From de16e8c2e0eedac7839b68eb5ad67f6211147a04 Mon Sep 17 00:00:00 2001 From: "Edward A. Lee" Date: Thu, 27 Jun 2024 14:57:46 -0700 Subject: [PATCH] Added redundant Rosace --- examples/C/src/rosace/README.md | 4 + examples/C/src/rosace/RedundantRosace.lf | 116 ++++++++++++++++++++++ examples/C/src/rosace/RedundantRosace.png | Bin 0 -> 136367 bytes examples/C/src/rosace/RedundantRosace.svg | 1 + 4 files changed, 121 insertions(+) create mode 100644 examples/C/src/rosace/RedundantRosace.lf create mode 100644 examples/C/src/rosace/RedundantRosace.png create mode 100644 examples/C/src/rosace/RedundantRosace.svg diff --git a/examples/C/src/rosace/README.md b/examples/C/src/rosace/README.md index d0a2afe9..5861edcf 100644 --- a/examples/C/src/rosace/README.md +++ b/examples/C/src/rosace/README.md @@ -29,4 +29,8 @@ Note that these files have a difference [LICENSE](LICENSE.md) than the standard Rosace controller RosaceController.lf: A controller for an aircraft (from the ROSACE case study). + + Redundant Rosace controller + RedundantRosace.lf: A redundant version of the ROSACE controller. + \ No newline at end of file diff --git a/examples/C/src/rosace/RedundantRosace.lf b/examples/C/src/rosace/RedundantRosace.lf new file mode 100644 index 00000000..524b1c35 --- /dev/null +++ b/examples/C/src/rosace/RedundantRosace.lf @@ -0,0 +1,116 @@ +/** + * @brief This is a variant of the ROSACE case study with a redundant controller. + * + * It is drawn from the following paper: + * + * Deschamps, Henrick and Cappello, Gerlando and Cardoso, Janette and Siron, Pierre Coincidence + * Problem in CPS Simulations: the R-ROSACE Case Study. (2018) In: 9th European Congress Embedded + * Real Time Software and Systems ERTS2 2018, 31 January 2018 - 2 February 2018 (Toulouse, France). + * https://www.erts2018.org/authors_detail_inverted_Cappello%20Gerlando.html + * + * The Arbitrator in this program assumes it will receive logically simulatenous inputs from two controllers. + * If it receives any one input from a controller, it checks for the presence first of an input from the first + * controller, then the second controller. If it receives an input from both controllers, it will choose the + * input from the first controller. + * + * FailSilent reactors are inserted to emulate failures of the controllers. + * At a specified logical time, these simply drop the input. + * + * @author Edward A. Lee + */ +target C { + fast: true, + build: "./build_run_plot.sh RedundantRosace", + timeout: 10 min +} + +import Aircraft from "AircraftSimulator.lf" +import RosaceController from "RosaceController.lf" +import PrintToFile from "../lib/PrintToFile.lf" +import Command from "Rosace.lf" + +preamble {= + // Shared constants. + // Trimming parameters + #define Va_eq (230.0) // Nominal airspeed? + #define h_eq (10000.0) + + #define delta_th_eq (1.5868660794926) + #define delta_e_eq (0.012009615652468) +=} + +reactor Arbitrator { + input delta_thc1: double // Engine control + input delta_ec1: double // Elevator control + input delta_thc2: double // Engine control + input delta_ec2: double // Elevator control + + output delta_thc: double // Engine control + output delta_ec: double // Elevator control + + reaction(delta_thc1, delta_ec1, delta_thc2, delta_ec2) -> delta_thc, delta_ec {= + if (delta_thc1->is_present) { + lf_set(delta_thc, delta_thc1->value); + } else if (delta_thc2->is_present) { + lf_print_warning("First controller delta_thc input is missing."); + lf_set(delta_thc, delta_thc2->value); + } else { + lf_print_error("Both controllers' delta_thc inputs are missing!"); + } + if (delta_ec1->is_present) { + lf_set(delta_ec, delta_ec1->value); + } else if (delta_ec2->is_present) { + lf_print_warning("First controller delta_ec input is missing."); + lf_set(delta_ec, delta_ec2->value); + } else { + lf_print_error("Both controllers' delta_ec inputs are failed!"); + } + =} +} + +reactor FailSilent(fail_time: time = 0) { + input in: double + output out: double + reaction(in) -> out {= + if (self->fail_time > 0 && lf_time_logical() < self->fail_time) { + lf_set(out, in->value); + } + =} +} + +main reactor(filter_period: time = 10 ms) { + a = new Aircraft() + c = new RosaceController(filter_period=filter_period) + altitude = new Command(value=11000) // Altitude command + speed = new Command(value=0.0) // Delta airspeed from nominal Va_eq (230) + + p_h = new PrintToFile(filename="altitude.data") + p_Va = new PrintToFile(filename="airspeed.data") + + a.h, a.az, a.Vz, a.q, a.Va -> c.h, c.az, c.Vz, c.q, c.Va + altitude.c -> c.c + speed.c -> c.s + + // Backup controller. + c2 = new RosaceController(filter_period=filter_period) + a.h, a.az, a.Vz, a.q, a.Va -> c2.h, c2.az, c2.Vz, c2.q, c2.Va + altitude.c -> c2.c + speed.c -> c2.s + + f1 = new FailSilent(fail_time=100 s) + + ar = new Arbitrator() + + c.delta_thc -> f1.in + f1.out -> ar.delta_thc1 + c.delta_ec -> ar.delta_ec1 + + c2.delta_ec -> ar.delta_ec2 + c2.delta_thc -> ar.delta_thc2 + + ar.delta_ec -> a.delta_ec + ar.delta_thc -> a.delta_thc + + a.h -> p_h.y // Print connections. + a.Va -> p_Va.y +} diff --git a/examples/C/src/rosace/RedundantRosace.png b/examples/C/src/rosace/RedundantRosace.png new file mode 100644 index 0000000000000000000000000000000000000000..e0f1a94a23b7394bbd0b41d6d1bfcf317be524d9 GIT binary patch literal 136367 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