92 lines
2.3 KiB
JSON
92 lines
2.3 KiB
JSON
{
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"version": "v0.1",
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"hils": [
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{
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"name": "water_hil",
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"warmup_s": 3.0,
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"init": {
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"water_tank_level": 500,
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"tank_input_valve": 0,
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"tank_output_valve": 0
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},
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"params": {
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"tank_max": 1000,
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"tank_min": 0,
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"inflow_rate": 18,
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"outflow_rate": 12
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},
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"tasks": [
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{
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"type": "loop",
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"name": "tank_dynamics",
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"dt_s": 0.5,
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"actions": [
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{
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"if": "tank_input_valve > 0.5",
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"then": [
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{"add": ["water_tank_level", "inflow_rate"]}
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]
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},
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{
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"if": "tank_output_valve > 0.5",
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"then": [
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{"add": ["water_tank_level", "-outflow_rate"]}
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]
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},
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{"set": ["water_tank_level", "clamp(water_tank_level, tank_min, tank_max)"]}
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]
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}
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]
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},
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{
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"name": "filler_hil",
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"warmup_s": 3.0,
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"init": {
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"bottle_fill_level": 0,
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"bottle_at_filler": 1,
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"bottle_distance": 0,
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"conveyor_cmd": 0,
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"fill_valve": 0
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},
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"params": {
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"bottle_max": 200,
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"bottle_min": 0,
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"distance_reset": 130,
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"filler_range": 30,
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"fill_rate": 8,
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"conveyor_speed": 5
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},
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"tasks": [
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{
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"type": "loop",
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"name": "filler_dynamics",
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"dt_s": 0.5,
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"actions": [
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{
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"if": "fill_valve > 0.5 and bottle_at_filler > 0.5",
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"then": [
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{"add": ["bottle_fill_level", "fill_rate"]}
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]
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},
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{"set": ["bottle_fill_level", "clamp(bottle_fill_level, bottle_min, bottle_max)"]},
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{
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"if": "conveyor_cmd > 0.5",
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"then": [
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{"add": ["bottle_distance", "-conveyor_speed"]},
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{
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"if": "bottle_distance < 0",
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"then": [
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{"set": ["bottle_distance", "distance_reset"]},
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{"set": ["bottle_fill_level", "0"]}
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]
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}
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]
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},
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{"set": ["bottle_at_filler", "1 if bottle_distance <= filler_range else 0"]}
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]
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}
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]
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}
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]
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}
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