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wiper_sim.cc
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/
wiper_sim.cc
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/********************************************************************************
* Copyright (c) 2022 Contributors to the Eclipse Foundation
*
* See the NOTICE file(s) distributed with this work for additional
* information regarding copyright ownership.
*
* This program and the accompanying materials are made available under the
* terms of the Apache License 2.0 which is available at
* http://www.apache.org/licenses/LICENSE-2.0
*
* SPDX-License-Identifier: Apache-2.0
********************************************************************************/
#include <iostream>
#include "wiper_sim.h"
extern int debug;
namespace sdv {
namespace someip {
namespace wiper {
static int sim_debug = getenv("SIM_DEBUG") ? atoi(getenv("SIM_DEBUG")) : 0;
wiper_simulator::wiper_simulator(uint32_t _cycle) :
model_counter_(0),
gen_(rd_()),
cycle_(_cycle),
current_rnd_(),
speed_rnd_(),
sim_pos_step_(0),
sim_frequency_(0),
sim_wiping_(false),
sim_cylce_ending_(false),
sim_cycle_ending_count_(0),
sim_set_ts_(0),
sim_ts_(0)
{
model_init();
}
void wiper_simulator::model_init() {
current_rnd_ = std::uniform_real_distribution<float>(-0.05f, 0.05f);
speed_rnd_ = std::uniform_real_distribution<float>(0.0f, 0.1f);
auto now = std::chrono::system_clock::now();
sim_ts_ = std::chrono::time_point_cast<std::chrono::milliseconds>(now).time_since_epoch().count();
sim_set_ts_ = sim_ts_;
sim_pos_step_ = 0;
sim_cycle_ending_count_ = 0;
sim_target_pos_ = 15;
event_.sequenceCounter = 0;
event_.data.ActualPosition = sim_target_pos_;
event_.data.DriveCurrent = 10;
event_.data.TempGear = 100;
event_.data.isBlocked = false;
event_.data.isEndingWipeCycle = true;
event_.data.isOverheated = false;
event_.data.isPositionReached = true;
event_.data.isWiperError = false;
event_.data.isWiping = true;
event_.data.ECUTemp = 75;
event_.data.LINError = 255;
event_.data.isUnderVoltage = false;
event_.data.isOverVoltage = false;
}
void wiper_simulator::model_step(t_Event& event) {
std::lock_guard<std::mutex> its_lock(configure_mutex_);
auto now = std::chrono::system_clock::now();
auto now_ms = std::chrono::time_point_cast<std::chrono::milliseconds>(now).time_since_epoch().count();
auto sim_elapsed_ms = now_ms - sim_ts_;
model_counter_++;
float sim_current = 0.0f;
float sim_actual_pos = sim_target_pos_;
bool sim_pos_reached = true;
// simulate wiper movement (not depending on sim_active_)
if (sim_wiping_) {
double sim_moved = sim_elapsed_ms * sim_pos_step_;
double next_pos = event_.data.ActualPosition + sim_moved;
bool pos_reached = (sim_pos_step_ >= 0 && next_pos >= sim_target_pos_) ||
(sim_pos_step_ < 0 && next_pos <= sim_target_pos_);
if (pos_reached) {
// allow several cycle ending events, then pos reached
if (!sim_cylce_ending_) {
sim_cylce_ending_ = true;
sim_cycle_ending_count_ = 0;
}
if (++sim_cycle_ending_count_ < 3) {
next_pos = sim_target_pos_ + speed_rnd_(gen_);
sim_pos_step_ = 0; // reset sim step
sim_pos_reached = false;
if (sim_debug > 0) {
std::cout << "[SIM] *** Wiper Cycle ending. current pos: "
<< next_pos << ", target: " << sim_target_pos_ << std::endl;
}
} else {
if (sim_debug > 0) {
auto op_elapsed_ms = now_ms - sim_set_ts_;
std::cout << "[SIM] *** Reached target: " << sim_target_pos_
<< ", sim_position: " << next_pos
<< " in " << op_elapsed_ms << " ms."
<< std::endl;
}
sim_wiping_ = false;
sim_cylce_ending_ = false;
sim_cycle_ending_count_ = 0;
next_pos = sim_target_pos_;
sim_pos_reached = true;
}
} else {
sim_pos_reached = false;
}
// sanity checks
if (sim_wiping_ && next_pos < -1.0f) {
if (sim_debug > 2) {
std::cout << "[SIM] Reset invalid position " << next_pos << " to 0." << std::endl;
}
next_pos = 0;
}
if (sim_wiping_ && next_pos > 181.0f) {
if (sim_debug > 2) {
std::cout << "[SIM] Reset invalid position: " << next_pos << " to 180." << std::endl;
}
next_pos = 180.0f;
}
sim_actual_pos = next_pos; //sim_elapsed_ms * sim_pos_step_; // sim_pos_step_ + speed_rnd_(gen_);
sim_current = default_current + current_rnd_(gen_);
}
event_.sequenceCounter = (uint8_t)(model_counter_ & 0xFF);
event_.data.isWiping = sim_wiping_;
event_.data.isPositionReached = sim_pos_reached;
event_.data.isEndingWipeCycle = sim_cylce_ending_;
event_.data.DriveCurrent = sim_current;
event_.data.ActualPosition = sim_actual_pos;
sim_ts_ = now_ms;
event = event_; // copy should be ok
// reduce dumps (each second) if wiping has stopped
if (sim_debug > 0 && (sim_wiping_ || (model_counter_ % 10) == 0)) {
std::printf("[SIM] ## ActualPos:%6.2f, DriveCurrent:%5.2f, Wiping:%d, CycEnd:%d, PosReach:%d, Seq:%-3d | sim_model_step:%5.4f, elapsed:%-4ld\n",
event.data.ActualPosition, event.data.DriveCurrent,
event.data.isWiping, event.data.isEndingWipeCycle, event.data.isPositionReached,
(int)event.sequenceCounter, sim_pos_step_, sim_elapsed_ms);
}
}
void wiper_simulator::model_set(const t_WiperRequest &req) {
std::lock_guard<std::mutex> its_lock(configure_mutex_);
std::cout << "[SIM] *** WiperSim::model_set <"
<< wiper_mode_to_string(req.Mode)
<< ", freq:" << (int)req.Frequency
<< ", target:" << req.TargetPosition
<< ">" << std::endl;
if (req.Mode == e_WiperMode::WIPE) {
sim_wiping_ = true;
} else {
sim_wiping_ = false;
}
sim_frequency_ = req.Frequency;
sim_target_pos_ = req.TargetPosition;
// | freq = cycles per 60000 ms <=> freq * 180.0 degrees per 60000 ms.
// | model step per ms
sim_pos_step_ = sim_frequency_ * 180.0f / 60000.0f;
// get current pos vs target pos
if (event_.data.ActualPosition > sim_target_pos_) {
sim_pos_step_ = -sim_pos_step_;
}
if (debug > 0) {
std::cout << "[SIM] *** Moving ("
<< event_.data.ActualPosition
<< " -> " << sim_target_pos_
<< "), pos/ms: " << sim_pos_step_;
}
if (debug > 0) std::cout << std::endl << "[SIM] *** wiping "
<< (sim_wiping_ ? "started." : "stopped.")
<< std::endl << std::endl;
// reset timestamp
auto now = std::chrono::system_clock::now();
sim_set_ts_ = std::chrono::time_point_cast<std::chrono::milliseconds>(now).time_since_epoch().count();
sim_ts_ = sim_set_ts_;
sim_cylce_ending_ = false;
}
bool wiper_simulator::is_cycle_ending() {
return sim_cylce_ending_;
}
} // namespace wiper
} // namespace someip
} // namespace sdv