- Python script for model based optimization done by Vitalij

git-svn-id: https://openmodelica.org/svn/OpenModelica/trunk@16224 f25d12d1-65f4-0310-ae8a-bbce733d8d8e

Compiler/scripts/modelbasedoptimization/casADiEnv.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# This file is part of OpenModelica.
+#
+# Copyright (c) 1998-CurrentYear, Linköping University,
+# Department of Computer and Information Science,
+# SE-58183 Linköping, Sweden.
+#
+# All rights reserved.
+#
+# THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3
+# AND THIS OSMC PUBLIC LICENSE (OSMC-PL).
+# ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES RECIPIENT'S
+# ACCEPTANCE OF THE OSMC PUBLIC LICENSE.
+#
+# The OpenModelica software and the Open Source Modelica
+# Consortium (OSMC) Public License (OSMC-PL) are obtained
+# from Linköping University, either from the above address,
+# from the URLs: http://www.ida.liu.se/projects/OpenModelica or
+# http://www.openmodelica.org, and in the OpenModelica distribution.
+# GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
+#
+# This program is distributed WITHOUT ANY WARRANTY; without
+# even the implied warranty of  MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
+# IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS
+# OF OSMC-PL.
+#
+# See the full OSMC Public License conditions for more details.
+#
+#
+
+'''
+Created on 04.12.2012
+
+@author: Vitalij Ruge
+'''
+
+from sys import path
+path.append("C:\Python27\Lib\site-packages\casadi\TestModel")

Compiler/scripts/modelbasedoptimization/casADiInterface.py

@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# This file is part of OpenModelica.
+#
+# Copyright (c) 1998-CurrentYear, Linköping University,
+# Department of Computer and Information Science,
+# SE-58183 Linköping, Sweden.
+#
+# All rights reserved.
+#
+# THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3
+# AND THIS OSMC PUBLIC LICENSE (OSMC-PL).
+# ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES RECIPIENT'S
+# ACCEPTANCE OF THE OSMC PUBLIC LICENSE.
+#
+# The OpenModelica software and the Open Source Modelica
+# Consortium (OSMC) Public License (OSMC-PL) are obtained
+# from Linköping University, either from the above address,
+# from the URLs: http://www.ida.liu.se/projects/OpenModelica or
+# http://www.openmodelica.org, and in the OpenModelica distribution.
+# GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
+#
+# This program is distributed WITHOUT ANY WARRANTY; without
+# even the implied warranty of  MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
+# IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS
+# OF OSMC-PL.
+#
+# See the full OSMC Public License conditions for more details.
+#
+#
+
+'''
+Created on 04.12.2012
+
+@author: Vitalij Ruge
+'''
+
+import casADiEnv
+
+from casadi import veccat, SXFunction, SymbolicOCP, var, der, SXMatrix
+import numpy as NP
+
+class xmlModel():
+    def __init__(self,xml_name = None):
+        """Load XML-Model-File"""
+        if xml_name is None:
+            raise IOError('No such file or directory.')
+        self.ocp = SymbolicOCP()
+        self.ocp.parseFMI(xml_name)
+        print self.ocp
+        self.ocp.makeExplicit()
+        self.ocp.eliminateAlgebraic()
+        self.__create_vars()
+        self.__create_object()
+        self.__create_modell_eq()
+
+    def __create_vars(self):
+        self.__load_objects_vars()
+        self.__make_vars_symbolic()
+        self.__set_vars_names()
+        self.__set_vars_bounds()
+        self.__initial_eq()
+        self.__path_constraints()
+
+
+    def __load_objects_vars(self):
+        # object states
+        self.ox = self.ocp.x
+        # object (strong) algebraic vars # algebraic states
+        self.oxa = self.ocp.z
+        # dependent variables (e.g. alg + parameter)
+        self.ow = self.ocp.y
+        # independent parameters
+        self.op = self.ocp.pf
+        # control signals
+        self.ou = self.ocp.u
+
+    def __make_vars_symbolic(self):
+        # differential state
+        self.x = var(self.ox)
+        self.dx = der(self.ox)
+        # algebraic states
+        self.xa = var(self.oxa)
+        # dependent variables (e.g. alg + parameter)
+        self.w = var(self.ow)
+        # independent parameters
+        self.p = var(self.op)
+        # control signals
+        self.u = var(self.ou)
+
+        # time
+        self.t = self.ocp.t
+        self.t0 = self.ocp.t0
+        self.tf = self.ocp.tf 
+
+        self.__set_var_dim()
+
+        # total var          
+        self.z = self.__old_veccat([self.t, self.x, self.xa,self.p,self.u])
+
+    def __old_veccat(self, var_list):
+        z = [SXMatrix(var) for var in var_list]
+        return veccat(z)
+
+    def __set_var_dim(self):
+        # Count variables
+        self.nx = len(self.x)
+        self.nxa = len(self.xa)
+        self.nw = len(self.w)
+        self.np = len(self.p)
+        self.nu = len(self.u)
+
+    def __set_vars_names(self):
+        self.var_names = {}
+        # differential state
+        self.__set_var_names(self.x,'x')
+        self.__set_var_names(self.dx, 'dx')
+
+        # algebraic states
+        self.__set_var_names(self.xa, 'xa')
+
+        # dependent variables (e.g. alg + parameter)
+        self.__set_var_names(self.w, 'w')
+
+        # independent parameters
+        self.__set_var_names(self.p, 'p')
+
+        # control signals
+        self.__set_var_names(self.u, 'u')
+
+    def __set_var_names(self, var, name):
+        self.var_names[name] = []
+        for v in var:
+            self.var_names[name].append(v.__str__())
+
+    def __set_vars_bounds(self):
+        #differential states
+        self.xmin, self.xmax, self.xinit = self.__set_var_bounds(self.ox)
+
+        #differential algebraic
+        self.xamin, self.xamax, self.xainit = self.__set_var_bounds(self.oxa)
+
+        #dependent variables (e.g. alg + parameter)
+        self.wmin, self.wmax, self.winit = self.__set_var_bounds(self.ow)
+
+        #independent parameters
+        self.pmin, self.pmax, self.pinit = self.__set_var_bounds(self.op)
+
+        #control signals
+        self.umin, self.umax, self.uinit = self.__set_var_bounds(self.ou)
+
+
+    def __set_var_bounds(self,ovar):
+        maxvar = [val.getMax() if (not val is  None) else NP.inf for val in ovar]
+        minvar = [val.getMin() if (not val is  None) else -NP.inf for val in ovar]
+        initvar = [val.getInitialGuess() if (not val is  None) else 0 for val in ovar]
+
+        return minvar ,maxvar , initvar
+
+    def __create_object(self):
+        # Mayer terms
+        if self.ocp.mterm.numel() > 0:
+            xtime  = [val.atTime(self.tf, True) for val in self.ox]
+            xatime = [val.atTime(self.tf, True) for val in self.oxa]
+            ptime  = [val.atTime(self.tf, True) for val in self.op]
+            utime  = [val.atTime(self.tf, True) for val in self.ou]
+            ztime  = self.__old_veccat([self.t, xtime, xatime, ptime, utime])
+
+            M = SXFunction([ztime], [self.ocp.mterm])
+            M.init()  
+            M = M.eval([self.z])
+            self.M = SXFunction([self.z], [M[0]])
+            self.M.init()
+            self.ocp.mterm = self.M.eval([self.z])[0]
+            self.ocp.eliminateAlgebraic()
+            self.M = SXFunction([self.z], [self.ocp.mterm])
+            self.M.init()
+        else:
+            self.M = None
+
+        # Lagrange terms
+        self.L = self.__init_func(self.ocp.lterm, self.ocp.lterm.numel())
+
+    def __create_modell_eq(self):
+        # DAE
+        self.f = self.__init_func(self.ocp.ode, self.nx)
+
+        # Alg
+        self.alg = self.__init_func(self.ocp.alg, self.nxa)
+
+    def __init_func(self, func,n):
+        if n > 0:
+            F = SXFunction([self.z], [func])
+            F.init()
+        else:
+            F = None
+        return F
+
+    def __initial_eq(self):
+        if self.ocp.initial.numel() < 1:
+            self.F0 = None
+        else:
+            self.F0 = SXFunction([self.__old_veccat([ self.t, self.x, self.xa, self.p, self.u,self.dx])], [self.ocp.initial])
+            self.F0.init()
+
+    def __path_constraints(self):
+        path = self.ocp.path
+        if path.numel() < 1:
+            self.gplb = []
+            self.gpub = []
+        else:
+            self.gplb = self.ocp.path_min
+            self.gpub = self.ocp.path_max
+
+        for k in xrange(self.nw):
+            if self.wmin[k] != -NP.inf or self.wmax[k] != NP.Inf:
+                path.append(self.ocp.dep[k])
+                self.gplb.append(self.wmin[k])
+                self.gpub.append(self.wmax[k])
+
+        self.pathlen = path.shape[0]
+        if self.pathlen:
+            self.pathc = SXFunction([self.z], [path])
+            self.pathc.init()
+        else:
+            self.pathc = None
+
+    def __str__(self):
+        if not self.f is None:
+            print "\n***ODE***"
+            var_list = self.f.eval([self.z])[0]
+            for var in var_list:
+                print var
+
+        if not self.alg is None:
+            print "\n***alg. loops***"
+            var_list = self.alg.eval([self.z])[0]
+            for var in var_list:
+                print var
+
+        if not self.M is None:
+            print "\n***mayer terms***"
+            print self.M.eval([self.z])[0]
+
+        if not self.L is None:
+            print "\n***lagrange terms***"
+            print self.L.eval([self.z])[0]
+        return ""       

Compiler/scripts/modelbasedoptimization/defaultStart.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+#
+# This file is part of OpenModelica.
+#
+# Copyright (c) 1998-CurrentYear, Linköping University,
+# Department of Computer and Information Science,
+# SE-58183 Linköping, Sweden.
+#
+# All rights reserved.
+#
+# THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3
+# AND THIS OSMC PUBLIC LICENSE (OSMC-PL).
+# ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES RECIPIENT'S
+# ACCEPTANCE OF THE OSMC PUBLIC LICENSE.
+#
+# The OpenModelica software and the Open Source Modelica
+# Consortium (OSMC) Public License (OSMC-PL) are obtained
+# from Linköping University, either from the above address,
+# from the URLs: http://www.ida.liu.se/projects/OpenModelica or
+# http://www.openmodelica.org, and in the OpenModelica distribution.
+# GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
+#
+# This program is distributed WITHOUT ANY WARRANTY; without
+# even the implied warranty of  MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
+# IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS
+# OF OSMC-PL.
+#
+# See the full OSMC Public License conditions for more details.
+#
+#
+
+from sys import argv
+import os
+from casADiInterface import xmlModel
+from nolp import MPC, CasIpopt
+from sys import exit, argv
+
+try:
+  from casadi import SymbolicOCP
+except:
+  print"\nError: Don't find CasADi."
+  exit(-1);
+
+name = argv[1]
+name = name.split('.xml')[0]
+md = xmlModel(argv[1])
+NOLP = MPC(md,128,3)
+res = CasIpopt(NOLP())
+try:
+  os.mkdir('results/')
+except:
+  pass
+try:
+  os.mkdir('results/'+name)
+except:
+  pass
+res.plotState(None,'results/'+name+'/states')
+res.plotControl(None,'results/'+name+'/input')
+res.make_results('results/'+name+'/values.txt')