feat (state): cleanup simulation state interface
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3 changed files with 118 additions and 128 deletions
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@ -3,7 +3,7 @@ opam-version: "2.0"
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synopsis: "An executable semantics for the simulation of hybrid systems"
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maintainer: ["henri.saudubray@proton.me"]
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authors: ["Henri Saudubray"]
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license: "GPL-3.0-or-later"
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license: "CeCILL-2.1-or-later"
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homepage: "https://codeberg.org/17maiga/hsim"
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doc: "https://url/to/documentation"
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bug-reports: "https://codeberg.org/17maiga/hsim/issues"
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@ -26,27 +26,25 @@ module LazySim (S : SimState) =
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(HNode model : ('p, 'a, 'b, 'y, 'yder, 'zin, 'zout) hnode)
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(DNode solver : ('y, 'yder, 'zin, 'zout) solver)
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: ('p, 'a, 'b) lazy_sim
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= let state = S.init ~mstate:model.state ~sstate:solver.state in
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= let state = S.get_init model.state solver.state in
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let step state input =
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let mstate = S.mstate state and sstate = S.sstate state
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and status = S.status state in
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let mstate = S.get_mstate state and sstate = S.get_sstate state in
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match input, S.is_running state with
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| Some input, _ ->
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let mode = Discrete and now = 0.0 and stop = input.length in
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let status = S.running ~mode ~input ~now ~stop status in
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let state = S.update ~status state in
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let state = S.set_running ~mode ~input ~now ~stop state in
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None, state
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| None, false -> None, state
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| None, true ->
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let input = S.input state and now = S.now state
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and stop = S.stop state in
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match S.mode state with
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let input = S.get_input state and now = S.get_now state
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and stop = S.get_stop state in
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match S.get_mode state with
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| Discrete ->
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let o, mstate = model.step mstate (input.u now) in
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let state =
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let h = model.horizon mstate in
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if h <= 0.0 then S.update ~mstate state
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if h <= 0.0 then S.set_mstate state mstate
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else if now >= stop then
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(* TODO: Build an initial state with the initial states for
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both the solver and model - an equivalent of [s] in
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@ -59,11 +57,9 @@ module LazySim (S : SimState) =
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let ivp = { fder; stop = stop -. now; init = y } in
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let zc = { yc = y; fzer } in
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let sstate = solver.reset (ivp, zc) sstate in
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let status = S.running ~mode:Continuous status in
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S.update ~status ~mstate ~sstate state
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else
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let status = S.running ~mode:Continuous status in
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S.update ~status state in
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let state = S.set_running ~mode:Continuous state in
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S.update state mstate sstate
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else S.set_running ~mode:Continuous state in
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let start = input.start +. now in
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Some { start; length = 0.0; u = fun _ -> o }, state
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| Continuous ->
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@ -76,28 +72,27 @@ module LazySim (S : SimState) =
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{ start = input.start +. now; length = h -. now; u = fout } in
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let state = match z with
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| None ->
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let status =
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if h >= stop then S.running ~mode:Discrete ~now:h' status
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else S.running ~now:h' status in
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S.update ~status ~mstate ~sstate state
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let state =
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if h >= stop then
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S.set_running ~mode:Discrete ~now:h' state
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else S.set_running ~now:h' state in
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S.update state mstate sstate
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| Some z ->
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let status = S.running ~mode:Discrete ~now:h' status in
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let mstate = model.zset mstate z in
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S.update ~status ~mstate ~sstate state in
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let state = S.set_running ~mode:Discrete ~now:h' state in
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S.update state (model.zset mstate z) sstate in
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Some out, state in
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let reset p s =
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(* TODO: does [model.cget mstate] make sense before the first discrete
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step - can we use [mstate] to reinitialize [sstate] ? *)
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let mstate = model.reset p (S.mstate s) in
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let mstate = model.reset p (S.get_mstate s) in
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let y = model.cget mstate in
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(* TODO: what initial stop time do we use ? *)
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let stop = raise Common.Utils.TODO in
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let ivp = { fder = model.fder mstate; stop; init = y } in
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let zc = { fzer = model.fzer mstate; yc = y } in
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let sstate = solver.reset (ivp, zc) (S.sstate s) in
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let status = S.idle (S.status s) in
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S.update ~status ~mstate ~sstate s in
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let sstate = solver.reset (ivp, zc) (S.get_sstate s) in
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S.update s mstate sstate in
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DNode { state; step; reset }
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@ -113,40 +108,37 @@ module GreedySim (S : SimState) =
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(HNode model : ('p, 'a, 'b, 'y, 'yder, 'zin, 'zout) hnode)
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(DNode solver : ('y, 'yder, 'zin, 'zout) solver)
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: ('p, 'a, 'b) greedy_sim
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= let state = S.init ~mstate:model.state ~sstate:solver.state in
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= let state = S.get_init model.state solver.state in
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let rec step state input =
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let status = S.status state and mstate = S.mstate state
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and sstate = S.sstate state in
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let mstate = S.get_mstate state and sstate = S.get_sstate state in
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if not (S.is_running state) then
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let mode = Discrete and now = 0.0 and stop = input.length in
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let status = S.running ~mode ~input ~now ~stop (S.status state) in
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let state = S.update ~status state in
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let state = S.set_running ~mode ~input ~now ~stop state in
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step state input
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else let now = S.now state and stop = S.stop state in
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match S.mode state with
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else let now = S.get_now state and stop = S.get_stop state in
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match S.get_mode state with
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| Discrete ->
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let o, mstate = model.step mstate (input.u now) in
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let h = model.horizon mstate in
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let rest, state =
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if h <= 0.0 then step (S.update ~mstate state) input
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if h <= 0.0 then step (S.set_mstate state mstate) input
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else if now >= stop then [], state
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else if model.jump mstate then
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let y = model.cget mstate in
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(* FIXME: copy the state here *)
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let fder t = model.fder mstate (offset input now t) in
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let fzer t = model.fzer mstate (offset input now t) in
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let ivp = { fder; stop = stop -. now; init = y } in
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let zc = { yc = y; fzer } in
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let sstate = solver.reset (ivp, zc) sstate in
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let status = S.running ~mode:Continuous status in
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step (S.update ~status ~mstate ~sstate state) input
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else
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let status = S.running ~mode:Continuous status in
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step (S.update ~status state) input in
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let state = S.set_running ~mode:Continuous state in
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step (S.update state mstate sstate) input
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else step (S.set_running ~mode:Continuous state) input in
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let start = input.start +. now in
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{ start; length = 0.0; u = fun _ -> o }::rest, state
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| Continuous ->
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let (h, f, z), _sstate = solver.step sstate stop in
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let (h, f, z), sstate = solver.step sstate stop in
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let mstate = model.cset mstate (f h) in
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let h' = input.start +. h in
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let fout t =
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@ -156,22 +148,19 @@ module GreedySim (S : SimState) =
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match z with
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| None ->
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if h >= stop then
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let status = S.running ~mode:Discrete ~now:h' status in
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let rest, state =
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step (S.update ~status ~mstate ~sstate state) input in
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let state = S.set_running ~mode:Discrete ~now:h' state in
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let rest, state = step (S.update state mstate sstate) input in
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out::rest, state
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else
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let status = S.running ~now:h' status in
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let rest, state =
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step (S.update ~status ~mstate ~sstate state) input in
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let state = S.set_running ~now:h' state in
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let rest, state = step (S.update state mstate sstate) input in
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(match rest with
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| [] -> [out], state
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| f::rest -> compose [out;f] :: rest, state)
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| Some z ->
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let status = S.running ~mode:Discrete ~now:h' status in
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let state = S.set_running ~mode:Discrete ~now:h' state in
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let mstate = model.zset mstate z in
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let rest, state =
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step (S.update ~status ~mstate ~sstate state) input in
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let rest, state = step (S.update state mstate sstate) input in
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out::rest, state in
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let reset = assert false in
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@ -8,58 +8,59 @@ type mode = Discrete | Continuous
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module type SimState =
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sig
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(** Simulation status:
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- Idle: waiting for input
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- Running: currently integrating; in this case, we have access to the
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step mode, current input, timestamp and stop time. *)
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type 'a status
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(** Internal state of the simulation. This contains the state of the model
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and solver, as well as the current simulation status. *)
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and solver, as well as the current simulation status.
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The simulation status should take two forms:
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- Idle: waiting for input;
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- Running: currently integrating; in this case, we have access to the
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step mode, current input, timestamp and stop time. *)
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type ('a, 'ms, 'ss) state
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(** Get the current simulation status. *)
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val status : ('a, 'ms, 'ss) state -> 'a status
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(** Get the model state. *)
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val mstate : ('a, 'ms, 'ss) state -> 'ms
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val get_mstate : ('a, 'ms, 'ss) state -> 'ms
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(** Get the solver state. *)
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val sstate : ('a, 'ms, 'ss) state -> 'ss
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val get_sstate : ('a, 'ms, 'ss) state -> 'ss
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(** Get the current step mode.
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⚠ Should only be called when running (see [is_running]). *)
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val get_mode : ('a, 'ms, 'ss) state -> mode
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(** Get the current input.
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⚠ Should only be called when running (see [is_running]). *)
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val get_input : ('a, 'ms, 'ss) state -> 'a value
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(** Get the current timestamp.
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⚠ Should only be called when running (see [is_running]). *)
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val get_now : ('a, 'ms, 'ss) state -> time
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(** Get the current stop time.
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⚠ Should only be called when running (see [is_running]). *)
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val get_stop : ('a, 'ms, 'ss) state -> time
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(** Build an initial state. *)
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val get_init : 'ms -> 'ss -> ('a, 'ms, 'ss) state
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(** Is the simulation running or idle ? *)
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val is_running : ('a, 'ms, 'ss) state -> bool
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(** Update the state. *)
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val update : ?status:'a status -> ?mstate:'ms -> ?sstate:'ss ->
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(** Update the model state. *)
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val set_mstate : ('a, 'ms, 'ss) state -> 'ms -> ('a, 'ms, 'ss) state
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(** Update the solver state. *)
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val set_sstate : ('a, 'ms, 'ss) state -> 'ss -> ('a, 'ms, 'ss) state
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(** Update both the solver and model states. *)
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val update : ('a, 'ms, 'ss) state -> 'ms -> 'ss -> ('a, 'ms, 'ss) state
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(** Update the status to running. *)
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val set_running :
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?mode:mode -> ?input:'a value -> ?now:time -> ?stop:time ->
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('a, 'ms, 'ss) state -> ('a, 'ms, 'ss) state
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(** Update the status to idle. *)
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val idle : 'a status -> 'a status
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(** Update the status to running. *)
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val running :
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?mode:mode -> ?input:'a value ->
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?now:time -> ?stop:time -> 'a status -> 'a status
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(** Get the current step mode.
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⚠ Should only be called when running (see [is_running]). *)
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val mode : ('a, 'ms, 'ss) state -> mode
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(** Get the current input.
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⚠ Should only be called when running (see [is_running]). *)
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val input : ('a, 'ms, 'ss) state -> 'a value
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(** Get the current timestamp.
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⚠ Should only be called when running (see [is_running]). *)
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val now : ('a, 'ms, 'ss) state -> time
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(** Get the current stop time.
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⚠ Should only be called when running (see [is_running]). *)
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val stop : ('a, 'ms, 'ss) state -> time
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(** Build an initial state. *)
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val init : mstate:'ms -> sstate:'ss -> ('a, 'ms, 'ss) state
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val set_idle : ('a, 'ms, 'ss) state -> ('a, 'ms, 'ss) state
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end
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module FunctionalSimState : SimState =
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@ -87,21 +88,20 @@ module FunctionalSimState : SimState =
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exception Not_running
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let status s = s.status
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let mstate s = s.mstate
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let sstate s = s.sstate
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let get_mstate state = state.mstate
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let get_sstate state = state.sstate
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let is_running s =
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match s.status with Running _ -> true | Idle -> false
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let is_running state =
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match state.status with Running _ -> true | Idle -> false
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let idle _ = Idle
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let set_idle state = { state with status = Idle }
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let running ?mode ?input ?now ?stop s =
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match s with
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let set_running ?mode ?input ?now ?stop state =
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match state.status with
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| Idle ->
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begin match mode, input, now, stop with
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| Some mode, Some input, Some now, Some stop ->
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Running { mode; input; now; stop }
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{ state with status = Running { mode; input; now; stop } }
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| _ -> raise (Invalid_argument "")
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end
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| Running { mode=m; input=i; now=n; stop=s } ->
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@ -109,24 +109,23 @@ module FunctionalSimState : SimState =
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let input = Option.value input ~default:i in
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let now = Option.value now ~default:n in
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let stop = Option.value stop ~default:s in
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Running { mode; input; now; stop }
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{ state with status = Running { mode; input; now; stop } }
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let update ?status ?mstate ?sstate { status=st; mstate=ms; sstate=ss } =
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let status = Option.value status ~default:st in
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let mstate = Option.value mstate ~default:ms in
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let sstate = Option.value sstate ~default:ss in
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{ status; mstate; sstate }
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let set_mstate state mstate = { state with mstate }
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let set_sstate state sstate = { state with sstate }
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let mode s =
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let update state mstate sstate = { state with mstate; sstate }
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let get_mode s =
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match s.status with Running r -> r.mode | Idle -> raise Not_running
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let input s =
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let get_input s =
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match s.status with Running r -> r.input | Idle -> raise Not_running
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let now s =
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let get_now s =
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match s.status with Running r -> r.now | Idle -> raise Not_running
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let stop s =
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let get_stop s =
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match s.status with Running r -> r.stop | Idle -> raise Not_running
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let init ~mstate ~sstate = { status = Idle; mstate; sstate }
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let get_init mstate sstate = { status = Idle; mstate; sstate }
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end
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module InPlaceSimState : SimState =
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@ -147,21 +146,23 @@ module InPlaceSimState : SimState =
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exception Not_running
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let status s = s.status
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let mstate s = s.mstate
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let sstate s = s.sstate
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let get_mstate state = state.mstate
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let get_sstate state = state.sstate
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let is_running s =
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match s.status with Running _ -> true | Idle -> false
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let is_running state =
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match state.status with Running _ -> true | Idle -> false
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let idle _ = Idle
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let set_idle state =
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state.status <- Idle;
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state
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let running ?mode ?input ?now ?stop status =
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match status with
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let set_running ?mode ?input ?now ?stop state =
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match state.status with
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| Idle ->
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begin match mode, input, now, stop with
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| Some mode, Some input, Some now, Some stop ->
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Running { mode; input; now; stop }
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state.status <- Running { mode; input; now; stop };
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state
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| _ -> raise (Invalid_argument "")
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end
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| Running ({ mode=m; input=i; now=n; stop=s } as r) ->
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@ -169,23 +170,23 @@ module InPlaceSimState : SimState =
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let input = Option.value input ~default:i in r.input <- input;
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let now = Option.value now ~default:n in r.now <- now;
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let stop = Option.value stop ~default:s in r.stop <- stop;
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status
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state
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let update ?status ?mstate ?sstate
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({ status=st; mstate=ms; sstate=ss } as s) =
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let status = Option.value status ~default:st in
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let mstate = Option.value mstate ~default:ms in
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let sstate = Option.value sstate ~default:ss in
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s.status <- status; s.mstate <- mstate; s.sstate <- sstate; s
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let set_mstate state mstate = state.mstate <- mstate; state
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let set_sstate state sstate = state.sstate <- sstate; state
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let mode s =
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let update state mstate sstate =
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state.mstate <- mstate; state.sstate <- sstate; state
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let get_mode s =
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match s.status with Running r -> r.mode | Idle -> raise Not_running
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let input s =
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let get_input s =
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match s.status with Running r -> r.input | Idle -> raise Not_running
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let now s =
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let get_now s =
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match s.status with Running r -> r.now | Idle -> raise Not_running
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let stop s =
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let get_stop s =
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match s.status with Running r -> r.stop | Idle -> raise Not_running
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let init ~mstate ~sstate = { status = Idle; mstate; sstate }
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let get_init mstate sstate = { status = Idle; mstate; sstate }
|
||||
end
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue