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Commit 5cbbdcc6 authored by Claes Sjöfors's avatar Claes Sjöfors
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MPC controller update with monitor object

parent c64855dc
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Showing with 24490 additions and 699 deletions
bcomp/lib/rt/src/rt_plc_bcomp.c
View file @ 5cbbdcc6
This diff is collapsed.
bcomp/mmi/bcomp/src/pwr_c_compmpc_mlp.pwg
View file @ 5cbbdcc6
This diff is collapsed.
bcomp/mmi/bcomp/src/pwr_c_compmpc_monitor.pwg 0 → 100644
View file @ 5cbbdcc6
This diff is collapsed.
bcomp/wbl/bcomp/src/basecomponent.wb_load
View file @ 5cbbdcc6
This diff is collapsed.
sev/exp/py/src/sev_analyse.py
View file @ 5cbbdcc6
This diff is collapsed.
simul/lib/simul/src/simul_mlp.c
View file @ 5cbbdcc6
......@@ -40,6 +40,7 @@
#include <math.h>
#include "co_dcli.h"
#include "simul.h"
#include "rt_plc_msg.h"
typedef enum {
mlp_eActivation_No = 0,
......@@ -60,10 +61,12 @@ typedef struct {
double aval[20];
} mlp_sCtx, *mlp_tCtx;
#define mlp_scale(value, idx) ((value) * co->ScaleCoeff1[(idx)] + co->ScaleCoeff0[(idx)])
#define mlp_rescale(value, idx) (((value) - co->ScaleCoeff0[(idx)]) / co->ScaleCoeff1[(idx)])
int mlp_import(const char *file, mlp_sCtx *mlp);
void mlp_free(mlp_sCtx *mlp);
void mlp_model(mlp_tCtx mlp, double *x, double *out);
static int mlp_import(pwr_sClass_Sim_ModelMLP* co, const char *file, mlp_sCtx *mlp);
static void mlp_model(mlp_tCtx mlp, double *x, double *out);
void Sim_ModelMLP_Fo_init(pwr_sClass_Sim_ModelMLP_Fo* o)
{
......@@ -78,19 +81,33 @@ void Sim_ModelMLP_Fo_init(pwr_sClass_Sim_ModelMLP_Fo* o)
o->PlcConnectP = 0;
co = (pwr_sClass_Sim_ModelMLP *)o->PlcConnectP;
if (!co) {
co->Status = 2;
if (!co)
return;
}
o->ModelP = (mlp_tCtx)calloc(1, sizeof(mlp_sCtx));
co->Status = mlp_import(co->ModelFile, (mlp_tCtx)o->ModelP);
co->Status = mlp_import(co, co->ModelFile, (mlp_tCtx)o->ModelP);
if (EVEN(co->Status))
return;
co->Layers = ((mlp_tCtx)o->ModelP)->layers;
for (i = 0; i < MIN(co->Layers, sizeof(co->LayerSizes)/sizeof(co->LayerSizes[0])); i++)
co->LayerSizes[i] = ((mlp_tCtx)o->ModelP)->layer_sizes[i];
switch (((mlp_tCtx)o->ModelP)->activation) {
case mlp_eActivation_Tanh:
strcpy(co->Activation, "tanh");
break;
case mlp_eActivation_Identity:
strcpy(co->Activation, "identity");
break;
case mlp_eActivation_Relu:
strcpy(co->Activation, "relu");
break;
case mlp_eActivation_Logistic:
strcpy(co->Activation, "logistic");
break;
default:
strcpy(co->Activation, "unknown");
}
((mlp_tCtx)o->ModelP)->inputs = (double *)calloc(((mlp_tCtx)o->ModelP)->layer_sizes[0],
sizeof(double));
......@@ -106,20 +123,22 @@ void Sim_ModelMLP_Fo_exec(plc_sThread* tp, pwr_sClass_Sim_ModelMLP_Fo* o)
return;
for (i = 0; i < co->LayerSizes[0]; i++) {
((mlp_tCtx)o->ModelP)->inputs[i] = (double)(**(pwr_tFloat32 **)((char *)&o->In1P + pwr_cInputOffset * i));
((mlp_tCtx)o->ModelP)->inputs[i] = (double)mlp_scale((**(pwr_tFloat32 **)((char *)&o->In1P + pwr_cInputOffset * i)), i+1);
}
mlp_model((mlp_tCtx)o->ModelP, ((mlp_tCtx)o->ModelP)->inputs, &out);
o->Out = (pwr_tFloat32)out;
o->Out = (pwr_tFloat32)mlp_rescale(out, 0);
co->Value = o->Out;
}
int mlp_import(const char *file, mlp_sCtx *mlp)
static int mlp_import(pwr_sClass_Sim_ModelMLP* co, const char *file, mlp_sCtx *mlp)
{
pwr_tFileName fname;
FILE *fp;
char line[2000];
unsigned int i, j, k;
unsigned int size, num;
char *s;
dcli_translate_filename(fname, file);
......@@ -128,26 +147,48 @@ int mlp_import(const char *file, mlp_sCtx *mlp)
return 0;
while (dcli_read_line(line, sizeof(line), fp)) {
if (strncmp(line, "Layers ", 7) == 0) {
if (sscanf(&line[7], "%d", &mlp->layers) != 1) {
printf("Syntax error\n");
return 0;
if (strncmp(line, "Scaler ", 7) == 0) {
char sarray[20][40];
if (sscanf(&line[7], "%d", &size) != 1)
return PLC__FILESYNTAX;
dcli_read_line(line, sizeof(line), fp);
num = dcli_parse(line, " ", "", (char*)sarray,
sizeof(sarray) / sizeof(sarray[0]), sizeof(sarray[0]),
0);
if (num < size)
return PLC__FILESYNTAX;
for (i = 0; i < size; i++) {
if (sscanf(sarray[i], "%f", &co->ScaleCoeff0[i]) != 1)
return PLC__FILESYNTAX;
}
dcli_read_line(line, sizeof(line), fp);
num = dcli_parse(line, " ", "", (char*)sarray,
sizeof(sarray) / sizeof(sarray[0]), sizeof(sarray[0]),
0);
if (num < size)
return PLC__FILESYNTAX;
for (i = 0; i < size; i++) {
if (sscanf(sarray[i], "%f", &co->ScaleCoeff1[i]) != 1)
return PLC__FILESYNTAX;
}
}
if (strncmp(line, "Layers ", 7) == 0) {
if (sscanf(&line[7], "%d", &mlp->layers) != 1)
return PLC__FILESYNTAX;
}
else if (strncmp(line, "LayerSizes ", 11) == 0) {
mlp->layer_sizes = (unsigned int *)calloc(mlp->layers, sizeof(int));
s = line;
for (i = 0; i < mlp->layers; i++) {
s = strchr(s, ' ');
if (!s) {
printf("Syntax error\n");
return 0;
}
if (!s)
return PLC__FILESYNTAX;
s++;
if (sscanf(s, "%d", &mlp->layer_sizes[i]) != 1) {
printf("Syntax error\n");
return 0;
}
if (sscanf(s, "%d", &mlp->layer_sizes[i]) != 1)
return PLC__FILESYNTAX;
}
}
else if (strncmp(line, "Activation ", 11) == 0) {
......@@ -174,10 +215,8 @@ int mlp_import(const char *file, mlp_sCtx *mlp)
s = strchr(s, ' ');
s++;
}
if (sscanf(s, "%lf", &mlp->intercepts[i][j]) != 1) {
printf("Syntax error\n");
return 0;
}
if (sscanf(s, "%lf", &mlp->intercepts[i][j]) != 1)
return PLC__FILESYNTAX;
}
}
}
......@@ -197,7 +236,7 @@ int mlp_import(const char *file, mlp_sCtx *mlp)
dcli_read_line(line, sizeof(line), fp);
sscanf(line, "%d %d %d %lf", &i1, &j1, &k1, &mlp->coefs[i][j][k]);
if (i1 != i || j1 != j || k1 != k)
printf("Syntax error\n");
return PLC__FILESYNTAX;
}
}
}
......@@ -211,7 +250,7 @@ int mlp_import(const char *file, mlp_sCtx *mlp)
for (i = 0; i < mlp->layers - 1; i++) {
mlp->h[i] = (double *)calloc(mlp->layer_sizes[i+1], sizeof(double));
}
return 1;
return PLC__SUCCESS;
}
void mlp_free(mlp_sCtx *mlp)
......@@ -235,7 +274,7 @@ void mlp_free(mlp_sCtx *mlp)
free(mlp);
}
void mlp_model(mlp_tCtx mlp, double *x, double *out)
static void mlp_model(mlp_tCtx mlp, double *x, double *out)
{
unsigned int i, j, k;
......
simul/lib/simul/src/simul_sim.c
View file @ 5cbbdcc6
......@@ -113,6 +113,43 @@ void Sim_SignalGeneratorFo_exec(plc_sThread* tp, pwr_sClass_Sim_SignalGeneratorF
if ( value > co->Bias + co->Amplitude)
value -= co->Amplitude;
break;
case pwr_eSim_SignalGeneratorType_Triangular: {
if ( co->Period < FLT_MIN)
break;
co->Accum += *o->ScanTime;
if ( co->Accum / co->Period > (int)(1000.0f / co->Period))
co->Accum -= co->Period * (int)(1000.0f / co->Period);
float p = co->Accum / co->Period - (int)(co->Accum / co->Period);
if ( p <= co->PulseWidth/100)
value += co->Amplitude * p / (co->PulseWidth/100);
else
value += co->Amplitude * (1 - p) / (1 - (co->PulseWidth/100));
break;
}
case pwr_eSim_SignalGeneratorType_StepPyramid: {
if ( co->Period < FLT_MIN)
break;
co->Accum += *o->ScanTime;
if ( co->Accum / co->Period > (int)(1000.0f / co->Period))
co->Accum -= co->Period * (int)(1000.0f / co->Period);
float p = co->Accum / co->Period - (int)(co->Accum / co->Period);
int steps = (int)(1.0f / (co->PulseWidth/100));
if (ODD(steps))
steps -= 1;
int current = (int)(p * steps);
int height = steps/2;
if ( current <= steps/2 - 1)
value += co->Amplitude / height * (current + 1);
else if (current < steps - 1)
value += co->Amplitude / height * (steps - current - 1);
break;
}
}
if ( co->FilterTime > 0.001f) {
......@@ -124,6 +161,11 @@ void Sim_SignalGeneratorFo_exec(plc_sThread* tp, pwr_sClass_Sim_SignalGeneratorF
value += (float)rand() / RAND_MAX * co->Noise * 2 - co->Noise;
}
if (co->RampUp != 0.0f && value - o->ActualValue > co->RampUp * tp->f_scan_time)
o->ActualValue += co->RampUp * tp->f_scan_time;
else if (co->RampDown != 0.0f && value - o->ActualValue < -co->RampDown * tp->f_scan_time)
o->ActualValue -= co->RampDown * tp->f_scan_time;
else
o->ActualValue = value;
co->ActualValue = o->ActualValue;
}
......
simul/mmi/simul/src/pwr_c_sim_modelmlp.pwg 0 → 100644
View file @ 5cbbdcc6
This diff is collapsed.
simul/mmi/simul/src/pwr_c_sim_signalgenerator.pwg
View file @ 5cbbdcc6
......@@ -29,22 +29,26 @@
100 20
135 20
101 20
102 92
103 7
104 2.9419
136 2.9419
102 234
103 258
104 2.73887
136 2.73887
105 100
106 13
107 1
106 28
107 2
108 53
109 10.5
110 40.8
111 0.831579
116 0
117 0
118 110
119 89
120 1
112 758
113 613
114 196
115 117
116 4
117 33
118 107
119 117
120 0
121 Claes context
122 0
126 0.5
......@@ -63,7 +67,7 @@
134
22
2200 0
2201 536
2201 540
2202 pwr_c_sim_signalgenerator
2203 310
2205 0
......@@ -3714,10 +3718,10 @@ pwr_exe:
99
30
3004 O75
3000 0.63148
3000 0.58148
3001 0.23148
3002 0.696505
3003 0.246505
3003 0.196505
3008 0
3010 4
3011 2
......@@ -8273,10 +8277,10 @@ pwr_exe:
99
30
3004 O376
3000 17.6556
3000 17.6056
3001 13.2056
3002 22.4097
3003 21.5597
3002 22.5097
3003 21.7097
3008 326
3010 4
3011 2
......@@ -8301,7 +8305,7 @@ pwr_exe:
2802 12.1056
2803 0
2804 1
2805 19.7597
2805 19.8597
2806 0
99
99
......@@ -9161,10 +9165,10 @@ pwr_exe:
99
30
3004 O503
3000 14.8056
3000 14.7556
3001 13.2056
3002 25.3597
3003 24.5097
3002 25.4597
3003 24.6597
3008 326
3010 4
3011 2
......@@ -9189,7 +9193,7 @@ pwr_exe:
2802 12.1056
2803 0
2804 1
2805 22.7097
2805 22.8097
2806 0
99
99
......@@ -9478,7 +9482,7 @@ pwr_exe:
6967
6968
6969 0
6900 31
6900 127
6901 Straight
6933 0
6902 Sine
......@@ -9489,6 +9493,10 @@ pwr_exe:
6936 3
6905 SawTooth
6937 4
6906 Triangular
6938 5
6907 StepPyramid
6939 6
99
99
99
......@@ -9497,7 +9505,7 @@ pwr_exe:
3000 14.9556
3001 13.2056
3002 23.8597
3003 23.0097
3003 23.0597
3008 326
3010 4
3011 2
......@@ -9803,10 +9811,10 @@ pwr_exe:
99
30
3004 O510
3000 17.0556
3000 17.1056
3001 13.2056
3002 27.5997
3003 26.7497
3002 27.6497
3003 26.8497
3008 326
3010 4
3011 2
......@@ -9831,7 +9839,7 @@ pwr_exe:
2802 12.1056
2803 0
2804 1
2805 24.9497
2805 24.9997
2806 0
99
99
......@@ -10263,10 +10271,10 @@ pwr_exe:
99
30
3004 O515
3000 15.6056
3000 15.5056
3001 13.2056
3002 29.8397
3003 28.9897
3003 29.0397
3008 326
3010 4
3011 2
......@@ -10723,10 +10731,10 @@ pwr_exe:
99
30
3004 O520
3000 17.5556
3000 17.4556
3001 13.2056
3002 32.0797
3003 31.2297
3002 32.1797
3003 31.3797
3008 326
3010 4
3011 2
......@@ -10751,7 +10759,7 @@ pwr_exe:
2802 12.1056
2803 0
2804 1
2805 29.4297
2805 29.5297
2806 0
99
99
......@@ -11183,10 +11191,10 @@ pwr_exe:
99
30
3004 O525
3000 15.3556
3000 15.2556
3001 13.2056
3002 34.3197
3003 33.4697
3002 34.4197
3003 33.6197
3008 326
3010 4
3011 2
......@@ -11211,7 +11219,7 @@ pwr_exe:
2802 12.1056
2803 0
2804 1
2805 31.6697
2805 31.7697
2806 0
99
99
......@@ -11643,10 +11651,10 @@ pwr_exe:
99
30
3004 O530
3000 16.8056
3000 16.9056
3001 13.2056
3002 36.5597
3003 35.7097
3003 35.7597
3008 326
3010 4
3011 2
......@@ -12318,5 +12326,375 @@ pwr_exe:
99
99
99
30
3004 O536
3000 28.9056
3001 25.6556
3002 22.5097
3003 21.7097
3008 326
3010 4
3011 2
3007 0
3006
3005
9
900 4
901 303
904 326
902 RampUp
903
7
700 1.1
701 2.5
99
99
3009
28
2800 1
2801 0
2802 24.5556
2803 0
2804 1
2805 19.8597
2806 0
99
99
27
2703 334
2704 330
2731 310
2722 338
2705 330
2723 338
2706 334
2732 10000
2708 0
2709 0
2710 0
2711 0
2712 0
2713 0
2714 0
2715 0
2720 0
2725 0
2726 0
2702 0
2701
2700
10
1000 pwrct_valueinputmediumbg
1002 O537
1005
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1006 36.594
1007 30.7458
1008 22.8467
1009 21.4902
1013 36.594
1014 30.7458
1015 22.8467
1016 21.4902
1003
0
0
0
0
0
0
0
0
0
0
1004
1001
7
700 8.5
701 7.9
99
1010
1011
1018
1019
1020
1021
1022
1023
1024
1025
1012 0
1017 9999
1027 9999
1026 35454972
1028 0
1029
99
2707
28
2800 1.77219
2801 0
2802 31.0116
2803 0
2804 1.04348
2805 21.6467
2806 0
99
2716 0
2718
2717
2719 0
2724 1
2727 0
2728 303
2729 4
2730 0
2721
1
100 1024
105 0
101 4096
106 0
102 6
103 0
12
1200 $object.RampUp##Float32
1201 %10.3f
1202 1
1203 1
1204 0
1205
1206 0
99
13
1302 0
1303 0
1304 0
1305 0
1306 0
1307
1308
1309 0
1310 0
1311 0
99
99
99
30
3004 O538
3000 30.0056
3001 25.6556
3002 23.9597
3003 23.1597
3008 326
3010 4
3011 2
3007 0
3006
3005
9
900 4
901 303
904 326
902 RampDown
903
7
700 1.1
701 2.5
99
99
3009
28
2800 1
2801 0
2802 24.5556
2803 0
2804 1
2805 21.3097
2806 0
99
99
27
2703 334
2704 330
2731 310
2722 338
2705 330
2723 338
2706 334
2732 10000
2708 0
2709 0
2710 0
2711 0
2712 0
2713 0
2714 0
2715 0
2720 0
2725 0
2726 0
2702 0
2701
2700
10
1000 pwrct_valueinputmediumbg
1002 O539
1005
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1006 36.594
1007 30.7458
1008 24.2967
1009 22.9402
1013 36.594
1014 30.7458
1015 24.2967
1016 22.9402
1003
0
0
0
0
0
0
0
0
0
0
1004
1001
7
700 8.5
701 7.9
99
1010
1011
1018
1019
1020
1021
1022
1023
1024
1025
1012 0
1017 9999
1027 9999
1026 35454972
1028 0
1029
99
2707
28
2800 1.77219
2801 0
2802 31.0116
2803 0
2804 1.04348
2805 23.0967
2806 0
99
2716 0
2718
2717
2719 0
2724 1
2727 0
2728 303
2729 4
2730 0
2721
1
100 1024
105 0
101 4096
106 0
102 6
103 0
12
1200 $object.RampDown##Float32
1201 %10.3f
1202 1
1203 1
1204 0
1205
1206 0
99
13
1302 0
1303 0
1304 0
1305 0
1306 0
1307
1308
1309 0
1310 0
1311 0
99
99
99
99
99
simul/wbl/simul/src/simul.wb_load
View file @ 5cbbdcc6
! Generated by wb_print_wbl 07-NOV-2019 13:42:48.29
! Generated by wb_print_wbl 10-FEB-2020 16:09:47.11
! Volume Simul
! Version V5.7.0
Volume Simul $ClassVolume 0.0.0.8
Body SysBody 01-JAN-1970 01:00:00.00
Attr NextOix = "_X80"
Attr NextOix = "_X82"
Attr NextCix = "_X28"
Attr NextTix[0] = "_X8"
EndBody
......@@ -81,6 +81,20 @@ Volume Simul $ClassVolume 0.0.0.8
Attr Value = 4
EndBody
EndObject
Object Triangular $Value 81 28-JAN-2020 15:27:17.79
Body SysBody 28-JAN-2020 15:27:31.71
Attr Text = "Triangular"
Attr PgmName = "Triangular"
Attr Value = 5
EndBody
EndObject
Object StepPyramid $Value 82 28-JAN-2020 15:31:53.16
Body SysBody 28-JAN-2020 15:32:05.53
Attr Text = "StepPyramid"
Attr PgmName = "StepPyramid"
Attr Value = 6
EndBody
EndObject
EndObject
EndObject
Object Class $ClassHier 21 28-FEB-2016 17:06:54.40
......@@ -1581,7 +1595,7 @@ Volume Simul $ClassVolume 0.0.0.8
Object RtBody $ObjBodyDef 1 06-FEB-2019 15:11:38.90
Body SysBody 06-FEB-2019 15:11:38.90
Attr StructName = "Sim_SignalGenerator"
Attr NextAix = "_X41"
Attr NextAix = "_X43"
EndBody
Object Description $Attribute 21 06-FEB-2019 15:11:38.90
Body SysBody 06-FEB-2019 15:11:38.90
......@@ -1651,6 +1665,20 @@ Volume Simul $ClassVolume 0.0.0.8
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object RampUp $Attribute 41 28-JAN-2020 17:17:09.14
Body SysBody 28-JAN-2020 17:17:10.50
Attr PgmName = "RampUp"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object RampDown $Attribute 42 28-JAN-2020 17:17:19.26
Body SysBody 28-JAN-2020 17:17:21.07
Attr PgmName = "RampDown"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object ActualValueMin $Attribute 30 06-FEB-2019 15:11:38.90
Body SysBody 06-FEB-2019 15:11:38.90
Attr PgmName = "ActualValueMin"
......@@ -2227,7 +2255,7 @@ Volume Simul $ClassVolume 0.0.0.8
! For plc coding the function object Sim_ModelMLP_Fo is used.
! Create a function object in the plc editor and connect it to the
! current object with the connect function.
!
!
! @b See also
! @classlink Sim_ModelMLP_Fo basecomponent_sim_modelmlp_fo.html
!*/
......@@ -2240,8 +2268,15 @@ Volume Simul $ClassVolume 0.0.0.8
Object RtBody $ObjBodyDef 1 07-NOV-2019 12:25:46.68
Body SysBody 07-NOV-2019 12:26:18.41
Attr StructName = "Sim_ModelMLP"
Attr NextAix = "_X22"
Attr NextAix = "_X28"
EndBody
Object Description $Attribute 27 10-FEB-2020 16:09:23.86
Body SysBody 10-FEB-2020 16:09:23.86
Attr PgmName = "Description"
Attr Size = 80
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
!/**
! Model file exported from the sev_analyser.
!*/
......@@ -2252,6 +2287,24 @@ Volume Simul $ClassVolume 0.0.0.8
Attr TypeRef = "pwrs:Type-$String40"
EndBody
EndObject
Object ScaleCoeff0 $Attribute 22 04-FEB-2020 16:45:53.94
Body SysBody 04-FEB-2020 16:46:15.09
Attr PgmName = "ScaleCoeff0"
Attr Size = 68
Attr Flags = 2
Attr Elements = 17
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object ScaleCoeff1 $Attribute 23 04-FEB-2020 16:46:20.26
Body SysBody 04-FEB-2020 16:46:20.26
Attr PgmName = "ScaleCoeff1"
Attr Size = 68
Attr Flags = 2
Attr Elements = 17
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! Number of hidden layers.
!*/
......@@ -2297,6 +2350,28 @@ Volume Simul $ClassVolume 0.0.0.8
Attr TypeRef = "pwrs:Type-$Status"
EndBody
EndObject
Object Value $Attribute 24 10-FEB-2020 15:05:29.56
Body SysBody 10-FEB-2020 15:05:45.84
Attr PgmName = "Value"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object ValueMin $Attribute 26 10-FEB-2020 15:10:54.88
Body SysBody 10-FEB-2020 15:11:23.85
Attr PgmName = "ValueMin"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
Object ValueMax $Attribute 25 10-FEB-2020 15:11:05.33
Body SysBody 10-FEB-2020 15:11:31.33
Attr PgmName = "ValueMax"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$Float32"
EndBody
EndObject
!/**
! @Summary The plc function object connected to this object.
! The plc function object connected to this object.
......@@ -2312,7 +2387,25 @@ Volume Simul $ClassVolume 0.0.0.8
EndObject
EndObject
Object Template Sim_ModelMLP 2154528768 07-NOV-2019 12:25:46.68
Body RtBody 01-JAN-1970 01:00:00.00
Body RtBody 10-FEB-2020 16:09:43.26
Attr ScaleCoeff1[0] = 1.000000e+00
Attr ScaleCoeff1[1] = 1.000000e+00
Attr ScaleCoeff1[2] = 1.000000e+00
Attr ScaleCoeff1[3] = 1.000000e+00
Attr ScaleCoeff1[4] = 1.000000e+00
Attr ScaleCoeff1[5] = 1.000000e+00
Attr ScaleCoeff1[6] = 1.000000e+00
Attr ScaleCoeff1[7] = 1.000000e+00
Attr ScaleCoeff1[8] = 1.000000e+00
Attr ScaleCoeff1[9] = 1.000000e+00
Attr ScaleCoeff1[10] = 1.000000e+00
Attr ScaleCoeff1[11] = 1.000000e+00
Attr ScaleCoeff1[12] = 1.000000e+00
Attr ScaleCoeff1[13] = 1.000000e+00
Attr ScaleCoeff1[14] = 1.000000e+00
Attr ScaleCoeff1[15] = 1.000000e+00
Attr ScaleCoeff1[16] = 1.000000e+00
Attr ValueMax = 1.000000e+02
EndBody
EndObject
EndObject
......
src/exp/py/src/co.py
View file @ 5cbbdcc6
......@@ -8,6 +8,13 @@ class Error(Exception):
def __str__(self):
return self.str
class SyntaxError(Error):
def __init__(self, status, str):
self.str = str
super(Error, self).__init__(status, str)
def __str__(self):
return self.str
def translateFilename(name):
if name[:1] == '$':
idx = name.find('/')
......
src/exp/py/src/rt_mva.py
View file @ 5cbbdcc6
......@@ -75,7 +75,47 @@ def hinton(matrix, max_weight=None, ax=None):
ax.autoscale_view()
ax.invert_yaxis()
def minmax_scale(ser):
"""MinMax scaler [0,1]."""
max = ser.max()
min = ser.min()
if min == max:
coeff0 = 0.0
coeff1 = 1.0 / max
ser = ser / max
else:
coeff0 = -min/(max - min)
coeff1 = 1.0/(max - min)
ser = ser * coeff1 + coeff0
return ser, coeff0, coeff1;
def minmax2_scale(ser):
"""MinMax scaler [-1,1]."""
max = ser.max()
min = ser.min()
if min == max:
coeff0 = 0.0
coeff1 = 1.0 / max
ser = ser / max
else:
coeff0 = -2.0*min/(max - min) - 1
coeff1 = 2.0/(max - min)
ser = ser * coeff1 + coeff0
return ser, coeff0, coeff1;
def standard_scale(ser):
"""Standard scaler."""
mean = ser.mean()
std = ser.std()
if std == 0:
coeff0 = 0.0
coeff1 = 1.0 / mean
ser = ser / mean
else:
coeff0 = -mean/std
coeff1 = 1.0/std
ser = ser * coeff1 + coeff0
return ser, coeff0, coeff1;
class WData:
"""WData class, container for measuring data.
......@@ -102,6 +142,8 @@ class WData:
OP_CURVE = 13
OP_CONSTANT = 14
OP_SHIFT = 15
OP_SCALE = 16
OP_MSHIFT = 17
operations = ((OP_NO, 'No'),
(OP_COPY, 'Copy'),
......@@ -118,7 +160,9 @@ class WData:
(OP_DIVIDE, 'Divide'),
(OP_CURVE, 'Curve'),
(OP_CONSTANT, 'Const'),
(OP_SHIFT, 'Shift'))
(OP_SHIFT, 'Shift'),
(OP_SCALE, 'Scale'),
(OP_MSHIFT, 'MShift'))
def __init__(self):
self.set = False
......@@ -382,7 +426,7 @@ class WData:
i += 1
if len(cix) != 1:
raise co.Error(0, "Select one attributes")
raise co.Error(0, "Select one attribute")
return
if cix[0] == len(self.wdname) - 1:
......@@ -586,7 +630,7 @@ class WData:
i = len(opv) - 1
for op in reversed(opv):
self.exec_op(op, par1v[i], par2v[i])
self.exec_op(op, par1v[i], par2v[i], 0)
i -= 1
self.formula_trim(formulas)
......@@ -631,7 +675,7 @@ class WData:
i += 1
self.wd.columns = self.wdcol
def exec_op(self, op, par1, par2):
def exec_op(self, op, par1, par2, par3):
arg1 = None
found1 = False
......@@ -646,6 +690,9 @@ class WData:
if op == self.OP_SHIFT:
arg1 = par2
if op == self.OP_MSHIFT:
arg1 = par2
arg2 = par3
elif op == self.OP_CURVE:
arg1 = par2
elif op == self.OP_CONSTANT:
......@@ -658,9 +705,9 @@ class WData:
break
i2 += 1
self.op_exec(op, i1, i2, arg1)
self.op_exec(op, i1, i2, arg1, 0)
def op_exec(self, op, cix1, cix2, arg1):
def op_exec(self, op, cix1, cix2, arg1, arg2):
if cix1 != -1:
ser = pd.Series(self.wd[self.wdcol[cix1]])
......@@ -755,7 +802,7 @@ class WData:
elif op == self.OP_CURVE:
if arg1 == '':
raise co.Error(0, 'No curve file is supplied')
raise co.SyntaxError(0, 'No curve file is supplied')
fname = co.translateFilename(arg1)
curveframe = pd.read_csv(fname, header=None)
......@@ -766,14 +813,20 @@ class WData:
colname = "Curve(" + self.wdname[cix1] + "," + arg1 + ")"
elif op == self.OP_CONSTANT:
value = float(arg1)
try:
value = float(arg1)
except:
raise co.SyntaxError(0, 'Missing value or sytax error')
const = [value] * len(self.wd)
ser = pd.Series(const)
colname = "Const(" + str(value) + ")"
elif op == self.OP_SHIFT:
shiftvalue = int(arg1)
try:
shiftvalue = int(arg1)
except:
raise co.SyntaxError(0, 'Missing value or syntax error')
shift = []
i = 0
......@@ -792,6 +845,47 @@ class WData:
i += 1
ser = pd.Series(shift)
colname = "Shift(" + self.wdname[cix1] + "," + str(shiftvalue) + ")"
elif op == self.OP_MSHIFT:
try:
shiftnum = int(arg2)
shiftarg1 = int(arg1)
except:
raise co.SyntaxError(0, 'Missing value or syntax error')
j = 0
while j < shiftnum:
shiftvalue = shiftarg1 * (j + 1)
shift = []
i = 0
for val in ser.values:
if shiftvalue > 0:
if i < shiftvalue:
val = 0
else:
val = ser.values[i-shiftvalue]
else:
if i - shiftvalue >= len(self.wd):
val = 0
else:
val = ser.values[i-shiftvalue]
shift.append(val)
i += 1
ser_shift = pd.Series(shift)
colname = "Shift(" + self.wdname[cix1] + "," + str(shiftvalue) + ")"
if j < shiftnum - 1:
idx = len(self.wdname)
self.wdname.append(colname)
colname = "A" + str(idx+1)
self.wdcol.append(colname)
self.wd[self.wdcol[idx]] = ser_shift
j += 1
ser = ser_shift
elif op == self.OP_SCALE:
ser, coeff0, coeff1 = minmax_scale(ser)
colname = "Scale(" + self.wdname[cix1] + ")"
print 'Scale Coeff0', coeff0, 'Coeff1', coeff1
else:
raise co.Error(0, 'No action is selected')
......
src/msg/rt/src/rt_plc_msg.msg
View file @ 5cbbdcc6
......@@ -76,4 +76,5 @@ reduinit <Redundancy init error> /error
reduconfig <Redundancy not configured> /error
filesyntax <Syntax error in file> /error
file <No such file> /error
mpc_shiftval <Number of shift values not matching model size> /error
.end
wb/lib/wb/src/wb_wblnode.cpp
View file @ 5cbbdcc6
......@@ -290,6 +290,9 @@ static wbl_sSym classes[] = { { "pwr_eClass_ClassDef", pwr_eClass_ClassDef },
{ "BaseComponent:Class-CompModePID", pwr_cClass_CompModePID },
{ "BaseComponent:Class-CompPID", pwr_cClass_CompPID },
{ "BaseComponent:Class-CompModeIMC", pwr_cClass_CompModeIMC },
{ "BaseComponent:Class-CompMPC", pwr_cClass_CompMPC },
{ "BaseComponent:Class-CompMPC_MLP", pwr_cClass_CompMPC_MLP },
{ "BaseComponent:Class-CompMPC_Monitor", pwr_cClass_CompMPC_Monitor },
{ "BaseComponent:Class-CompIMC", pwr_cClass_CompIMC }, { 0, 0 } };
/* Datatypes */
......
xtt/exp/ge/src/pwr_c_compmpc.pwg
View file @ 5cbbdcc6
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