mirror of
https://github.com/andrew-johnson-4/Hands-On-Functional-Programming-in-Rust
synced 2024-11-18 03:25:33 +00:00
saving progress
This commit is contained in:
Andrew Johnson
parent
960ff30181
commit
b9ed8899f7
@ -1,16 +1,14 @@
|
||||
mod physics;
|
||||
mod motor;
|
||||
|
||||
use physics::{ElevatorSpecification, ElevatorState, MotorInput, simulate_elevator, DataRecorder, MotorController};
|
||||
|
||||
extern crate floating_duration;
|
||||
use std::time::Instant;
|
||||
use floating_duration::{TimeAsFloat, TimeFormat};
|
||||
use std::time::SystemTime;
|
||||
use std::{thread, time};
|
||||
use std::env;
|
||||
use std::fs::File;
|
||||
use std::io::{self, Read, Write};
|
||||
use std::io::prelude::*;
|
||||
use std::process;
|
||||
extern crate termion;
|
||||
use termion::{clear, cursor, style};
|
||||
use termion::raw;
|
||||
@ -48,22 +46,96 @@ fn variable_summary_print<W: Write>(stdout: &mut raw::RawTerminal<W>, vname: Str
|
||||
write!(stdout, "\r\n");
|
||||
}
|
||||
|
||||
struct SimpleDataRecorder<W: Write>
|
||||
{
|
||||
esp: ElevatorSpecification,
|
||||
termwidth: u64,
|
||||
termheight: u64,
|
||||
stdout: &'static raw::RawTerminal<W>,
|
||||
record_location: Vec<f64>,
|
||||
record_velocity: Vec<f64>,
|
||||
record_acceleration: Vec<f64>,
|
||||
record_voltage: Vec<f64>,
|
||||
}
|
||||
impl DataRecorder for SimpleDataRecorder
|
||||
{
|
||||
fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState)
|
||||
{
|
||||
self.esp = esp;
|
||||
}
|
||||
fn poll(&mut self, est: ElevatorState, dst: u64)
|
||||
{
|
||||
//5.4. Print realtime statistics
|
||||
print!("{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Hide);
|
||||
let carriage_floor = (est.location / self.esp.floor_height).floor();
|
||||
let carriage_floor = if carriage_floor < 1.0 { 0 } else { carriage_floor as u64 };
|
||||
let carriage_floor = cmp::min(carriage_floor, self.esp.floor_count-1);
|
||||
let mut terminal_buffer = vec![' ' as u8; (self.termwidth*self.termheight) as usize];
|
||||
for ty in 0..self.esp.floor_count
|
||||
{
|
||||
terminal_buffer[ (ty*self.termwidth + 0) as usize ] = '[' as u8;
|
||||
terminal_buffer[ (ty*self.termwidth + 1) as usize ] =
|
||||
if (ty as u64)==((self.esp.floor_count-1)-carriage_floor) { 'X' as u8 }
|
||||
else { ' ' as u8 };
|
||||
terminal_buffer[ (ty*self.termwidth + 2) as usize ] = ']' as u8;
|
||||
terminal_buffer[ (ty*self.termwidth + self.termwidth-2) as usize ] = '\r' as u8;
|
||||
terminal_buffer[ (ty*self.termwidth + self.termwidth-1) as usize ] = '\n' as u8;
|
||||
}
|
||||
let stats = vec![
|
||||
format!("Carriage at floor {}", carriage_floor+1),
|
||||
format!("Location {:.06}", est.location),
|
||||
format!("Velocity {:.06}", est.velocity),
|
||||
format!("Acceleration {:.06}", est.acceleration),
|
||||
format!("Voltage [up-down] {:.06}", est.motor_input.voltage()),
|
||||
];
|
||||
for sy in 0..stats.len()
|
||||
{
|
||||
for (sx,sc) in stats[sy].chars().enumerate()
|
||||
{
|
||||
terminal_buffer[ sy*(self.termwidth as usize) + 6 + sx ] = sc as u8;
|
||||
}
|
||||
}
|
||||
write!(self.stdout, "{}", String::from_utf8(terminal_buffer).ok().unwrap());
|
||||
self.stdout.flush().unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
trait DataRecorderSummary {
|
||||
fn summary(&mut self);
|
||||
}
|
||||
impl DataRecorderSummary for SimpleDataRecorder<W> {
|
||||
fn summary(&mut self)
|
||||
{
|
||||
//6 Calculate and print summary statistics
|
||||
write!(self.stdout, "{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Show).unwrap();
|
||||
variable_summary(&mut self.stdout, "location".to_string(), self.record_location);
|
||||
variable_summary(&mut self.stdout, "velocity".to_string(), self.record_velocity);
|
||||
variable_summary(&mut self.stdout, "acceleration".to_string(), self.record_acceleration);
|
||||
variable_summary(&mut self.stdout, "voltage".to_string(), self.record_voltage);
|
||||
self.stdout.flush().unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
pub fn run_simulation()
|
||||
{
|
||||
|
||||
//1. Store location, velocity, and acceleration state
|
||||
let mut location: f64 = 0.0; // meters
|
||||
let mut velocity: f64 = 0.0; // meters per second
|
||||
let mut acceleration: f64 = 0.0; // meters per second squared
|
||||
|
||||
//2. Store motor input voltage
|
||||
let mut up_input_voltage: f64 = 0.0;
|
||||
let mut down_input_voltage: f64 = 0.0;
|
||||
let mut est = ElevatorState {
|
||||
timestamp: Instant::now(),
|
||||
location: 0.0,
|
||||
velocity: 0.0,
|
||||
acceleration: 0.0,
|
||||
motor_input: MotorInput::Up { voltage: 0.0 }
|
||||
};
|
||||
|
||||
//3. Store input building description and floor requests
|
||||
let mut floor_count: u64 = 0;
|
||||
let mut floor_height: f64 = 0.0; // meters
|
||||
let mut floor_requests: Vec<u64> = Vec::new();
|
||||
let mut esp = ElevatorSpecification {
|
||||
floor_count: 0,
|
||||
floor_height: 0.0,
|
||||
carriage_weight: 0.0
|
||||
};
|
||||
let mut floor_requests = Vec::new();
|
||||
|
||||
//4. Parse input and store as building description and floor requests
|
||||
match env::args().nth(1) {
|
||||
@ -74,9 +146,9 @@ pub fn run_simulation()
|
||||
|
||||
for (li,l) in buffer.lines().enumerate() {
|
||||
if li==0 {
|
||||
floor_count = l.parse::<u64>().unwrap();
|
||||
esp.floor_count = l.parse::<u64>().unwrap();
|
||||
} else if li==1 {
|
||||
floor_height = l.parse::<f64>().unwrap();
|
||||
esp.floor_height = l.parse::<f64>().unwrap();
|
||||
} else {
|
||||
floor_requests.push(l.parse::<u64>().unwrap());
|
||||
}
|
||||
@ -92,9 +164,9 @@ pub fn run_simulation()
|
||||
|
||||
for (li,l) in buffer.lines().enumerate() {
|
||||
if li==0 {
|
||||
floor_count = l.parse::<u64>().unwrap();
|
||||
esp.floor_count = l.parse::<u64>().unwrap();
|
||||
} else if li==1 {
|
||||
floor_height = l.parse::<f64>().unwrap();
|
||||
esp.floor_height = l.parse::<f64>().unwrap();
|
||||
} else {
|
||||
floor_requests.push(l.parse::<u64>().unwrap());
|
||||
}
|
||||
@ -109,9 +181,9 @@ pub fn run_simulation()
|
||||
|
||||
for (li,l) in buffer.lines().enumerate() {
|
||||
if li==0 {
|
||||
floor_count = l.parse::<u64>().unwrap();
|
||||
esp.floor_count = l.parse::<u64>().unwrap();
|
||||
} else if li==1 {
|
||||
floor_height = l.parse::<f64>().unwrap();
|
||||
esp.floor_height = l.parse::<f64>().unwrap();
|
||||
} else {
|
||||
floor_requests.push(l.parse::<u64>().unwrap());
|
||||
}
|
||||
@ -119,146 +191,23 @@ pub fn run_simulation()
|
||||
}
|
||||
}
|
||||
|
||||
//5. Loop while there are remaining floor requests
|
||||
let mut prev_loop_time = Instant::now();
|
||||
let termsize = termion::terminal_size().ok();
|
||||
let termwidth = termsize.map(|(w,_)| w-2).expect("termwidth") as u64;
|
||||
let termheight = termsize.map(|(_,h)| h-2).expect("termheight") as u64;
|
||||
let mut stdout = io::stdout().into_raw_mode().unwrap();
|
||||
let mut record_location = Vec::new();
|
||||
let mut record_velocity = Vec::new();
|
||||
let mut record_acceleration = Vec::new();
|
||||
let mut record_voltage = Vec::new();
|
||||
|
||||
while floor_requests.len() > 0
|
||||
{
|
||||
//5.1. Update location, velocity, and acceleration
|
||||
let now = Instant::now();
|
||||
let dt = now.duration_since(prev_loop_time)
|
||||
.as_fractional_secs();
|
||||
prev_loop_time = now;
|
||||
|
||||
record_location.push(location);
|
||||
record_velocity.push(velocity);
|
||||
record_acceleration.push(acceleration);
|
||||
record_voltage.push(up_input_voltage-down_input_voltage);
|
||||
|
||||
location = location + velocity * dt;
|
||||
velocity = velocity + acceleration * dt;
|
||||
acceleration = {
|
||||
let F = (up_input_voltage - down_input_voltage) * 8.0;
|
||||
let m = 1200000.0;
|
||||
-9.8 + F/m
|
||||
let dr = SimpleDataRecorder {
|
||||
esp: esp.clone(),
|
||||
termwidth: termsize.map(|(w,_)| w-2).expect("termwidth") as u64,
|
||||
termheight: termsize.map(|(_,h)| h-2).expect("termheight") as u64,
|
||||
stdout: io::stdout().into_raw_mode().unwrap(),
|
||||
record_location: Vec::new(),
|
||||
record_velocity: Vec::new(),
|
||||
record_acceleration: Vec::new(),
|
||||
record_voltage: Vec::new()
|
||||
};
|
||||
let mc = SimpleMotorController {
|
||||
esp: esp.clone()
|
||||
};
|
||||
|
||||
//5.2. If next floor request in queue is satisfied, then remove from queue
|
||||
let next_floor = floor_requests[0];
|
||||
if (location - (next_floor as f64)*floor_height).abs() < 0.01 &&
|
||||
velocity.abs() < 0.01
|
||||
{
|
||||
velocity = 0.0;
|
||||
floor_requests.remove(0);
|
||||
}
|
||||
|
||||
//5.3. Adjust motor control to process next floor request
|
||||
|
||||
//it will take t seconds to decelerate from velocity v at -1 m/s^2
|
||||
let t = velocity.abs() / 1.0;
|
||||
|
||||
//during which time, the carriage will travel d=t * v/2 meters
|
||||
//at an average velocity of v/2 before stopping
|
||||
let d = t * (velocity/2.0);
|
||||
|
||||
//l = distance to next floor
|
||||
let l = (location - (next_floor as f64)*floor_height).abs();
|
||||
|
||||
let target_acceleration = {
|
||||
//are we going up?
|
||||
let going_up = location < (next_floor as f64)*floor_height;
|
||||
|
||||
//Do not exceed maximum velocity
|
||||
if velocity.abs() >= 5.0 {
|
||||
if going_up==(velocity>0.0) {
|
||||
0.0
|
||||
//decelerate if going in wrong direction
|
||||
} else if going_up {
|
||||
1.0
|
||||
} else {
|
||||
-1.0
|
||||
}
|
||||
|
||||
//if within comfortable deceleration range and moving in right direction, decelerate
|
||||
} else if l < d && going_up==(velocity>0.0) {
|
||||
if going_up {
|
||||
-1.0
|
||||
} else {
|
||||
1.0
|
||||
}
|
||||
|
||||
//else if not at peak velocity, accelerate
|
||||
} else {
|
||||
if going_up {
|
||||
1.0
|
||||
} else {
|
||||
-1.0
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
let gravity_adjusted_acceleration = target_acceleration + 9.8;
|
||||
let target_force = gravity_adjusted_acceleration * 1200000.0;
|
||||
let target_voltage = target_force / 8.0;
|
||||
if target_voltage > 0.0 {
|
||||
up_input_voltage = target_voltage;
|
||||
down_input_voltage = 0.0;
|
||||
} else {
|
||||
up_input_voltage = 0.0;
|
||||
down_input_voltage = target_voltage.abs();
|
||||
};
|
||||
|
||||
//5.4. Print realtime statistics
|
||||
print!("{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Hide);
|
||||
let carriage_floor = (location / floor_height).floor();
|
||||
let carriage_floor = if carriage_floor < 1.0 { 0 } else { carriage_floor as u64 };
|
||||
let carriage_floor = cmp::min(carriage_floor, floor_count-1);
|
||||
let mut terminal_buffer = vec![' ' as u8; (termwidth*termheight) as usize];
|
||||
for ty in 0..floor_count
|
||||
{
|
||||
terminal_buffer[ (ty*termwidth + 0) as usize ] = '[' as u8;
|
||||
terminal_buffer[ (ty*termwidth + 1) as usize ] =
|
||||
if (ty as u64)==((floor_count-1)-carriage_floor) { 'X' as u8 }
|
||||
else { ' ' as u8 };
|
||||
terminal_buffer[ (ty*termwidth + 2) as usize ] = ']' as u8;
|
||||
terminal_buffer[ (ty*termwidth + termwidth-2) as usize ] = '\r' as u8;
|
||||
terminal_buffer[ (ty*termwidth + termwidth-1) as usize ] = '\n' as u8;
|
||||
}
|
||||
let stats = vec![
|
||||
format!("Carriage at floor {}", carriage_floor+1),
|
||||
format!("Location {:.06}", location),
|
||||
format!("Velocity {:.06}", velocity),
|
||||
format!("Acceleration {:.06}", acceleration),
|
||||
format!("Voltage [up-down] {:.06}", up_input_voltage-down_input_voltage),
|
||||
];
|
||||
for sy in 0..stats.len()
|
||||
{
|
||||
for (sx,sc) in stats[sy].chars().enumerate()
|
||||
{
|
||||
terminal_buffer[ sy*(termwidth as usize) + 6 + sx ] = sc as u8;
|
||||
}
|
||||
}
|
||||
write!(stdout, "{}", String::from_utf8(terminal_buffer).ok().unwrap());
|
||||
stdout.flush().unwrap();
|
||||
|
||||
thread::sleep(time::Duration::from_millis(10));
|
||||
}
|
||||
|
||||
//6 Calculate and print summary statistics
|
||||
write!(stdout, "{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Show).unwrap();
|
||||
variable_summary(&mut stdout, "location".to_string(), record_location);
|
||||
variable_summary(&mut stdout, "velocity".to_string(), record_velocity);
|
||||
variable_summary(&mut stdout, "acceleration".to_string(), record_acceleration);
|
||||
variable_summary(&mut stdout, "voltage".to_string(), record_voltage);
|
||||
stdout.flush().unwrap();
|
||||
simulate_elevator(esp, est, floor_requests, mc, dr);
|
||||
dr.summary();
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -73,5 +73,102 @@ impl MotorController for SimpleMotorController
|
||||
}
|
||||
}
|
||||
|
||||
q
|
||||
q
|
||||
pub struct SmoothMotorController
|
||||
{
|
||||
esp: ElevatorSpecification,
|
||||
timestamp: Instant
|
||||
}
|
||||
|
||||
impl MotorController for SmoothMotorController
|
||||
{
|
||||
fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState)
|
||||
{
|
||||
self.esp = esp;
|
||||
self.timestamp = est.timestamp;
|
||||
}
|
||||
|
||||
fn poll(&mut self, est: ElevatorState, dst: u64) -> MotorInput
|
||||
{
|
||||
//5.3. Adjust motor control to process next floor request
|
||||
|
||||
let MAX_JERK = 0.2;
|
||||
let MAX_ACCELERATION = 2.0;
|
||||
let MAX_VELOCITY = 5.0;
|
||||
|
||||
//it will take t seconds to reach max from max
|
||||
let t_accel = MAX_ACCELERATION / MAX_JERK;
|
||||
let t_veloc = MAX_VELOCITY / MAX_ACCELERATION;
|
||||
|
||||
//it may take up to d meters to decelerate from current
|
||||
let d_accel = est.velocity.abs() * (est.acceleration.abs() / MAX_JERK);
|
||||
let d_veloc = {
|
||||
//excess acceleration
|
||||
let excess_t;
|
||||
let excess_d;
|
||||
if (est.acceleration<0.0 && est.velocity<0.0) ||
|
||||
(est.acceleration>0.0 && est.velocity>0.0) {
|
||||
excess_t = est.acceleration.abs() / MAX_JERK;
|
||||
excess_d = est.velocity.abs() * excess_t;
|
||||
} else {
|
||||
excess_t = 0.0;
|
||||
excess_d = 0.0;
|
||||
}
|
||||
|
||||
//ramping jerk down
|
||||
let ramp_t = est.velocity.abs() / (t_accel + est.velocity.abs() / MAX_ACCELERATION);
|
||||
let ramp_d = est.velocity.abs() * ramp_t;
|
||||
|
||||
excess_d + ramp_d
|
||||
};
|
||||
let d = d_accel + d_veloc;
|
||||
|
||||
//l = distance to next floor
|
||||
let l = (est.location - (dst as f64)*self.esp.floor_height).abs();
|
||||
|
||||
let target_acceleration = {
|
||||
//are we going up?
|
||||
let going_up = est.location < (dst as f64)*self.esp.floor_height;
|
||||
|
||||
//time elapsed since last poll
|
||||
let dt = est.timestamp.duration_since(self.timestamp)
|
||||
.as_fractional_secs();
|
||||
|
||||
//Do not exceed maximum velocity
|
||||
if est.velocity.abs() >= MAX_VELOCITY {
|
||||
if going_up==(est.velocity>0.0) {
|
||||
0.0
|
||||
//decelerate if going in wrong direction
|
||||
} else if going_up {
|
||||
est.acceleration + (dt * MAX_JERK)
|
||||
} else {
|
||||
est.acceleration - (dt * MAX_JERK)
|
||||
}
|
||||
|
||||
//if within comfortable deceleration range and moving in right direction, decelerate
|
||||
} else if l < d && going_up==(est.velocity>0.0) {
|
||||
if going_up {
|
||||
est.acceleration - (dt * MAX_JERK)
|
||||
} else {
|
||||
est.acceleration + (dt * MAX_JERK)
|
||||
}
|
||||
|
||||
//else if not at peak velocity, accelerate smoothly
|
||||
} else {
|
||||
if going_up {
|
||||
est.acceleration + (dt * MAX_JERK)
|
||||
} else {
|
||||
est.acceleration - (dt * MAX_JERK)
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
let gravity_adjusted_acceleration = target_acceleration + 9.8;
|
||||
let target_force = gravity_adjusted_acceleration * self.esp.carriage_weight;
|
||||
let target_voltage = target_force / 8.0;
|
||||
if target_voltage > 0.0 {
|
||||
MotorInput::Up { voltage: target_voltage }
|
||||
} else {
|
||||
MotorInput::Down { voltage: target_voltage.abs() }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user