Test report artifact, new template example

.github/workflows/run_tests.yml

@@ -17,25 +17,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        include:
-          #- os: macos-latest
-          #  release: R2024a
-          #  products: >
-          #        Simulink
-          #        Simulink_Test
-          #        Simulink_Coverage
-          #        Simulink_Check
-          #        Simulink_Coder
-          #        Embedded_Coder
-          - os: ubuntu-22.04
-            release: R2024a
-            products: >
-                  Simulink
-                  Simulink_Test
-                  Simulink_Coverage
-                  Simulink_Check
-                  Simulink_Coder
-                  Embedded_Coder
+        os: [ubuntu-22.04]
+        release: [R2024a, R2025a]
+
+
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
@@ -51,7 +36,13 @@ jobs:
           # MATLAB release to set up (R2021a or later)
           release: ${{matrix.release}}
           # Products to set up in addition to MATLAB, specified as a list of product names separated by spaces
-          products: ${{matrix.products}}
+          products: >
+                    Simulink
+                    Simulink_Test
+                    Simulink_Coverage
+                    Simulink_Check
+                    Simulink_Coder
+                    Embedded_Coder
 
       # Run the run_tests script in the root of the repo
       - name: Run script
@@ -84,6 +75,16 @@ jobs:
           output: both
           thresholds: '40 60'
 
+      - name: upload artifact
+        uses: actions/upload-artifact@v4
+        if: success() || failure()
+        with:
+          # Name of the artifact to upload.
+          # Optional. Default is 'artifact'
+          name: testreport${{matrix.release}}
+          path: ./testreport/*
+          retention-days: 30
+
       - name: Update Summary
         if: success() || failure()
         run: |

readme.md

@@ -1,12 +1,12 @@
 # Introduction to the Plasma Control System Simulation Platform (PCSSP)
-PCSSP provides standardized methods for the design and assessment of modules and models for plasma control. It essentially provides you with a systematic framework to develop, test, integrate, and deploy controller and tokamak models. PCSSP relies on a git submodule called SCDDS to implement the Simulink functionality regarding data dictionaries and referenced models. Both PCSSP and SCDDS are developed under a GPL license. You are invited to contribute to both projects that ultimately will be merged into one toolbox for control development and deployment on tokamaks.
+PCSSP provides standardized methods for the design and assessment of modules and models for plasma control. It essentially provides you with a systematic framework to develop, test, integrate, and deploy controller and tokamak models. PCSSP relies on a git submodule called SCDDS (Simulink-based Control Design & Deployment Suite) to implement the Simulink functionality regarding data dictionaries and referenced models. Both PCSSP and SCDDS are developed under a LGPL license. You are invited to contribute to both projects that ultimately will be merged into one toolbox for control development and deployment on tokamaks.
 
 ## Full documentation
 The full documentation of PCSSP is automatically deployed from its source code in this repository to readthedocs. You can find it [here](https://pcssp.readthedocs.io/en/latest/index.html) 
 
 ## Directory structure:
 - configurations: Simulink configuration definitions for codegen and simulation
-- scdds-core: git submodule (!) to handle data-dictionaries and module references in Simulink
+- scdds: git submodule (!) to handle data-dictionaries and module references in Simulink
 - src: inherited PCSSP classes
 - testing: inherited PCSSP classes for testing modules
 - templates: pcssp examples
@@ -19,7 +19,7 @@ The full documentation of PCSSP is automatically deployed from its source code i
 
 ## To run:
 ### (Only required for code generation): define an environment variable SCDDS_COREPATH to point to scdds-core in your ~/.bashrc. For example, on a typical linux system the path could be:
-`export SCDDS_COREPATH="~/Documents/MATLAB/pcssp-nightly/scdds"`
+`export SCDDS_COREPATH="~/Documents/MATLAB/pcssp/scdds"`
 
 ### Open Matlab on your system. On the ITER SDCC cluster you can for example type the following in a new terminal window:
 `module load intel MATLAB`
@@ -31,7 +31,7 @@ The full documentation of PCSSP is automatically deployed from its source code i
 This will tell git to use the simulink 3-way merge tool to resolve merge conflicts in binary slx files. 
 
 ### Navigate to the templates/ directory, and open one of the provided examples
-Detailed documentation on how to develop your own PCSSP modules is not yet integrated in this repo, you can contact one of the lead developers below to obtain a PDF.
+Detailed documentation on how to develop your own PCSSP modules is available on the [readthedocs](https://pcssp.readthedocs.io/en/latest/index.html) 
 
 ### License
 This code is distributed under the `LGPL-v3` license. Copyright is retained by the ITER Organization.
@@ -43,7 +43,7 @@ The authors would greatly appreciate it if the modifications are shared back to
 
 The above is a non binding summary of the legal text. The full and legally binding text is in the license file `LICENSE.md`.
 
-Note that this software requires Matlab/Simulink, including toolboxes needed for C code generation (typically Embedded coder) and Simulink Test. Users must obtain their own licenses from Mathworks.
+Note that this software requires Matlab/Simulink, including toolboxes needed for C code generation (typically Embedded coder) and Simulink Check, Test, Coder. Users must obtain their own licenses from Mathworks.
 
 ### Contributing
 The code is hosted on [https://github.com/iterorganization/pcssp](https://github.com/iterorganization/pcssp) and can be freely cloned. The Git submodule is hosted on [https://gitlab.epfl.ch/spc/scdds/scdds-core](https://gitlab.epfl.ch/spc/scdds/scdds-core) 

run_tests.m

@@ -1,5 +1,6 @@
 function results = run_tests()
 
+
 % main script to initialize PCSSP and run all tests in batch
 
 % PCSSP - Plasma Control System Simulation Platform

templates/KMAG/test_PCSSP_KMAG.m

@@ -78,9 +78,9 @@ function run_verification_sim(testCase)
 
                 u_base = timeseries(ulog.Data(:,ii),ulog.Time);
 
-                % remove first 1s transient before comparing
-                u_out = u_out.delsample('Index',[1:20]);
-                u_base = u_base.delsample('Index',[1:20]);
+                % % remove first 1s transient before comparing
+                % u_out = u_out.delsample('Index',[1:20]);
+                % u_base = u_base.delsample('Index',[1:20]);
 
                 plot(u_out); hold on; plot(u_base);
 

templates/PID_example/modules/TF/pcssp_TF_obj.m

@@ -18,11 +18,12 @@
 obj = obj.addbus('pcssp_PID_outBus', 'pcssp_PID_outBus_def' );
 obj = obj.addbus('pcssp_TF_outBus', 'pcssp_TF_outBus_def' );
 
+%% link PID refdd for shared bus
+
+% obj = obj.addrefdd('pcssp_PID.sldd');
 
-%% Tasks
 
-%% Print (optional)
-obj.printinfo;
+%% Tasks
 
 end
 

templates/PID_example/modules/TF/pcssp_TF_test.m

@@ -6,7 +6,7 @@
         isCodegen = false;
     end
 
-    methods
+    methods(Test)
         function bla(testCase)
 
         end

templates/PID_example/modules/sensor/pcssp_PID_sensor_test.m

@@ -7,10 +7,7 @@
         isCodegen = 0; % flag to trigger module tests for codeGen
     end  
 
-    methods
-        function bla(testCase)
-
-        end
+    methods(Test)
 
     end
 

templates/cruise_control/controller/cruise_controller_load_fp.m

@@ -0,0 +1,6 @@
+function [fp] = cruise_controller_load_fp(obj)
+
+
+fp.timing = obj.gettiming;
+end
+

templates/cruise_control/controller/cruise_controller_load_tp.m

@@ -0,0 +1,25 @@
+function [tp] = cruise_controller_load_tp()
+%% function to define tunable parameters for the cruise controller
+
+%% define PID parameter for PID pcssp module for velocity control
+
+tp.Pvel = 3;
+tp.Ivel  =0;
+tp.Dvel = 0;
+
+%% define Transfer function numerator and denominator for position control 
+tp.pos_num = [4320 -4.2772e+03];
+tp.pos_den = [1 -0.8931];
+
+%% saturation limits
+tp.pos_acc_saturation = 1000;
+tp.neg_acc_saturation = -1000;
+
+%% controller constants
+tp.switch_constant    = 10; % distance between cars when to switch to pos control
+tp.min_safety_distance= 5; % minimum safety distance between cars
+tp.safe_time          = 2; % safe time between cars
+
+
+end
+

templates/cruise_control/controller/pcssp_cruise_controller_obj.m

@@ -0,0 +1,15 @@
+function obj = pcssp_cruise_controller_obj()
+
+
+obj = pcssp_module('pcssp_cruise_controller');
+
+%% Timing of the algorithm
+obj=obj.settiming(0,1e-3,10.0);
+
+%% Fixed parameters init functions 
+obj=obj.addfpinitfcn('cruise_controller_load_fp','cruise_controller_fp');
+
+%% Tunable parameters structure name
+obj=obj.addtunparamstruct('cruise_controller_tp', @()cruise_controller_load_tp());
+
+end

templates/cruise_control/controller/pcssp_cruise_controller_test.m

@@ -0,0 +1,26 @@
+classdef pcssp_cruise_controller_test < pcssp_module_test
+    % test for PCSSP_PID demo module
+    % see pcssp_module test class for all standard pcssp module tests
+
+    properties
+        algoobj = @()pcssp_cruise_controller_obj();
+        isCodegen = 1; % flag to trigger module tests for codeGen
+    end 
+
+    methods(Test)
+        function build_cruise_controller(testCase)
+
+            obj = testCase.algoobj();
+            obj.init;
+            obj.setup;
+            obj.build('auto');
+
+            obj.write_XML
+
+        end
+
+    end
+
+
+
+end

templates/cruise_control/cruise_control_run_topm.m

@@ -0,0 +1,35 @@
+%% main script to run the cruise control example
+
+% define PCSSP modules and top model class instances
+[topm,obj_voiture,obj_controller] = cruise_control_topm_obj();
+
+% initialize and setup all PCSSP models
+topm.init;
+topm.setup;
+
+%% compile and simulate
+
+topm.compile;
+out = topm.sim;
+simout = logsout2struct(out);
+
+%% plot
+
+h = tiledlayout(3,1,'TileSpacing','compact','Padding','compact');
+
+h1 = nexttile;
+plot(h1,simout.follower_position_position.Time,simout.follower_position_position.Values);
+hold on;
+plot(h1,simout.leader_position_position.Time,simout.leader_position_position.Values);
+legend(h1,'follower position','leader position')
+
+h2 = nexttile;
+
+plot(h2,simout.velocity_error.Time,simout.velocity_error.Values);
+legend(h2,'velocity error')
+
+h3 = nexttile;
+plot(simout.controller_mode.Time,simout.controller_mode.Values);
+legend(h3,'controller mode');
+
+h.XLabel.String = 't (s)';

templates/cruise_control/cruise_control_topm_obj.m

@@ -0,0 +1,17 @@
+function [topm,obj_voiture,obj_controller] = cruise_control_topm_obj()
+
+%% configure top model
+topm = pcssp_top_class('cruise_control_topm');
+
+
+%% initialize PCSSP modules
+obj_voiture = pcssp_Voiture_obj(); % input is the size of the inBus
+obj_controller = pcssp_cruise_controller_obj();
+
+%% add modules and wrappers to top model
+
+topm = topm.addmodule(obj_voiture);
+topm = topm.addmodule(obj_controller);
+
+
+end

templates/cruise_control/model/pcssp_Voiture_harness_run.m

@@ -0,0 +1,19 @@
+function out = pcssp_Voiture_harness_run(obj)
+
+% initialize object
+obj.init;
+obj.setup;
+
+% define waveforms
+SimIn = Simulink.SimulationInput([obj.getname '_harness']);
+ds = createInputDataset(obj.getname);
+
+
+input.acceleration = timeseries(5*ones(1,2),[0 10]);
+ds = setElement(ds,1,input,'acceleration');
+
+SimIn = SimIn.setExternalInput(ds);
+
+out = sim(SimIn);
+
+end

templates/cruise_control/model/pcssp_Voiture_inBus_def.m

@@ -0,0 +1,24 @@
+function [busNames, Buses] = pcssp_Voiture_inBus_def()
+
+    busNames={};
+    Buses={};    
+
+    clear elems;
+    elems(1) = Simulink.BusElement;
+    elems(1).Name = 'acceleration';
+    elems(1).Dimensions = 1;
+    elems(1).DimensionsMode = 'Fixed';
+    elems(1).DataType = 'double';
+    elems(1).SampleTime = -1;
+    elems(1).Complexity = 'real';
+    elems(1).DocUnits = 'm/s^2';
+
+    pcssp_voiture_inBus = Simulink.Bus;
+    pcssp_voiture_inBus.Description = 'input acceleration for car model';
+    pcssp_voiture_inBus.DataScope = 'Auto';
+    pcssp_voiture_inBus.Elements = elems;
+
+    busNames{1} = 'pcssp_voiture_inBus';
+    Buses{1} = pcssp_voiture_inBus;
+
+end

templates/cruise_control/model/pcssp_Voiture_loadfp.m

@@ -0,0 +1,6 @@
+function fp = pcssp_Voiture_loadfp(obj)
+
+%% store module timing in fixed parameter structure
+
+fp.timing = obj.gettiming;
+end

templates/cruise_control/model/pcssp_Voiture_loadtp.m

@@ -0,0 +1,10 @@
+function TP = pcssp_Voiture_loadtp()
+% Setup tunable control params default values for PCSSP car module in the
+% cruise control example
+%
+TP.numerator        = 1;
+TP.denominator      = [1e-2 1];
+TP.v0               = 0;
+TP.s0               = 0;
+
+end

templates/cruise_control/model/pcssp_Voiture_obj.m

@@ -0,0 +1,22 @@
+function obj = pcssp_Voiture_obj()
+
+% example PCSSP module that implements a simple PID controller
+
+obj = pcssp_module('pcssp_Voiture');
+
+%% Timing of the algorithm
+obj=obj.settiming(0,1e-3,10.0);
+
+%% Fixed parameters init functions 
+obj=obj.addfpinitfcn('pcssp_Voiture_loadfp','pcssp_Voiture_fp');
+
+%% Tunable parameters structure name
+obj=obj.addtunparamstruct('pcssp_Voiture_tp', @()pcssp_Voiture_loadtp());
+
+
+%% Buses
+obj = obj.addbus('', @() pcssp_Voiture_inBus_def());
+obj = obj.addbus('', @() pcssp_Voiture_outBus_def());
+
+end
+