source: branches/dev-5819/Python/src/tests_jmodelica/test_fmi_coupled.py @ 13800

Last change on this file since 13800 was 13800, checked in by randersson, 8 weeks ago

#5819 Merged trunk into branch
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1#!/usr/bin/env python
2# -*- coding: utf-8 -*-
3
4# Copyright (C) 2017 Modelon AB
5#
6# This program is free software: you can redistribute it and/or modify
7# it under the terms of the GNU General Public License as published by
8# the Free Software Foundation, version 3 of the License.
9#
10# This program is distributed in the hope that it will be useful,
11# but WITHOUT ANY WARRANTY; without even the implied warranty of
12# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13# GNU General Public License for more details.
14#
15# You should have received a copy of the GNU General Public License
16# along with this program. If not, see <http://www.gnu.org/licenses/>.
17
18"""
19Module containing the tests for the coupled FMI classes.
20"""
21
22import nose
23import os
24import numpy as N
25import sys as S
26
27from tests_jmodelica import testattr, get_files_path
28from pymodelica.compiler import compile_fmu
29from pyfmi import CoupledFMUModelME2
30from pyfmi import load_fmu
31import pyfmi.fmi as fmi
32
33path_to_fmus = os.path.join(get_files_path(), 'FMUs')
34path_to_mofiles = os.path.join(get_files_path(), 'Modelica')
35
36path_to_fmus_me2 = os.path.join(path_to_fmus,"ME2.0")
37path_to_fmus_cs2 = os.path.join(path_to_fmus,"CS2.0")
38
39
40
41class Test_CoupledFMUModelME2:
42    """
43    This class tests pyfmi.fmi_coupled.CoupledFMUModelME2
44    """
45
46    @classmethod
47    def setUpClass(cls):
48        """
49        Sets up the test class.
50        """
51        cls.cc_name = compile_fmu("Modelica.Mechanics.Rotational.Examples.CoupledClutches", version=2.0)
52
53        cls.ls_event_full = compile_fmu("LinearStability.FullSystemWithEvents" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
54        cls.ls_event_sub1 = compile_fmu("LinearStability.SubSystemWithEvents1" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
55        cls.ls_event_sub2 = compile_fmu("LinearStability.SubSystemWithEvents2" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
56       
57        cls.ls_event_full_v2 = compile_fmu("LinearStability.FullSystemWithEvents_v2" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
58        cls.ls_event_sub1_v2 = compile_fmu("LinearStability.SubSystemWithEvents1_v2" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
59        cls.ls_event_sub2_v2 = compile_fmu("LinearStability.SubSystemWithEvents2_v2" , os.path.join(path_to_mofiles,"CoupledME.mo"), version=2.0)
60       
61        cls.qc_full = compile_fmu("QuarterCar.QuarterCarComplete", os.path.join(path_to_mofiles,"CoupledME.mo"), version="2.0")
62        cls.qc_sub1 = compile_fmu("QuarterCar.QuarterCarWithoutFeedThrough1", os.path.join(path_to_mofiles,"CoupledME.mo"),version="2.0")
63        cls.qc_sub2 = compile_fmu("QuarterCar.QuarterCarWithoutFeedThrough2", os.path.join(path_to_mofiles,"CoupledME.mo"),version="2.0")
64       
65        cls.piplant = compile_fmu("PIPlant", os.path.join(path_to_mofiles,"CoupledME.mo"), version="2.0")
66        cls.pi      = compile_fmu("PI",      os.path.join(path_to_mofiles,"CoupledME.mo"), version="2.0")
67        cls.plant   = compile_fmu("Plant",   os.path.join(path_to_mofiles,"CoupledME.mo"), version="2.0")
68       
69    @testattr(stddist_full = True)
70    def test_basic_simulation(self):
71       
72        model_cc_1 = load_fmu(Test_CoupledFMUModelME2.cc_name)
73        model_cc_2 = load_fmu(Test_CoupledFMUModelME2.cc_name)
74       
75        models = [("First", model_cc_1), ("Second", model_cc_2)]
76        connections = []
77       
78        coupled = CoupledFMUModelME2(models, connections)
79       
80        res = coupled.simulate()
81       
82        nose.tools.assert_almost_equal(res.final("time"),1.5)
83        nose.tools.assert_almost_equal(res.final("First.J1.w"),res.final("Second.J1.w"))
84        nose.tools.assert_almost_equal(res.final("First.J1.w"), 3.2501079, places=2)
85       
86        coupled.reset()
87       
88        res = coupled.simulate()
89       
90        nose.tools.assert_almost_equal(res.final("time"),1.5)
91        nose.tools.assert_almost_equal(res.final("First.J1.w"),res.final("Second.J1.w"))
92        nose.tools.assert_almost_equal(res.final("First.J1.w"), 3.2501079, places=2)
93
94    @testattr(stddist_full = True)
95    def test_get_set_real(self):
96       
97        model_cc_1 = load_fmu(Test_CoupledFMUModelME2.cc_name)
98        model_cc_2 = load_fmu(Test_CoupledFMUModelME2.cc_name)
99       
100        models = [("First", model_cc_1), ("Second", model_cc_2)]
101        connections = []
102       
103        coupled = CoupledFMUModelME2(models, connections)
104       
105        nose.tools.assert_raises(fmi.FMUException,  coupled.get, "J1.w")
106       
107        coupled.set("First.J1.w", 3)
108        coupled.set("Second.J1.w", 4)
109       
110        nose.tools.assert_almost_equal(coupled.get("First.J1.w"),3)
111        nose.tools.assert_almost_equal(coupled.get("Second.J1.w"),4)
112   
113    @testattr(stddist_full = True)
114    def test_quarter_car(self):
115
116        model = load_fmu(Test_CoupledFMUModelME2.qc_full)
117
118        opts = model.simulate_options()
119
120        opts["CVode_options"]["atol"] = 1e-8
121        opts["CVode_options"]["rtol"] = 1e-8
122
123        res_full = model.simulate(final_time=1, options=opts)
124
125        model_chassi = load_fmu(Test_CoupledFMUModelME2.qc_sub1)
126        model_wheel  = load_fmu(Test_CoupledFMUModelME2.qc_sub2)
127
128        models = [("Chassi", model_chassi), ("Wheel", model_wheel)]
129        connections = [(model_chassi,"x_chassi",model_wheel,"x_chassi"),
130                       (model_chassi,"v_chassi",model_wheel,"v_chassi"),
131                       (model_wheel,"x_wheel",model_chassi,"x_wheel"),
132                       (model_wheel,"v_wheel",model_chassi,"v_wheel")]
133
134        coupled = CoupledFMUModelME2(models, connections)
135
136        res = coupled.simulate(final_time=1)
137       
138        nose.tools.assert_almost_equal(res.final("Wheel.x_wheel"),res_full.final("x_wheel"), places=4)
139        nose.tools.assert_almost_equal(res.final("Chassi.x_chassi"),res_full.final("x_chassi"), places=4)
140        nose.tools.assert_almost_equal(res.initial("Wheel.x_wheel"),res_full.initial("x_wheel"), places=4)
141        nose.tools.assert_almost_equal(res.initial("Chassi.x_chassi"),res_full.initial("x_chassi"), places=4)
142       
143        nose.tools.assert_almost_equal(res.final("Wheel.v_wheel"),res_full.final("v_wheel"), places=4)
144        nose.tools.assert_almost_equal(res.final("Chassi.v_chassi"),res_full.final("v_chassi"), places=4)
145        nose.tools.assert_almost_equal(res.initial("Wheel.v_wheel"),res_full.initial("v_wheel"), places=4)
146        nose.tools.assert_almost_equal(res.initial("Chassi.v_chassi"),res_full.initial("v_chassi"), places=4)
147       
148    @testattr(stddist_full = True)
149    def test_linear_example_with_time_event(self):
150       
151        m_full      = load_fmu(Test_CoupledFMUModelME2.ls_event_full)
152
153        res_full = m_full.simulate(final_time=0.6)
154
155        m_primary   = load_fmu(Test_CoupledFMUModelME2.ls_event_sub1)
156        m_secondary = load_fmu(Test_CoupledFMUModelME2.ls_event_sub2)
157
158        models = [("First", m_primary), ("Second", m_secondary)]
159        connections = [(m_primary,"y1",m_secondary,"u2"),
160                   (m_secondary,"y2",m_primary,"u1")]
161       
162        master = CoupledFMUModelME2(models, connections=connections)
163
164        res = master.simulate(final_time=0.6)
165
166        nose.tools.assert_almost_equal(res.final("First.x1"),res_full.final("p1.x1"), places=4)
167        nose.tools.assert_almost_equal(res.final("Second.x2"),res_full.final("p2.x2"), places=4)
168        nose.tools.assert_almost_equal(res.initial("First.x1"),res_full.initial("p1.x1"), places=4)
169        nose.tools.assert_almost_equal(res.initial("Second.x2"),res_full.initial("p2.x2"), places=4)
170       
171        nose.tools.assert_almost_equal(res.final("First.u1"),res_full.final("p1.u1"), places=4)
172        nose.tools.assert_almost_equal(res.final("Second.u2"),res_full.final("p2.u2"), places=4)
173        nose.tools.assert_almost_equal(res.initial("First.u1"),res_full.initial("p1.u1"), places=4)
174        nose.tools.assert_almost_equal(res.initial("Second.u2"),res_full.initial("p2.u2"), places=4)
175
176    @testattr(stddist_full = True)
177    def test_linear_example_with_time_event_v2(self):
178       
179        m_full      = load_fmu(Test_CoupledFMUModelME2.ls_event_full_v2)
180
181        res_full = m_full.simulate(final_time=0.2)
182
183        m_primary   = load_fmu(Test_CoupledFMUModelME2.ls_event_sub1_v2)
184        m_secondary = load_fmu(Test_CoupledFMUModelME2.ls_event_sub2_v2)
185
186        models = [("First", m_primary), ("Second", m_secondary)]
187        connections = [(m_primary,"y1",m_secondary,"u2"),
188                   (m_secondary,"y2",m_primary,"u1")]
189       
190        master = CoupledFMUModelME2(models, connections=connections)
191
192        res = master.simulate(final_time=0.2)
193
194        nose.tools.assert_almost_equal(res.final("First.x1"),res_full.final("p1.x1"), places=4)
195        nose.tools.assert_almost_equal(res.final("Second.x2"),res_full.final("p2.x2"), places=4)
196        nose.tools.assert_almost_equal(res.initial("First.x1"),res_full.initial("p1.x1"), places=4)
197        nose.tools.assert_almost_equal(res.initial("Second.x2"),res_full.initial("p2.x2"), places=4)
198       
199        nose.tools.assert_almost_equal(res.final("First.u1"),res_full.final("p1.u1"), places=4)
200        nose.tools.assert_almost_equal(res.final("Second.u2"),res_full.final("p2.u2"), places=4)
201        nose.tools.assert_almost_equal(res.initial("First.u1"),res_full.initial("p1.u1"), places=4)
202        nose.tools.assert_almost_equal(res.initial("Second.u2"),res_full.initial("p2.u2"), places=4)
203
204
205    @testattr(stddist_full = True)
206    def test_example_with_events(self):
207
208        pi      = load_fmu(Test_CoupledFMUModelME2.pi)
209        plant   = load_fmu(Test_CoupledFMUModelME2.plant)
210        piplant = load_fmu(Test_CoupledFMUModelME2.piplant)
211
212        res_full = piplant.simulate(final_time=4) 
213
214        connections = [(pi, "loadTorque", plant, "inputTorque"),
215                       (plant, "speed", pi, "speed")]
216
217        coupled_model = CoupledFMUModelME2([("pi",pi),("plant",plant)], connections)
218
219        res = coupled_model.simulate(final_time=4)
220       
221        nose.tools.assert_almost_equal(res.final("plant.speed"),res_full.final("plant.speed"), places=3)
222        nose.tools.assert_almost_equal(res.final("plant.inputTorque"),res_full.final("plant.inputTorque"), places=3)
223        nose.tools.assert_almost_equal(res.initial("plant.speed"),res_full.initial("plant.speed"), places=3)
224        nose.tools.assert_almost_equal(res.initial("plant.inputTorque"),res_full.initial("plant.inputTorque"), places=3)
225       
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