diff --git a/VECTO.sln.DotSettings b/VECTO.sln.DotSettings
index 16a678e66c187d77cdf6020db8ce6f8575cdf8f6..20c32e9f89eb92546fd549e46252160406dfe6ea 100644
--- a/VECTO.sln.DotSettings
+++ b/VECTO.sln.DotSettings
@@ -17,6 +17,7 @@
<s:Boolean x:Key="/Default/CodeStyle/CodeFormatting/CSharpFormat/SPACE_AROUND_MULTIPLICATIVE_OP/@EntryValue">True</s:Boolean>
<s:Boolean x:Key="/Default/CodeStyle/CodeFormatting/CSharpFormat/SPACE_WITHIN_SINGLE_LINE_ARRAY_INITIALIZER_BRACES/@EntryValue">True</s:Boolean>
<s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=CSV/@EntryIndexedValue">CSV</s:String>
+ <s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=PT/@EntryIndexedValue">PT</s:String>
<s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=RP/@EntryIndexedValue">RP</s:String>
<s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=SI/@EntryIndexedValue">SI</s:String>
<s:Boolean x:Key="/Default/Environment/InjectedLayers/FileInjectedLayer/=2BF7A1E51991F2458D2D1F0B29CF888B/@KeyIndexDefined">True</s:Boolean>
diff --git a/VectoCore/Models/Declaration/AccelerationCurve.cs b/VectoCore/Models/Declaration/AccelerationCurve.cs
new file mode 100644
index 0000000000000000000000000000000000000000..5cd90094a00391fcfc902f6cce309b145efa207a
--- /dev/null
+++ b/VectoCore/Models/Declaration/AccelerationCurve.cs
@@ -0,0 +1,61 @@
+using System.Collections.Generic;
+using System.Data;
+using System.Linq;
+using TUGraz.VectoCore.Utils;
+
+namespace TUGraz.VectoCore.Models.Declaration
+{
+ public class AccelerationCurve : LookupData<MeterPerSecond, AccelerationCurve.AccelerationEntry>
+ {
+ private List<KeyValuePair<MeterPerSecond, AccelerationEntry>> _entries;
+
+ protected override string ResourceId
+ {
+ get { return "TUGraz.VectoCore.Resources.Declaration.AccelerationFile.vacc"; }
+ }
+
+ protected override void ParseData(DataTable table)
+ {
+ _entries = table.Rows.Cast<DataRow>()
+ .Select(r => new KeyValuePair<MeterPerSecond, AccelerationEntry>(
+ r.ParseDouble("v").SI().Kilo.Meter.Per.Hour.Cast<MeterPerSecond>(),
+ new AccelerationEntry(r.ParseDouble("acc").SI<MeterPerSquareSecond>(),
+ r.ParseDouble("dec").SI<MeterPerSquareSecond>())))
+ .OrderBy(x => x.Key)
+ .ToList();
+ }
+
+ public override AccelerationEntry Lookup(MeterPerSecond key)
+ {
+ var index = 1;
+ if (key < _entries[0].Key) {
+ Log.ErrorFormat("requested rpm below minimum rpm in pt1 - extrapolating. n: {0}, rpm_min: {1}",
+ key.ConvertTo().Rounds.Per.Minute, _entries[0].Key.ConvertTo().Rounds.Per.Minute);
+ } else {
+ index = _entries.FindIndex(x => x.Key > key);
+ if (index <= 0) {
+ index = (key > _entries[0].Key) ? _entries.Count - 1 : 1;
+ }
+ }
+
+ var acc = VectoMath.Interpolate(_entries[index - 1].Key, _entries[index].Key, _entries[index - 1].Value.Acceleration,
+ _entries[index].Value.Acceleration, key);
+ var dec = VectoMath.Interpolate(_entries[index - 1].Key, _entries[index].Key, _entries[index - 1].Value.Deceleration,
+ _entries[index].Value.Deceleration, key);
+
+ return new AccelerationEntry(acc, dec);
+ }
+
+ public class AccelerationEntry
+ {
+ public AccelerationEntry(MeterPerSquareSecond acceleration, MeterPerSquareSecond deceleration)
+ {
+ Acceleration = acceleration;
+ Deceleration = deceleration;
+ }
+
+ public MeterPerSquareSecond Acceleration { get; set; }
+ public MeterPerSquareSecond Deceleration { get; set; }
+ }
+ }
+}
\ No newline at end of file
diff --git a/VectoCore/Models/Declaration/Declaration.cs b/VectoCore/Models/Declaration/Declaration.cs
index 537818cacafddf020d32461572c47e01e0bfe233..b0e6fc01d38f80c20ad4819405c95b223df6518f 100644
--- a/VectoCore/Models/Declaration/Declaration.cs
+++ b/VectoCore/Models/Declaration/Declaration.cs
@@ -4,7 +4,7 @@ using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.Declaration
{
- public class DeclarationRims : LookupData<DeclarationRims.RimsEntry, string>
+ public class DeclarationRims : LookupData<string, DeclarationRims.RimsEntry>
{
internal DeclarationRims()
{
diff --git a/VectoCore/Models/Declaration/DeclarationData.cs b/VectoCore/Models/Declaration/DeclarationData.cs
index d572591c627845ec8e03ecb08a30e03832f1169d..0c2798995532bbdf6efcd0e1100146a82a1189b2 100644
--- a/VectoCore/Models/Declaration/DeclarationData.cs
+++ b/VectoCore/Models/Declaration/DeclarationData.cs
@@ -1,9 +1,4 @@
using System;
-using System.Collections.Generic;
-using System.Data;
-using System.Linq;
-using TUGraz.VectoCore.Exceptions;
-using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.Declaration
{
@@ -14,6 +9,7 @@ namespace TUGraz.VectoCore.Models.Declaration
private readonly DeclarationRims _rims;
private readonly DeclarationWheels _wheels;
private readonly DeclarationPT1 _pt1;
+ private readonly AccelerationCurve _accelerationCurve;
public static DeclarationWheels Wheels
{
@@ -35,12 +31,18 @@ namespace TUGraz.VectoCore.Models.Declaration
get { return Instance()._pt1; }
}
+ public static AccelerationCurve AccelerationCurve
+ {
+ get { return Instance()._accelerationCurve; }
+ }
+
private DeclarationData()
{
_wheels = new DeclarationWheels();
_rims = new DeclarationRims();
_segments = new DeclarationSegments();
_pt1 = new DeclarationPT1();
+ _accelerationCurve = new AccelerationCurve();
}
private static DeclarationData Instance()
@@ -48,43 +50,4 @@ namespace TUGraz.VectoCore.Models.Declaration
return _instance ?? (_instance = new DeclarationData());
}
}
-
- public class DeclarationPT1 : LookupData<Second, PerSecond>
- {
- private List<KeyValuePair<PerSecond, Second>> _entries;
-
- protected override string ResourceId
- {
- get { return "TUGraz.VectoCore.Resources.Declaration.PT1.csv"; }
- }
-
- protected override void ParseData(DataTable table)
- {
- _entries = table.Rows.Cast<DataRow>()
- .Select(r => new KeyValuePair<PerSecond, Second>(r.ParseDouble("rpm").RPMtoRad(), r.ParseDouble("PT1").SI<Second>()))
- .OrderBy(x => x.Key)
- .ToList();
- }
-
- public override Second Lookup(PerSecond key)
- {
- var index = 1;
- if (key < _entries[0].Key) {
- Log.ErrorFormat("requested rpm below minimum rpm in pt1 - extrapolating. n: {0}, rpm_min: {1}",
- key.ConvertTo().Rounds.Per.Minute, _entries[0].Key.ConvertTo().Rounds.Per.Minute);
- } else {
- index = _entries.FindIndex(x => x.Key > key);
- if (index <= 0) {
- index = (key > _entries[0].Key) ? _entries.Count - 1 : 1;
- }
- }
-
- var pt1 = VectoMath.Interpolate(_entries[index - 1].Key, _entries[index].Key, _entries[index - 1].Value,
- _entries[index].Value, key);
- if (pt1 < 0) {
- throw new VectoException("The calculated value must not be smaller than 0. Value: " + pt1);
- }
- return pt1;
- }
- }
}
\ No newline at end of file
diff --git a/VectoCore/Models/Declaration/DeclarationPT1.cs b/VectoCore/Models/Declaration/DeclarationPT1.cs
new file mode 100644
index 0000000000000000000000000000000000000000..92e18849bc284fc73b19c3857aceebca3f7e4d7d
--- /dev/null
+++ b/VectoCore/Models/Declaration/DeclarationPT1.cs
@@ -0,0 +1,47 @@
+using System.Collections.Generic;
+using System.Data;
+using System.Linq;
+using TUGraz.VectoCore.Exceptions;
+using TUGraz.VectoCore.Utils;
+
+namespace TUGraz.VectoCore.Models.Declaration
+{
+ public class DeclarationPT1 : LookupData<PerSecond, Second>
+ {
+ private List<KeyValuePair<PerSecond, Second>> _entries;
+
+ protected override string ResourceId
+ {
+ get { return "TUGraz.VectoCore.Resources.Declaration.PT1.csv"; }
+ }
+
+ protected override void ParseData(DataTable table)
+ {
+ _entries = table.Rows.Cast<DataRow>()
+ .Select(r => new KeyValuePair<PerSecond, Second>(r.ParseDouble("rpm").RPMtoRad(), r.ParseDouble("PT1").SI<Second>()))
+ .OrderBy(x => x.Key)
+ .ToList();
+ }
+
+ public override Second Lookup(PerSecond key)
+ {
+ var index = 1;
+ if (key < _entries[0].Key) {
+ Log.ErrorFormat("requested rpm below minimum rpm in pt1 - extrapolating. n: {0}, rpm_min: {1}",
+ key.ConvertTo().Rounds.Per.Minute, _entries[0].Key.ConvertTo().Rounds.Per.Minute);
+ } else {
+ index = _entries.FindIndex(x => x.Key > key);
+ if (index <= 0) {
+ index = (key > _entries[0].Key) ? _entries.Count - 1 : 1;
+ }
+ }
+
+ var pt1 = VectoMath.Interpolate(_entries[index - 1].Key, _entries[index].Key, _entries[index - 1].Value,
+ _entries[index].Value, key);
+ if (pt1 < 0) {
+ throw new VectoException("The calculated value must not be smaller than 0. Value: " + pt1);
+ }
+ return pt1;
+ }
+ }
+}
\ No newline at end of file
diff --git a/VectoCore/Models/Declaration/DeclarationWheels.cs b/VectoCore/Models/Declaration/DeclarationWheels.cs
index 43f4291c161afdedb2d81674c8ddb46ed120d721..f36bb36c64efaa025c3fed26701ddc8b5c747b3b 100644
--- a/VectoCore/Models/Declaration/DeclarationWheels.cs
+++ b/VectoCore/Models/Declaration/DeclarationWheels.cs
@@ -5,7 +5,7 @@ using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.Declaration
{
- public class DeclarationWheels : LookupData<DeclarationWheels.WheelsEntry, string>
+ public class DeclarationWheels : LookupData<string, DeclarationWheels.WheelsEntry>
{
protected override string ResourceId
{
diff --git a/VectoCore/Models/Declaration/LookupData.cs b/VectoCore/Models/Declaration/LookupData.cs
index 260da0ab3413fa3d5e44b07b97e52f2571ea8e23..2932bce3337ac2202548c5dcd34d5204348da1c0 100644
--- a/VectoCore/Models/Declaration/LookupData.cs
+++ b/VectoCore/Models/Declaration/LookupData.cs
@@ -7,7 +7,7 @@ using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.Declaration
{
- public abstract class LookupData<TEntryType, TKeyType>
+ public abstract class LookupData<TKeyType, TEntryType>
{
protected LookupData()
{
diff --git a/VectoCore/Resources/Declaration/AccelerationFile.vacc b/VectoCore/Resources/Declaration/AccelerationFile.vacc
new file mode 100644
index 0000000000000000000000000000000000000000..54e77864874d21d67e8f8d69a97b35c5c6031749
--- /dev/null
+++ b/VectoCore/Resources/Declaration/AccelerationFile.vacc
@@ -0,0 +1,6 @@
+v [km/h],acc [m/s²],dec [m/s²]
+0,1,-1
+25,1,-1
+50,0.642857143,-1
+60,0.5,-0.5
+120,0.5,-0.5
diff --git a/VectoCore/VectoCore.csproj b/VectoCore/VectoCore.csproj
index ccfe6f136a87410320f27070e5b2d2ee6adc6570..8329b85d590e61331394d3c1969d98c63c916435 100644
--- a/VectoCore/VectoCore.csproj
+++ b/VectoCore/VectoCore.csproj
@@ -122,7 +122,9 @@
<Compile Include="Models\Connector\Ports\Impl\Response.cs" />
<Compile Include="Models\Connector\Ports\IFvPort.cs" />
<Compile Include="Models\Connector\Ports\ITnPort.cs" />
+ <Compile Include="Models\Declaration\AccelerationCurve.cs" />
<Compile Include="Models\Declaration\DeclarationData.cs" />
+ <Compile Include="Models\Declaration\DeclarationPT1.cs" />
<Compile Include="Models\Declaration\LookupData.cs" />
<Compile Include="Models\Declaration\Declaration.cs" />
<Compile Include="Models\Declaration\DeclarationWheels.cs" />
@@ -230,6 +232,7 @@
<EmbeddedResource Include="Resources\Declaration\MissionCycles\RegionalDelivery.vdri" />
<EmbeddedResource Include="Resources\Declaration\MissionCycles\UrbanDelivery.vdri" />
<EmbeddedResource Include="Resources\Declaration\PT1.csv" />
+ <EmbeddedResource Include="Resources\Declaration\AccelerationFile.vacc" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
diff --git a/VectoCoreTest/Models/DeclarationDataTest.cs b/VectoCoreTest/Models/DeclarationDataTest.cs
index 88d29af67436638cd8fee703e54d3625517a0a9c..d054f3d960856edfac0d4f1a70af60ff4671aa88 100644
--- a/VectoCoreTest/Models/DeclarationDataTest.cs
+++ b/VectoCoreTest/Models/DeclarationDataTest.cs
@@ -14,6 +14,19 @@ namespace TUGraz.VectoCore.Tests.Models
{
public const double Tolerance = 0.0001;
+ public static void AssertException<T>(Action func, string message = null) where T : Exception
+ {
+ try {
+ func();
+ Assert.Fail("Expected an exception.");
+ } catch (T ex) {
+ if (!string.IsNullOrEmpty(message)) {
+ Assert.AreEqual(message, ex.Message);
+ }
+ }
+ }
+
+
[TestMethod]
public void WheelDataTest()
{
@@ -40,62 +53,73 @@ namespace TUGraz.VectoCore.Tests.Models
[TestMethod]
public void PT1Test()
{
- const double TOLERANCE = 0.0001;
var pt1 = DeclarationData.PT1;
// FIXED POINTS
- Assert.AreEqual(0, pt1.Lookup(400.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.47, pt1.Lookup(800.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.58, pt1.Lookup(1000.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.53, pt1.Lookup(1200.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.46, pt1.Lookup(1400.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.43, pt1.Lookup(1500.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.22, pt1.Lookup(1750.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.2, pt1.Lookup(1800.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.11, pt1.Lookup(2000.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.11, pt1.Lookup(2500.RPMtoRad()).Double(), TOLERANCE);
+ Assert.AreEqual(0, pt1.Lookup(400.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.47, pt1.Lookup(800.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.58, pt1.Lookup(1000.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.53, pt1.Lookup(1200.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.46, pt1.Lookup(1400.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.43, pt1.Lookup(1500.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.22, pt1.Lookup(1750.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.2, pt1.Lookup(1800.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.11, pt1.Lookup(2000.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.11, pt1.Lookup(2500.RPMtoRad()).Double(), Tolerance);
// INTERPOLATE
- Assert.AreEqual(0.235, pt1.Lookup(600.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.525, pt1.Lookup(900.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.555, pt1.Lookup(1100.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.495, pt1.Lookup(1300.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.445, pt1.Lookup(1450.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.325, pt1.Lookup(1625.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.21, pt1.Lookup(1775.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.155, pt1.Lookup(1900.RPMtoRad()).Double(), TOLERANCE);
- Assert.AreEqual(0.11, pt1.Lookup(2250.RPMtoRad()).Double(), TOLERANCE);
-
-
- //TODO EXTRAPOLATE
- Assert.AreEqual(0.11, pt1.Lookup(3000.RPMtoRad()).Double(), TOLERANCE);
+ Assert.AreEqual(0.235, pt1.Lookup(600.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.525, pt1.Lookup(900.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.555, pt1.Lookup(1100.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.495, pt1.Lookup(1300.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.445, pt1.Lookup(1450.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.325, pt1.Lookup(1625.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.21, pt1.Lookup(1775.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.155, pt1.Lookup(1900.RPMtoRad()).Double(), Tolerance);
+ Assert.AreEqual(0.11, pt1.Lookup(2250.RPMtoRad()).Double(), Tolerance);
+
+
+ // EXTRAPOLATE
+ Assert.AreEqual(0.11, pt1.Lookup(3000.RPMtoRad()).Double(), Tolerance);
AssertException<VectoException>(() => pt1.Lookup(200.RPMtoRad()));
AssertException<VectoException>(() => pt1.Lookup(0.RPMtoRad()));
}
- public static void AssertException<T>(Action func, string message = null) where T : Exception
- {
- try {
- func();
- Assert.Fail("Expected an exception.");
- } catch (T ex) {
- if (!string.IsNullOrEmpty(message)) {
- Assert.AreEqual(message, ex.Message);
- }
- }
- }
-
[TestMethod]
public void WHTCTest()
{
Assert.Inconclusive();
}
+
+ public void EqualAcceleration(double velocity, double acceleration, double deceleration)
+ {
+ var entry = DeclarationData.AccelerationCurve.Lookup(velocity.SI().Kilo.Meter.Per.Hour.Cast<MeterPerSecond>());
+ Assert.AreEqual(entry.Acceleration.Double(), acceleration, Tolerance);
+ Assert.AreEqual(entry.Deceleration.Double(), deceleration, Tolerance);
+ }
+
[TestMethod]
public void AccelerationTest()
{
- Assert.Inconclusive();
+ // FIXED POINTS
+ EqualAcceleration(0, 1, -1);
+ EqualAcceleration(25, 1, -1);
+ EqualAcceleration(50, 0.642857143, -1);
+ EqualAcceleration(60, 0.5, -0.5);
+ EqualAcceleration(120, 0.5, -0.5);
+
+ // INTERPOLATED POINTS
+ EqualAcceleration(20, 1, -1);
+ EqualAcceleration(40, 0.785714286, -1);
+ EqualAcceleration(55, 0.571428572, -0.75);
+ EqualAcceleration(80, 0.5, -0.5);
+ EqualAcceleration(100, 0.5, -0.5);
+
+ // EXTRAPOLATE
+ EqualAcceleration(-20, 1, -1);
+ EqualAcceleration(140, 0.5, -0.5);
}
[TestMethod]