Co-simulation examples

configs/start_SocketCosimExample.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+CPS_LOG_PREFIX="[Left ] " build/dpsim-villas/examples/cxx/SocketCosimExample 0 & P1=$!
+CPS_LOG_PREFIX="[Right] " build/dpsim-villas/examples/cxx/SocketCosimExample 1 & P2=$!
+
+for job in $P1 $P2; do
+    wait $job || exit 1
+done

dpsim-models/include/dpsim-models/Attribute.h

@@ -506,6 +506,23 @@ namespace CPS {
 			return derive<U>(getter, setter);
 		}
 
+		/**
+		 * Convenience method for building a complex attribute from a real attribute
+		 * @return a new complex attribute whose real part always equal value of `this`
+		 * */
+		template <typename U = T, std::enable_if_t<std::is_same_v<Real, U>, bool> = true>
+		AttributePointer<Attribute<Complex>> deriveComplex()
+			// requires std::same_as<T, CPS::Complex> //CPP20
+		{
+			AttributeUpdateTask<CPS::Complex, CPS::Real>::Actor getter = [](std::shared_ptr<Complex> &dependent, Attribute<Real>::Ptr dependency) {
+				*dependent = CPS::Complex(dependency->get(), 0);
+			};
+			AttributeUpdateTask<CPS::Complex, CPS::Real>::Actor setter = [](std::shared_ptr<Complex> &dependent, Attribute<Real>::Ptr dependency) {
+				dependency->set(dependent->real());
+			};
+			return derive<CPS::Complex>(getter, setter);
+		}
+
 	};
 
 	/**

dpsim-models/include/dpsim-models/Components.h

@@ -11,6 +11,7 @@
 #include <dpsim-models/Config.h>
 
 #include <dpsim-models/SP/SP_Ph1_AvVoltageSourceInverterDQ.h>
+#include <dpsim-models/SP/SP_Ph1_CurrentSource.h>
 #include <dpsim-models/SP/SP_Ph1_RXLine.h>
 #include <dpsim-models/SP/SP_Ph1_VoltageSourceInverter.h>
 #include <dpsim-models/SP/SP_Ph1_PiLine.h>

dpsim-models/include/dpsim-models/SP/SP_Ph1_CurrentSource.h

@@ -0,0 +1,64 @@
+/* Copyright 2017-2021 Institute for Automation of Complex Power Systems,
+ *                     EONERC, RWTH Aachen University
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *********************************************************************************/
+
+#pragma once
+
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+#include <dpsim-models/Base/Base_Ph1_CurrentSource.h>
+#include <dpsim-models/Task.h>
+
+namespace CPS {
+namespace SP {
+namespace Ph1 {
+	/// \brief Dynamic phasor ideal current source
+	///
+	/// A positive current is flowing out of node1 and into node2.
+	class CurrentSource :
+		public MNASimPowerComp<Complex>,
+		public SharedFactory<CurrentSource> {
+	public:
+		const Attribute<Complex>::Ptr mCurrentRef;
+		/// Defines UID, name and logging level
+		CurrentSource(String uid, String name, Logger::Level loglevel = Logger::Level::off);
+		/// Defines name and logging level
+		CurrentSource(String name, Logger::Level logLevel = Logger::Level::off)
+			: CurrentSource(name, name, logLevel) { }
+		/// Defines name, component parameters and logging level
+		CurrentSource(String name, Complex current,
+			Logger::Level logLevel = Logger::Level::off);
+
+		void setParameters(Complex current);
+
+		SimPowerComp<Complex>::Ptr clone(String copySuffix);
+
+		// #### General ####
+		/// Initializes component from power flow data
+		void initializeFromNodesAndTerminals(Real frequency);
+
+		// #### MNA section ####
+		///
+		void mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector);
+		/// Stamps system matrix
+		void mnaCompApplySystemMatrixStamp(SparseMatrixRow& systemMatrix) { }
+		/// Stamps right side (source) vector
+		void mnaCompApplyRightSideVectorStamp(Matrix& rightVector);
+		///
+		void mnaCompUpdateVoltage(const Matrix& leftVector);
+
+		/// Add MNA pre step dependencies
+		void mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) override;
+		/// Add MNA post step dependencies
+		void mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, Attribute<Matrix>::Ptr &leftVector) override;
+		void mnaCompPreStep(Real time, Int timeStepCount) override;
+		void mnaCompPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) override;
+
+	};
+}
+}
+}

dpsim-models/src/CMakeLists.txt

@@ -102,6 +102,7 @@ list(APPEND MODELS_SOURCES
 	EMT/EMT_Ph3_SynchronGeneratorTrStab.cpp
 
 	SP/SP_Ph1_VoltageSource.cpp
+	SP/SP_Ph1_CurrentSource.cpp
 	SP/SP_Ph1_Capacitor.cpp
 	SP/SP_Ph1_Inductor.cpp
 	SP/SP_Ph1_Resistor.cpp

dpsim-models/src/EMT/EMT_Ph1_Capacitor.cpp

@@ -25,7 +25,6 @@ SimPowerComp<Real>::Ptr EMT::Ph1::Capacitor::clone(String name) {
 }
 
 void EMT::Ph1::Capacitor::initializeFromNodesAndTerminals(Real frequency) {
-
 	Real omega = 2 * PI * frequency;
 	Complex impedance = { 0, - 1. / (omega * **mCapacitance) };
 	(**mIntfVoltage)(0,0) = (initialSingleVoltage(1) - initialSingleVoltage(0)).real();
@@ -42,6 +41,7 @@ void EMT::Ph1::Capacitor::initializeFromNodesAndTerminals(Real frequency) {
 		(**mIntfCurrent)(0,0),
 		initialSingleVoltage(0).real(),
 		initialSingleVoltage(1).real());
+	mSLog->flush();
 }
 
 void EMT::Ph1::Capacitor::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {

dpsim-models/src/EMT/EMT_Ph1_CurrentSource.cpp

@@ -76,8 +76,8 @@ void EMT::Ph1::CurrentSource::mnaCompPostStep(Real time, Int timeStepCount, Attr
 
 void EMT::Ph1::CurrentSource::mnaCompUpdateVoltage(const Matrix& leftVector) {
 	(**mIntfVoltage)(0,0) = 0;
-	if (terminalNotGrounded(0))
-		(**mIntfVoltage)(0,0) = Math::realFromVectorElement(leftVector, matrixNodeIndex(0));
 	if (terminalNotGrounded(1))
-		(**mIntfVoltage)(0,0) = (**mIntfVoltage)(0,0) - Math::realFromVectorElement(leftVector, matrixNodeIndex(1));
+		(**mIntfVoltage)(0,0) = Math::realFromVectorElement(leftVector, matrixNodeIndex(0));
+	if (terminalNotGrounded(0))
+		(**mIntfVoltage)(0,0) = (**mIntfVoltage)(0,0) - Math::realFromVectorElement(leftVector, matrixNodeIndex(0));
 }

dpsim-models/src/EMT/EMT_Ph1_Inductor.cpp

@@ -25,7 +25,7 @@ SimPowerComp<Real>::Ptr EMT::Ph1::Inductor::clone(String name) {
 }
 
 void EMT::Ph1::Inductor::initializeFromNodesAndTerminals(Real frequency) {
-
+	
 	Real omega = 2 * PI * frequency;
 	Complex impedance = { 0, omega * **mInductance };
 	(**mIntfVoltage)(0,0) = (initialSingleVoltage(1) - initialSingleVoltage(0)).real();
@@ -42,6 +42,7 @@ void EMT::Ph1::Inductor::initializeFromNodesAndTerminals(Real frequency) {
 		(**mIntfCurrent)(0,0),
 		initialSingleVoltage(0).real(),
 		initialSingleVoltage(1).real());
+	mSLog->flush();
 }
 
 void EMT::Ph1::Inductor::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {

dpsim-models/src/EMT/EMT_Ph1_Resistor.cpp

@@ -39,6 +39,7 @@ void EMT::Ph1::Resistor::initializeFromNodesAndTerminals(Real frequency) {
 		(**mIntfCurrent)(0,0),
 		initialSingleVoltage(0).real(),
 		initialSingleVoltage(1).real());
+	mSLog->flush();
 }
 
 void EMT::Ph1::Resistor::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {

dpsim-models/src/SP/SP_Ph1_CurrentSource.cpp

@@ -0,0 +1,94 @@
+/* Copyright 2017-2021 Institute for Automation of Complex Power Systems,
+ *                     EONERC, RWTH Aachen University
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *********************************************************************************/
+
+#include <dpsim-models/SP/SP_Ph1_CurrentSource.h>
+
+using namespace CPS;
+
+SP::Ph1::CurrentSource::CurrentSource(String uid, String name, Logger::Level logLevel)
+	: MNASimPowerComp<Complex>(uid, name, true, true, logLevel),
+	mCurrentRef(mAttributes->createDynamic<Complex>("I_ref")) {
+	setTerminalNumber(2);
+	**mIntfVoltage = MatrixComp::Zero(1,1);
+	**mIntfCurrent = MatrixComp::Zero(1,1);
+}
+
+SP::Ph1::CurrentSource::CurrentSource(String name, Complex current, Logger::Level logLevel)
+	: CurrentSource(name, logLevel) {
+	setParameters(current);
+}
+
+void SP::Ph1::CurrentSource::setParameters(Complex current) {
+	**mCurrentRef = current;
+	mParametersSet = true;
+}
+
+SimPowerComp<Complex>::Ptr SP::Ph1::CurrentSource::clone(String name) {
+	auto copy = CurrentSource::make(name, mLogLevel);
+	copy->setParameters(**mCurrentRef);
+	return copy;
+}
+
+void SP::Ph1::CurrentSource::initializeFromNodesAndTerminals(Real frequency) {
+
+	(**mIntfVoltage)(0,0) = initialSingleVoltage(0) - initialSingleVoltage(1);
+	(**mIntfCurrent)(0,0) = **mCurrentRef;
+
+	SPDLOG_LOGGER_INFO(mSLog, 
+		"\n--- Initialization from powerflow ---"
+		"\nVoltage across: {:s}"
+		"\nCurrent: {:s}"
+		"\nTerminal 0 voltage: {:s}"
+		"\nTerminal 1 voltage: {:s}"
+		"\n--- Initialization from powerflow finished ---",
+		Logger::phasorToString((**mIntfVoltage)(0,0)),
+		Logger::phasorToString((**mIntfCurrent)(0,0)),
+		Logger::phasorToString(initialSingleVoltage(0)),
+		Logger::phasorToString(initialSingleVoltage(1)));
+}
+
+void SP::Ph1::CurrentSource::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {
+		updateMatrixNodeIndices();
+	(**mIntfCurrent)(0,0) = **mCurrentRef;
+}
+
+void SP::Ph1::CurrentSource::mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) {
+	attributeDependencies.push_back(mCurrentRef);
+	modifiedAttributes.push_back(mRightVector);
+	modifiedAttributes.push_back(mIntfCurrent);
+}
+
+void SP::Ph1::CurrentSource::mnaCompPreStep(Real time, Int timeStepCount) {
+	mnaCompApplyRightSideVectorStamp(**mRightVector);
+}
+
+void SP::Ph1::CurrentSource::mnaCompApplyRightSideVectorStamp(Matrix& rightVector) {
+	(**mIntfCurrent)(0,0) = **mCurrentRef;
+
+	if (terminalNotGrounded(0))
+		Math::setVectorElement(rightVector, matrixNodeIndex(0), -(**mIntfCurrent)(0,0));
+	if (terminalNotGrounded(1))
+		Math::setVectorElement(rightVector, matrixNodeIndex(1), (**mIntfCurrent)(0,0));
+}
+
+void SP::Ph1::CurrentSource::mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, Attribute<Matrix>::Ptr &leftVector) {
+	attributeDependencies.push_back(leftVector);
+	modifiedAttributes.push_back(mIntfVoltage);
+}
+
+void SP::Ph1::CurrentSource::mnaCompPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) {
+	mnaCompUpdateVoltage(**leftVector);
+}
+
+void SP::Ph1::CurrentSource::mnaCompUpdateVoltage(const Matrix& leftVector) {
+	(**mIntfVoltage)(0,0) = 0;
+	if (terminalNotGrounded(0))
+		(**mIntfVoltage)(0,0) = Math::complexFromVectorElement(leftVector, matrixNodeIndex(0));
+	if (terminalNotGrounded(1))
+		(**mIntfVoltage)(0,0) = (**mIntfVoltage)(0,0) - Math::complexFromVectorElement(leftVector, matrixNodeIndex(1));
+}

dpsim-villas/examples/cxx/CMakeLists.txt

@@ -16,6 +16,8 @@ set(SHMEM_SOURCES
 	FileExample.cpp
 	MqttExample.cpp
 	SharedMemExample.cpp
+	SocketExample.cpp
+	CosimSocketExample.cpp
 	#ShmemExample.cpp
 	#ShmemDistributedReference.cpp
 	#ShmemDistributedDirect.cpp