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Commit 7999d550 authored by Markus Quaritsch's avatar Markus Quaritsch
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Merge pull request #291 in VECTO/vecto-sim from... 

Merge pull request #291 in VECTO/vecto-sim from ~EMKRISPMI/vecto-sim:bugfix-1hz-vehicle-going-backwards to master

* commit 'f04c693a':
  bugfix: 1 hz vehicle going backwards
parents 478eb752 f04c693a
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VectoCore/VectoCore/OutputData/ModalDataContainer.cs
+ 74
− 42
View file @ 7999d550
......@@ -35,6 +35,8 @@ using System.Data;
using System.Globalization;
using System.Linq;
using System.Runtime.CompilerServices;
using TUGraz.VectoCommon.Exceptions;
using TUGraz.VectoCommon.Models;
using TUGraz.VectoCommon.Utils;
using TUGraz.VectoCore.Models.Simulation.Data;
using TUGraz.VectoCore.Models.Simulation.Impl;
......@@ -71,7 +73,6 @@ namespace TUGraz.VectoCore.OutputData
protected ModalDataContainer(string runName, string cycleName, string runSuffix, IModalDataWriter writer,
Action<ModalDataContainer> addReportResult, bool writeEngineOnly, params IModalDataFilter[] filters)
{
HasTorqueConverter = false;
RunName = runName;
......@@ -305,74 +306,101 @@ namespace TUGraz.VectoCore.OutputData
{
public ModalResults Filter(ModalResults data)
{
var absTime = 0.SI<Second>();
var distance = 0.SI<Meter>();
var results = (ModalResults)data.Clone();
var remainingDt = 0.SI<Second>();
object[] remainingRow = null;
var gearsList = new Dictionary<object, Second>(3);
var vAct = data.Rows.Cast<DataRow>().First().Field<MeterPerSecond>((int)ModalResultField.v_act);
foreach (DataRow row in data.Rows) {
var absTime = 0.SI<Second>();
var distance = 0.SI<Meter>();
var v = data.Rows[0].Field<MeterPerSecond>((int)ModalResultField.v_act);
var remainingDt = 0.SI<Second>();
var vPrevious = v;
for (var i = 0; i < data.Rows.Count; i++) {
var row = data.Rows[i];
var currentDt = row.Field<Second>((int)ModalResultField.simulationInterval);
distance = row.Field<Meter>((int)ModalResultField.dist);
// if current + remaining time >= 1 second: take remaining row and split up currentRow to fill up 1 second.
if (remainingDt > 0 && remainingDt + currentDt >= 1) {
var diffDt = 1.SI<Second>() - remainingDt;
var r = results.NewRow();
if (row.Field<Meter>((int)ModalResultField.dist).IsSmaller(distance, 1e-3))
LogManager.GetLogger(typeof(ModalData1HzFilter).FullName).Error("1Hz-Filter: distance must always be increasing.");
// if a remainder and currentDt would exceed 1 second: take remainder and take current row to fill up to 1 second.
if (remainingDt > 0 && remainingDt + currentDt >= 1) {
// calculate values
var dt = 1.SI<Second>() - remainingDt;
var gear = row[(int)ModalResultField.Gear];
gearsList[gear] = gearsList.GetValueOrZero(gear) + diffDt;
distance += diffDt * vAct + diffDt * diffDt * (MeterPerSquareSecond)row[(int)ModalResultField.acc] / 2;
vAct += diffDt * (MeterPerSquareSecond)row[(int)ModalResultField.acc];
r.ItemArray = AddRow(remainingRow, MultiplyRow(row.ItemArray, diffDt));
absTime += diffDt;
gearsList[gear] = gearsList.GetValueOrZero(gear) + dt;
var a = (MeterPerSquareSecond)row[(int)ModalResultField.acc];
var ds = dt * v + a / 2 * dt * dt;
if (ds.IsSmaller(0))
throw new VectoSimulationException("1Hz-Filter: simulation distance must not be negative.");
absTime += dt;
v += dt * a;
distance += ds;
// write a new row for the combined 1 second
var r = results.NewRow();
r.ItemArray = AddRow(remainingRow, MultiplyRow(row.ItemArray, dt));
r[(int)ModalResultField.time] = absTime;
r[(int)ModalResultField.simulationInterval] = 1.SI<Second>();
r[(int)ModalResultField.Gear] = gearsList.MaxBy(kv => kv.Value).Key;
r[(int)ModalResultField.dist] = distance;
r[(int)ModalResultField.v_act] = vAct;
r[(int)ModalResultField.v_act] = (v + vPrevious) / 2;
vPrevious = v;
results.Rows.Add(r);
// reset remainder
// reduce current dt by already taken diff
gearsList.Clear();
results.Rows.Add(r);
currentDt -= diffDt;
currentDt -= dt;
remainingDt = 0.SI<Second>();
remainingRow = null;
}
// if current row still longer than 1 second: split it to 1 second slices until it is < 1 second
while (currentDt >= 1) {
currentDt = currentDt - 1.SI<Second>();
// calculate values
var dt = 1.SI<Second>();
var r = results.NewRow();
r.ItemArray = row.ItemArray;
currentDt = currentDt - 1.SI<Second>();
var a = (MeterPerSquareSecond)row[(int)ModalResultField.acc];
var ds = v * dt + a / 2 * dt * dt;
if (ds.IsSmaller(0))
throw new VectoSimulationException("1Hz-Filter: simulation distance must not be negative.");
absTime += dt;
distance += dt * vAct + dt * dt * (MeterPerSquareSecond)row[(int)ModalResultField.acc] / 2;
vAct += dt * (MeterPerSquareSecond)row[(int)ModalResultField.acc];
v += a * dt;
distance += ds;
// write a new row for the sliced 1 second
var r = results.NewRow();
r.ItemArray = row.ItemArray;
r[(int)ModalResultField.time] = absTime;
r[(int)ModalResultField.simulationInterval] = dt;
r[(int)ModalResultField.dist] = distance;
r[(int)ModalResultField.v_act] = vAct;
r[(int)ModalResultField.v_act] = (v + vPrevious) / 2;
vPrevious = v;
results.Rows.Add(r);
}
// if the there still is something left in current row: add the weighted values to remainder-buffer
// if there still is something left in current row: add to weighted values to remainder
if (currentDt > 0) {
// calculate values
var dt = currentDt;
var gear = row[(int)ModalResultField.Gear];
gearsList[gear] = gearsList.GetValueOrZero(gear) + currentDt;
gearsList[gear] = gearsList.GetValueOrZero(gear) + dt;
var a = (MeterPerSquareSecond)row[(int)ModalResultField.acc];
var ds = v * dt + a / 2 * dt * dt;
if (ds.IsSmaller(0))
throw new VectoSimulationException("1Hz-Filter: simulation distance must not be negative.");
absTime += dt;
v += a * dt;
distance += ds;
distance += currentDt * vAct + currentDt * currentDt * (MeterPerSquareSecond)row[(int)ModalResultField.acc] / 2;
vAct += currentDt * (MeterPerSquareSecond)row[(int)ModalResultField.acc];
remainingRow = AddRow(remainingRow, MultiplyRow(row.ItemArray, currentDt));
remainingDt += currentDt;
absTime += currentDt;
// add to remainder
remainingRow = AddRow(remainingRow, MultiplyRow(row.ItemArray, dt));
remainingDt += dt;
} else {
// reset remainder (just to be sure!)
remainingRow = null;
remainingDt = 0.SI<Second>();
gearsList.Clear();
......@@ -380,21 +408,25 @@ namespace TUGraz.VectoCore.OutputData
}
// if last row was not enough to full second: take last row as whole second
if (remainingDt > 0) {
// calculate values
var last = data.Rows.Cast<DataRow>().Last();
var dt = remainingDt;
var a = (MeterPerSquareSecond)last[(int)ModalResultField.acc];
var ds = v * dt + a / 2 * dt * dt;
if (ds.IsSmaller(0))
throw new VectoSimulationException("1Hz-Filter: simulation distance must not be negative.");
v += a * dt;
distance += ds;
// write a new row for the last second
var r = results.NewRow();
r.ItemArray = MultiplyRow(remainingRow, 1 / remainingDt).ToArray();
distance += remainingDt * vAct +
remainingDt * remainingDt * (MeterPerSquareSecond)last[(int)ModalResultField.acc] / 2;
vAct += remainingDt * (MeterPerSquareSecond)last[(int)ModalResultField.acc];
r.ItemArray = MultiplyRow(remainingRow, 1 / dt).ToArray();
r[(int)ModalResultField.time] = VectoMath.Ceiling(absTime);
r[(int)ModalResultField.simulationInterval] = 1.SI<Second>();
r[(int)ModalResultField.Gear] = gearsList.MaxBy(kv => kv.Value).Key;
r[(int)ModalResultField.dist] = distance;
r[(int)ModalResultField.v_act] = vAct;
r[(int)ModalResultField.v_act] = (v + vPrevious) / 2;
results.Rows.Add(r);
}
......
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