pySimBlocks 0.1.0__py3-none-any.whl

pySimBlocks/gui/blocks/systems/non_linear_state_space.py

@@ -0,0 +1,233 @@
+# ******************************************************************************
+#                                  pySimBlocks
+#                     Copyright (c) 2026 Université de Lille & INRIA
+# ******************************************************************************
+#  This program is free software: you can redistribute it and/or modify it
+#  under the terms of the GNU Lesser General Public License as published by
+#  the Free Software Foundation, either version 3 of the License, or (at your
+#  option) any later version.
+#
+#  This program is distributed in the hope that it will be useful, but WITHOUT
+#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License
+#  for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public License
+#  along with this program.  If not, see <https://www.gnu.org/licenses/>.
+# ******************************************************************************
+#  Authors: see Authors.txt
+# ******************************************************************************
+
+import os
+import subprocess
+import sys
+from pathlib import Path
+from typing import Literal
+
+from PySide6.QtWidgets import QFormLayout, QLabel, QLineEdit, QPushButton
+
+from pySimBlocks.gui.blocks.block_meta import BlockMeta, ParameterMeta
+from pySimBlocks.gui.blocks.port_meta import PortMeta
+from pySimBlocks.gui.models import BlockInstance, PortInstance
+
+
+class NonLinearStateSpaceMeta(BlockMeta):
+
+    def __init__(self):
+        self.name = "Non Linear State Space"
+        self.category = "systems"
+        self.type = "non_linear_state_space"
+        self.summary = "User-defined non linear state space function implemented in Python."
+        self.description = (
+            "This block evaluates a user-provided Python function of the form:\n"
+            "    x+ = f(t, dt, x, u1, u2, ...)\n"
+            "    y = g(t, dt, x)\n"
+            "The function is loaded from an external Python file and executed at each\n"
+            "simulation step. Input and output ports are explicitly declared via\n"
+            "`input_keys` and `output_keys`.\n"
+        )
+
+        self.parameters = [
+            ParameterMeta(
+                name="file_path",
+                type="string",
+                required=True,
+                description="Path to the Python file containing the functions relative to the project.yaml file."
+            ),
+            ParameterMeta(
+                name="state_function_name",
+                type="string",
+                required=True,
+                description="Name of the state function to call inside the Python file."
+            ),
+            ParameterMeta(
+                name="output_function_name",
+                type="string",
+                required=True,
+                description="Name of the output function to call inside the Python file."
+            ),
+            ParameterMeta(
+                name="input_keys",
+                type="list[string]",
+                required=True,
+                description="List of input port names. These must match the function arguments after (t, dt)."
+            ),
+            ParameterMeta(
+                name="output_keys",
+                type="list[string]",
+                required=True,
+                description="List of output port names. The function must return a dict with exactly these keys."
+            ),
+            ParameterMeta(
+                name="x0",
+                type="vector",
+                required=True,
+                description="Initial state vector."
+            ),
+            ParameterMeta(
+                name="sample_time",
+                type="float",
+                description="Optional execution period of the block."
+            )
+        ]
+
+        self.inputs = [
+            PortMeta(
+                name="in",
+                display_as="",
+                shape=[]  # shapes are dynamic
+            )
+        ]
+
+        self.outputs = [
+            PortMeta(
+                name="out",
+                display_as="",
+                shape=[]  # shapes are dynamic
+            )
+        ]
+
+    # --------------------------------------------------------------------------
+    # Port resolution
+    # --------------------------------------------------------------------------
+    def resolve_port_group(
+        self,
+        port_meta: PortMeta,
+        direction: Literal['input', 'output'],
+        instance: "BlockInstance"
+    ) -> list["PortInstance"]:
+        if direction == 'input' and port_meta.name == 'in':
+            input_keys = instance.parameters.get("input_keys", [])
+            if input_keys is None:
+                return []
+            return [
+                PortInstance(
+                    name=key,
+                    display_as=key,
+                    direction="input",
+                    block=instance
+                ) for key in input_keys
+            ]
+        elif direction == 'output' and port_meta.name == 'out':
+            output_keys = instance.parameters.get("output_keys", [])
+            if output_keys is None:
+                return []
+            return [
+                PortInstance(
+                    name=key,
+                    display_as=key,
+                    direction="output",
+                    block=instance
+                ) for key in output_keys
+            ]
+        return super().resolve_port_group(port_meta, direction, instance)
+
+    # --------------------------------------------------------------------------
+    # Dialog methods
+    # --------------------------------------------------------------------------
+    def build_param(
+        self,
+        session,
+        form: QFormLayout,
+        readonly: bool = False,
+    ):
+        name_edit = QLineEdit(session.instance.name)
+        name_edit.textChanged.connect(
+            lambda val: self._on_param_changed(val, "name", session, readonly)
+        )
+        form.addRow(QLabel("Block name:"), name_edit)
+        if readonly:
+            name_edit.setReadOnly(True)
+        session.name_edit = name_edit
+
+        for pmeta in self.parameters:
+            if pmeta.name == "file_path":
+                self.build_file_param_row(
+                    session,
+                    form,
+                    pmeta,
+                    readonly=readonly,
+                    file_filter="Python files (*.py);;All files (*)",
+                )
+                continue
+
+            label, widget = self._create_param_row(session, pmeta, readonly)
+            if widget is None:
+                continue
+            if readonly:
+                self._set_readonly_style(widget)
+
+            form.addRow(label, widget)
+            session.param_widgets[pmeta.name] = widget
+            session.param_labels[pmeta.name] = label
+
+    # ------------------------------------------------------
+    def build_post_param(self, session, form: QFormLayout, readonly: bool = False):
+        open_btn = QPushButton("Open file")
+        open_btn.clicked.connect(lambda: self._open_file_from_session(session))
+        form.addRow(QLabel(""), open_btn)
+        session.open_file_btn = open_btn
+        self._refresh_open_button_state(session)
+
+    # ------------------------------------------------------
+    def refresh_form(self, session):
+        super().refresh_form(session)
+        self._refresh_open_button_state(session)
+
+    # ------------------------------------------------------
+    def _resolve_file_path(self, session) -> Path | None:
+        raw = session.local_params.get("file_path")
+        if not raw:
+            return None
+
+        path = Path(str(raw)).expanduser()
+        if not path.is_absolute() and session.project_dir is not None:
+            path = (session.project_dir / path).resolve()
+        return path
+
+    # ------------------------------------------------------
+    def _refresh_open_button_state(self, session) -> None:
+        btn = getattr(session, "open_file_btn", None)
+        if btn is None:
+            return
+
+        target = self._resolve_file_path(session)
+        exists = target is not None and target.is_file()
+        btn.setEnabled(exists)
+        if exists:
+            btn.setToolTip(str(target))
+        else:
+            btn.setToolTip("Set a valid existing file_path to open the file.")
+
+    # ------------------------------------------------------
+    def _open_file_from_session(self, session) -> None:
+        target = self._resolve_file_path(session)
+        if target is None or not target.is_file():
+            return
+
+        if sys.platform.startswith("darwin"):
+            subprocess.Popen(["open", str(target)])
+        elif os.name == "nt":
+            os.startfile(str(target))
+        else:
+            subprocess.Popen(["xdg-open", str(target)])

pySimBlocks/gui/blocks/systems/polytopic_state_space.py

@@ -0,0 +1,109 @@
+# ******************************************************************************
+#                                  pySimBlocks
+#                     Copyright (c) 2026 Université de Lille & INRIA
+# ******************************************************************************
+#  This program is free software: you can redistribute it and/or modify it
+#  under the terms of the GNU Lesser General Public License as published by
+#  the Free Software Foundation, either version 3 of the License, or (at your
+#  option) any later version.
+#
+#  This program is distributed in the hope that it will be useful, but WITHOUT
+#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License
+#  for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public License
+#  along with this program.  If not, see <https://www.gnu.org/licenses/>.
+# ******************************************************************************
+#  Authors: see Authors.txt
+# ******************************************************************************
+
+from pySimBlocks.gui.blocks.block_meta import BlockMeta
+from pySimBlocks.gui.blocks.parameter_meta import ParameterMeta
+from pySimBlocks.gui.blocks.port_meta import PortMeta
+
+
+class PolytopicStateSpaceMeta(BlockMeta):
+
+    def __init__(self):
+        self.name = "PolytopicStateSpace"
+        self.category = "systems"
+        self.type = "polytopic_state_space"
+        self.summary = "Discrete-time polytopic state-space system."
+        self.description = (
+            "Implements the discrete-time polytopic state-space equations:\n"
+            "$$\n"
+            "x[k+1] = A\\,\\mathrm{kron}(w[k], x[k]) + B\\,\\mathrm{kron}(w[k], u[k])\n"
+            "$$\n"
+            "$$\n"
+            "y[k] = C x[k]\n"
+            "$$\n"
+            "with $w[k]$ the vertex weight vector.\n"
+        )
+
+        self.parameters = [
+            ParameterMeta(
+                name="A",
+                type="matrix",
+                required=True,
+                autofill=True,
+                default=[[1.0, 0.0]],
+                description="Stacked polytopic state matrix of shape (nx, r*nx): [A1 ... Ar]."
+            ),
+            ParameterMeta(
+                name="B",
+                type="matrix",
+                required=True,
+                autofill=True,
+                default=[[1.0, 1.0]],
+                description="Stacked polytopic input matrix of shape (nx, r*nu): [B1 ... Br]."
+            ),
+            ParameterMeta(
+                name="C",
+                type="matrix",
+                required=True,
+                autofill=True,
+                default=[[1.0]],
+                description="Output matrix of shape (ny, nx)."
+            ),
+            ParameterMeta(
+                name="x0",
+                type="vector",
+                description="Initial state vector."
+            ),
+            ParameterMeta(
+                name="sample_time",
+                type="float",
+                description="Block execution period."
+            )
+        ]
+
+        self.inputs = [
+            PortMeta(
+                name="w",
+                display_as="w",
+                shape=["r", 1],
+                description="Vertex weights vector."
+            ),
+            PortMeta(
+                name="u",
+                display_as="u",
+                shape=["nu", 1],
+                description="Input vector."
+            )
+        ]
+
+        self.outputs = [
+            PortMeta(
+                name="x",
+                display_as="x",
+                shape=["nx", 1],
+                description="State vector."
+            ),
+            PortMeta(
+                name="y",
+                display_as="y",
+                shape=["ny", 1],
+                description="Output vector."
+            )
+        ]

pySimBlocks/gui/blocks/systems/sofa/sofa_exchange_i_o.py

@@ -0,0 +1,221 @@
+# ******************************************************************************
+#                                  pySimBlocks
+#                     Copyright (c) 2026 Université de Lille & INRIA
+# ******************************************************************************
+#  This program is free software: you can redistribute it and/or modify it
+#  under the terms of the GNU Lesser General Public License as published by
+#  the Free Software Foundation, either version 3 of the License, or (at your
+#  option) any later version.
+#
+#  This program is distributed in the hope that it will be useful, but WITHOUT
+#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License
+#  for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public License
+#  along with this program.  If not, see <https://www.gnu.org/licenses/>.
+# ******************************************************************************
+#  Authors: see Authors.txt
+# ******************************************************************************
+
+import os
+import subprocess
+import sys
+from pathlib import Path
+from typing import Literal
+
+from PySide6.QtWidgets import QFormLayout, QLabel, QLineEdit, QPushButton
+
+from pySimBlocks.gui.blocks.block_meta import BlockMeta
+from pySimBlocks.gui.blocks.parameter_meta import ParameterMeta
+from pySimBlocks.gui.blocks.port_meta import PortMeta
+from pySimBlocks.gui.models import BlockInstance, PortInstance
+
+
+class SofaExchangeIOMeta(BlockMeta):
+
+    def __init__(self):
+        self.name = "SofaExchangeIO"
+        self.category = "systems"
+        self.type = "sofa_exchange_i_o"
+        self.summary = "Interface block for exchanging signals between pySimBlocks and SOFA."
+        self.description = (
+            "Provides a stateless interface block that exposes dynamic input and output\n"
+            "ports to connect a pySimBlocks model with an external SOFA controller.\n"
+            "This block does not execute a SOFA simulation."
+        )
+
+        self.parameters = [
+            ParameterMeta(
+                name="scene_file",
+                type="string",
+                description="Path to the SOFA scene file used for automatic generation relative to project.yaml file."
+            ),
+            ParameterMeta(
+                name="input_keys",
+                type="list[string]",
+                required=True,
+                description="List of input keys corresponding to SOFA input ports."
+            ),
+            ParameterMeta(
+                name="output_keys",
+                type="list[string]",
+                required=True,
+                description="List of output keys corresponding to SOFA output ports."
+            ),
+            ParameterMeta(
+                name="slider_params",
+                type="dict",
+                description="Dictionary of slider parameters to be modified in the SOFA scene at runtime."
+            ),
+            ParameterMeta(
+                name="sample_time",
+                type="float"
+            )
+        ]
+
+        self.inputs = [
+            PortMeta(
+                name="sofa_inputs",
+                display_as="",
+                shape=[]
+            )
+        ]
+
+        self.outputs = [
+            PortMeta(
+                name="sofa_outputs",
+                display_as="",
+                shape=[]
+            )
+        ]
+
+    # --------------------------------------------------------------------------
+    # Port Resolution
+    # --------------------------------------------------------------------------
+    def resolve_port_group(
+        self,
+        port_meta: PortMeta,
+        direction: Literal["input", "output"],
+        instance: "BlockInstance"
+    ) -> list["PortInstance"]:
+
+        if direction == "input" and port_meta.name == "sofa_inputs":
+            keys = instance.parameters.get("input_keys", [])
+            if keys is None:
+                return []
+            return [
+                PortInstance(
+                    name=key,
+                    display_as=key,
+                    direction="input",
+                    block=instance
+                )
+                for key in keys
+            ]
+
+        if direction == "output" and port_meta.name == "sofa_outputs":
+            keys = instance.parameters.get("output_keys", [])
+            if keys is None:
+                return []
+            return [
+                PortInstance(
+                    name=key,
+                    display_as=key,
+                    direction="output",
+                    block=instance
+                )
+                for key in keys
+            ]
+
+        return super().resolve_port_group(port_meta, direction, instance)
+
+    # --------------------------------------------------------------------------
+    # Dialog Methods
+    # --------------------------------------------------------------------------
+    def build_param(
+        self,
+        session,
+        form: QFormLayout,
+        readonly: bool = False,
+    ):
+        name_edit = QLineEdit(session.instance.name)
+        name_edit.textChanged.connect(
+            lambda val: self._on_param_changed(val, "name", session, readonly)
+        )
+        form.addRow(QLabel("Block name:"), name_edit)
+        if readonly:
+            name_edit.setReadOnly(True)
+        session.name_edit = name_edit
+
+        for pmeta in self.parameters:
+            if pmeta.name == "scene_file":
+                self.build_file_param_row(
+                    session,
+                    form,
+                    pmeta,
+                    readonly=readonly,
+                    file_filter="SOFA scene files (*.py);;All files (*)",
+                )
+                continue
+
+            label, widget = self._create_param_row(session, pmeta, readonly)
+            if widget is None:
+                continue
+            if readonly:
+                self._set_readonly_style(widget)
+
+            form.addRow(label, widget)
+            session.param_widgets[pmeta.name] = widget
+            session.param_labels[pmeta.name] = label
+
+    # ------------------------------------------------------
+    def build_post_param(self, session, form: QFormLayout, readonly: bool = False):
+        open_btn = QPushButton("Open file")
+        open_btn.clicked.connect(lambda: self._open_file_from_session(session))
+        form.addRow(QLabel(""), open_btn)
+        session.open_file_btn = open_btn
+        self._refresh_open_button_state(session)
+
+    # ------------------------------------------------------
+    def refresh_form(self, session):
+        super().refresh_form(session)
+        self._refresh_open_button_state(session)
+
+    # ------------------------------------------------------
+    def _resolve_file_path(self, session) -> Path | None:
+        raw = session.local_params.get("scene_file")
+        if not raw:
+            return None
+
+        path = Path(str(raw)).expanduser()
+        if not path.is_absolute() and session.project_dir is not None:
+            path = (session.project_dir / path).resolve()
+        return path
+
+    # ------------------------------------------------------
+    def _refresh_open_button_state(self, session) -> None:
+        btn = getattr(session, "open_file_btn", None)
+        if btn is None:
+            return
+
+        target = self._resolve_file_path(session)
+        exists = target is not None and target.is_file()
+        btn.setEnabled(exists)
+        if exists:
+            btn.setToolTip(str(target))
+        else:
+            btn.setToolTip("Set a valid existing scene_file to open the file.")
+
+    # ------------------------------------------------------
+    def _open_file_from_session(self, session) -> None:
+        target = self._resolve_file_path(session)
+        if target is None or not target.is_file():
+            return
+
+        if sys.platform.startswith("darwin"):
+            subprocess.Popen(["open", str(target)])
+        elif os.name == "nt":
+            os.startfile(str(target))
+        else:
+            subprocess.Popen(["xdg-open", str(target)])