def __init__(self, sim_param=SimParam(), no_seed=False):
"""
Initialize the Simulation object.
:param sim_param: is an optional SimParam object for parameter pre-configuration
:param no_seed: is an optional parameter. If it is set to True, the RNG should be initialized without a
a specific seed.
"""
self.sim_param = sim_param
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
# TODO Task 2.4.3: Uncomment the line below
self.counter_collection = CounterCollection(self)
# TODO Task 3.1.2: Uncomment the line below and replace the "None"
if no_seed:
#if the mean = 1.0, then 1/lambda_ = 1.0 -> lambda_ = 1
self.rng = RNG(ExponentialRNS(1.0),
ExponentialRNS(1. / float(self.sim_param.RHO)))
else:
self.rng = RNG(
ExponentialRNS(1.0, self.sim_param.SEED_IAT),
ExponentialRNS(1. / float(self.sim_param.RHO),
self.sim_param.SEED_ST))
def savestate(self, message):
coordinates = self.coordinate_manager.get_coordinates()
atoms = self.atoms[:]
bonds = self.bonds[:]
im = np.copy(self.interaction_matrix)
new_state = SystemState(message, atoms, bonds, coordinates, im)
self.system_states.append(new_state)
print("Saving state %s..." % len(self.system_states))
self.current_state = new_state
def reset(self):
"""
Reset the Simulation object.
"""
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
self.counter_collection = CounterCollection(self)
self.rng.iat_rns.set_parameters(1.)
self.rng.st_rns.set_parameters(1. / float(self.sim_param.RHO))
def reset(self, no_seed=False):
"""
Reset the Simulation object.
:param no_seed: is an optional parameter. If it is set to True, the RNG should be reset without a
a specific seed.
"""
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
# TODO Task 2.4.3: Uncomment the line below
self.counter_collection = CounterCollection(self)
# TODO Task 3.1.2: Uncomment the line below and replace the "None"
"""
def __init__(self, sim_param=SimParam(), no_seed=False):
"""
Initialize the Simulation object.
:param sim_param: is an optional SimParam object for parameter pre-configuration
:param no_seed: is an optional parameter. If it is set to True, the RNG should be initialized without a
a specific seed.
"""
self.sim_param = sim_param
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
# TODO Task 2.4.3: Uncomment the line below
self.counter_collection = CounterCollection(self)
# TODO Task 3.1.2: Uncomment the line below and replace the "None"
"""
def reset(self, no_seed=False):
"""
Reset the Simulation object.
:param no_seed: is an optional parameter. If it is set to True, the RNG should be reset without a
a specific seed.
"""
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
# TODO Task 2.4.3: Uncomment the line below
self.counter_collection = CounterCollection(self)
# TODO Task 3.1.2: Uncomment the line below and replace the "None"
if no_seed:
self.rng = RNG(ExponentialRNS(1.0), ExponentialRNS(1./float(self.sim_param.RHO)))
else:
self.rng = RNG(ExponentialRNS(1.0, self.sim_param.SEED_IAT), ExponentialRNS(1./float(self.sim_param.RHO),self.sim_param.SEED_ST))
def reset(self, no_seed=False):
"""
Reset the Simulation object.
:param no_seed: is an optional parameter. If it is set to True, the RNG should be reset without a
a specific seed.
"""
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
self.counter_collection = CounterCollection(self)
if no_seed:
self.rng = RNG(ExponentialRNS(1),
ExponentialRNS(1. / float(self.sim_param.RHO)))
else:
self.rng = RNG(
ExponentialRNS(1, self.sim_param.SEED_IAT),
ExponentialRNS(1. / float(self.sim_param.RHO),
self.sim_param.SEED_ST))
def __init__(self, sim_param=SimParam(), no_seed=False):
"""
Initialize the Simulation object.
:param sim_param: is an optional SimParam object for parameter pre-configuration
:param no_seed: is an optional parameter. If it is set to True, the RNG should be initialized without a
a specific seed.
"""
self.sim_param = sim_param
self.sim_state = SimState()
self.system_state = SystemState(self)
self.event_chain = EventChain()
self.sim_result = SimResult(self)
self.counter_collection = CounterCollection(self)
if no_seed:
self.rng = RNG(ExponentialRNS(1),
ExponentialRNS(1. / float(self.sim_param.RHO)))
else:
self.rng = RNG(
ExponentialRNS(1, self.sim_param.SEED_IAT),
ExponentialRNS(1. / float(self.sim_param.RHO),
self.sim_param.SEED_ST))
#xor = ((starboardTack) and (not isPositive)) or ((not starboardTack) and (isPositive))
Amoment = epsilon*Amax #*xor
if (windDirection) and (isPositive):
Amoment*=-1
#elif (windDirection) and (not isPositive):
# pass
#elif (not windDirection) and (isPositive):
# pass
elif (not windDirection) and (not isPositive):
Amoment*=-1
Atotal = AAngle + Amoment
#Values to send to servos
controlVariable.setControlVariable(Atotal,delta)
if __name__ == '__main__':
State = SystemState()
controlVariable = ControlVariable()
Tune = TuningVariable()
initNode()
initSub("gps_data",gps,gpsCallback)
initSub("angle_data",angle,angleCallback)
initPub("servo_data",servoControl,10)
def test_system_state(self):
"""
Test module SystemState. Add and remove packets from server and queue and check for correct behavior.
"""
s = SystemState(DESTest.sim)
# check correct initialization
self.assertEqual(
[s.buffer_content, s.server_busy], [0, False],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
# check correct behavior of start_service() after init
self.assertEqual(
s.start_service(),
False,
msg=
"Error in SystemState. Wrong value indicates wrong queue length.")
# check correct adding of packets to server or queue
self.assertEqual(
s.add_packet_to_server(),
True,
msg=
"Error in SystemState. Could not add packet to server though it should be idle."
)
self.assertEqual(
s.add_packet_to_server(),
False,
msg="Error in SystemState. Server not busy, though it should be.")
self.assertEqual(
[s.buffer_content, s.server_busy], [0, True],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
self.assertEqual(
s.add_packet_to_queue(),
True,
msg=
"Error in SystemState. Server not busy, though busy though it shouldn't be."
)
self.assertEqual(
[s.buffer_content, s.server_busy], [1, True],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
self.assertEqual(
s.add_packet_to_server(),
False,
msg=
"Error in SystemState. Should not be able to add packet to server."
)
for _ in range(DESTest.sim.sim_param.S - 1):
self.assertEqual(
s.add_packet_to_queue(),
True,
msg="Error in SystemState. Could not add packet to queue.")
# check correct dropping of packets, when queue is full
self.assertEqual(
s.add_packet_to_queue(),
False,
msg=
"Error in SystemState. Could add packet to queue though it should be full."
)
self.assertEqual(
[s.buffer_content, s.server_busy], [DESTest.sim.sim_param.S, True],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
# check behavior of function complete_service()
s.complete_service()
self.assertEqual(
[s.buffer_content, s.server_busy],
[DESTest.sim.sim_param.S, False],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
# check behavior of function start_service()
self.assertEqual(
s.start_service(),
True,
msg=
"Error in SystemState. Starting service should be possible at this point."
)
self.assertEqual(
[s.buffer_content, s.server_busy],
[DESTest.sim.sim_param.S - 1, True],
msg=
"Error in SystemState. Wrong int indicates queue length, wrong bool server busy."
)
def test_finite_queue(self):
"""
Test the basic behavior of the finite queue.
"""
DESTestExtended.sim.reset()
s = SystemState(DESTestExtended.sim)
self.assertEqual(s.get_queue_length(), 0,
msg="Error in FiniteQueue. Wrong queue length.")
s.add_packet_to_queue()
DESTestExtended.sim.sim_state.now = 5
s.add_packet_to_queue()
DESTestExtended.sim.sim_state.now = 10
s.add_packet_to_queue()
self.assertEqual(s.get_queue_length(), 3,
msg="Error in FiniteQueue. Wrong queue length.")
s.server_busy = False
s.start_service()
self.assertEqual(s.server_busy, True,
msg="Error in FiniteQueue. Server should be busy.")
self.assertEqual(s.served_packet.t_arrival, 0,
msg="Error in FiniteQueue. Arrival time of packet wrong.")
self.assertEqual(s.get_queue_length(), 2,
msg="Error in FiniteQueue. Wrong queue length.")
s.server_busy = False
s.start_service()
self.assertEqual(s.server_busy, True,
msg="Error in FiniteQueue. Server should be busy.")
self.assertEqual(s.served_packet.t_arrival, 5,
msg="Error in FiniteQueue. Arrival time of packet wrong.")
self.assertEqual(s.get_queue_length(), 1,
msg="Error in FiniteQueue. Wrong queue length.")
s.server_busy = False
s.start_service()
self.assertEqual(s.server_busy, True,
msg="Error in FiniteQueue. Server should be busy.")
self.assertEqual(s.served_packet.t_arrival, 10,
msg="Error in FiniteQueue. Arrival time of packet wrong.")
self.assertEqual(s.get_queue_length(), 0,
msg="Error in FiniteQueue. Wrong queue length.")
