diff --git a/README.md b/README.md index c526d79..c0faa92 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,22 @@ # pySimBlocks -Simulink python project +A deterministic block-diagram simulation framework for discrete-time modeling, co-simulation and research prototyping in Python. -pySimBlocks is a lightweight and extensible environment for building, configuring, -and executing block-diagram models—similar to Simulink—directly in Python, -featuring a PySide6-based graphical editor, a discrete-time simulation engine, -and automatic project generation from YAML configurations. +pySimBlocks allows you to build, configure, and execute discrete-time systems using either: + +- A pure Python API +- A graphical editor (PySide6) +- YAML project configuration +- Optional SOFA and hardware integration + +## Features + +- Block-based modeling (Simulink-like) +- Deterministic discrete-time simulation engine +- PySide6 graphical editor +- YAML-based project serialization +- Exportable Python runner (`run.py`) +- Extensible block architecture ## Installation @@ -25,17 +36,94 @@ cd pySimBlocks pip install . ``` -## Run GUI application +## First Steps + +### Quick Example + +The following example models a damped harmonic oscillator: + +$$ \ddot{x} +0.5 \dot{x} +2 x = 0 $$ + +The continuous-time equation is implemented using explicit forward Euler discretization through discrete integrator blocks with a fixed time step. + +The system is assembled explicitly from discrete operators. + +```python +from pySimBlocks import Model, Simulator, SimulationConfig, PlotConfig +from pySimBlocks.blocks.operators import Gain, Sum, DiscreteIntegrator +from pySimBlocks.project.plot_from_config import plot_from_config + +# 1. Create the blocks +I1 = DiscreteIntegrator("x", initial_state=5) +I2 = DiscreteIntegrator("v", initial_state=2.) +A1 = Gain(name="damping", gain=0.5) +A2 = Gain(name="stiffness", gain=2) +S = Sum(name="sum", signs="--") + +# 2. Build the model +model = Model("Example") +for block in [I1, I2, A1, A2, S]: + model.add_block(block) + +model.connect("x", "out", "v", "in") +model.connect("x", "out", "damping", "in") +model.connect("v", "out", "stiffness", "in") +model.connect("damping", "out", "sum", "in1") +model.connect("stiffness", "out", "sum", "in2") +model.connect("sum", "out", "x", "in") +# 3. Create the simulator +sim_cfg = SimulationConfig(dt=0.05, T=30.) +sim = Simulator(model, sim_cfg) + +# 4. Run the simulation +logs = sim.run(logging=[ + "x.outputs.out", + "v.outputs.out", + ] +) + +# 5. Plot the results +plot_cfg = PlotConfig([ + {"title": "Position and Velocity", + "signals": ["x.outputs.out", "v.outputs.out"],}, + ]) +plot_from_config(logs, plot_cfg) ``` + +The simulated position and velocity exhibit the expected damped oscillatory behavior. + +![Alt Text](./docs/User_Guide/images/quick_example.png) + +### Graphical Editor + +To open the graphical editor, run: +```bash pysimblocks ``` +### Tutorials + +See the [Getting Started Guide](./docs/User_Guide/getting_started.md) for +tutorials on building your first simulation with pySimBlocks. + +### Examples + +A collection of basic and advanced examples is available in the +[examples](./examples) directory, including: + +- Control system demonstrations +- SOFA-based simulations +- Hardware and real-time use cases +- Comparisons with external tools + +See [examples/README.md](./examples/README.md) for an overview. + ## Information ### License -pySimblocks is LGPL. +pySimBlocks is LGPL. LGPL refers to the GNU Lesser General Public License as published by the Free Software Foundation; either version 3.0 of the License, or (at your option) any later diff --git a/docs/gui_doc.md b/docs/Developer_Guide/gui_doc.md similarity index 100% rename from docs/gui_doc.md rename to docs/Developer_Guide/gui_doc.md diff --git a/docs/uml/pySimBlocks-GUI.pdf b/docs/Developer_Guide/uml/pySimBlocks-GUI.pdf similarity index 100% rename from docs/uml/pySimBlocks-GUI.pdf rename to docs/Developer_Guide/uml/pySimBlocks-GUI.pdf diff --git a/docs/uml/pySimBlocks-GUI.uxf b/docs/Developer_Guide/uml/pySimBlocks-GUI.uxf similarity index 100% rename from docs/uml/pySimBlocks-GUI.uxf rename to docs/Developer_Guide/uml/pySimBlocks-GUI.uxf diff --git a/docs/User_Guide/getting_started.md b/docs/User_Guide/getting_started.md new file mode 100644 index 0000000..de847ea --- /dev/null +++ b/docs/User_Guide/getting_started.md @@ -0,0 +1,30 @@ +# Getting Started with pySimBlocks + +pySimBlocks is a block-based simulation framework for control systems, +supporting both programmatic and graphical modeling workflows. + +This guide walks you through the core concepts in a progressive manner. + +## 1. First Simulation (Python) + +Build and simulate a closed-loop system directly in Python. + +You will learn: +- How to create blocks +- How to connect signals +- How to run a discrete-time simulation +- How to log and visualize results + +→ [Start Tutorial 1 — Python API](tutorial_1_python.md) + +## 2. First Simulation (GUI) + +Rebuild the same system using the graphical interface. + +You will learn: +- How to create a model visually +- How to configure blocks and simulation settings +- How to save and export the project + +→ [Start Tutorial 2 — GUI](tutorial_2_gui.md) + diff --git a/docs/User_Guide/images/quick_example.png b/docs/User_Guide/images/quick_example.png new file mode 100644 index 0000000..8d54ccf Binary files /dev/null and b/docs/User_Guide/images/quick_example.png differ diff --git a/docs/User_Guide/images/tutorial_1-block_diagram.png b/docs/User_Guide/images/tutorial_1-block_diagram.png new file mode 100644 index 0000000..2d26eca Binary files /dev/null and b/docs/User_Guide/images/tutorial_1-block_diagram.png differ diff --git a/docs/User_Guide/images/tutorial_2-block_dialog.gif b/docs/User_Guide/images/tutorial_2-block_dialog.gif new file mode 100644 index 0000000..6e0fcf7 Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-block_dialog.gif differ diff --git a/docs/User_Guide/images/tutorial_2-connections.gif b/docs/User_Guide/images/tutorial_2-connections.gif new file mode 100644 index 0000000..9ec0820 Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-connections.gif differ diff --git a/docs/User_Guide/images/tutorial_2-drag_drop.gif b/docs/User_Guide/images/tutorial_2-drag_drop.gif new file mode 100644 index 0000000..310cbcf Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-drag_drop.gif differ diff --git a/docs/User_Guide/images/tutorial_2-gui_main.png b/docs/User_Guide/images/tutorial_2-gui_main.png new file mode 100644 index 0000000..c887f40 Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-gui_main.png differ diff --git a/docs/User_Guide/images/tutorial_2-plots.gif b/docs/User_Guide/images/tutorial_2-plots.gif new file mode 100644 index 0000000..beaa561 Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-plots.gif differ diff --git a/docs/User_Guide/images/tutorial_2-setting.gif b/docs/User_Guide/images/tutorial_2-setting.gif new file mode 100644 index 0000000..6e577af Binary files /dev/null and b/docs/User_Guide/images/tutorial_2-setting.gif differ diff --git a/docs/User_Guide/tutorial_1_python.md b/docs/User_Guide/tutorial_1_python.md new file mode 100644 index 0000000..ad14b73 --- /dev/null +++ b/docs/User_Guide/tutorial_1_python.md @@ -0,0 +1,191 @@ +# Tutorial 1: First Steps with pySimBlocks + +## 1. Overview + +### 1.1 Goals + +This example introduces the core concepts of pySimBlocks: +- Creating blocks +- Connecting signals +- Running a discrete-time simulation +- Logging and plotting results + +By the end of this tutorial, you will be able to build and simulate your own block-based model in Python. + +### 1.2 System Description + +We build a simple closed-loop control system composed of three elements: +- a step reference, +- a PI controller, +- a first-order discrete-time linear plant. + +![Alt Text](./images/tutorial_1-block_diagram.png) + +**Plant — Linear State-Space System** +The plant is a discrete-time first-order linear system defined by: +$$\begin{array}{rcl} x[k+1] &=& a\,x[k] + b\,u[k] \\ y[k] &=& x[k] \end{array}$$ +The initial state is $x[0] = 0$. + +**Controller — PI** +The PI controller computes a control command from the tracking error $e[k] = r[k] - y[k]$: +$$ u[k] = K_p\, e[k] + x_i[k] $$ +where the integral state evolves as: +$$x_i[k+1] = x_i[k] + K_i\, e[k]\, dt$$ +The integral action ensures zero steady-state error on a step reference. + +## 2. Complete Example + +Below is the full working example. +You can find it in the file +[main.py](../../examples/tutorials/tutorial_1_python/main.py) in the repository. + +```python +import matplotlib.pyplot as plt +import numpy as np + +from pySimBlocks import Model, SimulationConfig, Simulator +from pySimBlocks.blocks.controllers import Pid +from pySimBlocks.blocks.operators import Sum +from pySimBlocks.blocks.sources import Step +from pySimBlocks.blocks.systems import LinearStateSpace + + +def main(): + """This example demonstrates how to use the pySimBlocks library to create a + simple closed-loop control system with a step reference input, a PI controller, + and a linear state-space system. + """ + + A = np.array([[0.9]]) + B = np.array([[0.5]]) + C = np.array([[1.0]]) + x0 = np.zeros((A.shape[0], 1)) + + Kp = np.array([[0.5]]) + Ki = np.array([[2.]]) + + # ------------------------------------------------------- + # 1. Create the blocks + # ------------------------------------------------------- + step = Step( + name="ref", + value_before=np.array([[0.0]]), + value_after=np.array([[1.0]]), + start_time=0.5 + ) + sum = Sum(name="error", signs="+-") + pid = Pid(name="pid", controller="PI", Kp=Kp, Ki=Ki) + system = LinearStateSpace(name="system", A=A, B=B, C=C, x0=x0) + + # ------------------------------------------------------- + # 2. Build the model + # ------------------------------------------------------- + model = Model("test") + for block in [step, sum, pid, system]: + model.add_block(block) + + model.connect("ref", "out", "error", "in1") + model.connect("system", "y", "error", "in2") + model.connect("error", "out", "pid", "e") + model.connect("pid", "u", "system", "u") + + # ------------------------------------------------------- + # 3. Create the simulator + # ------------------------------------------------------- + dt = 0.01 # seconds + T = 5. # seconds + sim_cfg = SimulationConfig(dt, T) + sim = Simulator(model, sim_cfg, verbose=False) + + # ------------------------------------------------------- + # 4. Run the simulation with logging + # ------------------------------------------------------- + logs = sim.run(logging=[ + "ref.outputs.out", + "pid.outputs.u", + "system.outputs.y" + ] + ) + + # ------------------------------------------------------- + # 5. Extract logged data + # ------------------------------------------------------- + t = sim.get_data("time") + u = sim.get_data("pid.outputs.u").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() + y = sim.get_data("system.outputs.y").squeeze() + + # ------------------------------------------------------- + # 6. Plot the result + # ------------------------------------------------------- + fig, axs = plt.subplots(1, 2, sharex=True) + axs[0].step(t, r, "--r", label="ref", where="post") + axs[0].step(t, y, "--b", label="output", where="post") + axs[0].set_xlabel("Time [s]") + axs[0].set_ylabel("Amplitude") + axs[0].set_title("Closed-loop response") + axs[0].grid(True) + axs[0].legend() + + axs[1].step(t, u, "--b", label="u[k] (pid output)", where="post") + axs[1].set_xlabel("Time [s]") + axs[1].set_ylabel("Amplitude") + axs[1].set_title("PID controller output") + axs[1].grid(True) + axs[1].legend() + + plt.show() + +``` +## 3. How It Works + +The example follows a simple workflow: + +1. **Blocks are created** + Each component of the system (reference, controller, plant) is represented as a block. +2. **Blocks are added to a Model** + The `Model` acts as a container for all blocks. +3. **Signals are connected explicitly** + Connections define how outputs are propagated to downstream inputs, forming a directed graph. +4. **The Simulator executes the model in discrete time** + At each time step: + - Blocks compute their outputs + - Signals are propagated + - States are updated +5. **Selected signals are logged and retrieved** + Logged variables can be accessed using `sim.get_data()` and visualized with standard Python tools. + +This structure reflects the core philosophy of pySimBlocks: explicit block modeling with deterministic discrete-time execution. + +## 4. About the data shapes + +All signals in pySimBlocks follow a strict 2D convention: + +- Scalars are represented as `(1,1)` +- Vectors are `(n,1)` +- Matrices are `(m,n)` + +When logging a SISO signal over time, the resulting array has shape: `(N, 1, 1)` where `N` is the number of simulation steps. + +For plotting convenience, we use: +```python +y = sim.get_data("system.outputs.y").squeeze() +``` + +## 5. Try it yourself + +To better understand the framework, try experimenting with: + +- Changing the controller gains (`Kp`, `Ki`) +- Modifying the system dynamics (`A`, `B`) +- Adjusting the time step `dt` +- Increasing the simulation duration `T` + +Observe how the closed-loop response changes. + +This simple example is the foundation for more advanced use cases, +including: +- [GUI modeling](./tutorial_2_gui.md), +- SOFA integration, +- Hardware implementation. + diff --git a/docs/User_Guide/tutorial_2_gui.md b/docs/User_Guide/tutorial_2_gui.md new file mode 100644 index 0000000..94cbc66 --- /dev/null +++ b/docs/User_Guide/tutorial_2_gui.md @@ -0,0 +1,185 @@ +# Tutorial 2 — Building a Model with the GUI + +## 1. Overview + +We rebuild the same closed-loop system as in [Tutorial 1](./tutorial_1_python.md), but using the graphical editor. + +### 1.1 Goals + +The objective is to: +- Add blocks visually +- Configure their parameters +- Connect signals +- Run the simulation +- Export the project + +By the end of this tutorial, you will be able to build and simulate your own block-based model with the GUI. + +### 1.2 System Reminder + +We build a simple closed-loop control system composed of three elements: +- a step reference, +- a PI controller, +- a first-order discrete-time linear plant. + +![Alt Text](./images/tutorial_1-block_diagram.png) + +## 2. Step-by-Step Construction + +### 2.1 Create a New Project + +Create a new project folder and start the GUI: +```bash +$ mkdir tutorial-gui +$ cd tutorial-gui +$ pysimblocks +``` +The main window opens, with the `Toolbar` at the top, the `Blocks List` on the left, and the `Diagram View` on the right. +![Alt Text](./images/tutorial_2-gui_main.png) + +### 2.2 Add the Blocks + +Add the required blocks to the diagram. +1. Double-click a category in the `Blocks List` to expand it. +2. Drag the selected block into the `Diagram View` +3. Repeat this for all required blocks and arrange them in the `Diagram View`. + +![Alt Text](./images/tutorial_2-drag_drop.gif) + +**Tips:** +- Once you have all your blocks, if you click anywhere in the `Diagram View`, you can use `space` to center the view on all blocks. +- To rotate a block, select it and press `Ctrl+R`. + +### 2.3 Connect the Blocks + +In a block, input ports are represented by a circle and output ports by a triangle. + +To connect two blocks: Select the first port (input or output) and drag the connection to the target port. + +When dragging the cable, a dashed line appears between the starting port and the cursor. The line becomes solid once the connection is valid. + +![Alt Text](./images/tutorial_2-connections.gif) + +⚠️ The two ports must be of different types (input to output). + +**Tips:** You can move a connection by selecting the line and moving your mouse. However, if a connected block moves, the connection is recomputed. + +### 2.4 Configure the Parameters + +Configure the block and simulation parameters. + +#### 2.4.a For the Blocks + +Open the block dialog by double-clicking the block. + +The dialog displays all available block parameters. Some parameters are optional, while others accept only predefined values. Some parameters are populated with default values. + +Modify the following parameters: +| Block | Parameter | Value | +| --- | --- | --- | +| LinearStateSpace | A | 0.9 | +| LinearStateSpace | B | 0.5 | +| LinearStateSpace | C | 1.0 | +| LinearStateSpace | x0 | 0. | +| PID | controller | PI | +| PID | Kp | 0.5 | +| PID | Ki | 2. | +| Sum | signs | +- | + +Renaming a block updates its label in the `Diagram View`. In [Tutorial 1](./tutorial_1_python.md), the blocks were named `ref`, `error`, `pid`, and `system`. + +All required parameters must be defined before running the simulation. + +![Alt Text](./images/tutorial_2-block_dialog.gif) + +**Tips:** +- Scalars are represented as `(1,1)` arrays. But you can create matrix or vector by defining `[[0.5], [0.3]]` which will be set to a `(2,1)` numpy array. +- Use the Help button for a detailed description of the block. + +#### 2.4.b For the Simulation + +Next, configure the simulation settings: +- Sample time: 0.01 s +- Duration: 5 s +- Signals to log: system y, pid u, and ref output + +Click the `Settings` button in the `Toolbar`. A dialog opens with multiple panels. One is for the simulation. + +Custom plots can be defined in the `Plots` panel for quick access after the simulation You must define: +- the title +- the signals +![Alt Text](./images/tutorial_2-setting.gif) + +⚠️ Click `Apply` before switching panels, otherwise the changes will not be saved. +Click on `ok` to close. + +### 2.5 Run the Simulation and Visualize the Results + +Once all parameters are configured, run the simulation using the `Run` button in the `Toolbar`. + +Click the `Plot` button in the `Toolbar` to visualize the results. A dialog opens where you can either: +- Plot selected logged signals in a single graph. +- Open your predefined plots. +![Alt Text](./images/tutorial_2-plots.gif) + +Under the hood, the GUI generates the same `Model` structure used in [Tutorial 1](./tutorial_1_python.md). The execution engine remains identical. + +## 3. Generate Project Files + +### Saving + +Saving the project using the `Save` button in the `Toolbar` creates three YAML files in the current folder: +- `model.yaml` — defines the blocks and their connections +- `parameters.yaml` — contains block parameters, simulation settings, and plot definitions +- `layout.yaml` — stores the graphical layout of blocks and connections in the Diagram View + +Together, these files fully describe the model structure and its configuration. They can be used to reload the project in the GUI or to run the simulation programmatically using Python. + +### Exporting a Python Runner + +The `Export` button in the `Toolbar` generates a `run.py` file. + +This script loads the YAML configuration (model and parameters) and builds the corresponding `Model` and `Simulator` objects programmatically. +It allows the project to be executed directly from the command line: + +```bash +python run.py +``` + +The export mechanism bridges the GUI and the Python API, ensuring that a visually designed model can be reproduced and executed in a script-based workflow. + +## 4. Comparison with Python Version + +The system built in this tutorial is identical to the one created manually in [Tutorial 1](./tutorial_1_python.md). + +In the Python version, blocks and connections are defined explicitly in code: + +- Blocks are instantiated programmatically +- Connections are created using `model.connect(...)` +- The `Simulator` is constructed directly + +In the GUI version: + +- The block diagram is created visually +- The configuration is saved as YAML files +- The `Export` function generates a `run.py` script that builds the same `Model` structure + +In both cases, the execution engine is strictly the same. + +## 5. Try It Yourself + +Experiment with the model to better understand the GUI workflow: + +- Modify the controller gains (`Kp`, `Ki`) and observe the effect on the response. +- Change the system dynamics (`A`, `B`) and analyze stability. +- Adjust the sample time or simulation duration. +- Create additional custom plots in the `Plots` panel. +- Rename blocks and reorganize the diagram layout. + +After modifying the model, save the project and export a new `run.py` file. +Run it from the command line to verify that the exported script reproduces the same behavior. + +This tutorial demonstrates how to build and execute a model visually. +The next tutorials extend this approach to SOFA integration and real-time execution. + + diff --git a/examples/README.md b/examples/README.md new file mode 100644 index 0000000..ae19572 --- /dev/null +++ b/examples/README.md @@ -0,0 +1,51 @@ +# Examples + +This directory contains a collection of example models demonstrating the capabilities of pySimBlocks. + +The examples are organized by complexity and use case. + +## Structure + +### basics/ + +Small and focused examples illustrating core features: + +- State-space systems +- PID control +- Observers +- File sources +- Algebraic functions +- Simple closed-loop systems + +These examples are intended for learning and quick experimentation. + +### advanced/ + +More complex use cases, including: + +- SOFA integration (GUI and Python workflows) +- Hardware and real-time execution +- Quadratic programming problems + +These examples target advanced users and research-oriented applications. + +### comparison/ + +Examples comparing pySimBlocks with external tools +(e.g. Simulink). + +### tutorials/ + +Code used in the official documentation tutorials. + +These files correspond directly to the examples described +in the *Getting Started* guide. + +--- + +Each example can typically be executed either: + +- Directly as a Python script +- Through the GUI-based editor `pysimblocks` (for YAML-based projects) +- Through the generated `run.py` (for GUI-based projects) + diff --git a/examples/real_time/block_diagram.py b/examples/advanced/hardware/block_diagram.py similarity index 99% rename from examples/real_time/block_diagram.py rename to examples/advanced/hardware/block_diagram.py index 3e6cf4a..374ed3d 100644 --- a/examples/real_time/block_diagram.py +++ b/examples/advanced/hardware/block_diagram.py @@ -15,7 +15,7 @@ def process_block_diagram(shared_markers_pos, shared_ref_ol, shared_ref_cl, shared_control_mode, shared_update, event_frame, event_measure): - """pySimblocks runner process. + """pySimBlocks runner process. """ init_angles = np.array([0.7, 0, 0.7, 0]) motors = setup_motors(init_angles) diff --git a/examples/real_time/camera.py b/examples/advanced/hardware/camera.py similarity index 100% rename from examples/real_time/camera.py rename to examples/advanced/hardware/camera.py diff --git a/examples/real_time/data/cameraparameter.json b/examples/advanced/hardware/data/cameraparameter.json similarity index 100% rename from examples/real_time/data/cameraparameter.json rename to examples/advanced/hardware/data/cameraparameter.json diff --git a/examples/real_time/data/controller_order5_linear.npz b/examples/advanced/hardware/data/controller_order5_linear.npz similarity index 100% rename from examples/real_time/data/controller_order5_linear.npz rename to examples/advanced/hardware/data/controller_order5_linear.npz diff --git a/examples/real_time/data/observer_order5_linear.npz b/examples/advanced/hardware/data/observer_order5_linear.npz similarity index 100% rename from examples/real_time/data/observer_order5_linear.npz rename to examples/advanced/hardware/data/observer_order5_linear.npz diff --git a/examples/real_time/gui_emio.py b/examples/advanced/hardware/gui_emio.py similarity index 100% rename from examples/real_time/gui_emio.py rename to examples/advanced/hardware/gui_emio.py diff --git a/examples/real_time/layout.yaml b/examples/advanced/hardware/layout.yaml similarity index 100% rename from examples/real_time/layout.yaml rename to examples/advanced/hardware/layout.yaml diff --git a/examples/real_time/lmi.py b/examples/advanced/hardware/lmi.py similarity index 100% rename from examples/real_time/lmi.py rename to examples/advanced/hardware/lmi.py diff --git a/examples/real_time/main.py b/examples/advanced/hardware/main.py similarity index 100% rename from examples/real_time/main.py rename to examples/advanced/hardware/main.py diff --git a/examples/real_time/model.yaml b/examples/advanced/hardware/model.yaml similarity index 100% rename from examples/real_time/model.yaml rename to examples/advanced/hardware/model.yaml diff --git a/examples/real_time/parameters.py b/examples/advanced/hardware/parameters.py similarity index 100% rename from examples/real_time/parameters.py rename to examples/advanced/hardware/parameters.py diff --git a/examples/real_time/parameters.yaml b/examples/advanced/hardware/parameters.yaml similarity index 100% rename from examples/real_time/parameters.yaml rename to examples/advanced/hardware/parameters.yaml diff --git a/examples/generate/qp_problem/layout.yaml b/examples/advanced/qp_problem/layout.yaml similarity index 100% rename from examples/generate/qp_problem/layout.yaml rename to examples/advanced/qp_problem/layout.yaml diff --git a/examples/generate/qp_problem/model.yaml b/examples/advanced/qp_problem/model.yaml similarity index 100% rename from examples/generate/qp_problem/model.yaml rename to examples/advanced/qp_problem/model.yaml diff --git a/examples/generate/qp_problem/parameters.yaml b/examples/advanced/qp_problem/parameters.yaml similarity index 100% rename from examples/generate/qp_problem/parameters.yaml rename to examples/advanced/qp_problem/parameters.yaml diff --git a/examples/generate/qp_problem/params.py b/examples/advanced/qp_problem/params.py similarity index 100% rename from examples/generate/qp_problem/params.py rename to examples/advanced/qp_problem/params.py diff --git a/examples/generate/qp_problem/run.py b/examples/advanced/qp_problem/run.py similarity index 100% rename from examples/generate/qp_problem/run.py rename to examples/advanced/qp_problem/run.py diff --git a/examples/generate/sofa/sofa_exchange/Finger.py b/examples/advanced/sofa/gui/finger/Finger.py similarity index 100% rename from examples/generate/sofa/sofa_exchange/Finger.py rename to examples/advanced/sofa/gui/finger/Finger.py diff --git a/examples/generate/sofa/sofa_plant/finger/FingerController.py b/examples/advanced/sofa/gui/finger/FingerController.py similarity index 89% rename from examples/generate/sofa/sofa_plant/finger/FingerController.py rename to examples/advanced/sofa/gui/finger/FingerController.py index 21a8e0c..6d0dc37 100644 --- a/examples/generate/sofa/sofa_plant/finger/FingerController.py +++ b/examples/advanced/sofa/gui/finger/FingerController.py @@ -14,8 +14,8 @@ class FingerController(SofaPysimBlocksController): def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"): super().__init__(root, name=name) - self.parameters_yaml = str((BASE_DIR / "../parameters.yaml").resolve()) - self.model_yaml = str((BASE_DIR / "../model.yaml").resolve()) + self.parameters_yaml = str((BASE_DIR / "../sofa_exchange/parameters.yaml").resolve()) + self.model_yaml = str((BASE_DIR / "../sofa_exchange/model.yaml").resolve()) self.mo = mo self.actuator = actuator diff --git a/examples/generate/sofa/sofa_exchange/lastUsedGUI.ini b/examples/advanced/sofa/gui/finger/lastUsedGUI.ini similarity index 100% rename from examples/generate/sofa/sofa_exchange/lastUsedGUI.ini rename to examples/advanced/sofa/gui/finger/lastUsedGUI.ini diff --git a/examples/generate/sofa/sofa_exchange/mesh/Bunny.stl b/examples/advanced/sofa/gui/finger/mesh/Bunny.stl similarity index 100% rename from examples/generate/sofa/sofa_exchange/mesh/Bunny.stl rename to examples/advanced/sofa/gui/finger/mesh/Bunny.stl diff --git a/examples/generate/sofa/sofa_exchange/mesh/Hollow_Stanford_Bunny.vtu b/examples/advanced/sofa/gui/finger/mesh/Hollow_Stanford_Bunny.vtu similarity index 100% rename from examples/generate/sofa/sofa_exchange/mesh/Hollow_Stanford_Bunny.vtu rename to examples/advanced/sofa/gui/finger/mesh/Hollow_Stanford_Bunny.vtu diff --git a/examples/generate/sofa/sofa_exchange/mesh/finger.stl b/examples/advanced/sofa/gui/finger/mesh/finger.stl similarity index 100% rename from examples/generate/sofa/sofa_exchange/mesh/finger.stl rename to examples/advanced/sofa/gui/finger/mesh/finger.stl diff --git a/examples/generate/sofa/sofa_exchange/mesh/finger.vtk b/examples/advanced/sofa/gui/finger/mesh/finger.vtk similarity index 100% rename from examples/generate/sofa/sofa_exchange/mesh/finger.vtk rename to examples/advanced/sofa/gui/finger/mesh/finger.vtk diff --git a/examples/generate/sofa/sofa_plant/finger/parameters_auto.py b/examples/advanced/sofa/gui/finger/parameters_auto.py similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/parameters_auto.py rename to examples/advanced/sofa/gui/finger/parameters_auto.py diff --git a/examples/generate/sofa/sofa_exchange/layout.yaml b/examples/advanced/sofa/gui/sofa_exchange/layout.yaml similarity index 64% rename from examples/generate/sofa/sofa_exchange/layout.yaml rename to examples/advanced/sofa/gui/sofa_exchange/layout.yaml index 03efcbc..16085bc 100644 --- a/examples/generate/sofa/sofa_exchange/layout.yaml +++ b/examples/advanced/sofa/gui/sofa_exchange/layout.yaml @@ -4,15 +4,23 @@ blocks: x: 95.0 y: -5.0 orientation: normal + width: 120.0 + height: 60.0 sofa: x: 460.0 y: -5.0 orientation: normal + width: 120.0 + height: 60.0 ref: x: -100.0 y: -15.0 orientation: normal + width: 120.0 + height: 60.0 PID: x: 280.0 y: -5.0 orientation: normal + width: 120.0 + height: 60.0 diff --git a/examples/generate/sofa/sofa_exchange/model.yaml b/examples/advanced/sofa/gui/sofa_exchange/model.yaml similarity index 100% rename from examples/generate/sofa/sofa_exchange/model.yaml rename to examples/advanced/sofa/gui/sofa_exchange/model.yaml diff --git a/examples/generate/sofa/sofa_exchange/parameters.yaml b/examples/advanced/sofa/gui/sofa_exchange/parameters.yaml similarity index 94% rename from examples/generate/sofa/sofa_exchange/parameters.yaml rename to examples/advanced/sofa/gui/sofa_exchange/parameters.yaml index 0240c08..ac7ddf4 100644 --- a/examples/generate/sofa/sofa_exchange/parameters.yaml +++ b/examples/advanced/sofa/gui/sofa_exchange/parameters.yaml @@ -6,7 +6,7 @@ blocks: error: signs: +- sofa: - scene_file: Finger.py + scene_file: ../finger/Finger.py input_keys: - cable output_keys: diff --git a/examples/generate/sofa/sofa_plant/layout.yaml b/examples/advanced/sofa/gui/sofa_plant/layout.yaml similarity index 68% rename from examples/generate/sofa/sofa_plant/layout.yaml rename to examples/advanced/sofa/gui/sofa_plant/layout.yaml index 9197ebe..ee7ed72 100644 --- a/examples/generate/sofa/sofa_plant/layout.yaml +++ b/examples/advanced/sofa/gui/sofa_plant/layout.yaml @@ -4,30 +4,44 @@ blocks: x: -245.0 y: -35.0 orientation: normal + width: 120.0 + height: 60.0 Kp: x: -30.0 y: -85.0 orientation: normal + width: 120.0 + height: 60.0 Ki: x: 140.0 y: 5.0 orientation: normal + width: 120.0 + height: 60.0 integrator: x: -35.0 y: 5.0 orientation: normal + width: 120.0 + height: 60.0 sum: x: 300.0 y: -75.0 orientation: normal + width: 120.0 + height: 60.0 sofa: x: 490.0 y: -75.0 orientation: normal + width: 120.0 + height: 60.0 ref: x: -420.0 y: -45.0 orientation: normal + width: 120.0 + height: 60.0 connections: error.out -> Kp.in: ports: [error.out, Kp.in] @@ -35,5 +49,5 @@ connections: -55.0], [-36.0, -55.0]] sofa.measure -> error.in2: ports: [sofa.measure, error.in2] - route: [[625.0, -35.0], [633.0, -35.0], [633.0, 90.0], [-259.0, 90.0], [-259.0, + route: [[625.0, -35.0], [633.0, -35.0], [633.0, 85.0], [-259.0, 85.0], [-259.0, 5.0], [-251.0, 5.0]] diff --git a/examples/generate/sofa/sofa_plant/model.yaml b/examples/advanced/sofa/gui/sofa_plant/model.yaml similarity index 100% rename from examples/generate/sofa/sofa_plant/model.yaml rename to examples/advanced/sofa/gui/sofa_plant/model.yaml diff --git a/examples/generate/sofa/sofa_plant/parameters.yaml b/examples/advanced/sofa/gui/sofa_plant/parameters.yaml similarity index 95% rename from examples/generate/sofa/sofa_plant/parameters.yaml rename to examples/advanced/sofa/gui/sofa_plant/parameters.yaml index 50126c2..26b589b 100644 --- a/examples/generate/sofa/sofa_plant/parameters.yaml +++ b/examples/advanced/sofa/gui/sofa_plant/parameters.yaml @@ -17,7 +17,7 @@ blocks: sum: signs: ++ sofa: - scene_file: finger/Finger.py + scene_file: ../finger/Finger.py input_keys: - cable output_keys: diff --git a/examples/generate/sofa/sofa_plant/run.py b/examples/advanced/sofa/gui/sofa_plant/run.py similarity index 100% rename from examples/generate/sofa/sofa_plant/run.py rename to examples/advanced/sofa/gui/sofa_plant/run.py diff --git a/examples/sofa/finger/Finger.py b/examples/advanced/sofa/python/Finger.py similarity index 100% rename from examples/sofa/finger/Finger.py rename to examples/advanced/sofa/python/Finger.py diff --git a/examples/sofa/finger/FingerController.py b/examples/advanced/sofa/python/FingerController.py similarity index 100% rename from examples/sofa/finger/FingerController.py rename to examples/advanced/sofa/python/FingerController.py diff --git a/examples/sofa/finger/closedloop.py b/examples/advanced/sofa/python/closedloop.py similarity index 100% rename from examples/sofa/finger/closedloop.py rename to examples/advanced/sofa/python/closedloop.py diff --git a/examples/generate/sofa/sofa_plant/finger/lastUsedGUI.ini b/examples/advanced/sofa/python/lastUsedGUI.ini similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/lastUsedGUI.ini rename to examples/advanced/sofa/python/lastUsedGUI.ini diff --git a/examples/generate/sofa/sofa_plant/finger/mesh/Bunny.stl b/examples/advanced/sofa/python/mesh/Bunny.stl similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/mesh/Bunny.stl rename to examples/advanced/sofa/python/mesh/Bunny.stl diff --git a/examples/generate/sofa/sofa_plant/finger/mesh/Hollow_Stanford_Bunny.vtu b/examples/advanced/sofa/python/mesh/Hollow_Stanford_Bunny.vtu similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/mesh/Hollow_Stanford_Bunny.vtu rename to examples/advanced/sofa/python/mesh/Hollow_Stanford_Bunny.vtu diff --git a/examples/generate/sofa/sofa_plant/finger/mesh/finger.stl b/examples/advanced/sofa/python/mesh/finger.stl similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/mesh/finger.stl rename to examples/advanced/sofa/python/mesh/finger.stl diff --git a/examples/generate/sofa/sofa_plant/finger/mesh/finger.vtk b/examples/advanced/sofa/python/mesh/finger.vtk similarity index 100% rename from examples/generate/sofa/sofa_plant/finger/mesh/finger.vtk rename to examples/advanced/sofa/python/mesh/finger.vtk diff --git a/examples/sofa/finger/openloop.py b/examples/advanced/sofa/python/openloop.py similarity index 100% rename from examples/sofa/finger/openloop.py rename to examples/advanced/sofa/python/openloop.py diff --git a/examples/generate/algebraic_function/g.py b/examples/basics/algebraic_function/g.py similarity index 100% rename from examples/generate/algebraic_function/g.py rename to examples/basics/algebraic_function/g.py diff --git a/examples/generate/algebraic_function/layout.yaml b/examples/basics/algebraic_function/layout.yaml similarity index 100% rename from examples/generate/algebraic_function/layout.yaml rename to examples/basics/algebraic_function/layout.yaml diff --git a/examples/generate/algebraic_function/model.yaml b/examples/basics/algebraic_function/model.yaml similarity index 100% rename from examples/generate/algebraic_function/model.yaml rename to examples/basics/algebraic_function/model.yaml diff --git a/examples/generate/algebraic_function/parameters.yaml b/examples/basics/algebraic_function/parameters.yaml similarity index 100% rename from examples/generate/algebraic_function/parameters.yaml rename to examples/basics/algebraic_function/parameters.yaml diff --git a/examples/generate/algebraic_function/run.py b/examples/basics/algebraic_function/run.py similarity index 100% rename from examples/generate/algebraic_function/run.py rename to examples/basics/algebraic_function/run.py diff --git a/examples/generate/closed_chain/layout.yaml b/examples/basics/dc_motor/gui/layout.yaml similarity index 100% rename from examples/generate/closed_chain/layout.yaml rename to examples/basics/dc_motor/gui/layout.yaml diff --git a/examples/generate/closed_chain/model.yaml b/examples/basics/dc_motor/gui/model.yaml similarity index 100% rename from examples/generate/closed_chain/model.yaml rename to examples/basics/dc_motor/gui/model.yaml diff --git a/examples/generate/closed_chain/parameters.yaml b/examples/basics/dc_motor/gui/parameters.yaml similarity index 100% rename from examples/generate/closed_chain/parameters.yaml rename to examples/basics/dc_motor/gui/parameters.yaml diff --git a/examples/generate/closed_chain/run.py b/examples/basics/dc_motor/gui/run.py similarity index 100% rename from examples/generate/closed_chain/run.py rename to examples/basics/dc_motor/gui/run.py diff --git a/examples/dc_motor/multiple_order.py b/examples/basics/dc_motor/multiple_order.py similarity index 89% rename from examples/dc_motor/multiple_order.py rename to examples/basics/dc_motor/multiple_order.py index fb8ed5b..6877eeb 100644 --- a/examples/dc_motor/multiple_order.py +++ b/examples/basics/dc_motor/multiple_order.py @@ -69,11 +69,10 @@ def main(): "sum.outputs.out" ]) - length = len(logs["ref.outputs.out"]) - time = np.arange(0, T+dt, dt) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["sum.outputs.out"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("sum.outputs.out").squeeze() print(w[-5:].flatten()) diff --git a/examples/dc_motor/openloop.py b/examples/basics/dc_motor/openloop.py similarity index 87% rename from examples/dc_motor/openloop.py rename to examples/basics/dc_motor/openloop.py index c54efbd..9e5548a 100644 --- a/examples/dc_motor/openloop.py +++ b/examples/basics/dc_motor/openloop.py @@ -41,10 +41,9 @@ def main(): sim = Simulator(model, sim_cfg) logs = sim.run() - length = len(logs["command.outputs.out"]) - time = np.array(logs["time"]) - u = np.array(logs["command.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) + time = sim.get_data("time") + u = sim.get_data("command.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() print("Open-Loop DC Motor Response:") print(w[-5:].flatten()) diff --git a/examples/dc_motor/pi.py b/examples/basics/dc_motor/pi.py similarity index 85% rename from examples/dc_motor/pi.py rename to examples/basics/dc_motor/pi.py index d9c8afa..ed76d5d 100644 --- a/examples/dc_motor/pi.py +++ b/examples/basics/dc_motor/pi.py @@ -40,18 +40,13 @@ def manual(A, B, C, Kp, Ki, dt, T): "Kp.outputs.out" ]) - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["sum.outputs.out"]).reshape(length, -1) - - print("PI:") - print(w[-5:].flatten()) - - p_term = np.array(logs["Kp.outputs.out"]).reshape(length, -1) - i_term = np.array(logs["integrator.outputs.out"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("sum.outputs.out").squeeze() + p_term = sim.get_data("Kp.outputs.out").squeeze() + i_term = sim.get_data("integrator.outputs.out").squeeze() return time, r, w, u, p_term, i_term diff --git a/examples/dc_motor/pid.py b/examples/basics/dc_motor/pid.py similarity index 85% rename from examples/dc_motor/pid.py rename to examples/basics/dc_motor/pid.py index df17ebb..a97b1b8 100644 --- a/examples/dc_motor/pid.py +++ b/examples/basics/dc_motor/pid.py @@ -54,18 +54,14 @@ def manual(A, B, C, Kp, Ki, Kd, dt, T): ] ) - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["sum.outputs.out"]).reshape(length, -1) - - print("PID:") - print(w[-5:].flatten()) - - p_term = np.array(logs["Kp.outputs.out"]).reshape(length, -1) - i_term = np.array(logs["integrator.outputs.out"]).reshape(length, -1) - d_term = np.array(logs["derivator.outputs.out"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("sum.outputs.out").squeeze() + + p_term = sim.get_data("Kp.outputs.out").squeeze() + i_term = sim.get_data("integrator.outputs.out").squeeze() + d_term = sim.get_data("derivator.outputs.out").squeeze() return time, r, w, u, p_term, i_term, d_term diff --git a/examples/dc_motor/pid_block.py b/examples/basics/dc_motor/pid_block.py similarity index 88% rename from examples/dc_motor/pid_block.py rename to examples/basics/dc_motor/pid_block.py index e81da45..6b3ac7c 100644 --- a/examples/dc_motor/pid_block.py +++ b/examples/basics/dc_motor/pid_block.py @@ -34,11 +34,11 @@ def pid(A, B, C, Kp, Ki, Kd, dt, T): "pid.outputs.u" ]) - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["pid.outputs.u"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("pid.outputs.u").squeeze() + return time, r, w, u diff --git a/examples/dc_motor/pid_block_vs_manual.py b/examples/basics/dc_motor/pid_block_vs_manual.py similarity index 89% rename from examples/dc_motor/pid_block_vs_manual.py rename to examples/basics/dc_motor/pid_block_vs_manual.py index df9989b..bc468a5 100644 --- a/examples/dc_motor/pid_block_vs_manual.py +++ b/examples/basics/dc_motor/pid_block_vs_manual.py @@ -33,11 +33,11 @@ def pid(A, B, C, Kp, Ki, Kd, dt, T): "pid.outputs.u" ]) - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["pid.outputs.u"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("pid.outputs.u").squeeze() + return time, r, w, u def manual(A, B, C, Kp, Ki, Kd, dt, T): @@ -80,11 +80,10 @@ def manual(A, B, C, Kp, Ki, Kd, dt, T): "Kp.outputs.out" ]) - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - w = np.array(logs["motor.outputs.y"]).reshape(length, -1) - u = np.array(logs["sum.outputs.out"]).reshape(length, -1) + time = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + u = sim.get_data("sum.outputs.out").squeeze() return time, r, w, u diff --git a/examples/generate/external/layout.yaml b/examples/basics/external/layout.yaml similarity index 100% rename from examples/generate/external/layout.yaml rename to examples/basics/external/layout.yaml diff --git a/examples/generate/external/model.yaml b/examples/basics/external/model.yaml similarity index 100% rename from examples/generate/external/model.yaml rename to examples/basics/external/model.yaml diff --git a/examples/generate/external/parameters.py b/examples/basics/external/parameters.py similarity index 100% rename from examples/generate/external/parameters.py rename to examples/basics/external/parameters.py diff --git a/examples/generate/external/parameters.yaml b/examples/basics/external/parameters.yaml similarity index 100% rename from examples/generate/external/parameters.yaml rename to examples/basics/external/parameters.yaml diff --git a/examples/generate/external/run.py b/examples/basics/external/run.py similarity index 100% rename from examples/generate/external/run.py rename to examples/basics/external/run.py diff --git a/examples/generate/sources/data.csv b/examples/basics/file_sources/data.csv similarity index 100% rename from examples/generate/sources/data.csv rename to examples/basics/file_sources/data.csv diff --git a/examples/generate/sources/data.npy b/examples/basics/file_sources/data.npy similarity index 100% rename from examples/generate/sources/data.npy rename to examples/basics/file_sources/data.npy diff --git a/examples/generate/sources/data.npz b/examples/basics/file_sources/data.npz similarity index 100% rename from examples/generate/sources/data.npz rename to examples/basics/file_sources/data.npz diff --git a/examples/generate/sources/layout.yaml b/examples/basics/file_sources/layout.yaml similarity index 100% rename from examples/generate/sources/layout.yaml rename to examples/basics/file_sources/layout.yaml diff --git a/examples/generate/sources/model.yaml b/examples/basics/file_sources/model.yaml similarity index 100% rename from examples/generate/sources/model.yaml rename to examples/basics/file_sources/model.yaml diff --git a/examples/generate/sources/parameters.yaml b/examples/basics/file_sources/parameters.yaml similarity index 100% rename from examples/generate/sources/parameters.yaml rename to examples/basics/file_sources/parameters.yaml diff --git a/examples/generate/sources/temp.py b/examples/basics/file_sources/temp.py similarity index 100% rename from examples/generate/sources/temp.py rename to examples/basics/file_sources/temp.py diff --git a/examples/example_observer.py b/examples/basics/observer.py similarity index 89% rename from examples/example_observer.py rename to examples/basics/observer.py index f0f17e7..7ee5157 100644 --- a/examples/example_observer.py +++ b/examples/basics/observer.py @@ -52,10 +52,9 @@ def main(): ) # Extract logs - length = len(logs["plant.outputs.x"]) - t = np.array(logs["time"]) - x_true = np.array(logs["plant.outputs.x"]).reshape(length, -1) - x_hat = np.array(logs["observer.outputs.x_hat"]).reshape(length, -1) + t = sim.get_data("time") + x_true = sim.get_data("plant.outputs.x").squeeze() + x_hat = sim.get_data("observer.outputs.x_hat").squeeze() # The observer should track the state with low error after a few steps error = np.linalg.norm(x_true[-1] - x_hat[-1]) diff --git a/examples/generate/state_feedback/layout.yaml b/examples/basics/state_feedback/gui/layout.yaml similarity index 78% rename from examples/generate/state_feedback/layout.yaml rename to examples/basics/state_feedback/gui/layout.yaml index e6929ad..58fa544 100644 --- a/examples/generate/state_feedback/layout.yaml +++ b/examples/basics/state_feedback/gui/layout.yaml @@ -4,14 +4,20 @@ blocks: x: 25.0 y: -18.0 orientation: normal + width: 120.0 + height: 60.0 step: x: -170.0 y: -30.0 orientation: normal + width: 120.0 + height: 60.0 system: x: 195.0 y: -15.0 orientation: normal + width: 120.0 + height: 60.0 connections: system.x -> controller.x: ports: [system.x, controller.x] diff --git a/examples/generate/state_feedback/model.yaml b/examples/basics/state_feedback/gui/model.yaml similarity index 100% rename from examples/generate/state_feedback/model.yaml rename to examples/basics/state_feedback/gui/model.yaml diff --git a/examples/basics/state_feedback/gui/parameters.py b/examples/basics/state_feedback/gui/parameters.py new file mode 100644 index 0000000..c22205c --- /dev/null +++ b/examples/basics/state_feedback/gui/parameters.py @@ -0,0 +1,9 @@ +import numpy as np +import control as ct + +A = np.array([[0.95, 0.1], [0, 0.98]]) +B = np.array([[1], [1]]) +C = np.array([[1., 0.]]) + +K = ct.place(A, B, [0.9, 0.91]) +G = np.linalg.inv(C @ np.linalg.inv(np.eye(2) - A + B @ K) @ B) diff --git a/examples/generate/state_feedback/parameters.yaml b/examples/basics/state_feedback/gui/parameters.yaml similarity index 91% rename from examples/generate/state_feedback/parameters.yaml rename to examples/basics/state_feedback/gui/parameters.yaml index 1f91f57..6fbf7c3 100644 --- a/examples/generate/state_feedback/parameters.yaml +++ b/examples/basics/state_feedback/gui/parameters.yaml @@ -1,6 +1,6 @@ simulation: - dt: 0.1 - T: 10.0 + dt: 0.02 + T: 2.0 solver: fixed blocks: controller: @@ -15,9 +15,10 @@ blocks: B: '#B' C: '#C' logging: +- controller.outputs.u - step.outputs.out +- system.outputs.x - system.outputs.y -- controller.outputs.u plots: - title: Ref vs Output signals: diff --git a/examples/generate/state_feedback/run.py b/examples/basics/state_feedback/gui/run.py similarity index 100% rename from examples/generate/state_feedback/run.py rename to examples/basics/state_feedback/gui/run.py diff --git a/examples/example_state_feedback.py b/examples/basics/state_feedback/state_feedback.py similarity index 89% rename from examples/example_state_feedback.py rename to examples/basics/state_feedback/state_feedback.py index 26304da..d5fcd3d 100644 --- a/examples/example_state_feedback.py +++ b/examples/basics/state_feedback/state_feedback.py @@ -62,15 +62,14 @@ def main(): ], ) - # --- 6. Inspect / print some results --- length = len(logs["plant.outputs.y"]) - t = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length, -1) - y = np.array(logs["plant.outputs.y"]).reshape(length, -1) - x = np.array(logs["plant.outputs.x"]).reshape(length, -1) - u = np.array(logs["controller.outputs.u"]).reshape(length, -1) + t = sim.get_data("time") + r = sim.get_data("ref.outputs.out").squeeze() + y = sim.get_data("plant.outputs.y").squeeze() + x = sim.get_data("plant.outputs.x").squeeze() + u = sim.get_data("controller.outputs.u").squeeze() plt.figure() plt.step(t, r, label="ref (step)", where="post") diff --git a/examples/generate/state_space/linear/layout.yaml b/examples/basics/state_space/linear/gui/layout.yaml similarity index 52% rename from examples/generate/state_space/linear/layout.yaml rename to examples/basics/state_space/linear/gui/layout.yaml index c1f2a21..9db8084 100644 --- a/examples/generate/state_space/linear/layout.yaml +++ b/examples/basics/state_space/linear/gui/layout.yaml @@ -4,32 +4,46 @@ blocks: x: 0.0 y: -5.0 orientation: normal + width: 120.0 + height: 60.0 sum: x: 348.0 y: 5.0 orientation: normal + width: 120.0 + height: 60.0 A: x: 430.0 - y: 138.0 + y: 140.0 orientation: flipped + width: 120.0 + height: 60.0 B: x: 175.0 y: -5.0 orientation: normal + width: 120.0 + height: 60.0 delay: x: 545.0 y: 15.0 orientation: normal + width: 120.0 + height: 60.0 plant: x: 176.0 y: -99.0 orientation: normal + width: 120.0 + height: 60.0 + C: + x: 745.0 + y: 15.0 + orientation: normal + width: 120.0 + height: 60.0 connections: A.out -> sum.in2: ports: [A.out, sum.in2] - route: [[415.0, 168.0], [335.0, 168.0], [335.0, 101.5], [334.0, 101.5], [334.0, + route: [[415.0, 170.0], [407.0, 170.0], [407.0, 170.0], [334.0, 170.0], [334.0, 45.0], [342.0, 45.0]] - delay.out -> A.in: - ports: [delay.out, A.in] - route: [[680.0, 45.0], [688.0, 45.0], [688.0, 106.5], [690.0, 106.5], [690.0, - 168.0], [556.0, 168.0]] diff --git a/examples/generate/state_space/linear/model.yaml b/examples/basics/state_space/linear/gui/model.yaml similarity index 86% rename from examples/generate/state_space/linear/model.yaml rename to examples/basics/state_space/linear/gui/model.yaml index 3d7c8d3..392ea04 100644 --- a/examples/generate/state_space/linear/model.yaml +++ b/examples/basics/state_space/linear/gui/model.yaml @@ -17,6 +17,9 @@ blocks: - name: plant category: systems type: linear_state_space +- name: C + category: operators + type: gain connections: - [ref.out, B.in] - [B.out, sum.in1] @@ -24,3 +27,4 @@ connections: - [sum.out, delay.in] - [delay.out, A.in] - [ref.out, plant.u] +- [delay.out, C.in] diff --git a/examples/generate/state_space/linear/parameters.yaml b/examples/basics/state_space/linear/gui/parameters.yaml similarity index 58% rename from examples/generate/state_space/linear/parameters.yaml rename to examples/basics/state_space/linear/gui/parameters.yaml index 7df40e0..b38041e 100644 --- a/examples/generate/state_space/linear/parameters.yaml +++ b/examples/basics/state_space/linear/gui/parameters.yaml @@ -1,6 +1,6 @@ simulation: dt: 0.01 - T: 3.0 + T: 5.0 solver: fixed blocks: ref: @@ -10,23 +10,28 @@ blocks: sum: signs: ++ A: - gain: [[0.9]] + gain: [[0.0, 0.25], [0.3, 0.91]] multiplication: Matrix (K @ u) B: - gain: [[1.0]] + gain: [[0.5], [0.3]] multiplication: Matrix (K @ u) delay: num_delays: 1 - initial_output: [[0.0]] + initial_output: [[0.0], [0.0]] plant: - A: [[0.9]] - B: [[1.0]] - C: [[1.0]] - x0: [[0.0]] + A: [[0.0, 0.25], [0.3, 0.91]] + B: [[0.5], [0.3]] + C: [[0.0, 1.0]] + x0: [[0.0], [0.0]] + C: + gain: [[0.0, 1.0]] + multiplication: Matrix (K @ u) logging: - ref.outputs.out -- plant.outputs.x - delay.outputs.out +- plant.outputs.x +- plant.outputs.y +- C.outputs.out plots: - title: System response signals: diff --git a/examples/generate/state_space/linear/run.py b/examples/basics/state_space/linear/gui/run.py similarity index 100% rename from examples/generate/state_space/linear/run.py rename to examples/basics/state_space/linear/gui/run.py diff --git a/examples/example_siso.py b/examples/basics/state_space/linear/ss_block.py similarity index 55% rename from examples/example_siso.py rename to examples/basics/state_space/linear/ss_block.py index f3db627..9b7e6f9 100644 --- a/examples/example_siso.py +++ b/examples/basics/state_space/linear/ss_block.py @@ -7,9 +7,10 @@ def main(): # --- 1. Define system matrices (SISO example) --- - A = np.array([[0., 0.25], [0.3, 0.91]]) # (2x2) - B = np.array([[0.5], [0.3]]) # (2x1) - C = np.array([[0., 1.0]]) # y = x + A = np.array([[0., 0.25], [0.3, 0.91]]) + B = np.array([[0.5], [0.3]]) + C = np.array([[0., 1.0]]) + x0 = np.zeros((A.shape[0], 1)) # --- 2. Create blocks --- @@ -24,10 +25,9 @@ def main(): plant = LinearStateSpace( name="plant", A=A, B=B, C=C, - x0=np.zeros((2, 1)), + x0=x0, ) - # --- 3. Build the model --- model = Model(name="siso") model.add_block(command) @@ -37,8 +37,8 @@ def main(): # --- 4. Create the simulator --- - dt = 0.01 # 10 ms - T = 2.0 # 2 seconds + dt = 0.01 + T = 5. sim_cfg = SimulationConfig(dt, T) sim = Simulator(model, sim_cfg) @@ -52,21 +52,37 @@ def main(): # --- 6. Inspect / print some results --- - length = len(logs["plant.outputs.y"]) - - t = np.array(logs["time"]) - u = np.array(logs["command.outputs.out"]).reshape(length, -1) - x = np.array(logs["plant.outputs.x"]).reshape(length, -1) - y = np.array(logs["plant.outputs.y"]).reshape(length, -1) + t = sim.get_data("time") + u = sim.get_data("command.outputs.out").squeeze() + x = sim.get_data("plant.outputs.x").squeeze() + y = sim.get_data("plant.outputs.y").squeeze() + # --- 6. Plot the result --- plt.figure() - plt.step(t, u, label="u (step)", where="post") - plt.step(t, x[:, 0], label="x1 (plant)", where="post") - plt.step(t, y, label="x2=y (plant)", where="post") + plt.step(t, x[:, 0], "--r", label="x[0]", where="post") + plt.step(t, x[:, 1], "--b", label="x[1]", where="post") + plt.xlabel("Time [s]") + plt.ylabel("State") + plt.grid(True) plt.legend() + plt.title("State evolution") + + plt.figure() + plt.step(t, y, "--g", label="y (output)", where="post") + plt.xlabel("Time [s]") + plt.ylabel("Output") plt.grid(True) + plt.legend() + plt.title("Output evolution") + + plt.figure() + plt.step(t, u, "--k", label="u (input)", where="post") plt.xlabel("Time [s]") + plt.ylabel("Input") + plt.grid(True) + plt.legend() + plt.title("Input signal") plt.show() if __name__ == "__main__": diff --git a/examples/example_closed_chain.py b/examples/basics/state_space/linear/ss_manual.py similarity index 58% rename from examples/example_closed_chain.py rename to examples/basics/state_space/linear/ss_manual.py index 404416b..8c9330b 100644 --- a/examples/example_closed_chain.py +++ b/examples/basics/state_space/linear/ss_manual.py @@ -11,8 +11,10 @@ def main(): x[k+1] = A*x[k] + B*u[k] """ - A = np.array([[0.9]]) - B = np.array([[1.0]]) + A = np.array([[0., 0.25], [0.3, 0.91]]) + B = np.array([[0.5], [0.3]]) + C = np.array([[0., 1.0]]) + x0 = np.zeros((A.shape[0], 1)) # ------------------------------------------------------- # 1. Create the blocks @@ -23,16 +25,17 @@ def main(): value_after=np.array([[1.0]]), start_time=0.5 ) - state_matrix = Gain(name="A", gain=A) - input_matrix = Gain(name="B", gain=B) + state_matrix = Gain(name="A", gain=A, multiplication="Matrix (K @ u)") + input_matrix = Gain(name="B", gain=B, multiplication="Matrix (K @ u)") + output_matrix = Gain(name="C", gain=C, multiplication="Matrix (K @ u)") sum = Sum(name="sum", signs="++") - delay = Delay(name="delay", initial_output=np.zeros((1, 1))) + delay = Delay(name="delay", initial_output=x0) # ------------------------------------------------------- # 2. Build the model # ------------------------------------------------------- model = Model("test") - for block in [step, input_matrix, state_matrix, sum, delay]: + for block in [step, input_matrix, state_matrix, sum, delay, output_matrix]: model.add_block(block) model.connect("u", "out", "B", "in") @@ -40,12 +43,13 @@ def main(): model.connect("A", "out", "sum", "in2") model.connect("sum", "out", "delay", "in") model.connect("delay", "out", "A", "in") + model.connect("delay", "out", "C", "in") # ------------------------------------------------------- # 3. Create the simulator # ------------------------------------------------------- - dt = 0.1 - T = 2. + dt = 0.01 + T = 5. sim_cfg = SimulationConfig(dt, T) sim = Simulator(model, sim_cfg, verbose=True) @@ -54,29 +58,46 @@ def main(): # ------------------------------------------------------- logs = sim.run(logging=[ "u.outputs.out", - "delay.outputs.out" + "delay.outputs.out", + "C.outputs.out", ] ) # ------------------------------------------------------- # 5. Extract logged data # ------------------------------------------------------- - length = len(logs["u.outputs.out"]) - t = np.array(logs["time"]) - u = np.array(logs["u.outputs.out"]).reshape(length, -1) - x = np.array(logs["delay.outputs.out"]).reshape(length, -1) + t = sim.get_data("time") + u = sim.get_data("u.outputs.out").squeeze() + x = sim.get_data("delay.outputs.out").squeeze() + y = sim.get_data("C.outputs.out").squeeze() # ------------------------------------------------------- # 6. Plot the result # ------------------------------------------------------- plt.figure() - plt.step(t, u, "--b", label="u[k] (step)", where="post") - plt.step(t, x, "--r", label="x[k] (delay)", where="post") + plt.step(t, x[:, 0], "--r", label="x[0]", where="post") + plt.step(t, x[:, 1], "--b", label="x[1]", where="post") plt.xlabel("Time [s]") - plt.ylabel("Amplitude") + plt.ylabel("State") plt.grid(True) plt.legend() - plt.title("Step Test") + plt.title("State evolution") + + plt.figure() + plt.step(t, y, "--g", label="y (output)", where="post") + plt.xlabel("Time [s]") + plt.ylabel("Output") + plt.grid(True) + plt.legend() + plt.title("Output evolution") + + plt.figure() + plt.step(t, u, "--k", label="u (input)", where="post") + plt.xlabel("Time [s]") + plt.ylabel("Input") + plt.grid(True) + plt.legend() + plt.title("Input signal") plt.show() diff --git a/examples/generate/state_space/non_linear/layout.yaml b/examples/basics/state_space/non_linear/layout.yaml similarity index 100% rename from examples/generate/state_space/non_linear/layout.yaml rename to examples/basics/state_space/non_linear/layout.yaml diff --git a/examples/generate/state_space/non_linear/model.yaml b/examples/basics/state_space/non_linear/model.yaml similarity index 100% rename from examples/generate/state_space/non_linear/model.yaml rename to examples/basics/state_space/non_linear/model.yaml diff --git a/examples/generate/state_space/non_linear/nlss.py b/examples/basics/state_space/non_linear/nlss.py similarity index 100% rename from examples/generate/state_space/non_linear/nlss.py rename to examples/basics/state_space/non_linear/nlss.py diff --git a/examples/generate/state_space/non_linear/parameters.yaml b/examples/basics/state_space/non_linear/parameters.yaml similarity index 100% rename from examples/generate/state_space/non_linear/parameters.yaml rename to examples/basics/state_space/non_linear/parameters.yaml diff --git a/examples/generate/state_space/non_linear/run.py b/examples/basics/state_space/non_linear/run.py similarity index 100% rename from examples/generate/state_space/non_linear/run.py rename to examples/basics/state_space/non_linear/run.py diff --git a/examples/generate/state_space/polytope/layout.yaml b/examples/basics/state_space/polytope/layout.yaml similarity index 100% rename from examples/generate/state_space/polytope/layout.yaml rename to examples/basics/state_space/polytope/layout.yaml diff --git a/examples/generate/state_space/polytope/model.yaml b/examples/basics/state_space/polytope/model.yaml similarity index 100% rename from examples/generate/state_space/polytope/model.yaml rename to examples/basics/state_space/polytope/model.yaml diff --git a/examples/generate/state_space/polytope/parameters.yaml b/examples/basics/state_space/polytope/parameters.yaml similarity index 100% rename from examples/generate/state_space/polytope/parameters.yaml rename to examples/basics/state_space/polytope/parameters.yaml diff --git a/examples/generate/state_space/polytope/params.py b/examples/basics/state_space/polytope/params.py similarity index 100% rename from examples/generate/state_space/polytope/params.py rename to examples/basics/state_space/polytope/params.py diff --git a/examples/generate/state_space/polytope/weights.py b/examples/basics/state_space/polytope/weights.py similarity index 100% rename from examples/generate/state_space/polytope/weights.py rename to examples/basics/state_space/polytope/weights.py diff --git a/examples/simulink/convert.py b/examples/comparison/simulink/convert.py similarity index 100% rename from examples/simulink/convert.py rename to examples/comparison/simulink/convert.py diff --git a/examples/simulink/openloop.py b/examples/comparison/simulink/openloop.py similarity index 91% rename from examples/simulink/openloop.py rename to examples/comparison/simulink/openloop.py index 99fdd6d..63f7ab1 100644 --- a/examples/simulink/openloop.py +++ b/examples/comparison/simulink/openloop.py @@ -37,10 +37,10 @@ def manual_sim(A, B, C, T, dt): ]) sim = Simulator(model, sim_cfg, verbose=True) logs = sim.run( ) - - time = np.array(logs["time"]).reshape(-1) - u = np.array(logs["u.outputs.out"]).reshape(-1) - w = np.array(logs["C.outputs.out"]).reshape(-1) + + time = sim.get_data("time") + u = sim.get_data("u.outputs.out").squeeze() + w = sim.get_data("C.outputs.out").squeeze() return time, u, w @@ -65,10 +65,10 @@ def block_sim(A, B, C, T, dt): sim = Simulator(model, sim_cfg, verbose=False) logs = sim.run() - length = len(logs["command.outputs.out"]) - time = np.array(logs["time"]) - u = np.array(logs["command.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("command.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + return time, u, w diff --git a/examples/simulink/pi.py b/examples/comparison/simulink/pi.py similarity index 89% rename from examples/simulink/pi.py rename to examples/comparison/simulink/pi.py index 9cead07..7fd087f 100644 --- a/examples/simulink/pi.py +++ b/examples/comparison/simulink/pi.py @@ -38,11 +38,10 @@ def manual_sim(A, B, C, Kp, Ki, T, dt): sim = Simulator(model, sim_cfg, verbose=True) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["sum.outputs.out"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("sum.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() return time, u, w, r @@ -73,11 +72,11 @@ def block_sim(A, B, C, Kp, Ki, T, dt): sim = Simulator(model, sim_cfg, verbose=True) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["pid.outputs.u"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("pid.outputs.u").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() + return time, u, w, r diff --git a/examples/simulink/pid.py b/examples/comparison/simulink/pid.py similarity index 90% rename from examples/simulink/pid.py rename to examples/comparison/simulink/pid.py index 2e40f94..3cc2118 100644 --- a/examples/simulink/pid.py +++ b/examples/comparison/simulink/pid.py @@ -46,11 +46,10 @@ def manual_sim(A, B, C, Kp, Ki, Kd, T, dt): sim = Simulator(model, sim_cfg, verbose=False) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["sum.outputs.out"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("sum.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() return time, u, w, r @@ -80,11 +79,11 @@ def block_sim(A, B, C, Kp, Ki, Kd, T, dt): sim = Simulator(model, sim_cfg, verbose=False) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["pid.outputs.u"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("pid.outputs.u").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() + return time, u, w, r def main(): diff --git a/examples/simulink/pid_backward.py b/examples/comparison/simulink/pid_backward.py similarity index 90% rename from examples/simulink/pid_backward.py rename to examples/comparison/simulink/pid_backward.py index d9fddc6..b5ec82f 100644 --- a/examples/simulink/pid_backward.py +++ b/examples/comparison/simulink/pid_backward.py @@ -47,11 +47,10 @@ def manual_sim(A, B, C, Kp, Ki, Kd, T, dt): sim = Simulator(model, sim_cfg, verbose=False) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["sum.outputs.out"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("sum.outputs.out").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() return time, u, w, r @@ -81,11 +80,11 @@ def block_sim(A, B, C, Kp, Ki, Kd, T, dt): sim = Simulator(model, sim_cfg, verbose=False) logs = sim.run() - length = len(logs["ref.outputs.out"]) - time = np.array(logs["time"]) - r = np.array(logs["ref.outputs.out"]).reshape(length) - w = np.array(logs["motor.outputs.y"]).reshape(length) - u = np.array(logs["pid.outputs.u"]).reshape(length) + time = sim.get_data("time") + u = sim.get_data("pid.outputs.u").squeeze() + w = sim.get_data("motor.outputs.y").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() + return time, u, w, r def main(): diff --git a/examples/simulink/simulation.csv b/examples/comparison/simulink/simulation.csv similarity index 100% rename from examples/simulink/simulation.csv rename to examples/comparison/simulink/simulation.csv diff --git a/examples/simulink/simulation.npz b/examples/comparison/simulink/simulation.npz similarity index 100% rename from examples/simulink/simulation.npz rename to examples/comparison/simulink/simulation.npz diff --git a/examples/example_open_chain.py b/examples/example_open_chain.py deleted file mode 100644 index 9371ac8..0000000 --- a/examples/example_open_chain.py +++ /dev/null @@ -1,95 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - -from pySimBlocks import Model, Simulator, SimulationConfig -from pySimBlocks.blocks.sources import Step -from pySimBlocks.blocks.operators import Gain, Sum - - -def main(): - """Open chain block digram test. - s = g * r1 + r2 - """ - - # ------------------------------------------------------- - # 1. Create the blocks - # ------------------------------------------------------- - step1 = Step( - name="r1", - value_before=np.array([[0.0]]), - value_after=np.array([[1.0]]), - start_time=0.5 - ) - step2 = Step( - name="r2", - value_before=np.array([[0.0]]), - value_after=np.array([[1.0]]), - start_time=0.5 - ) - gain = Gain(name="g", gain=2.0) - sum = Sum(name="s", signs="++") - - # ------------------------------------------------------- - # 2. Build the model - # ------------------------------------------------------- - model = Model("test") - for block in [step1, step2, gain, sum]: - model.add_block(block) - - model.connect("r1", "out", "g", "in") - model.connect("g", "out", "s", "in1") - model.connect("r2", "out", "s", "in2") - - # ------------------------------------------------------- - # 3. Create the simulator - # ------------------------------------------------------- - dt = 0.1 - T = 2.0 - sim_cfg = SimulationConfig(dt, T) - sim = Simulator(model, sim_cfg) - - # ------------------------------------------------------- - # 4. Run the simulation for 2 seconds - # ------------------------------------------------------- - logs = sim.run(logging=[ - "r1.outputs.out", - "r2.outputs.out", - "g.outputs.out", - "s.outputs.out" - ] - ) - - # ------------------------------------------------------- - # 5. Extract logged data - # ------------------------------------------------------- - length = len(logs["r1.outputs.out"]) - t = np.array(logs["time"]) - r1 = np.array(logs["r1.outputs.out"]).reshape(length, 1) - r2 = np.array(logs["r2.outputs.out"]).reshape(length, 1) - g = np.array(logs["g.outputs.out"]).reshape(length, 1) - s = np.array(logs["s.outputs.out"]).reshape(length, 1) - - print(f"Time: \n{t.flatten()}") - print(f"r1: \n{r1.flatten()}") - print(f"r2: \n{r2.flatten()}") - print(f"g: \n{g.flatten()}") - print(f"s: \n{s.flatten()}") - - # ------------------------------------------------------- - # 6. Plot the result - # ------------------------------------------------------- - plt.figure() - plt.step(t, r1, "--b", label="r1[k] (step)", where="post") - plt.step(t, r2, "--r", label="r2[k] (step)", where="post") - plt.step(t, g, "--g", label="g[k] (gain)", where="post") - plt.step(t, s, "--m", label="s[k] (sum)", where="post") - plt.xlabel("Time [s]") - plt.ylabel("Amplitude") - plt.grid(True) - plt.legend() - plt.title("Step Test") - plt.show() - - -if __name__ == "__main__": - main() diff --git a/examples/generate/multi_rate/layout.yaml b/examples/generate/multi_rate/layout.yaml deleted file mode 100644 index 807c297..0000000 --- a/examples/generate/multi_rate/layout.yaml +++ /dev/null @@ -1,10 +0,0 @@ -version: 1 -blocks: - ramp: - x: -10.0 - y: 0.0 - orientation: normal - ramp_1: - x: 180.0 - y: 0.0 - orientation: normal diff --git a/examples/generate/multi_rate/model.yaml b/examples/generate/multi_rate/model.yaml deleted file mode 100644 index 64a3dcd..0000000 --- a/examples/generate/multi_rate/model.yaml +++ /dev/null @@ -1,8 +0,0 @@ -blocks: -- name: ramp - category: sources - type: ramp -- name: ramp_1 - category: sources - type: ramp -connections: [] diff --git a/examples/generate/multi_rate/parameters.yaml b/examples/generate/multi_rate/parameters.yaml deleted file mode 100644 index a2ea3e1..0000000 --- a/examples/generate/multi_rate/parameters.yaml +++ /dev/null @@ -1,21 +0,0 @@ -simulation: - dt: 0.01 - T: 0.11 - solver: fixed -blocks: - ramp: - slope: 1.0 - start_time: 0 - sample_time: 0.1 - ramp_1: - slope: 1.0 - start_time: 0 - sample_time: 0.01 -logging: -- ramp.outputs.out -- ramp_1.outputs.out -plots: -- title: Rate - signals: - - ramp.outputs.out - - ramp_1.outputs.out diff --git a/examples/generate/multi_rate/run.py b/examples/generate/multi_rate/run.py deleted file mode 100644 index c4cfa70..0000000 --- a/examples/generate/multi_rate/run.py +++ /dev/null @@ -1,27 +0,0 @@ -from pySimBlocks.core import Model, Simulator -from pySimBlocks.project.load_project_config import load_project_config -from pySimBlocks.project.plot_from_config import plot_from_config - -sim_cfg, model_cfg, plot_cfg = load_project_config("parameters.yaml") - -model = Model( - name="model", - model_yaml="model.yaml", - model_cfg=model_cfg -) - -sim = Simulator(model, sim_cfg) - -logs = sim.run() - -import numpy as np -t = np.array(logs["time"]) -r1 = np.array(logs["ramp.outputs.out"]) -r2 = np.array(logs["ramp_1.outputs.out"]) - -print(t.flatten()) -print(r1.flatten()) -print(r2.flatten()) - -if True: - plot_from_config(logs, plot_cfg) diff --git a/examples/generate/open_chain/layout.yaml b/examples/generate/open_chain/layout.yaml deleted file mode 100644 index f3b98a6..0000000 --- a/examples/generate/open_chain/layout.yaml +++ /dev/null @@ -1,10 +0,0 @@ -version: 1 -blocks: - ref: - x: 10.0 - y: 0.0 - orientation: normal - plant: - x: 180.0 - y: 0.0 - orientation: normal diff --git a/examples/generate/open_chain/model.yaml b/examples/generate/open_chain/model.yaml deleted file mode 100644 index 10b41b0..0000000 --- a/examples/generate/open_chain/model.yaml +++ /dev/null @@ -1,9 +0,0 @@ -blocks: -- name: ref - category: sources - type: step -- name: plant - category: systems - type: linear_state_space -connections: -- [ref.out, plant.u] diff --git a/examples/generate/open_chain/parameters.yaml b/examples/generate/open_chain/parameters.yaml deleted file mode 100644 index 64019a6..0000000 --- a/examples/generate/open_chain/parameters.yaml +++ /dev/null @@ -1,22 +0,0 @@ -simulation: - dt: 0.01 - T: 2.0 - solver: fixed -blocks: - ref: - value_before: [[0.0]] - value_after: [[1.0]] - start_time: 0.5 - plant: - A: [[0.9]] - B: [[1.0]] - C: [[1.0]] - x0: [[0.0]] -logging: -- ref.outputs.out -- plant.outputs.y -plots: -- title: Open Chain - signals: - - ref.outputs.out - - plant.outputs.y diff --git a/examples/generate/open_chain/run.py b/examples/generate/open_chain/run.py deleted file mode 100644 index 349f268..0000000 --- a/examples/generate/open_chain/run.py +++ /dev/null @@ -1,21 +0,0 @@ -from pySimBlocks.project.load_project_config import load_project_config -from pySimBlocks.core.model import Model -from pySimBlocks.core.simulator import Simulator -from pySimBlocks.project.plot_from_config import plot_from_config - -# Load configs -sim_cfg, model_cfg, plot_cfg = load_project_config("parameters.yaml") - -# Build model -model = Model( - name="open_loop", - model_yaml="model.yaml", - model_cfg=model_cfg -) - -# Create simulator -sim = Simulator(model, sim_cfg) - -# Run -logs = sim.run() -plot_from_config(logs, plot_cfg) diff --git a/examples/generate/sofa/sofa_exchange/FingerController.py b/examples/generate/sofa/sofa_exchange/FingerController.py deleted file mode 100644 index 3dde6f5..0000000 --- a/examples/generate/sofa/sofa_exchange/FingerController.py +++ /dev/null @@ -1,52 +0,0 @@ -import numpy as np -from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController - -import Sofa - -from pathlib import Path - -BASE_DIR = Path(__file__).resolve().parent - - -class FingerController(SofaPysimBlocksController): - - def __init__(self, root, actuator, mo, tip_index=121, name="FingerController"): - super().__init__(root, name=name) - self.parameters_yaml = str((BASE_DIR / "parameters.yaml").resolve()) - self.model_yaml = str((BASE_DIR / "model.yaml").resolve()) - - self.mo = mo - self.actuator = actuator - self.tip_index = tip_index - self.dt = root.dt.value - self.verbose = True - - # Inputs & outputs dictionaries - self.inputs = { "cable": None } - self.outputs = { "tip": None, "measure": None } - - - def get_outputs(self): - tip = self.mo.position[self.tip_index].copy() - self.outputs["tip"] = np.asarray(tip).reshape(-1, 1) - self.outputs["measure"] = np.asarray(tip[1]).reshape(-1, 1) - - def set_inputs(self): - # 1. READ INPUT ------------------------------------- - val = self.inputs["cable"] - - # Safe default for first initialization call - if val is None: - # ↓↓↓ Valeur par défaut pour l’initialisation - val = 0.0 - - # Convert input to Sofa format - if isinstance(val, np.ndarray): - processed = val.flatten().tolist() - elif isinstance(val, (list, tuple)): - processed = val - else: - processed = [float(val)] - - # Apply to actuator - self.actuator.value = processed diff --git a/examples/generate/sofa/sofa_plant/finger/Finger.py b/examples/generate/sofa/sofa_plant/finger/Finger.py deleted file mode 100644 index 86561c9..0000000 --- a/examples/generate/sofa/sofa_plant/finger/Finger.py +++ /dev/null @@ -1,108 +0,0 @@ -import os - -import numpy as np -import Sofa - -dir_path = os.path.dirname(os.path.abspath(__file__)) -path = os.path.join(dir_path, 'mesh') - - -def createScene(rootNode): - from FingerController import FingerController - - rootNode.addObject("RequiredPlugin", name='SoftRobots') - rootNode.addObject("RequiredPlugin", name='SofaPython3') - rootNode.addObject('RequiredPlugin', pluginName=[ - "Sofa.Component.AnimationLoop", # Needed to use components FreeMotionAnimationLoop - "Sofa.Component.Constraint.Lagrangian.Correction", # Needed to use components GenericConstraintCorrection - "Sofa.Component.Constraint.Lagrangian.Solver", # Needed to use components GenericConstraintSolver - "Sofa.Component.Engine.Select", # Needed to use components BoxROI - "Sofa.Component.IO.Mesh", # Needed to use components MeshSTLLoader, MeshVTKLoader - "Sofa.Component.LinearSolver.Direct", # Needed to use components SparseLDLSolver - "Sofa.Component.Mass", # Needed to use components UniformMass - "Sofa.Component.ODESolver.Backward", # Needed to use components EulerImplicitSolver - "Sofa.Component.Setting", # Needed to use components BackgroundSetting - "Sofa.Component.SolidMechanics.FEM.Elastic", # Needed to use components TetrahedronFEMForceField - "Sofa.Component.SolidMechanics.Spring", # Needed to use components RestShapeSpringsForceField - "Sofa.Component.Topology.Container.Constant", # Needed to use components MeshTopology - "Sofa.Component.Visual", # Needed to use components VisualStyle - "Sofa.GL.Component.Rendering3D", # Needed to use components OglModel, OglSceneFrame - "Sofa.Component.StateContainer", - 'Sofa.Component.Mapping.Linear' - ]) - rootNode.addObject('VisualStyle', - displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe') - - rootNode.addObject('FreeMotionAnimationLoop') - rootNode.addObject('DefaultVisualManagerLoop') - - rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100) - - rootNode.gravity = [0, -9810, 0] - rootNode.dt = 0.01 - - ########################################## - # FEM Model # - ########################################## - finger = rootNode.addChild('finger') - finger.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1) - finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d') - - # Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene . - finger.addObject('MeshVTKLoader', name='loader', filename=os.path.join(path, 'finger.vtk')) - finger.addObject('MeshTopology', src='@loader', name='container') - - # Create a MechanicaObject component to stores the DoFs of the model - finger.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5) - - finger.addObject('UniformMass', totalMass=0.075) - finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.45, - youngModulus=600) - finger.addObject('BoxROI', name='roi', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True) - finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12) - finger.addObject('GenericConstraintCorrection') - - ########################################## - # Cable # - ########################################## - - cable = finger.addChild('cable') - cable.addObject('MechanicalObject', - position=[ - [-17.5, 12.5, 2.5], - [-32.5, 12.5, 2.5], - [-47.5, 12.5, 2.5], - [-62.5, 12.5, 2.5], - [-77.5, 12.5, 2.5], - - [-85.5, 12.5, 6.5], - [-85.5, 12.5, 8.5], - [-83.5, 12.5, 4.5], - [-83.5, 12.5, 10.5], - - [-77.5, 12.5, 12.5], - [-62.5, 12.5, 12.5], - [-47.5, 12.5, 12.5], - [-32.5, 12.5, 12.5], - [-17.5, 12.5, 12.5]]) - - cable.addObject('CableConstraint', name="aCableActuator", - indices=list(range(0, 14)), - minForce=0, # Set that the cable can't push - pullPoint=[0.0, 12.5, 2.5]) - cable.addObject('BarycentricMapping') - - controller = FingerController(rootNode, cable.aCableActuator, finger.tetras) - finger.addObject(controller) - - ########################################## - # Visualization # - ########################################## - fingerVisu = finger.addChild('visu') - - # Add to this empty node a rendering model made of triangles and loaded from a stl file. - fingerVisu.addObject('MeshSTLLoader', filename=os.path.join(path, "finger.stl"), name="loader") - fingerVisu.addObject('OglModel', src="@loader", color=[0.0, 0.7, 0.7, 1]) - fingerVisu.addObject('BarycentricMapping') - - return rootNode, controller diff --git a/examples/generate/state_feedback/parameters.py b/examples/generate/state_feedback/parameters.py deleted file mode 100644 index 3b31e2c..0000000 --- a/examples/generate/state_feedback/parameters.py +++ /dev/null @@ -1,10 +0,0 @@ -import numpy as np -import control as ct - -A = np.array([[0.9, 0.8], [0, 0.95]]) -B = np.array([[0.], [0.5]]) -C = np.array([[1, 0]]) - -vp = [0.8, 0.85] -K = ct.place(A, B, vp) -G = np.linalg.inv(C @ np.linalg.inv(np.eye(2) - A + B @ K) @ B) diff --git a/examples/multi_rate/example_ramp_gain.py b/examples/multi_rate/example_ramp_gain.py deleted file mode 100644 index 9deabb1..0000000 --- a/examples/multi_rate/example_ramp_gain.py +++ /dev/null @@ -1,76 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - -from pySimBlocks import Model, Simulator, SimulationConfig -from pySimBlocks.blocks.sources import Ramp -from pySimBlocks.blocks.operators import Gain - - -def main(): - - # ------------------------------------------------------------ - # Simulation parameters - # ------------------------------------------------------------ - dt = 0.01 - T = 2.0 - - # ------------------------------------------------------------ - # Blocks (NO sample_time specified → inherited mono-rate) - # ------------------------------------------------------------ - ramp = Ramp( - name="ramp", - slope=1.0, # y(t) = t - start_time=0.0, - offset=0.0 - ) - - gain = Gain( - name="gain", - gain=2.0 # y = 2 * ramp - ) - - # ------------------------------------------------------------ - # Model - # ------------------------------------------------------------ - model = Model("Ramp → Gain example") - - model.add_block(ramp) - model.add_block(gain) - - model.connect("ramp", "out", "gain", "in") - - # ------------------------------------------------------------ - # Simulator (fixed-step, mono-rate) - # ------------------------------------------------------------ - sim_cfg = SimulationConfig(dt, T, solver="fixed") - sim = Simulator(model, sim_cfg, verbose=True) - - # ------------------------------------------------------------ - # Run simulation - # ------------------------------------------------------------ - logs = sim.run(logging=[ - "ramp.outputs.out", - "gain.outputs.out" - ] - ) - - # ------------------------------------------------------------ - # Plot results - # ------------------------------------------------------------ - t = np.array(logs["time"]).flatten() - ramp_out = np.vstack(logs["ramp.outputs.out"]) - gain_out = np.vstack(logs["gain.outputs.out"]) - - plt.figure() - plt.plot(t, ramp_out, label="Ramp output") - plt.plot(t, gain_out, label="Gain output") - plt.xlabel("Time [s]") - plt.ylabel("Signal") - plt.title("Ramp → Gain (mono-rate, inherited dt)") - plt.legend() - plt.grid(True) - plt.show() - - -if __name__ == "__main__": - main() diff --git a/examples/multi_rate/example_ramp_ss.py b/examples/multi_rate/example_ramp_ss.py deleted file mode 100644 index 5fa3504..0000000 --- a/examples/multi_rate/example_ramp_ss.py +++ /dev/null @@ -1,92 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - -from pySimBlocks import Model, Simulator, SimulationConfig -from pySimBlocks.blocks.sources import Ramp -from pySimBlocks.blocks.systems import LinearStateSpace - - -def main(): - - # ------------------------------------------------------------ - # Simulation parameters - # ------------------------------------------------------------ - dt = 0.01 # base rate of the simulator - T = 0.3 - - # ------------------------------------------------------------ - # Ramp source (inherited rate) - # ------------------------------------------------------------ - ramp = Ramp( - name="ramp", - slope=1.0, # u(t) = t - start_time=0.0, - offset=0.0, - sample_time=3*dt - ) - - # ------------------------------------------------------------ - # Discrete stable 1D state-space system - # x[k+1] = a x[k] + b u[k] - # y[k] = x[k] - # - # ------------------------------------------------------------ - - a = np.array([[0.9]]) # stable (|a| < 1) - b = np.array([[1.0]]) - c = np.array([[1.0]]) - x0 = np.array([[0.0]]) - - system = LinearStateSpace( - name="plant", - A=a, - B=b, - C=c, - x0=x0, - ) - - # ------------------------------------------------------------ - # Model - # ------------------------------------------------------------ - model = Model("Ramp → StateSpace (multi-rate)") - - model.add_block(ramp) - model.add_block(system) - - model.connect("ramp", "out", "plant", "u") - - # ------------------------------------------------------------ - # Simulator - # ------------------------------------------------------------ - sim_cfg = SimulationConfig(dt, T, solver="fixed") - sim = Simulator(model, sim_cfg, verbose=True) - - # ------------------------------------------------------------ - # Run simulation - # ------------------------------------------------------------ - logs = sim.run(logging=[ - "ramp.outputs.out", - "plant.outputs.y" - ] - ) - - # ------------------------------------------------------------ - # Plot results - # ------------------------------------------------------------ - t = np.array(logs["time"]).flatten() - ramp_out = np.vstack(logs["ramp.outputs.out"]) - plant_out = np.vstack(logs["plant.outputs.y"]) - - plt.figure() - plt.step(t, ramp_out, label="Ramp input", where="post") - plt.step(t, plant_out, label="State-space output", where="post") - plt.xlabel("Time [s]") - plt.ylabel("Signal") - plt.title("Ramp → 1D Stable State-Space (multi-rate)") - plt.legend() - plt.grid(True) - plt.show() - - -if __name__ == "__main__": - main() diff --git a/examples/sofa/controller/Finger.py b/examples/sofa/controller/Finger.py deleted file mode 100644 index 8b1e64c..0000000 --- a/examples/sofa/controller/Finger.py +++ /dev/null @@ -1,111 +0,0 @@ -import os -import sys - -import numpy as np -import Sofa - -from FingerController import FingerController - -dir_path = os.path.dirname(os.path.abspath(__file__)) -path = os.path.join(dir_path, 'mesh') - - -def createScene(rootNode): - - rootNode.addObject("RequiredPlugin", name='SoftRobots') - rootNode.addObject("RequiredPlugin", name='SofaPython3') - rootNode.addObject('RequiredPlugin', pluginName=[ - "Sofa.Component.AnimationLoop", # Needed to use components FreeMotionAnimationLoop - "Sofa.Component.Constraint.Lagrangian.Correction", # Needed to use components GenericConstraintCorrection - "Sofa.Component.Constraint.Lagrangian.Solver", # Needed to use components GenericConstraintSolver - "Sofa.Component.Engine.Select", # Needed to use components BoxROI - "Sofa.Component.IO.Mesh", # Needed to use components MeshSTLLoader, MeshVTKLoader - "Sofa.Component.LinearSolver.Direct", # Needed to use components SparseLDLSolver - "Sofa.Component.Mass", # Needed to use components UniformMass - "Sofa.Component.ODESolver.Backward", # Needed to use components EulerImplicitSolver - "Sofa.Component.Setting", # Needed to use components BackgroundSetting - "Sofa.Component.SolidMechanics.FEM.Elastic", # Needed to use components TetrahedronFEMForceField - "Sofa.Component.SolidMechanics.Spring", # Needed to use components RestShapeSpringsForceField - "Sofa.Component.Topology.Container.Constant", # Needed to use components MeshTopology - "Sofa.Component.Visual", # Needed to use components VisualStyle - "Sofa.GL.Component.Rendering3D", # Needed to use components OglModel, OglSceneFrame - "Sofa.Component.StateContainer", - 'Sofa.Component.Mapping.Linear' - ]) - rootNode.addObject('VisualStyle', - displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe') - - rootNode.addObject('FreeMotionAnimationLoop') - rootNode.addObject('DefaultVisualManagerLoop') - - rootNode.addObject('GenericConstraintSolver', tolerance=1e-5, maxIterations=100) - - rootNode.gravity = [0, -9810, 0] - rootNode.dt = 0.01 - - ########################################## - # FEM Model # - ########################################## - finger = rootNode.addChild('finger') - finger.addObject('EulerImplicitSolver', name='odesolver', rayleighMass=0.1, rayleighStiffness=0.1) - finger.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d') - - # Add a component to load a VTK tetrahedral mesh and expose the resulting topology in the scene . - finger.addObject('MeshVTKLoader', name='loader', filename=os.path.join(path, 'finger.vtk')) - finger.addObject('MeshTopology', src='@loader', name='container') - - # Create a MechanicaObject component to stores the DoFs of the model - finger.addObject('MechanicalObject', name='tetras', template='Vec3', showIndices=False, showIndicesScale=4e-5) - - finger.addObject('UniformMass', totalMass=0.075) - finger.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.45, - youngModulus=600) - finger.addObject('BoxROI', name='roi', box=[-15, 0, 0, 5, 10, 15], drawBoxes=True) - finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12) - finger.addObject('GenericConstraintCorrection') - - ########################################## - # Cable # - ########################################## - - cable = finger.addChild('cable') - cable.addObject('MechanicalObject', - position=[ - [-17.5, 12.5, 2.5], - [-32.5, 12.5, 2.5], - [-47.5, 12.5, 2.5], - [-62.5, 12.5, 2.5], - [-77.5, 12.5, 2.5], - - [-85.5, 12.5, 6.5], - [-85.5, 12.5, 8.5], - [-83.5, 12.5, 4.5], - [-83.5, 12.5, 10.5], - - [-77.5, 12.5, 12.5], - [-62.5, 12.5, 12.5], - [-47.5, 12.5, 12.5], - [-32.5, 12.5, 12.5], - [-17.5, 12.5, 12.5]]) - - cable.addObject('CableConstraint', name="aCableActuator", - indices=list(range(0, 14)), - minForce=0, # Set that the cable can't push - pullPoint=[0.0, 12.5, 2.5]) - cable.addObject('BarycentricMapping') - - controller = FingerController(root=rootNode, actuator=cable.aCableActuator, mo=finger.tetras) - - finger.addObject(controller) - - ########################################## - # Visualization # - ########################################## - fingerVisu = finger.addChild('visu') - - # Add to this empty node a rendering model made of triangles and loaded from a stl file. - fingerVisu.addObject('MeshSTLLoader', filename=os.path.join(path, "finger.stl"), name="loader") - fingerVisu.addObject('OglModel', src="@loader", color=[0.0, 0.7, 0.7, 1]) - fingerVisu.addObject('BarycentricMapping') - - return rootNode, controller diff --git a/examples/sofa/controller/FingerController.py b/examples/sofa/controller/FingerController.py deleted file mode 100644 index ffb79ff..0000000 --- a/examples/sofa/controller/FingerController.py +++ /dev/null @@ -1,71 +0,0 @@ -import numpy as np -from pySimBlocks.blocks.systems.sofa import SofaPysimBlocksController - -class FingerController(SofaPysimBlocksController): - - def __init__(self, root, actuator, mo, tip_index=121, verbose=True, name="FingerController"): - super().__init__(root, name=name) - - self.parameters_yaml = "parameters.yaml" - self.model_yaml = "model.yaml" - - self.mo = mo - self.actuator = actuator - self.tip_index = tip_index - self.verbose = verbose - self.dt = root.dt.value - - self.inputs = { "cable": None } - self.outputs = { "tip": None, "measure": None } - - self.last_tip = 0 - - # ======================================================== - # Commun functions - # ======================================================== - - def prepare_scene(self): - current_tip = self.mo.position[self.tip_index].copy() - if np.linalg.norm(current_tip - self.last_tip) < 1e-2: - self.initial_tip = current_tip - self.IS_READY = True - self.last_tip = current_tip - - def get_outputs(self): - tip = self.mo.position[self.tip_index].copy() - if self.IS_READY: - tip -= self.initial_tip - self.outputs["tip"] = np.asarray(tip).reshape(-1, 1) - self.outputs["measure"] = np.asarray(tip[1]).reshape(-1, 1) - - def set_inputs(self): - # 1. READ INPUT ------------------------------------- - val = self.inputs["cable"] - - # Safe default for first initialization call - if val is None: - # ↓↓↓ Valeur par défaut pour l’initialisation - val = 0.0 - - # Convert input to Sofa format - if isinstance(val, np.ndarray): - processed = val.flatten().tolist() - elif isinstance(val, (list, tuple)): - processed = val - else: - processed = [float(val)] - - # Apply to actuator - self.actuator.value = processed - - - def save(self): - if np.isclose(self.sim.logs["time"][-1], 5.): - logs = self.sim.logs - length = len(logs["time"]) - np.savez("data_gui.npz", - time=np.array(self.sim.logs["time"]).reshape(length, -1), - reference=np.array(self.sim.logs["step.outputs.out"]).reshape(length, -1), - command=np.array(self.sim.logs["pid.outputs.u"]).reshape(length, -1), - measure=np.array(self.sim.logs["sofa_io.outputs.measure"]).reshape(length, -1) - ) diff --git a/examples/sofa/controller/closedloop.py b/examples/sofa/controller/closedloop.py deleted file mode 100644 index a7263b4..0000000 --- a/examples/sofa/controller/closedloop.py +++ /dev/null @@ -1,102 +0,0 @@ -import os -import numpy as np -import matplotlib.pyplot as plt - -from pySimBlocks import Model, Simulator, SimulationConfig -from pySimBlocks.blocks.sources import Step -from pySimBlocks.blocks.operators import Sum -from pySimBlocks.blocks.controllers import Pid -from pySimBlocks.blocks.systems.sofa import SofaPlant - - -def main(): - - path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'Finger.py') - - # --- Create Blocks --- - step = Step( - name="step", - value_before=[[0.0]], - value_after=[[8.0]], - start_time=0.4, - ) - - error = Sum(name="error", signs="+-") - pid = Pid("pid", Kp=0.3, Ki=0.8, controller="PI") - - sofa_block = SofaPlant( - name="sofa_finger", - scene_file=path, - input_keys=["cable"], - output_keys=["measure"], - ) - - # --- Build the model --- - model = Model(name="sofa_finger_model") - for block in [step, error, pid, sofa_block]: - model.add_block(block) - - model.connect("step", "out", "error", "in1") - model.connect("sofa_finger", "measure", "error", "in2") - model.connect("error", "out", "pid", "e") - model.connect("pid", "u", "sofa_finger", "cable") - - - # --- Create the simulator --- - dt = 0.01 - T = 5.0 - sim_cfg = SimulationConfig(dt, T) - sim = Simulator(model, sim_cfg) - - # --- Run simulation --- - logs = sim.run(logging=[ - "step.outputs.out", - "sofa_finger.outputs.measure", - "pid.outputs.u" - ], - ) - - # --- Inspect / print some results --- - length = len(logs["step.outputs.out"]) - - t = np.array(logs["time"]) - r = np.array(logs["step.outputs.out"]).reshape(length, -1) - y = np.array(logs["sofa_finger.outputs.measure"]).reshape(length, -1) - u = np.array(logs["pid.outputs.u"]).reshape(length, -1) - - # gui data - data_gui = np.load("data_gui.npz") - t_gui = data_gui["time"] - r_gui = data_gui["reference"] - y_gui = data_gui["measure"] - u_gui = data_gui["command"] - - print(f"t error: {np.linalg.norm(t - t_gui)}") - print(f"r error: {np.linalg.norm(r - r_gui)}") - print(f"y error: {np.linalg.norm(y - y_gui)}") - print(f"u error: {np.linalg.norm(u - u_gui)}") - - plt.figure() - plt.step(t, r, '--r', label="r (Inline)") - plt.step(t, y[:, 0], '--b', label=f"y (Inline)") - plt.step(t_gui, r_gui, ':m', label="r (GUI)") - plt.step(t_gui, y_gui[:, 0], ':g', label=f"y (GUI)") - plt.legend() - plt.grid(True) - plt.xlabel("Time [s]") - plt.ylabel("Tip Position") - plt.title("Finger Tip Position Over Time") - - plt.figure() - plt.step(t, u[:, 0], '--b', label="u (Inline)") - plt.step(t_gui, u_gui[:, 0], ':g', label="u (Gui)") - plt.legend() - plt.grid(True) - plt.xlabel("Time [s]") - plt.ylabel("Control Signal") - plt.title("Control Signal Over Time") - plt.show() - - -if __name__ == '__main__': - main() diff --git a/examples/sofa/controller/data_gui.npz b/examples/sofa/controller/data_gui.npz deleted file mode 100644 index 8bb714a..0000000 Binary files a/examples/sofa/controller/data_gui.npz and /dev/null differ diff --git a/examples/sofa/controller/lastUsedGUI.ini b/examples/sofa/controller/lastUsedGUI.ini deleted file mode 100644 index 0a2a17f..0000000 --- a/examples/sofa/controller/lastUsedGUI.ini +++ /dev/null @@ -1 +0,0 @@ -imgui diff --git a/examples/sofa/controller/mesh/Bunny.stl b/examples/sofa/controller/mesh/Bunny.stl deleted file mode 100644 index 95bc348..0000000 Binary files a/examples/sofa/controller/mesh/Bunny.stl and /dev/null differ diff --git a/examples/sofa/controller/mesh/Hollow_Stanford_Bunny.vtu b/examples/sofa/controller/mesh/Hollow_Stanford_Bunny.vtu deleted file mode 100644 index 1221a6f..0000000 --- a/examples/sofa/controller/mesh/Hollow_Stanford_Bunny.vtu +++ /dev/null @@ -1,7828 +0,0 @@ - - - - - - -3.98268 -0.373533 -0.632738 - 2.05911 1.35068 1.07241 - 0.837217 -2.19217 3.87435 - 0.28712 1.04486 -0.395472 - 1.04381 0.383892 -1.18603 - -2.63658 3.0217 1.16134 - -0.495084 -4.72908 0.116524 - -2.09448 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a/examples/sofa/controller/model.yaml b/examples/sofa/controller/model.yaml deleted file mode 100644 index 9267233..0000000 --- a/examples/sofa/controller/model.yaml +++ /dev/null @@ -1,31 +0,0 @@ -blocks: -- name: step - category: sources - type: step -- name: error - category: operators - type: sum -- name: Kp - category: operators - type: gain -- name: Ki - category: operators - type: gain -- name: discrete_integrator - category: operators - type: discrete_integrator -- name: sum - category: operators - type: sum -- name: sofa - category: systems - type: sofa_plant -connections: -- [step.out, error.in1] -- [error.out, Kp.in] -- [error.out, discrete_integrator.in] -- [Kp.out, sum.in1] -- [discrete_integrator.out, Ki.in] -- [Ki.out, sum.in2] -- [sum.out, sofa.cable] -- [sofa.measure, error.in2] diff --git a/examples/sofa/controller/parameters.yaml b/examples/sofa/controller/parameters.yaml deleted file mode 100644 index 7f1a4ea..0000000 --- a/examples/sofa/controller/parameters.yaml +++ /dev/null @@ -1,39 +0,0 @@ -simulation: - dt: 0.01 - T: 5.0 -blocks: - step: - value_before: [[0]] - value_after: [[8.0]] - start_time: 0.4 - error: - signs: +- - Kp: - gain: [[0.3]] - multiplication: Matrix (K @ u) - Ki: - gain: [[0.8]] - multiplication: Matrix (K @ u) - discrete_integrator: - initial_state: [[0]] - sum: - signs: ++ - sofa: - scene_file: Finger.py - input_keys: - - cable - output_keys: - - tip - - measure -logging: - - step.outputs.out - - sofa.outputs.measure - - sum.outputs.out -plots: - - title: Outputs - signals: - - step.outputs.out - - sofa.outputs.measure - - title: Command - signals: - - sum.outputs.out diff --git a/examples/sofa/finger/lastUsedGUI.ini b/examples/sofa/finger/lastUsedGUI.ini deleted file mode 100644 index 0a2a17f..0000000 --- a/examples/sofa/finger/lastUsedGUI.ini +++ /dev/null @@ -1 +0,0 @@ -imgui diff --git a/examples/sofa/finger/mesh/Bunny.stl b/examples/sofa/finger/mesh/Bunny.stl deleted file mode 100644 index 95bc348..0000000 Binary files a/examples/sofa/finger/mesh/Bunny.stl and /dev/null differ diff --git a/examples/sofa/finger/mesh/Hollow_Stanford_Bunny.vtu b/examples/sofa/finger/mesh/Hollow_Stanford_Bunny.vtu deleted file mode 100644 index 1221a6f..0000000 --- a/examples/sofa/finger/mesh/Hollow_Stanford_Bunny.vtu +++ /dev/null @@ -1,7828 +0,0 @@ - - - - - - -3.98268 -0.373533 -0.632738 - 2.05911 1.35068 1.07241 - 0.837217 -2.19217 3.87435 - 0.28712 1.04486 -0.395472 - 1.04381 0.383892 -1.18603 - -2.63658 3.0217 1.16134 - -0.495084 -4.72908 0.116524 - -2.09448 2.5562 0.623363 - 3.41003 -0.13622 -0.496846 - -4.27669 0.56783 1.42112 - 2.67854 -1.29602 -1.57326 - 0.0933022 0.154745 -1.28079 - 3.45765 -4.83304 0.699636 - -1.94996 -5.0371 -0.229752 - -1.30869 -4.97081 1.38167 - -4.25477 -2.4282 1.1739 - 3.28772 -2.78136 -1.18168 - 1.12892 -4.32854 -1.77967 - -3.96896 1.11224 1.85217 - -2.65038 1.13957 -0.462219 - 2.70519 -4.30839 2.62116 - -2.14716 -3.72012 2.37443 - 4.15649 -3.80745 2.07685 - 0.350668 0.112708 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10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 - - - - - diff --git a/examples/sofa/finger/mesh/finger.stl b/examples/sofa/finger/mesh/finger.stl deleted file mode 100644 index c51bd9c..0000000 Binary files a/examples/sofa/finger/mesh/finger.stl and /dev/null differ diff --git a/examples/sofa/finger/mesh/finger.vtk b/examples/sofa/finger/mesh/finger.vtk deleted file mode 100644 index 372994e..0000000 Binary files a/examples/sofa/finger/mesh/finger.vtk and /dev/null differ diff --git a/examples/tutorials/tutorial_1_python/main.py b/examples/tutorials/tutorial_1_python/main.py new file mode 100644 index 0000000..e9037b0 --- /dev/null +++ b/examples/tutorials/tutorial_1_python/main.py @@ -0,0 +1,99 @@ +import matplotlib.pyplot as plt +import numpy as np + +from pySimBlocks import Model, SimulationConfig, Simulator +from pySimBlocks.blocks.controllers import Pid +from pySimBlocks.blocks.operators import Sum +from pySimBlocks.blocks.sources import Step +from pySimBlocks.blocks.systems import LinearStateSpace + + +def main(): + """This example demonstrates how to use the pySimBlocks library to create a + simple closed-loop control system with a step reference input, a PI controller, + and a linear state-space system. + """ + + A = np.array([[0.9]]) + B = np.array([[0.5]]) + C = np.array([[1.0]]) + x0 = np.zeros((A.shape[0], 1)) + + Kp = np.array([[0.5]]) + Ki = np.array([[2.]]) + + # ------------------------------------------------------- + # 1. Create the blocks + # ------------------------------------------------------- + step = Step( + name="ref", + value_before=np.array([[0.0]]), + value_after=np.array([[1.0]]), + start_time=0.5 + ) + sum = Sum(name="error", signs="+-") + pid = Pid(name="pid", controller="PI", Kp=Kp, Ki=Ki) + system = LinearStateSpace(name="system", A=A, B=B, C=C, x0=x0) + + # ------------------------------------------------------- + # 2. Build the model + # ------------------------------------------------------- + model = Model("test") + for block in [step, sum, pid, system]: + model.add_block(block) + + model.connect("ref", "out", "error", "in1") + model.connect("system", "y", "error", "in2") + model.connect("error", "out", "pid", "e") + model.connect("pid", "u", "system", "u") + + # ------------------------------------------------------- + # 3. Create the simulator + # ------------------------------------------------------- + dt = 0.01 # seconds + T = 5. # seconds + sim_cfg = SimulationConfig(dt, T) + sim = Simulator(model, sim_cfg, verbose=False) + + # ------------------------------------------------------- + # 4. Run the simulation with logging + # ------------------------------------------------------- + logs = sim.run(logging=[ + "ref.outputs.out", + "pid.outputs.u", + "system.outputs.y" + ] + ) + + # ------------------------------------------------------- + # 5. Extract logged data + # ------------------------------------------------------- + t = sim.get_data("time") + u = sim.get_data("pid.outputs.u").squeeze() + r = sim.get_data("ref.outputs.out").squeeze() + y = sim.get_data("system.outputs.y").squeeze() + + # ------------------------------------------------------- + # 6. Plot the result + # ------------------------------------------------------- + fig, axs = plt.subplots(1, 2, sharex=True) + axs[0].step(t, r, "--r", label="ref", where="post") + axs[0].step(t, y, "--b", label="output", where="post") + axs[0].set_xlabel("Time [s]") + axs[0].set_ylabel("Amplitude") + axs[0].set_title("Closed-loop response") + axs[0].grid(True) + axs[0].legend() + + axs[1].step(t, u, "--b", label="u[k] (pid output)", where="post") + axs[1].set_xlabel("Time [s]") + axs[1].set_ylabel("Amplitude") + axs[1].set_title("PID controller output") + axs[1].grid(True) + axs[1].legend() + + plt.show() + + +if __name__ == "__main__": + main() diff --git a/pySimBlocks/docs/blocks/systems/sofa/sofa_plant.md b/pySimBlocks/docs/blocks/systems/sofa/sofa_plant.md index 30fe1e8..6dd1c47 100644 --- a/pySimBlocks/docs/blocks/systems/sofa/sofa_plant.md +++ b/pySimBlocks/docs/blocks/systems/sofa/sofa_plant.md @@ -5,7 +5,7 @@ The **SofaPlant** block embeds a [SOFA](https://www.sofa-framework.org/) simulation as a dynamic system inside a pySimBlocks model. Unlike *SofaExchangeIO*, which is used inside a SOFA controller, **SofaPlant runs the SOFA simulation itself** in a separate worker process and exposes it as a discrete-time plant. -However, this block can be used in a diagram that will be run in both simulations with pySimblocks as master and SOFA as master. In the second case, the block is automatically replaced by a *SofaExchangeIO* block. +However, this block can be used in a diagram that will be run in both simulations with pySimBlocks as master and SOFA as master. In the second case, the block is automatically replaced by a *SofaExchangeIO* block. At each simulation step: - control inputs are sent to SOFA, diff --git a/pySimBlocks/gui/blocks/block_meta.py b/pySimBlocks/gui/blocks/block_meta.py index 38b48bb..4f39c15 100644 --- a/pySimBlocks/gui/blocks/block_meta.py +++ b/pySimBlocks/gui/blocks/block_meta.py @@ -301,8 +301,8 @@ def _create_param_row(self, if pmeta.type == "enum": widget = self._create_enum_widget(session, pmeta, readonly) - # Default: text edit - widget = self._create_edit_widget(session, pmeta, readonly) + else: # Default: text edit + widget = self._create_edit_widget(session, pmeta, readonly) label = QLabel(f"{pmeta.name}:") if pmeta.description: diff --git a/pySimBlocks/gui/main_window.py b/pySimBlocks/gui/main_window.py index 8ef9041..48e9c47 100644 --- a/pySimBlocks/gui/main_window.py +++ b/pySimBlocks/gui/main_window.py @@ -23,7 +23,7 @@ from pathlib import Path from typing import Dict, List -from PySide6.QtCore import Qt +from PySide6.QtCore import Qt, QTimer from PySide6.QtGui import QAction, QKeySequence from PySide6.QtWidgets import QMainWindow, QSplitter @@ -82,6 +82,9 @@ def __init__(self, project_path: Path): self.quit_action.triggered.connect(self.close) self.addAction(self.quit_action) + # Ensure keyboard shortcuts (e.g. Space) work immediately on startup. + QTimer.singleShot(0, self.view.setFocus) + # -------------------------------------------------------------------------- # Registry # -------------------------------------------------------------------------- diff --git a/pySimBlocks/gui/services/yaml_tools.py b/pySimBlocks/gui/services/yaml_tools.py index 047510a..3f5e6b7 100644 --- a/pySimBlocks/gui/services/yaml_tools.py +++ b/pySimBlocks/gui/services/yaml_tools.py @@ -248,7 +248,12 @@ def build_layout_yaml(block_items: dict[str, BlockItem]) -> dict: "width": float(block.rect().width()), "height": float(block.rect().height()), } + + if len(data["blocks"]) == 0: + return data + view = block.view + for conn in view.connections.values(): if conn in seen: continue @@ -280,4 +285,5 @@ def build_layout_yaml(block_items: dict[str, BlockItem]) -> dict: if manual_connections: data["connections"] = manual_connections + return data diff --git a/pySimBlocks/gui/widgets/block_list.py b/pySimBlocks/gui/widgets/block_list.py index b8940e5..9a9cf37 100644 --- a/pySimBlocks/gui/widgets/block_list.py +++ b/pySimBlocks/gui/widgets/block_list.py @@ -19,7 +19,7 @@ # ****************************************************************************** from typing import Callable -from PySide6.QtWidgets import QTreeWidget, QTreeWidgetItem +from PySide6.QtWidgets import QLineEdit, QTreeWidget, QTreeWidgetItem, QVBoxLayout, QWidget from PySide6.QtCore import Qt, QMimeData from PySide6.QtGui import QDrag @@ -34,7 +34,8 @@ def __init__(self, instance): def refresh_ports(self): pass -class BlockList(QTreeWidget): + +class _BlockTree(QTreeWidget): def __init__(self, get_categories: Callable[[], list[str]], get_blocks: Callable[[str], list[str]], @@ -85,3 +86,46 @@ def on_item_double_clicked(self, item, column): dialog = BlockDialog(_PreviewBlock(instance), readonly=True) dialog.exec() + + +class BlockList(QWidget): + def __init__(self, + get_categories: Callable[[], list[str]], + get_blocks: Callable[[str], list[str]], + resolve_block_meta: Callable[[str, str], BlockMeta]): + super().__init__() + + self.search = QLineEdit(self) + self.search.setPlaceholderText("Search by category or block name...") + + self.tree = _BlockTree(get_categories, get_blocks, resolve_block_meta) + + layout = QVBoxLayout(self) + layout.setContentsMargins(0, 0, 0, 0) + layout.setSpacing(4) + layout.addWidget(self.search) + layout.addWidget(self.tree) + + self.search.textChanged.connect(self._apply_filter) + + def _apply_filter(self, text: str): + query = text.strip().lower() + + for i in range(self.tree.topLevelItemCount()): + category_item = self.tree.topLevelItem(i) + category_name = category_item.text(0) + category_match = category_name.lower().startswith(query) + + visible_children = 0 + for j in range(category_item.childCount()): + block_item = category_item.child(j) + block_name = block_item.text(0) + block_match = block_name.lower().startswith(query) + visible = (not query) or category_match or block_match + block_item.setHidden(not visible) + if visible: + visible_children += 1 + + category_visible = (not query) or category_match or (visible_children > 0) + category_item.setHidden(not category_visible) + category_item.setExpanded(bool(query and category_visible))