- fast: Design with 7 models executed 10.000.000 ticks in 1.55 sec on Ubuntu.
- easy to use: must implement only 2 methods: update() and is_source() in which you call add_input/add_output and get_input/set_output.
- portable: Tested on Windows 10(Visual Studio 2019), Debian VM(GCC 8.3) and Raspbian(GCC 4.9).
- syncronous and asyncronous execution(based on execution order) available with the controller.
Clone and build
git clone https://github.com/mehecip/mbd.git
cd mbd
cmake -DBUILD_CONTROLLER=On -DBUILD_EXAMPLES=On .
make f=Makefile#include "model.hpp"
class gain : public model
{
public:
/** Build your model: add inputs, outputs and parameters. */
gain(const std::string& name, double gain) : model(name)
{
model::add_input<double>("In 0", 0.0);
model::add_output<double>("Out 0", 0.0);
model::add_param<double>("gain_factor", gain);
}
/** Update your model: read inputs/parameters and set outputs/parameters. */
void update(std::uint64_t tick) override
{
const double in = model::get_input<double>(0);
const double gain = model::get_param<double>("gain_factor");
model::set_output<double>(0, in * gain);
}
/** Let the controller know if the model behaves as a source. */
bool is_source() const override
{
return false;
}
};
mbd::lib my_lib("My Lib");
my_lib.register_model<gain>("Times Pi", 3.1415);Build - Connect - Run without controller
auto gain_ = my_lib.build_model("Times Pi");
auto src_ = my_lib.build_model("Liniar Source");
auto sink_ = my_lib.build_model("Sink");mbd::end_point src_0{src_, 0, port_dir_t::OUT};
mbd::end_point gain_0{gain_, 0, port_dir_t::IN};
auto [state, src_to_gain] = connection::build(src_0, gain_0);
/**************************************************************
| Liniar Source |0>-------->0| Gain |0>-------->0| Sink |
***************************************************************/for (std::uint64_t i = 0; i < 10; ++i)
{
src_->update(i);
gain_->update(i);
sink_->update(i);
}#include "controller.hpp"
void message_callback(log_level lvl, const std::string& msg)
{
std::cout << level_info(lvl) << ": " << msg << "\n";
}
mbd::controller cntrl(message_callback);cntrl.add_library(my_lib);
cntrl.add_model("My Lib", "Times Pi");
cntrl.add_model("My Lib", "Liniar Source");
cntrl.add_model("My Lib", "Sink");cntrl.connect("Liniar Source", 0, "Times Pi", 0);
cntrl.connect("Times Pi", 0, "Sink", 0);
/**************************************************************
| Liniar Source |0>-------->0| Gain |0>-------->0| Sink |
***************************************************************/bool has_loops = cntrl.has_algebraic_loops();// syncronous
cntrl.run(10'000);
// or asyncronous
cntrl.run_async(10'000);auto sink_ = cntrl.get<sink>("Sink");
double value = sink_->read();