nslj.src.lang
Class NslModule

java.lang.Object
  |
  +--EDU.gatech.cc.is.abstractrobot.ControlSystemS
        |
        +--EDU.gatech.cc.is.abstractrobot.ControlSystemMFN150
              |
              +--nslj.src.lang.NslBase
                    |
                    +--nslj.src.lang.NslHierarchy
                          |
                          +--nslj.src.lang.NslModule

All Implemented Interfaces:

java.lang.Runnable

Direct Known Subclasses:

NslInModule, NslModel, NslMotorModule, NslOutModule

public class NslModule

extends NslHierarchy

implements java.lang.Runnable

Field Summary

protected double	_approximationDelta
protected boolean	_bufferingChanged
protected NslDiff	_diff_method
protected boolean	_doubleBuffering
protected java.util.Vector	_inports
protected java.util.Vector	_moduleChildren
protected java.util.Vector	_outports
protected java.util.Vector	_protocols
protected double	_runDelta
protected boolean	_runDeltaChanged
protected double	_timeConstantTM
protected double	_trainDelta
protected boolean	_trainDeltaChanged
int	child_c
int	ID
java.lang.String	ID_str
java.lang.String	order_str
boolean	postorder

Fields inherited from class nslj.src.lang.NslHierarchy

nslClassInstances, nslDataVars, system

Fields inherited from class nslj.src.lang.NslBase

_accessChar, _name, _parent

Fields inherited from class EDU.gatech.cc.is.abstractrobot.ControlSystemMFN150

abstract_robot

Fields inherited from class EDU.gatech.cc.is.abstractrobot.ControlSystemS

CSSTAT_DONE, CSSTAT_ERROR, CSSTAT_OK, seed

Constructor Summary

NslModule()
Bare Constructor.

NslModule(java.lang.String label)
Default constructor.

NslModule(java.lang.String label, NslModule parent)
Default constructor.

NslModule(java.lang.String label, NslModule parent, java.lang.String options)

Method Summary

boolean	connect(NslModule child1, java.lang.String name1, NslModule child2, java.lang.String name2) Connect two child modules and add the nslConnection to the scheduler The nslConnection is done in two phases.
void	endModule()
void	endrun()
void	endRun()
void	endRunEpoch()
void	endsys()
void	endSys()
void	endTrain()
void	endTrainEpoch()
protected void	finalize()
void	initModule()
void	initrun() Initialization step of this module.
void	initRun()
void	initRunEpoch()
void	initsys()
void	initSys()
void	initTrain()
void	initTrainEpoch()
void	makeConn() Make the nslConnection between child modules.
void	makeinst(java.lang.String name, NslModule p) Instantiation the internal variable of this object.
void	makeInst(java.lang.String name, NslModule p)
void	nslAddExistingInport(NslInport inport) Add an inport to the current inport list
void	nslAddExistingOutport(NslOutport outport) Add an Outport to the current outport list
NslNumeric	nslAddInport(NslNumeric n) Create an inport which makes reference to a Numeric object
NslNumeric	nslAddInport(java.lang.String name, NslNumeric n) Create an inport which makes reference to an Object
void	nslAddModelPlots(NslFrame df)
void	nslAddModelPlots(NslFrame df, java.lang.String s)
NslNumeric	nslAddOutport(NslNumeric n) Create an outport which makes reference to a NslNumeric
NslNumeric	nslAddOutport(java.lang.String name, NslNumeric n) Create an outport which makes reference to an Object
void	nslAddProtocolRecursiveDown(java.lang.String name)
void	nslAddProtocolRecursiveUp(java.lang.String name)
void	nslAddToModuleChildren(NslModule child) Add child module into this module and into the scheduler
void	nslConnChildren() Call child modules to nslConnect their own internal modules recursively.
boolean	nslConnect(nslj.src.lang.NslConnection link) Connect two modules using defined link
boolean	nslConnect(NslModule child1, java.lang.String name1, NslModule child2, java.lang.String name2)
boolean	nslConnect(NslNumeric num1, NslNumeric num2)
void	nslConnMissingLinks() Call child modules to nslConnect their missing links, if possible It checks the _missing_links vector for the nslConnection required.
void	nslDeclareProtocol(java.lang.String name)
void	nslDeclareProtocol(java.lang.String name, java.lang.String label)
NslNumeric	nslDummy(NslNumeric n)
double	nslGetApproximationDelta() get integration time step / numerical method time step tm
NslDiff	nslGetApproximationMethod()
boolean	nslGetBuffering()
double	nslGetDelta() get run or train step size depending on simulation mode, delta t
boolean	nslGetEnableFlag()
java.lang.String	nslGetId_str()
int	nslGetId()
java.util.Vector	nslGetInportsVector()
java.util.Vector	nslGetModuleChildrenVector() define the scheduler to use
NslModule	nslGetModuleRef(java.lang.String name) Get a child module with name
NslModule	nslGetModuleRefByName(java.lang.String tempName) Get a child module with name
java.lang.String	nslGetOrderStr()
java.util.Vector	nslGetOutportsVector()
NslPort	nslGetPort(java.lang.String name) Get a port with name name
java.util.Vector	nslGetProtocols()
double	nslGetRunDelta() get run step size, delta t
boolean	nslGetRunEnableFlag() Examine whether the module runs on execution command run or step
double	nslGetTrainDelta() get train step size, delta t
boolean	nslGetTrainEnableFlag() Examine whether the module runs on execution command run or step
boolean	nslHasChildModule(java.lang.String s)
void	nslInitTempModule()
void	nslInitTempRun()
void	nslInitTempRunEpoch()
void	nslInitTempTrain()
void	nslInitTempTrainEpoch()
void	nslInitWindow()
void	nslinitwindow(NslFrame df)
void	nslInitWindow(NslFrame df)
void	nslinitwindow(NslFrame df, java.lang.String s)
void	nslInitWindow(NslFrame df, java.lang.String s)
void	nslPrintChildModules()
void	nslRemoveFromLocalProtocols(java.lang.String name)
void	nslResetBuffering()
void	nslResetRunDelta()
void	nslResetTrainDelta()
void	nslSetAccessRecursive(char new_desiredAccess)
void	nslSetApproximationDelta(double t) To set the time step size
void	nslSetApproximationMethod(NslDiff dm)
void	nslSetBuffering(boolean v)
void	nslSetDisplayFrame(NslFrame df)
void	nslSetId(NslModule parent, int id)
void	nslSetModuleSpecificParams()
void	nslSetModuleSpecificParams(java.lang.String label, NslModule parent)
void	nslSetModuleSpecificParams2()
void	nslSetProtocolFlagRecursiveDown(java.lang.String name)
void	nslSetRunDelta(double t)
void	nslSetRunDeltaRecursive(double t) set run step size, delta t.
void	nslSetRunEnableFlag(boolean b) To set if the module runs on execution command run or step.
void	nslSetTrainDelta(double t)
void	nslSetTrainDeltaRecursive(double t) set train step size, delta t.
void	nslSetTrainEnableFlag(boolean b) To set if the module runs on execution command run or step.
void	nslUpdateBuffering()
void	nslUpdateBuffers() Update the status of all _outports.
NslData	nslValParent(java.lang.String name)
void	run() Call when multi-threaded.
void	runsim() The run block of this module
void	simrun()
void	simRun()
void	simTrain()

Methods inherited from class nslj.src.lang.NslHierarchy

initNslHierarchy, nslAddToClassInstances, nslAddToDataVars, nslGetClassInstance, nslGetClassInstancesVector, nslGetDataVar, nslGetDataVar, nslGetDataVarsVector, nslGetNameAndParent, nslGetNameAndParentRecursive, nslGetSystem, nslGetValue, nslHasChildClass, nslPrintChildClasses, nslRemoveAllClassInstances, nslRemoveAllDataVars, nslRemoveFromClassInstances, nslRemoveFromDataVars, nslSetSystem, nslSetValue, nslSetValue, removeFromNslDataVar

Methods inherited from class nslj.src.lang.NslBase

nslGetAccess, nslGetName, nslGetParent, nslGetParentClass, nslGetParentModule, nslGetRealName, nslNullifyParent, nslSetAccess, nslSetName, nslSetParent

Methods inherited from class EDU.gatech.cc.is.abstractrobot.ControlSystemMFN150

init

Methods inherited from class EDU.gatech.cc.is.abstractrobot.ControlSystemS

configure, Configure, getAbstractRobot, Init, quit, takeStep, TakeStep, trialEnd, TrialEnd, trialInit, TrialInit

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_runDelta

protected double _runDelta

_trainDelta

protected double _trainDelta

_trainDeltaChanged

protected boolean _trainDeltaChanged

_runDeltaChanged

protected boolean _runDeltaChanged

_timeConstantTM

protected double _timeConstantTM

_approximationDelta

protected double _approximationDelta

_diff_method

protected NslDiff _diff_method

_doubleBuffering

protected boolean _doubleBuffering

_bufferingChanged

protected boolean _bufferingChanged

_protocols

protected java.util.Vector _protocols

_moduleChildren

protected java.util.Vector _moduleChildren

_inports

protected java.util.Vector _inports

_outports

protected java.util.Vector _outports

ID_str

public java.lang.String ID_str

order_str

public java.lang.String order_str

ID

public int ID

child_c

public int child_c

postorder

public boolean postorder

Constructor Detail

NslModule

public NslModule()

Bare Constructor. Setup internal variables and lists.

NslModule

public NslModule(java.lang.String label)

Default constructor. Call bare constructor to setup internal variables and lists. Attach itself to parent module. It calls makeinst for child modules creation.

Parameters:

label - - the name of the module

NslModule

public NslModule(java.lang.String label,
                 NslModule parent)

Default constructor. Call bare constructor to setup internal variables and lists. Attach itself to parent module. It calls makeinst for child modules creation.

Parameters:

label - - the name of the module

parent - - the reference of the module's parent module

NslModule

public NslModule(java.lang.String label,
                 NslModule parent,
                 java.lang.String options)

Method Detail

nslSetModuleSpecificParams

public void nslSetModuleSpecificParams()

nslSetModuleSpecificParams

public void nslSetModuleSpecificParams(java.lang.String label,
                                       NslModule parent)

nslSetModuleSpecificParams2

public void nslSetModuleSpecificParams2()

nslGetModuleChildrenVector

public java.util.Vector nslGetModuleChildrenVector()

define the scheduler to use

Parameters:

schduler - public static void nslSetScheduler(NslSchduler sch) { scheduler = sch; }

nslGetInportsVector

public java.util.Vector nslGetInportsVector()

nslGetOutportsVector

public java.util.Vector nslGetOutportsVector()

nslSetId

public void nslSetId(NslModule parent,
                     int id)

nslGetId

public int nslGetId()

nslGetId_str

public java.lang.String nslGetId_str()

nslGetOrderStr

public java.lang.String nslGetOrderStr()

nslAddToModuleChildren

public void nslAddToModuleChildren(NslModule child)

Add child module into this module and into the scheduler

Parameters:

child - - child NslModule

nslGetModuleRef

public NslModule nslGetModuleRef(java.lang.String name)

Get a child module with name

Parameters:

name- - name of target child module

Returns:

children module, null if not found

nslGetModuleRefByName

public NslModule nslGetModuleRefByName(java.lang.String tempName)

Get a child module with name

Parameters:

name- - name of target child module

Returns:

children module, null if not found

nslSetAccessRecursive

public void nslSetAccessRecursive(char new_desiredAccess)

Overrides:

nslSetAccessRecursive in class NslHierarchy

nslHasChildModule

public boolean nslHasChildModule(java.lang.String s)

nslPrintChildModules

public void nslPrintChildModules()

nslAddOutport

public NslNumeric nslAddOutport(java.lang.String name,
                                NslNumeric n)

Create an outport which makes reference to an Object

Parameters:

name - name of this outport

n - reference to a single object

Throws:

NullPointerException - if n is not defined

nslAddOutport

public NslNumeric nslAddOutport(NslNumeric n)

Create an outport which makes reference to a NslNumeric

Parameters:

name - name of this outport

n - reference to a NslNumeric, can be NslNumeric0, NslNumeric1 or NslNumeric2

Throws:

NullPointerException - if n is not defined

nslAddExistingOutport

public void nslAddExistingOutport(NslOutport outport)

Add an Outport to the current outport list

Parameters:

outport - the outport to be added

Throws:

NullPointerException - if outport is null

nslAddInport

public NslNumeric nslAddInport(java.lang.String name,
                               NslNumeric n)

Create an inport which makes reference to an Object

Parameters:

name - name of this intport

n - reference to a NslNumeric, can be NslNumeric0, NslNumeric1 or NslNumeric2

Throws:

NullPointerException - if n is null

nslAddInport

public NslNumeric nslAddInport(NslNumeric n)

Create an inport which makes reference to a Numeric object

Parameters:

name - name of this intport

n - reference to a NslNumeric, can be NslNumeric0, NslNumeric1 or NslNumeric2 or NslNumeric3 or NslNumeric4

Throws:

NullPointerException - if n is null

nslAddExistingInport

public void nslAddExistingInport(NslInport inport)

Add an inport to the current inport list

Parameters:

inport - the inport to be added

Throws:

NullPointerException - if inport is null

nslGetPort

public NslPort nslGetPort(java.lang.String name)

Get a port with name name

Parameters:

name - name of target port

Returns:

port, null if not found

nslDummy

public NslNumeric nslDummy(NslNumeric n)

connect

public boolean connect(NslModule child1,
                       java.lang.String name1,
                       NslModule child2,
                       java.lang.String name2)

Connect two child modules and add the nslConnection to the scheduler
The nslConnection is done in two phases. First, it will nslConnect outport of a child module to the inport of another child module, and outport of a child module to the outport of the parent module (ie the wall of module in one level higher in hierarchy). Second, the nslConnection between the inport of the parent module and the intport of the child module is established. Two phases are needed because the content of the inport of the parent module is not available in the first phase. Here is an illustration:

+-NslModule Top-----------------------------------------------+
| +-NslModule A----------+       +-NslModule B-------------+  |
| | +-NslModule a---+    |       |     +-NslModule b-----+ |  |
| | | variable x    | 1  | 2     | 3   | variable y      | |  |
| | |               |o##o|o#####i|i###i|i                | |  |
| | |               |    |       |     |                 | |  |
| | +---------------+    |       |     +-----------------+ |  |
| +----------------------+       +-------------------------+  |
+-------------------------------------------------------------+
o   outport
i   intport
### nslConnection

Assume we are at the top level in the hierarchy: NslModule Top and we are going to nslConnect two modules, NslModule A and NslModule B. All links #1, #2, #3 are not available. In general case, we need to nslConnect all the links internal to the child modules first, ie #1, and #3.
However, in our implementation of ports, the variable, instead of referencing through ports, references the corresponding variable directly. For instance, for a variable y in NslModule b to read a variable x in NslModule a, y makes a direct reference to x.
This implementation is very efficient in the simulation running phase, but not the initialization, as well as the nslConneciton, phase. The nslConnection #1 works fine, since it can reference variable x. But nslConnection #3 does not work, since at the time of nslConnection, NslModule b cannot see variable x in NslModule a. In this implementation, we "remember" this link and delay the construction.
Go back to the highest level. Link #2 can be done since #1 is established. Link #2 can see variable x in NslModule a now. At this time we can construct the Missing Links.
The missing links in the first phase is stored in _missing_links. The system will call another method nslConnMissingLinks to construct the links in the second phase.

Parameters:

child1 - From module child1

name1 - Port of child1

child2 - To module child2

name2 - Port of child2

Returns:

true if nslConnection is successful

See Also:

NslModule#nslConnChildren_callinitsys, Side Effect: change missing_link: all links not established is stored in missing_link

nslConnect

public boolean nslConnect(NslNumeric num1,
                          NslNumeric num2)

nslConnect

public boolean nslConnect(NslModule child1,
                          java.lang.String name1,
                          NslModule child2,
                          java.lang.String name2)

nslConnect

public boolean nslConnect(nslj.src.lang.NslConnection link)

Connect two modules using defined link

Parameters:

link - The nslConnection between two modules

Returns:

true if the nslConnection is successful

nslConnChildren

public void nslConnChildren()

Call child modules to nslConnect their own internal modules recursively. It is the first stage of nslConnection in makeinst. The links not well defined will be put in _missing_links vector for the second stage

See Also:

NslModule#nslConn, nslConnMissingLinks()

nslConnMissingLinks

public void nslConnMissingLinks()

Call child modules to nslConnect their missing links, if possible It checks the _missing_links vector for the nslConnection required.

See Also:

NslModule#nslConn, NslModule#nslConnChildren_callinitsys

nslGetDelta

public double nslGetDelta()

get run or train step size depending on simulation mode, delta t

Returns:

step size

nslGetRunDelta

public double nslGetRunDelta()

get run step size, delta t

Returns:

step size

nslSetRunDeltaRecursive

public void nslSetRunDeltaRecursive(double t)

set run step size, delta t. The setting will propagate to all child modules in the hierarchy if the module is an internal node.

Parameters:

t - step size

nslSetRunDelta

public void nslSetRunDelta(double t)

nslResetRunDelta

public void nslResetRunDelta()

nslGetTrainDelta

public double nslGetTrainDelta()

get train step size, delta t

Returns:

step size

nslSetTrainDeltaRecursive

public void nslSetTrainDeltaRecursive(double t)

set train step size, delta t. The setting will propagate to all child modules in the hierarchy if the module is an internal node.

Parameters:

t - step size

nslSetTrainDelta

public void nslSetTrainDelta(double t)

nslResetTrainDelta

public void nslResetTrainDelta()

nslGetTrainEnableFlag

public boolean nslGetTrainEnableFlag()

Examine whether the module runs on execution command run or step

Returns:

true if it is active, false if idle on execution command

nslSetTrainEnableFlag

public void nslSetTrainEnableFlag(boolean b)

To set if the module runs on execution command run or step. The setting will propagate to all child modules in the hierarchy if the module is an internal node.

Parameters:

b - true if active, false if idle

nslGetRunEnableFlag

public boolean nslGetRunEnableFlag()

Examine whether the module runs on execution command run or step

Returns:

true if it is active, false if idle on execution command

nslGetEnableFlag

public boolean nslGetEnableFlag()

nslSetRunEnableFlag

public void nslSetRunEnableFlag(boolean b)

To set if the module runs on execution command run or step. The setting will propagate to all child modules in the hierarchy if the module is an internal node.

Parameters:

b - true if active, false if idle

nslGetApproximationDelta

public double nslGetApproximationDelta()

get integration time step / numerical method time step tm

Returns:

time step size

nslSetApproximationDelta

public void nslSetApproximationDelta(double t)

To set the time step size

Parameters:

t - time step size

nslGetApproximationMethod

public NslDiff nslGetApproximationMethod()

nslSetApproximationMethod

public void nslSetApproximationMethod(NslDiff dm)

nslUpdateBuffers

public void nslUpdateBuffers()

Update the status of all _outports. It is done after each major numerical calculation

nslSetBuffering

public void nslSetBuffering(boolean v)

nslGetBuffering

public boolean nslGetBuffering()

nslResetBuffering

public void nslResetBuffering()

nslUpdateBuffering

public void nslUpdateBuffering()

run

public void run()

Call when multi-threaded. It simply calls execute() defined by the user This is needed by the Runnable interface to make the applets work

Specified by:

run in interface java.lang.Runnable

See Also:

NslModule#execute

finalize

protected void finalize()

Overrides:

finalize in class java.lang.Object

makeinst

public void makeinst(java.lang.String name,
                     NslModule p)

Instantiation the internal variable of this object. It is called automatically at the construction phase of this module. It must be defined by user.

makeInst

public void makeInst(java.lang.String name,
                     NslModule p)

initsys

public void initsys()

initSys

public void initSys()

endsys

public void endsys()

endSys

public void endSys()

initModule

public void initModule()

endModule

public void endModule()

initrun

public void initrun()

Initialization step of this module. It is called automatically at the start of the simulation, or by init command in interactive environment.

initRun

public void initRun()

endrun

public void endrun()

endRun

public void endRun()

makeConn

public void makeConn()

Make the nslConnection between child modules. It is automatically called at the construction phase of this module, but after the instantiation of those internal modules

runsim

public void runsim()

The run block of this module

simrun

public void simrun()

initRunEpoch

public void initRunEpoch()

simRun

public void simRun()

endRunEpoch

public void endRunEpoch()

initTrainEpoch

public void initTrainEpoch()

initTrain

public void initTrain()

simTrain

public void simTrain()

endTrain

public void endTrain()

endTrainEpoch

public void endTrainEpoch()

nslGetProtocols

public java.util.Vector nslGetProtocols()

nslRemoveFromLocalProtocols

public void nslRemoveFromLocalProtocols(java.lang.String name)

nslAddProtocolRecursiveDown

public void nslAddProtocolRecursiveDown(java.lang.String name)

nslAddProtocolRecursiveUp

public void nslAddProtocolRecursiveUp(java.lang.String name)

nslDeclareProtocol

public void nslDeclareProtocol(java.lang.String name,
                               java.lang.String label)

nslDeclareProtocol

public void nslDeclareProtocol(java.lang.String name)

nslSetProtocolFlagRecursiveDown

public void nslSetProtocolFlagRecursiveDown(java.lang.String name)

nslValParent

public NslData nslValParent(java.lang.String name)

nslSetDisplayFrame

public void nslSetDisplayFrame(NslFrame df)

nslAddModelPlots

public void nslAddModelPlots(NslFrame df)

nslAddModelPlots

public void nslAddModelPlots(NslFrame df,
                             java.lang.String s)

nslInitTempRun

public void nslInitTempRun()

nslInitTempTrain

public void nslInitTempTrain()

nslInitTempModule

public void nslInitTempModule()

nslInitTempRunEpoch

public void nslInitTempRunEpoch()

nslInitTempTrainEpoch

public void nslInitTempTrainEpoch()

nslinitwindow

public void nslinitwindow(NslFrame df)

nslinitwindow

public void nslinitwindow(NslFrame df,
                          java.lang.String s)

nslInitWindow

public void nslInitWindow(NslFrame df)

nslInitWindow

public void nslInitWindow(NslFrame df,
                          java.lang.String s)

nslInitWindow

public void nslInitWindow()