def minimize_cost_scipy(costFun, x0, optMethod, printVerbose=False):
if not printVerbose: OLDSTDOUT = tools.disable_console_output()
from scipy.optimize import minimize
import numpy as np
dfoResults = minimize(costFun, x0, method=optMethod, options={'xtol': 1e-5, 'disp': True})
optParams = [float(k) for k in dfoResults['x']]
if not printVerbose: tools.enable_console_output(OLDSTDOUT)
return optParams
def load_fmu_pyfmi(fmuFile, logFile, printVerbose=False):
if not printVerbose: OLDSTDOUT = tools.disable_console_output()
from pyfmi import load_fmu
print "Loading " + fmuFile
print ""
FMUMODEL = load_fmu(fmuFile, log_file_name=logFile)
if not printVerbose: tools.enable_console_output(OLDSTDOUT)
return FMUMODEL
def simulate_fmu(FMUMODEL, fmuOpts, startTime, finalTime, controlInput=False, printVerbose=False):
if not printVerbose: OLDSTDOUT = tools.disable_console_output()
if controlInput:
fmuResults = FMUMODEL.simulate(input=controlInput, options=fmuOpts, start_time=startTime, final_time=finalTime)
else:
fmuResults = FMUMODEL.simulate(options=fmuOpts, start_time=startTime, final_time=finalTime)
if not printVerbose: tools.enable_console_output(OLDSTDOUT)
return (FMUMODEL, fmuResults)
def compile_fmu_openmodelica(modelicaClass, modelicaFile, saveDir, printVerbose=False):
if not printVerbose: OLDSTDOUT = tools.disable_console_output()
print "Compiling " + modelicaClass + " in"
print saveDir
print ""
OMPython.execute("loadModel(Modelica)")
OMPython.execute("loadFile(\"" + modelicaFile + "\")")
OMPython.execute("translateModelFMU(" + modelicaClass + ")")
fmuName = os.path.join(os.environ['MANTRA_TEMP'], modelicaClass.replace('.', '_')+'.fmu')
if not printVerbose: tools.enable_console_output(OLDSTDOUT)
return fmuName
def run_tracking_experiment(elementModel, modelicaFile):
global fmuOpts
global FPSCLOCK
global DISPLAYSURF
global JOYOBJECT
global FMUMODEL
global u_hist
global y_hist
# Calculate variables for preview circles
calculate_preview_parameters()
# Compile and initialize controlled element dynamic model
logFile = os.path.join(tempDir, elementModel.replace('.', '_') + '_log.txt')
resultsFile = os.path.join(tempDir, elementModel.replace('.', '_') + '_results.txt')
fmuOpts = fmi.set_fmu_options(False, resultsFile, stepTime, solverName='CVode')
fmuName = fmi.compile_fmu_openmodelica(elementModel, modelicaFile, saveDir=tempDir)
FMUMODEL = fmi.load_fmu_pyfmi(fmuName, logFile)
FMUMODEL.initialize()
# Calculate input and display gains
calculate_gains(elementModel=elementModel, saveDir=tempDir)
# Look for joystick input device
pygame.init()
JOYOBJECT = get_input_device()
# Allow user to initiate experiment
raw_input("Press 'Enter' to bring up the display, then press any key except 'q' to start the experiment.\n")
# Start up pygame window
FPSCLOCK = pygame.time.Clock()
DISPLAYSURF = pygame.display.set_mode((winWidth, winHeight))
pygame.display.set_caption('Python manual tracking (pymantra) task')
# Run each frame of tracking experiment
clear_tracking_display()
import time
a = time.time()
OLDSTDOUT = tools.disable_console_output()
for frame_current in frame_hist[0:-1]:
run_one_frame(frame_current)
tools.enable_console_output(OLDSTDOUT)
print time.time() - a
exit_tracking_program()
return (u_hist, y_hist)