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- module Lazy_SA
- /*
- * The purpose of this adaptation is to only run the internal FMU
- * when any of its inputs changes, or when it requests to be explicitly run.
- */
- semantic adaptation reactive moore LazySA lazy_sa
- at "./path/to/LazySA.fmu"
- for inner fmu Controller controller
- at "./path/to/Controller.fmu"
- with input ports obj_detected, passenger_up, passenger_down, passenger_stop, driver_up, driver_down, driver_stop
- with output ports up, down, stop
- /*
- * In addition, we do not need to do anything about the outputs of the inner FMU, because they are zero order holded by default.
- */
- input ports obj_detected -> controller.obj_detected,
- passenger_up -> controller.passenger_up,
- passenger_down -> controller.passenger_down,
- passenger_stop -> controller.passenger_stop,
- driver_up -> controller.driver_up,
- driver_down -> controller.driver_down,
- driver_stop -> controller.driver_stop
- output ports up, down, stop
- param INIT_OBJ_DETECTED := false,
- INIT_PASSENGER_UP := false,
- INIT_PASSENGER_DOWN := false,
- INIT_PASSENGER_STOP := false,
- INIT_DRIVER_UP := false,
- INIT_DRIVER_DOWN := false,
- INIT_DRIVER_STOP := false;
- control var tn := -1.0,
- tl := -1.0,
- prev_obj_detected := INIT_OBJ_DETECTED,
- prev_passenger_up := INIT_PASSENGER_UP,
- prev_passenger_down := INIT_PASSENGER_DOWN,
- prev_passenger_stop := INIT_PASSENGER_STOP,
- prev_driver_up := INIT_DRIVER_UP,
- prev_driver_down := INIT_DRIVER_DOWN,
- prev_driver_stop := INIT_DRIVER_STOP;
- control rules {
- // This initialisation covers simulations that start at a non-zero time.
- if (tl < 0.0){
- tl := t;
- }
-
- var step_size := min(H, tn - t); // In case tn < t, this ensures that the controller will be run at the right time.
- // Note that the expression lazy_sa.obj_detected gets replaced by the corresponding storage var in the canonical version.
- if (lazy_sa.obj_detected != prev_obj_detected or
- lazy_sa.passenger_up != prev_passenger_up or
- lazy_sa.passenger_down != prev_passenger_down or
- lazy_sa.passenger_stop != prev_passenger_stop or
- lazy_sa.driver_up != prev_driver_up or
- lazy_sa.driver_down != prev_driver_down or
- lazy_sa.driver_stop != prev_driver_stop or
- (t+H) >= tn
- ){
- var step_to_be_done := (t+H-tl);
- var step_done := do_step(controller, t, step_to_be_done); // calls the mapIn function that will take care of forwarding the values of the input ports to the internal FMU.
- // We calculate these as if step_done == step_to_be_done. If that is not the case, a rollback will be done anyway.
- tn := tl + step_done + get_next_time_step(controller); // calculates the next time step that is tolerated by the controller.
- /*
- The get_next_time_step(controller) function is equivalent to the following snippet:
- save_state(controller);
- internal_transition := do_step(controller, last_execution_time(controller), MAX);
- next_time_step := last_execution_time(controller) + internal_transition;
- rollback(controller);
- */
- // This is the actual step size taken, from the outside world:
- step_size := tl + step_done - t; // assert step_size <= H
- tl := tl + step_done; // assert tl == t+H
- }
-
- // Store the previous values of the inputs
- prev_obj_detected := lazy_sa.obj_detected;
- prev_passenger_up := lazy_sa.passenger_up;
- prev_passenger_down := lazy_sa.passenger_down;
- prev_passenger_stop := lazy_sa.passenger_stop;
- prev_driver_up := lazy_sa.driver_up;
- prev_driver_down := lazy_sa.driver_down;
- prev_driver_stop := lazy_sa.driver_stop;
-
- return step_size;
- }
- /*
- The following code is not needed because the outputs are zero order hold'ed by default:
- out var stored_up := INIT_UP,
- stored_down := INIT_DOWN,
- stored_stop := INIT_STOP;
- out rules{
- true -> {
- stored_up := controller.up;
- stored_down := controller.down;
- stored_stop := controller.stop;
- } --> {
- lazy_sa.up := stored_up;
- lazy_sa.down := stored_down;
- lazy_sa.stop := stored_stop;
- };
- }
- */
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