public static QuadraticSpeedDistanceCurve Build_A_Safe_Backward(AccelerationSpeedDistanceSurface A_V_D, FlatSpeedDistanceCurve MRSP) { if (debug) { Log.InfoFormat("#######################################################"); Log.InfoFormat("## Build_A_Safe_Backward_Surface#######################"); Log.InfoFormat("#######################################################"); } int debugging_counter = 0; QuadraticSpeedDistanceCurve result = new QuadraticSpeedDistanceCurve(); /*********************************************************** The ending point is the first point in the MRSP ***********************************************************/ SiDistance end_position = MRSP[0].X.X0; /*********************************************************** Go forward in the MRSP until we find the point with minimal speed. This shall be our starting point **********************************************************/ SiDistance current_position = SiDistance.Zero; SiSpeed current_speed = SiSpeed.MaxValue; if (debug) Log.DebugFormat(" Search the position of the minimal speed in the MRSP"); for (int i = 0; i < MRSP.SegmentCount; i++) { ConstantCurveSegment<SiDistance, SiSpeed> segment = MRSP[i]; if (segment.Y < current_speed) { current_speed = segment.Y; current_position = segment.X.X1; if (debug) Log.DebugFormat(" new start position V={0,7:F2} at={1,7:F2} ", current_speed.ToUnits(), current_position.ToUnits()); } } if (debug) Log.DebugFormat(" end position is at={0,7:F2} ", end_position.ToUnits()); /*************************************************************************/ /* Starting from the right side of curves, go back to the left side. */ /* Build small curves arcs where the acceleration is constant on each one*/ /*************************************************************************/ while (current_position > end_position) { if (debug) { Log.DebugFormat("#######################################################"); Log.DebugFormat("### Loop {0} #########################################", debugging_counter); Log.DebugFormat("#######################################################"); } /************************************************************ Based on current speed and position, search on wich tile of A_V_D tile we are ***********************************************************/ SurfaceTile current_tile = A_V_D.GetTileAt(current_speed + new SiSpeed(0.01), current_position - new SiDistance(0.1)); SiAcceleration current_acceleration = current_tile.V.Y; /***************************************************************************/ /* If at previous loop wi did 'hit' the vertical part of the MRSP, we might have a speed above the current MRSP segment.*/ /***************************************************************************/ if (current_speed > MRSP.GetValueAt(current_position - new SiDistance(0.1))) { current_speed = MRSP.GetValueAt(current_position - new SiDistance(0.1)); } /******************************************************************* We build a quadratic arc with current train position, speed and acceleration. The arc domain [0..current_position] is not valid yet. We must find out the domain left limit. *****************************************************************/ QuadraticCurveSegment current_curve = new QuadraticCurveSegment(SiDistance.Zero, current_position, current_acceleration, current_speed, current_position); if (debug) { Log.DebugFormat(" current_acceleration = {0,7:F2} from a_tile {1}", current_acceleration.ToUnits(), current_tile.ToString()); Log.DebugFormat(" current_speed = {0,7:F2} ", current_speed.ToUnits()); Log.DebugFormat(" current_position = {0,7:F2} ", current_position.ToUnits()); Log.DebugFormat(" --> current_curve = {0} ", current_curve.ToString()); } /********************************************************************/ /* The current_curve may 'hit' one of these 4 items: 1) The upper border of the tile (because of a new acceleration) 2) The left border of the tile (because of a gradient?) 3) A vertical segment of the MRSP 4) An horizontal segment of the MRSP Text all of them and update the next_position accordingly. *************************************************************************/ SiDistance next_position = SiDistance.Zero; /* 1) The distance at wich our temporary arc intersects the top (V2) segment of the AVD tile */ { SiDistance d = current_curve.IntersectAt(current_tile.V.X.X1); if (debug) Log.DebugFormat(" intersection with tile (V_TOP) at {0,7:F2} ", d.ToUnits()); if (d >= next_position) { if (debug) Log.DebugFormat(" --> case_1 next_position {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), d.ToUnits()); next_position = d; } } /* 2) The distance at wich our temporary arc intersects the left (D0) segment of the AVD tile */ { SiDistance d = current_tile.D.X.X0; if (debug) Log.DebugFormat(" intersection with tile (D0) at {0,7:F2} ", d.ToUnits()); if (d >= next_position) { if (debug) Log.DebugFormat(" --> case_2 next_position {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), d.ToUnits()); next_position = d; } } /*Since the MRSP is continous, the following cannot fail. */ ConstantCurveSegment<SiDistance, SiSpeed> speed_limit_here = MRSP.Intersect(current_position - new SiDistance(0.1), current_curve); if (debug) Log.DebugFormat(" MRSP segment {0} ", speed_limit_here.ToString()); /* 3) Do we hit the vertical segment of the MRSP ? */ { if (speed_limit_here.X.X0 >= next_position) { if (debug) Log.DebugFormat(" --> case_3 next_position {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), speed_limit_here.X.X0.ToUnits()); next_position = speed_limit_here.X.X0; } } /* 4) Do we hit the horizontal segment of the MRSP */ { if (current_speed + new SiSpeed(0.01) < speed_limit_here.Y) { SiDistance d = current_curve.IntersectAt(speed_limit_here.Y); if (d >= next_position) { if (debug) Log.DebugFormat(" --> case_4a next_d {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), d.ToUnits()); next_position = d; } } else { if (debug) Log.DebugFormat(" --> case_4b next_acc_0 {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), speed_limit_here.X.X0.ToUnits()); current_acceleration = SiAcceleration.Zero; next_position = speed_limit_here.X.X0; } } /* Finally we can add the segment because next_position has been computed. */ result.Add(next_position, current_position, current_acceleration, current_speed, current_position); result.Dump("result so far "); /* Next loop starts from our new position. We do not need to update current_acceleration because it is done at the beginning of the loop*/ current_position = next_position; current_speed = result.GetValueAt(current_position); /*************************************************************/ /* If this exception is thrown, you'd better call Juan */ /*************************************************************/ if (debugging_counter++ > 200) { throw new Exception("Algorithm is broken"); } } return result; }
/// <summary> /// Method to return the curve segment at the current location and speed, going in the specified direction. /// </summary> /// <param name="current_tile"></param> /// <param name="current_position"></param> /// <param name="current_speed"></param> /// <param name="MRSP"></param> /// <param name="dir"></param> /// <returns></returns> private static QuadraticCurveSegment Build_One_Curve_Segment(SurfaceTile current_tile, SiDistance current_position, SiSpeed current_speed, FlatSpeedDistanceCurve MRSP, BrakingCurveDirectionEnum dir) { SiAcceleration current_acceleration = current_tile.V.Y; SiDistance MRSP_end = MRSP[MRSP.SegmentCount - 1].X.X1; SiDistance curve_start = new SiDistance(); SiDistance curve_end = new SiDistance(); switch (dir) { case BrakingCurveDirectionEnum.Backwards: curve_start = SiDistance.Zero; curve_end = current_position; break; case BrakingCurveDirectionEnum.Forwards: curve_start = current_position; curve_end = MRSP_end; break; } QuadraticCurveSegment current_curve = new QuadraticCurveSegment(curve_start, curve_end, current_acceleration, current_speed, current_position); if (debug) { Log.DebugFormat(" current_acceleration = {0,7:F2} from a_tile {1}", current_acceleration.ToUnits(), current_tile.ToString()); Log.DebugFormat(" current_speed = {0,7:F2} ", current_speed.ToUnits()); Log.DebugFormat(" current_position = {0,7:F2} ", current_position.ToUnits()); Log.DebugFormat(" --> current_curve = {0} ", current_curve.ToString()); } /********************************************************************/ /* The current_curve may 'hit' one of these 4 items: 1) The upper border of the tile (because of a new acceleration) 2) The left border of the tile (because of a gradient?) 3) A vertical segment of the MRSP 4) An horizontal segment of the MRSP Text all of them and update the next_position accordingly. *************************************************************************/ SiDistance next_position = SiDistance.Zero; /* The distance at which our temporary arc intersects a segment of the AVD tile */ { next_position = Tile_Intersect(current_position, current_tile, current_curve, dir); } /* The MRSP checks only need to be performed if the curve is being computed backwards */ if (dir == BrakingCurveDirectionEnum.Backwards) { /*Since the MRSP is continous, the following cannot fail. */ ConstantCurveSegment<SiDistance, SiSpeed> speed_limit_here = MRSP.Intersect(current_position - new SiDistance(0.1), current_curve); if (debug) Log.DebugFormat(" MRSP segment {0} ", speed_limit_here.ToString()); /* 3) Do we hit the vertical segment of the MRSP ? */ { next_position = IntersectMRSPSpeed(next_position, speed_limit_here); } /* 4) Do we hit the horizontal segment of the MRSP */ { if (current_speed + new SiSpeed(0.01) < speed_limit_here.Y) { SiDistance d = current_curve.IntersectAt(speed_limit_here.Y); if (d >= next_position) { if (debug) Log.DebugFormat(" --> case_4a next_d {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), d.ToUnits()); next_position = d; } } else { if (debug) Log.DebugFormat(" --> case_4b next_acc_0 {0,7:F2} -> {1,7:F2}", next_position.ToUnits(), speed_limit_here.X.X0.ToUnits()); current_acceleration = SiAcceleration.Zero; next_position = speed_limit_here.X.X0; } } } SiDistance result_start = new SiDistance(); SiDistance result_end = new SiDistance(); switch (dir) { case BrakingCurveDirectionEnum.Backwards: result_start = next_position; result_end = current_position; break; case BrakingCurveDirectionEnum.Forwards: result_start = current_position; result_end = next_position; break; } QuadraticCurveSegment result = new QuadraticCurveSegment(result_start, result_end, current_acceleration, current_speed, current_position); return result; }
/// <summary> /// Provides the distance at which the curve intersects the horizontal edge of the tile in the given direction /// </summary> /// <param name="current_tile"></param> /// <param name="current_curve"></param> /// <param name="dir"></param> /// <returns></returns> private static SiDistance Speed_Edge_Location(SurfaceTile current_tile, QuadraticCurveSegment current_curve, BrakingCurveDirectionEnum dir) { SiDistance result = SiDistance.Zero; SiSpeed limit = SiSpeed.Zero; switch (dir) { case BrakingCurveDirectionEnum.Backwards: limit = current_tile.V.X.X1; break; case BrakingCurveDirectionEnum.Forwards: limit = current_tile.V.X.X0; break; } result = current_curve.IntersectAt(limit); return result; }
/// <summary> /// Creates a graph for the function /// </summary> /// <param name="context"></param> /// <param name="parameter"></param> /// <param name="explain"></param> /// <returns></returns> public override Graph CreateGraph(InterpretationContext context, Parameter parameter, ExplanationPart explain) { Graph retVal = new Graph(); StructureValue LocationStruct = context.FindOnStack(Target).Value as StructureValue; SiDistance location; SiSpeed speed; if (LocationStruct != null) { IVariable locationField = LocationStruct.Val["Location"] as IVariable; location = new SiDistance((locationField.Value as DoubleValue).Val); IVariable speedField = LocationStruct.Val["Speed"] as IVariable; speed = new SiSpeed((speedField.Value as DoubleValue).Val, SiSpeed_SubUnits.KiloMeter_per_Hour); Function decelerationFactor = context.FindOnStack(DecelerationFactor).Value as Function; if (decelerationFactor != null) { Surface DecelerationSurface = decelerationFactor.CreateSurface(context, explain); if (DecelerationSurface != null) { AccelerationSpeedDistanceSurface accelerationSurface = DecelerationSurface.createAccelerationSpeedDistanceSurface(double.MaxValue, double.MaxValue); QuadraticSpeedDistanceCurve BrakingCurve = null; try { BrakingCurve = EtcsBrakingCurveBuilder.Build_Deceleration_Curve(accelerationSurface, speed, location); } catch (Exception e) { retVal.AddSegment(new Graph.Segment(0, double.MaxValue, new Graph.Segment.Curve(0, 0, 0))); } SiSpeed finalSpeed = new SiSpeed(GetDoubleValue(context.FindOnStack(EndSpeed).Value), SiSpeed_SubUnits.KiloMeter_per_Hour); for (int i = 0; i < BrakingCurve.SegmentCount; i++) { QuadraticCurveSegment segment = BrakingCurve[i]; SiSpeed endSpeed = Max(finalSpeed, segment.Get(segment.X.X1)); SiDistance endDistance; if (endSpeed == finalSpeed) { // Ensures that a braking curve is calculated until the finalSpeed // but not further than the end of the curve segment SiSpeed tmp = Max(segment.Get(segment.X.X1), endSpeed - new SiSpeed(0.001)); endDistance = segment.IntersectAt(tmp); } else { endDistance = segment.X.X1; } Graph.Segment newSegment = new Graph.Segment( segment.X.X0.ToUnits(), endDistance.ToUnits(), new Graph.Segment.Curve( segment.A.ToSubUnits(SiAcceleration_SubUnits.Meter_per_SecondSquare), segment.V0.ToSubUnits(SiSpeed_SubUnits.KiloMeter_per_Hour), segment.D0.ToSubUnits(SiDistance_SubUnits.Meter) ) ); retVal.AddSegment(newSegment); if (endSpeed == finalSpeed) { break; } } } } } return(retVal); }