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mbd

C++ Model Based Development/Engineering Library

  • fast: Design with 7 models executed 10.000.000 ticks in 1.55 sec on Ubuntu.
  • easy to use: must implement only 2 methods: update() and is_source() in which you call add_input/add_output and get_input/set_output.
  • portable: Tested on Windows 10(Visual Studio 2019), Debian VM(GCC 8.3) and Raspbian(GCC 4.9).
  • syncronous and asyncronous execution(based on execution order) available with the controller.
Clone and build

Clone and build:

git clone https://github.com/mehecip/mbd.git
cd mbd
cmake -DBUILD_CONTROLLER=On -DBUILD_EXAMPLES=On .
make f=Makefile

Usage - mbd::model

Implement:

#include "model.hpp"

class gain : public model
{
public:

	/** Build your model: add inputs, outputs and parameters. */
	gain(const std::string& name, double gain) : model(name)
	{
		model::add_input<double>("In 0", 0.0);
		model::add_output<double>("Out 0", 0.0);
	
		model::add_param<double>("gain_factor", gain);
	}
	
	/** Update your model: read inputs/parameters and set outputs/parameters. */
	void update(std::uint64_t tick) override
	{
		const double in = model::get_input<double>(0);
		const double gain = model::get_param<double>("gain_factor");
		
		model::set_output<double>(0, in * gain);
	}
	
	/** Let the controller know if the model behaves as a source. */
	bool is_source() const override
	{
		return false;
	}
};

Register:

mbd::lib my_lib("My Lib");
my_lib.register_model<gain>("Times Pi", 3.1415);
Build - Connect - Run without controller

Build:

auto gain_ = my_lib.build_model("Times Pi");
auto src_ = my_lib.build_model("Liniar Source");
auto sink_ = my_lib.build_model("Sink");

Connect:

mbd::end_point src_0{src_, 0, port_dir_t::OUT};
mbd::end_point gain_0{gain_, 0, port_dir_t::IN};

auto [state, src_to_gain] = connection::build(src_0, gain_0);

/**************************************************************
	| Liniar Source |0>-------->0| Gain |0>-------->0| Sink | 
***************************************************************/

Execute (in the correct order):

for (std::uint64_t i = 0; i < 10; ++i)
{
	src_->update(i);
	gain_->update(i);
	sink_->update(i);
}

Usage - mbd::controller

Create the controller:

#include "controller.hpp"

void message_callback(log_level lvl, const std::string& msg)
{
	std::cout << level_info(lvl) << ": " << msg << "\n";
}

mbd::controller cntrl(message_callback);

Add the models:

cntrl.add_library(my_lib);

cntrl.add_model("My Lib", "Times Pi");
cntrl.add_model("My Lib", "Liniar Source");
cntrl.add_model("My Lib", "Sink");

Connect the models:

cntrl.connect("Liniar Source", 0, "Times Pi", 0);
cntrl.connect("Times Pi", 0, "Sink", 0);

/**************************************************************
	| Liniar Source |0>-------->0| Gain |0>-------->0| Sink | 
***************************************************************/

Find algebraic loops:

std::size_t n_loops = cntrl.find_algebraic_loops();

Calculate execution order and run all models:

// syncronous
cntrl.run(10'000);

// or asyncronous
cntrl.run_async(10'000);

Get:

auto sink_ = cntrl.get<sink>("Sink");
double value = sink_->read();

ToDO:

Implement mbd::view