From 6edb7134167681d659e7bc513e1bef1357e0f9e9 Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Tue, 8 Nov 2016 16:27:57 +0100
Subject: [PATCH] Bugfix Anton (ZF MB Citaro): ResponseUnderload
---
.../Impl/DefaultDriverStrategy.cs | 29 ++++++++++++-------
1 file changed, 18 insertions(+), 11 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 503426de7d..06e2dbb2d8 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -626,23 +626,30 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
gradient, targetDistance: targetDistance);
response.Switch().
Case<ResponseOverload>(r => {
- Log.Info("Got OverloadResponse during brake action - desired deceleration could not be reached! response: {0}", r);
+ Log.Info(
+ "Brake -> Got OverloadResponse during brake action - desired deceleration could not be reached! response: {0}",
+ r);
if (!DataBus.ClutchClosed(absTime)) {
- Log.Info("Clutch is open - trying RollAction");
+ Log.Info("Brake -> Overload -> Clutch is open - Trying roll action");
response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
} else {
- Log.Info("Clutch is closed - trying AccelerateAction");
- response = Driver.DrivingActionAccelerate(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
- response.Switch().Case<ResponseGearShift>(
- rs => {
- Log.Info("Got GearShift response, performing roll action...");
- response = Driver.DrivingActionRoll(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
- }
- );
+ Log.Info("Brake -> Overload -> Clutch is closed - Trying brake action again");
+ response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient,
+ targetDistance: targetDistance);
+ response.Switch().
+ Case<ResponseOverload>(r1 => {
+ Log.Info("Brake -> Overload -> 2nd Brake -> Overload -> Trying accelerate action");
+ response = Driver.DrivingActionAccelerate(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ response.Switch().Case<ResponseGearShift>(
+ rs => {
+ Log.Info("Brake -> Overload -> 2nd Brake -> Accelerate -> Got GearShift response, performing roll action");
+ response = Driver.DrivingActionRoll(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ });
+ });
}
}).
Case<ResponseGearShift>(r => {
- Log.Info("Got GearShift response, performing roll action...");
+ Log.Info("Brake -> Got GearShift response, performing roll action");
response = Driver.DrivingActionRoll(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
});
break;
--
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