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feat: some ideas on resets

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This commit is contained in:
Henri Saudubray 2025-06-27 15:31:47 +02:00
parent ac4e066bf8
commit 8f6320b30e
Signed by: hms
GPG key ID: 7065F57ED8856128
4 changed files with 24 additions and 21 deletions
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8
exm/zelus/ballz/ballz.zls
View file

@ -1,6 +1,6 @@
let g = 9.81 let g = 9.81
let y0 = 50.0 let y0 = 0.0
let y'0 = 0.0 let y'0 = 10.0
let hybrid ball (y0, y'0) = (y, y', z) where let hybrid ball (y0, y'0) = (y, y', z) where
rec der y = y' init y0 rec der y = y' init y0
@ -15,7 +15,7 @@ let hybrid main () =
print_float t; print_float t;
print_string "\t"; print_string "\t";
print_float y; print_float y;
print_string "\t"; (* print_string "\t";
print_float y'; print_float y'; *)
print_newline () print_newline ()
); () ); ()

4
exm/zelus/sincos/dune
View file

@ -1,6 +1,6 @@
(rule (rule
(targets sincosz.ml sincosz.zci) (targets sincosz_main.ml sincosz.ml sincosz.zci)
(deps (deps
(:zl sincosz.zls)) (:zl sincosz.zls))
(action (action
(run zeluc %{zl}))) (run zeluc -s f -o sincosz_main %{zl})))

11
src/bin/main.ml
View file

@ -64,10 +64,11 @@ let m =
try try
if !zelus then if !zelus then
match !model with match !model with
| None -> Format.eprintf "Missing model\n"; exit 2 | None -> Format.eprintf "Missing model\n"; exit 2
| Some "ballz" -> wrap_zelus (lift Ballz.main) | Some "ballz" -> wrap_zelus (lift Ballz.main)
| Some "ballzm" -> wrap_zelus (lift_hsim Ballz_main.main) | Some "ballzm" -> wrap_zelus (lift_hsim Ballz_main.main)
| Some "sincosz" -> wrap_zelus (lift Sincosz.f) | Some "sincosz" -> wrap_zelus (lift Sincosz.f)
| Some "sincoszm" -> wrap_zelus (lift_hsim Sincosz_main.main)
(* | Some "count" -> wrap_zelus (lift Count.count) *) (* | Some "count" -> wrap_zelus (lift Count.count) *)
| Some s -> Format.eprintf "Unknown model: %s\n" s; exit 2 | Some s -> Format.eprintf "Unknown model: %s\n" s; exit 2
else else
@ -86,7 +87,7 @@ let st = if !inplace then (module State.InPlaceSimState : State.SimState)
else (module State.FunctionalSimState : State.SimState) else (module State.FunctionalSimState : State.SimState)
let output = let output =
if !no_print then Hsim.Utils.ignore if !no_print || !zelus then Hsim.Utils.ignore
else if !speed then Output.print_h else if !speed then Output.print_h
else Output.print (* Output.ignore *) else Output.print (* Output.ignore *)

22
src/lib/hsim/sim.ml
View file

@ -7,8 +7,9 @@ module Sim (S : SimState) =
struct struct
include S include S
let step_discrete s step hor fder fzer cget zset csize zsize jump reset = let step_discrete
let ms, ss, zin = get_mstate s, get_sstate s, get_zin s in s step hor fder fzer cget zset csize zsize jump reset reinit
= let ms, ss, zin = get_mstate s, get_sstate s, get_zin s in
let ms = match zin with Some z -> zset ms z | None -> ms in let ms = match zin with Some z -> zset ms z | None -> ms in
let i, now, stop = get_input s, get_now s, get_stop s in let i, now, stop = get_input s, get_now s, get_stop s in
let o, ms = step ms now (i.u now) in let o, ms = step ms now (i.u now) in
@ -16,7 +17,7 @@ module Sim (S : SimState) =
let h = hor ms in let h = hor ms in
if h <= 0.0 then set_mstate ms s if h <= 0.0 then set_mstate ms s
else if now >= stop then set_idle s else if now >= stop then set_idle s
else if jump ms then begin else if jump ms || reinit then begin
let init = cget ms and stop = stop -. now in let init = cget ms and stop = stop -. now in
let fder t = fder ms t (Utils.offset i.u now t) in let fder t = fder ms t (Utils.offset i.u now t) in
let fzer t = fzer ms t (Utils.offset i.u now t) in let fzer t = fzer ms t (Utils.offset i.u now t) in
@ -54,9 +55,9 @@ module Sim (S : SimState) =
(DNode s : ('y, 'yder, 'zin, 'zout) solver) (DNode s : ('y, 'yder, 'zin, 'zout) solver)
: ('p * (('y, 'yder) ivp * ('y, 'zout) zc), 'a, 'b) sim : ('p * (('y, 'yder) ivp * ('y, 'zout) zc), 'a, 'b) sim
= let state = get_init m.state s.state in = let state = get_init m.state s.state in
let step_discrete st = let step_discrete ?(reinit=false) st =
let o, s = step_discrete st m.step m.horizon m.fder m.fzer m.cget m.zset let o, s = step_discrete st m.step m.horizon m.fder m.fzer m.cget m.zset
m.csize m.zsize m.jump s.reset in m.csize m.zsize m.jump s.reset reinit in
Some o, s in Some o, s in
let step_continuous st = let step_continuous st =
let o, s, _ = step_continuous st s.step m.cset m.fout m.horizon in let o, s, _ = step_continuous st s.step m.cset m.fout m.horizon in
@ -65,7 +66,8 @@ module Sim (S : SimState) =
let step st = function let step st = function
| Some i -> | Some i ->
let mode, now, stop = Discrete, 0.0, i.h in let mode, now, stop = Discrete, 0.0, i.h in
step_discrete (set_running ~mode ~input:i ~now ~stop st) let reinit = i.c = Discontinuous in
step_discrete ~reinit (set_running ~mode ~input:i ~now ~stop st)
| None -> | None ->
if is_running st then match get_mode st with if is_running st then match get_mode st with
| Discrete -> step_discrete st | Discrete -> step_discrete st
@ -88,11 +90,11 @@ module Sim (S : SimState) =
let al = List.map (fun a -> run_assert a get_s) m.assertions in let al = List.map (fun a -> run_assert a get_s) m.assertions in
let state = get_init m.body.state s.state, al in let state = get_init m.body.state s.state, al in
let step_discrete (st, al) = let step_discrete ?(reinit=false) (st, al) =
let m=m.body in let m=m.body in
let o, st = let o, st =
step_discrete st m.step m.horizon m.fder m.fzer m.cget m.zset m.csize step_discrete st m.step m.horizon m.fder m.fzer m.cget m.zset m.csize
m.zsize m.jump s.reset in m.zsize m.jump s.reset reinit in
let al = List.map (fun (DNode a) -> let al = List.map (fun (DNode a) ->
let _, state = a.step a.state @@ Some (Utils.dot @@ get_mstate st) in let _, state = a.step a.state @@ Some (Utils.dot @@ get_mstate st) in
DNode { a with state }) al in DNode { a with state }) al in
@ -134,9 +136,9 @@ module Sim (S : SimState) =
(DNodeC s : ('y, 'yder, 'zin, 'zout) solver_c) (DNodeC s : ('y, 'yder, 'zin, 'zout) solver_c)
: ('p * (('y, 'yder) ivp * ('y, 'zout) zc), 'a, 'b) sim : ('p * (('y, 'yder) ivp * ('y, 'zout) zc), 'a, 'b) sim
= let state = get_init m.state s.state in = let state = get_init m.state s.state in
let step_discrete st = let step_discrete ?(reinit=false) st =
let o, st = step_discrete st m.step m.horizon m.fder m.fzer m.cget let o, st = step_discrete st m.step m.horizon m.fder m.fzer m.cget
m.zset m.csize m.zsize m.jump s.reset in m.zset m.csize m.zsize m.jump s.reset reinit in
Some o, st in Some o, st in
let step_continuous st = let step_continuous st =
let o, st, _ = step_continuous st s.step m.cset m.fout m.horizon in let o, st, _ = step_continuous st s.step m.cset m.fout m.horizon in