def calculate_gains(elementModel, saveDir):
global FMUMODEL
global inputGain
global displayGain
if not autoScale:
inputGain = inputGain
displayGain = displayGain
else:
rmoveSteps = int(rmoveTime/stepTime)
maxMove = 0
for frameNum in range(len(r_hist) - rmoveSteps):
currentMove = abs(r_hist[frameNum + rmoveSteps] - r_hist[frameNum])
maxMove = max([maxMove, currentMove])
displayGain = pixelDist/maxMove # maximum distance reference signal can move in rmoveTime [sec] is pixelDist
resultsFile = os.path.join(saveDir, elementModel.replace('.', '_') + '_step_results.txt')
fmuOpts = fmi.set_fmu_options(False, resultsFile, stepTime, solverName='CVode')
fmuInput = numpy.transpose(numpy.vstack(([0,ymoveTime], [1,1]))) # step input
(FMUMODEL, fmuResults) = fmi.simulate_fmu(FMUMODEL, fmuOpts, 0, ymoveTime, controlInput=(['u'], fmuInput))
ymoveDist = fmuResults['y'][-1] # distance moved by controlled element when step input is applied for ymoveTime
unitDist = pixelDist/displayGain
inputGain = unitDist/ymoveDist # controlled element can move unitDist [scaled pixels] in time ymoveTime [sec]
# Reset and reinitialize the controlled element FMU (otherwise the controlled element starts with a nonzero initial condition)
FMUMODEL.reset()
FMUMODEL.initialize()
def update_cursor_position(frameIn):
global FMUMODEL
global u_hist
global y_hist
currentFrame = frameIn
nextFrame = currentFrame + 1
# Get input signal
t_input = t_hist[currentFrame:nextFrame]
u_input = u_hist[currentFrame:nextFrame][0] + w_hist[currentFrame:nextFrame][0]
fmuInput = numpy.transpose(numpy.vstack((t_input, u_input)))
# Simulate the model response to input
(FMUMODEL, fmuResults) = fmi.simulate_fmu(FMUMODEL, fmuOpts, t_hist[currentFrame], t_hist[nextFrame], controlInput=(['u'], fmuInput))
# Extract simulation results
y_hist[nextFrame] = fmuResults['y'][-1]
def generate_fmu_signal(modelicaModel, modelicaFile, t_hist, paramDict, fmuMaxh, saveDir, odeSolver, printVerbose=False):
assert t_hist[0] == 0, "Time values must start at t=0."
fmuName = os.path.join(os.environ['MANTRA_TEMP'], modelicaModel.replace('.', '_')+'.fmu')
logFile = os.path.join(saveDir, modelicaModel.replace('.', '_') + '_log.txt')
resultFile = os.path.join(saveDir, modelicaModel.replace('.', '_') + '_results.txt')
if not os.path.isfile(fmuName):
fmuName = fmi.compile_fmu_openmodelica(modelicaModel, modelicaFile, saveDir, printVerbose=printVerbose)
FMUMODEL = fmi.load_fmu_pyfmi(fmuName, logFile, printVerbose=printVerbose)
# Overwrite default parameter values
for oneKey in paramDict.keys():
FMUMODEL.set(oneKey, paramDict[oneKey])
fmuOpts = fmi.set_fmu_options(False, resultFile, fmuMaxh, solverName=odeSolver)
FMUMODEL.initialize()
(FMUMODEL, fmuResults) = fmi.simulate_fmu(FMUMODEL, fmuOpts, 0, t_hist[-1], printVerbose=printVerbose)
t_sig = fmuResults['time']
y_sig = fmuResults['y']
signalOut = numpy.interp(t_hist, t_sig, y_sig)
return signalOut
