🚧 Rewrite continous simulation.
This commit is contained in:
Jonas Bengtsson
+113
-46
@@ -9,6 +9,7 @@ import pytest
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from wago_sim.scenario.datasets import CsvDataset
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from wago_sim.scenario.engine import DataError, ScenarioEngine, ScenarioError, Verdict
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from wago_sim.scenario.plantenv import PlantEnv
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def _write_csv(path, text: str) -> str:
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@@ -326,6 +327,8 @@ class TestInvariants:
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class TestPlantEnv:
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"""PlantEnv v2 (FR-8.2.14-17): standalone-first, apply -> DI/AI."""
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def _scenario(self):
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return {
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"mode": "continuous", "name": "x", "until": "500ms",
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@@ -334,66 +337,130 @@ class TestPlantEnv:
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}
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def test_observe_returns_all_channels(self, node):
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engine = _engine(node, self._scenario())
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state = engine.env.observe()
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# standalone construction: no engine needed
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env = PlantEnv(node=node)
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state = env.observe()
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kinds = {c.kind for c in state.channels}
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assert kinds == {"di", "do", "ai", "ao"}
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codes = [c.io_code for c in state.channels]
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assert "DI0.0" in codes and "DO0.0" in codes
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assert state.aliases["start"] is False
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assert state.sim_time_ms == 0.0
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def test_apply_writes_output_before_next_observe(self, node):
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engine = _engine(node, self._scenario())
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engine.env.apply({"pump": True})
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state = engine.env.step() # flush + pump + observe
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pump_states = [c for c in state.channels if c.io_code == "DO0.0"]
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assert pump_states[0].value is True
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assert state.aliases["pump"] is True
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def test_apply_writes_input_side(self, node):
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env = PlantEnv(node=node)
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env.apply({"DI0.0": True, "AI0.0": 1234})
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state = env.observe()
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assert state.by_code("DI0.0") is True
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assert state.by_code("AI0.0") == 1234
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def test_apply_by_io_code(self, node):
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engine = _engine(node, self._scenario())
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engine.env.apply({"DO0.0": True})
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state = engine.env.step()
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assert state.aliases["pump"] is True
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def test_apply_input_rejected(self, node):
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engine = _engine(node, self._scenario())
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with pytest.raises(ScenarioError, match="input alias"):
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engine.env.apply({"start": True})
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def test_apply_output_requires_force(self, node):
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env = PlantEnv(node=node)
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with pytest.raises(ScenarioError, match="force"):
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env.apply({"DO0.0": True})
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# explicit forcing works and lands in the output image
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env.force({"DO0.0": True, "AO0.0": 999})
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state = env.observe()
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assert state.by_code("DO0.0") is True
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assert state.by_code("AO0.0") == 999
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def test_apply_unknown_rejected(self, node):
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engine = _engine(node, self._scenario())
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env = PlantEnv(node=node)
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with pytest.raises(ScenarioError, match="unknown channel"):
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engine.env.apply({"nonexistent": True})
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env.apply({"nonexistent": True})
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def test_model_hook_drives_field(self, node):
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"""The intended loop: model() reads PLC outputs, returns field."""
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class Tank(PlantEnv):
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def model(self, state, dt_s):
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pump_on = bool(state.by_code("DO0.0"))
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level = float(state.by_code("AI0.0"))
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return {"AI0.0": level + (5.0 if pump_on else 1.0)}
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env = Tank(node=node)
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env.force({"DO0.0": True}) # the "PLC" turns the pump on
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state = env.tick()
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assert state.by_code("AI0.0") == 5.0 # field advanced via model
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state = env.tick()
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assert state.by_code("AI0.0") == 10.0
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assert state.sim_time_ms == 20.0
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def test_is_done_stops_ticks(self, node):
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class DoneAfterTwo(PlantEnv):
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def __init__(self, *a, **kw):
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super().__init__(*a, **kw)
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self.n = 0
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def is_done(self, state):
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return self.n >= 2
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def model(self, state, dt_s):
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self.n += 1
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return {}
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env = DoneAfterTwo(node=node)
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env.tick()
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env.tick()
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state = env.tick() # done: no further advance
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assert env.n == 2
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assert state.sim_time_ms == 20.0
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def test_reset_deterministic_replay(self, node):
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engine = _engine(node, self._scenario())
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engine.env.apply({"pump": True})
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for _ in range(10):
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engine.pump()
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assert engine.sim_time_ms > 0
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engine.env.reset()
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assert engine.sim_time_ms == 0.0
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state = engine.env.observe()
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assert state.aliases["pump"] is False
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env = PlantEnv(node=node)
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env.apply({"DI0.0": True, "AI0.0": 42})
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env.tick()
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assert env.sim_time_ms > 0
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state = env.reset()
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assert env.sim_time_ms == 0.0
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assert state.by_code("DI0.0") is False
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assert state.by_code("AI0.0") == 0
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def test_two_tick_cycle_deterministic(self, node):
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"""Acceptance criterion 12: copy an input to an output; the
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second observation contains it (FR-8.2.12 pipeline consistency)."""
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def test_engine_attached_env_uses_aliases(self, node):
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"""Scenario layer: alias names + alias scale/offset still work."""
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engine = _engine(node, self._scenario())
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state1 = engine.env.observe() # observe: DI0.0 still off
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di_then = next(c for c in state1.channels if c.io_code == "DI0.0")
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assert di_then.value is False
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# field-side change + decision AFTER observing, before the tick
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engine.datastore.set_digital_input_channel(1, True)
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engine.env.apply({"pump": di_then.value}) # decide on observed state
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state2 = engine.env.step() # flush + tick + observe
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di_now = next(c for c in state2.channels if c.io_code == "DI0.0")
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assert di_now.value is True # visible next observe
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# decided output applied from the OBSERVED state: pump still off
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do_now = next(c for c in state2.channels if c.io_code == "DO0.0")
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assert do_now.value is False
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env = engine.env
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state = env.observe()
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assert state.aliases["start"] is False
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# alias write to a do output requires force (PLC-side semantics)
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with pytest.raises(ScenarioError, match="force"):
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env.apply({"pump": True})
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env.force({"pump": True})
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assert env.observe().aliases["pump"] is True
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def test_pump_station_example_env(self, node):
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"""The shipped example env loads and runs closed-loop physics."""
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from envs.pump_station_env import PumpStationEnv
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env = PumpStationEnv(node=node)
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# PLC turns the pump on at full speed
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env.force({"DO0.0": True, "AO0.0": 4095})
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env.tick() # physics applies the level
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level0 = env.observe().by_code("AI0.0")
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assert level0 > 0 # tank starts at 3000 mm
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# big dt (10 sim-minutes): the pump visibly drains the tank
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env.tick(dt_ms=600_000)
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level1 = env.observe().by_code("AI0.0")
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assert level1 < level0 # pump drains the tank
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# pump OFF: inflow fills the tank instead
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env.force({"DO0.0": False})
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env.tick(dt_ms=600_000)
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level2 = env.observe().by_code("AI0.0")
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assert level2 > level1
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# and it runs forever by default
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assert env.is_done(env.observe()) is False
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def test_load_env_class_and_factory(self, node):
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from wago_sim.scenario.plantenv import load_env
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env = load_env("envs.pump_station_env:PumpStationEnv", node=node)
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assert isinstance(env, PlantEnv)
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env = load_env("envs.pump_station_env:make_env", node=node)
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assert isinstance(env, PlantEnv)
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# bare module picks up Env
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env = load_env("envs.pump_station_env", node=node)
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assert isinstance(env, PlantEnv)
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with pytest.raises(ScenarioError):
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load_env("envs.pump_station_env:Nope", node=node)
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with pytest.raises(ScenarioError):
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load_env("envs.missing_module", node=node)
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class TestTickPipeline:
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