/// <summary>
/// Coputes targets from the function and adds them to the collection
/// </summary>
/// <param name="function">Function containing targets</param>
/// <param name="collection">Collection to be filled with targets</param>
private void ComputeTargets(Function function, Values.ListValue collection)
{
if (function != null)
{
Graph graph = function.Graph;
if (graph != null && graph.Segments.Count > 1)
{
double prevSpeed = Double.MaxValue;
for (int i = 1; i < graph.Segments.Count; i++)
{
Graph.Segment s = graph.Segments[i];
Types.Structure structureType = (Types.Structure)EFSSystem.findType(OverallNameSpaceFinder.INSTANCE.findByName(EFSSystem.Dictionaries[0], "Kernel.SpeedAndDistanceMonitoring.TargetSupervision"), "Kernel.SpeedAndDistanceMonitoring.TargetSupervision.Target");
Values.StructureValue value = new Values.StructureValue(structureType, structureType.NameSpace);
Variables.Variable speed = (Variables.Variable)DataDictionary.Generated.acceptor.getFactory().createVariable();
speed.Type = EFSSystem.findType(OverallNameSpaceFinder.INSTANCE.findByName(EFSSystem.Dictionaries[0], "Default.BaseTypes"), "Default.BaseTypes.Speed");
speed.Name = "Speed";
speed.Mode = Generated.acceptor.VariableModeEnumType.aInternal;
speed.Default = "0.0";
speed.Enclosing = value;
speed.Value = new Values.DoubleValue(EFSSystem.DoubleType, s.Val(s.Start));
value.set(speed);
Variables.Variable location = (Variables.Variable)DataDictionary.Generated.acceptor.getFactory().createVariable();
location.Type = EFSSystem.findType(OverallNameSpaceFinder.INSTANCE.findByName(EFSSystem.Dictionaries[0], "Default.BaseTypes"), "Default.BaseTypes.Distance");
location.Name = "Location";
location.Mode = Generated.acceptor.VariableModeEnumType.aInternal;
location.Default = "0.0";
location.Enclosing = value;
location.Value = new Values.DoubleValue(EFSSystem.DoubleType, s.Start);
value.set(location);
Variables.Variable length = (Variables.Variable)DataDictionary.Generated.acceptor.getFactory().createVariable();
length.Type = EFSSystem.findType(OverallNameSpaceFinder.INSTANCE.findByName(EFSSystem.Dictionaries[0], "Default.BaseTypes"), "Default.BaseTypes.Length");
length.Name = "Length";
length.Mode = Generated.acceptor.VariableModeEnumType.aInternal;
length.Default = "0.0";
length.Enclosing = value;
length.Value = new Values.DoubleValue(EFSSystem.DoubleType, s.End);
value.set(length);
if (s.Val(s.Start) < prevSpeed)
{
collection.Val.Add(value);
}
prevSpeed = s.Val(s.Start);
}
}
}
}
/// <summary>
/// Computes targets from the function and stores them in the collection
/// </summary>
/// <param name="function">Function containing targets</param>
/// <param name="collection">Collection to be filled with targets</param>
private void ComputeTargets(Function function, ListValue collection)
{
if (function != null)
{
Graph graph = function.Graph;
if (graph != null)
{
for (int i = 0; i < graph.Segments.Count; i++)
{
Graph.Segment s = graph.Segments[i];
StructureValue value = CreateTarget(s.Start, s.End - s.Start, s.Evaluate(s.Start));
collection.Val.Add(value);
}
}
}
}
/// <summary>
/// Coputes targets from the function and adds them to the collection
/// </summary>
/// <param name="function">Function containing targets</param>
/// <param name="collection">Collection to be filled with targets</param>
private void ComputeTargets(Function function, ListValue collection)
{
if (function != null)
{
Graph graph = function.Graph;
if (graph != null && graph.Segments.Count > 1)
{
NameSpace defaultNameSpace = OverallNameSpaceFinder.INSTANCE.findByName(EFSSystem.Dictionaries[0],
"Default");
Structure structureType = (Structure)
EFSSystem.FindType(
defaultNameSpace,
"TargetStruct"
);
double prevSpeed = graph.Segments[0].Evaluate(graph.Segments[0].Start);
for (int i = 1; i < graph.Segments.Count; i++)
{
Graph.Segment s = graph.Segments[i];
StructureValue value = new StructureValue(structureType);
Field speed = value.CreateField(value, "Speed", structureType);
speed.Value = new DoubleValue(EFSSystem.DoubleType, s.Evaluate(s.Start));
Field location = value.CreateField(value, "Location", structureType);
location.Value = new DoubleValue(EFSSystem.DoubleType, s.Start);
Field length = value.CreateField(value, "Length", structureType);
length.Value = SegmentLength(s.End);
Enum targetType = (Enum)EFSSystem.FindType(defaultNameSpace, "TargetTypeEnum");
Field type = value.CreateField(value, "Type", structureType);
type.Value = targetType.DefaultValue;
// Only add the target for the current segment to the collection if it brings a reduction in permitted speed
if (s.Evaluate(s.Start) < prevSpeed)
{
collection.Val.Add(value);
}
// But even if it is not added to the collection of targets, this segment is now the reference speed
prevSpeed = s.Evaluate(s.Start);
}
}
}
}
/// <summary>
/// Provides the graph of this function if it has been statically defined
/// </summary>
/// <param name="context">the context used to create the graph</param>
/// <param name="parameter"></param>
/// <param name="explain"></param>
/// <returns></returns>
public override Graph CreateGraph(InterpretationContext context, Parameter parameter, ExplanationPart explain)
{
Graph retVal = null;
Graph mrspGraph = null;
Function speedRestriction = context.FindOnStack(SpeedRestrictions).Value as Function;
if (speedRestriction != null)
{
Parameter p = (Parameter) speedRestriction.FormalParameters[0];
int token = context.LocalScope.PushContext();
context.LocalScope.SetGraphParameter(p);
mrspGraph = createGraphForValue(context, context.FindOnStack(SpeedRestrictions).Value, explain, p);
context.LocalScope.PopContext(token);
}
if (mrspGraph != null)
{
Function deceleratorFactor = context.FindOnStack(DecelerationFactor).Value as Function;
if (deceleratorFactor != null)
{
Surface decelerationSurface = deceleratorFactor.CreateSurface(context, explain);
if (decelerationSurface != null)
{
FlatSpeedDistanceCurve mrspCurve = mrspGraph.FlatSpeedDistanceCurve(mrspGraph.ExpectedEndX());
AccelerationSpeedDistanceSurface accelerationSurface =
decelerationSurface.createAccelerationSpeedDistanceSurface(double.MaxValue, double.MaxValue);
QuadraticSpeedDistanceCurve brakingCurve = null;
try
{
brakingCurve = EtcsBrakingCurveBuilder.Build_A_Safe_Backward(accelerationSurface, mrspCurve);
}
catch (Exception)
{
retVal = new Graph();
retVal.AddSegment(new Graph.Segment(0, double.MaxValue, new Graph.Segment.Curve(0, 0, 0)));
}
if (brakingCurve != null)
{
retVal = new Graph();
// TODO : Remove the distinction between linear curves and quadratic curves
bool isLinear = true;
for (int i = 0; i < brakingCurve.SegmentCount; i++)
{
QuadraticCurveSegment segment = brakingCurve[i];
if (segment.A.ToUnits() != 0.0 || segment.V0.ToUnits() != 0.0)
{
isLinear = false;
break;
}
}
for (int i = 0; i < brakingCurve.SegmentCount; i++)
{
QuadraticCurveSegment segment = brakingCurve[i];
Graph.Segment newSegment;
if (isLinear)
{
newSegment = new Graph.Segment(
segment.X.X0.ToUnits(),
segment.X.X1.ToUnits(),
new Graph.Segment.Curve(0.0,
segment.V0.ToSubUnits(SiSpeed_SubUnits.KiloMeter_per_Hour), 0.0));
}
else
{
newSegment = new Graph.Segment(
segment.X.X0.ToUnits(),
segment.X.X1.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);
}
}
}
else
{
DecelerationFactor.AddError("Cannot create surface for " + DecelerationFactor);
}
}
else
{
DecelerationFactor.AddError("Cannot evaluate " + DecelerationFactor + " as a function");
}
}
else
{
SpeedRestrictions.AddError("Cannot create graph for " + SpeedRestrictions);
}
return retVal;
}
/// <summary>
/// Provides the graph of this function if it has been statically defined
/// </summary>
/// <param name="context">the context used to create the graph</param>
/// <returns></returns>
public override Graph createGraph(Interpreter.InterpretationContext context, Parameter parameter)
{
Graph retVal = null;
Graph MRSPGraph = null;
Function speedRestriction = context.findOnStack(SpeedRestrictions).Value as Function;
if (speedRestriction != null)
{
Parameter p = (Parameter)speedRestriction.FormalParameters[0];
int token = context.LocalScope.PushContext();
context.LocalScope.setGraphParameter(p);
MRSPGraph = createGraphForValue(context, context.findOnStack(SpeedRestrictions).Value, p);
context.LocalScope.PopContext(token);
}
if (MRSPGraph != null)
{
Function deceleratorFactor = context.findOnStack(DecelerationFactor).Value as Function;
if (deceleratorFactor != null)
{
Surface DecelerationSurface = deceleratorFactor.createSurface(context);
if (DecelerationSurface != null)
{
FlatSpeedDistanceCurve MRSPCurve = MRSPGraph.FlatSpeedDistanceCurve(MRSPGraph.ExpectedEndX());
AccelerationSpeedDistanceSurface accelerationSurface = DecelerationSurface.createAccelerationSpeedDistanceSurface(double.MaxValue, double.MaxValue);
QuadraticSpeedDistanceCurve BrakingCurve = null;
try
{
BrakingCurve = EtcsBrakingCurveBuilder.Build_A_Safe_Backward(accelerationSurface, MRSPCurve);
}
catch (System.Exception e)
{
retVal = new Graph();
retVal.addSegment(new Graph.Segment(0, double.MaxValue, new Graph.Segment.Curve(0, 0, 0)));
}
if (BrakingCurve != null)
{
retVal = new Graph();
// TODO : Remove the distinction between linear curves and quadratic curves
bool isLinear = true;
for (int i = 0; i < BrakingCurve.SegmentCount; i++)
{
QuadraticCurveSegment segment = BrakingCurve[i];
if (segment.A.ToUnits() != 0.0 || segment.V0.ToUnits() != 0.0)
{
isLinear = false;
break;
}
}
for (int i = 0; i < BrakingCurve.SegmentCount; i++)
{
QuadraticCurveSegment segment = BrakingCurve[i];
Graph.Segment newSegment;
if (isLinear)
{
newSegment = new Graph.Segment(
segment.X.X0.ToUnits(),
segment.X.X1.ToUnits(),
new Graph.Segment.Curve(0.0, segment.V0.ToSubUnits(SiSpeed_SubUnits.KiloMeter_per_Hour), 0.0));
}
else
{
newSegment = new Graph.Segment(
segment.X.X0.ToUnits(),
segment.X.X1.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);
}
}
}
else
{
Log.Error("Cannot create surface for " + DecelerationFactor.ToString());
}
}
else
{
Log.Error("Cannot evaluate " + DecelerationFactor.ToString() + " as a function");
}
}
else
{
Log.Error("Cannot create graph for " + SpeedRestrictions.ToString());
}
return(retVal);
}
/// <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);
}
/// <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;
}
