Merge pull request #144 from nasa/feature/143-improved-composite-para…

…meters

Composite Model Parameter

examples/06_Combining_Models.ipynb

@@ -244,6 +244,40 @@
  "fig = simulated_results.states.plot(keys=['DCMotor.i_b', 'DCMotor.i_c', 'DCMotor.i_a'], ylabel='ESC Currents')"
  ]
  },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Parameters in composed models can be updated directly using the model_name.parameter name parameter of the composite model. Like so:"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "m_powertrain.parameters['PropellerLoad.D'] = 1"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Here we updated the propeller diameter to 1, greatly increasing the load on the motor. You can see this in the updated simulation outputs (below). When compared to the original results above you will find that the maximum velocity is lower. This is expected given the larger propeller load."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "simulated_results = m_powertrain.simulate_to(1, future_loading, dt=2.5e-5, save_freq=2e-2)\n",
+ "fig = simulated_results.outputs.plot(compact=False, keys=['DCMotor.v_rot'], ylabel='Velocity')\n",
+ "fig = simulated_results.states.plot(keys=['DCMotor.i_b', 'DCMotor.i_c', 'DCMotor.i_a'], ylabel='ESC Currents')"
+ ]
+ },
  {
  "cell_type": "markdown",
  "metadata": {},

src/progpy/composite_model.py

@@ -201,7 +201,36 @@ def __setstate__(self, params: dict) -> None:
  else:
  raise ValueError(
  f'The input key {in_key} must be an output or state')
+
+ # Setup callbacks
+ # These callbacks will enable setting of parameters in composed models.
+ # E.g., composite.parameters['abc.def'] will set parameter 'def' for composed model 'abc'
+ class PassthroughParams():
+ def __init__(self, models, model_name, key):
+ self.models = models
+ self.model_name = model_name
+ self.key = key
+ i = 0
+ for (name, m) in models:
+ if name == model_name:
+ break
+ i+= 1
+ self.model_index = i
+ self.combined_key = self.model_name + '.' + self.key
+
+ def __call__(self, params: dict) -> dict:
+ params['models'][self.model_index][1].parameters[self.key] = params[self.combined_key]
+ return {}
 
+ for (name, m) in params['models']:
+ # TODO(CT): TRY JUST SAVING NAME
+ for key in m.parameters.keys():
+ combined_key = name + '.' + key
+ if combined_key in self.param_callbacks:
+ self.param_callbacks[combined_key].append(PassthroughParams(params['models'], name, key))
+ else:
+ self.param_callbacks[combined_key] = [PassthroughParams(params['models'], name, key)]
+
  return super().__setstate__(params)
 
  def initialize(self, u=None, z=None):

tests/test_base_models.py

@@ -261,7 +261,7 @@ def test_integration_type_error(self):
  def test_size(self):
  m = MockProgModel()
  size = sys.getsizeof(m)
- self.assertLess(size, 7500)
+ self.assertLess(size, 20000)
 
  # Adding a parameter
  m.parameters['test'] = 8675309

tests/test_composite.py

@@ -254,6 +254,17 @@ def fcn(u0, u1) -> float:
  z = m_composite.output(x)
  self.assertEqual(x['function.return'], z['function.return'])
 
+ def test_parameter_passthrough(self):
+ # This tests a feature where parameters of the composed models are settable in the composite model.
+ m1 = OneInputOneOutputNoEventLM()
+ m2 = OneInputNoOutputOneEventLM()
+ m_composite = CompositeModel([m1, m1], connections=[('OneInputOneOutputNoEventLM.z1', 'OneInputOneOutputNoEventLM_2.u1')])
+
+ # At the beginning process noise is 0, lets set it to something else. 
+ model_name = m_composite.parameters['models'][0][0]
+ m_composite.parameters[model_name + "." + "process_noise"] = 2.5
+ self.assertEqual(m_composite.parameters['models'][0][1].parameters['process_noise']['x1'], 2.5)
+
  def test_composite(self):
  m1 = OneInputOneOutputNoEventLM()
  m2 = OneInputNoOutputOneEventLM()