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110 lines
3.2 KiB
Rust
110 lines
3.2 KiB
Rust
mod physics;
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mod motor;
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use physics::{ElevatorSpecification, ElevatorState, MotorInput, simulate_elevator, DataRecorder, MotorController, MotorVoltage};
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#[macro_use] extern crate serde_derive;
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extern crate serde;
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extern crate serde_json;
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extern crate floating_duration;
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use std::time::Instant;
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use std::env;
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use std::fs::File;
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use std::io::{self, Read, Write, BufRead, BufReader};
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use std::io::prelude::*;
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#[derive(Clone)]
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struct Trip {
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dst: u64,
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up: f64,
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down: f64
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}
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const MAX_JERK: f64 = 0.2;
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const MAX_ACCELERATION: f64 = 2.0;
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const MAX_VELOCITY: f64 = 5.0;
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fn main()
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{
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let simlog = File::open("simulation.log").expect("read simulation log");
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let mut simlog = BufReader::new(&simlog);
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let mut jerk = 0.0;
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let mut prev_est: Option<ElevatorState> = None;
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let mut dst_timing: Vec<Trip> = Vec::new();
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let mut start_location = 0.0;
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let mut first_line = String::new();
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let len = simlog.read_line(&mut first_line).unwrap();
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let esp: ElevatorSpecification = serde_json::from_str(&first_line).unwrap();
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for line in simlog.lines() {
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let l = line.unwrap();
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let (est, dst): (ElevatorState,u64) = serde_json::from_str(&l).unwrap();
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let dl = dst_timing.len();
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if dst_timing.len()==0 || dst_timing[dl-1].dst != dst {
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dst_timing.push(Trip { dst:dst, up:0.0, down:0.0 });
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}
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if let Some(prev_est) = prev_est {
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let dt = est.timestamp - prev_est.timestamp;
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if est.velocity > 0.0 {
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dst_timing[dl-1].up += dt;
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} else {
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dst_timing[dl-1].down += dt;
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}
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let da = (est.acceleration - prev_est.acceleration).abs();
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jerk = (jerk * (1.0 - dt)) + (da * dt);
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if jerk.abs() > 0.22 {
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panic!("jerk is outside of acceptable limits: {} {:?}", jerk, est)
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}
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} else {
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start_location = est.location;
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}
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if est.acceleration.abs() > 2.2 {
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panic!("acceleration is outside of acceptable limits: {:?}", est)
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}
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if est.velocity.abs() > 5.5 {
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panic!("velocity is outside of acceptable limits: {:?}", est)
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}
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prev_est = Some(est);
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}
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//elevator should not backup
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let mut total_time = 0.0;
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let mut total_direct = 0.0;
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for trip in dst_timing.clone()
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{
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total_time += (trip.up + trip.down);
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if trip.up > trip.down {
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total_direct += trip.up;
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} else {
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total_direct += trip.down;
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}
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}
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if (total_direct / total_time) < 0.9 {
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panic!("elevator back up is too common: {}", total_direct / total_time)
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}
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//trips should finish within 20% of theoretical limit
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let mut trip_start_location = start_location;
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let mut theoretical_time = 0.0;
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let floor_height = esp.floor_height;
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for trip in dst_timing.clone()
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{
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let next_floor = (trip.dst as f64) * floor_height;
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let d = (trip_start_location - next_floor).abs();
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theoretical_time += (
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2.0*(MAX_ACCELERATION / MAX_JERK) +
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2.0*(MAX_JERK / MAX_ACCELERATION) +
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d / MAX_VELOCITY
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);
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trip_start_location = next_floor;
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}
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if total_time > (theoretical_time * 1.2) {
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panic!("elevator moves to slow {} {}", total_time, theoretical_time * 1.2)
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}
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println!("All simulation checks passing.");
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}
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