static void scan_values(sotl_device_t *dev, int nvalues, int offset_in, int offset_out)
{
int vtc = exec_scan_kernel (dev, &dev->calc_offset_buffer, offset_in, offset_out, nvalues, NULL);
if (vtc > 1)
{
int new_offset_in = offset_out;
int new_offset_out = ALRND(16, offset_out + vtc);
scan_values (dev, vtc, new_offset_in, new_offset_out);
scan_down_step (dev, &dev->calc_offset_buffer, nvalues, offset_in, offset_out);
}
}
void scan(sotl_device_t *dev, const unsigned begin, const unsigned end)
{
int offset_in = begin;
int offset_out = begin;
int nvalues = end - begin;
int vtc = exec_scan_kernel(dev, &dev->box_buffer, offset_in, offset_out,
nvalues, prof_event_ptr(dev, KERNEL_SCAN));
// Test if we need to execute another scan
if (vtc > 1)
{
int offset_in = begin;
int offset_out = ALRND(16, begin + vtc);
scan_values(dev, vtc, offset_in, offset_out);
scan_down_step(dev, &dev->box_buffer, nvalues, begin, begin);
}
}
int ss_model::init(OBJECT *parent)
{
double val[256];
unsigned int n,m;
// determine n by scanning the x vector
n = scan_values(x,val,sizeof(val)/sizeof(val[0]));
if ( n==256 )
exception("no more than 256 states are permitted");
else if ( n==0 )
exception("at least one state must be defined");
else
dim.n = n;
// save the x vector
ss.x = new double[n];
memcpy(ss.x,val,sizeof(double)*n);
// scan the Y vector
tf.Y = new double[n];
if ( scan_values(Y,tf.Y,n)!=n )
exception("Y does not have the same number of values as x");
// scan the U vector
tf.U = new double[n];
if ( scan_values(U,tf.U,n)!=n )
exception("Y does not have the same number of values as x");
// scan the u references
input = new gld_property*[dim.n];
if ( scan_references(u,input,n)!=n )
exception("u does not have the same number of references as x has values");
// determine m by scanning the y vector
output = new gld_property*[n];
if ( (m=scan_references(y,output,n))!=1 )
exception("y may have only one reference");
dim.m = m;
// construct the A matrix
unsigned int i, j;
ss.A = new double*[n-1];
switch ( form ) {
case CF_OCF:
for ( i=0 ; i<n-1 ; i++ )
{
ss.A[i] = new double[n-1];
memset(ss.A[i],0,sizeof(double)*(n-1));
ss.A[i][0] = -tf.U[i+1];
ss.A[i][i+1] = 1;
}
break;
case CF_CCF:
// TODO
break;
}
// construct the B matrix
ss.B = new double*[n-1];
switch ( form ) {
case CF_OCF:
for ( i=0 ; i<n-1 ; i++ )
{
ss.B[i] = new double[m];
memset(ss.B[i],0,sizeof(double)*m);
for ( j=0 ; j<m ; j++ )
// TODO generalize for MIMO
ss.B[i][j] = tf.Y[i+1] - tf.U[i+1]*tf.Y[j];
}
break;
case CF_CCF:
// TODO
break;
}
// construct the C matrix
ss.C = new double*[m];
switch ( form ) {
case CF_OCF:
for ( i=0 ; i<m ; i++ )
{
ss.C[i] = new double[n-1];
memset(ss.C[i],0,sizeof(double)*(n-1));
ss.C[i][0] = 1;
}
break;
case CF_CCF:
// TODO
break;
}
ss.D = new double*[1];
switch ( form ) {
case CF_OCF:
ss.D[0] = new double[1];
// TODO generalize for MIMO
ss.D[0][0] = tf.Y[0];
case CF_CCF:
// TODO
break;
}
// link control vector
ss.u = new double*[n];
for ( i=0 ; i<n ; i++ )
ss.u[i] = (double*)input[i]->get_addr();
// link observation vector
ss.y = new double*[m];
for ( i=0 ; i<m ; i++ )
ss.y[i] = (double*)output[i]->get_addr();
// create xdot
ss.xdot = new double[n];
memset(ss.xdot,0,sizeof(ss.xdot));
// update H string (just descriptive)
int len=1;
H[0]='(';
for ( i=0 ; i<n ; i++ )
{
if ( tf.Y[i]!=0 )
if ( i<n-1 )
len += sprintf(H+len,"%+.3fs^%d",tf.Y[i],n-i-1);
else
len += sprintf(H+len,"%+.3f",tf.Y[i]);
}
len += sprintf(H+len,"%s",") / (");
for ( i=0 ; i<n ; i++ )
{
if ( tf.U[i]!=0 )
if ( i<n-1 )
len += sprintf(H+len,"%+.3fs^%d",tf.U[i],n-i-1);
else
len += sprintf(H+len,"%+.3f",tf.U[i]);
}
len += sprintf(H+len,"%s",")");
gl_debug("%s: H(s) = %s", get_name(), (char*)H);
// update A,B,C,D string (descriptive)
A[0]='['; B[0]='['; C[0]='['; D[0]='[';
for ( len=1,i=0 ; i<n-1 ; i++ )
{
for ( j=0 ; j<n-1 ; j++ )
len += sprintf(A+len," %.3f ", ss.A[i][j]);
if ( i<n-2 )
len += sprintf(A+len," %s",";");
}
strcat(A," ]");
for ( len=1,i=0 ; i<n-1 ; i++ )
{
len += sprintf(B+len," %.3f ", ss.B[i][0]);
}
strcat(B," ]");
for ( len=1,i=0 ; i<n-1 ; i++ )
{
len += sprintf(C+len," %.3f ", ss.C[0][i]);
}
strcat(C," ]");
sprintf(D+1," %.2f ]",ss.D[0]);
gl_debug("%s: A = %s", get_name(), (char*)A);
gl_debug("%s: B = %s", get_name(), (char*)B);
gl_debug("%s: C = %s", get_name(), (char*)C);
gl_debug("%s: D = %s", get_name(), (char*)D);
return 1;
}
