/// <summary>
/// Advances the simulation by the tiem given in <paramref name="step" />
/// </summary>
/// <param name="step">The time step</param>
/// <exception cref="System.NotImplementedException"></exception>
public void AdvanceSimulation(TimeSpan step)
{
_simulationTime.Add(step);
// Fetch new input values
ControlVector.Update(_simulationTime);
// Update matrices
InputMatrix.Update(_simulationTime);
StateMatrix.Update(_simulationTime);
OutputMatrix.Update(_simulationTime);
FeedthroughMatrix.Update(_simulationTime);
// Calculate
IStateVector ax = new StateVector(StateVector.Length);
StateMatrix.Transform(StateVector, ref ax);
IStateVector bu = new StateVector(StateVector.Length);
StateMatrix.Transform(StateVector, ref ax);
}
public static void Main(string[] args)
{
/*
XorShift160 lol = new XorShift160();
double runningSum = 0;
while (!Console.KeyAvailable)
{
Console.WriteLine(lol.NextDouble());
}
return;
*/
IStateMatrix A = new StateMatrix(2, 2);
A.SetValue(0, 0, 0);
A.SetValue(0, 1, 1);
A.SetValue(1, 0, 0);
A.SetValue(1, 0, 0);
/*
var c = new CompiledMatrix<IStateMatrix>(A);
c.Compile();
*/
IInputMatrix B = new InputMatrix(2, 1);
B.SetValue(0, 0, 0);
B.SetValue(1, 0, 1);
IOutputMatrix C = new OutputMatrix(2, 2);
C.SetValue(0, 0, 1);
C.SetValue(0, 1, 0);
C.SetValue(1, 0, 0);
C.SetValue(1, 1, 1);
IFeedthroughMatrix D = new FeedthroughMatrix(2, 1);
D.SetValue(0, 0, 0);
D.SetValue(1, 0, 0);
ControlVector u = new ControlVector(1);
u.SetValue(0, 1);
// TODO: Construct vectors and matrices by factory and let the simulation driver compile them after every external change
IStateVector x = new StateVector(2);
/*
IStateVector dx = new StateVector(x.Length);
IStateVector dxu = new StateVector(x.Length);
IOutputVector y = new OutputVector(C.Rows);
IOutputVector yu = new OutputVector(C.Rows);
*/
CancellationTokenSource cts = new CancellationTokenSource();
CancellationToken ct = cts.Token;
Semaphore startCalculation = new Semaphore(0, 2);
Semaphore calculationDone = new Semaphore(0, 2);
SimulationTime simulationTime = new SimulationTime();
IStateVector dx = new StateVector(x.Length);
Task inputToState = new Task(() =>
{
IStateVector dxu = new StateVector(x.Length);
while (!ct.IsCancellationRequested)
{
startCalculation.WaitOne();
Thread.MemoryBarrier();
A.Transform(x, ref dx);
B.Transform(u, ref dxu); // TODO: TransformAndAdd()
dx.AddInPlace(dxu);
Thread.MemoryBarrier();
calculationDone.Release();
}
});
IOutputVector y = new OutputVector(C.Rows);
Task stateToOutput = new Task(() =>
{
IOutputVector yu = new OutputVector(C.Rows);
while (!ct.IsCancellationRequested)
{
startCalculation.WaitOne();
Thread.MemoryBarrier();
C.Transform(x, ref y);
D.Transform(u, ref yu); // TODO: TransformAndAdd()
y.AddInPlace(yu);
Thread.MemoryBarrier();
calculationDone.Release();
}
});
Task control = new Task(() =>
{
Stopwatch watch = Stopwatch.StartNew();
int steps = 0;
while (!ct.IsCancellationRequested)
{
// wait for a new u to be applied
// TODO: apply control vector
startCalculation.Release(2);
// wait for y
calculationDone.WaitOne();
calculationDone.WaitOne();
Thread.MemoryBarrier();
// wait for state vector to be changeable
// TODO: perform real transformation
x.AddInPlace(dx); // discrete integration, T=1
// video killed the radio star
if (steps % 1000 == 0)
{
var localY = y;
double thingy = steps/watch.Elapsed.TotalSeconds;
Trace.WriteLine(simulationTime.Time + " Position: " + localY.GetValue(0) + ", Velocity: " + localY.GetValue(1) + ", Acceleration: " + u.GetValue(0) + ", throughput: " + thingy);
}
// cancel out acceleration
if (steps++ == 10)
{
u.SetValue(0, 0);
}
// advance simulation time
simulationTime.Add(TimeSpan.FromSeconds(1));
}
});
inputToState.Start();
stateToOutput.Start();
control.Start();
Console.ReadKey(true);
cts.Cancel();
/*
while (!Console.KeyAvailable)
{
A.Transform(x, ref dx);
B.Transform(u, ref dxu); // TODO: TransformAndAdd()
dx.AddInPlace(dxu);
// TODO: perform transformation
x.AddInPlace(dx); // discrete integration, T=1
C.Transform(x, ref y);
D.Transform(u, ref yu); // TODO: TransformAndAdd()
y.AddInPlace(yu);
// video killed the radio star
if (steps%1000 == 0)
{
Trace.WriteLine("Position: " + y[0] + ", Velocity: " + y[1] + ", Acceleration: " + u[0] + ", throughput: " + steps/watch.Elapsed.TotalSeconds);
}
// cancel out acceleration
if (steps++ == 10)
{
u[0] = 0;
}
}
*/
}