From f04c693aa1b59dbd0b62eeec14e787ac25db6e93 Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Thu, 20 Oct 2016 16:17:19 +0200
Subject: [PATCH] bugfix: 1 hz vehicle going backwards
---
.../OutputData/ModalDataContainer.cs | 116 +++++++++++-------
1 file changed, 74 insertions(+), 42 deletions(-)
diff --git a/VectoCore/VectoCore/OutputData/ModalDataContainer.cs b/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
index 4179e4d6df..d39c65fdac 100644
--- a/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
+++ b/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
@@ -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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