New queueless VILLAS interface / improve real-time performance (#316)

 villas interface: improve real-time capability

The original villas interface was not real-time capable because of the
queue it uses. This commit creates an interface for villas interfaces,
moves the old implementation to InterfaceQueued and adds a new
queueless, threadless implementation InterfaceQueueless.


models: Add DC voltage source

The DP_Ph1_VoltageSource always calculates a sinusoidal signal, even if
we only want to set a DC value. This commit adds a DC generator for the
model so it can be significantly faster if we do not need the sinusoidal
signal.

 FpgaExample: use new villas interface and make logging optional.

.clang-format

@@ -4,6 +4,6 @@
 ---
 BasedOnStyle: LLVM
 
-# Disable automatic line-breaks in comments
-# as this breaks SPDX headers
-ReflowComments: false
+# Increase ColumnLimit to avoid breaking SPDX headers
+ColumnLimit: 200
+

dpsim-models/include/dpsim-models/Attribute.h

@@ -353,6 +353,7 @@ class Attribute : public AttributeBase,
   AttributeBase::Ptr cloneValueOntoNewAttribute() override {
     return AttributePointer<AttributeBase>(
         AttributeStatic<T>::make(this->get()));
+    // TODO: This is in the real time path. We should not use heap here.
   };
 
   /**

dpsim-models/include/dpsim-models/DP/DP_Ph1_ProfileVoltageSource.h

@@ -0,0 +1,111 @@
+/* Voltage Source that reads references from a file and replays them.
+ *
+ * Author: Niklas Eiling <[email protected]>
+ * SPDX-FileCopyrightText: 2024 Niklas Eiling <[email protected]>
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Signal/CosineFMGenerator.h>
+#include <dpsim-models/Signal/DCGenerator.h>
+#include <dpsim-models/Signal/FrequencyRampGenerator.h>
+#include <dpsim-models/Signal/SignalGenerator.h>
+#include <dpsim-models/Signal/SineWaveGenerator.h>
+#include <dpsim-models/Solver/DAEInterface.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+#include <filesystem>
+#include <villas/sample.hpp>
+
+namespace CPS {
+namespace DP {
+namespace Ph1 {
+
+class ProfileVoltageSource : public MNASimPowerComp<Complex>, public DAEInterface, public SharedFactory<ProfileVoltageSource> {
+private:
+  ///
+  void updateVoltage(Real time);
+  ///
+  // CPS::Signal::SignalGenerator::Ptr mSrcSig;
+  std::filesystem::path mSourceFile;
+  size_t mSourceIndex = 0;
+  std::vector<double> mSamples;
+
+  void readFromFile();
+
+public:
+  const CPS::Attribute<Complex>::Ptr mVoltage;
+
+  /// Defines UID, name, component parameters and logging level
+  ProfileVoltageSource(String uid, String name, std::filesystem::path sourceFile, Logger::Level loglevel = Logger::Level::off);
+  /// Defines UID, name, component parameters and logging level
+  ProfileVoltageSource(String name, std::filesystem::path sourceFile, Logger::Level logLevel = Logger::Level::off) : ProfileVoltageSource(name, name, sourceFile, logLevel) {}
+  ///
+  SimPowerComp<Complex>::Ptr clone(String name) override;
+
+  // #### General ####
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+  ///
+  void setSourceFile(std::filesystem::path file, size_t index = 0);
+
+  // #### MNA Section ####
+  /// Initializes internal variables of the component
+  void mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) override;
+  void mnaCompInitializeHarm(Real omega, Real timeStep, std::vector<Attribute<Matrix>::Ptr> leftVectors) override;
+  /// Stamps system matrix
+  void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
+  void mnaCompApplySystemMatrixStampHarm(SparseMatrixRow &systemMatrix, Int freqIdx) override;
+  /// Stamps right side (source) vector
+  void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
+  void mnaCompApplyRightSideVectorStampHarm(Matrix &rightVector) override;
+  /// Returns current through the component
+  void mnaCompUpdateCurrent(const Matrix &leftVector) override;
+  /// MNA pre step operations
+  void mnaCompPreStep(Real time, Int timeStepCount) override;
+  /// MNA post step operations
+  void mnaCompPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) override;
+  /// Add MNA pre step dependencies
+  void mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) override;
+  /// Add MNA post step dependencies
+  void mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes,
+                                      Attribute<Matrix>::Ptr &leftVector) override;
+
+  class MnaPreStepHarm : public CPS::Task {
+  public:
+    MnaPreStepHarm(ProfileVoltageSource &voltageSource) : Task(**voltageSource.mName + ".MnaPreStepHarm"), mVoltageSource(voltageSource) {
+      mAttributeDependencies.push_back(mVoltageSource.mVoltage);
+      mModifiedAttributes.push_back(mVoltageSource.mRightVector);
+      mModifiedAttributes.push_back(mVoltageSource.mIntfVoltage);
+    }
+    void execute(Real time, Int timeStepCount);
+
+  private:
+    ProfileVoltageSource &mVoltageSource;
+  };
+
+  class MnaPostStepHarm : public CPS::Task {
+  public:
+    MnaPostStepHarm(ProfileVoltageSource &voltageSource, const std::vector<Attribute<Matrix>::Ptr> &leftVectors)
+        : Task(**voltageSource.mName + ".MnaPostStepHarm"), mVoltageSource(voltageSource), mLeftVectors(leftVectors) {
+      for (UInt i = 0; i < mLeftVectors.size(); i++)
+        mAttributeDependencies.push_back(mLeftVectors[i]);
+      mModifiedAttributes.push_back(mVoltageSource.mIntfCurrent);
+    }
+    void execute(Real time, Int timeStepCount);
+
+  private:
+    ProfileVoltageSource &mVoltageSource;
+    std::vector<Attribute<Matrix>::Ptr> mLeftVectors;
+  };
+
+  // #### DAE Section ####
+  /// Residual function for DAE Solver
+  void daeResidual(double ttime, const double state[], const double dstate_dt[], double resid[], std::vector<int> &off) override;
+  /// Voltage Getter
+  Complex daeInitialize() override;
+};
+} // namespace Ph1
+} // namespace DP
+} // namespace CPS

dpsim-models/include/dpsim-models/DP/DP_Ph1_VoltageSource.h

@@ -10,6 +10,7 @@
 
 #include <dpsim-models/MNASimPowerComp.h>
 #include <dpsim-models/Signal/CosineFMGenerator.h>
+#include <dpsim-models/Signal/DCGenerator.h>
 #include <dpsim-models/Signal/FrequencyRampGenerator.h>
 #include <dpsim-models/Signal/SignalGenerator.h>
 #include <dpsim-models/Signal/SineWaveGenerator.h>
@@ -79,6 +80,10 @@ class VoltageSource : public MNASimPowerComp<Complex>,
   void setParameters(Complex initialPhasor, Real modulationFrequency,
                      Real modulationAmplitude, Real baseFrequency = 0.0,
                      bool zigzag = false);
+  /// Setter for reference voltage with a real valued generator
+  /// This will initialize the values of mVoltageRef to match the given parameters
+  /// However, the attributes can be modified during the simulation to dynamically change the value of the output voltage.
+  void setParameters(Real voltageRef);
 
   // #### MNA Section ####
   /// Initializes internal variables of the component

dpsim-models/include/dpsim-models/Signal/DCGenerator.h

@@ -0,0 +1,30 @@
+/* Copyright 2014 Institute for Automation of Complex Power Systems,
+ *                     EONERC, RWTH Aachen University
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *********************************************************************************/
+
+#pragma once
+
+#include <dpsim-models/Signal/SignalGenerator.h>
+
+namespace CPS {
+namespace Signal {
+/// \brief Model to generate sinusoidal signals
+///
+/// Inherits from the abstract SignalGenerator class.
+/// The generated signal must be characterised by its initial complex phasor and its frequency.
+class DCGenerator : public SignalGenerator, public SharedFactory<DCGenerator> {
+public:
+  const Attribute<Complex>::Ptr mVoltageRef;
+  /// init the identified object
+  DCGenerator(String name, Logger::Level logLevel = Logger::Level::off);
+  /// set the source's parameters
+  void setParameters(Real initialReference = 0.0);
+  /// implementation of inherited method step to update and return the current signal value
+  void step(Real time);
+};
+} // namespace Signal
+} // namespace CPS

dpsim-models/src/CMakeLists.txt

@@ -151,7 +151,9 @@ list(APPEND MODELS_SOURCES
 	Signal/SignalGenerator.cpp
 	Signal/FrequencyRampGenerator.cpp
 	Signal/CosineFMGenerator.cpp
+	Signal/DCGenerator.cpp
 )
+list(APPEND MODELS_INCLUDE_DIRS "/home/eiling/projects/villas-node/build/lib/formats")
 
 if(WITH_CIM)
 	list(APPEND MODELS_SOURCES CIM/Reader.cpp)
@@ -178,6 +180,10 @@ if(WITH_GSL)
 	list(APPEND MODELS_LIBRARIES ${GSL_LIBRARIES})
 endif()
 
+if(WITH_VILLAS)
+	list(APPEND MODELS_SOURCES DP/DP_Ph1_ProfileVoltageSource.cpp)
+endif()
+
 target_link_libraries(dpsim-models PUBLIC ${MODELS_LIBRARIES})
 target_include_directories(dpsim-models PUBLIC ${MODELS_INCLUDE_DIRS})
 target_sources(dpsim-models PRIVATE ${MODELS_SOURCES})