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238 lines
7.8 KiB
Rust
238 lines
7.8 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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use motor::{SmoothMotorController, SimpleMotorController};
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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};
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use std::io::prelude::*;
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extern crate termion;
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use termion::{clear, cursor, style};
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use termion::raw;
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use termion::raw::IntoRawMode;
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use termion::input::TermRead;
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use termion::event::Key;
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use std::cmp;
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fn variable_summary<W: Write>(stdout: &mut raw::RawTerminal<W>, vname: String, data: &Vec<f64>) {
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let (avg, dev) = variable_summary_stats(data);
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variable_summary_print(stdout, vname, avg, dev);
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}
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fn variable_summary_stats(data: &Vec<f64>) -> (f64, f64)
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{
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//calculate statistics
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let N = data.len();
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let sum = data.clone().into_iter()
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.fold(0.0, |a, b| a+b);
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let avg = sum / (N as f64);
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let dev = (
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data.clone().into_iter()
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.map(|v| (v - avg).powi(2))
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.fold(0.0, |a, b| a+b)
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/ (N as f64)
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).sqrt();
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(avg, dev)
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}
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fn variable_summary_print<W: Write>(stdout: &mut raw::RawTerminal<W>, vname: String, avg: f64, dev: f64)
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{
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//print formatted output
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write!(stdout, "Average of {:25}{:.6}\r\n", vname, avg);
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write!(stdout, "Standard deviation of {:14}{:.6}\r\n", vname, dev);
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write!(stdout, "\r\n");
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}
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struct SimpleDataRecorder<'a, W: 'a + Write>
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{
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esp: ElevatorSpecification,
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termwidth: u64,
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termheight: u64,
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stdout: &'a mut raw::RawTerminal<W>,
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log: File,
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record_location: Vec<f64>,
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record_velocity: Vec<f64>,
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record_acceleration: Vec<f64>,
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record_voltage: Vec<f64>,
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}
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impl<'a, W: Write> DataRecorder for SimpleDataRecorder<'a, W>
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{
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fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState)
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{
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self.esp = esp.clone();
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self.log.write_all(serde_json::to_string(&esp).unwrap().as_bytes()).expect("write spec to log");
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self.log.write_all(b"\r\n").expect("write spec to log");
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}
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fn poll(&mut self, est: ElevatorState, dst: u64)
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{
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let datum = (est.clone(), dst);
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self.log.write_all(serde_json::to_string(&datum).unwrap().as_bytes()).expect("write state to log");
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self.log.write_all(b"\r\n").expect("write state to log");
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self.record_location.push(est.location);
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self.record_velocity.push(est.velocity);
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self.record_acceleration.push(est.acceleration);
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self.record_voltage.push(est.motor_input.voltage());
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//5.4. Print realtime statistics
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print!("{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Hide);
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let carriage_floor = (est.location / self.esp.floor_height).floor();
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let carriage_floor = if carriage_floor < 1.0 { 0 } else { carriage_floor as u64 };
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let carriage_floor = cmp::min(carriage_floor, self.esp.floor_count-1);
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let mut terminal_buffer = vec![' ' as u8; (self.termwidth*self.termheight) as usize];
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for ty in 0..self.esp.floor_count
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{
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terminal_buffer[ (ty*self.termwidth + 0) as usize ] = '[' as u8;
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terminal_buffer[ (ty*self.termwidth + 1) as usize ] =
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if (ty as u64)==((self.esp.floor_count-1)-carriage_floor) { 'X' as u8 }
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else { ' ' as u8 };
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terminal_buffer[ (ty*self.termwidth + 2) as usize ] = ']' as u8;
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terminal_buffer[ (ty*self.termwidth + self.termwidth-2) as usize ] = '\r' as u8;
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terminal_buffer[ (ty*self.termwidth + self.termwidth-1) as usize ] = '\n' as u8;
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}
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let stats = vec![
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format!("Carriage at floor {}", carriage_floor+1),
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format!("Location {:.06}", est.location),
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format!("Velocity {:.06}", est.velocity),
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format!("Acceleration {:.06}", est.acceleration),
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format!("Voltage [up-down] {:.06}", est.motor_input.voltage()),
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];
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for sy in 0..stats.len()
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{
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for (sx,sc) in stats[sy].chars().enumerate()
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{
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terminal_buffer[ sy*(self.termwidth as usize) + 6 + sx ] = sc as u8;
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}
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}
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write!(self.stdout, "{}", String::from_utf8(terminal_buffer).ok().unwrap());
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self.stdout.flush().unwrap();
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}
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fn summary(&mut self)
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{
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//6 Calculate and print summary statistics
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write!(self.stdout, "{}{}{}", clear::All, cursor::Goto(1, 1), cursor::Show).unwrap();
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variable_summary(&mut self.stdout, "location".to_string(), &self.record_location);
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variable_summary(&mut self.stdout, "velocity".to_string(), &self.record_velocity);
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variable_summary(&mut self.stdout, "acceleration".to_string(), &self.record_acceleration);
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variable_summary(&mut self.stdout, "voltage".to_string(), &self.record_voltage);
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self.stdout.flush().unwrap();
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}
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}
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pub fn run_simulation()
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{
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//1. Store location, velocity, and acceleration state
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//2. Store motor input voltage
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let mut est = ElevatorState {
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timestamp: 0.0,
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location: 0.0,
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velocity: 0.0,
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acceleration: 0.0,
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motor_input: MotorInput::Up {
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//zero is positive force to counter gravity
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voltage: 9.8 * (120000.0 / 8.0)
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}
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};
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//3. Store input building description and floor requests
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let mut esp = ElevatorSpecification {
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floor_count: 0,
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floor_height: 0.0,
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carriage_weight: 120000.0
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};
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let mut floor_requests = Vec::new();
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//4. Parse input and store as building description and floor requests
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let buffer = match env::args().nth(1) {
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Some(ref fp) if *fp == "-".to_string() => {
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let mut buffer = String::new();
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io::stdin().read_to_string(&mut buffer)
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.expect("read_to_string failed");
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buffer
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},
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None => {
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let fp = "test1.txt";
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let mut buffer = String::new();
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File::open(fp)
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.expect("File::open failed")
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.read_to_string(&mut buffer)
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.expect("read_to_string failed");
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buffer
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},
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Some(fp) => {
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let mut buffer = String::new();
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File::open(fp)
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.expect("File::open failed")
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.read_to_string(&mut buffer)
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.expect("read_to_string failed");
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buffer
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}
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};
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for (li,l) in buffer.lines().enumerate() {
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if li==0 {
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esp.floor_count = l.parse::<u64>().unwrap();
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} else if li==1 {
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esp.floor_height = l.parse::<f64>().unwrap();
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} else {
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floor_requests.push(l.parse::<u64>().unwrap());
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}
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}
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let termsize = termion::terminal_size().ok();
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let mut dr = SimpleDataRecorder {
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esp: esp.clone(),
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termwidth: termsize.map(|(w,_)| w-2).expect("termwidth") as u64,
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termheight: termsize.map(|(_,h)| h-2).expect("termheight") as u64,
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stdout: &mut io::stdout().into_raw_mode().unwrap(),
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log: File::create("simulation.log").expect("log file"),
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record_location: Vec::new(),
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record_velocity: Vec::new(),
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record_acceleration: Vec::new(),
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record_voltage: Vec::new()
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};
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/*
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let mut mc = SimpleMotorController {
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esp: esp.clone()
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};
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*/
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let mut mc = SmoothMotorController {
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timestamp: 0.0,
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esp: esp.clone()
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};
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simulate_elevator(esp, est, floor_requests, &mut mc, &mut dr);
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dr.summary();
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn variable_stats() {
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let test_data = vec![
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(vec![1.0, 2.0, 3.0, 4.0, 5.0], 3.0, 1.41),
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(vec![1.0, 3.0, 5.0, 7.0, 9.0], 5.0, 2.83),
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(vec![1.0, 9.0, 1.0, 9.0, 1.0], 4.2, 3.92),
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(vec![1.0, 0.5, 0.7, 0.9, 0.6], 0.74, 0.19),
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(vec![200.0, 3.0, 24.0, 92.0, 111.0], 86.0, 69.84),
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];
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for (data, avg, dev) in test_data
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{
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let (ravg, rdev) = variable_summary_stats(data);
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assert!( (avg-ravg).abs() < 0.1 );
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assert!( (dev-rdev).abs() < 0.1 );
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}
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}
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}
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