def test_basic_code_gen():
# create a new system
system = dy.enter_system()
# define system inputs
input1 = dy.system_input(dy.DataTypeFloat64(1),
name='input1',
default_value=5.0,
value_range=[0, 25],
title="input #1")
# the diagram
tmp = input1 * dy.float64(2.0)
tmp.set_name("some_name")
output = dy.delay(tmp)
# define output(s)
dy.append_output(output, 'outputs')
# generate code
code_gen_results = dy.generate_code(template=dy.TargetWasm(),
folder="generated/",
build=False)
sourcecode, manifest = code_gen_results['sourcecode'], code_gen_results[
'manifest']
# clear workspace
dy.clear()
import os
from vehicle_lib.vehicle_lib import *
# load track data
with open("track_data/simple_track.json", "r") as read_file:
track_data = json.load(read_file)
#
# Demo: a vehicle controlled to follow a given path
#
# Implemented using the code generator openrtdynamics 2 - https://pypi.org/project/openrtdynamics2/ .
# This generates c++ code for Web Assembly to be run within the browser.
#
system = dy.enter_system()
velocity = dy.system_input(dy.DataTypeFloat64(1),
name='velocity',
default_value=23.75,
value_range=[0, 25],
title="vehicle velocity")
k_p = dy.system_input(dy.DataTypeFloat64(1),
name='k_p',
default_value=2.0,
value_range=[0, 10.0],
title="controller gain")
disturbance_amplitude = dy.system_input(
dy.DataTypeFloat64(1),
name='disturbance_amplitude',
default_value=20.0,
import os
import json
import numpy as np
from colorama import init, Fore, Back, Style
init(autoreset=True)
#
# python3 -m http.server
#
#
# Enter a new system (simulation)
#
system = dy.enter_system('simulation')
# list to collect systems imported from libraries
library_entries = []
def firstOrder( u, z_inf, name : str = ''):
yFb = dy.signal()
i = dy.add( [ yFb, u ], [ z_inf, 1 ] ).set_name(name + '_i')
y = dy.delay( i).set_name(name + '_y')
yFb << y
def compile_path_tracker(par={},
target_template=None,
folder=None,
samples_in_buffer=10000):
"""
Build OpenRTDynamics code for the path tracker
par - optional parameters for the model (unused so far)
target_template - the openrtdynamics code generation terget template to use
folder - the folder to which the generated files are written
samples_in_buffer - the size of the buffer storing the samples for the input path
"""
dy.clear()
system = dy.enter_system()
# time-series for velocity, position, orientation, ...
input_signals = {}
input_signals['Ts'] = dy.system_input(dy.DataTypeFloat64(1),
name='Ts',
default_value=0.01,
title="sampling time [s]")
input_signals['velocity'] = dy.system_input(dy.DataTypeFloat64(1),
name='velocity_',
default_value=1,
title="vehicle velocity [m/s]")
input_signals['velocity_dot'] = dy.system_input(
dy.DataTypeFloat64(1),
name='velocity_dot',
default_value=1,
title="vehicle acceleration [m/s^2] (optional)")
input_signals['x'] = dy.system_input(dy.DataTypeFloat64(1),
name='x',
default_value=0,
title="state x [m]")
input_signals['y'] = dy.system_input(dy.DataTypeFloat64(1),
name='y',
default_value=0,
title="state y [m]")
input_signals['x_dot'] = dy.system_input(
dy.DataTypeFloat64(1),
name='x_dot',
default_value=0,
title="state d/dt x [m/s] (optional)")
input_signals['y_dot'] = dy.system_input(
dy.DataTypeFloat64(1),
name='y_dot',
default_value=0,
title="state d/dt y [m/s] (optional)")
input_signals['Delta_u'] = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_u',
default_value=0,
title="Delta_u [rad] (optional)")
input_signals['Delta_u_dot'] = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_u_dot',
default_value=0,
title="Delta_u_dot[rad/s] (optional)")
# control inputs
async_input_data_valid = dy.system_input(dy.DataTypeBoolean(1),
name='async_input_data_valid')
input_sample_valid = dy.system_input(dy.DataTypeBoolean(1),
name='input_sample_valid')
# inputs for asynchronously arriving path samples
path_sample = {}
path_sample['d'] = dy.system_input(dy.DataTypeFloat64(1), name='d_sample')
path_sample['x'] = dy.system_input(dy.DataTypeFloat64(1), name='x_sample')
path_sample['y'] = dy.system_input(dy.DataTypeFloat64(1), name='y_sample')
path_sample['psi'] = dy.system_input(dy.DataTypeFloat64(1),
name='psi_sample')
path_sample['K'] = dy.system_input(dy.DataTypeFloat64(1), name='K_sample')
#
# combine all input signals in a structure that serve as parameters to the
# callback function (the embedded system) vl.path_lateral_modification2
#
output_signals = async_path_data_handler(input_sample_valid,
async_input_data_valid,
path_sample, path_tracking,
input_signals, par,
samples_in_buffer)
#
# outputs
#
dy.append_output(output_signals['output_valid'], 'output_valid')
dy.append_output(output_signals['need_more_path_input_data'],
'need_more_path_input_data')
dy.append_output(output_signals['distance_at_the_end_of_horizon'],
'distance_at_the_end_of_horizon')
dy.append_output(output_signals['distance_ahead'], 'distance_ahead')
dy.append_output(output_signals['head_index'], 'head_index')
dy.append_output(output_signals['read_position'], 'read_position')
dy.append_output(output_signals['elements_free_to_write'],
'elements_free_to_write')
# data sampled at the closest point on path
dy.append_output(output_signals['tracked_index'], 'tracked_index')
dy.append_output(output_signals['d_star'], 'd_star')
dy.append_output(output_signals['v_star'], 'v_star')
dy.append_output(output_signals['x_r'], 'x_r')
dy.append_output(output_signals['y_r'], 'y_r')
dy.append_output(output_signals['psi_r'], 'psi_r')
dy.append_output(output_signals['K_r'], 'K_r')
dy.append_output(output_signals['psi_r_dot'], 'psi_r_dot')
dy.append_output(output_signals['Delta_l'], 'Delta_l')
dy.append_output(output_signals['Delta_l_dot'], 'Delta_l_dot')
# generate code
if target_template is None:
target_template = tg.TargetCppMinimal()
code_gen_results = dy.generate_code(template=target_template,
folder=folder)
compiled_system = dyexe.CompiledCode(code_gen_results)
return code_gen_results, compiled_system
def compile_lateral_path_transformer(wheelbase=3.0, Ts=0.01):
"""
Build OpenRTDynamics code for the lateral path transformation
"""
dy.clear()
system = dy.enter_system()
velocity = dy.system_input(dy.DataTypeFloat64(1),
name='velocity_',
default_value=1,
value_range=[0, 25],
title="vehicle velocity")
Delta_l_r = dy.system_input(dy.DataTypeFloat64(1),
name='Delta_l_r',
default_value=0.0,
value_range=[-10, 10],
title="lateral deviation to the path")
Delta_l_r_dot = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_l_r_dot',
default_value=0.0,
value_range=[-10, 10],
title="1st-order time derivative of lateral deviation to the path")
Delta_l_r_dotdot = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_l_r_dotdot',
default_value=0.0,
value_range=[-10, 10],
title="2nd-order time derivative of lateral deviation to the path")
async_input_data_valid = dy.system_input(dy.DataTypeBoolean(1),
name='async_input_data_valid')
input_sample_valid = dy.system_input(dy.DataTypeBoolean(1),
name='input_sample_valid')
path_sample = {}
path_sample['d'] = dy.system_input(dy.DataTypeFloat64(1), name='d_sample')
path_sample['x'] = dy.system_input(dy.DataTypeFloat64(1), name='x_sample')
path_sample['y'] = dy.system_input(dy.DataTypeFloat64(1), name='y_sample')
path_sample['psi'] = dy.system_input(dy.DataTypeFloat64(1),
name='psi_sample')
path_sample['K'] = dy.system_input(dy.DataTypeFloat64(1), name='K_sample')
input_signals = Ts, wheelbase, velocity, Delta_l_r, Delta_l_r_dot, Delta_l_r_dotdot
output_signals = async_path_data_handler(input_sample_valid,
async_input_data_valid,
path_sample, input_signals)
#
# outputs: these are available for visualization in the html set-up
#
dy.append_output(output_signals['output_valid'], 'output_valid')
dy.append_output(output_signals['need_more_path_input_data'],
'need_more_path_input_data')
dy.append_output(output_signals['distance_at_the_end_of_horizon'],
'distance_at_the_end_of_horizon')
dy.append_output(output_signals['distance_ahead'], 'distance_ahead')
dy.append_output(output_signals['head_index'], 'head_index')
dy.append_output(output_signals['read_position'], 'read_position')
dy.append_output(output_signals['elements_free_to_write'],
'elements_free_to_write')
dy.append_output(output_signals['tracked_index'], 'tracked_index')
dy.append_output(output_signals['d_star'], 'path_d_star')
dy.append_output(output_signals['d'], 'path_d')
dy.append_output(output_signals['x'], 'path_x')
dy.append_output(output_signals['y'], 'path_y')
dy.append_output(output_signals['psi_r'], 'path_psi')
dy.append_output(output_signals['K'], 'path_K')
dy.append_output(output_signals['delta'], 'vehicle_delta')
dy.append_output(output_signals['delta_dot'], 'vehicle_delta_dot')
dy.append_output(output_signals['psi'], 'vehicle_psi')
dy.append_output(output_signals['psi_dot'], 'vehicle_psi_dot')
dy.append_output(velocity * dy.float64(1.0), 'velocity')
# generate code for Web Assembly (wasm), requires emcc (emscripten) to build
code_gen_results = dy.generate_code(
template=dy.TargetWasm(enable_tracing=False),
folder="generated/tmp1",
build=False)
compiled_system = dyexe.CompiledCode(code_gen_results)
return code_gen_results, compiled_system
def compile_lateral_path_transformer(par={},
target_template=None,
folder=None,
samples_in_buffer=10000):
"""
Build OpenRTDynamics code for the lateral path transformation
par - optional parameters for the model (unused so far)
target_template - the openrtdynamics code generation terget template to use
folder - the folder to which the generated files are written
samples_in_buffer - the size of the buffer storing the samples for the input path
"""
dy.clear()
system = dy.enter_system()
# parameters
Ts = dy.system_input(dy.DataTypeFloat64(1),
name='Ts',
default_value=0.01,
title="sampling time [s]")
wheelbase = dy.system_input(dy.DataTypeFloat64(1),
name='wheelbase',
default_value=3.0,
title="wheelbase (l_r) [m]")
# time-series for velocity, lateral distance, ...
velocity = dy.system_input(dy.DataTypeFloat64(1),
name='velocity_',
default_value=1,
value_range=[0, 25],
title="vehicle velocity [m/s]")
Delta_l_r = dy.system_input(dy.DataTypeFloat64(1),
name='Delta_l_r',
default_value=0.0,
value_range=[-10, 10],
title="lateral deviation to the path [m]")
Delta_l_r_dot = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_l_r_dot',
default_value=0.0,
value_range=[-10, 10],
title="1st-order time derivative of lateral deviation to the path [m/s]"
)
Delta_l_r_dotdot = dy.system_input(
dy.DataTypeFloat64(1),
name='Delta_l_r_dotdot',
default_value=0.0,
value_range=[-10, 10],
title=
"2nd-order time derivative of lateral deviation to the path [m/s^2]")
# initial states of the vehicle
d0 = dy.system_input(dy.DataTypeFloat64(1),
name='d0',
default_value=0,
title="initial state d0 [m]")
x0 = dy.system_input(dy.DataTypeFloat64(1),
name='x0',
default_value=0,
title="initial state x0 [m]")
y0 = dy.system_input(dy.DataTypeFloat64(1),
name='y0',
default_value=0,
title="initial state y0 [m]")
psi0 = dy.system_input(dy.DataTypeFloat64(1),
name='psi0',
default_value=0,
title="initial state psi0 [rad]")
delta0 = dy.system_input(dy.DataTypeFloat64(1),
name='delta0',
default_value=0,
title="initial state delta0 [rad]")
delta_dot0 = dy.system_input(dy.DataTypeFloat64(1),
name='delta_dot0',
default_value=0,
title="initial state delta_dot0 [rad/s]")
# control inputs
async_input_data_valid = dy.system_input(dy.DataTypeBoolean(1),
name='async_input_data_valid')
input_sample_valid = dy.system_input(dy.DataTypeBoolean(1),
name='input_sample_valid')
# inputs for asynchronously arriving path samples
path_sample = {}
path_sample['d'] = dy.system_input(dy.DataTypeFloat64(1), name='d_sample')
path_sample['x'] = dy.system_input(dy.DataTypeFloat64(1), name='x_sample')
path_sample['y'] = dy.system_input(dy.DataTypeFloat64(1), name='y_sample')
path_sample['psi'] = dy.system_input(dy.DataTypeFloat64(1),
name='psi_sample')
path_sample['K'] = dy.system_input(dy.DataTypeFloat64(1), name='K_sample')
#
# combine all input signals in a structure that serve as parameters to the
# callback function (the embedded system) vl.path_lateral_modification2
#
input_signals = {
'Ts': Ts,
'wheelbase': wheelbase,
'velocity': velocity,
'Delta_l_r': Delta_l_r,
'Delta_l_r_dot': Delta_l_r_dot,
'Delta_l_r_dotdot': Delta_l_r_dotdot,
'd0': d0,
'x0': x0,
'y0': y0,
'psi0': psi0,
'delta0': delta0,
'delta_dot0': delta_dot0
}
output_signals = async_path_data_handler(
input_sample_valid, async_input_data_valid, path_sample,
vl.path_lateral_modification2, input_signals, par, samples_in_buffer)
#
# outputs
#
dy.append_output(output_signals['output_valid'], 'output_valid')
dy.append_output(output_signals['need_more_path_input_data'],
'need_more_path_input_data')
dy.append_output(output_signals['distance_at_the_end_of_horizon'],
'distance_at_the_end_of_horizon')
dy.append_output(output_signals['distance_ahead'], 'distance_ahead')
dy.append_output(output_signals['head_index'], 'head_index')
dy.append_output(output_signals['read_position'], 'read_position')
dy.append_output(output_signals['elements_free_to_write'],
'elements_free_to_write')
dy.append_output(output_signals['tracked_index'], 'tracked_index')
dy.append_output(output_signals['d_star'], 'path_d_star')
dy.append_output(output_signals['d'], 'path_d')
dy.append_output(output_signals['x'], 'path_x')
dy.append_output(output_signals['y'], 'path_y')
dy.append_output(output_signals['psi_r'], 'path_psi')
dy.append_output(output_signals['K'], 'path_K')
dy.append_output(output_signals['delta'], 'vehicle_delta')
dy.append_output(output_signals['delta_dot'], 'vehicle_delta_dot')
dy.append_output(output_signals['psi'], 'vehicle_psi')
dy.append_output(output_signals['psi_dot'], 'vehicle_psi_dot')
dy.append_output(velocity * dy.float64(1.0), 'velocity')
# generate code
if target_template is None:
target_template = tg.TargetCppMinimal()
code_gen_results = dy.generate_code(template=target_template,
folder=folder)
compiled_system = dyexe.CompiledCode(code_gen_results)
return code_gen_results, compiled_system
