{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import matplotlib\n",
    "matplotlib.use('AGG')\n",
    "%matplotlib inline\n",
    "from pymodelica import compile_fmu\n",
    "from pyfmi import load_fmu\n",
    "import matplotlib.pyplot as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Writing 'modelica' (str) to file 'msd.mo'.\n"
     ]
    }
   ],
   "source": [
    "modelica = \"\"\"\n",
    "model MassSpringDamper1\n",
    "  parameter Real c1 = 5.0;\n",
    "  parameter Real d1 = 1.0;\n",
    "  parameter Real m1 = 1.0;\n",
    "  output Real x1(start = 1);\n",
    "  output Real v1(start = 0);\n",
    "  input Real fk;\n",
    "equation\n",
    "  der(x1) = v1;\n",
    "  der(v1) = 1 / m1 * ((-c1 * x1) - d1 * v1 + fk);\n",
    "end MassSpringDamper1;\n",
    "\"\"\"\n",
    "\n",
    "%store modelica > 'msd.mo'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "msdfmu = compile_fmu('MassSpringDamper1', 'msd.mo', target='cs')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<pyfmi.fmi.FMUModelCS1 at 0x3c43610>"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "msd = load_fmu(msdfmu)\n",
    "msd"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "params = ['c1', 'd1', 'm1']\n",
    "param_vals = msd.get(params)\n",
    "param_vals[0] = 2.0\n",
    "param_vals[1] = 0.0\n",
    "param_vals[2] = 2.0\n",
    "msd.set(params, param_vals)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Simulation interval    : 0.0 - 10.0 seconds.\n",
      "Elapsed simulation time: 0.040726 seconds.\n"
     ]
    }
   ],
   "source": [
    "res = msd.simulate(final_time=10)\n",
    "\n",
    "x1 = res['x1']\n",
    "v1 = res['v1']\n",
    "t = res['time']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "image/png": 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ykhkzoH59VSgJoZMUEXepeXN48km16Yuc8il0WH94PWsPr+U3A39juEN4XCkqNIpX+7/K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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7ff4f013aa10>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.figure(1)\n",
    "plt.plot(t, x1, label='x1')\n",
    "plt.plot(t, v1, label='v1')\n",
    "plt.legend()\n",
    "plt.xlabel('Time (s)')\n",
    "plt.show()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
