debug: error in I/O dimensions of the buffer

Author: franckgaga

src/model/linmodel.jl

@@ -45,7 +45,7 @@ struct LinModel{NT<:Real} <: SimModel{NT}
         dname = ["\$d_{$i}\$" for i in 1:nd]
         xname = ["\$x_{$i}\$" for i in 1:nx]
         x0  = zeros(NT, nx)
-        buffer = SimModelBuffer{NT}(nx, nu, ny, nd)
+        buffer = SimModelBuffer{NT}(nu, nx, ny, nd)
         return new{NT}(
             A, Bu, C, Bd, Dd, 
             x0, 
@@ -246,6 +246,7 @@ disturbances ``\mathbf{d_0 = d - d_{op}}``. The Moore-Penrose pseudo-inverse com
 function steadystate!(model::LinModel, u0, d0)
     M = I - model.A
     rtol = sqrt(eps(real(float(oneunit(eltype(M)))))) # pinv docstring recommendation
+    #TODO: use model.buffer.x to reduce allocations
     model.x0 .= pinv(M; rtol)*(model.Bu*u0 + model.Bd*d0 + model.fop - model.xop)
     return nothing
 end

src/model/nonlinmodel.jl

@@ -32,7 +32,7 @@ struct NonLinModel{NT<:Real, F<:Function, H<:Function, DS<:DiffSolver} <: SimMod
         dname = ["\$d_{$i}\$" for i in 1:nd]
         xname = ["\$x_{$i}\$" for i in 1:nx]
         x0  = zeros(NT, nx)
-        buffer = SimModelBuffer{NT}(nx, nu, ny, nd)
+        buffer = SimModelBuffer{NT}(nu, nx, ny, nd)
         return new{NT, F, H, DS}(
             x0, 
             f!, h!, 

src/sim_model.jl

@@ -32,6 +32,8 @@ end
     SimModelBuffer(nu, nx, ny, nd) -> SimModelBuffer{NT}
 
 Create a buffer for `SimModel` objects for inputs, states, outputs, and disturbances.
+
+The buffer is used to store intermediate results during simulation without allocating.
 """
 function SimModelBuffer{NT}(nu, nx, ny, nd) where NT <: Real
     u = Vector{NT}(undef, nu)
@@ -207,9 +209,12 @@ true
 """
 function initstate!(model::SimModel, u, d=model.buffer.empty)
     validate_args(model::SimModel, d, u)
-    u0, d0 = u - model.uop, d - model.dop
+    u0, d0 = model.buffer.u, model.buffer.d
+    u0 .= u .- model.uop
+    d0 .= d .- model.dop
     steadystate!(model, u0, d0)
-    x = model.x0 + model.xop
+    x  = model.buffer.x
+    x .= model.x0 .+ model.xop
     return x
 end
 
@@ -229,13 +234,15 @@ julia> x = updatestate!(model, [1])
 """
 function updatestate!(model::SimModel{NT}, u, d=model.buffer.empty) where NT <: Real
     validate_args(model::SimModel, d, u)
-    xnext0 = Vector{NT}(undef, model.nx)
-    u0, d0 = u - model.uop, d - model.dop
+    u0, d0 = model.buffer.u, model.buffer.d
+    u0 .= u .- model.uop
+    d0 .= d .- model.dop
+    xnext0 = model.buffer.x
     f!(xnext0, model, model.x0, u0, d0)
     xnext0  .+= model.fop .- model.xop
     model.x0 .= xnext0
-    xnext   = xnext0
-    xnext .+= model.xop
+    xnext  = model.buffer.x
+    xnext .= xnext0 .+ model.xop
     return xnext
 end
 
@@ -257,11 +264,12 @@ julia> y = evaloutput(model)
 """
 function evaloutput(model::SimModel{NT}, d=model.buffer.empty) where NT <: Real
     validate_args(model, d)
-    y0 = Vector{NT}(undef, model.ny)
-    d0 = d - model.dop
+    d0  = model.buffer.d
+    d0 .= d .- model.dop
+    y0 = model.buffer.y
     h!(y0, model, model.x0, d0)
-    y   = y0
-    y .+= model.yop
+    y  = model.buffer.y
+    y .= y0 .+ model.yop
     return y
 end