From f382892719fdaa61f31d9702e3d0677ad5c5c2b8 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Mon, 15 Jun 2020 14:34:03 +0200
Subject: [PATCH] driver strategy: handle the case that an underload may happen
and the clutch is already re-engaged -> use engaged action
---
.../SimulationComponent/Impl/DefaultDriverStrategy.cs | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 40a03d68bd..7ac10086c7 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -492,8 +492,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
debug.Add(new { action = "ClutchOpen -> Roll", response });
response.Switch().Case<ResponseUnderload>(
r => {
- response = Driver.DrivingActionBrake(absTime, ds, velocity, gradient, r);
- debug.Add(new { action = "Roll:Underload -> Brake", response });
+ if (DataBus.ClutchClosed(absTime)) {
+ response = HandleRequestEngaged(absTime, ds, velocity, gradient, false, velocity, debug);
+ } else {
+ response = Driver.DrivingActionBrake(absTime, ds, velocity, gradient, r);
+ debug.Add(new { action = "Roll:Underload -> Brake", response });
+ }
})
.Case<ResponseSpeedLimitExceeded>(
() => {
--
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