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122 lines
3.1 KiB
Rust
122 lines
3.1 KiB
Rust
extern crate floating_duration;
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use std::time::Instant;
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use floating_duration::{TimeAsFloat, TimeFormat};
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use std::{thread, time};
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#[derive(Clone,Serialize,Deserialize,Debug)]
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pub enum MotorInput
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{
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Up { voltage: f64 },
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Down { voltage: f64 }
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}
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#[derive(Clone,Serialize,Deserialize,Debug)]
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pub struct ElevatorSpecification
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{
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pub floor_count: u64,
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pub floor_height: f64,
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pub carriage_weight: f64
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}
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#[derive(Clone,Serialize,Deserialize,Debug)]
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pub struct ElevatorState
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{
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pub timestamp: f64,
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pub location: f64,
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pub velocity: f64,
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pub acceleration: f64,
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pub motor_input: MotorInput
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}
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pub type FloorRequests = Vec<u64>;
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pub trait MotorController
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{
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fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState);
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fn poll(&mut self, est: ElevatorState, dst: u64) -> MotorInput;
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}
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pub trait DataRecorder
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{
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fn init(&mut self, esp: ElevatorSpecification, est: ElevatorState);
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fn poll(&mut self, est: ElevatorState, dst: u64);
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fn summary(&mut self);
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}
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pub trait MotorForce {
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fn calculate_force(&self) -> f64;
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}
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impl MotorForce for MotorInput {
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fn calculate_force(&self) -> f64
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{
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match *self {
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MotorInput::Up { voltage: v } => { v * 8.0 }
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MotorInput::Down { voltage: v } => { v * -8.0 }
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}
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}
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}
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pub trait MotorVoltage {
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fn voltage(&self) -> f64;
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}
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impl MotorVoltage for MotorInput {
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fn voltage(&self) -> f64
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{
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match *self {
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MotorInput::Up { voltage: v } => { v }
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MotorInput::Down { voltage: v } => { -v }
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}
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}
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}
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pub fn simulate_elevator<MC: MotorController, DR: DataRecorder>(esp: ElevatorSpecification, est: ElevatorState, req: FloorRequests,
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mc: &mut MC, dr: &mut DR) {
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//immutable input becomes mutable local state
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let mut esp = esp.clone();
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let mut est = est.clone();
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let mut req = req.clone();
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//initialize MotorController and DataController
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mc.init(esp.clone(), est.clone());
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dr.init(esp.clone(), est.clone());
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//5. Loop while there are remaining floor requests
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let original_ts = Instant::now();
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thread::sleep(time::Duration::from_millis(1));
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while req.len() > 0
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{
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//5.1. Update location, velocity, and acceleration
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let now = Instant::now();
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let ts = now.duration_since(original_ts)
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.as_fractional_secs();
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let dt = ts - est.timestamp;
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est.timestamp = ts;
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est.location = est.location + est.velocity * dt;
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est.velocity = est.velocity + est.acceleration * dt;
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est.acceleration = {
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let F = est.motor_input.calculate_force();
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let m = esp.carriage_weight;
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-9.8 + F/m
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};
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//5.2. If next floor request in queue is satisfied, then remove from queue
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let next_floor = req[0];
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if (est.location - (next_floor as f64)*esp.floor_height).abs() < 0.01 &&
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est.velocity.abs() < 0.01
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{
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est.velocity = 0.0;
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req.remove(0);
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}
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//5.4. Print realtime statistics
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dr.poll(est.clone(), next_floor);
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//5.3. Adjust motor control to process next floor request
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est.motor_input = mc.poll(est.clone(), next_floor);
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thread::sleep(time::Duration::from_millis(1));
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}
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}
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