Merge branch 'master' of http://msdl.uantwerpen.be/git/claudio/HybridCosimulation

DSL_SemanticAdaptation/be.uantwerpen.ansymo.semanticadaptation.tests/input/power_window_case_study/loop.sa

@@ -14,7 +14,7 @@ at "./path/to/LoopSA.fmu"
 	with window_sa.disp -> obstacle.disp
 	with obstacle.reaction_force -> window_sa.reaction_force
 
-output ports tau (N.m) <- window_sa.tau
+output ports tau <- window_sa.tau
 
 param 	MAXITER := 10, 
 		REL_TOL := 1e-05, 

DSL_SemanticAdaptation/be.uantwerpen.ansymo.semanticadaptation.tests/input/power_window_case_study/loop_canonical.sa

@@ -0,0 +1,77 @@
+semantic adaptation reactive moore LoopSA loop_sa
+at "./path/to/LoopSA.fmu"
+	
+	for inner fmu WindowSA window_sa
+		at "./path/to/WindowSA.fmu"
+		with input ports displacement (rad), speed (rad/s), reaction_force (N)
+		with output ports disp (m), tau (N.m)
+	
+	for inner fmu Obstacle obstacle
+		at "./path/to/Obstacle.fmu"
+		with input ports disp (m)
+		with output ports reaction_force (m)
+	
+	with window_sa.disp -> obstacle.disp
+	with obstacle.reaction_force -> window_sa.reaction_force
+
+input ports displacement,
+			speed
+
+output ports tau
+
+param 	MAXITER := 10, 
+		REL_TOL := 1e-05, 
+		ABS_TOL := 1e-05,
+		INIT_LOOP_SA_DISPLACEMENT := 0.0,
+		INIT_LOOP_SA_SPEED := 0.0,
+		INIT_WINDOW_SA_DISP := 0.0,
+		INIT_WINDOW_SA_TAU := 0.0,
+		INIT_OBSTACLE_REACTION_FORCE := 0.0;
+
+control var prev_disp := 0.0;
+control rules {
+	var repeat := false;
+	for (var iter in 0 .. MAXITER) {
+		save_state(obstacle);
+		save_state(window_sa);
+		obstacle.disp := prev_disp;
+		do_step(obstacle,t,H);
+		window_sa.reaction_force := stored_obstacle_reaction_force;
+		do_step(window_sa,t,H);
+		
+		repeat := is_close(prev_disp, stored_window_sa_disp, REL_TOL, ABS_TOL);
+		prev_disp := stored_window_sa_disp;
+		if (repeat) {
+			break;
+		} else {
+			rollback(obstacle);
+			rollback(window_sa);
+		}
+	}
+	return H;
+}
+
+in var 	stored_loop_sa_displacement := INIT_LOOP_SA_DISPLACEMENT,
+		stored_loop_sa_speed := INIT_LOOP_SA_SPEED;
+in rules {
+	true -> {
+		stored_loop_sa_displacement := loop_sa.displacement;
+		stored_loop_sa_speed := loop_sa.speed;
+	} --> {
+		window_sa.displacement := stored_loop_sa_displacement;
+		window_sa.speed := stored_loop_sa_speed;
+	};
+}
+
+out var	stored_window_sa_disp := INIT_WINDOW_SA_DISP,
+		stored_window_sa_tau := INIT_WINDOW_SA_TAU,
+		stored_obstacle_reaction_force := INIT_OBSTACLE_REACTION_FORCE;
+out rules{
+	true -> {
+		stored_window_sa_disp := window_sa.disp;
+		stored_window_sa_tau := window_sa.tau;
+		stored_obstacle_reaction_force := obstacle.tau;
+	} --> {
+		loop_sa.tau := stored_window_sa_tau;
+	};
+}

DSL_SemanticAdaptation/be.uantwerpen.ansymo.semanticadaptation.tests/input/power_window_case_study/window_sa.BASE.sa

@@ -2,7 +2,7 @@ semantic adaptation reactive mealy WindowSA windowSA
 at "./path/to/WindowSA.fmu"
 
 	for inner fmu Window window
-		at "./path/to/WindowSA.fmu"
+		at "./path/to/Window.fmu"
 		with input ports displacement (rad), speed (rad/s), reaction_force (N)
 		with output ports height (cm), reaction_torque (N.m)
 

DSL_SemanticAdaptation/be.uantwerpen.ansymo.semanticadaptation.tests/input/power_window_case_study/window_sa_canonical.BASE.sa

@@ -20,8 +20,8 @@ param 	INIT_WINDOWSA_REACTION_FORCE := 0.0,
 		INIT_WINDOW_REACTION_HEIGHT := 0.0;
 
 control rules {
-	do_step(window, t, H);
-	return H;
+	var H_window := do_step(window, t, H);
+	return H_window;
 }
 
 in var 	stored_windowsa_reaction_force := INIT_WINDOWSA_REACTION_FORCE, 
@@ -48,7 +48,9 @@ out rules {
 		stored_window_reaction_torque := window.reaction_torque;
 		stored_window_height := window.height;
 	} --> {
-		windowSA.tau := - stored_window_reaction_torque;
 		windowSA.disp := stored_window_height / 100;
 	};
+	true -> { } --> {
+		windowSA.tau := -stored_window_reaction_torque;
+	};
 }

ModelicaModels/NoObstacle_Test.mo

@@ -4,8 +4,8 @@ model NoObstacle_Test
 equation
   power.u = 1.0;
   power.d = 0.0;
-  window.omega_input = power.omega;
-  window.theta_input = power.theta;
+  window.speed = power.omega;
+  window.displacement = power.theta;
   power.tau = - window.tau;
   annotation(
     experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.001));

ModelicaModels/Obstacle.mo

@@ -1,12 +1,12 @@
 model Obstacle
   parameter Real c = 1e10;
   parameter Real fixed_x = 0.45;
-  input Real x;
+  input Real disp;
   output Real F;
   Real compression;
 equation
-  compression = x - fixed_x;
-  F = if x > fixed_x then c * compression else 0;
+  compression = disp - fixed_x;
+  F = if disp > fixed_x then c * compression else 0;
   annotation(
     experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));
 end Obstacle;

ModelicaModels/UncontrolledScenario.mo

@@ -5,11 +5,11 @@ model UncontrolledScenario
 equation
   power.u = 1.0;
   power.d = 0.0;
-  window.omega_input = power.omega;
-  window.theta_input = power.theta;
-  window.obj_F = obstacle.F;
+  window.speed = power.omega;
+  window.displacement = power.theta;
+  window.reaction_force = obstacle.F;
   power.tau = window.tau;
-  obstacle.x = window.x;
+  obstacle.disp = window.height;
   annotation(
     experiment(StartTime = 0, StopTime = 6, Tolerance = 1e-06, Interval = 0.0024),
     __OpenModelica_simulationFlags(jacobian = "coloredNumerical", s = "dassl", lv = "LOG_STATS"));

ModelicaModels/Window.mo

@@ -1,24 +1,17 @@
 model Window
-  //parameter Real J = 0.01;
   parameter Real r = 0.11;
   parameter Real b = 10;
-  //parameter Real c = 1e5;
-  input Real omega_input;
-  input Real theta_input;
-  input Real obj_F;
+  input Real speed;
+  input Real displacement;
+  input Real reaction_force;
   output Real tau;
-  output Real x;
-  output Real v;
-  //output Real omega;
-  //output Real theta;
+  output Real height;
+  Real v;
   output Real friction;
 equation
-//der(theta) = omega;
-//tau = c * (theta_input - theta) ; //- obj_F*r
-  tau = obj_F * r + friction;
-//der(omega) = (tau - friction)/J;
-  x = r * theta_input;
-  v = r * omega_input;
+  tau = reaction_force * r + friction;
+  height = r * displacement;
+  v = r * speed;
   friction = b * v;
   annotation(
     experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-06, Interval = 0.002));