def test_simple_circuit(self):
# compile to ModelicaXML
with open(os.path.join(MODEL_DIR, 'SimpleCircuit.mo'), 'r') as f:
txt = f.read()
ast_tree = mo_parser.parse(txt)
model_xml = generator.generate(ast_tree, 'SimpleCircuit')
# save xml model to disk
with open(os.path.join(GENERATED_DIR, 'SimpleCircuit.xml'), 'w') as f:
f.write(model_xml)
# load xml model
model = xml_parser.parse(model_xml, verbose=False)
print(model)
# convert to ode
model_ode = model.to_ode() # type: model.HybridOde
print(model_ode)
# simulate
data = sim_scipy.sim(model_ode, {
'tf': 1,
'dt': 0.001,
'verbose': True
})
# plot
analysis.plot(data, fields=['x', 'c', 'm'])
plt.draw()
plt.pause(0.1)
plt.close()
def test_bouncing_ball(self):
# generate
with open(os.path.join(MODEL_DIR, 'BouncingBall.mo'), 'r') as f:
txt = f.read()
ast_tree = mo_parser.parse(txt)
generator.generate(ast_tree, 'BouncingBall')
# parse
example_file = os.path.join(MODEL_DIR, 'bouncing-ball.xml')
model = xml_parser.parse_file(example_file, verbose=False)
print(model)
# convert to ode
model_ode = model.to_ode() # type: model.HybridOde
model_ode.prop['x']['start'] = 1
print(model_ode)
# simulate
data = sim_scipy.sim(model_ode, {
'tf': 3.5,
'dt': 0.01,
'verbose': True
})
# plot
analysis.plot(data, linewidth=0.5, marker='.', markersize=0.5)
plt.draw()
plt.pause(0.1)
plt.close()
# simulate in soft real-time
do_realtime = False
if do_realtime:
print('\nsoft-realtime simulation')
time_start = time.time()
def realtime_callback(t, x, y, m, p, c):
t_real = time.time() - time_start
lag = t_real - t
if abs(lag) > 0.1:
print("real: {:10f} > sim: {:10f}, lag: {:10f}".format(
t_real, t, lag))
elif lag < 0:
time.sleep(-lag)
data = sim_scipy.sim(model_ode, {
'tf': 3.5,
'dt': 0.01,
'verbose': True
},
user_callback=realtime_callback)
# plt.gca().set_ylim(-2, 2)
self.flush()