|
|
|
@ -13,6 +13,7 @@ use std::fs::File;
|
|
|
|
|
use std::io::{self, Read, Write, BufRead, BufReader};
|
|
|
|
|
use std::io::prelude::*;
|
|
|
|
|
|
|
|
|
|
#[derive(Clone)]
|
|
|
|
|
struct Trip {
|
|
|
|
|
dst: u64,
|
|
|
|
|
up: f64,
|
|
|
|
@ -27,6 +28,7 @@ fn main()
|
|
|
|
|
let mut jerk = 0.0;
|
|
|
|
|
let mut prev_est: Option<ElevatorState> = None;
|
|
|
|
|
let mut dst_timing: Vec<Trip> = Vec::new();
|
|
|
|
|
let mut start_location = 0.0;
|
|
|
|
|
for line in simlog.lines() {
|
|
|
|
|
let l = line.unwrap();
|
|
|
|
|
match esp.clone() {
|
|
|
|
@ -36,13 +38,13 @@ fn main()
|
|
|
|
|
},
|
|
|
|
|
Some(esp) => {
|
|
|
|
|
let (est, dst): (ElevatorState,u64) = serde_json::from_str(&l).unwrap();
|
|
|
|
|
if dst_timing.len()==0 || dst_timing[0].dst != dst {
|
|
|
|
|
let dl = dst_timing.len();
|
|
|
|
|
if dst_timing.len()==0 || dst_timing[dl-1].dst != dst {
|
|
|
|
|
dst_timing.push(Trip { dst:dst, up:0.0, down:0.0 });
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if let Some(prev_est) = prev_est {
|
|
|
|
|
let dt = est.timestamp - prev_est.timestamp;
|
|
|
|
|
let dl = dst_timing.len();
|
|
|
|
|
if est.velocity > 0.0 {
|
|
|
|
|
dst_timing[dl-1].up += dt;
|
|
|
|
|
} else {
|
|
|
|
@ -53,6 +55,8 @@ fn main()
|
|
|
|
|
if jerk.abs() > 0.22 {
|
|
|
|
|
panic!("jerk is outside of acceptable limits: {} {:?}", jerk, est)
|
|
|
|
|
}
|
|
|
|
|
} else {
|
|
|
|
|
start_location = est.location;
|
|
|
|
|
}
|
|
|
|
|
if est.acceleration.abs() > 2.2 {
|
|
|
|
|
panic!("acceleration is outside of acceptable limits: {:?}", est)
|
|
|
|
@ -61,8 +65,6 @@ fn main()
|
|
|
|
|
panic!("velocity is outside of acceptable limits: {:?}", est)
|
|
|
|
|
}
|
|
|
|
|
prev_est = Some(est);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
@ -70,7 +72,7 @@ fn main()
|
|
|
|
|
//elevator should not backup
|
|
|
|
|
let mut total_time = 0.0;
|
|
|
|
|
let mut total_direct = 0.0;
|
|
|
|
|
for trip in dst_timing
|
|
|
|
|
for trip in dst_timing.clone()
|
|
|
|
|
{
|
|
|
|
|
total_time += (trip.up + trip.down);
|
|
|
|
|
if trip.up > trip.down {
|
|
|
|
@ -83,6 +85,29 @@ fn main()
|
|
|
|
|
panic!("elevator back up is too common: {}", total_direct / total_time)
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//trips should finish within 20% of theoretical limit
|
|
|
|
|
let MAX_JERK = 0.2;
|
|
|
|
|
let MAX_ACCELERATION = 2.0;
|
|
|
|
|
let MAX_VELOCITY = 5.0;
|
|
|
|
|
|
|
|
|
|
let mut trip_start_location = start_location;
|
|
|
|
|
let mut theoretical_time = 0.0;
|
|
|
|
|
let floor_height = esp.unwrap().floor_height;
|
|
|
|
|
for trip in dst_timing.clone()
|
|
|
|
|
{
|
|
|
|
|
let next_floor = (trip.dst as f64) * floor_height;
|
|
|
|
|
let d = (trip_start_location - next_floor).abs();
|
|
|
|
|
theoretical_time += (
|
|
|
|
|
2.0*(MAX_ACCELERATION / MAX_JERK) +
|
|
|
|
|
2.0*(MAX_JERK / MAX_ACCELERATION) +
|
|
|
|
|
d / MAX_VELOCITY
|
|
|
|
|
);
|
|
|
|
|
trip_start_location = next_floor;
|
|
|
|
|
}
|
|
|
|
|
if total_time > (theoretical_time * 1.2) {
|
|
|
|
|
panic!("elevator moves to slow {} {}", total_time, theoretical_time * 1.2)
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
println!("All simulation checks passing.");
|
|
|
|
|
}
|
|
|
|
|