updating template for helper.py

templates/helper.py

@@ -0,0 +1,306 @@
+# Author: Santiago
+
+vars = {}
+vars = {}
+
+### Fill in your var names and types e.g. vars["position"]="Boolean"
+
+# inputs
+vars["feasibleMoveDiscreteCommand"]=["Boolean","InputEvent"]
+vars["robotStopped"]=["Boolean","InputEvent"]
+vars["gripperOpened"]=["Boolean","InputEvent"]
+vars["collision"]=["Boolean","InputEvent"]
+vars["closeGripperCommand"]=["Boolean","InputEvent"]
+vars["gripperClosed"]=["Boolean","InputEvent"]
+vars["nonfeasibleMoveDiscreteCommand"]=["Boolean","InputEvent"]
+vars["moveCompleted"]=["Boolean","InputEvent"]
+vars["openGripperCommand"]=["Boolean","InputEvent"]
+vars["moveDiscreteCommand"]=["Boolean","InputEvent"]
+vars["feasibleMoveDiscreteCommand"]=["Boolean","InputEvent"]
+vars["MovementArgs.target_X"]=["Integer","InputEventArgument"]
+vars["MovementArgs.target_Y"]=["Integer","InputEventArgument"]
+vars["MovementArgs.target_Z"]=["Integer","InputEventArgument"]
+
+
+# Outputs
+vars["movediscrete"]=["Boolean","Operation"]
+vars["pick"]=["Boolean","Operation"]
+vars["place"]=["Boolean","Operation"]
+vars["target_X"]=["Integer","OperationArgument"]
+vars["target_Y"]=["Integer","OperationArgument"]
+vars["target_Z"]=["Integer","OperationArgument"]
+vars["closing_diameter"]=["Real","OperationArgument"]
+vars["closing_speed"]=["Real","OperationArgument"]
+vars["closing_force"]=["Real","OperationArgument"]
+vars["opening_diameter"]=["Real","OperationArgument"]
+vars["opening_speed"]=["Real","OperationArgument"]
+vars["opening_force"]=["Real","OperationArgument"]
+
+vars_list = list(vars)
+
+# Define which variables are provided by the controller FMU
+vars_controller = ["moveDiscreteCommand","MovementArgs.target_X","MovementArgs.target_Y","MovementArgs.target_Z","closeGripperCommand","openGripperCommand"]
+
+
+def create_mappingfmu_skeleton():
+
+    print("*** (MappingFMU) For def __init__***")
+    for k,v in vars.items():
+        if v[0] == "Boolean":
+            print("self." + k + " = False")
+        elif v[0] == "Real":
+            print("self." + k + " = 0.0")
+        elif v[0] == "Integer":
+            print("self." + k + " = 0")
+        elif v[0] == "String":
+            print('self.' + k + ' = ""')
+
+    print("*** (MappingFMU) For self.reference_to_attribute***")
+    for k,v in vars.items():
+        print(str(vars_list.index(k)) + ': ' + k + ',')
+
+
+
+    print("*** For def fmi2ExtSerialize***")
+    for k,v in vars.items():
+        print('self.' + k + ',')
+
+    print("*** For def fmi2ExtDeserialize (1st part)***")
+    for k,v in vars.items():
+        print(k + ',')
+
+    print("*** For def fmi2ExtDeserialize (2nd part)***")
+    for k,v in vars.items():
+        print('self.' + k + ' = ' + k)
+
+
+variables_init = '<ModelVariables>'
+variables_end = '</ModelVariables>'
+text_input = '''<ScalarVariable name="{}" valueReference="{}" variability="discrete" causality="input">
+      <String start="" />
+    </ScalarVariable>'''
+
+text_output = '''<ScalarVariable name="{}" valueReference="{}" variability="discrete" causality="output">
+      <String />
+    </ScalarVariable>'''
+
+text_real_input = '''<ScalarVariable name="{}" valueReference="{}" causality="input" variability="continuous">
+      <Real start="0.0" />
+    </ScalarVariable>'''
+
+text_real_output = '''<ScalarVariable name="{}" valueReference="{}" causality="output" variability="continuous">
+      <Real />
+    </ScalarVariable>'''
+
+text_integer_input = '''<ScalarVariable name="{}" valueReference="{}" causality="input" variability="continuous">
+      <Integer start="0" />
+    </ScalarVariable>'''
+
+text_integer_output = '''<ScalarVariable name="{}" valueReference="{}" causality="output" variability="continuous">
+      <Integer />
+    </ScalarVariable>'''
+
+text_boolean_input = '''<ScalarVariable name="{}" valueReference="{}" causality="input" variability="discrete">
+      <Boolean start="false"/>
+    </ScalarVariable>'''
+
+text_boolean_output = '''<ScalarVariable name="{}" valueReference="{}" causality="output" variability="discrete">
+      <Boolean />
+    </ScalarVariable>'''
+
+ms_init = '<ModelStructure>'
+ms_end = '</ModelStructure>'
+output_init = '<Outputs>'
+output_end = '</Outputs>'
+unknowns_init = '<InitialUnknowns>'
+unknowns_end = '</InitialUnknowns>'
+
+structure_output = '''<Unknown index="{}" />'''
+
+def create_mappingfmu_mdxml():
+    print("*** For modeldescription.xml in MappingFMU ***")
+    # modeldescription.xml helper
+
+    result_output_structure = ""
+
+    print('***** ModelDescription.xml - ModelVariables *****')
+    print(variables_init)
+    for k,v in vars.items():
+        if "InputEvent" in v[1]:
+            if v[0] == "Boolean":
+                print(text_boolean_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Real":
+                print(text_real_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Integer":
+                print(text_integer_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "String":
+                print(text_output.format(k,str(vars_vars_listlist.index(k))))
+            result_output_structure = result_output_structure + structure_output.format(vars_list.index(k)+1) + "\n"
+        elif "Operation" in v[1]:
+            if v[0] == "Boolean":
+                print(text_boolean_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "Real":
+                print(text_real_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "Integer":
+                print(text_integer_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "String":
+                print(text_input.format(k,str(vars_list.index(k))))
+
+
+
+
+    print(variables_end)
+
+    print('***** ModelDescription.xml - ModelStructure ******')
+    print(ms_init)
+    print(output_init)
+    print(result_output_structure)
+    print(output_end)
+    print(unknowns_init)
+    print(result_output_structure)
+    print(unknowns_end)
+    print(ms_end)
+
+
+def create_dmodelfmu_data_struct():
+    print("*** For dmodelFMU data struct (defs_fmi.h) ***")
+    print("typedef struct {")
+    for k,v in vars.items():
+        if v[0] == "Boolean":
+            print("\tbool " + k + ";")
+        elif v[0] == "Real":
+            print("\tfloat " + k + ";")
+        elif v[0] == "Integer":
+            print("\tint " + k + ";")
+        elif v[0] == "String":
+            print("\tchar *" + k + ";")
+
+    print("\tchar *state;")
+    print("\tchar *target_state;")
+    print("\tchar *status;")
+    print("\tbool done;")
+    print("\tbool terminateSimulation;")
+    print("} ModelData;")
+
+def create_dmodelfmu_mdxml():
+    print("*** For modeldescription.xml in dmodelFMU ***")
+    # modeldescription.xml helper
+
+    result_output_structure = ""
+
+    print('***** ModelDescription.xml - ModelVariables *****')
+    print(variables_init)
+    for k,v in vars.items():
+        if "InputEvent" in v[1]:
+            if v[0] == "Boolean":
+                print(text_boolean_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "Real":
+                print(text_real_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "Integer":
+                print(text_integer_input.format(k,str(vars_list.index(k))))
+            elif v[0] == "String":
+                print(text_input.format(k,str(vars_list.index(k))))
+        elif "Operation" in v[1]:
+            if v[0] == "Boolean":
+                print(text_boolean_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Real":
+                print(text_real_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Integer":
+                print(text_integer_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "String":
+                print(text_output.format(k,str(vars_list.index(k))))
+            result_output_structure = result_output_structure + structure_output.format(vars_list.index(k)+1) + "\n"
+
+
+    print(text_output.format("state",len(vars_list)))
+    result_output_structure = result_output_structure + structure_output.format(len(vars_list)+1) + "\n"
+    print(text_output.format("target_state",len(vars_list)+1))
+    result_output_structure = result_output_structure + structure_output.format(len(vars_list)+2) + "\n"
+    print(text_output.format("status",len(vars_list)+2))
+    result_output_structure = result_output_structure + structure_output.format(len(vars_list)+3) + "\n"
+    print(text_boolean_output.format("done",len(vars_list)+3))
+    result_output_structure = result_output_structure + structure_output.format(len(vars_list)+4) + "\n"
+    print(text_boolean_input.format("terminateSimulation",len(vars_list)+4))
+
+    print(variables_end)
+
+    print('***** ModelDescription.xml - ModelStructure ******')
+    print(ms_init)
+    print(output_init)
+    print(result_output_structure)
+    print(output_end)
+    print(unknowns_init)
+    print(result_output_structure)
+    print(unknowns_end)
+    print(ms_end)
+
+def create_controllerfmu_mdxml():
+    print("*** For modeldescription.xml in controllerFMU ***")
+    # modeldescription.xml helper
+
+    result_output_structure = ""
+
+    print('***** ModelDescription.xml - ModelVariables *****')
+    print(variables_init)
+    idx = 1
+    for k,v in vars.items():
+        if k in vars_controller:
+            if v[0] == "Boolean":
+                print(text_boolean_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Real":
+                print(text_real_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "Integer":
+                print(text_integer_output.format(k,str(vars_list.index(k))))
+            elif v[0] == "String":
+                print(text_output.format(k,str(vars_list.index(k))))
+            result_output_structure = result_output_structure + structure_output.format(idx) + "\n"
+            idx += 1
+
+    # for inputs (optional)
+    # for k,v in vars.items():
+    #     if k in vars_controller_inputs:
+    #         if v[0] == "Boolean":
+    #             print(text_boolean_input.format(k,str(vars_list.index(k))))
+    #         elif v[0] == "Real":
+    #             print(text_real_input.format(k,str(vars_list.index(k))))
+    #         elif v[0] == "Integer":
+    #             print(text_integer_input.format(k,str(vars_list.index(k))))
+    #         elif v[0] == "String":
+    #             print(text_input.format(k,str(vars_list.index(k))))
+
+
+
+    print(variables_end)
+
+    print('***** ModelDescription.xml - ModelStructure ******')
+    print(ms_init)
+    print(output_init)
+    print(result_output_structure)
+    print(output_end)
+    print(unknowns_init)
+    print(result_output_structure)
+    print(unknowns_end)
+    print(ms_end)
+
+
+def create_connections():
+    print("*** For connections in Multimodel.json ***")
+    struct_connections = ''
+    controller_connections = ''
+    for k,v in vars.items():
+        if "InputEvent" in v[1]:
+            if k in vars_controller:
+                controller_connections += '"{{controller}}.controller.{}" : ["{{mapping}}.mapping.{}"],\n'.format(k,k)
+            struct_connections += '"{{mapping}}.mapping.{}" : ["{{dmodel}}.dmodel.{}"],\n'.format(k,k)
+        elif "Operation" in v[1]:
+            struct_connections += '"{{dmodel}}.dmodel.{}" : ["{{mapping}}.mapping.{}"],\n'.format(k,k)
+    print(controller_connections[:-1])
+    print(struct_connections[:-2])
+
+if __name__=='__main__':
+    create_mappingfmu_skeleton()
+    create_mappingfmu_mdxml()
+    create_dmodelfmu_data_struct()
+    create_dmodelfmu_mdxml()
+    create_controllerfmu_mdxml()
+    create_connections()