Package ptolemy.domains.continuous.kernel

Class HybridModalDirector

java.lang.Object

ptolemy.kernel.util.NamedObj

ptolemy.kernel.util.Attribute

ptolemy.actor.Director

ptolemy.domains.modal.kernel.FSMDirector

ptolemy.domains.continuous.kernel.HybridModalDirector

All Implemented Interfaces:

java.lang.Cloneable, ContinuousStatefulComponent, ContinuousStepSizeController, Executable, Initializable, QuasiTransparentDirector, SuperdenseTimeDirector, ExplicitChangeContext, Changeable, Debuggable, DebugListener, Derivable, ModelErrorHandler, MoMLExportable, Moveable, Nameable

public class HybridModalDirector
extends FSMDirector
implements ContinuousStatefulComponent, ContinuousStepSizeController

An HybridModalDirector governs the execution of the discrete dynamics of a hybrid system model. It extends ModalDirector by implementing the ContinuousStatefulComponent and ContinuousStepSizeController interfaces by delegating the function of those interfaces to the currently active state refinement.

Note that when a multi-step solver is used, the guards on the transitions are only evaluated when either the step size is zero or the multi-step solver has just completed its last step. The guards are not evaluated during intermediate steps.

This director is based on HSFSMDirector by Xiaojun Liu and Haiyang Zheng.

Since:

Ptolemy II 5.2

Version:

$Id$

Author:

Edward A. Lee, Haiyang Zheng

Pt.AcceptedRating:

Red (liuxj)

Pt.ProposedRating:

Yellow (eal)

Nested Class Summary

Nested classes/interfaces inherited from class ptolemy.kernel.util.NamedObj

NamedObj.ContainedObjectsIterator

Field Summary

Fields inherited from class ptolemy.domains.modal.kernel.FSMDirector

_currentLocalReceiverMap, _indexOffset, _localReceiverMaps, controllerName

Fields inherited from class ptolemy.actor.Director

_actorsFinishedExecution, _aspectForActor, _aspectsPresent, _defaultMicrostep, _executionAspects, _finishRequested, _initializables, _nextScheduleTime, _stopRequested, _tokenSentToCommunicationAspect, _zeroTime, localClock, startTime, stopTime

Fields inherited from class ptolemy.kernel.util.NamedObj

_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKS

Fields inherited from interface ptolemy.actor.Executable

COMPLETED, NOT_READY, STOP_ITERATING

Constructor Summary

Constructors

Constructor	Description
HybridModalDirector(CompositeEntity container, java.lang.String name)	Construct a director in the given container with the given name.

Method Summary

Modifier and Type	Method	Description
protected ContinuousDirector	_enclosingContinuousDirector()	Return the enclosing continuous director, or null if there is none.
java.lang.Object	clone(Workspace workspace)	Clone the actor into the specified workspace.
void	fire()	Fire the model model for one iteration.
double	getErrorTolerance()	Return error tolerance used for detecting enabled transitions.
ParseTreeEvaluator	getParseTreeEvaluator()	Return the parse tree evaluator used to evaluate guard expressions.
boolean	isStepSizeAccurate()	Return true if all actors that were fired in the current iteration report that the step size is accurate and if no transition is enabled.
boolean	postfire()	Override the base class so that if there is no enabled transition then we record for each comparison operation in each guard expression the distance between the current value of the variable being compared and the threshold.
boolean	prefire()	Override the base class to set current time to match that of the enclosing executive director, if there is one, regardless of whether that time is in the future or past.
double	refinedStepSize()	Return the minimum of the step sizes suggested by any actors that were fired in the current iteration.
void	rollBackToCommittedState()	Roll back to committed state.
double	suggestedStepSize()	Return the minimum of the step sizes suggested by any actors that were fired in current iteration.

Methods inherited from class ptolemy.domains.modal.kernel.FSMDirector

_buildLocalReceiverMaps, _currentLocalReceivers, _getLastChosenTransition, _getStateRefinementsToPostfire, _getTransitionRefinementsToPostfire, _readInputs, _readOutputsFromRefinement, _setCurrentConnectionMap, _setCurrentState, _transferOutputs, attributeChanged, defaultDependency, fireAt, getContext, getController, getIndex, getModelNextIterationTime, getModifiedVariables, handleModelError, implementsStrictActorSemantics, initialize, invalidateSchedule, isStrict, newReceiver, preinitialize, resetOutputReceivers, setContainer, setIndex, transferInputs

Methods inherited from class ptolemy.actor.Director

_actorFinished, _consultTimeRegulators, _description, _isEmbedded, _isTopLevel, _schedule, _transferInputs, addInitializable, createSchedule, delayDependency, elapsedTimeSinceStart, finish, fireAt, fireAt, fireAtCurrentTime, fireContainerAt, fireContainerAt, getCausalityInterface, getCurrentTime, getDeadline, getEnvironmentTime, getExecutionAspect, getGlobalTime, getModelStartTime, getModelStopTime, getModelTime, getNextIterationTime, getStartTime, getStopTime, getTimeResolution, initialize, invalidateResolvedTypes, isEmbedded, isFireFunctional, isStopRequested, iterate, mutexLockObject, notifyTokenSentToCommunicationAspect, preinitialize, removeInitializable, requestInitialization, resume, resumeActor, scheduleContainedActors, setCurrentTime, setEmbedded, setModelTime, setTimeResolution, stop, stopFire, suggestedModalModelDirectors, supportMultirateFiring, suspend, terminate, transferOutputs, transferOutputs, wrapup

Methods inherited from class ptolemy.kernel.util.Attribute

_checkContainer, _getContainedObject, _propagateExistence, getContainer, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, setName, updateContent

Methods inherited from class ptolemy.kernel.util.NamedObj

_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _containedDecorators, _copyChangeRequestList, _debug, _debug, _debug, _debug, _debug, _executeChangeRequests, _exportMoMLContents, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _notifyHierarchyListenersAfterChange, _notifyHierarchyListenersBeforeChange, _propagateValue, _removeAttribute, _splitName, _stripNumericSuffix, _validateSettables, addChangeListener, addDebugListener, addHierarchyListener, attributeDeleted, attributeList, attributeList, attributeTypeChanged, clone, containedObjectsIterator, decorators, deepContains, depthInHierarchy, description, description, event, executeChangeRequests, exportMoML, exportMoML, exportMoML, exportMoML, exportMoML, exportMoMLPlain, getAttribute, getAttribute, getAttributes, getChangeListeners, getClassName, getDecoratorAttribute, getDecoratorAttributes, getDerivedLevel, getDerivedList, getDisplayName, getElementName, getFullName, getModelErrorHandler, getName, getName, getPrototypeList, getSource, isDeferringChangeRequests, isOverridden, isPersistent, lazyContainedObjectsIterator, message, notifyOfNameChange, propagateExistence, propagateValue, propagateValues, removeAttribute, removeChangeListener, removeDebugListener, removeHierarchyListener, requestChange, setClassName, setDeferringChangeRequests, setDerivedLevel, setDisplayName, setModelErrorHandler, setPersistent, setSource, sortContainedObjects, toplevel, toString, uniqueName, validateSettables, workspace

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface ptolemy.kernel.util.Nameable

description, getContainer, getDisplayName, getFullName, getName, getName, setName

Constructor Detail

HybridModalDirector

public HybridModalDirector(CompositeEntity container,
                           java.lang.String name)
                    throws IllegalActionException,
                           NameDuplicationException

Construct a director in the given container with the given name. The container argument must not be null, or a NullPointerException will be thrown. If the name argument is null, then the name is set to the empty string. Increment the version number of the workspace.

Parameters:

container - Container of this director.

name - Name of this director.

Throws:

IllegalActionException - If the name has a period in it, or the director is not compatible with the specified container.

NameDuplicationException - If the container is not a CompositeActor and the name collides with an entity in the container.

Method Detail

clone

public java.lang.Object clone(Workspace workspace)
                       throws java.lang.CloneNotSupportedException

Clone the actor into the specified workspace. This calls the base class and then sets the attribute public members to refer to the attributes of the new actor.

Overrides:

clone in class FSMDirector

Parameters:

workspace - The workspace for the new actor.

Returns:

A new FSMActor.

Throws:

java.lang.CloneNotSupportedException - If a derived class contains an attribute that cannot be cloned.

See Also:

NamedObj.exportMoML(Writer, int, String), NamedObj.setDeferringChangeRequests(boolean)

fire

public void fire()
          throws IllegalActionException

Fire the model model for one iteration. Override the base class to avoid firing the controller during intermediate stages of a multi-step solver.

Specified by:

fire in interface Executable

Overrides:

fire in class FSMDirector

Throws:

IllegalActionException - If there is more than one transition enabled and nondeterminism is not permitted, or there is no controller, or it is thrown by any choice action.

getErrorTolerance

public final double getErrorTolerance()

Return error tolerance used for detecting enabled transitions. If there is an enclosing continuous director, then get the error tolerance from that director. Otherwise, return 1e-4.

Returns:

The error tolerance used for detecting enabled transitions.

getParseTreeEvaluator

public ParseTreeEvaluator getParseTreeEvaluator()

Return the parse tree evaluator used to evaluate guard expressions. In this class, an instance of ParseTreeEvaluatorForGuardExpression is returned. The parse tree evaluator is set to construction mode.

Overrides:

getParseTreeEvaluator in class FSMDirector

Returns:

ParseTreeEvaluator used to evaluate guard expressions.

isStepSizeAccurate

public boolean isStepSizeAccurate()

Return true if all actors that were fired in the current iteration report that the step size is accurate and if no transition is enabled.

Specified by:

isStepSizeAccurate in interface ContinuousStepSizeController

Returns:

True if the current step is accurate.

postfire

public boolean postfire()
                 throws IllegalActionException

Override the base class so that if there is no enabled transition then we record for each comparison operation in each guard expression the distance between the current value of the variable being compared and the threshold.

Specified by:

postfire in interface Executable

Overrides:

postfire in class FSMDirector

Returns:

True if the mode controller wishes to be scheduled for another iteration.

Throws:

IllegalActionException - If thrown by any commit action or there is no controller.

prefire

public boolean prefire()
                throws IllegalActionException

Override the base class to set current time to match that of the enclosing executive director, if there is one, regardless of whether that time is in the future or past. The superclass sets current time only if the local time is less than the environment time. Initialize the firing of the director by resetting all receivers to unknown.

Specified by:

prefire in interface Executable

Overrides:

prefire in class FSMDirector

Returns:

Whatever the superclass returns.

Throws:

IllegalActionException - If thrown by the superclass.

refinedStepSize

public double refinedStepSize()
                       throws IllegalActionException

Return the minimum of the step sizes suggested by any actors that were fired in the current iteration.

Specified by:

refinedStepSize in interface ContinuousStepSizeController

Returns:

The suggested refined step size.

Throws:

IllegalActionException - If the step size cannot be further refined.

rollBackToCommittedState

public void rollBackToCommittedState()
                              throws IllegalActionException

Roll back to committed state. This will roll back any actors that were fired in the current iteration.

Specified by:

rollBackToCommittedState in interface ContinuousStatefulComponent

Throws:

IllegalActionException - If the rollback attempts to go back further than the last committed time.

suggestedStepSize

public double suggestedStepSize()
                         throws IllegalActionException

Return the minimum of the step sizes suggested by any actors that were fired in current iteration.

Specified by:

suggestedStepSize in interface ContinuousStepSizeController

Returns:

The suggested next step size.

Throws:

IllegalActionException - If an actor requests an illegal step size.

_enclosingContinuousDirector

protected ContinuousDirector _enclosingContinuousDirector()

Return the enclosing continuous director, or null if there is none. The enclosing continuous director is a director above this in the hierarchy, possibly separated by composite actors with other foreign directors.

Returns:

The enclosing ContinuousDirector, or null if there is none.