complete physics.rs adjustments

Chapter05/src/lib.rs

@@ -3,6 +3,7 @@ extern crate libc;
 extern crate serde;
 extern crate serde_json;
 extern crate termion;
+extern crate floating_duration;
 
 pub mod motor_controllers;
 pub mod elevator_drivers;

Chapter05/src/physics.rs

@@ -1,7 +1,10 @@
-use buildings::{Building};
+use buildings::{Building,getCumulativeFloorHeight};
 use trip_planning::{RequestQueue};
 use motion_controllers::{MotionController};
 use data_recorders::{DataRecorder};
+use std::time::Instant;
+use floating_duration::{TimeAsFloat, TimeFormat};
+use std::{thread, time};
 
 #[derive(Clone,Debug,Serialize,Deserialize)]
 pub struct ElevatorState {
@@ -19,4 +22,50 @@ pub const MAX_VELOCITY: f64 = 5.0;
 pub fn simulate_elevator(esp: Box<Building>, est: ElevatorState, floor_requests: &mut Box<RequestQueue>,
                          mc: &mut Box<MotionController>, dr: &mut Box<DataRecorder>)
 {
+   //immutable input becomes mutable local state
+   let mut esp = esp.clone();
+   let mut est = est.clone();
+
+   //initialize MotorController and DataController
+   mc.init(esp.clone(), est.clone());
+   dr.init(esp.clone(), est.clone());
+
+   //5. Loop while there are remaining floor requests
+   let original_ts = Instant::now();
+   thread::sleep(time::Duration::from_millis(1));
+   let mut next_floor = floor_requests.pop_request();
+   while let Some(dst) = next_floor
+   {
+      //5.1. Update location, velocity, and acceleration
+      let now = Instant::now();
+      let ts = now.duration_since(original_ts)
+                  .as_fractional_secs();
+      let dt = ts - est.timestamp;
+      est.timestamp = ts;
+
+      est.location = est.location + est.velocity * dt;
+      est.velocity = est.velocity + est.acceleration * dt;
+      est.acceleration = {
+         let F = est.motor_input;
+         let m = esp.get_carriage_weight();
+         -9.8 + F/m
+      };
+
+      //5.2. If next floor request in queue is satisfied, then remove from queue
+      if (est.location - getCumulativeFloorHeight(esp.get_floor_heights(), dst)).abs() < 0.01 &&
+         est.velocity.abs() < 0.01
+      {
+         est.velocity = 0.0;
+         next_floor = floor_requests.pop_request();
+      }
+
+      //5.4. Print realtime statistics
+      dr.poll(est.clone(), dst);
+
+      //5.3. Adjust motor control to process next floor request
+      est.motor_input = mc.poll(est.clone(), dst);
+
+      thread::sleep(time::Duration::from_millis(1));
+   }
+
 }