From 98eef69e45b96c1f99fe8a62dcba25b1075bff93 Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Wed, 26 Aug 2015 09:14:19 +0200
Subject: [PATCH] further refinements for fullpowertrain test
---
.../Models/Connector/Ports/Impl/Response.cs | 7 +++
.../Models/Simulation/Impl/DistanceRun.cs | 2 +-
.../Impl/DistanceBasedDrivingCycle.cs | 7 +++
.../Models/SimulationComponent/Impl/Driver.cs | 50 +++++++++++++------
.../SimulationRuns/FullPowertrain.cs | 12 +++--
5 files changed, 57 insertions(+), 21 deletions(-)
diff --git a/VectoCore/Models/Connector/Ports/Impl/Response.cs b/VectoCore/Models/Connector/Ports/Impl/Response.cs
index bbe2b2c24c..a16ebbb921 100644
--- a/VectoCore/Models/Connector/Ports/Impl/Response.cs
+++ b/VectoCore/Models/Connector/Ports/Impl/Response.cs
@@ -1,3 +1,4 @@
+using System.Linq;
using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.Connector.Ports.Impl
@@ -17,6 +18,12 @@ namespace TUGraz.VectoCore.Models.Connector.Ports.Impl
public Watt WheelsPowerRequest { get; set; }
public Watt VehiclePowerRequest { get; set; }
+
+ public override string ToString()
+ {
+ var t = GetType();
+ return string.Format("{0}{{{1}}}", t.Name, ", ".Join(t.GetProperties().Select(p => string.Format("{0}: {1}", p.Name, p.GetValue(this)))));
+ }
}
/// <summary>
diff --git a/VectoCore/Models/Simulation/Impl/DistanceRun.cs b/VectoCore/Models/Simulation/Impl/DistanceRun.cs
index 460271afe1..35a3e59e0b 100644
--- a/VectoCore/Models/Simulation/Impl/DistanceRun.cs
+++ b/VectoCore/Models/Simulation/Impl/DistanceRun.cs
@@ -13,7 +13,7 @@ namespace TUGraz.VectoCore.Models.Simulation.Impl
protected override IResponse DoSimulationStep()
{
// estimate distance to be traveled within the next TargetTimeInterval
- var ds = (Container.VehicleSpeed() * Constants.SimulationSettings.TargetTimeInterval).Cast<Meter>();
+ var ds = Container.VehicleSpeed() * Constants.SimulationSettings.TargetTimeInterval;
if (ds.IsEqual(0)) {
// vehicle stands still, drive a certain distance...
diff --git a/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs b/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
index bef6f27ce4..68e21ca8e2 100644
--- a/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
@@ -74,6 +74,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return retVal;
}
+ /// <summary>
+ /// Does the handle request.
+ /// </summary>
+ /// <param name="absTime">The abs time.</param>
+ /// <param name="ds">The ds.</param>
+ /// <returns></returns>
+ /// <exception cref="VectoSimulationException">Stopping Time only allowed when target speed is zero!</exception>
private IResponse DoHandleRequest(Second absTime, Meter ds)
{
if (CycleIntervalIterator.LastEntry && PreviousState.Distance.IsEqual(CycleIntervalIterator.RightSample.Distance)) {
diff --git a/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index d5dac98e18..799d859813 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -1,6 +1,8 @@
using System;
using System.Collections.Generic;
+using System.Diagnostics;
using System.Linq;
+using System.Security.Cryptography.X509Certificates;
using TUGraz.VectoCore.Configuration;
using TUGraz.VectoCore.Exceptions;
using TUGraz.VectoCore.Models.Connector.Ports;
@@ -32,6 +34,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
//OverSpeed,
}
+ [DebuggerDisplay("ActionDistance: {ActionDistance}, TriggerDistance: {TriggerDistance}, Action: {Action}")]
public class DrivingBehaviorEntry
{
public DrivingBehavior Action;
@@ -93,32 +96,38 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var currentDistance = DataBus.Distance();
var nextDrivingActions = GetNextDrivingActions(currentDistance);
+ Log.DebugFormat(", ".Join(nextDrivingActions.Select(x => string.Format("[{0}]: {1}", x.ActionDistance, x.Action))));
+
+
if (CurrentState.DrivingAction.Action == DrivingBehavior.Stopped && targetVelocity >= DataBus.VehicleSpeed()) {
CurrentState.DrivingAction.Action = DrivingBehavior.Drive;
}
if (nextDrivingActions.Count > 0) {
// if we exceeded the previous action (by accident), set the action anyway in case there is no 'next action'...
- CurrentState.DrivingAction = nextDrivingActions.LastOrDefault(x => x.Key < currentDistance).Value ??
+ CurrentState.DrivingAction = nextDrivingActions.LastOrDefault(x => x.ActionDistance < currentDistance) ??
CurrentState.DrivingAction;
- var nextActions = nextDrivingActions.Where(x => x.Key >= currentDistance).ToList();
+ var nextActions = nextDrivingActions.Where(x => x.ActionDistance >= currentDistance).ToList();
var nextDrivingAction = nextActions.GetEnumerator();
nextDrivingAction.MoveNext();
var hasNextEntry = true;
// if the current position matches the next action - set new action.
- if (nextDrivingAction.Current.Key.IsEqual(currentDistance,
+ if (nextDrivingAction.Current.ActionDistance.IsEqual(currentDistance,
Constants.SimulationSettings.DriverActionDistanceTolerance.Value())) {
- CurrentState.DrivingAction = nextDrivingAction.Current.Value;
+ CurrentState.DrivingAction = nextDrivingAction.Current;
hasNextEntry = nextDrivingAction.MoveNext(); // the current action has already been processed, look at next one...
}
// check if desired distance exceeds next action point
- if (hasNextEntry && nextDrivingAction.Current.Key < currentDistance + ds) {
+ if (hasNextEntry && nextDrivingAction.Current.ActionDistance < currentDistance + ds) {
Log.DebugFormat(
"current Distance: {3} -- Simulation Distance {0} exceeds next DrivingAction at {1}, reducing interval to {2}", ds,
- nextDrivingAction.Current.Key, nextDrivingAction.Current.Key - currentDistance, currentDistance);
- return new ResponseDrivingCycleDistanceExceeded { MaxDistance = nextDrivingAction.Current.Key - currentDistance };
+ nextDrivingAction.Current.ActionDistance, nextDrivingAction.Current.ActionDistance - currentDistance,
+ currentDistance);
+ return new ResponseDrivingCycleDistanceExceeded {
+ MaxDistance = nextDrivingAction.Current.ActionDistance - currentDistance
+ };
}
} else {
if (targetVelocity > DataBus.VehicleSpeed()) {
@@ -267,7 +276,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return new ResponseDrivingCycleDistanceExceeded { SimulationInterval = CurrentState.dt };
}
- protected SortedList<Meter, DrivingBehaviorEntry> GetNextDrivingActions(Meter minDistance)
+ protected IList<DrivingBehaviorEntry> GetNextDrivingActions(Meter minDistance)
{
var currentSpeed = DataBus.VehicleSpeed();
@@ -278,7 +287,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var lookaheadData = DataBus.LookAhead(1.2 * lookaheadDistance);
Log.DebugFormat("Lookahead distance: {0} @ current speed {1}", lookaheadDistance, currentSpeed);
- var nextActions = new SortedList<Meter, DrivingBehaviorEntry>();
+ var nextActions = new List<DrivingBehaviorEntry>();
for (var i = 0; i < lookaheadData.Count; i++) {
var entry = lookaheadData[i];
if (entry.VehicleTargetSpeed < currentSpeed) {
@@ -286,35 +295,35 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Log.DebugFormat("distance to decelerate from {0} to {1}: {2}", currentSpeed, entry.VehicleTargetSpeed,
breakingDistance);
Log.DebugFormat("adding 'Braking' starting at distance {0}", entry.Distance - breakingDistance);
- nextActions[entry.Distance - breakingDistance] =
+ nextActions.Add(
new DrivingBehaviorEntry {
Action = DrivingBehavior.Breaking,
ActionDistance = entry.Distance - breakingDistance,
TriggerDistance = entry.Distance,
NextTargetSpeed = entry.VehicleTargetSpeed
- };
+ });
var coastingDistance = Formulas.DecelerationDistance(currentSpeed, entry.VehicleTargetSpeed,
DeclarationData.Driver.LookAhead.Deceleration);
Log.DebugFormat("adding 'Coasting' starting at distance {0}", entry.Distance - coastingDistance);
- nextActions[entry.Distance - coastingDistance] =
+ nextActions.Add(
new DrivingBehaviorEntry {
Action = DrivingBehavior.Coasting,
ActionDistance = entry.Distance - coastingDistance,
TriggerDistance = entry.Distance,
NextTargetSpeed = entry.VehicleTargetSpeed
- };
+ });
}
if (entry.VehicleTargetSpeed > currentSpeed) {
- nextActions[entry.Distance] = new DrivingBehaviorEntry {
+ nextActions.Add(new DrivingBehaviorEntry {
Action = DrivingBehavior.Accelerating,
NextTargetSpeed = entry.VehicleTargetSpeed,
TriggerDistance = entry.Distance,
ActionDistance = entry.Distance
- };
+ });
}
}
- return nextActions;
+ return nextActions.OrderBy(x => x.ActionDistance).ToList();
}
protected internal Meter ComputeDecelerationDistance(MeterPerSecond targetSpeed)
@@ -345,6 +354,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Log.DebugFormat("Found operating point for coasting. dt: {0}, acceleration: {1}", CurrentState.dt,
CurrentState.Acceleration);
+ if (CurrentState.Acceleration < DeclarationData.Driver.LookAhead.Deceleration) {
+ Log.DebugFormat("Limiting coasting deceleration from {0} to {1}", CurrentState.Acceleration,
+ DeclarationData.Driver.LookAhead.Deceleration);
+ CurrentState.Acceleration = DeclarationData.Driver.LookAhead.Deceleration;
+ CurrentState.dt = ComputeTimeInterval(CurrentState.Acceleration, ref ds);
+ Log.DebugFormat("Changed dt due to limited coasting deceleration. dt: {0}", CurrentState.dt);
+ }
+
+
var retVal = Next.Request(absTime, CurrentState.dt, CurrentState.Acceleration, gradient);
CurrentState.Response = retVal;
diff --git a/VectoCoreTest/Integration/SimulationRuns/FullPowertrain.cs b/VectoCoreTest/Integration/SimulationRuns/FullPowertrain.cs
index 0a88778c76..f1757f2403 100644
--- a/VectoCoreTest/Integration/SimulationRuns/FullPowertrain.cs
+++ b/VectoCoreTest/Integration/SimulationRuns/FullPowertrain.cs
@@ -2,6 +2,7 @@
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
+using Common.Logging;
using Microsoft.VisualStudio.TestTools.UnitTesting;
using TUGraz.VectoCore.Configuration;
using TUGraz.VectoCore.FileIO.Reader;
@@ -34,7 +35,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
[TestMethod]
public void Test_FullPowertrain_SimpleGearbox()
{
- var modalWriter = new ModalDataWriter("Coach_FullPowertrain.vmod");
+ var modalWriter = new ModalDataWriter("Coach_FullPowertrain_SimpleGearbox.vmod");
var sumWriter = new TestSumWriter();
var container = new VehicleContainer(modalWriter, sumWriter);
@@ -80,7 +81,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
ds = container.VehicleSpeed().IsEqual(0)
? Constants.SimulationSettings.DriveOffDistance
- : (Constants.SimulationSettings.TargetTimeInterval * container.VehicleSpeed()).Cast<Meter>();
+ : Constants.SimulationSettings.TargetTimeInterval * container.VehicleSpeed();
if (cnt++ % 100 == 0) {
modalWriter.Finish();
@@ -122,7 +123,7 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
cyclePort.Initialize();
container.Gear = 0;
-
+ var Log = LogManager.GetLogger<FullPowerTrain>();
var absTime = 0.SI<Second>();
var ds = Constants.SimulationSettings.DriveOffDistance;
var response = cyclePort.Request(absTime, ds);
@@ -133,11 +134,14 @@ namespace TUGraz.VectoCore.Tests.Integration.SimulationRuns
container.Gear = 1;
var cnt = 0;
while (!(response is ResponseCycleFinished) && container.Distance().Value() < 17000) {
+ Log.InfoFormat("Test New Request absTime: {0}, ds: {1}", absTime, ds);
response = cyclePort.Request(absTime, ds);
+ Log.InfoFormat("Test Got Response: {0},", response);
+
response.Switch().
Case<ResponseDrivingCycleDistanceExceeded>(r => ds = r.MaxDistance).
Case<ResponseCycleFinished>(r => { }).
- Case<ResponseGearShift>(r => { Debug.WriteLine("Gearshift"); }).
+ Case<ResponseGearShift>(r => { Log.Debug("Gearshift"); }).
Case<ResponseSuccess>(r => {
container.CommitSimulationStep(absTime, r.SimulationInterval);
absTime += r.SimulationInterval;
--
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