added support for CBuilder models

Makefile

@@ -104,10 +104,10 @@ LIB_LDLIBS += $(shell pkg-config --libs ${PKGS})
 
 ######## Targets ########
 
-.PHONY: all clean install release docker doc
+.PHONY: all clean install release docker doc models
 
 # Default target: build everything
-all: $(LIBS) $(TARGETS)
+all: $(LIBS) $(TARGETS) models
 
 # Dependencies for individual binaries
 fpga: LDLIBS += -lpci -lxil
@@ -157,5 +157,8 @@ docker:
 doc:
 	doxygen
 
+models:
+	$(MAKE) -C lib/cbmodels
+
 # Include auto-generated dependencies
 -include $(wildcard *.d)

include/villas/nodes/cbuilder.h

@@ -0,0 +1,55 @@
+/** Node type: Wrapper around RSCAD CBuilder model
+ *
+ * @file
+ * @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
+ * @copyright 2015-2016, Steffen Vogel
+ *   This file is part of VILLASnode. All Rights Reserved. Proprietary and confidential.
+ *   Unauthorized copying of this file, via any medium is strictly prohibited.
+ **********************************************************************************/
+ 
+#ifndef _CBUILDER_H_
+#define _CBUILDER_H_
+
+#include <pthread.h>
+
+#include "list.h"
+
+/* Helper macros for registering new models */
+#define REGISTER_CBMODEL(cb)				\
+__attribute__((constructor)) static void __register() {	\
+	list_push(&cbmodels, cb);			\
+}
+
+extern struct list cbmodels;	/**< Table of existing CBuilder models */
+
+struct cbuilder {
+	unsigned long step, read;
+	double timestep;
+
+	struct cbmodel *model;
+	
+	float *params;
+	int paramlen;
+
+	/* This mutex and cv are used to protect model parameters, input & outputs
+	 *
+	 * The cbuilder_read() function will wait for the completion of a simulation step
+	 * before returning.
+	 * The simulation step is triggerd by a call to cbuilder_write().
+	 */
+	pthread_mutex_t mtx;
+	pthread_cond_t cv;
+};
+
+struct cbmodel {
+	char *name;
+
+	void (*code)();
+	void (*ram)();
+	
+	int (*init)(struct cbuilder *cb);
+	int (*read)(float inputs[], int len);
+	int (*write)(float outputs[], int len);
+};
+
+#endif /* _CBUILDER_H_ */

lib/cbmodels/Makefile

@@ -0,0 +1,8 @@
+MODELS = simple_circuit
+
+CFLAGS = -fPIC -DVILLAS -I../../include/villas
+
+all:  $(addsuffix .so,${MODELS})
+
+%.so: %.o
+	$(CC) -shared $^ -o $@

lib/cbmodels/Subsystem.c

@@ -0,0 +1,32 @@
+VERSION:
+3.001
+
+#include "Subsystem.h"
+
+STATIC:
+
+#define SECTION STATIC
+  #include "model.c"
+#undef SECTION
+
+RAM_FUNCTIONS:
+
+#define SECTION RAM_FUNCTIONS
+  #include "model.c"
+#undef SECTION
+
+RAM:
+
+#define SECTION RAM
+  #include "model.c"
+#undef SECTION
+
+model_ram();
+
+CODE:
+
+#define SECTION CODE
+  #include "model.c"
+#undef SECTION
+
+model_code();

lib/cbmodels/Subsystem.h

@@ -0,0 +1,24 @@
+MODEL_TYPE: CTL
+
+#define SECTION CONSTANTS
+  #include "model.c"
+#undef SECTION
+
+INPUTS:
+
+#define SECTION INPUTS
+  #include "model.c"
+#undef SECTION
+
+OUTPUTS:
+
+#define SECTION OUTPUTS
+  #include "model.c"
+#undef SECTION
+
+PARAMETERS:
+
+#define SECTION PARAMETERS
+  #include "model.c"
+#undef SECTION
+

lib/cbmodels/constants.h

@@ -0,0 +1,9 @@
+/* These constants are defined by RTDS in the component header file */
+
+#define PI        3.1415926535897932384626433832795   // definition of PI                 
+#define TWOPI     6.283185307179586476925286766559    // definition of 2.0*PI             
+#define E         2.71828182845904523536028747135266  // definition of E                  
+#define EINV      0.36787944117144232159552377016147  // definition of E Inverse (1/E)    
+#define RT2       1.4142135623730950488016887242097   // definition of square root 2.0    
+#define RT3       1.7320508075688772935274463415059   // definition of square root 3.0    
+#define INV_ROOT2 0.70710678118654752440084436210485

lib/cbmodels/model.c

@@ -0,0 +1,163 @@
+// This is c-code for CBuilder component for Subsystem 2
+// Solver used as in RTDS: Resistive companion (Dommel's algo)
+// Subsystem 1 is modelled in RSCAD
+//
+//% Circuit topology
+//                                               %
+//%            *** Subsystem 1 (SS1) ***         %   *** Subsystem 2 (SS2) ***
+//%                                              %
+//%             |---------|       |---------|    %
+//%   |---------|    R1   |-------|    L1   |----%-------|---------|
+//%   |         |---------|       |---------|    %       |         |          
+//%   |                                          %       |         |
+//% -----                                        %     -----     -----
+//% | + |                                        %     |   |     |   |
+//% | E |                                        %     |C2 |     | R2|
+//% | - |                                        %     |   |     |   |
+//% -----                                        %     -----     -----           
+//%   |                                          %       |         |
+//%   |------------------------------------------%------------------    
+//                                               %
+//                                               %  
+
+/* These constants are defined by RTDS in the component header file */
+#if defined(VILLAS) || SECTION == CONSTANTS
+  #define PI        3.1415926535897932384626433832795   // definition of PI                 
+  #define TWOPI     6.283185307179586476925286766559    // definition of 2.0*PI             
+  #define E         2.71828182845904523536028747135266  // definition of E                  
+  #define EINV      0.36787944117144232159552377016147  // definition of E Inverse (1/E)    
+  #define RT2       1.4142135623730950488016887242097   // definition of square root 2.0    
+  #define RT3       1.7320508075688772935274463415059   // definition of square root 3.0    
+  #define INV_ROOT2 0.70710678118654752440084436210485
+#endif
+
+// -----------------------------------------------   
+// Variables declared here may be used as parameters
+// inputs or outputs
+// The have to match with whats in Subsystem.h             
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == INPUTS
+double IntfIn;
+#endif
+
+#if defined(VILLAS) || SECTION == OUTPUTS
+double IntfOut;
+#endif
+
+#if defined(VILLAS) || SECTION == PARAMETERS
+double R2; // Resistor [Ohm] in SS2
+double C2; // Capacitance [F] in SS2
+#endif
+
+// -----------------------------------------------   
+// Variables declared here may be used in both the   
+// RAM: and CODE: sections below.                    
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == STATIC
+double dt; 
+double GR2, GC2; //Inductances of components
+double GnInv; //Inversion of conductance matrix (here only scalar)
+double vC2Hist, iC2Hist, AC2; // history meas. and current of dynamic elements
+double Jn; //source vector in equation Gn*e=Jn
+double eSS2; //node voltage solution 
+#endif
+
+// -----------------------------------------------   
+// This section should contain any 'c' functions     
+// to be called from the RAM section (either         
+// RAM_PASS1 or RAM_PASS2). Example:                 
+//                                                   
+// static double myFunction(double v1, double v2)    
+// {                                                 
+//     return(v1*v2);                                
+// }                                                 
+// -----------------------------------------------   
+#if defined(VILLAS) || SECTION == RAM_FUNCTIONS
+/* Nothing here */
+#endif
+
+// -----------------------------------------------   
+// Place C code here which computes constants        
+// required for the CODE: section below.  The C      
+// code here is executed once, prior to the start    
+// of the simulation case.                           
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == RAM
+
+void ram() {
+	GR2 = 1/R2;  
+	GC2 = 2*C2/dt;  //trapezoidal rule
+	GnInv = 1/(GR2+GC2); //eq. conductance (inverted)
+	
+	vC2Hist =  0.0; //Voltage over C2 in previous time step
+	iC2Hist =  0.0; //Current through C2 in previous time step
+}
+
+#endif
+
+// -----------------------------------------------   
+// Place C code here which runs on the RTDS. The     
+// code below is entered once each simulation        
+// step.                                             
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == CODE
+
+void code() {
+	//Update source vector
+	AC2 = iC2Hist+vC2Hist*GC2;
+	Jn = IntfIn+AC2;
+	//Solution of the equation Gn*e=Jn;
+	eSS2 = GnInv*Jn;  
+	//Post step -> calculate the voltage and current for C2 for next step and set interface output
+	vC2Hist= eSS2;
+	iC2Hist = vC2Hist*GC2-AC2;
+	IntfOut = eSS2;
+}
+
+#endif
+
+// -----------------------------------------------   
+// The following code portion is VILLASnode specific
+// -----------------------------------------------   
+#if defined(VILLAS)
+
+#include "nodes/cbuilder.h"
+
+// -----------------------------------------------   
+// Place C code here which intializes parameters
+// -----------------------------------------------   
+void init(struct cbuilder *cb)
+{
+	R2 = cb->params[0];
+	C2 = cb->params[1];
+
+	dt = cb->timestep;
+}
+
+// -----------------------------------------------   
+// Place C code here reads model outputs
+// -----------------------------------------------  
+int read(float outputs[], int len)
+{
+	outputs[0] = IntfOut;
+}
+
+// -----------------------------------------------   
+// Place C code here which updates model inputs
+// -----------------------------------------------  
+int write(float inputs[], int len)
+{
+	IntfIn = inputs[0];
+}
+
+static struct cbmodel cb = {
+	.name = "simple_circuit",
+	.code = code,
+	.init = init,
+	.read = read,
+	.write = write,
+};
+
+REGISTER_CBMODEL(&cb);
+
+#endif

lib/cbmodels/simple_circuit.c

@@ -0,0 +1,175 @@
+// This is c-code for CBuilder component for Subsystem 2
+// Solver used as in RTDS: Resistive companion (Dommel's algo)
+// Subsystem 1 is modelled in RSCAD
+//
+//% Circuit topology
+//                                               %
+//%            *** Subsystem 1 (SS1) ***         %   *** Subsystem 2 (SS2) ***
+//%                                              %
+//%             |---------|       |---------|    %
+//%   |---------|    R1   |-------|    L1   |----%-------|---------|
+//%   |         |---------|       |---------|    %       |         |          
+//%   |                                          %       |         |
+//% -----                                        %     -----     -----
+//% | + |                                        %     |   |     |   |
+//% | E |                                        %     |C2 |     | R2|
+//% | - |                                        %     |   |     |   |
+//% -----                                        %     -----     -----           
+//%   |                                          %       |         |
+//%   |------------------------------------------%------------------    
+//                                               %
+//                                               %  
+
+// -----------------------------------------------   
+// Variables declared here may be used as parameters
+// inputs or outputs
+// The have to match with whats in Subsystem.h             
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == INPUTS
+double IntfIn;
+#endif
+
+#if defined(VILLAS) || SECTION == OUTPUTS
+double IntfOut;
+#endif
+
+#if defined(VILLAS) || SECTION == PARAMS
+double R2; // Resistor [Ohm] in SS2
+double C2; // Capacitance [F] in SS2
+#endif
+
+// -----------------------------------------------   
+// Variables declared here may be used in both the   
+// RAM: and CODE: sections below.                    
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == STATIC
+double dt; 
+double GR2, GC2; //Inductances of components
+double GnInv; //Inversion of conductance matrix (here only scalar)
+double vC2Hist, iC2Hist, AC2; // history meas. and current of dynamic elements
+double Jn; //source vector in equation Gn*e=Jn
+double eSS2; //node voltage solution 
+#endif
+
+// -----------------------------------------------   
+// This section should contain any 'c' functions     
+// to be called from the RAM section (either         
+// RAM_PASS1 or RAM_PASS2). Example:                 
+//                                                   
+// static double myFunction(double v1, double v2)    
+// {                                                 
+//     return(v1*v2);                                
+// }                                                 
+// -----------------------------------------------   
+#if defined(VILLAS) || SECTION == RAM_FUNCTIONS
+/* Nothing here */
+#endif
+
+// -----------------------------------------------   
+// Place C code here which computes constants        
+// required for the CODE: section below.  The C      
+// code here is executed once, prior to the start    
+// of the simulation case.                           
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == RAM
+
+void simple_circuit_ram() {
+	GR2 = 1/R2;  
+	GC2 = 2*C2/dt;  //trapezoidal rule
+	GnInv = 1/(GR2+GC2); //eq. conductance (inverted)
+	
+	vC2Hist =  0.0; //Voltage over C2 in previous time step
+	iC2Hist =  0.0; //Current through C2 in previous time step
+}
+
+#endif
+
+// -----------------------------------------------   
+// Place C code here which runs on the RTDS. The     
+// code below is entered once each simulation        
+// step.                                             
+// -----------------------------------------------
+#if defined(VILLAS) || SECTION == CODE
+
+void simple_circuit_code() {
+	//Update source vector
+	AC2 = iC2Hist+vC2Hist*GC2;
+	Jn = IntfIn+AC2;
+	//Solution of the equation Gn*e=Jn;
+	eSS2 = GnInv*Jn;  
+	//Post step -> calculate the voltage and current for C2 for next step and set interface output
+	vC2Hist= eSS2;
+	iC2Hist = vC2Hist*GC2-AC2;
+	IntfOut = eSS2;
+}
+
+#endif
+
+
+// -----------------------------------------------   
+// Interface to VILLASnode
+// -----------------------------------------------   
+#if defined(VILLAS)
+
+#include "nodes/cbuilder.h"
+
+double getTimeStep()
+{
+	return dt;
+}
+
+// -----------------------------------------------   
+// Place C code here which intializes parameters
+// -----------------------------------------------   
+int simple_circuit_init(struct cbuilder *cb)
+{
+	if (cb->paramlen < 2)
+		return -1; /* not enough parameters given */
+
+	R2 = cb->params[0];
+	C2 = cb->params[1];
+
+	/* 'dt' is a special parameter */
+	dt = cb->timestep;
+
+	return 0; /* success */
+}
+
+// -----------------------------------------------   
+// Place C code here reads model outputs
+// -----------------------------------------------  
+int simple_circuit_read(float outputs[], int len)
+{
+	if (len < 1)
+		return -1; /* not enough space */
+
+	outputs[0] = IntfOut;
+
+	return 1; /* 1 value per sample */
+}
+
+// -----------------------------------------------   
+// Place C code here which updates model inputs
+// -----------------------------------------------  
+int simple_circuit_write(float inputs[], int len)
+{
+	if (len < 1)
+		return -1; /* not enough values */
+
+	IntfIn = inputs[0];
+
+	return 0;
+}
+
+static struct cbmodel cb = {
+	.name  = "simple_circuit",
+	.code  = simple_circuit_code,
+	.init  = simple_circuit_init,
+	.read  = simple_circuit_read,
+	.write = simple_circuit_write,
+	.ram   = simple_circuit_ram
+};
+
+REGISTER_CBMODEL(&cb);
+
+#endif

lib/nodes/cbuilder.c

@@ -7,64 +7,109 @@
  **********************************************************************************/
 
 #include "node.h"
- 
-/* Constants from RSCAD */
-#define PI        3.1415926535897932384626433832795   // definition of PI
-#define TWOPI     6.283185307179586476925286766559    // definition of 2.0*PI
-#define E         2.71828182845904523536028747135266  // definition of E
-#define EINV      0.36787944117144232159552377016147  // definition of E Inverse (1/E)
-#define RT2       1.4142135623730950488016887242097   // definition of square root 2.0
-#define RT3       1.7320508075688772935274463415059   // definition of square root 3.0
-#define INV_ROOT2 0.70710678118654752440084436210485
+#include "log.h"
+#include "nodes/cbuilder.h"
 
-double TimeStep;
+struct list cbmodels;	/**< Table of existing CBuilder models */
 
-/* Add your inputs and outputs here */
-double IntfIn;
-double IntfOut;
+int cbuilder_parse(struct node *n, config_setting_t *cfg)
+{
+	struct cbuilder *cb = n->_vd;
+	config_setting_t *cfg_params;
 
-/* Add your parameters here */
-double R2; // Resistor [Ohm] in SS2
-double C2; // Capacitance [F] in SS2
- 
-#include "cbuilder/static.h"
-#include "cbuilder/ram_functions.h"
+	const char *model;
 
-static double getTimeStep() {
-	return TimeStep;
+	if (!config_setting_lookup_float(cfg, "timestep", &cb->timestep))
+		cerror(cfg, "CBuilder model requires 'timestep' setting");
+	
+	if (!config_setting_lookup_string(cfg, "model", &model))
+		cerror(cfg, "CBuilder model requires 'model' setting");
+	
+	cb->model = list_lookup(&cbmodels, model);
+	if (!cb->model)
+		cerror(cfg, "Unknown model '%s'", model);
+	
+	cfg_params = config_setting_get_member(cfg, "parameters");
+	if (cfg_params) {
+		if (!config_setting_is_array(cfg_params))
+			cerror(cfg_params, "Model parameters must be an array of numbers!");
+
+		cb->paramlen = config_setting_length(cfg_params);
+		cb->params = alloc(cb->paramlen * sizeof(double));
+		
+		for (int i = 0; i < cb->paramlen; i++)
+			cb->params[i] = config_setting_get_float_elem(cfg_params, i);
+	}
+
+	return 0;
 }
 
 int cbuilder_open(struct node *n)
 {
-	/* Initialize parameters */
-	R2 = 1;		/**< R2 = 1 Ohm */
-	C2 = 0.001;	/**< C2 = 1000 uF */
+	int ret;
+	struct cbuilder *cb = n->_vd;
 
-	TimeStep = 50e-6;
+	/* Initialize mutex and cv */
+	pthread_mutex_init(&cb->mtx, NULL);
+	pthread_cond_init(&cb->cv, NULL);
 
-	#include "cbuilder/ram.h"
+	/* Currently only a single timestep per model / instance is supported */
+	cb->step = 0;
+	cb->read = 0;
+
+	ret = cb->model->init(cb);
+	if (ret)
+		error("Failed to intialize CBuilder model %s", node_name(n));
+
+	cb->model->ram();
+
+	return 0;
+}
+
+int cbuilder_close(struct node *n)
+{
+	struct cbuilder *cb = n->_vd;
+	
+	pthread_mutex_destroy(&cb->mtx);
+	pthread_cond_destroy(&cb->cv);
 
 	return 0;
 }
 
 int cbuilder_read(struct node *n, struct sample *smps[], unsigned cnt)
 {
+	struct cbuilder *cb = n->_vd;
 	struct sample *smp = smps[0];
 
-	smp->values[0].f = IntfOut;
+	/* Wait for completion of step */
+	pthread_mutex_lock(&cb->mtx);
+	while (cb->read >= cb->step)
+		pthread_cond_wait(&cb->cv, &cb->mtx);
+
+	smp->length = cb->model->read(&smp->values[0].f, 16);
+	smp->sequence = cb->step;
+
+	cb->read = cb->step;
+
+	pthread_mutex_unlock(&cb->mtx);
 
 	return 1;
 }
 
 int cbuilder_write(struct node *n, struct sample *smps[], unsigned cnt)
 {
+	struct cbuilder *cb = n->_vd;
 	struct sample *smp = smps[0];
+	
+	pthread_mutex_lock(&cb->mtx);
 
-	/* Update inputs */
-	IntfIn = smp->values[0].f;
+	cb->model->write(&smp->values[0].f, smp->length);
+	cb->model->code();
 
-	/* Start calculation of 1 step */
-	#include "cbuilder/code.h"
+	cb->step++;
+
+	pthread_cond_signal(&cb->cv);
+	pthread_mutex_unlock(&cb->mtx);
 
 	return 1;
 }
@@ -73,8 +118,10 @@ static struct node_type vt = {
 	.name		= "cbuilder",
 	.description	= "RTDS CBuilder model",
 	.vectorize	= 1,
-	.size		= 0,
+	.size		= sizeof(struct cbuilder),
+	.parse		= cbuilder_parse,
 	.open		= cbuilder_open,
+	.close		= cbuilder_close,
 	.read		= cbuilder_read,
 	.write		= cbuilder_write,
 };