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Commit bd4cfa01 authored by Markus Quaritsch's avatar Markus Quaritsch
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adding debug statements

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with 63 additions and 25 deletions
VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+ 17
− 16
View file @ bd4cfa01
......@@ -52,11 +52,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (nextAction != null && currentDistance.IsEqual(nextAction.ActionDistance)) {
CurrentDrivingMode = DrivingMode.DrivingModeBrake;
DrivingModes[CurrentDrivingMode].ResetMode();
Log.Debug("Switching to DrivingMode BRAKE");
BrakeTrigger = nextAction;
break;
}
if (nextAction != null && currentDistance + ds > nextAction.ActionDistance) {
return new ResponseDrivingCycleDistanceExceeded() {
//Source = this,
MaxDistance = nextAction.ActionDistance - currentDistance
};
}
......@@ -65,6 +68,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (Driver.DataBus.Distance >= BrakeTrigger.TriggerDistance) {
CurrentDrivingMode = DrivingMode.DrivingModeDrive;
DrivingModes[CurrentDrivingMode].ResetMode();
Log.Debug("Switching to DrivingMode DRIVE");
}
break;
}
......@@ -94,17 +98,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
for (var i = 0; i < lookaheadData.Count; i++) {
var entry = lookaheadData[i];
if (entry.VehicleTargetSpeed < currentSpeed) {
//var breakingDistance = Driver.ComputeDecelerationDistance(entry.VehicleTargetSpeed);
//Log.Debug("distance to decelerate from {0} to {1}: {2}", currentSpeed, entry.VehicleTargetSpeed,
// breakingDistance);
//Log.Debug("adding 'Braking' starting at distance {0}", entry.Distance - breakingDistance);
//nextActions.Add(
// new DrivingBehaviorEntry {
// Action = DefaultDriverStrategy.DrivingBehavior.Braking,
// ActionDistance = entry.Distance - breakingDistance,
// TriggerDistance = entry.Distance,
// NextTargetSpeed = entry.VehicleTargetSpeed
// });
var coastingDistance = Formulas.DecelerationDistance(currentSpeed, entry.VehicleTargetSpeed,
Driver.LookaheadDeceleration);
Log.Debug("adding 'Coasting' starting at distance {0}", entry.Distance - coastingDistance);
......@@ -220,16 +213,19 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
var currentDistance = DriverStrategy.Driver.DataBus.Distance;
if (Phase == BrakingPhase.Coast) {
var breakingDistance = DriverStrategy.Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed);
Log.Info("breaking distance: {0}", breakingDistance);
if (currentDistance + ds > DriverStrategy.BrakeTrigger.TriggerDistance - breakingDistance) {
var brakingDistance = DriverStrategy.Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed);
Log.Debug("breaking distance: {0}, start braking @ {1}", brakingDistance,
DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
if (currentDistance + ds > DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance) {
return new ResponseDrivingCycleDistanceExceeded() {
MaxDistance = DriverStrategy.BrakeTrigger.TriggerDistance - breakingDistance - currentDistance
//Source = this,
MaxDistance = DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance - currentDistance
};
}
if (currentDistance + Constants.SimulationSettings.DriverActionDistanceTolerance >
DriverStrategy.BrakeTrigger.TriggerDistance - breakingDistance) {
DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance) {
Phase = BrakingPhase.Brake;
Log.Debug("Switching to BRAKE Phase. currentDistance: {0}", currentDistance);
}
}
switch (Phase) {
......@@ -247,6 +243,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
});
break;
case BrakingPhase.Brake:
var brakingDistance =
DriverStrategy.Driver.ComputeDecelerationDistance(DriverStrategy.BrakeTrigger.NextTargetSpeed);
Log.Debug("Phase: BRAKE. breaking distance: {0} start braking @ {1}", brakingDistance,
DriverStrategy.BrakeTrigger.TriggerDistance - brakingDistance);
response = DriverStrategy.Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient);
break;
......
VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
+ 5
− 1
View file @ bd4cfa01
......@@ -105,6 +105,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if ((PreviousState.Distance + ds).IsGreater(CycleIntervalIterator.RightSample.Distance)) {
// only drive until next sample point in cycle
return new ResponseDrivingCycleDistanceExceeded {
Source = this,
MaxDistance = CycleIntervalIterator.RightSample.Distance - PreviousState.Distance
};
}
......@@ -128,7 +129,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
(CycleIntervalIterator.RightSample.Distance - PreviousState.Distance) <
Constants.SimulationSettings.DriveOffDistance) {
CurrentState.RequestToNextSamplePointDone = true;
return new ResponseDrivingCycleDistanceExceeded { MaxDistance = Constants.SimulationSettings.DriveOffDistance };
return new ResponseDrivingCycleDistanceExceeded {
Source = this,
MaxDistance = Constants.SimulationSettings.DriveOffDistance
};
}
CurrentState.Distance = PreviousState.Distance + ds;
CurrentState.VehicleTargetSpeed = CycleIntervalIterator.LeftSample.VehicleTargetSpeed;
......
VectoCore/Models/SimulationComponent/Impl/Driver.cs
+ 36
− 5
View file @ bd4cfa01
......@@ -4,6 +4,7 @@ using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Security.Cryptography.X509Certificates;
using NLog;
using TUGraz.VectoCore.Configuration;
using TUGraz.VectoCore.Exceptions;
using TUGraz.VectoCore.Models.Connector.Ports;
......@@ -76,8 +77,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IResponse Request(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
Log.Debug("==== DRIVER Request ====");
Log.Debug("Request: absTime: {0}, dt: {1}, targetVelocity: {2}, gradient: {3}", absTime, dt, targetVelocity,
gradient);
Log.Debug("Request: absTime: {0}, dt: {1}, targetVelocity: {2}, gradient: {3} | distance: {4}, velocity: {5}",
absTime, dt, targetVelocity, gradient, DataBus.Distance, DataBus.VehicleSpeed());
var retVal = DriverStrategy.Request(absTime, dt, targetVelocity, gradient);
......@@ -92,6 +93,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
get { return DataBus; }
}
/// <summary>
/// see documentation of IDriverActions
/// </summary>
/// <param name="absTime"></param>
/// <param name="ds"></param>
/// <param name="targetVelocity"></param>
/// <param name="gradient"></param>
/// <param name="previousResponse"></param>
/// <returns></returns>
public IResponse DrivingActionAccelerate(Second absTime, Meter ds, MeterPerSecond targetVelocity, Radian gradient,
IResponse previousResponse = null)
{
......@@ -142,7 +152,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
/// <summary>
///
/// see documentation of IDriverActions
/// </summary>
/// <param name="absTime"></param>
/// <param name="ds"></param>
......@@ -156,7 +166,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return CoastOrRollAction(absTime, ds, maxVelocity, gradient);
}
/// <summary>
/// see documentation of IDriverActions
/// </summary>
/// <param name="absTime"></param>
/// <param name="ds"></param>
/// <param name="maxVelocity"></param>
/// <param name="gradient"></param>
/// <returns></returns>
public IResponse DrivingActionRoll(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
{
Log.Debug("DrivingAction Roll");
......@@ -202,6 +219,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Log.Debug("SearchOperatingPoint reduced the max. distance: {0} -> {1}. Issue new request from driving cycle!",
operatingPoint.SimulationDistance, ds);
return new ResponseDrivingCycleDistanceExceeded {
Source = this,
MaxDistance = operatingPoint.SimulationDistance,
};
}
......@@ -277,7 +295,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Log.Info(
"SearchOperatingPoint Breaking reduced the max. distance: {0} -> {1}. Issue new request from driving cycle!",
operatingPoint.SimulationDistance, ds);
return new ResponseDrivingCycleDistanceExceeded { MaxDistance = operatingPoint.SimulationDistance };
return new ResponseDrivingCycleDistanceExceeded {
Source = this,
MaxDistance = operatingPoint.SimulationDistance
};
}
Log.Debug("Found operating point for breaking. dt: {0}, acceleration: {1}", operatingPoint.SimulationInterval,
......@@ -334,6 +355,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
private OperatingPoint SearchBrakingPower(Second absTime, Meter ds, Radian gradient,
MeterPerSquareSecond acceleration, IResponse initialResponse)
{
Log.Info("Disabling logging during search iterations");
LogManager.DisableLogging();
var debug = new List<dynamic>(); // only used while testing
var searchInterval = Constants.SimulationSettings.BreakingPowerInitialSearchInterval;
......@@ -364,6 +388,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
delta = DataBus.ClutchClosed(absTime) ? response.DeltaDragLoad : response.GearboxPowerRequest;
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
LogManager.EnableLogging();
Log.Debug("found operating point in {0} iterations, delta: {1}", debug.Count, delta);
return operatingPoint;
}
......@@ -380,6 +405,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
breakingPower += searchInterval * -delta.Sign();
} while (retryCount++ < Constants.SimulationSettings.DriverSearchLoopThreshold);
LogManager.EnableLogging();
Log.Warn("Exceeded max iterations when searching for operating point!");
Log.Warn("exceeded: {0} ... {1}", ", ".Join(debug.Take(5)), ", ".Join(debug.Slice(-6)));
Log.Error("Failed to find operating point for breaking!");
......@@ -406,6 +432,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected OperatingPoint SearchOperatingPoint(Second absTime, Meter ds, Radian gradient,
MeterPerSquareSecond acceleration, IResponse initialResponse, bool coasting = false)
{
Log.Info("Disabling logging during search iterations");
LogManager.DisableLogging();
var debug = new List<dynamic>();
var retVal = new OperatingPoint { Acceleration = acceleration, SimulationDistance = ds };
......@@ -469,6 +498,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
delta = actionRoll ? response.GearboxPowerRequest : (coasting ? response.DeltaDragLoad : response.DeltaFullLoad);
if (delta.IsEqual(0, Constants.SimulationSettings.EngineFLDPowerTolerance)) {
LogManager.EnableLogging();
Log.Debug(
"found operating point in {0} iterations. Engine Power req: {2}, Gearbox Power req: {3} delta: {1}",
debug.Count, delta, response.EnginePowerRequest, response.GearboxPowerRequest);
......@@ -476,6 +506,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
} while (retryCount++ < Constants.SimulationSettings.DriverSearchLoopThreshold);
LogManager.EnableLogging();
Log.Warn("Exceeded max iterations when searching for operating point!");
Log.Warn("acceleration: {0} ... {1}", ", ".Join(debug.Take(5).Select(x => x.acceleration)),
", ".Join(debug.Slice(-6).Select(x => x.acceleration)));
......
VectoCore/Models/SimulationComponent/Impl/Vehicle.cs
+ 1
− 1
View file @ bd4cfa01
......@@ -104,7 +104,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// sanity check: is the vehicle in step with the cycle?
var distance = (SI)writer[ModalResultField.dist];
if (!distance.IsEqual(_currentState.Distance.Value(), 1e-15)) {
if (!distance.IsEqual(_currentState.Distance.Value(), 1e-12)) {
Log.Warn("distance diverges: {0}, distance: {1}", (distance - _currentState.Distance).Value(), distance);
}
//writer[ModalResultField.dist] = _currentState.Distance;
......
VectoCoreTest/Integration/DriverStrategy/DriverStrategyTest.cs
+ 3
− 2
View file @ bd4cfa01
......@@ -50,8 +50,9 @@ namespace TUGraz.VectoCore.Tests.Integration.DriverStrategy
{
var cycle = CreateCycleData(new[] {
// <s>,<v>,<grad>,<stop>
" 0, 80, 0, 0",
"500, 0, 0, 0",
" 0, 80, 0, 0",
"600, 0, 0, 2",
"800, 10, 0, 0"
});
var run = CreatePowerTrain(cycle, "DriverStrategy_Accelerate_80_0_level.vmod");
......
VectoCoreTest/app.config
+ 1
− 0
View file @ bd4cfa01
......@@ -20,6 +20,7 @@
</targets>
<rules>
<logger name="*" minlevel="Info" writeTo="LogFile" />
<logger name="TUGraz.VectoCore.Models.SimulationComponent.Impl.*" minlevel="Debug" writeTo="LogFile" />
</rules>
</nlog>
</configuration>
\ No newline at end of file
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