/* TargetLimits_Pkg::v_SBI2 */
void v_SBI2_TargetLimits_Pkg(
/* TargetLimits_Pkg::v_SBI2::EBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::v_SBI2::V_est */ V_internal_real_Type_SDM_Types_Pkg V_est,
/* TargetLimits_Pkg::v_SBI2::V_target */ V_internal_real_Type_SDM_Types_Pkg V_target,
/* TargetLimits_Pkg::v_SBI2::V_bec */ V_internal_real_Type_SDM_Types_Pkg V_bec,
/* TargetLimits_Pkg::v_SBI2::D_maxsafefront */ L_internal_real_Type_SDM_Types_Pkg D_maxsafefront,
/* TargetLimits_Pkg::v_SBI2::D_bec */ L_internal_real_Type_SDM_Types_Pkg D_bec,
/* TargetLimits_Pkg::v_SBI2::T_bs2 */ T_internal_real_Type_SDM_Types_Pkg T_bs2,
/* TargetLimits_Pkg::v_SBI2::V_SBI1 */ V_internal_real_Type_SDM_Types_Pkg *V_SBI1,
/* TargetLimits_Pkg::v_SBI2::valid */ kcg_bool *valid)
{
V_internal_real_Type_SDM_Types_Pkg tmp;
/* TargetLimits_Pkg::v_SBI2::_L5 */ kcg_real _L5;
/* TargetLimits_Pkg::v_SBI2::_L11 */ kcg_bool _L11;
/* TargetLimits_Pkg::v_SBI2::_L19 */ L_internal_real_Type_SDM_Types_Pkg _L19;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, V_target, &_L11, &_L19);
_L5 = D_bec + D_maxsafefront + V_est * T_bs2;
_L11 = _L19 > _L5;
if (_L11) {
/* 1 */ getSpeedOnCurve_CalcBrakingCurves_types(EBDcurve, _L5, valid, &tmp);
*V_SBI1 = tmp - (V_bec - V_est);
}
else {
*valid = kcg_false;
*V_SBI1 = V_target;
}
}
/* TargetLimits_Pkg::d_limits */
void d_limits_TargetLimits_Pkg(
/* TargetLimits_Pkg::d_limits::V_est */ V_internal_real_Type_SDM_Types_Pkg V_est,
/* TargetLimits_Pkg::d_limits::SBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *SBDcurve,
/* TargetLimits_Pkg::d_limits::SBI2valid */ kcg_bool SBI2valid,
/* TargetLimits_Pkg::d_limits::D_SBI2_V_est */ L_internal_real_Type_SDM_Types_Pkg D_SBI2_V_est,
/* TargetLimits_Pkg::d_limits::D_estfront */ L_internal_real_Type_SDM_Types_Pkg D_estfront,
/* TargetLimits_Pkg::d_limits::D_maxsafefront */ L_internal_real_Type_SDM_Types_Pkg D_maxsafefront,
/* TargetLimits_Pkg::d_limits::T */ T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::d_limits::GUIcurve */ ParabolaCurve_T_CalcBrakingCurves_types *GUIcurve,
/* TargetLimits_Pkg::d_limits::guiCurveEnabled */ kcg_bool guiCurveEnabled,
/* TargetLimits_Pkg::d_limits::D_I */ L_internal_real_Type_SDM_Types_Pkg *D_I,
/* TargetLimits_Pkg::d_limits::D_P */ L_internal_real_Type_SDM_Types_Pkg *D_P,
/* TargetLimits_Pkg::d_limits::D_W */ L_internal_real_Type_SDM_Types_Pkg *D_W,
/* TargetLimits_Pkg::d_limits::D_FLOI */ L_internal_real_Type_SDM_Types_Pkg *D_FLOI,
/* TargetLimits_Pkg::d_limits::FLOIisSBI1 */ kcg_bool *FLOIisSBI1)
{
/* TargetLimits_Pkg::d_limits */
static kcg_bool tmp1;
/* TargetLimits_Pkg::d_limits */
static L_internal_real_Type_SDM_Types_Pkg tmp;
/* TargetLimits_Pkg::d_limits::_L31 */
static kcg_bool _L31;
/* TargetLimits_Pkg::d_limits::_L37 */
static kcg_bool _L37;
/* 1 */ d_SBI1_TargetLimits_Pkg(SBDcurve, V_est, T, &tmp1, &tmp);
*FLOIisSBI1 = /* 2 */
isLEValid_TargetLimits_Pkg(
tmp1,
tmp - D_estfront,
SBI2valid,
D_SBI2_V_est - D_maxsafefront);
/* 1 */ if (*FLOIisSBI1) {
*D_FLOI = tmp;
}
else {
*D_FLOI = D_SBI2_V_est;
}
*D_W = *D_FLOI - T_warning_SDM_Types_Pkg * V_est;
/* ck_guiCurveEnabled */ if (guiCurveEnabled) {
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(GUIcurve, V_est, &tmp1, &tmp);
}
else {
tmp1 = kcg_false;
tmp = 0.0;
}
/* 1 */
selectLEValid_TargetLimits_Pkg(
kcg_true,
*D_FLOI - V_est * T_driver_SDM_Types_Pkg,
tmp1,
tmp,
&_L31,
&_L37,
D_P);
*D_I = *D_P - V_est * (*T).indication;
}
/* TargetLimits_Pkg::d_SBI1 */
void d_SBI1_TargetLimits_Pkg(
/* TargetLimits_Pkg::d_SBI1::SBDcurve */ParabolaCurve_T_CalcBrakingCurves_types *SBDcurve,
/* TargetLimits_Pkg::d_SBI1::V */V_internal_real_Type_SDM_Types_Pkg V,
/* TargetLimits_Pkg::d_SBI1::T */T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::d_SBI1::valid */kcg_bool *valid,
/* TargetLimits_Pkg::d_SBI1::D_SBD1 */L_internal_real_Type_SDM_Types_Pkg *D_SBD1)
{
/* TargetLimits_Pkg::d_SBI1::_L5 */
static L_internal_real_Type_SDM_Types_Pkg _L5;
/* 1 */ getLocationOnCurve_CalcBrakingCurves_types(SBDcurve, V, valid, &_L5);
*D_SBD1 = _L5 - V * (*T).bs1;
}
/* TargetLimits_Pkg::d_SBI2 */
void d_SBI2_TargetLimits_Pkg(
/* TargetLimits_Pkg::d_SBI2::EBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::d_SBI2::bec */ bec_t_TargetLimits_Pkg *bec,
/* TargetLimits_Pkg::d_SBI2::v_est */ V_internal_real_Type_SDM_Types_Pkg v_est,
/* TargetLimits_Pkg::d_SBI2::T */ T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::d_SBI2::valid */ kcg_bool *valid,
/* TargetLimits_Pkg::d_SBI2::D_SBI2 */ L_internal_real_Type_SDM_Types_Pkg *D_SBI2)
{
/* TargetLimits_Pkg::d_SBI2::_L70 */
static L_internal_real_Type_SDM_Types_Pkg _L70;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, (*bec).v, valid, &_L70);
*D_SBI2 = _L70 - (*bec).d - v_est * (*T).bs2;
}
/* TargetLimits_Pkg::d_SBI2 */
void d_SBI2_TargetLimits_Pkg(
/* TargetLimits_Pkg::d_SBI2::EBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::d_SBI2::V_bec */ V_internal_real_Type_SDM_Types_Pkg V_bec,
/* TargetLimits_Pkg::d_SBI2::D_bec */ L_internal_real_Type_SDM_Types_Pkg D_bec,
/* TargetLimits_Pkg::d_SBI2::v_est */ V_internal_real_Type_SDM_Types_Pkg v_est,
/* TargetLimits_Pkg::d_SBI2::T_bs2 */ T_internal_real_Type_SDM_Types_Pkg T_bs2,
/* TargetLimits_Pkg::d_SBI2::valid */ kcg_bool *valid,
/* TargetLimits_Pkg::d_SBI2::D_SBI2 */ L_internal_real_Type_SDM_Types_Pkg *D_SBI2)
{
/* TargetLimits_Pkg::d_SBI2::_L70 */ L_internal_real_Type_SDM_Types_Pkg _L70;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, V_bec, valid, &_L70);
*D_SBI2 = _L70 - D_bec - v_est * T_bs2;
}
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA */
L_internal_real_Type_SDM_Types_Pkg CalculateEBDFootForMRSPorLOA_CalcBrakingCurves_Pkg_internalOperators(
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::IsMRSPorLOATarget */ kcg_bool IsMRSPorLOATarget,
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::target */ Target_real_T_TargetManagement_types *target,
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::aSafe */ ASafe_T_CalcBrakingCurves_types *aSafe)
{
BCAccumulator_type_CalcBrakingCurves_Pkg tmp1;
kcg_int i;
ParabolaCurve_T_CalcBrakingCurves_types tmp;
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::_L5 */ BCAccumulator_type_CalcBrakingCurves_Pkg _L5;
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::_L10 */ kcg_bool _L10;
/* CalcBrakingCurves_Pkg::internalOperators::CalculateEBDFootForMRSPorLOA::Output1 */ L_internal_real_Type_SDM_Types_Pkg Output1;
/* InitilizeAccForEBDFootCalc */
InitilizeAccForEBDFootCalc_CalcBrakingCurves_Pkg_internalOperators(
target,
aSafe,
&_L5);
if (IsMRSPorLOATarget) {
for (i = 0; i < 24; i++) {
kcg_copy_BCAccumulator_type_CalcBrakingCurves_Pkg(&tmp1, &_L5);
/* 1 */
BCFoldOperatorForward_CalcBrakingCurves_Pkg_internalOperators(
i,
&tmp1,
aSafe,
(*target).speed,
&_L10,
&_L5);
if (!_L10) {
break;
}
}
}
/* 1 */
SortByDistances_CalcBrakingCurves_Pkg_internalOperators(&_L5.BC, &tmp);
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(
&tmp,
(*target).speed,
&_L10,
&Output1);
return Output1;
}
/* TargetLimits_Pkg::d_EBI_non_est */
void d_EBI_non_est_TargetLimits_Pkg(
/* TargetLimits_Pkg::d_EBI_non_est::V */ V_internal_real_Type_SDM_Types_Pkg V,
/* TargetLimits_Pkg::d_EBI_non_est::EBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::d_EBI_non_est::T */ T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::d_EBI_non_est::D_SBI2 */ L_internal_real_Type_SDM_Types_Pkg *D_SBI2,
/* TargetLimits_Pkg::d_EBI_non_est::valid */ kcg_bool *valid)
{
/* TargetLimits_Pkg::d_EBI_non_est */ V_internal_real_Type_SDM_Types_Pkg tmp;
/* TargetLimits_Pkg::d_EBI_non_est::_L4 */ L_internal_real_Type_SDM_Types_Pkg _L4;
/* TargetLimits_Pkg::d_EBI_non_est::_L6 */ kcg_real _L6;
/* TargetLimits_Pkg::d_EBI_non_est::_L19 */ kcg_bool _L19;
_L19 = !(*T).inhComp;
/* ck__L19 */ if (_L19) {
tmp = /* 1 */ f_41_TargetLimits_Pkg(V);
}
else {
tmp = 0.0;
}
_L6 = tmp + V;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, _L6, valid, &_L4);
*D_SBI2 = _L4 - _L6 * ((*T).Traction + (*T).berem) - V * (*T).bs2;
}
/* TargetLimits_Pkg::v_SBI2 */
void v_SBI2_TargetLimits_Pkg(
/* TargetLimits_Pkg::v_SBI2::EBDcurve */ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::v_SBI2::V_est */V_internal_real_Type_SDM_Types_Pkg V_est,
/* TargetLimits_Pkg::v_SBI2::V_target */V_internal_real_Type_SDM_Types_Pkg V_target,
/* TargetLimits_Pkg::v_SBI2::bec */bec_t_TargetLimits_Pkg *bec,
/* TargetLimits_Pkg::v_SBI2::D_maxsafefront */L_internal_real_Type_SDM_Types_Pkg D_maxsafefront,
/* TargetLimits_Pkg::v_SBI2::t_driver */T_internal_real_Type_SDM_Types_Pkg t_driver,
/* TargetLimits_Pkg::v_SBI2::guiCurveEnabled */kcg_bool guiCurveEnabled,
/* TargetLimits_Pkg::v_SBI2::GUIcurve */ParabolaCurve_T_CalcBrakingCurves_types *GUIcurve,
/* TargetLimits_Pkg::v_SBI2::T */T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::v_SBI2::valid */kcg_bool *valid,
/* TargetLimits_Pkg::v_SBI2::V_SBI2 */V_internal_real_Type_SDM_Types_Pkg *V_SBI2)
{
static kcg_bool tmp3;
static V_internal_real_Type_SDM_Types_Pkg tmp2;
static kcg_bool tmp1;
static V_internal_real_Type_SDM_Types_Pkg tmp;
/* TargetLimits_Pkg::v_SBI2::_L33 */
static kcg_bool _L33;
/* TargetLimits_Pkg::v_SBI2::_L49 */
static kcg_real _L49;
/* TargetLimits_Pkg::v_SBI2::_L48 */
static kcg_bool _L48;
/* TargetLimits_Pkg::v_SBI2::_L47 */
static kcg_bool _L47;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, V_target, &_L33, &tmp);
_L49 = D_maxsafefront + V_est * ((*T).bs2 + t_driver) + (*bec).d;
if (guiCurveEnabled) {
/* 3 */
getLocationOnCurve_CalcBrakingCurves_types(
GUIcurve,
V_target,
&tmp3,
&tmp2);
}
else {
tmp3 = kcg_false;
tmp2 = 0.0;
}
_L33 = (tmp3 & (tmp2 > D_maxsafefront)) | (tmp > _L49);
tmp1 = tmp3 & _L33;
if (tmp1) {
/* 2 */
getSpeedOnCurve_CalcBrakingCurves_types(
GUIcurve,
D_maxsafefront,
&tmp3,
&tmp2);
}
else {
tmp3 = kcg_false;
tmp2 = 0.0;
}
if (_L33) {
/* 1 */
getSpeedOnCurve_CalcBrakingCurves_types(EBDcurve, _L49, &tmp1, &tmp);
}
else {
tmp1 = kcg_false;
tmp = 0.0;
}
/* 1 */
selectLEValid_TargetLimits_Pkg(
tmp3,
tmp2,
tmp1,
tmp - ((*bec).v - V_est),
&_L47,
&_L48,
&_L49);
*valid = !_L33 | _L48;
if (_L33) {
*V_SBI2 = _L49;
}
else {
*V_SBI2 = V_target;
}
}
/* TargetLimits_Pkg::v_ReleaseOnboardIterator */
void v_ReleaseOnboardIterator_TargetLimits_Pkg(
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_release */V_internal_real_Type_SDM_Types_Pkg V_release,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::EBDcurve */ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_ura */V_internal_real_Type_SDM_Types_Pkg V_ura,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_target */V_internal_real_Type_SDM_Types_Pkg V_target,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::D_tripEOA */L_internal_real_Type_SDM_Types_Pkg D_tripEOA,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::T */T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::run_condition */kcg_bool *run_condition,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_release_next */V_internal_real_Type_SDM_Types_Pkg *V_release_next)
{
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L20 */
static kcg_bool _L20;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L24 */
static kcg_real _L24;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L25 */
static kcg_real _L25;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L28 */
static V_internal_real_Type_SDM_Types_Pkg _L28;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L32 */
static L_internal_real_Type_SDM_Types_Pkg _L32;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L31 */
static kcg_bool _L31;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L40 */
static kcg_real _L40;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L50 */
static kcg_bool _L50;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, V_target, &_L31, &_L32);
_L20 = !(*T).inhComp;
_L24 = /* 1 */ f_41_TargetLimits_Pkg(V_release);
if (_L20) {
if (V_ura >= _L24) {
_L40 = V_ura;
}
else {
_L40 = _L24;
}
}
else {
_L40 = 0.0;
}
_L24 = D_tripEOA + (V_release + _L40) * ((*T).berem + (*T).Traction);
/* 1 */ getSpeedOnCurve_CalcBrakingCurves_types(EBDcurve, _L24, &_L20, &_L28);
_L50 = _L31 & _L20;
_L25 = _L28 - _L40;
if ((_L32 <= _L24) | (_L25 <= V_target)) {
_L28 = V_target;
}
else {
_L28 = _L25;
}
if (_L50) {
*V_release_next = _L28;
}
else {
*V_release_next = - 1.0;
}
_L40 = _L28 - V_release;
if (0. <= _L40) {
_L24 = _L40;
}
else {
_L24 = - _L40;
}
*run_condition = _L50 & !(_L24 <= 1.0 / 3.6);
}
/* TargetLimits_Pkg::v_ReleaseOnboardIterator */
void v_ReleaseOnboardIterator_TargetLimits_Pkg(
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_release */ V_internal_real_Type_SDM_Types_Pkg V_release,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::EBDcurve */ ParabolaCurve_T_CalcBrakingCurves_types *EBDcurve,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_ura */ V_internal_real_Type_SDM_Types_Pkg V_ura,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_target */ V_internal_real_Type_SDM_Types_Pkg V_target,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::D_tripEOA */ L_internal_real_Type_SDM_Types_Pkg D_tripEOA,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::T */ T_trac_t_TargetLimits_Pkg *T,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::run_condition */ kcg_bool *run_condition,
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::V_release_next */ V_internal_real_Type_SDM_Types_Pkg *V_release_next)
{
/* TargetLimits_Pkg::v_ReleaseOnboardIterator */
static kcg_real tmp;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::v_delta0rsob */
static V_internal_real_Type_SDM_Types_Pkg v_delta0rsob;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L21 */
static V_internal_real_Type_SDM_Types_Pkg _L21;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L20 */
static kcg_bool _L20;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L32 */
static L_internal_real_Type_SDM_Types_Pkg _L32;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L31 */
static kcg_bool _L31;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L40 */
static kcg_real _L40;
/* TargetLimits_Pkg::v_ReleaseOnboardIterator::_L50 */
static kcg_bool _L50;
_L21 = /* 1 */ f_41_TargetLimits_Pkg(V_release);
_L20 = !(*T).inhComp;
/* ck__L10 */ if (_L20) {
/* 2 */ if (V_ura >= _L21) {
v_delta0rsob = V_ura;
}
else {
v_delta0rsob = _L21;
}
}
else {
v_delta0rsob = 0.0;
}
tmp = D_tripEOA + (V_release + v_delta0rsob) * ((*T).berem + (*T).Traction);
/* 1 */ getSpeedOnCurve_CalcBrakingCurves_types(EBDcurve, tmp, &_L20, &_L21);
_L40 = _L21 - v_delta0rsob;
/* 1 */
getLocationOnCurve_CalcBrakingCurves_types(EBDcurve, V_target, &_L31, &_L32);
/* 1 */ if ((_L32 <= tmp) | (_L40 <= V_target)) {
_L21 = V_target;
}
else {
_L21 = _L40;
}
_L40 = _L21 - V_release;
_L50 = _L31 & _L20;
/* 2 */ if (0. <= _L40) {
tmp = _L40;
}
else {
tmp = - _L40;
}
*run_condition = _L50 & !(tmp <= 1.0 / 3.6);
/* 2 */ if (_L50) {
*V_release_next = _L21;
}
else {
*V_release_next = - 1.0;
}
}
