ecco params parsing impl

open-simulation-platform · Jan 20, 2025 · 7c859a6 · 7c859a6
1 parent 60d4fcc
commit 7c859a6
Show file tree

Hide file tree

Showing 4 changed files with 96 additions and 4 deletions.
diff --git a/src/cosim/osp_config_parser.cpp b/src/cosim/osp_config_parser.cpp
@@ -7,29 +7,32 @@
 
 #include "osp_system_structure_schema.hpp"
 
+#include "cosim/algorithm.hpp"
 #include "cosim/function/linear_transformation.hpp"
 #include "cosim/function/vector_sum.hpp"
 #include "cosim/log/logger.hpp"
 #include "cosim/uri.hpp"
-#include "cosim/algorithm.hpp"
 
 #include <boost/lexical_cast.hpp>
 #include <xercesc/dom/DOM.hpp>
 #include <xercesc/framework/MemBufInputSource.hpp>
+#include <xercesc/framework/StdOutFormatTarget.hpp>
 #include <xercesc/framework/Wrapper4InputSource.hpp>
+#include <xercesc/framework/XMLFormatter.hpp>
 #include <xercesc/util/PlatformUtils.hpp>
 #include <xercesc/util/XMLString.hpp>
+#include <xercesc/util/XMLUni.hpp>
 
 #include <ios>
+#include <iostream>
 #include <memory>
+#include <optional>
 #include <sstream>
 #include <stdexcept>
 #include <string>
 #include <unordered_map>
 #include <utility>
 #include <vector>
-#include <iostream>
-#include <optional>
 
 
 namespace cosim
@@ -117,13 +120,28 @@ class osp_config_parser
         const cosim::filesystem::path& configPath);
     ~osp_config_parser() noexcept;
 
+    struct EccoConfiguration
+    {
+        double safetyFactor = 0.99;
+        double stepSize = 1e-3;
+        double minimumStepSize = 1e-5;
+        double maximumStepSize = 1e-2;
+        double minimumChangeRate = 0.2;
+        double maximumChangeRate = 1.5;
+        double proportionalGain = 0.2;
+        double integralGain = 0.15;
+        double relativeTolerance = 1e-6;
+        double absoluteTolerance = 1e-6;
+    };
+
     struct SimulationInformation
     {
         std::string description;
         std::string algorithm;
         double stepSize = 0.1;
         double startTime = 0.0;
         std::optional<double> endTime;
+        std::optional<EccoConfiguration> eccoConfiguration;
     };
 
     const SimulationInformation& get_simulation_information() const;
@@ -272,6 +290,16 @@ osp_config_parser::osp_config_parser(
         xercesc::DOMImplementationLS::MODE_SYNCHRONOUS,
         tc("http://www.w3.org/2001/XMLSchema").get());
 
+    auto serializer = ((xercesc::DOMImplementationLS*)domImpl)->createLSSerializer();
+    if (serializer->getDomConfig()->canSetParameter(xercesc::XMLUni::fgDOMWRTFormatPrettyPrint, true)) {
+        serializer->getDomConfig()->setParameter(xercesc::XMLUni::fgDOMWRTFormatPrettyPrint, true);
+    }
+    serializer->setNewLine(xercesc::XMLString::transcode("\r\n"));
+
+    auto outputTarget = ((xercesc::DOMImplementationLS*)domImpl)->createLSOutput();
+    auto outputFormat = new xercesc::StdOutFormatTarget();
+    outputTarget->setByteStream(outputFormat);
+
     error_handler errorHandler;
 
     std::string xsd_str = osp_xsd;
@@ -445,6 +473,28 @@ osp_config_parser::osp_config_parser(
         simulationInformation_.algorithm = std::string(tc(saNodes->item(0)->getTextContent()).get());
     }
 
+    auto eccoConfigurationElement = static_cast<xercesc::DOMElement*>(rootElement->getElementsByTagName(tc("EccoConfiguration").get())->item(0));
+    if (eccoConfigurationElement) {
+        serializer->write(eccoConfigurationElement, outputTarget);
+        const auto elem = eccoConfigurationElement->getFirstElementChild();
+        serializer->write(elem, outputTarget);
+
+
+        /*
+        std::vector<InitialValue> initialValues;
+        const auto initValsElement = static_cast<xercesc::DOMElement*>(element->getElementsByTagName(tc("InitialValues").get())->item(0));
+
+        if (initValsElement) {
+            for (auto initValElement = initValsElement->getFirstElementChild(); initValElement != nullptr; initValElement = initValElement->getNextElementSibling()) {
+                std::string varName = tc(initValElement->getAttribute(tc("variable").get())).get();
+                variable_type varType = parse_variable_type(std::string(tc(initValElement->getFirstElementChild()->getNodeName()).get()));
+                std::string varValue = tc(initValElement->getFirstElementChild()->getAttribute(tc("value").get())).get();
+        */
+
+        // auto safetyFactor = eccoNodes->getElementsByTagName(tc("SafetyFactor").get());
+        // std::cout << "Safety factor: " << safetyFactor << std::endl;
+    }
+
     auto connectionsElement = static_cast<xercesc::DOMElement*>(rootElement->getElementsByTagName(tc("Connections").get())->item(0));
     if (connectionsElement) {
         auto variableConnectionsElement = connectionsElement->getElementsByTagName(tc("VariableConnection").get());
@@ -515,6 +565,8 @@ osp_config_parser::osp_config_parser(
             signalGroupConnections_.push_back({signal, variable});
         }
     }
+
+    serializer->release();
 }
 
 osp_config_parser::~osp_config_parser() noexcept = default;

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -1,6 +1,8 @@
 set(tests
     "fixed_step_algorithm_test"
     "ecco_algorithm_test"
+    "ecco_algorithm_multi_bond_test"
+    "ecco_algorithm_from_system_structure_test"
     "file_observer_dynamic_logging_test"
     "file_observer_logging_test"
     "file_observer_logging_from_config_test"

diff --git a/tests/ecco_algorithm_from_system_structure_test.cpp b/tests/ecco_algorithm_from_system_structure_test.cpp
@@ -0,0 +1,38 @@
+#include <cosim/algorithm.hpp>
+#include <cosim/log/simple.hpp>
+#include <cosim/observer/last_value_observer.hpp>
+#include <cosim/observer/time_series_observer.hpp>
+#include <cosim/time.hpp>
+#include <cosim/fs_portability.hpp>
+#include <cosim/orchestration.hpp>
+#include <cosim/osp_config_parser.hpp>
+
+#include <exception>
+#include <memory>
+#include <stdexcept>
+#include <cstdlib>
+
+// A helper macro to test various assertions
+#define REQUIRE(test) \
+    if (!(test)) throw std::runtime_error("Requirement not satisfied: " #test)
+
+int main()
+{
+    try {
+        const auto testDataDir = std::getenv("TEST_DATA_DIR");
+        REQUIRE(testDataDir);
+        cosim::log::setup_simple_console_logging();
+        cosim::log::set_global_output_level(cosim::log::debug);
+
+        auto resolver = cosim::default_model_uri_resolver();
+        auto configPath = cosim::filesystem::path(testDataDir) / "ecco" / "quarter_truck";
+        std::cout << "Config path is " << configPath << std::endl;
+
+        const auto config = cosim::load_osp_config(configPath, *resolver);
+    } catch (const std::exception& e) {
+        std::cerr << "Error: " << e.what() << std::endl;
+        return 1;
+    }
+
+    return 0;
+}
diff --git a/tests/ecco_algorithm_multi_bond_test.cpp b/tests/ecco_algorithm_multi_bond_test.cpp
@@ -71,7 +71,7 @@ int main()
         auto chassisIndex = entityMaps.simulators.at("chassis");
         auto wheelIndex = entityMaps.simulators.at("wheel");
 
-        auto gravity = cosim::variable_id{chassisIndex, cosim::variable_type::real, 2};
+        //auto gravity = cosim::variable_id{chassisIndex, cosim::variable_type::real, 2};
         auto chassisForce = cosim::variable_id{chassisIndex, cosim::variable_type::real, 19};
         auto chassisVel = cosim::variable_id{chassisIndex, cosim::variable_type::real, 22};
         auto wheelCForce = cosim::variable_id{wheelIndex, cosim::variable_type::real, 26};