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ljamt
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Merge pull request #11 from open-simulation-platform/10-using-ssp-connectors
Making all configurations work with v0.6.0
2 parents 27a0aed + 9149c9a commit 1f92fdc

11 files changed

+707
-191
lines changed

‎dp-ship/fmuproxy/DPController_OspModelDescription.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription"
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version="0.1">
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<UnitDefinitions>
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<Unit name="m">
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<BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad">
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<BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="m/s">
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<BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad/s">
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<BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N">
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<BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N.m">
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<BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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</UnitDefinitions>
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<VariableGroups>
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<!-- INPUTS -->
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<Generic name="vesselPosition">
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<LinearDisplacement name="linearVesselPosition">
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<Variable ref="x" unit="m"/>
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<Variable ref="y" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularVesselPosition">
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<Variable ref="psi" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<Generic name="vesselVelocity">
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<LinearVelocity name="linearVesselVelocity">
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<Variable ref="dx" unit="m/s"/>
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<Variable ref="dy" unit="m/s"/>
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</LinearVelocity>
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<AngularVelocity name="angularVesselVelocity">
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<Variable ref="dpsi" unit="rad/s"/>
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</AngularVelocity>
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</Generic>
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<Generic name="vesselPositionReference">
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<LinearDisplacement name="linearVesselPositionReference">
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<Variable ref="x_ref" unit="m"/>
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<Variable ref="y_ref" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularVesselPositionReference">
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<Variable ref="psi_ref" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<Generic name="vesselVelocityReference">
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<LinearVelocity name="linearVesselVelocityReference">
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<Variable ref="dx_ref" unit="m/s"/>
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<Variable ref="dy_ref" unit="m/s"/>
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</LinearVelocity>
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<AngularVelocity name="angularVesselVelocityReference">
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<Variable ref="dpsi_ref" unit="rad/s"/>
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</AngularVelocity>
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</Generic>
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<!-- OUTPUTS -->
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<Generic name="ThrustCommand">
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<Force name="linearThrustCommand">
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<Variable ref="Controlx" unit="N"/>
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<Variable ref="Controly" unit="N"/>
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</Force>
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<Torque name="angularThrustCommand">
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<Variable ref="ControlMz" unit="N.m"/>
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</Torque>
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</Generic>
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</VariableGroups>
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</OspModelDescription>

‎dp-ship/fmuproxy/NLPobserver_OspModelDescription.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription"
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version="0.1">
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<UnitDefinitions>
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<Unit name="m">
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<BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad">
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<BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="m/s">
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<BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad/s">
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<BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N">
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<BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N.m">
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<BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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</UnitDefinitions>
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<VariableGroups>
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<!-- INPUTS -->
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<Generic name="vesselPosition">
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<LinearDisplacement name="linearVesselPosition">
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<Variable ref="y[1]" unit="m"/>
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<Variable ref="y[2]" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularVesselPosition">
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<Variable ref="y[3]" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<Generic name="thrustForce">
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<Force name="linearThrustForce">
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<Variable ref="tau[1]" unit="N"/>
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<Variable ref="tau[2]" unit="N"/>
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</Force>
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<Torque name="angularThrustForce">
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<Variable ref="tau[3]" unit="N.m"/>
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</Torque>
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</Generic>
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<!-- OUTPUTS -->
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<Generic name="filteredPosition">
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<LinearDisplacement name="linearFilteredPosition">
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<Variable ref="y_hat[1]" unit="m"/>
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<Variable ref="y_hat[2]" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularFilteredPosition">
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<Variable ref="y_hat[3]" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<Generic name="filteredVelocity">
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<LinearVelocity name="linearFilteredVelocity">
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<Variable ref="v_hat[1]" unit="m/s"/>
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<Variable ref="v_hat[2]" unit="m/s"/>
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</LinearVelocity>
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<AngularVelocity name="angularFilteredVelocity">
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<Variable ref="v_hat[3]" unit="rad/s"/>
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</AngularVelocity>
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</Generic>
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</VariableGroups>
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</OspModelDescription>

‎dp-ship/fmuproxy/OSOM_OspModelDescription.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription"
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version="0.1">
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<UnitDefinitions>
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<Unit name="m">
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<BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad">
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<BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N">
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<BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N.m">
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<BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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</UnitDefinitions>
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<VariableGroups>
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<!-- OUTPUTS -->
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<Generic name="position">
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<LinearDisplacement name="linearPosition">
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<Variable ref="q[1]" unit="m"/>
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<Variable ref="q[2]" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularPosition">
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<Variable ref="q[3]" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<!-- INPUTS -->
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<Generic name="thrust">
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<Force name="thrustForce">
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<Variable ref="Thrust_d[1]" unit="N"/>
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<Variable ref="Thrust_d[2]" unit="N"/>
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</Force>
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<Torque name="thrustTorque">
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<Variable ref="Thrust_d[3]" unit="N.m"/>
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</Torque>
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</Generic>
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<AngularDisplacement name="azimuthAngle">
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<Variable ref="input[1]" unit="rad"/>
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<Variable ref="input[2]" unit="rad"/>
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</AngularDisplacement>
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</VariableGroups>
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</OspModelDescription>

‎dp-ship/fmuproxy/OspSystemStructure.xml‎

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<VariableGroup simulator="DP Controller" name="ThrustCommand"/>
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<VariableGroup simulator="Thrust Allocation" name="thrust"/>
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</VariableGroupConnection>
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<Variable simulator="Thrust Allocation" name="F2c"/>
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<Variable simulator="Ship" name="Thrust_d[2]"/>
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</Connections>
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</OspSystemStructure>

‎dp-ship/fmuproxy/ReferenceGenerator_OspModelDescription.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription"
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version="0.1">
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<UnitDefinitions>
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<Unit name="m">
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<BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad">
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<BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="m/s">
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<BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad/s">
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<BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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</UnitDefinitions>
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<VariableGroups>
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<!-- OUTPUTS -->
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<Generic name="positionReference">
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<LinearDisplacement name="linearPositionReference">
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<Variable ref="x_ref" unit="m"/>
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<Variable ref="y_ref" unit="m"/>
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</LinearDisplacement>
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<AngularDisplacement name="angularPositionReference">
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<Variable ref="psi_ref" unit="rad"/>
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</AngularDisplacement>
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</Generic>
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<Generic name="velocityReference">
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<LinearVelocity name="linearVelocityReference">
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<Variable ref="dx_ref" unit="m/s"/>
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<Variable ref="dy_ref" unit="m/s"/>
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</LinearVelocity>
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<AngularVelocity name="angularVelocityReference">
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<Variable ref="dpsi_ref" unit="rad/s"/>
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</AngularVelocity>
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</Generic>
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</VariableGroups>
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</OspModelDescription>

‎dp-ship/fmuproxy/ThMPC_OspModelDescription.xml‎

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<?xml version="1.0" encoding="utf-8" ?>
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<OspModelDescription xmlns="http://opensimulationplatform.com/MSMI/OSPModelDescription"
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version="0.1">
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<UnitDefinitions>
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<Unit name="m">
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<BaseUnit kg="1" m="1" s="0" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad">
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<BaseUnit kg="0" m="0" s="0" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="m/s">
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<BaseUnit kg="0" m="1" s="-1" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="rad/s">
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<BaseUnit kg="0" m="0" s="-1" A="0" K="0" mol="0" cd="0" rad="1" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N">
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<BaseUnit kg="1" m="1" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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<Unit name="N.m">
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<BaseUnit kg="1" m="2" s="-2" A="0" K="0" mol="0" cd="0" rad="0" factor="1.0" offset="0.0"/>
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</Unit>
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</UnitDefinitions>
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<VariableGroups>
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<!-- INPUTS -->
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<Generic name="thrust">
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<Force name="linearThrust">
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<Variable ref="refx" unit="N"/>
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<Variable ref="refy" unit="N"/>
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</Force>
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<Torque name="angularThrust">
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<Variable ref="refMz" unit="N.m"/>
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</Torque>
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</Generic>
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<!-- OUTPUTS -->
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<Generic name="thrustGlobalCommand">
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<Force name="linearThrustGlobalCommand">
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<Variable ref="Fxg" unit="N"/>
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<Variable ref="Fyg" unit="N"/>
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</Force>
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<Torque name="angularThrustGlobalCommand">
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<Variable ref="Mzg" unit="N.m"/>
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</Torque>
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</Generic>
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<Generic name="thrustLocalCommand">
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<Force name="linearThrustLocalCommand">
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<Variable ref="F1c" unit="N"/>
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<Variable ref="F2c" unit="N"/>
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</Force>
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<Torque name="angularThrustLocalCommand">
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<Variable ref="F3c" unit="N.m"/>
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</Torque>
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</Generic>
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<AngularDisplacement name="azimuthAngleCommand">
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<Variable ref="alpha1" unit="rad"/>
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<Variable ref="alpha2" unit="rad"/>
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</AngularDisplacement>
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</VariableGroups>
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</OspModelDescription>

‎house/OspSystemStructure.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<OspSystemStructure xmlns="http://opensimulationplatform.com/MSMI/OSPSystemStructure"
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version="0.1">
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<StartTime>0.0</StartTime>
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<BaseStepSize>0.01</BaseStepSize>
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<Algorithm>fixedStep</Algorithm>
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<Simulators>
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<Simulator name="Clock" source="Clock.fmu"/>
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<Simulator name="InnerWall" source="InnerWall.fmu"/>

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