Package net.maswag.falcaun

Class SimulinkModel

java.lang.Object

net.maswag.falcaun.SimulinkModel

public class SimulinkModel
extends Object

Raw Simulink model. We use the fixed step execution of Simulink to make sampling easier.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SimulinkModel.InterpolationMethod	Enum for the interpolation methods of the input signal

Field Summary

Fields

Modifier and Type	Field	Description
private int	counter
private Signal	inputSignal
private SimulinkModel.InterpolationMethod	interpolationMethod
private boolean	isInitial
private final com.mathworks.engine.MatlabEngine	matlab
private final List<String>	paramNames
private final Double	signalStep	The signal step of the input signal.
private final TimeMeasure	simulationTime
private double	simulinkSimulationStep	The simulation step of Simulink.
private boolean	useFastRestart

Constructor Summary

Constructors

Constructor	Description
SimulinkModel(String initScript, List<String> paramNames, Double signalStep, Double simulinkSimulationStep)

Method Summary

Modifier and Type	Method	Description
void	clear()	Clear the counter and the time measure.
void	close()	Close the MATLAB engine.
private void	configureSimulink(StringBuilder builder)
ValueWithTime<List<Double>>	execute(net.automatalib.word.Word<List<Double>> inputSignal)	Execute the Simulink model by feeding inputSignal
double	getCurrentTime()	The current time of the simulation
protected double[][]	getResult()
double	getSimulationTimeSecond()
protected double[]	getTimestamps()
private void	makeDataSet(StringBuilder builder)
private void	preventHugeTempFile(StringBuilder builder)
void	reset()	Reset the Simulink model to the initial state.
private void	runSimulation(StringBuilder builder, double stopTime)
void	setSimulationStep(double simulinkSimulationStep)	Setter of simulinkSimulationStep
ValueWithTime<List<Double>>	step(List<Double> inputSignal)	Execute the Simulink model for one step by feeding inputSignal

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

signalStep

private final Double signalStep

The signal step of the input signal.

simulinkSimulationStep

private double simulinkSimulationStep

The simulation step of Simulink.

If this value is too large, Simulink can abort due to an computation error. In that case, you should make this value larger.

matlab

private final com.mathworks.engine.MatlabEngine matlab

paramNames

private final List<String> paramNames

inputSignal

private Signal inputSignal

isInitial

private boolean isInitial

useFastRestart

private boolean useFastRestart

counter

private int counter

simulationTime

private final TimeMeasure simulationTime

interpolationMethod

private SimulinkModel.InterpolationMethod interpolationMethod

Constructor Details

SimulinkModel

public SimulinkModel(String initScript,
 List<String> paramNames,
 Double signalStep,
 Double simulinkSimulationStep)
              throws InterruptedException,
ExecutionException

Throws:

InterruptedException

ExecutionException

Method Details

getCurrentTime

public double getCurrentTime()

The current time of the simulation

setSimulationStep

public void setSimulationStep(double simulinkSimulationStep)

Setter of simulinkSimulationStep

Parameters:

simulinkSimulationStep - The fixed simulation step of Simulink. If this value is too large, Simulink can abort due to an computation error.

reset

public void reset()

Reset the Simulink model to the initial state.

clear

public void clear()

Clear the counter and the time measure.

step

@Nonnull
public ValueWithTime<List<Double>> step(@Nonnull
 List<Double> inputSignal)

Execute the Simulink model for one step by feeding inputSignal

Parameters:

inputSignal - The input signal

Returns:

The output signal with timestamps of the entire execution.

makeDataSet

private void makeDataSet(StringBuilder builder)
                  throws ExecutionException,
InterruptedException

Throws:

ExecutionException

InterruptedException

configureSimulink

private void configureSimulink(StringBuilder builder)

preventHugeTempFile

private void preventHugeTempFile(StringBuilder builder)

runSimulation

private void runSimulation(StringBuilder builder,
 double stopTime)

getResult

protected double[][] getResult()
                        throws ExecutionException,
InterruptedException

Throws:

ExecutionException

InterruptedException

getTimestamps

protected double[] getTimestamps()
                          throws ExecutionException,
InterruptedException

Throws:

ExecutionException

InterruptedException

execute

public ValueWithTime<List<Double>> execute(net.automatalib.word.Word<List<Double>> inputSignal)
                                    throws InterruptedException,
ExecutionException

Execute the Simulink model by feeding inputSignal

For inputSignal = a1, a2, ..., an, we construct a timed word w = (a1, 0), (a2, T), (a3, 2 * T), ... (an, (n - 1) * T) and execute the Simulink model by feeding the piecewise-linear interpolation of w.

Parameters:

inputSignal - The input signal

Returns:

The output signal. The size is same as the input.

Throws:

InterruptedException

ExecutionException

close

public void close()
           throws com.mathworks.engine.EngineException

Close the MATLAB engine. This method must be called when the object is no longer used.

Throws:

com.mathworks.engine.EngineException

getSimulationTimeSecond

public double getSimulationTimeSecond()