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Support for vector sum connections #517

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merged 10 commits into from
Feb 6, 2020
Merged

Support for vector sum connections #517

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3c5d898
#516 Add support for elementwise vector sum connections in OspSystemS…
eidekrist Jan 22, 2020
171eaad
Incomplete initializer list not allowed.
Jan 22, 2020
7e7a2c5
Add missing vector.fmu
Jan 23, 2020
598772f
Remove Signals and SignalGroups from Fucntion XML definition.
Jan 23, 2020
8043dc1
Remove parsing of Signals and SignalGroups from Function XML element.
Jan 23, 2020
f3400c6
Remove unused function to_variable_causality
eidekrist Jan 24, 2020
fd517f6
Signals and SignalGroups are implicit
eidekrist Jan 30, 2020
030bd6a
Functions as explicit XML elements with hardcoded parameters as attri…
eidekrist Jan 30, 2020
1352bb6
Use return values, give better error message
eidekrist Jan 30, 2020
016b004
Better error messages. Type should also be verified in release builds.
eidekrist Jan 31, 2020
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429 changes: 229 additions & 200 deletions src/cpp/cse_config_parser.cpp
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85 changes: 19 additions & 66 deletions src/cpp/xsd/OspSystemStructure.xsd
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Original file line number Diff line number Diff line change
Expand Up @@ -46,20 +46,6 @@
</xs:all>
</xs:complexType>
</xs:element>
<xs:element name="SumConnection" minOccurs="0" maxOccurs="unbounded">
<xs:complexType>
<xs:sequence>
<xs:element name="Sources">
<xs:complexType>
<xs:sequence>
<xs:element name="Source" maxOccurs="unbounded" type="osp:variableEndpoint"/>
</xs:sequence>
</xs:complexType>
</xs:element>
<xs:element name="Target" type="osp:variableEndpoint"/>
</xs:sequence>
</xs:complexType>
</xs:element>
</xs:sequence>
</xs:complexType>
<xs:complexType name="variableEndpoint">
Expand Down Expand Up @@ -118,59 +104,26 @@
</xs:complexType>
<xs:complexType name="functions">
<xs:sequence>
<xs:element name="Function" minOccurs="0" maxOccurs="unbounded">
<xs:complexType>
<xs:sequence>
<xs:element name="Parameters" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element name="Parameter" maxOccurs="unbounded">
<xs:complexType>
<xs:attribute name="name" type="xs:string" use="required"/>
<xs:attribute name="value" type="xs:string" use="required"/>
<xs:attribute name="type" type="xs:string" use="required"/>
</xs:complexType>
</xs:element>
</xs:sequence>
</xs:complexType>
</xs:element>
<xs:element name="Signals">
<xs:complexType>
<xs:sequence>
<xs:element name="Signal" maxOccurs="unbounded">
<xs:complexType>
<xs:attribute name="name" type="xs:string" use="required"/>
<xs:attribute name="type" type="xs:string" use="required"/>
<xs:attribute name="causality" type="xs:string" use="required"/>
</xs:complexType>
</xs:element>
</xs:sequence>
</xs:complexType>
</xs:element>
<xs:element name="SignalGroups" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element name="SignalGroup" maxOccurs="unbounded">
<xs:complexType>
<xs:sequence>
<xs:element name="Signal" maxOccurs="unbounded">
<xs:complexType>
<xs:attribute name="name" type="xs:string" use="required"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute name="name" use="required"/>
</xs:complexType>
</xs:element>
</xs:sequence>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required"/>
<xs:attribute name="type" type="xs:string" use="required"/>
</xs:complexType>
</xs:element>
<xs:element name="LinearTransformation" type="osp:linearTransformationFunction" minOccurs="0"
maxOccurs="unbounded"/>
<xs:element name="Sum" type="osp:sumFunction" minOccurs="0" maxOccurs="unbounded"/>
<xs:element name="VectorSum" type="osp:vectorSumFunction" minOccurs="0" maxOccurs="unbounded"/>
</xs:sequence>
</xs:complexType>
<xs:complexType name="linearTransformationFunction">
<xs:attribute name="name" use="required" type="xs:string"/>
<xs:attribute name="factor" type="xs:double"/>
<xs:attribute name="offset" type="xs:double"/>
</xs:complexType>
<xs:complexType name="sumFunction">
<xs:attribute name="name" use="required" type="xs:string"/>
<xs:attribute name="inputCount" use="required" type="xs:positiveInteger"/>
</xs:complexType>
<xs:complexType name="vectorSumFunction">
<xs:attribute name="name" use="required" type="xs:string"/>
<xs:attribute name="inputCount" use="required" type="xs:positiveInteger"/>
<xs:attribute name="dimension" use="required" type="xs:positiveInteger"/>
</xs:complexType>


</xs:schema>
1 change: 1 addition & 0 deletions test/cpp/CMakeLists.txt
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Expand Up @@ -13,6 +13,7 @@ set(tests
"monitor_modified_variables_test"
"scenario_manager_test"
"synchronized_xy_series_test"
"vector_sum_test"
)

if(CSECORE_WITH_FMUPROXY AND CSECORE_TEST_FMUPROXY)
Expand Down
69 changes: 69 additions & 0 deletions test/cpp/vector_sum_test.cpp
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@@ -0,0 +1,69 @@
#include <cse/connection/sum_connection.hpp>
#include <cse/cse_config_parser.hpp>
#include <cse/log/simple.hpp>
#include <cse/observer/last_value_observer.hpp>
#include <cse/orchestration.hpp>

#include <boost/filesystem.hpp>

#include <cstdlib>
#include <exception>


#define REQUIRE(test) \
if (!(test)) throw std::runtime_error("Requirement not satisfied: " #test)

void test(const boost::filesystem::path& configPath)
{
auto resolver = cse::default_model_uri_resolver();
auto simulation = cse::load_cse_config(*resolver, configPath, cse::to_time_point(0.0));
auto& execution = simulation.first;
auto& simulator_map = simulation.second;

REQUIRE(simulator_map.size() == 4);

auto obs = std::make_shared<cse::last_value_observer>();
execution.add_observer(obs);

auto i1 = simulator_map.at("vector1").index;
auto i2 = simulator_map.at("vector2").index;
auto i3 = simulator_map.at("vector3").index;
execution.set_real_initial_value(i1, 0, 1.0);
execution.set_real_initial_value(i1, 1, 2.0);
execution.set_real_initial_value(i1, 2, 3.0);
execution.set_real_initial_value(i2, 0, 4.0);
execution.set_real_initial_value(i2, 1, 5.0);
execution.set_real_initial_value(i2, 2, 6.0);
execution.set_real_initial_value(i3, 0, 7.0);
execution.set_real_initial_value(i3, 1, 8.0);
execution.set_real_initial_value(i3, 2, 9.0);

execution.step();
execution.step();

cse::simulator_index lastOne = simulator_map.at("vector4").index;
double realValues[3];
cse::value_reference references[] = {3, 4, 5};
obs->get_real(lastOne, gsl::make_span(references), gsl::make_span(realValues));

double exptectedValues[]{12.0, 15.0, 18.0};
for (int i = 0; i < 3; i++) {
REQUIRE(realValues[i] == exptectedValues[i]);
}
}

int main()
{
try {
cse::log::setup_simple_console_logging();
cse::log::set_global_output_level(cse::log::info);

const auto testDataDir = std::getenv("TEST_DATA_DIR");
REQUIRE(testDataDir);
test(boost::filesystem::path(testDataDir) / "msmi" / "OspSystemStructure_vectorSum.xml");
} catch (const std::exception& e) {
std::cerr << "Error: " << e.what();
return 1;
}
return 0;
}
Binary file added test/data/fmi2/vector.fmu
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12 changes: 1 addition & 11 deletions test/data/msmi/CraneController_OspModelDescription.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<Variable name="p_Crane.f[2]"/>
<Variable name="p_Crane.f[3]"/>
</VariableGroup>
<VariableGroup type="abstract" name="actuatorLimits">
<VariableGroup type="generic" name="actuatorLimits">
<Variable name="Act_Limits[1]"/>
<Variable name="Act_Limits[2]"/>
<Variable name="Act_Limits[3]"/>
Expand All @@ -16,15 +16,5 @@
<Variable name="p_Crane.e[2]"/>
<Variable name="p_Crane.e[3]"/>
</VariableGroup>

<!--<Bond name="mechanical">
<BondSockets>
<BondSocket name="velocity"/>
</BondSockets>
<BondPlugs>
<BondPlug name="force"/>
</BondPlugs>
</Bond>-->

</VariableGroups>
</OspModelDescription>
12 changes: 1 addition & 11 deletions test/data/msmi/KnuckleBoomCrane_OspModelDescription.xml
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Expand Up @@ -11,20 +11,10 @@
<Variable name="p_Crane.f[2]"/>
<Variable name="p_Crane.f[3]"/>
</VariableGroup>
<VariableGroup type="abstract" name="actuatorLimits">
<VariableGroup type="generic" name="actuatorLimits">
<Variable name="Act_Limits[1]"/>
<Variable name="Act_Limits[2]"/>
<Variable name="Act_Limits[3]"/>
</VariableGroup>
<!-- <Bonds>-->
<!-- <Bond name="mechanical">-->
<!-- <BondPlugs>-->
<!-- <BondPlug name="velocity"/>-->
<!-- </BondPlugs>-->
<!-- <BondSockets>-->
<!-- <BondSocket name="force"/>-->
<!-- </BondSockets>-->
<!-- </Bond>-->
<!-- </Bonds>-->
</VariableGroups>
</OspModelDescription>
28 changes: 6 additions & 22 deletions test/data/msmi/OspSystemStructure.xml
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Expand Up @@ -34,24 +34,8 @@
</Simulator>
</Simulators>
<Functions>
<Function name="mySum" type="sum">
<Signals>
<Signal name="0" type="real" causality="input"/>
<Signal name="1" type="real" causality="input"/>
<Signal name="2" type="real" causality="input"/>
<Signal name="sum" type="real" causality="output"/>
</Signals>
</Function>
<Function type="lineartransformation" name="myScaling">
<Parameters>
<Parameter name="factor" value="0.1" type="real"/>
<Parameter name="offset" value="123.4" type="real"/>
</Parameters>
<Signals>
<Signal type="real" causality="input" name="in"/>
<Signal type="real" causality="output" name="out"/>
</Signals>
</Function>
<LinearTransformation name="myScaling" factor="0.1" offset="123.4"/>
<Sum name="mySum" inputCount="3"/>
</Functions>
<Connections>
<VariableConnection>
Expand All @@ -61,18 +45,18 @@

<SignalConnection>
<Variable simulator="KnuckleBoomCrane" name="p_Crane.f[1]"/>
<Signal function="mySum" name="0"/>
<Signal function="mySum" name="in[0]"/>
</SignalConnection>
<SignalConnection>
<Variable simulator="KnuckleBoomCrane" name="p_Crane.f[2]"/>
<Signal function="mySum" name="1"/>
<Signal function="mySum" name="in[1]"/>
</SignalConnection>
<SignalConnection>
<Variable simulator="KnuckleBoomCrane" name="p_Crane.f[3]"/>
<Signal function="mySum" name="2"/>
<Signal function="mySum" name="in[2]"/>
</SignalConnection>
<SignalConnection>
<Signal function="mySum" name="sum"/>
<Signal function="mySum" name="out"/>
<Variable simulator="CraneController" name="p_Crane.f[1]"/>
</SignalConnection>

Expand Down
36 changes: 36 additions & 0 deletions test/data/msmi/OspSystemStructure_vectorSum.xml
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@@ -0,0 +1,36 @@
<?xml version="1.0" encoding="utf-8" ?>
<OspSystemStructure
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://opensimulationplatform.com/MSMI/OSPSystemStructure ../../../src/cpp/xsd/OspSystemStructure.xsd"
xmlns="http://opensimulationplatform.com/MSMI/OSPSystemStructure">
<StartTime>0.0</StartTime>
<BaseStepSize>1e-1</BaseStepSize>
<Algorithm>fixedStep</Algorithm>
<Simulators>
<Simulator name="vector1" source="../fmi2/vector.fmu"/>
<Simulator name="vector2" source="../fmi2/vector.fmu"/>
<Simulator name="vector3" source="../fmi2/vector.fmu"/>
<Simulator name="vector4" source="../fmi2/vector.fmu"/>
</Simulators>
<Functions>
<VectorSum name="myVectorSum" inputCount="3" dimension="3"/>
</Functions>
<Connections>
<SignalGroupConnection>
<VariableGroup simulator="vector1" name="output"/>
<SignalGroup function="myVectorSum" name="in[0]"/>
</SignalGroupConnection>
<SignalGroupConnection>
<VariableGroup simulator="vector2" name="output"/>
<SignalGroup function="myVectorSum" name="in[1]"/>
</SignalGroupConnection>
<SignalGroupConnection>
<VariableGroup simulator="vector3" name="output"/>
<SignalGroup function="myVectorSum" name="in[2]"/>
</SignalGroupConnection>
<SignalGroupConnection>
<SignalGroup function="myVectorSum" name="out"/>
<VariableGroup simulator="vector4" name="input"/>
</SignalGroupConnection>
</Connections>
</OspSystemStructure>
15 changes: 15 additions & 0 deletions test/data/msmi/com.open-simulation-platform.vector_OspModelDescription.xml
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="utf-8" ?>
<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription">
<VariableGroups>
<VariableGroup type="generic" name="input">
<Variable name="input[0]"/>
<Variable name="input[1]"/>
<Variable name="input[2]"/>
</VariableGroup>
<VariableGroup type="generic" name="output">
<Variable name="output[0]"/>
<Variable name="output[1]"/>
<Variable name="output[2]"/>
</VariableGroup>
</VariableGroups>
</OspModelDescription>
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