Commit 666371b8 authored by Jorn Baayen's avatar Jorn Baayen Committed by Tjerk Vreeken

Delayed feedback expressions now supported

Pymoca now supports modelica delay() expressions. This commit updates
ModelicaMixin to use the improved Pymoca API, as well as the changes
needed in transcribe() to resolve constraints associated with delay
expressions and durations.

So far, delay durations may only consist of expressions of parameters,
numerical values, and constant inputs so as to ensure delay durations
are resolvable to numerical values at transcribe() time.
parent 68380968
......@@ -44,7 +44,7 @@ setup(
install_requires = ["casadi >= 3.2.0",
"numpy >= 1.14.0",
"scipy >= 1.0.0",
"pymoca >= 0.2.4"],
"pymoca >= 0.2.6"],
tests_require = ['nose'],
test_suite = 'nose.collector',
......@@ -65,11 +65,8 @@ class ModelicaMixin(OptimizationProblem):
self.__mx['lookup_tables'] = []
# Merge with user-specified delayed feedback
delayed_feedback_variables = list(map(lambda delayed_feedback: delayed_feedback[
1], self.delayed_feedback()))
for v in self.__pymoca_model.inputs:
if in delayed_feedback_variables:
if in self.__pymoca_model.delay_states:
# Delayed feedback variables are local to each ensemble, and
# therefore belong to the collection of algebraic variables,
# rather than to the control inputs.
......@@ -89,7 +86,7 @@ class ModelicaMixin(OptimizationProblem):
self.__pymoca_model.states, self.__pymoca_model.alg_states, self.__pymoca_model.inputs):
self.__python_types[] = v.python_type
# Initialize dae and initial residuals
# Initialize dae, initial residuals, as well as delay arguments
# These are not in @cached dictionary properties so that we need to create the list
# of function arguments only once.
variable_lists = ['states', 'der_states', 'alg_states', 'inputs', 'constants', 'parameters']
......@@ -174,7 +171,11 @@ class ModelicaMixin(OptimizationProblem):
def delayed_feedback(self):
delayed_feedback = super().delayed_feedback()
delayed_feedback.extend([(dfb.origin,, dfb.delay) for dfb in self.__pymoca_model.delayed_states])
# Create delayed feedback
for delay_state, delay_argument in zip(self.__pymoca_model.delay_states, self.__pymoca_model.delay_arguments):
(delay_argument.expr, delay_state, delay_argument.duration))
return delayed_feedback
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