1 /* Siconos is a program dedicated to modeling, simulation and control
2 * of non smooth dynamical systems.
3 *
4 * Copyright 2021 INRIA.
5 *
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
9 *
10 * http://www.apache.org/licenses/LICENSE-2.0
11 *
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
17 */
18
19 #include <chrono>
20
21 #include "EventDriven.hpp"
22 #include "LsodarOSI.hpp"
23 #include "EventsManager.hpp"
24 #include "Event.hpp"
25 #include "NonSmoothDynamicalSystem.hpp"
26 #include "SimulationGraphs.hpp"
27
28 #include "ControlLinearAdditionalTermsED.hpp"
29 #include "ControlManager.hpp"
30 #include "ControlLsodarSimulation.hpp"
31 #include "ControlSimulation_impl.hpp"
32 #include "Observer.hpp"
33 #include "Actuator.hpp"
34
35
ControlLsodarSimulation(double t0,double T,double h)36 ControlLsodarSimulation::ControlLsodarSimulation(double t0, double T, double h):
37 ControlSimulation(t0, T, h)
38 {
39 _processIntegrator.reset(new LsodarOSI());
40 _processSimulation.reset(new EventDriven(_nsds, _processTD, 0));
41 _processSimulation->setName("plant simulation");
42 _processSimulation->insertIntegrator(_processIntegrator);
43 std::static_pointer_cast<LsodarOSI>(_processIntegrator)->setExtraAdditionalTerms(
44 std::shared_ptr<ControlLinearAdditionalTermsED>(new ControlLinearAdditionalTermsED()));
45
46 _DSG0 = _nsds->topology()->dSG(0);
47 _IG0 = _nsds->topology()->indexSet0();
48
49 // Control part
50 _CM.reset(new ControlManager(_processSimulation));
51 }
52
run()53 void ControlLsodarSimulation::run()
54 {
55 EventsManager& eventsManager = *_processSimulation->eventsManager();
56 unsigned k = 0;
57 std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
58 EventDriven& sim = static_cast<EventDriven&>(*_processSimulation);
59
60 while(sim.hasNextEvent())
61 {
62 if(eventsManager.needsIntegration())
63 {
64 sim.advanceToEvent();
65 }
66 sim.processEvents();
67 Event& currentEvent = *eventsManager.currentEvent();
68 if(currentEvent.getType() == ACTUATOR_EVENT)
69 {
70 // this is necessary since we changed the control input, hence the RHS
71 sim.setIstate(1);
72 }
73 if(sim.hasNextEvent() && eventsManager.nextEvent()->getType() == TD_EVENT) // We store only on TD_EVENT, this should be settable
74 {
75 (*_dataM)(k, 0) = sim.startingTime();
76 storeData(k);
77 ++k;
78 }
79 }
80
81 /* saves last status */
82 (*_dataM)(k, 0) = sim.startingTime();
83 storeData(k);
84 ++k;
85
86 std::chrono::system_clock::time_point end = std::chrono::system_clock::now();
87 std::chrono::duration<double, std::milli> fp_s = end - start;
88 _elapsedTime = fp_s.count();
89 _dataM->resize(k, _nDim + 1);
90 }
91