*src);
+	fluid_holder fh_dst(*dst);
+
 	double src_heat = src->get_heat();
 	double p_diff_1 = dst->get_pressure() - src->get_pressure();
-	double src_volume = src->extract_fluid(get_flow() * dt);
-	double dst_volume = dst->add_fluid(src_volume, src_heat);
+	double src_volume = fh_src.extract_fluid(get_flow() * dt);
+	double dst_volume = fh_dst.add_fluid(src_volume, src_heat);
 
-	if(dst_volume < src_volume)
-	{
-		src->add_fluid(src_volume - dst_volume, src_heat);
-	}
+	src->extract_fluid(dst_volume);
+	dst->add_fluid(dst_volume, src_heat);
 	
 	double p_diff_2 = dst->get_pressure() - src->get_pressure();
 	double p_diff = (p_diff_1 + p_diff_2) / 2;
-	double work = p_diff * dst_volume + get_rpm() * 60 * dt * friction;
+	double work = p_diff * dst_volume * 0.001 + get_rpm() * 60 * dt * friction;
 
 	velocity -= calc_work(work, mass);
 
 	if(dst->get_level() > 400 || src->get_level() < 10)
 	{
-		idling = true;
+//		idling = true;
 	}
 
 	else
 	{
-		idling = false;
+//		idling = false;
 	}
-
-	std::cout << "RPM: " << get_rpm() << "\t";
-	std::cout << "Flow: " << get_flow() << std::endl;
-	std::cout << "Work Done: " << work << " J\n";
-	std::cout << "Src Volume: " << src_volume << "\n";
 }
 

src/coolant/pump.hpp

@@ -21,12 +21,13 @@ class pump
 
 public:
 
-	bool powered = true;
+	bool powered = false;
 	bool idling = false;
 
-	pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double l_per_rev, double friction);
+	pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double power, double l_per_rev, double friction);
 
-	double get_flow() const; // g/s
+	double get_flow() const; // L/s
+	double get_flow_mass() const; // g/s
 	double get_rpm() const; // rev/min
 
 	const char* get_state_string();

src/coolant/valve.cpp

@@ -1,7 +1,7 @@
 
 #include "valve.hpp"
 #include "../conversions/temperature.hpp"
-#include "../constants.hpp"
+#include "../util/constants.hpp"
 
 #include <cmath>
 #include <iostream>

src/graphics/monitor/core.cpp

@@ -73,16 +73,14 @@ struct core_monitor : public focus::focus_t
 
 struct core_joystick : public focus::focus_t
 {
-	double ypos = 0;
-	
 	virtual void on_cursor_pos(double x, double y)
 	{
-		ypos += y;
+		sim::system::active.reactor->add_rod_speed(y * 1e-6);
 	}
 
-	virtual void update(double dt)
+	virtual ~core_joystick()
 	{
-		sim::system::active.reactor->add_rod_speed(ypos * dt * 1e-6);
+		sim::system::active.reactor->reset_rod_speed();
 	}
 
 	virtual void on_mouse_button(int button, int action, int mods)

src/graphics/monitor/primary_loop.cpp

@@ -54,6 +54,15 @@ primary_loop::primary_loop()
 
 }
 
+void primary_loop::toggle_primary_pump()
+{
+	system& sys = sim::system::active;
+	bool state;
+	
+	sys.primary_pump->powered = state = !sys.primary_pump->powered;
+	gm_switch_primary.model_matrix = glm::translate(glm::mat4(1), glm::vec3(0, state ? 0.07 : 0, 0));
+}
+
 void primary_loop::init()
 {
 	mesh1.model_matrix = locations::monitors[3];
@@ -85,8 +94,18 @@ void primary_loop::init()
 	mesh1.bind();
 	mesh1.set(rmesh, GL_STATIC_DRAW);
 
+	rmesh.load_model("../assets/model", "primary_coolant_pump_switch.glb");
+	gm_switch_primary.bind();
+	gm_switch_primary.set(rmesh, GL_STATIC_DRAW);
+
+	rmesh.load_model("../assets/model", "secondary_coolant_pump_switch.glb");
+	gm_switch_secondary.bind();
+	gm_switch_secondary.set(rmesh, GL_STATIC_DRAW);
+
 	m_joystick_turbine_bypass.load_model("../assets/model", "turbine_valve_bypass_joystick.stl");
 	m_joystick_turbine_inlet.load_model("../assets/model", "turbine_valve_inlet_joystick.stl");
+	m_switch_primary.load_model("../assets/model", "primary_coolant_pump_switch.stl");
+	m_switch_secondary.load_model("../assets/model", "secondary_coolant_pump_switch.stl");
 }
 
 void primary_loop::update()
@@ -104,7 +123,7 @@ void primary_loop::update()
 	ss << "\n\n\n";
 	ss << sys.primary_pump->get_state_string() << "\n";
 	ss << show( sys.primary_pump->get_rpm() ) << " r/min\n";
-	ss << show( sys.primary_pump->get_flow() / 1000 ) << " kg/s\n";
+	ss << show( sys.primary_pump->get_flow_mass() / 1000 ) << " kg/s\n";
 	ss << "\n\n\n";
 	ss << show( sys.condenser->get_heat() ) << " C\n";
 	ss << show( sys.condenser->get_steam() ) << " g\n";
@@ -119,6 +138,8 @@ void primary_loop::update()
 		focus::set(std::make_unique<valve_joystick>(sys.turbine_bypass_valve.get()));
 	if(m_joystick_turbine_inlet.check_focus())
 		focus::set(std::make_unique<valve_joystick>(sys.turbine_inlet_valve.get()));
+	if(m_switch_primary.check_focus())
+		toggle_primary_pump();
 }
 
 void primary_loop::render()
@@ -130,5 +151,13 @@ void primary_loop::render()
 	mesh2.bind();
 	mesh2.uniform();
 	mesh2.render();
+	
+	gm_switch_primary.bind();
+	gm_switch_primary.uniform();
+	gm_switch_primary.render();
+
+	gm_switch_secondary.bind();
+	gm_switch_secondary.uniform();
+	gm_switch_secondary.render();
 }
 

src/graphics/monitor/primary_loop.hpp

@@ -10,8 +10,15 @@ class primary_loop
 {
 	sim::graphics::glmesh mesh1, mesh2;
 
+	sim::graphics::glmesh gm_switch_primary;
+	sim::graphics::glmesh gm_switch_secondary;
+	
 	sim::graphics::mesh m_joystick_turbine_bypass;
 	sim::graphics::mesh m_joystick_turbine_inlet;
+	sim::graphics::mesh m_switch_primary;
+	sim::graphics::mesh m_switch_secondary;
+
+	void toggle_primary_pump();
 	
 public:
 

src/reactor/coolant/vessel.cpp

@@ -1,6 +1,6 @@
 
 #include "vessel.hpp"
-#include "../../constants.hpp"
+#include "../../util/constants.hpp"
 #include "../../conversions/temperature.hpp"
 #include "../fuel/half_life.hpp"
 

src/reactor/reactor.cpp

@@ -1,6 +1,6 @@
 
 #include "reactor.hpp"
-#include "../random.hpp"
+#include "../util/random.hpp"
 
 #include <algorithm>
 

src/system.cpp

@@ -37,12 +37,12 @@ system::system()
 	
 	vessel = std::make_unique<reactor::coolant::vessel>(sim::coolant::WATER, 8, 10, 6e6, 300);
 	reactor = std::make_unique<reactor::reactor>(sim::reactor::builder(19, 19, 1.0 / 4.0, 4, reactor::fuel::fuel_rod(0.5), vessel.get(), layout));
-	condenser = std::make_unique<coolant::condenser>(sim::coolant::WATER, 8, 6, 3e6, 0);
+	condenser = std::make_unique<coolant::condenser>(sim::coolant::WATER, 8, 6, 3e6, 200);
 	turbine = std::make_unique<electric::turbine>(sim::coolant::WATER, condenser.get(), 6, 3, 2e6);
 	
 	turbine_inlet_valve = std::make_unique<coolant::valve>(vessel.get(), turbine.get(), 0, 1e-2);
 	turbine_bypass_valve = std::make_unique<coolant::valve>(vessel.get(), condenser.get(), 0, 1e-2);
-	primary_pump = std::make_unique<coolant::pump>(condenser.get(), vessel.get(), 1e6, 1, 1, 0);
+	primary_pump = std::make_unique<coolant::pump>(condenser.get(), vessel.get(), 1e6, 1, 1e6, 1, 10);
 }
 
 system::system(system&& o)

src/util/pid.cpp

@@ -0,0 +1,112 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <cmath>
+#include "pid.hpp"
+
+using namespace std;
+
+class PIDImpl
+{
+    public:
+        PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki );
+        ~PIDImpl();
+        double calculate( double setpoint, double pv );
+
+    private:
+        double _dt;
+        double _max;
+        double _min;
+        double _Kp;
+        double _Kd;
+        double _Ki;
+        double _pre_error;
+        double _integral;
+};
+
+
+PID::PID( double dt, double max, double min, double Kp, double Kd, double Ki )
+{
+    pimpl = new PIDImpl(dt,max,min,Kp,Kd,Ki);
+}
+double PID::calculate( double setpoint, double pv )
+{
+    return pimpl->calculate(setpoint,pv);
+}
+PID::~PID() 
+{
+    delete pimpl;
+}
+
+
+/**
+ * Implementation
+ */
+PIDImpl::PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki ) :
+    _dt(dt),
+    _max(max),
+    _min(min),
+    _Kp(Kp),
+    _Kd(Kd),
+    _Ki(Ki),
+    _pre_error(0),
+    _integral(0)
+{
+}
+
+double PIDImpl::calculate( double setpoint, double pv )
+{
+    
+    // Calculate error
+    double error = setpoint - pv;
+
+    // Proportional term
+    double Pout = _Kp * error;
+
+    // Integral term
+    _integral += error * _dt;
+    double Iout = _Ki * _integral;
+
+    // Derivative term
+    double derivative = (error - _pre_error) / _dt;
+    double Dout = _Kd * derivative;
+
+    // Calculate total output
+    double output = Pout + Iout + Dout;
+
+    // Restrict to max/min
+    if( output > _max )
+        output = _max;
+    else if( output < _min )
+        output = _min;
+
+    // Save error to previous error
+    _pre_error = error;
+
+    return output;
+}
+
+PIDImpl::~PIDImpl()
+{
+}
+

src/util/pid.hpp

@@ -0,0 +1,44 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+class PIDImpl;
+class PID
+{
+    public:
+        // Kp -  proportional gain
+        // Ki -  Integral gain
+        // Kd -  derivative gain
+        // dt -  loop interval time
+        // max - maximum value of manipulated variable
+        // min - minimum value of manipulated variable
+        PID( double dt, double max, double min, double Kp, double Kd, double Ki );
+
+        // Returns the manipulated variable given a setpoint and current process value
+        double calculate( double setpoint, double pv );
+        ~PID();
+
+    private:
+        PIDImpl *pimpl;
+};
+