Readded fmu controller

rocket_twin/systems/__init__.py

@@ -1,4 +1,4 @@
-from rocket_twin.systems.control import ControllerCoSApp, RocketControllerCoSApp, ControllerFMU
+from rocket_twin.systems.control import ControllerCoSApp, RocketControllerCoSApp, ControllerFMU, RocketControllerFMU
 from rocket_twin.systems.engine import Engine, EngineGeom, EnginePerfo
 from rocket_twin.systems.ground import Ground
 from rocket_twin.systems.physics import Dynamics
@@ -24,6 +24,7 @@
     "ControllerCoSApp",
     "RocketControllerCoSApp",
     "ControllerFMU",
+    "RocketControllerFMU",
     "NoseGeom",
     "TubeGeom",
     "WingsGeom",

rocket_twin/systems/control/__init__.py

@@ -2,5 +2,6 @@
 from rocket_twin.systems.control.rocket_controller_cosapp import RocketControllerCoSApp
 
 from rocket_twin.systems.control.controller_fmu import ControllerFMU  # isort: skip
+from rocket_twin.systems.control.rocket_controller_fmu import RocketControllerFMU # isort: skip
 
-__all__ = ["ControllerCoSApp", "ControllerFMU", "RocketControllerCoSApp"]
+__all__ = ["ControllerCoSApp", "ControllerFMU", "RocketControllerCoSApp", "RocketControllerFMU"]

rocket_twin/systems/control/controller.mo

@@ -1,18 +1,8 @@
 model controller
-  input Real ti;
-  input Real weight;
-  parameter Real weight_max;
-  parameter Real tl;
+  input Real is_on;
   output Real w;
-  output Boolean engine_on;
 equation
-  if (ti < tl) then
-    engine_on = false;
-  else
-    engine_on = true;
-  end if;
-
-  if (weight < weight_max and engine_on == false) then
+  if (is_on > 0.5) then
     w = 1.;
   else
     w = 0.;

rocket_twin/systems/control/controller_cosapp.py

@@ -15,7 +15,7 @@ class ControllerCoSApp(System):
 
     def setup(self):
 
-        self.add_inward_modevar("is_on", 0, desc="Whether the fuel flow is allowed or not")
+        self.add_inward("is_on", 0, desc="Whether the fuel flow is allowed or not")
 
         self.add_outward("w", 1., desc="Ratio of command fuel flow to maximum flow", unit="")
 

rocket_twin/systems/control/controller_fmu.py

@@ -27,37 +27,12 @@ class ControllerFMU(System):
 
     def setup(self, model_path, model_name):
 
-        self.add_inward("time_var", 0.0, desc="System time", unit="")
-        self.add_inward("time_int", 0.0, desc="Interval between fueling end and launch", unit="")
-        self.add_inward("time_lnc", 100000.0, desc="Launch time", unit="")
-        self.add_transient("x", der="1")
-
-        pulling = {
-            "w": "w",
-            "weight": "weight_prop",
-            "weight_max": "weight_max",
-            "tl": "time_lnc",
-            "ti": "time_var",
-        }
-
         fmu_path = self.create_fmu(model_path, model_name)
         self.add_child(
             FMUSystem("fmu_controller", fmu_path=fmu_path),
-            pulling=pulling,
+            pulling=["w", "is_on"],
         )
 
-        self.add_event("full_tank", trigger="weight_prop > 0.9999*weight_max")
-
-    def compute(self):
-
-        self.time_var = self.time
-
-    def transition(self):
-
-        if self.full_tank.present:
-
-            self.time_lnc = self.time_var + self.time_int
-
     def create_fmu(self, model_path, model_name):
         """Create an fmu file in the control folder from an mo file.
 

rocket_twin/systems/control/rocket_controller.mo

@@ -1,21 +1,52 @@
 model rocket_controller
   input Real ti;
-  input Real weight;
-  parameter Real weight_max;
+  input Real weight_1;
+  input Real weight_2;
+  input Real weight_3;
   parameter Real tl;
-  output Real w;
-  output Boolean engine_on;
+  parameter Real weight_max_1;
+  parameter Real weight_max_2;
+  parameter Real weight_max_3;
+  output Real is_on_1;
+  output Real is_on_2;
+  output Real is_on_3;
+  output Real fueling;
+  output Real flying;
 equation
+  if (flying < 0.5 and weight_3 < weight_max_3) then
+    fueling = 1.;
+  else
+    fueling = 0.;
+  end if;
+
   if (ti < tl) then
-    engine_on = false;
+    flying = 0.;
   else
-    engine_on = true;
+    flying = 1.;
   end if;
 
-  if (weight > 0. and engine_on == true) then
-    w = 1.;
+  if (flying < 0.5) then
+    is_on_1 = 0.;
+    is_on_2 = 0.;
+    is_on_3 = 0.;
   else
-    w = 0.;
+    if (weight_1 >= 0.1) then
+      is_on_1 = 1.;
+      is_on_2 = 0.;
+      is_on_3 = 0.;
+    elseif (weight_2 >= 0.1) then
+      is_on_1 = 0.;
+      is_on_2 = 1.;
+      is_on_3 = 0.;
+    elseif (weight_3 >= 0.1) then
+      is_on_1 = 0.;
+      is_on_2 = 0.;
+      is_on_3 = 1.;
+    else
+      is_on_1 = 0.;
+      is_on_2 = 0.;
+      is_on_3 = 0.;
+    end if;
   end if;
 
 end rocket_controller;

rocket_twin/systems/control/rocket_controller_cosapp.py

@@ -10,16 +10,15 @@ def setup(self, n_stages):
         for i in range(1, n_stages + 1):
             self.add_inward(f"weight_prop_{i}", 0., desc=f"Stage {i} propellant weight", unit='kg')
             self.add_inward(f"weight_max_{i}", 1., desc=f"Stage {i} maximum propellant weight", unit='kg')
-            self.add_outward_modevar(f"is_on_{i}", 0, desc=f"Whether the stage {i} is on or not")
+            self.add_outward(f"is_on_{i}", 0, desc=f"Whether the stage {i} is on or not")
 
-        self.add_inward("time_int", 0., desc="Interval between fueling end and launch", unit='s')
+        self.add_inward("time_int", 5., desc="Interval between fueling end and launch", unit='s')
         self.add_inward("time_lnc", 100000., desc="Launch time", unit='s')
 
-        self.add_outward_modevar("fueling", 1, desc="Whether the rocket is fueling or not")
-        self.add_outward_modevar("flying", 0, desc="Whether the rocket is flying or not")
+        self.add_outward("fueling", 1, desc="Whether the rocket is fueling or not")
+        self.add_outward("flying", 0, desc="Whether the rocket is flying or not")
 
         self.add_event("full", trigger = "weight_prop_1 == weight_max_1")
-        self.add_event("fuel_end", trigger=f"weight_prop_{n_stages} == weight_max_{n_stages}")
         self.add_event("launch", trigger="t == time_lnc")
         self.add_event("drop", trigger="weight_prop_1 == 0.")
 

rocket_twin/systems/control/rocket_controller_fmu.py

@@ -0,0 +1,90 @@
+import os
+
+from cosapp.base import System
+from cosapp_fmu.FMUsystem import FMUSystem
+from OMPython import ModelicaSystem
+
+import rocket_twin.systems.control
+
+class RocketControllerFMU(System):
+
+    def setup(self, n_stages, model_path, model_name):
+
+        self.add_inward("n_stages", n_stages, desc="number of stages")
+        self.add_inward("stage", 1, desc="Current active stage")
+
+        self.add_inward("time_var", 0.0, desc="System time", unit="")
+        self.add_inward("time_int", 0.0, desc="Interval between fueling end and launch", unit="")
+        self.add_inward("time_lnc", 100000.0, desc="Launch time", unit="")
+        self.add_transient("x", der="1")
+
+        pulling = {"flying" : "flying", "fueling" : "fueling", "tl" : "time_lnc", "ti" : "time_var"}
+
+        for i in range(1, n_stages + 1):
+            self.add_outward(f"is_on_{i}", 0, desc=f"Whether the stage {i} is on or not")
+            pulling[f"weight_{i}"] = f"weight_prop_{i}"
+            pulling[f"weight_max_{i}"] = f"weight_max_{i}"
+            pulling[f"is_on_{i}"] = f"is_on_{i}"
+
+        fmu_path = self.create_fmu(model_path, model_name)
+        self.add_child(
+            FMUSystem("fmu_controller", fmu_path=fmu_path),
+            pulling=pulling,
+        )
+
+        self.add_event("full", trigger = "weight_prop_1 > 0.9999*weight_max_1")
+        self.add_event("drop", trigger="weight_prop_1 < 0.1")
+
+    def compute(self):
+
+        self.time_var = self.time
+
+    def transition(self):
+
+        if self.full.present:
+            if self.stage < self.n_stages:
+                self.stage += 1
+                self.full.trigger = f"weight_prop_{self.stage} > 0.9999 * weight_max_{self.stage}"
+            else:
+                self.time_lnc = self.time + self.time_int
+                self.stage = 1
+
+        if self.drop.present:
+            if self.stage < self.n_stages:
+                self.stage += 1
+                self.drop.trigger = f"weight_prop_{self.stage} < 0.1"
+
+    def create_fmu(self, model_path, model_name):
+        """Create an fmu file in the control folder from an mo file.
+
+        Inputs
+        ------
+        model_path: string
+            the path of the .mo file
+        model_name: string
+            the name of the .fmu file to be created
+
+        Outputs
+        ------
+
+        fmu: string
+            the path to the .fmu file
+        """
+
+        fmu_path = os.path.join(rocket_twin.systems.control.__path__[0], model_name)
+        model_path = os.path.join(rocket_twin.__path__[0], model_path)
+        model_path = model_path.replace("\\", "/")
+        try:
+            os.mkdir(fmu_path)
+        except OSError:
+            pass
+        os.chdir(fmu_path)
+        mod = ModelicaSystem(model_path, model_name)
+        fmu = mod.convertMo2Fmu()
+        for filename in os.listdir(fmu_path):
+            if filename != (model_name + ".fmu"):
+                os.remove(filename)
+
+        return fmu
+
+

rocket_twin/systems/rocket/rocket.py

@@ -58,7 +58,7 @@ def setup(self, n_stages=1):
         self.add_child(Dynamics("dyn", forces=forces, weights=["weight_rocket"]), pulling=["a"])
 
         for i in range(1, n_stages + 1):
-            self.connect(self.controller.modevars_out, self[f"stage_{i}"].modevars_in, {f"is_on_{i}" : "is_on"})
+            self.connect(self.controller.outwards, self[f"stage_{i}"].inwards, {f"is_on_{i}" : "is_on"})
             self.connect(self[f"stage_{i}"].outwards, self.controller.inwards, {"weight_prop" : f"weight_prop_{i}", "weight_max" : f"weight_max_{i}"})
             self.connect(self[f"stage_{i}"].outwards, self.geom.inwards, {"props": f"stage_{i}"})
             self.connect(self[f"stage_{i}"].outwards, self.dyn.inwards, {"thrust": f"thrust_{i}"})

rocket_twin/systems/station/station.py

@@ -27,7 +27,7 @@ def setup(self, n_stages=1):
         self.connect(self.g_tank.outwards, self.pipe.inwards, {"w_out": "w_in"})
         self.connect(self.pipe.outwards, self.rocket.inwards, {"w_out": "w_in_1"})
 
-        self.connect(self.rocket.modevars_out, self.controller.modevars_in, {'fueling' : 'is_on'})
+        self.connect(self.rocket.outwards, self.controller.inwards, {'fueling' : 'is_on'})
         self.connect(self.controller.outwards, self.g_tank.inwards, {"w": "w_command"})
 
         self.g_tank.geom.height = 2.0

rocket_twin/tests/test_controller_cosapp.py

@@ -21,7 +21,6 @@ def test_control(self):
             "rocket.stage_1.tank.fuel.w_out_max": 1.0,
             "rocket.stage_2.tank.fuel.w_out_max": 1.0,
             "rocket.stage_3.tank.fuel.w_out_max": 1.0,
-            "rocket.controller.fueling" : 1,
             "rocket.controller.time_int" : 5.
         }
 
@@ -30,6 +29,7 @@ def test_control(self):
             "rocket.weight_prop_1",
             "rocket.weight_prop_2",
             "rocket.weight_prop_3",
+            "rocket.a"
         ]
 
         driver = sys.add_driver(RungeKutta("rk", order=4, dt=1))
@@ -43,8 +43,10 @@ def test_control(self):
         data = driver.recorder.export_data()
         data1 = data.drop(["Section", "Status", "Error code", "rocket.weight_prop_2", "rocket.weight_prop_3"], axis=1)
         data2 = data.drop(["Section", "Status", "Error code", "rocket.dyn.weight", "rocket.weight_prop_1"], axis=1)
+        acel = np.asarray(data["rocket.a"])
 
         print(data1)
         print(data2)
 
-        np.testing.assert_allclose(1,2, atol=0.1)
+        np.testing.assert_allclose(sys.rocket.geom.weight, 4., atol=10 ** (0))
+        np.testing.assert_allclose(acel[-3], 40., atol=0.1)