Integrating Dokuwiki with Mantis

本文详细介绍了如何将MantisBT与DokuWiki进行集成,包括自定义DokuWiki以匹配Mantis认证、调整授权基于Mantis访问级别、在问题视图页面添加Wiki链接、提供Mantis与Wiki页面之间的映射以及正确管理HTTP认证。

原文链接:http://www.mantisbt.org/wiki/doku.php/mantisbt:issue:7075:integration_with_dokuwikiIntegrating DokuWiki with Mantis

Disclaimer

This document describes the steps needed to integrate DokuWiki with Mantis. The method described here was originally tested with mantis version 1.1.0rc2 and dokuwiki rc2009-12-02, and should work with subsequent versions (modulo bugs). It may work with older versions of mantis provided you make the File Changes described below.

Integration Functionality

The integration between Mantis and DokuWiki so far achieves the following:

  • Customises DokuWiki to honour Mantis authentication (i.e. single sign-on).
  • Customises DokuWiki authorisation based on Mantis access levels (i.e. groups).
  • Adds a Wiki link on the issue view simple/advanced pages to their corresponding Wiki issue page.
  • Adds a Wiki menu option which maps to the corresponding project Wiki page, or general page in case of “All Projects”.
  • Provides a way for Wiki pages to link to Mantis issues, e.g. 7075.
  • Correctly manages HTTP Authentication. See ( http://www.mantisbt.org/bugs/view.php?id=12458).

Tips

Following are some tips that are of interest to Mantis / DokuWiki integration:

  • To define a template for all Wiki pages within a namespace, create _template.txt in the namespace folder (namespace is located into the DOKUWIKI_ROOT/data/mantis directory). All pages created within this namespace will use the contents of the templates as a start point. This will affect the way the Wiki is structured. For example, if all issues within a project have a namespace, then they can all share one template, if there is a namespace per category, then there can be a template per category. The exact structure to be used should be configurable through Mantis configuration. However, the actual structure currently implemented is described in a tip later on in this section.
  • The Wiki menu links in Mantis are equivalent to internal links for mantis:project: where:
    • mantis is the value of $g_wiki_root_namespace from config_inc.php (note that this is not configurable per-project, it is specifically looked up as a global)
    • project is the name of the current project, or nothing for ALL PROJECTS (ie. you get just mantis: which resolves to mantis:start if your start config setting is still the install default)
  • The View Issue Details Wiki links in Mantis are equivalent to internal links for mantis:project:issue:NNNN where:
    • mantis and project are as described above for that Mantis project
    • issue is just that word “issue” and is the namespace for all issues in this project
    • NNNN is the numeric ID of the Mantis issue without leading zeros, and is a page, not a namespace
  • How Wiki access levels are determined: The Mantis auth backend included below takes the namespace containing the object being accessed, extracts the 2nd component, and looks it up in a flat list of Mantis projects. If there is a match, that project’s access level is used, and if not, the global (ALL PROJECTS) access level is used. This means that mantis:project: and mantis:subproject: both get the access level of those Mantis projects, but mantis:project:subproject: gets the access level of project, AND playground:project: also gets the access level of project even though it has nothing to do with the $g_wiki_root_namespace used by the various Wiki links on the Mantis side. This allows you to implement any number of areas in your wiki that use Mantis projects for access control, with the restriction that all namespaces must be of the form top_level:mantis_project:* (ie. any namespace just under a top-level namespace which matches a Mantis project name will use that project access level for itself and its child namespaces).
  • Another consequence of the simplistic code here is that it fails to adjust when $g_wiki_root_namespace is an empty string. In that case, the mapping function on the Mantis side omits the mantis: component in the Wiki namespace string, thus popping the flat project list up to the top level. But then the auth backend code below fails to find it, and every project Wiki link from Mantis takes you to a place that has only global access levels and your project access settings appear to be ignored. Of course, if you create a namespace just under any top level namespace with a Mantis project’s name, that will continue to work fine.
  • Rename (if necessary) your projects and subprojects so that all their names are legal pagename identifiers. Otherwise the access level code will fail to map Wiki namespaces back into Mantis projects, and users will get global access levels instead of their project access level.
  • DokuWiki will see groups for each combination of Mantis project and access level that exist for the current user. For example:
my_namespace:my_project:* @ALL                 0
my_namespace:my_project:* @MYPROJECT_VIEWER    1
my_namespace:my_project:* @MYPROJECT_DEVELOPER 8

Mantis Configuration

Add the following configuration items to config_inc.php and customize them for your installation. Copy the corresponding block fromconfig_defaults_inc.php if your mantis version is recent enough to have it. Note however that the list of valid wiki engines may be out of date; as of 1.2.6 the correct list is in the switch statement incore/wiki_api.php.

	#####################
	# Wiki Integration
	#####################
 
	# Wiki Integration Enabled?
	$g_wiki_enable = OFF;
 
	# Wiki Engine
	$g_wiki_engine = 'dokuwiki';
 
	# Wiki namespace to be used as root for all pages relating to this mantis installation.
	$g_wiki_root_namespace = 'mantis';
 
	# URL under which the wiki engine is hosted.  Must be on the same server.
	$g_wiki_engine_url = $t_protocol . '://' . $t_host . '/%wiki_engine%/';

Tip: If you are using different subdomains (eg. mantis lives at: bugs.example.com and doku lives at wiki.example.com) then you need to make the cookies accessible to both subdomains. In your mantisconfig_inc.php, set

        $g_wiki_engine_url = 'http://wiki.example.com/';
        $g_cookie_domain = '.example.com';   // So wiki and bugs can share cookie info

Don’t forget to change g_wiki_enable to ON later once you are done setting up DokuWiki.

DokuWiki Steps

Installation

Install DokuWiki and make sure it is working properly. This involves making sure that you can create pages, edit them, view them, etc.

Core Configuration

Add/modify the configuration values show below in your DokuWiki installation. Recent versions (eg. 2011-05-25a “Rincewind”) can have these indokuwiki\conf\local.protected.php, but older versions will have to put them in a file that may be overwritten later. Usedokuwiki\conf\local.php if you do not use the Admin interface’s config plugin (it will delete manually added lines!). Otherwise usedokuwiki\conf\dokuwiki.php where the default settings are located, but beware this will get overwritten during updates, so you will need to manually merge changes.

In fact a fix is needed to implement the two settings to the config page. (fix in form of plugin is already done herehttp://www.mantisbt.org/wiki/doku.php/mantisbt:issue:8253 but contains other changes)

#
# Add the following lines:
#
 
define( 'MANTIS_ROOT', 'c:/inetpub/wwwroot/mantisbt/' );  // file path to Mantis, must terminate with /
define( 'MANTIS_URL', 'http://localhost/mantisbt/' );     // url to Mantis, must terminate with /
 
#
# Once you have inc\auth\mantis.class.php created, modify the following configuration options to match the values below.
# With modern versions of dokuwiki, the bundled config plugin can set these values, otherwise uncomment them here.
#
 
# $conf['useacl']       = 1;                // Use Access Control Lists to restrict access?
# $conf['authtype']     = 'mantis';         // which authentication backend should be used
# $conf['defaultgroup'] = 'VIEWER';         // Default groups new Users are added to
# $conf['superuser'] = '@ADMINISTRATOR';    // allows mantis administrator to access dokuwiki admin area
 
#
# If selecting the mantis auth backend results in fatal errors from redeclaration of utf8 functions, uncomment this:
#
# require_once( MANTIS_ROOT . 'core.php' );

(utf8 redeclaration error reference: http://www.mantisbt.org/bugs/view.php?id=11769)

Authorisation Configuration

Add the following to the end of acl.auth.php:

*	@VIEWER		1
*	@REPORTER	2
*	@UPDATER	4
*	@DEVELOPER	8
*	@MANAGER	16
*	@ADMINISTRATOR	16

This will get you started. See the Tips section above for information about per-project group mappings.

Mantis Authentication Backend (Single Sign-On)

Create dokuwiki\inc\auth\mantis.class.php with the code below.

<?php
/**
 * Mantis auth backend
 *
 * Uses external Trust mechanism to check against Mantis'
 * user cookie.
 * 13/12/2009 ~ @Tiago Gomes:
 * added modifications to make possible to set project related user rights.(http://www.mantisbt.org/bugs/view.php?id=8249)
 * added modifications so that mantis support logging in/out from DokuWiki’s login page (http://www.mantisbt.org/bugs/view.php?id=8277)
 * 
 *
 * @author    Victor Boctor (http://www.futureware.biz)
 * 
 */
require_once( MANTIS_ROOT . 'core.php' );
 
#dbg($GLOBALS);
 
class auth_mantis extends auth_basic {
    /**
     * Constructor.
     *
     * Sets additional capabilities and config strings
     */
    function auth_mantis(){
        $this->cando['external'] = true;
 
        $this->cando['logoff' ] = true; // module has a logoff method
    }
    
    /**
     * Authenticates the user using Mantis APIs.
     */
    function trustExternal($user,$pass,$sticky=false){
        global $USERINFO;
        global $conf;
 
        $ValidUser = false;
 
        // Manage HTTP authentication with Negotiate protocol enabled
        $user = auth_prepare_username($user);
	$pass = auth_prepare_password($pass);
        // This is necessary in all cases where Authorization HTTP header is always set
	if(auth_is_user_authenticated())
	{
	    $user='';
	}
 
        // Has a user name been provided?
        if ( !empty ( $user ) )
        {   
            // User name provided, so login via form in progress...
            // Are the specified user name and password valid?
            if ( auth_attempt_login ( $user, $pass, $sticky ) )
            {   
                // Credential accepted...
                $_SERVER['REMOTE_USER'] = $user; // Set the user name (makes things work...)
                $ValidUser = true; // Report success.
            }
            else
            {   
                // Invalid credentials              
                        if ( !$silent )
                {   
                    msg ( $lang [ 'badlogin' ], -1 );
                }
                
                $ValidUser = false;
            }
        }
        else
        {   
            // No user name provided.
            // Is a user already logged in?
            if ( auth_is_user_authenticated ( ) )
            {   
                // Yes, a user is logged in, so set the globals...
                // is it a media display or a page?
                if (isset($_REQUEST['media'])) {
                    //media
                    $t_project_name = explode( ':', getNS( getID("media",false) ) );
                } else {
                    // normal page
                    $t_project_name = explode( ':', getNS( getID() ) );
                }
                $t_project_id = project_get_id_by_name( $t_project_name[1] );
                $t_access_level = access_get_project_level( $t_project_id );
                $t_access_level_string = strtoupper( MantisEnum::getLabel( config_get( 'access_levels_enum_string' ),  $t_access_level ) ); // mantis 1.2.0rc
                // $t_access_level_string = strtoupper( get_enum_to_string( config_get( 'access_levels_enum_string' ),  $t_access_level ) ); 
                $t_access_level_string_ex = strtoupper( $t_project_name[1] ) . '_' . $t_access_level_string;
 
                $USERINFO['grps'] = array( $t_access_level_string, $t_access_level_string_ex );
                $USERINFO[ 'pass' ] = current_user_get_field ( 'password' );
                $USERINFO[ 'name' ] = current_user_get_field ( 'username' );
                $USERINFO[ 'mail' ] = current_user_get_field ( 'email' );
                
                $_SERVER[ 'REMOTE_USER' ] = $USERINFO[ 'name' ];
                $_SESSION[ $conf[ 'title' ]][ 'auth' ][ 'user' ] = $USERINFO[ 'name' ];
                $_SESSION[ $conf[ 'title' ]][ 'auth' ][ 'info' ] = $USERINFO;
                
                $ValidUser = true;
            }
            else
            {   
                $ValidUser = false;
            }
        }
        
        // Is there a valid user login?
        if ( true != $ValidUser )
        {   
            // No, so make sure any existing authentication is revoked.
            auth_logoff ( );
        }
        
        return $ValidUser;
    }
    /**
     * Logout from Mantis
     */
    function logOff(){
        auth_logout();
    }
 
    /**
     * Get user data
     * (needed for e-mail subscriptions)
     *
     * @author Martin Arends http://www.web-gestaltung.de
     */
    function getUserData($user) 
    {
      $data = array();
      
      $t_user_id = user_get_id_by_name( $user );
 
      if (isset($_REQUEST['media'])) {
          //media
          $t_project_name = explode( ':', getNS( getID("media",false) ) );
      } else {
          // normal page
          $t_project_name = explode( ':', getNS( getID() ) );
      }
 
      $t_project_id   = project_get_id_by_name( $t_project_name[1] );
      $t_access_level = access_get_project_level( $t_project_id, $t_user_id );
      $t_access_level_string    = strtoupper( MantisEnum::getLabel( config_get( 'access_levels_enum_string' ),  $t_access_level ) );
      $t_access_level_string_ex = strtoupper( $t_project_name[1] ) . '_' . $t_access_level_string;
      
      $data['name'] = $user;
      $data['grps'] = array( $t_access_level_string, $t_access_level_string_ex );
      $data['mail'] = user_get_email( $t_user_id );
      return $data;
    }
}
 

This codes already contains the following mods:

  • Issue 8249 which makes it possible to set project related user rights.
  • Support logging in/out from DokuWiki’s login page Issue 8277

If you want the original code, you can see the wiki history

Mantis Syntax Plug-in

This plugin is to be placed in dokuwiki\lib\plugins\mantis\syntax.php. Create themantis subdirectory underplugins if necessary.

<?php
/**
 * Mantis Plugin: Hyperlinks references to Mantis Issues
 * 
 * @license    GPL 2 (http://www.gnu.org/licenses/gpl.html)
 * @author     Victor Boctor (http://www.futureware.biz)
 */
 
 
if(!defined('DOKU_INC')) define('DOKU_INC',realpath(dirname(__FILE__).'/../../').'/');
if(!defined('DOKU_PLUGIN')) define('DOKU_PLUGIN',DOKU_INC.'lib/plugins/');
require_once(DOKU_PLUGIN.'syntax.php');
 
/**
 * A plug-in that hyper links references to Mantis issues.  References
 * to Mantis issues should use the following format: ~~Mantis:123~~.
 *
 * All DokuWiki plugins to extend the parser/rendering mechanism
 * need to inherit from this class
 */
class syntax_plugin_mantis extends DokuWiki_Syntax_Plugin {
 
    /**
     * return some info
     */
    function getInfo(){
        return array(
            'author' => 'Victor Boctor',
            'email'  => 'vboctor at users . sourceforge . net',
            'date'   => '2006-05-18',
            'name'   => 'Mantis Issues Plugin',
            'desc'   => 'Support References to Mantis Issues',
            'url'    => 'http://www.futureware.biz',
        );
    }
 
    /**
     * What kind of syntax are we?
     */
    function getType(){
        return 'substition';  # typo is intentional
    }
   
    /**
     * What about paragraphs?
     */
    function getPType(){
        return 'normal';
    }
 
    /**
     * Where to sort in?
     */ 
    function getSort(){
        return 156;
    }
 
 
    /**
     * Connect pattern to lexer
     */
    function connectTo($mode) {
        $this->Lexer->addSpecialPattern('~~Mantis:[0-9]+~~', $mode, 'plugin_mantis');
    }
 
 
    /**
     * Handle the match
     */
    function handle($match, $state, $pos, &$handler){
        $match = substr( $match, 9, -2 ); // strip "~~Mantis:" from start and "~~" from end
        return array( strtolower( $match ) );
    }
 
    /**
     * Create output
     */
    function render($format, &$renderer, $data) {
        if ( $format == 'xhtml' ) {
			$renderer->externallink( MANTIS_URL . 'view.php?id=' . $data[0], $data[0] );
            return true;
        }
        return false;
    }
}
 

Mantis File Changes for versions before 1.1.0rc2

If you use mantis 1.1.0rc2 (or later), the following steps are already done and you just need to set

	$g_wiki_enable = ON;

in your config_inc.php.

If you use a mantis version which is older than 1.1.0rc2 please check if any of the changes below still need to be done.

wiki_api.php

Create mantis/core/wiki_api.php with the following content:

<?php
	# Mantis - a php based bugtracking system
	# Copyright (C) 2000 - 2002  Kenzaburo Ito - kenito@300baud.org
	# Copyright (C) 2002 - 2006  Mantis Team   - mantisbt-dev@lists.sourceforge.net
	# This program is distributed under the terms and conditions of the GPL
	# See the README and LICENSE files for details
 
	# --------------------------------------------------------
	# $Id: $
	# --------------------------------------------------------
 
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'helper_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'utility_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'database_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'authentication_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'gpc_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'access_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'project_api.php' );
	require_once( dirname( __FILE__ ) . DIRECTORY_SEPARATOR . 'wiki_' . config_get( 'wiki_engine' ) . '_api.php' );
 
	# ----------------------
	# Calls a function with the specified name (not including prefix) and given the array
	# of parameters supplied.  An example prefix is "wiki_dokuwiki_".
	function wiki_call( $p_function, $p_args_array ) {
		$t_function = 'wiki_' . config_get_global( 'wiki_engine' ) . '_' . $p_function;
		return call_user_func_array( $t_function, $p_args_array );
	}
 
	# ----------------------
	# Checks if the Wiki feature is enabled or not.
	function wiki_is_enabled() {
		return config_get( 'wiki_enable' ) == ON;
	}
 
 	# ----------------------
	# Ensures that the wiki feature is enabled.
	function wiki_ensure_enabled() {
		if ( !wiki_is_enabled() ) {
			access_denied();
		}
	}
 
	# ----------------------
	# Gets the wiki URL for the issue with the specified id.
	function wiki_get_url_for_issue( $p_issue_id ) {
		return wiki_call( 'get_url_for_issue', array( $p_issue_id ) );
	}
 
	# ----------------------
	# Gets the wiki URL for the project with the specified id.  The project id can be ALL_PROJECTS.
	function wiki_get_url_for_project( $p_project_id ) {
		return wiki_call( 'get_url_for_project', array( $p_project_id ) );
	}
?>
 

wiki_dokuwiki_api.php

Create mantis/core/wiki_dokuwiki_api.php with the following content:

<?php
	# Mantis - a php based bugtracking system
	# Copyright (C) 2000 - 2002  Kenzaburo Ito - kenito@300baud.org
	# Copyright (C) 2002 - 2006  Mantis Team   - mantisbt-dev@lists.sourceforge.net
	# This program is distributed under the terms and conditions of the GPL
	# See the README and LICENSE files for details
 
	# --------------------------------------------------------
	# $Id: $
	# --------------------------------------------------------
 
	# ----------------------
	# Gets the URL for the page with the specified page id.  This function is used
	# internally by this API.
	function wiki_dokuwiki_get_url_for_page_id( $p_page_id ) {
		$t_root_url = config_get_global( 'wiki_engine_url' );
 
		$t_root_namespace = config_get( 'wiki_root_namespace' );
 
		if ( is_blank( $t_root_namespace ) ) {
			$t_page_id = $p_page_id;
		} else {
			$t_page_id = $t_root_namespace . ':' . $p_page_id;
		}
 
		return $t_root_url . 'doku.php?id=' . urlencode( $t_page_id );
	}
 
	# ----------------------
	# Gets the page id for the specified issue.  The page id can then be converted
	# to a URL using wiki_dokuwiki_get_url_for_page_id().
	function wiki_dokuwiki_get_page_id_for_issue( $p_issue_id ) {
		$c_issue_id = db_prepare_int( $p_issue_id );
 
		$t_project_id = bug_get_field( $p_issue_id, 'project_id' );
		$t_project_name = project_get_name( $t_project_id );
 
		# create a namespace for the project to contain all project documentation.
		# create within it a namespace for issues.  This is to allow the creation of a _template.txt
		# file to act as the template for issues belonging to this project.
		return $t_project_name . ':issue:' . $c_issue_id;
 
          # when using a different language you also could use the translation of 'issue' instead
          # but when working in a multilingual environment this will lead to different namespaces for each language 
          # (which may be intentional or not). Maybe one should make it configurable one day
 
          #    return $t_project_name . ':' . lang_get( 'bug' ) . ':' . $c_issue_id;   
 
	}
 
 	# ----------------------
	# Gets the page url for the specified issue id.
	function wiki_dokuwiki_get_url_for_issue( $p_issue_id ) {
		return wiki_dokuwiki_get_url_for_page_id( wiki_dokuwiki_get_page_id_for_issue( $p_issue_id ) );
	}
 
	# ----------------------
	# Gets the page id for the specified project.  The project id can be ALL_PROJECTS
	# The page id can then be converted to URL using wiki_dokuwiki_get_url_for_page_id().
	function wiki_dokuwiki_get_page_id_for_project( $p_project_id ) {
		$t_home = 'start';
		if ( $p_project_id == ALL_PROJECTS ) {
			return $t_home;
		} else {
			$t_project_name = project_get_name( $p_project_id );
			return $t_project_name . ':' . $t_home;
		}
	}
 
 	# ----------------------
	# Get URL for the specified project id.  The project is can be ALL_PROJECTS.
	function wiki_dokuwiki_get_url_for_project( $p_project_id ) {
		return wiki_dokuwiki_get_url_for_page_id( wiki_dokuwiki_get_page_id_for_project( $p_project_id ) );
	}
?>
 

html_api.php

Add the following with the rest of the includes:

require_once( $t_core_dir . 'wiki_api.php' );

In the print_menu() function, add the following code after the code which prints the Docs button (the block with the “Project Documentation Page” comment).

# Project Wiki
if ( wiki_is_enabled() ) {
	$t_current_project = helper_get_current_project();
	$t_menu_options[] = '<a href="wiki.php?type=project&id=' . $t_current_project . '">' . lang_get( 'wiki' ) . '</a>';
}

Add the following function:

# --------------------
# Print a button to create a wiki page
function html_button_wiki( $p_bug_id ) {
	if ( ON == config_get( 'wiki_enable' ) ) {
		if ( access_has_bug_level( config_get( 'update_bug_threshold' ), $p_bug_id ) ) {
			html_button( 'wiki.php',
						 lang_get_defaulted( 'Wiki' ),
						 array( 'id' => $p_bug_id, 'type' => 'issue' ),
						 'get' );
		}
	}
}

Update html_button() to the following implementation:

# --------------------
# Print an html button inside a form
function html_button ( $p_action, $p_button_text, $p_fields = null, $p_method = 'post' ) {
	$p_action		= urlencode( $p_action );
	$p_button_text	= string_attribute( $p_button_text );
	if ( null === $p_fields ) {
		$p_fields = array();
	}
	
	if ( strtolower( $p_method ) == 'get' ) {
		$t_method = 'get';
	} else {
		$t_method = 'post';
	}
 
	PRINT "<form method=\"$t_method\" action=\"$p_action\">\n";
 
	foreach ( $p_fields as $key => $val ) {
		$key = string_attribute( $key );
		$val = string_attribute( $val );
 
		PRINT "	<input type=\"hidden\" name=\"$key\" value=\"$val\" />\n";
	}
 
	PRINT "	<input type=\"submit\" class=\"button\" value=\"$p_button_text\" />\n";
	PRINT "</form>\n";
}

lang/strings_english.txt

Add the following at the end of the file but before the PHP end block (?>):

# wiki related strings
$s_wiki = 'Wiki';

wiki.php

Create wiki.php file in Mantis root folder:

<?php
	require_once( 'core.php' );
 
	$t_core_path = config_get( 'core_path' );
 
	require_once( $t_core_path . 'wiki_api.php' );
 
	$f_id = gpc_get_int( 'id' );
	$f_type = gpc_get_string( 'type', 'issue' );
	
	if ( $f_type == 'project' ) {
		project_ensure_exists( $f_id );
		$t_url = wiki_get_url_for_project( $f_id );
	} else {
		bug_ensure_exists( $f_id );
		$t_url = wiki_get_url_for_issue( $f_id );
	}
 
	print_header_redirect( $t_url );
?>
 

bug_view_*_page.php

Add the following code before the <td> tag that comes before the “<!– prev/next links –>” comment in both bug_view_page.php and bug_view_advanced_page.php.

<span class="small">
    <?php print_bracket_link( 'wiki.php?id='.$f_bug_id, lang_get( 'wiki' ) ) ?>
</span>

内容概要:本文详细介绍了一种基于Simulink的表贴式永磁同步电机(SPMSM)有限控制集模型预测电流控制(FCS-MPCC)仿真系统。通过构建PMSM数学模型、坐标变换、MPC控制器、SVPWM调制等模块,实现了对电机定子电流的高精度跟踪控制,具备快速动态响应和低稳态误差的特点。文中提供了完整的仿真建模步骤、关键参数设置、核心MATLAB函数代码及仿真结果分析,涵盖转速、电流、转矩和三相电流波形,验证了MPC控制策略在动态性能、稳态精度和抗负载扰动方面的优越性,并提出了参数自整定、加权代价函数、模型预测转矩控制和弱磁扩速等优化方向。; 适合人群:自动化、电气工程及其相关专业本科生、研究生,以及从事电机控制算法研究与仿真的工程技术人员;具备一定的电机原理、自动控制理论和Simulink仿真基础者更佳; 使用场景及目标:①用于永磁同步电机模型预测控制的教学演示、课程设计或毕业设计项目;②作为电机先进控制算法(如MPC、MPTC)的仿真验证平台;③支撑科研中对控制性能优化(如动态响应、抗干扰能力)的研究需求; 阅读建议:建议读者结合Simulink环境动手搭建模型,深入理解各模块间的信号流向与控制逻辑,重点掌握预测模型构建、代价函数设计与开关状态选择机制,并可通过修改电机参数或控制策略进行拓展实验,以增强实践与创新能力。
以下是将 Android HAL(Hardware Abstraction Layer)与 TinyALSA 集成的实用指南: ### 理解 Android HAL 和 TinyALSA Android HAL 是一个抽象层,用于将 Android 系统与底层硬件隔离开来,使得上层软件可以以统一的接口访问不同的硬件设备。TinyALSA 是一个轻量级的 ALSA(Advanced Linux Sound Architecture)库,用于在 Linux 系统上进行音频设备的控制和音频数据的处理。 ### 准备工作 - **环境搭建**:确保开发环境中已经安装了 Android NDK、SDK 以及相关的编译工具链。 - **获取 TinyALSA 源码**:可以从 TinyALSA 的官方仓库或者开源代码托管平台获取其源码。 ### 集成步骤 #### 1. 配置 Android.mk 或 CMakeLists.txt 在 Android HAL 模块的 Android.mk 或者 CMakeLists.txt 文件中添加对 TinyALSA 库的依赖。 **Android.mk 示例**: ```makefile LOCAL_PATH := $(call my-dir) include $(CLEAR_VARS) LOCAL_MODULE := your_hal_module LOCAL_SRC_FILES := your_hal_source_files.c # 添加 TinyALSA 库的路径 LOCAL_C_INCLUDES += /path/to/tinyalsa/include # 链接 TinyALSA 库 LOCAL_SHARED_LIBRARIES := libtinyalsa include $(BUILD_SHARED_LIBRARY) ``` **CMakeLists.txt 示例**: ```cmake cmake_minimum_required(VERSION 3.4.1) add_library(your_hal_module SHARED your_hal_source_files.c) # 添加 TinyALSA 库的路径 include_directories(/path/to/tinyalsa/include) # 链接 TinyALSA 库 target_link_libraries(your_hal_module libtinyalsa) ``` #### 2. 包含 TinyALSA 头文件 在 Android HAL 模块的源代码文件中包含 TinyALSA 的头文件,以便使用其提供的 API。 ```c #include <tinyalsa/asoundlib.h> ``` #### 3. 使用 TinyALSA API 实现音频功能 在 Android HAL 模块中使用 TinyALSA 的 API 来实现音频设备的打开、关闭、音频数据的读写等功能。 **打开音频设备示例**: ```c #include <tinyalsa/asoundlib.h> struct pcm_config config; struct pcm *pcm; // 配置音频参数 config.channels = 2; config.rate = 44100; config.period_size = 1024; config.period_count = 4; config.format = PCM_FORMAT_S16_LE; config.start_threshold = 0; config.stop_threshold = 0; config.silence_threshold = 0; // 打开音频设备 pcm = pcm_open(0, 0, PCM_OUT, &config); if (!pcm || !pcm_is_ready(pcm)) { // 处理打开失败的情况 } ``` #### 4. 编译和测试 使用 Android NDK 或者 CMake 进行编译,将生成的库文件推送到 Android 设备上进行测试。 ### 注意事项 - **错误处理**:在使用 TinyALSA API 时,要注意对返回值进行检查,处理可能出现的错误情况。 - **资源管理**:在使用完音频设备后,要及时关闭设备,释放相关资源。
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