Mass controller v2

.gitignore

@@ -250,4 +250,7 @@ $RECYCLE.BIN/
 # Cosapp Systems representations
 **.html
 
+# Command sequences
+*.fmu
+
 # End of https://www.gitignore.io/api/git,linux,macos,python,windows,pycharm,jupyternotebook

rocket_twin/systems/control/controller.mo

@@ -1,8 +1,18 @@
 model controller
   input Real ti;
+  input Real weight;
+  parameter Real weight_max;
+  parameter Real t0;
   output Real w;
+  output Boolean engine_on;
 equation
-  if (ti < 5.) then
+  if (ti < t0) then
+    engine_on = false;
+  else
+    engine_on = true;
+  end if;
+
+  if (weight < weight_max and engine_on == false) then
     w = 1.;
   else
     w = 0.;

rocket_twin/systems/control/controller_fmu.py

@@ -30,12 +30,21 @@ class ControllerFMU(System):
     def setup(self, model_path, model_name):
 
         self.add_inward("time_var", 0.0, desc="System time", unit="")
+        self.add_inward("t0", 0.0, desc="Launch time", unit="")
         self.add_transient("x", der="1")
 
+        pulling = {
+            "w": "w",
+            "weight": "weight_p",
+            "weight_max": "weight_max",
+            "t0": "t0",
+            "ti": "time_var",
+        }
+
         fmu_path = self.create_fmu(model_path, model_name)
         self.add_child(
             FMUSystem("fmu_controller", fmu_path=fmu_path),
-            pulling={"w": "w", "ti": "time_var"},
+            pulling=pulling,
         )
 
     def compute(self):

rocket_twin/systems/control/rocket_controller.mo

@@ -1,8 +1,18 @@
 model rocket_controller
   input Real ti;
+  input Real weight;
+  parameter Real weight_max;
+  parameter Real t0;
   output Real w;
+  output Boolean engine_on;
 equation
-  if (5. < ti and ti < 15.) then
+  if (ti < t0) then
+    engine_on = false;
+  else
+    engine_on = true;
+  end if;
+
+  if (weight > 0. and engine_on == true) then
     w = 1.;
   else
     w = 0.;

rocket_twin/systems/rocket/rocket.py

@@ -17,7 +17,7 @@ class Rocket(System):
 
     def setup(self):
         self.add_child(ControllerCoSApp("controller"))
-        self.add_child(Tank("tank"), pulling=["w_in"])
+        self.add_child(Tank("tank"), pulling=["w_in", "weight_max", "weight_p"])
         self.add_child(Engine("engine"))
         self.add_child(
             Dynamics(

rocket_twin/tests/test_controller_fmu.py

@@ -23,11 +23,18 @@ def test_controller_fmu(self):
             sys.rocket.controller,
             ControllerFMU("controller", model_path=model_path_r, model_name=model_name_r),
         )
-        driver = sys.add_driver(RungeKutta(order=4, time_interval=[0, 15], dt=0.01))
+        sys.connect(sys.controller.inwards, sys.rocket.inwards, ["weight_max", "weight_p"])
+        sys.rocket.connect(
+            sys.rocket.controller.inwards, sys.rocket.tank.inwards, ["weight_max", "weight_p"]
+        )
+
+        driver = sys.add_driver(RungeKutta(order=4, time_interval=[0, 16], dt=0.01))
         init = {"g_tank.weight_p": 10.0, "rocket.tank.weight_p": 0.0}
         values = {
             "g_tank.w_out_max": 1.0,
             "rocket.tank.w_out_max": 0.5,
+            "controller.t0": 5.99,
+            "rocket.controller.t0": 5.99,
         }
         driver.set_scenario(init=init, values=values)
         sys.run_drivers()

rocket_twin/tests/test_flying_rocket.py

@@ -16,7 +16,7 @@ def test_run_once(self):
             "rocket.flying": True,
             "controller.w_temp": 0.0,
             "rocket.controller.w_temp": 1.0,
-            "rocket.tank.weight_p": "rocket.tank.weight_max",
+            "rocket.weight_p": "rocket.tank.weight_max",
             "rocket.tank.w_out_max": 3.0,
             "g_tank.w_in": 0.0,
             "g_tank.weight_p": 0.0,

rocket_twin/tests/test_mission.py

@@ -12,7 +12,7 @@ def test_run_once(self):
         dt = 0.1
 
         init = {
-            "rocket.tank.weight_p": 0.0,
+            "rocket.weight_p": 0.0,
             "rocket.controller.w_temp": 0.0,
             "controller.w_temp": 1.0,
             "g_tank.weight_p": "g_tank.weight_max",

rocket_twin/tests/test_refuel_rocket.py

@@ -12,7 +12,7 @@ def test_run_once(self):
         dt = 0.1
 
         init = {
-            "rocket.tank.weight_p": 0.0,
+            "rocket.weight_p": 0.0,
             "rocket.controller.w_temp": 0.0,
             "controller.w_temp": 1.0,
             "g_tank.weight_p": "g_tank.weight_max",