def main():
# import python's standard time module
import time
# import Controller and other blocks from modules
from pyctrl import Controller
from pyctrl.block import Printer, Constant
# initialize controller
hello = Controller()
# add a Printer as a timer
hello.add_timer('message',
Printer(message='Hello World @ {:3.1f} s '), ['clock'],
None,
period=1,
repeat=True)
# Add a timer to stop the controller
hello.add_timer('stop',
Constant(value=0),
None, ['is_running'],
period=5,
repeat=False)
# add a Printer as a sink
hello.add_sink('message',
Printer(message='Current time {:5.3f} s', endln='\r'),
['clock'])
# print controller info
print(hello.info('all'))
try:
# run the controller
print('> Run the controller.')
with hello:
# wait for the controller to finish on its own
hello.join()
print('> Done with the controller.')
except KeyboardInterrupt:
pass
def test1():
if not test_ode:
return
from pyctrl import Controller
controller = Controller()
Ts = 0.01
clock = TimerClock(period=Ts)
controller.add_source('clock', clock, ['clock'])
a = -1
b = 1
def f(t, x, u, a, b):
return a * x + b * u
t0 = 0
uk = 1
x0 = np.array([0])
sys = ODE((1, 1, 1), f, x0=x0, t0=t0, pars=(a, b))
controller.add_signals('input', 'output')
controller.add_filter('condition', Map(function=lambda x: x < 1),
['clock'], ['is_running'])
controller.add_filter('ode', TimeVaryingSystem(model=sys),
['clock', 'input'], ['output'])
controller.add_sink('logger', Logger(), ['clock', 'output'])
print(controller.info('all'))
controller.set_filter('ode', reset=True)
controller.set_source('clock', reset=True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}'.format(t0))
print('tk = {}'.format(tk))
print('yk = {}'.format(yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0[0] * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - yyk) < 1e-2
uk = 0
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 2),
['clock'], ['is_running'])
print(controller.info('all'))
print('clock = {}'.format(controller.get_signal('clock')))
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
print('clock = {}'.format(controller.get_signal('clock')))
log = controller.get_sink('logger', 'log')
print('log = {}'.format(log))
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
print('t0 = {}, x0 = {}, tk = {}, xk = {}, yk = {}'.format(
t0, x0, tk, xk, yk))
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(log)
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
uk = -1
x0 = sys.state
controller.add_filter('condition', Map(function=lambda x: x < 3),
['clock'], ['is_running'])
#controller.set_source('clock', reset = True)
controller.set_sink('logger', reset=True)
controller.set_signal('input', uk)
controller.run()
xk = sys.state
log = controller.get_sink('logger', 'log')
t0 = log['clock'][0, 0]
tk = log['clock'][-1, 0]
yk = log['output'][-1, 0]
yyk = uk * (1 - math.exp(a * (tk - t0))) + x0 * math.exp(a * (tk - t0))
print(t0, x0, tk, xk, yk, yyk)
assert np.abs(yk - np.array([yyk])) < 1e-2
clock.set_enabled(False)