{
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   "cell_type": "markdown",
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   "source": [
    "# Bouncing Ball Example\n",
    "\n",
    "_See also [this report](http://msdl.cs.mcgill.ca/people/slacoste/research/report/SummerReport.html)._\n",
    "\n",
    "A basic use-case to illustrate the usefulness of multimodelling is the bouncing ball example. In this example, a ball is dropped or thrown vertically towards the ground. When it hits the ground, it bounces due to its elasticity. The ball can get stuck on the ground after a while (say there is a stair preventing the ball to bounce up). There are three states in this system:\n",
    "1. **Free Fall:** The ball is only influenced by gravity and falls towards the ground. Here, the height of the ball $y$ and its velocity $v$ can be given as shown below. $y_0$ is the initial height, $v_0$ its initial velocity, $t$ the simulation time and $g$ the gravitational acceleration. If $v$ is positive, the ball moves upwards. Otherwise, the ball moves downwards.\n",
    "$$y = y_0 + v_0 \\cdot t - \\dfrac{g\\cdot t^2}{2}$$\n",
    "$$ v = v_0 - g \\cdot t$$<br/>\n",
    "1. **Bounce:** The ball bounces on the ground and starts moving upwards again. Its action is identified by $v_{new} = -k \\cdot v$, with $k$ the coefficient of restitution of the ball (if $k < 0$, the collisions will be inelastic; when $k$ equals 1, they are elastic; and if $k > 1$, they are superelastic). $v_{new}$ and $v$ respectively represent the velocity before and after the bounce. This mode will be entered if the ball has a $y \\leq y_{floor}$.\n",
    "1. **Stuck:** The ball is being prevented from bouncing again. Whenever a bounce needs to happen after $t_{stuck}$, the ball will enter _stuck_ mode instead. Here, $y$ will always equal $y_{floor}$.\n",
    "\n",
    "### The Driver\n",
    "It is clear that _(1. Free Fall)_ can be modeled using CBDs, whereas the other modes are modeled into a `Driver` Atomic DEVS that controls the system. This `Driver` knows that after a time of $t_{floor}$, the ball must bounce."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pypdevs.DEVS import AtomicDEVS\n",
    "from pypdevs.infinity import INFINITY\n",
    "\n",
    "class Driver(AtomicDEVS):\n",
    "    def __init__(self, name, y0, v0, g=9.81, k=1.0, t_stuck=80.0, dt=0.1, y_floor=0.0):\n",
    "        AtomicDEVS.__init__(self, name)\n",
    "        \n",
    "        self.g = g\n",
    "        self.k = k\n",
    "        self.t_stuck = t_stuck\n",
    "        self.delta_t = dt\n",
    "        self.y_floor = y_floor\n",
    "        \n",
    "        self.state = {\n",
    "            \"time_next_bounce\": 0.0,  # -- [1]\n",
    "            \"y0\": y0,\n",
    "            \"v0\": v0,\n",
    "            \"time\": 0.0\n",
    "        }\n",
    "        \n",
    "        self.y_out = self.addOutPort(\"y_out\")   # Outputs new y0\n",
    "        self.v_out = self.addOutPort(\"v_out\")   # Outputs new v0\n",
    "        \n",
    "    def timeAdvance(self):\n",
    "        return self.state[\"time_next_bounce\"]\n",
    "    \n",
    "    def intTransition(self):\n",
    "        self.state[\"time\"] += self.timeAdvance()\n",
    "        \n",
    "        if self.state[\"time\"] >= self.t_stuck:\n",
    "            self.state[\"v0\"] = 0.0\n",
    "            self.state[\"y0\"] = self.y_floor\n",
    "            self.state[\"time_next_bounce\"] = self.delta_t         # -- [2]\n",
    "            return self.state\n",
    "                \n",
    "        time = self.compute_time_until_next_bounce()\n",
    "        v0 = self.state[\"v0\"]\n",
    "        v = v0 - (self.g * time)\n",
    "        self.state[\"v0\"] = -self.k * v  # -- [3]\n",
    "        self.state[\"y0\"] = self.y_floor\n",
    "        self.state[\"time_next_bounce\"] = time\n",
    "        return self.state\n",
    "    \n",
    "    def outputFnc(self):\n",
    "        return {\n",
    "            self.y_out: self.state[\"y0\"],\n",
    "            self.v_out: self.state[\"v0\"]\n",
    "        }\n",
    "    \n",
    "    def compute_time_until_next_bounce(self):\n",
    "        v0 = self.state[\"v0\"]\n",
    "        y0 = self.state[\"y0\"]\n",
    "        return (v0 + ((v0 ** 2) + (2 * self.g * (y0 - self.y_floor))) ** 0.5) / self.g   # -- [4]\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "In the `Driver` class above, there are a few notes to be made (numbered in the comments), which refer to the points listed below:\n",
    "1. The CBD model executes at time 0 already; **however**, the `Driver` needs to compute its next state.\n",
    "1. We're stuck. We do not need to recompute the $y$-value(s).\n",
    "1. The values for the next bounce are computed beforehand for simplicity. Here, the bounce formula is used to make the ball move upwards again.\n",
    "1. The time at which the next bounce happens can be identified by solving the first equation of the _Free Fall_ mode to $t$.\n",
    "\n",
    "### Free Fall\n",
    "The CBD model for the _Free Fall_ mode is given below. Basically, this just implements the given equations.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from CBD.Core import *\n",
    "from CBD.lib.std import *\n",
    "\n",
    "\n",
    "class FreeFall(CBD):\n",
    "    def __init__(self, block_name, g=(9.81), dt=0.1):\n",
    "        CBD.__init__(self, block_name, input_ports=['v0', 'y0'], output_ports=['y'])\n",
    "        \n",
    "        self.addBlock(ConstantBlock(\"a\", -g))\n",
    "        self.addBlock(ConstantBlock(\"dt\", dt))\n",
    "        self.addBlock(IntegratorBlock(\"v\"))\n",
    "        self.addBlock(IntegratorBlock(\"x\"))\n",
    "        self.addConnection(\"a\", \"v\")\n",
    "        self.addConnection(\"v\", \"x\")\n",
    "        self.addConnection(\"x\", \"y\")\n",
    "        self.addConnection(\"dt\", \"v\", input_port_name='delta_t')\n",
    "        self.addConnection(\"dt\", \"x\", input_port_name='delta_t')\n",
    "        self.addConnection(\"v0\", \"v\", input_port_name='IC')\n",
    "        self.addConnection(\"y0\", \"x\", input_port_name='IC')\n",
    "\n",
    "        # Create the Blocks\n",
    "#         self.addBlock(TimeBlock(\"time\"))\n",
    "#         self.addBlock(ProductBlock(\"square\"))\n",
    "#         self.addBlock(ConstantBlock(\"c\", value=(-g / 2)))\n",
    "#         self.addBlock(ProductBlock(\"a_mul\"))\n",
    "#         self.addBlock(ProductBlock(\"v_mul\"))\n",
    "#         self.addBlock(AdderBlock(\"y_sum\"))\n",
    "#         self.addBlock(AdderBlock(\"sum_total\"))\n",
    "\n",
    "#         # Create the Connections\n",
    "#         self.addConnection(\"y0\", \"y_sum\", input_port_name='IN1')\n",
    "#         self.addConnection(\"v0\", \"v_mul\", input_port_name='IN1')\n",
    "#         self.addConnection(\"time\", \"square\", output_port_name='relative', input_port_name='IN1')\n",
    "#         self.addConnection(\"time\", \"square\", output_port_name='relative', input_port_name='IN2')\n",
    "#         self.addConnection(\"time\", \"v_mul\", output_port_name='relative', input_port_name='IN2')\n",
    "#         self.addConnection(\"c\", \"a_mul\", output_port_name='OUT1', input_port_name='IN2')\n",
    "#         self.addConnection(\"square\", \"a_mul\", output_port_name='OUT1', input_port_name='IN1')\n",
    "#         self.addConnection(\"v_mul\", \"y_sum\", output_port_name='OUT1', input_port_name='IN2')\n",
    "#         self.addConnection(\"y_sum\", \"sum_total\", output_port_name='OUT1', input_port_name='IN1')\n",
    "#         self.addConnection(\"a_mul\", \"sum_total\", output_port_name='OUT1', input_port_name='IN2')\n",
    "#         self.addConnection(\"sum_total\", \"y\", output_port_name='OUT1')\n",
    "        \n",
    "        self.addFixedRateClock(\"clock\", dt)\n",
    "        "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Data Collection\n",
    "Now, all that's needed is a way of plotting the data. The `PointCollector` below will collect all data points from the CBD, whereas we will use the `CBD.realtime.plotting` module for displaying the data."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pypdevs.DEVS import AtomicDEVS\n",
    "\n",
    "class PointCollector(AtomicDEVS):\n",
    "    def __init__(self, name):\n",
    "        AtomicDEVS.__init__(self, name)\n",
    "        \n",
    "        self.state = {\n",
    "            \"data\": [],\n",
    "            \"time\": 0.0\n",
    "        }\n",
    "        \n",
    "        self.input = self.addInPort(\"input\")\n",
    "        \n",
    "    def extTransition(self, inputs):\n",
    "        self.state[\"time\"] += self.elapsed\n",
    "        if self.input in inputs:\n",
    "            value = inputs[self.input]\n",
    "            if self.elapsed == 0 and len(self.state[\"data\"]) > 0:\n",
    "                self.state[\"data\"].pop()  # -- [1]\n",
    "            self.state[\"data\"].append((self.state[\"time\"], value))\n",
    "        return self.state\n",
    "    \n",
    "    @property\n",
    "    def data_xy(self):  # -- [2]\n",
    "        data = self.state[\"data\"][:]  # -- [3]\n",
    "        return [x for x, _ in data], [y for _, y in data]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "With the following remarks:\n",
    "1. We only keep track of the last data point when multiple happen at the same time.\n",
    "1. This property will be used by the `CBD.realtime.plotting` module to obtain the data for the plot.\n",
    "1. To ensure thread safety of this call, the data is copied first. Alternatively, a locking mechanism may be used instead.\n",
    "\n",
    "### Putting it all Together\n",
    "By making use of the `CBDRunner` class, a CBD model can be encapuslated inside a DEVS model."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "# import sys, os\n",
    "# sys.path.insert(0, os.path.join(os.getcwd(), \"..\", \"..\", \"src\"))  # -- [1]\n",
    "\n",
    "from CBD.converters.pypdevs import CBDRunner\n",
    "from pypdevs.DEVS import CoupledDEVS\n",
    "\n",
    "class BouncingBall(CoupledDEVS):\n",
    "    def __init__(self, y0, v0, g=9.81, k=1.0, t_stuck=80.0, y_floor=0.0, dt=0.1):\n",
    "        CoupledDEVS.__init__(self, \"BouncingBall\")\n",
    "        \n",
    "        self.driver    = self.addSubModel(Driver(\"BBDriver\", y0, v0, g, k, t_stuck, dt, y_floor))\n",
    "        self.freefall  = self.addSubModel(CBDRunner(\"FreeFall\",\n",
    "                                                    FreeFall(\"FreeFall\", g, dt), {\"y0\": y0, \"v0\": v0}))\n",
    "        self.collector = self.addSubModel(PointCollector(\"plot\"))\n",
    "        \n",
    "        self.connectPorts(self.driver.y_out, self.freefall.inputs[\"y0\"])\n",
    "        self.connectPorts(self.driver.v_out, self.freefall.inputs[\"v0\"])\n",
    "        self.connectPorts(self.freefall.outputs[\"y\"], self.collector.input)\n",
    "        \n",
    "    def select(self, imm_children):   # -- [2]\n",
    "        if self.driver in imm_children:\n",
    "            return self.driver\n",
    "        return imm_children[0]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "1. Ensure the `CBDRunner` class can be loaded.\n",
    "1. If the `Driver` wants to execute, give it precedence over the `CBDRunner`.\n",
    "\n",
    "Now, we add a plotter and start the simulation!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
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       "\n",
       "    canvas_div.appendChild(canvas);\n",
       "    canvas_div.appendChild(rubberband_canvas);\n",
       "\n",
       "    this.rubberband_context = rubberband_canvas.getContext('2d');\n",
       "    this.rubberband_context.strokeStyle = '#000000';\n",
       "\n",
       "    this._resize_canvas = function (width, height, forward) {\n",
       "        if (forward) {\n",
       "            canvas_div.style.width = width + 'px';\n",
       "            canvas_div.style.height = height + 'px';\n",
       "        }\n",
       "    };\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    this.rubberband_canvas.addEventListener('contextmenu', function (_e) {\n",
       "        event.preventDefault();\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus() {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'mpl-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'mpl-button-group';\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'mpl-button-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        var button = (fig.buttons[name] = document.createElement('button'));\n",
       "        button.classList = 'mpl-widget';\n",
       "        button.setAttribute('role', 'button');\n",
       "        button.setAttribute('aria-disabled', 'false');\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "\n",
       "        var icon_img = document.createElement('img');\n",
       "        icon_img.src = '_images/' + image + '.png';\n",
       "        icon_img.srcset = '_images/' + image + '_large.png 2x';\n",
       "        icon_img.alt = tooltip;\n",
       "        button.appendChild(icon_img);\n",
       "\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    var fmt_picker = document.createElement('select');\n",
       "    fmt_picker.classList = 'mpl-widget';\n",
       "    toolbar.appendChild(fmt_picker);\n",
       "    this.format_dropdown = fmt_picker;\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = document.createElement('option');\n",
       "        option.selected = fmt === mpl.default_extension;\n",
       "        option.innerHTML = fmt;\n",
       "        fmt_picker.appendChild(option);\n",
       "    }\n",
       "\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', { width: x_pixels, height: y_pixels });\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_message = function (type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function () {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function (fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1], msg['forward']);\n",
       "        fig.send_message('refresh', {});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n",
       "    var x0 = msg['x0'] / fig.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n",
       "    var x1 = msg['x1'] / fig.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0,\n",
       "        0,\n",
       "        fig.canvas.width / fig.ratio,\n",
       "        fig.canvas.height / fig.ratio\n",
       "    );\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch (cursor) {\n",
       "        case 0:\n",
       "            cursor = 'pointer';\n",
       "            break;\n",
       "        case 1:\n",
       "            cursor = 'default';\n",
       "            break;\n",
       "        case 2:\n",
       "            cursor = 'crosshair';\n",
       "            break;\n",
       "        case 3:\n",
       "            cursor = 'move';\n",
       "            break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_message = function (fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n",
       "    for (var key in msg) {\n",
       "        if (!(key in fig.buttons)) {\n",
       "            continue;\n",
       "        }\n",
       "        fig.buttons[key].disabled = !msg[key];\n",
       "        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n",
       "    if (msg['mode'] === 'PAN') {\n",
       "        fig.buttons['Pan'].classList.add('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    } else if (msg['mode'] === 'ZOOM') {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.add('active');\n",
       "    } else {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message('ack', {});\n",
       "};\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function (fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = 'image/png';\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src\n",
       "                );\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data\n",
       "            );\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        } else if (\n",
       "            typeof evt.data === 'string' &&\n",
       "            evt.data.slice(0, 21) === 'data:image/png;base64'\n",
       "        ) {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig['handle_' + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\n",
       "                \"No handler for the '\" + msg_type + \"' message type: \",\n",
       "                msg\n",
       "            );\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\n",
       "                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n",
       "                    e,\n",
       "                    e.stack,\n",
       "                    msg\n",
       "                );\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "};\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function (e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e) {\n",
       "        e = window.event;\n",
       "    }\n",
       "    if (e.target) {\n",
       "        targ = e.target;\n",
       "    } else if (e.srcElement) {\n",
       "        targ = e.srcElement;\n",
       "    }\n",
       "    if (targ.nodeType === 3) {\n",
       "        // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "    }\n",
       "\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    var boundingRect = targ.getBoundingClientRect();\n",
       "    var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n",
       "    var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n",
       "\n",
       "    return { x: x, y: y };\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys(original) {\n",
       "    return Object.keys(original).reduce(function (obj, key) {\n",
       "        if (typeof original[key] !== 'object') {\n",
       "            obj[key] = original[key];\n",
       "        }\n",
       "        return obj;\n",
       "    }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function (event, name) {\n",
       "    var canvas_pos = mpl.findpos(event);\n",
       "\n",
       "    if (name === 'button_press') {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * this.ratio;\n",
       "    var y = canvas_pos.y * this.ratio;\n",
       "\n",
       "    this.send_message(name, {\n",
       "        x: x,\n",
       "        y: y,\n",
       "        button: event.button,\n",
       "        step: event.step,\n",
       "        guiEvent: simpleKeys(event),\n",
       "    });\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.key_event = function (event, name) {\n",
       "    // Prevent repeat events\n",
       "    if (name === 'key_press') {\n",
       "        if (event.which === this._key) {\n",
       "            return;\n",
       "        } else {\n",
       "            this._key = event.which;\n",
       "        }\n",
       "    }\n",
       "    if (name === 'key_release') {\n",
       "        this._key = null;\n",
       "    }\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which !== 17) {\n",
       "        value += 'ctrl+';\n",
       "    }\n",
       "    if (event.altKey && event.which !== 18) {\n",
       "        value += 'alt+';\n",
       "    }\n",
       "    if (event.shiftKey && event.which !== 16) {\n",
       "        value += 'shift+';\n",
       "    }\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n",
       "    if (name === 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message('toolbar_button', { name: name });\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";/* global mpl */\n",
       "\n",
       "var comm_websocket_adapter = function (comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function () {\n",
       "        comm.close();\n",
       "    };\n",
       "    ws.send = function (m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function (msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data']);\n",
       "    });\n",
       "    return ws;\n",
       "};\n",
       "\n",
       "mpl.mpl_figure_comm = function (comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = document.getElementById(id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm);\n",
       "\n",
       "    function ondownload(figure, _format) {\n",
       "        window.open(figure.canvas.toDataURL());\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element;\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error('Failed to find cell for figure', id, fig);\n",
       "        return;\n",
       "    }\n",
       "    fig.cell_info[0].output_area.element.one(\n",
       "        'cleared',\n",
       "        { fig: fig },\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function (fig, msg) {\n",
       "    var width = fig.canvas.width / fig.ratio;\n",
       "    fig.cell_info[0].output_area.element.off(\n",
       "        'cleared',\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable();\n",
       "    fig.parent_element.innerHTML =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "    fig.close_ws(fig, msg);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.close_ws = function (fig, msg) {\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width / this.ratio;\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message('ack', {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () {\n",
       "        fig.push_to_output();\n",
       "    }, 1000);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'btn-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'btn-group';\n",
       "    var button;\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'btn-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        button = fig.buttons[name] = document.createElement('button');\n",
       "        button.classList = 'btn btn-default';\n",
       "        button.href = '#';\n",
       "        button.title = name;\n",
       "        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message pull-right';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = document.createElement('div');\n",
       "    buttongrp.classList = 'btn-group inline pull-right';\n",
       "    button = document.createElement('button');\n",
       "    button.classList = 'btn btn-mini btn-primary';\n",
       "    button.href = '#';\n",
       "    button.title = 'Stop Interaction';\n",
       "    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n",
       "    button.addEventListener('click', function (_evt) {\n",
       "        fig.handle_close(fig, {});\n",
       "    });\n",
       "    button.addEventListener(\n",
       "        'mouseover',\n",
       "        on_mouseover_closure('Stop Interaction')\n",
       "    );\n",
       "    buttongrp.appendChild(button);\n",
       "    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n",
       "    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._remove_fig_handler = function (event) {\n",
       "    var fig = event.data.fig;\n",
       "    fig.close_ws(fig, {});\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function (el) {\n",
       "    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function (el) {\n",
       "    // this is important to make the div 'focusable\n",
       "    el.setAttribute('tabindex', 0);\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    } else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (event, _name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager) {\n",
       "        manager = IPython.keyboard_manager;\n",
       "    }\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which === 13) {\n",
       "        this.canvas_div.blur();\n",
       "        // select the cell after this one\n",
       "        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
       "        IPython.notebook.select(index + 1);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "};\n",
       "\n",
       "mpl.find_output_cell = function (html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i = 0; i < ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code') {\n",
       "            for (var j = 0; j < cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] === html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "};\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel !== null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target(\n",
       "        'matplotlib',\n",
       "        mpl.mpl_figure_comm\n",
       "    );\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<img src=\"data:,\" width=\"0\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%matplotlib notebook\n",
    "\n",
    "from CBD.realtime.plotting import PlotManager, ScatterPlot, follow\n",
    "from pypdevs.simulator import Simulator\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "fig, ax = plt.subplots(1, 1)\n",
    "ax.set_xlim((0, 100))\n",
    "ax.set_ylim((0, 110))\n",
    "\n",
    "ball = BouncingBall(100.0, 3.0, k=0.95, t_stuck=80.0, dt=0.1)\n",
    "sim = Simulator(ball)\n",
    "sim.setClassicDEVS()\n",
    "sim.setRealTime()\n",
    "# sim.setVerbose()\n",
    "sim.setTerminationTime(90)\n",
    "\n",
    "manager = PlotManager()\n",
    "manager.register(\"ball\", ball.collector, (fig, ax), ScatterPlot(s=2, c='red'))\n",
    "\n",
    "sim.simulate()\n",
    "\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "manager.terminate()\n",
    "# ball.freefall.state[\"CBD\"].getSignalHistory('y')[-1]\n",
    "# ball.collector.state[\"data\"]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
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  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
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   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
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