* Small corrections for command trajectories, #61

pyDMPC/ControlFramework/Init.py

@@ -65,58 +65,58 @@
 # Subsystems
 sys_id.append(0)
 name.append("Heater")
-model_type.append("Modelica")
+model_type.append("Scikit")
 ups_neigh.append(1)
 downs_neigh.append(None)
 par_neigh.append(None)
 input_names.append(["coolerTemperature.T"])
 input_variables.append([r"variation.table[1,2]"])
-inputs.append(range(280,325,5))
+inputs.append([i for i in range(280,325,5)])
 output_names.append(["supplyAirTemperature.T"])
 set_points.append([303])
 state_var_names.append(["heaterInitials[1].y"])
 model_state_var_names.append(["mas1.k"])
 start.append(0.)
 stop.append(3600)
 incr.append(10.)
-opt_time.append(0)
-samp_time.append(10)
+opt_time.append(600)
+samp_time.append(60)
 lib_paths.append(glob_lib_paths)
 res_path.append(glob_res_path + "\\" + name_wkdir)
 dym_path.append(glob_dym_path)
-mod_path.append('ModelicaModels.SubsystemModels.DetailedModels.Heater')
+mod_path.append(f'{glob_res_path}\\heater')
 command_names.append(["valveHeater"])
 command_variables.append(["decisionVariables.table[1,2]"])
-commands.append([[i] for i in range(0,105,5)])
+commands.append([[0,0], [10,10], [30,30], [60,60], [80,80], [100,100]])
 traj_points.append([])
 traj_var.append([])
 cost_fac.append([0.5, 0.0, 1.0])
 
 sys_id.append(1)
 name.append("Cooler")
-model_type.append("Modelica")
+model_type.append("Scikit")
 ups_neigh.append(None)
 downs_neigh.append([0])
 par_neigh.append(None)
 input_names.append(["preHeaterTemperature.T"])
 input_variables.append([r"variation.table[1,2]"])
-inputs.append(range(280,325,5))
+inputs.append([i for i in range(280,325,5)])
 output_names.append(["supplyAirTemperature.T"])
 set_points.append([303])
 state_var_names.append(["coolerInitials[1].y"])
 model_state_var_names.append(["hex.ele[1].mas.T"])
 start.append(0.)
 stop.append(3600.)
 incr.append(10.)
-opt_time.append(0)
-samp_time.append(10)
+opt_time.append(600)
+samp_time.append(60)
 lib_paths.append(glob_lib_paths)
 res_path.append(glob_res_path + "\\" + name_wkdir)
 dym_path.append(glob_dym_path)
-mod_path.append(r'ModelicaModels.SubsystemModels.DetailedModels.Cooler')
+mod_path.append(f'{glob_res_path}\\cooler')
 command_names.append(["valveCooler"])
 command_variables.append(["decisionVariables.table[1,2]"])
-commands.append([[i] for i in range(0,105,5)])
+commands.append([[0,0], [10,10], [30,30], [60,60], [80,80], [100,100]])
 traj_points.append([])
 traj_var.append([])
 cost_fac.append([0.5, 1.0, 0])

pyDMPC/ControlFramework/Modeling.py

@@ -276,10 +276,13 @@ def load_mod(self):
     def write_inputs(self):
         import numpy as np
 
-        commands = [com*np.ones(60) for com in self.states.commands]
-        inputs = [inp*np.ones(60) for inp in self.states.inputs]
+        commands_1 = self.states.commands[0]*np.ones(10)
+        commands_2 = self.states.commands[1]*np.ones(50)
+        commands = commands_1.tolist() + commands_2.tolist()
+        inputs = self.states.inputs[0]*np.ones(60)
+        inputs = inputs.tolist()
 
-        inputs = np.stack((commands + inputs), axis=1)
+        inputs = np.stack(([commands] + [inputs]), axis=1)
 
         self.scal_inputs = self.scaler.transform(inputs)
 

pyDMPC/ControlFramework/Subsystem.py

@@ -273,32 +273,32 @@ def find_nearest(self, a, a0):
         import numpy as np
         "Element in nd array `a` closest to the scalar value `a0`"
         idx = np.abs(a - a0).argmin()
-        return a.flat[idx]
+
+        return idx
 
     def interp(self, iter_real):
         import scipy.interpolate
+        import numpy as np
 
         if iter_real == "iter" and self.coup_vars_rec != []:
             inp = self.coup_vars_rec
         else:
             inp = self.model.states.inputs
 
-        #print(f"{self.name}: {inp}")
+        idx = self.find_nearest(np.asarray(self.inputs), inp[0])
 
         if self.command_send != []:
             if (type(self.command_send) is scipy.interpolate.interpolate.interp1d):
                 self.fin_command = self.command_send(inp[0])
             else:
-                self.fin_command = self.command_send[self.find_nearest(self.command_send, inp[0])]
+                self.fin_command = self.command_send[idx]
 
         if self.coup_vars_send != []:
             if type(self.coup_vars_send) is scipy.interpolate.interpolate.interp1d:
                 self.fin_coup_vars = self.coup_vars_send(inp[0])
             else:
-                self.fin_coup_vars = self.coup_vars_send[self.find_nearest(self.command_send, inp[0])]
+                self.fin_coup_vars = self.coup_vars_send[idx]
 
-        #print(f"{self.name}: {self.fin_command}")
-        #time.sleep(2)
 
     def get_inputs(self):
 
@@ -329,6 +329,8 @@ def send_commands(self):
 
         if (cur_time - self.last_write) > self.model.times.samp_time:
             self.last_write = cur_time
+
+            print(self.fin_command[0])
 
             if self.model.states.command_names is not None:
                 for nam in self.model.states.command_names: