def get_derivative(self, s):
# Case 1: s is a constant, e.g. MX(5)
if ca.MX(s).is_constant():
return 0
# Case 2: s is a symbol, e.g. MX(x)
elif s.is_symbolic():
if s.name() not in self.derivative:
if len(self.for_loops
) > 0 and s in self.for_loops[-1].indexed_symbols:
# Create a new indexed symbol, referencing to the for loop index inside the vector derivative symbol.
for_loop_symbol = self.for_loops[-1].indexed_symbols[s]
s_without_index = self.get_mx(
ast.ComponentRef(name=for_loop_symbol.tree.name))
der_s_without_index = self.get_derivative(s_without_index)
if ca.MX(der_s_without_index).is_symbolic():
return self.get_indexed_symbol(
ast.ComponentRef(
name=der_s_without_index.name(),
indices=for_loop_symbol.tree.indices),
der_s_without_index)
else:
return 0
else:
der_s = ca.MX.sym("der({})".format(s.name()), s.size())
self.derivative[s.name()] = der_s
self.nodes[self.current_class][der_s.name()] = der_s
return der_s
else:
return self.derivative[s.name()]
# Case 3: s is an already indexed symbol, e.g. MX(x[1])
elif s.is_op(ca.OP_GETNONZEROS) and s.dep().is_symbolic():
slice_info = s.info()['slice']
dep = s.dep()
if dep.name() not in self.derivative:
der_dep = ca.MX.sym("der({})".format(dep.name()), dep.size())
self.derivative[dep.name()] = der_dep
return der_dep[
slice_info['start']:slice_info['stop']:slice_info['step']]
else:
return self.derivative[dep.name(
)][slice_info['start']:slice_info['stop']:slice_info['step']]
# Case 4: s is an expression that requires differentiation, e.g. MX(x2 * x2)
# Need to do this sort of expansion: der(x1 * x2) = der(x1) * x2 + x1 * der(x2)
else:
# Differentiate expression using CasADi
orig_deps = ca.symvar(s)
deps = ca.vertcat(*orig_deps)
J = ca.Function('J', [deps], [ca.jacobian(s, deps)])
J_sparsity = J.sparsity_out(0)
der_deps = [
self.get_derivative(dep)
if J_sparsity.has_nz(0, j) else ca.DM.zeros(dep.size())
for j, dep in enumerate(orig_deps)
]
return ca.mtimes(J(deps), ca.vertcat(*der_deps))
def test_extends_modification(self):
with open(os.path.join(MODEL_DIR, 'ExtendsModification.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='MainModel'))
self.assertEqual(flat_tree.classes['MainModel'].symbols['e.HQ.H'].min.name, "e.H_b")
def test_inheritance_symbol_modifiers(self):
with open(os.path.join(MODEL_DIR, 'Inheritance.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='Sub'))
self.assertEqual(flat_tree.classes['Sub'].symbols['x'].max.value, 30.0)
def test_duplicate_state(self):
with open(os.path.join(MODEL_DIR, 'DuplicateState.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
print('AST TREE\n', ast_tree)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='DuplicateState'))
print('AST TREE FLAT\n', flat_tree)
self.flush()
def test_spring_system(self):
with open(os.path.join(MODEL_DIR, 'SpringSystem.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
print('AST TREE\n', ast_tree)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='SpringSystem'))
print('AST TREE FLAT\n', flat_tree)
self.flush()
def test_estimator(self):
with open(os.path.join(MODEL_DIR, './Estimator.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
print('AST TREE\n', ast_tree)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='Estimator'))
print('AST TREE FLAT\n', flat_tree)
self.flush()
def test_nested_classes(self):
with open(os.path.join(MODEL_DIR, 'NestedClasses.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='C2'))
self.assertEqual(flat_tree.classes['C2'].symbols['v1'].nominal.value, 1000.0)
self.assertEqual(flat_tree.classes['C2'].symbols['v2'].nominal.value, 1000.0)
def test_aircraft(self):
with open(os.path.join(TEST_DIR, 'Aircraft.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
print('AST TREE\n', ast_tree)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='Aircraft'))
print('AST TREE FLAT\n', flat_tree)
self.flush()
def test_bouncing_ball(self):
with open(os.path.join(MODEL_DIR, 'BouncingBall.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
print('AST TREE\n', ast_tree)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='BouncingBall'))
print(flat_tree)
print('AST TREE FLAT\n', flat_tree)
self.flush()
def test_inheritance(self):
with open(os.path.join(MODEL_DIR, 'InheritanceInstantiation.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='C2'))
self.assertEqual(flat_tree.classes['C2'].symbols['bcomp1.b'].value.value, 3.0)
self.assertEqual(flat_tree.classes['C2'].symbols['bcomp3.a'].value.value, 1.0)
self.assertEqual(flat_tree.classes['C2'].symbols['bcomp3.b'].value.value, 2.0)
def get_derivative(self, s):
if ca.MX(s).is_constant():
return 0
elif s.is_symbolic():
if s.name() not in self.derivative:
if len(self.for_loops
) > 0 and s in self.for_loops[-1].indexed_symbols:
# Create a new indexed symbol, referencing to the for loop index inside the vector derivative symbol.
for_loop_symbol = self.for_loops[-1].indexed_symbols[s]
s_without_index = self.get_mx(
ast.ComponentRef(name=for_loop_symbol.tree.name))
der_s_without_index = self.get_derivative(s_without_index)
if ca.MX(der_s_without_index).is_symbolic():
return self.get_indexed_symbol(
ast.ComponentRef(
name=der_s_without_index.name(),
indices=for_loop_symbol.tree.indices),
der_s_without_index)
else:
return 0
else:
der_s = ca.MX.sym("der({})".format(s.name()), s.size())
self.derivative[s.name()] = der_s
self.nodes[self.current_class][der_s.name()] = der_s
return der_s
else:
return self.derivative[s.name()]
else:
# Differentiate expression using CasADi
orig_deps = ca.symvar(s)
deps = ca.vertcat(*orig_deps)
J = ca.Function('J', [deps], [ca.jacobian(s, deps)])
J_sparsity = J.sparsity_out(0)
der_deps = [
self.get_derivative(dep)
if J_sparsity.has_nz(0, j) else ca.DM.zeros(dep.size())
for j, dep in enumerate(orig_deps)
]
return ca.mtimes(J(deps), ca.vertcat(*der_deps))
def test_spring(self):
with open(os.path.join(TEST_DIR, 'SpringSystem.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
flat_tree = tree.flatten(ast_tree,
ast.ComponentRef(name='SpringSystem'))
print(flat_tree)
text = gen_sympy.generate(ast_tree, 'SpringSystem')
with open(os.path.join(TEST_DIR, 'generated/Spring.py'), 'w') as f:
f.write(text)
from test.generated.Spring import SpringSystem as SpringSystem
e = SpringSystem()
e.linearize_symbolic()
e.linearize()
# noinspection PyUnusedLocal
res = e.simulate(x0=[1.0, 1.0])
self.flush()
def test_connector(self):
with open(os.path.join(TEST_DIR, 'Connector.mo'), 'r') as f:
txt = f.read()
ast_tree = parser.parse(txt)
# print(ast_tree)
# noinspection PyUnusedLocal
flat_tree = tree.flatten(ast_tree, ast.ComponentRef(name='Aircraft'))
# print(flat_tree)
# noinspection PyUnusedLocal
walker = tree.TreeWalker()
# noinspection PyUnusedLocal
classes = ast_tree.classes
# noinspection PyUnusedLocal
root = ast_tree.classes['Aircraft']
# instantiator = tree.Instantiator(classes=classes)
# walker.walk(instantiator, root)
# print(instantiator.res[root].symbols.keys())
# print(instantiator.res[root])
# print('INSTANTIATOR\n-----------\n\n')
# print(instantiator.res[root])
# connectExpander = tree.ConnectExpander(classes=classes)
# walker.walk(connectExpander, instantiator.res[root])
# print('CONNECT EXPANDER\n-----------\n\n')
# print(connectExpander.new_class)
# text = gen_sympy.generate(ast_tree, 'Aircraft')
# print(text)
# with open(os.path.join(TEST_DIR, 'generated/Connect.py'), 'w') as f:
# f.write(text)
# from generated.Connect import Aircraft as Aircraft
# e = Aircraft()
# res = e.simulate()
self.flush()
