Merge branch 'feature/VECTO-125-comparison-of-vecto2.2-and-vecto3' of...

Merge branch 'feature/VECTO-125-comparison-of-vecto2.2-and-vecto3' of https://webgate.ec.europa.eu/CITnet/stash/scm/~emquarima/vecto-sim into feature/VECTO-125-comparison-of-vecto2.2-and-vecto3

VectoCore/Models/Simulation/Data/ModalResult.cs

@@ -271,6 +271,8 @@ namespace TUGraz.VectoCore.Models.Simulation.Data
 		///     [m]	Altitude
 		/// </summary>
 		[ModalResultField(typeof(SI))] altitude,
+
+		[ModalResultField(typeof(SI), name: "ds [m]")] simulationDistance
 	}
 
 

VectoCore/Models/Simulation/IVectoRun.cs

@@ -17,5 +17,7 @@ namespace TUGraz.VectoCore.Models.Simulation
 		/// </summary>
 		/// <returns></returns>
 		IVehicleContainer GetContainer();
+
+		bool FinishedWithoutErrors { get; }
 	}
 }
\ No newline at end of file

VectoCore/Models/Simulation/Impl/DistanceRun.cs

@@ -36,6 +36,7 @@ namespace TUGraz.VectoCore.Models.Simulation.Impl
 						ds = r.MaxDistance;
 					}).
 					Case<ResponseCycleFinished>(r => {
+						FinishedWithoutErrors = true;
 						Log.Info("========= Driving Cycle Finished");
 					}).
 					Default(r => {

VectoCore/Models/Simulation/Impl/VectoRun.cs

@@ -23,6 +23,8 @@ namespace TUGraz.VectoCore.Models.Simulation.Impl
 		//protected IModalDataWriter DataWriter { get; set; }
 		protected IVehicleContainer Container { get; set; }
 
+		public bool FinishedWithoutErrors { get; protected set; }
+
 		protected VectoRun(IVehicleContainer container)
 		{
 			Container = container;
@@ -50,14 +52,20 @@ namespace TUGraz.VectoCore.Models.Simulation.Impl
 					}
 				} while (response is ResponseSuccess);
 			} catch (VectoSimulationException vse) {
+				Log.Error("SIMULATION RUN ABORTED! ========================");
+				Log.Error(vse);
 				Container.FinishSimulation();
 				throw new VectoSimulationException("{6} - absTime: {0}, distance: {1}, dt: {2}, v: {3}, Gear: {4} | {5}", vse,
 					AbsTime, Container.Distance, dt, Container.VehicleSpeed, Container.Gear, vse.Message, Name);
 			} catch (VectoException ve) {
+				Log.Error("SIMULATION RUN ABORTED! ========================");
+				Log.Error(ve);
 				Container.FinishSimulation();
 				throw new VectoSimulationException("{6} - absTime: {0}, distance: {1}, dt: {2}, v: {3}, Gear: {4} | {5}", ve,
 					AbsTime, Container.Distance, dt, Container.VehicleSpeed, Container.Gear, ve.Message, Name);
 			} catch (Exception e) {
+				Log.Error("SIMULATION RUN ABORTED! ========================");
+				Log.Error(e);
 				Container.FinishSimulation();
 				throw new VectoSimulationException("{6} - absTime: {0}, distance: {1}, dt: {2}, v: {3}, Gear: {4} | {5}", e, AbsTime,
 					Container.Distance, dt, Container.VehicleSpeed, Container.Gear, e.Message, Name);

VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs

@@ -17,6 +17,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 {
 	public class DefaultDriverStrategy : LoggingObject, IDriverStrategy
 	{
+		public static readonly SIBase<Meter> BrakingSafetyMargin = 0.1.SI<Meter>();
+
 		protected internal DrivingBehaviorEntry NextDrivingAction;
 
 		public enum DrivingMode
@@ -43,7 +45,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		public IResponse Request(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient)
 		{
 			if (CurrentDrivingMode == DrivingMode.DrivingModeBrake) {
-				if (Driver.DataBus.Distance.IsGreaterOrEqual(BrakeTrigger.TriggerDistance)) {
+				if (Driver.DataBus.Distance.IsGreaterOrEqual(BrakeTrigger.TriggerDistance, 1e-3.SI<Meter>())) {
 					CurrentDrivingMode = DrivingMode.DrivingModeDrive;
 					NextDrivingAction = null;
 					DrivingModes[CurrentDrivingMode].ResetMode();
@@ -107,7 +109,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 							NextDrivingAction.ActionDistance = NextDrivingAction.TriggerDistance - coastingDistance;
 							break;
 						case DrivingBehavior.Braking:
-							var brakingDistance = Driver.ComputeDecelerationDistance(NextDrivingAction.NextTargetSpeed);
+							var brakingDistance = Driver.ComputeDecelerationDistance(NextDrivingAction.NextTargetSpeed) + BrakingSafetyMargin;
 							NextDrivingAction.ActionDistance = NextDrivingAction.TriggerDistance - brakingDistance;
 							break;
 						default:
@@ -155,7 +157,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				if (nextTargetSpeed < currentSpeed) {
 					if (!Driver.DriverData.LookAheadCoasting.Enabled ||
 						currentSpeed < Driver.DriverData.LookAheadCoasting.MinSpeed) {
-						var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed);
+						var brakingDistance = Driver.ComputeDecelerationDistance(nextTargetSpeed) + BrakingSafetyMargin;
 						Log.Debug("adding 'Braking' starting at distance {0}. brakingDistance: {1}, triggerDistance: {2}",
 							entry.Distance - brakingDistance, brakingDistance, entry.Distance);
 						nextActions.Add(new DrivingBehaviorEntry {
@@ -381,7 +383,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				default:
 					return response;
 			}
-			return null;
+			return response;
 		}
 
 		public override void ResetMode() {}
@@ -433,7 +435,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			var currentDistance = DataBus.Distance;
 
 			if (Phase == BrakingPhase.Coast) {
-				var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed);
+				var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
+									DefaultDriverStrategy.BrakingSafetyMargin;
 				Log.Debug("breaking distance: {0}, start braking @ {1}", brakingDistance,
 					DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
 				if (currentDistance + Constants.SimulationSettings.DriverActionDistanceTolerance >
@@ -485,7 +488,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 						});
 					break;
 				case BrakingPhase.Brake:
-					var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed);
+					var brakingDistance = Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed) +
+										DefaultDriverStrategy.BrakingSafetyMargin;
 					Log.Debug("Phase: BRAKE. breaking distance: {0} start braking @ {1}", brakingDistance,
 						DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
 					if (DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance < currentDistance) {
@@ -533,7 +537,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				default:
 					return response;
 			}
-			return null;
+			return response;
 		}
 
 		public override void ResetMode()

VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs

@@ -148,6 +148,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			}
 
 			CurrentState.Distance = PreviousState.Distance + ds;
+			CurrentState.SimulationDistance = ds;
 			CurrentState.VehicleTargetSpeed = CycleIntervalIterator.LeftSample.VehicleTargetSpeed;
 			CurrentState.Gradient = ComputeGradient(ds);
 
@@ -240,6 +241,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		protected override void DoWriteModalResults(IModalDataWriter writer)
 		{
 			writer[ModalResultField.dist] = CurrentState.Distance;
+			writer[ModalResultField.simulationDistance] = CurrentState.SimulationDistance;
 			writer[ModalResultField.v_targ] = CurrentState.VehicleTargetSpeed;
 			writer[ModalResultField.grad] = (Math.Tan(CurrentState.Gradient.Value()) * 100).SI<Scalar>();
 			writer[ModalResultField.altitude] = CurrentState.Altitude;
@@ -413,6 +415,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			public IResponse Response;
 
 			public bool RequestToNextSamplePointDone = false;
+
+			public Meter SimulationDistance;
 		}
 	}
 }
\ No newline at end of file

VectoCore/Models/SimulationComponent/Impl/Driver.cs

@@ -492,7 +492,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			// braking power is in the range of the exceeding delta. set searching range to 2/3 so that 
 			// the target point is approximately in the center of the second interval
 			var searchInterval = origDelta.Abs() * 2 / 3;
-			
+
 			debug.Add(new { brakePower = 0.SI<Watt>(), searchInterval, delta = origDelta, operatingPoint });
 
 			var brakePower = searchInterval * -origDelta.Sign();
@@ -728,9 +728,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 					retVal.SimulationInterval = ds / currentSpeed;
 					return retVal;
 				}
-				Log.Error("vehicle speed is {0}, acceleration is {1}", currentSpeed, acceleration);
+				Log.Error("vehicle speed is {0}, acceleration is {1}", currentSpeed.Value(), acceleration.Value());
 				throw new VectoSimulationException(
-					"vehicle speed has to be > 0 if acceleration = 0!  v: {0}", currentSpeed);
+					"vehicle speed has to be > 0 if acceleration = 0!  v: {0}, a: {1}", currentSpeed.Value(), acceleration.Value());
 			}
 
 			// we need to accelerate / decelerate. solve quadratic equation...
@@ -777,7 +777,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		public IResponse DrivingActionHalt(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
 		{
 			if (!targetVelocity.IsEqual(0) || !DataBus.VehicleSpeed.IsEqual(0, 1e-3)) {
-				throw new NotImplementedException("TargetVelocity or VehicleVelocity is not zero!");
+				throw new NotImplementedException(string.Format(
+					"TargetVelocity or VehicleVelocity is not zero! v: {0} target: {1}", DataBus.VehicleSpeed.Value(),
+					targetVelocity.Value()));
 			}
 			DataBus.BreakPower = Double.PositiveInfinity.SI<Watt>();
 			var retVal = NextComponent.Request(absTime, dt, 0.SI<MeterPerSquareSecond>(), gradient);

VectoCore/Utils/Formulas.cs

@@ -24,10 +24,10 @@ namespace TUGraz.VectoCore.Utils
 			MeterPerSquareSecond deceleration)
 		{
 			if (deceleration >= 0) {
-				throw new VectoException("Deceleration must be negative!");
+				throw new VectoException("Deceleration must be negative! a: {0}", deceleration);
 			}
 			if (v2 > v1) {
-				throw new VectoException("v2 must not be greater than v1");
+				throw new VectoException("v2 must not be greater than v1 v1: {0} v2: {1}", v1.Value(), v2.Value());
 			}
 
 			return ((v2 - v1) * (v1 + v2) / deceleration / 2.0).Cast<Meter>();

VectoCoreTest/Integration/FullCycleDeclarationTest.cs

@@ -16,7 +16,7 @@ namespace TUGraz.VectoCore.Tests.Integration
 		[TestMethod]
 		public void Truck40tDeclarationTest()
 		{
-			//LogManager.DisableLogging();
+			LogManager.DisableLogging();
 
 			var factory = new SimulatorFactory(SimulatorFactory.FactoryMode.DeclarationMode, TruckDeclarationJob);
 			var sumFileName = Path.GetFileNameWithoutExtension(TruckDeclarationJob) + Constants.FileExtensions.SumFile;
@@ -26,6 +26,10 @@ namespace TUGraz.VectoCore.Tests.Integration
 			jobContainer.AddRuns(factory);
 
 			jobContainer.Execute();
+
+			foreach (var run in jobContainer._runs) {
+				Assert.IsTrue(run.FinishedWithoutErrors);
+			}
 		}
 	}
 }
\ No newline at end of file