Method, system, and non-transitory computer readable storage medium for generating code for a closed-loop controller
View Patent ↗A system, method, and computer readable medium. A method includes receiving input for a simulation model, the simulation model including a sensor. The method includes concurrently executing the simulation model and control code for a simulated physical controller, where the control code interacts with the simulation model according to a state of the sensor. The method includes generating revised control code based on the executed simulation model and control code, and generating controller-specific control code based on the revised control code. The method includes executing the simulation model and the controller-specific control code, the controller-specific control code interacting with the simulation model.
1. A method for generating code for a closed-loop controller, comprising:
receiving input for a simulation model in a data processing system, the simulation model including a sensor;
concurrently executing the simulation model and control code for a simulated physical controller in the data processing system, the control code interacting with the simulation model according to a state of the sensor, the control code including instructions automatically generated by the data processing system at least partially in response to the data processing system receiving a user input of a sensor object being dragged into the control code;
generating revised control code, by the data processing system, based on the executed simulation model and control code;
generating controller-specific control code based on the revised control code by the data processing system; and
executing the simulation model and the controller-specific control code, the controller-specific control code interacting with the simulation model.
2. The method of claim 1 , wherein the concurrently executing and generating revised control code steps are performed repeatedly until the data processing system receives an indication that a behavior of the simulation model is correct.
3. The method of claim 1 , wherein the generating revised control code includes modifying the control code based on the state of the sensor.
4. The method of claim 1 , wherein the controller-specific control code is executed using a specific controller corresponding to the controller-specific control code.
5. The method of claim 1 , wherein the controller-specific control code is executed using a simulation of a specific controller corresponding to the controller-specific control code.
6. The method of claim 1 , wherein the simulation model also includes an actuator.
7. The method of claim 1 , wherein the control code controls a simulated physical controller.
8. A data processing system comprising a processor and accessible memory, the data processing system particularly configured to perform the steps of:
receiving input for a simulation model, the simulation model including a sensor;
concurrently executing the simulation model and control code for a simulated physical controller, the control code interacting with the simulation model according to a state of the sensor, the control code including instructions automatically generated by the data processing system at least partially in response to the data processing system receiving a user input of a sensor object being dragged into the control code;
generating revised control code based on the executed simulation model and control code;
generating controller-specific control code based on the revised control code; and
executing the simulation model and the controller-specific control code, the controller-specific control code interacting with the simulation model.
9. The data processing system of claim 8 , wherein the concurrently executing and generating revised control code steps are performed repeatedly until the data processing system receives an indication that a behavior of the simulation model is correct.
10. The data processing system of claim 8 , wherein the generating revised control code includes modifying the control code based on the state of the sensor.
11. The data processing system of claim 8 , wherein the controller-specific control code is executed using a specific controller corresponding to the controller-specific control code.
12. The data processing system of claim 8 , wherein the controller-specific control code is executed using a simulation of a specific controller corresponding to the controller-specific control code.
13. The data processing system of claim 8 , wherein the simulation model also includes an actuator.
14. The data processing system of claim 8 , wherein the control code controls a simulated physical controller.
15. A non-transitory computer-readable storage medium encoded with computer-executable instructions that, when executed, cause a data processing system to perform the steps of:
receiving input for a simulation model, the simulation model including a sensor;
concurrently executing the simulation model and control code for a simulated physical controller, the control code interacting with the simulation model according to a state of the sensor, the control code including instructions automatically generated by the data processing system at least partially in response to the data processing system receiving a user input of a sensor object being dragged into the control code;
generating revised control code based on the executed simulation model and control code;
generating controller-specific control code based on the revised control code; and
executing the simulation model and the controller-specific control code, the controller-specific control code interacting with the simulation model.
16. The computer-readable storage medium of claim 15 , wherein the concurrently executing and generating revised control code steps are performed repeatedly until the data processing system receives an indication that a behavior of the simulation model is correct.
17. The computer-readable storage medium of claim 15 , wherein the generating revised control code includes modifying the control code based on the state of the sensor.
18. The computer-readable storage medium of claim 15 , wherein the controller-specific control code is executed using a specific controller corresponding to the controller-specific control code.
19. The computer-readable storage medium of claim 15 , wherein the controller-specific control code is executed using a simulation of a specific controller corresponding to the controller-specific control code.
20. The computer-readable storage medium of claim 15 , wherein the control code controls a simulated physical controller.
21. The computer-readable storage medium of claim 15 , further comprising instructions that, when executed, cause a data processing system to display the simulation model, sensor and actuator states, and control code states while executing the simulation model and the controller-specific control code.