Examples of CTCompositeActor

ptolemy.domains.ct.kernel.CTCompositeActor
A composite actor designed for the CT domain. This class extends TypedCompositeActor and implements the following interfaces: CTDynamicActor, CTEventGenerator, CTStatefulActor, CTStepSizeControlActor, and CTWaveformGenerator.
In the CT domain, normal opaque composite actors are not fired in every iteration. They are only fired in the discrete phase of execution and when they have trigger events. On the other hand, CTCompositeActors are fired in both discrete and continuous phases of execution in each iteration.
The key task of this actor is to implement step-size control methods. If the local director of this actor is an instance of CTTransparentDirector, then any step-size control methods called on this actor will be delegated to the local director. If the local director is not a CTTransparentDirector, the implementations of the step-size control methods do not affect the current step size.
This composite actor should be used when a CT subsystem needs to transfer its step size control information to the outer domain. Typical usage includes CT inside CT or CT inside FSM inside CT. @author Jie Liu, Haiyang Zheng @version $Id: CTCompositeActor.java,v 1.62 2006/08/20 19:55:33 cxh Exp $ @since Ptolemy II 0.2 @Pt.ProposedRating Green (hyzheng) @Pt.AcceptedRating Green (hyzheng) @see ptolemy.domains.ct.kernel.CTDynamicActor @see ptolemy.domains.ct.kernel.CTEventGenerator @see ptolemy.domains.ct.kernel.CTStatefulActor @see ptolemy.domains.ct.kernel.CTStepSizeControlActor @see ptolemy.domains.ct.kernel.CTWaveformGenerator @see CTTransparentDirector

Examples of ptolemy.domains.ct.kernel.CTCompositeActor

        //newPlot.addLegend(1, "Trigger");
        newPlot.setXRange(0.0, 5.0);
        newPlot.setYRange(0.0, 0.2);
        newPlot.setSize(500, 300);


        CTCompositeActor hs = new CTCompositeActor(this, "HS");


        // the ports
        TypedIOPort hsin = (TypedIOPort) hs.newPort("input");
        hsin.setInput(true);
        hsin.setTypeEquals(BaseType.DOUBLE);


        //TypedIOPort hsout = (TypedIOPort)hs.newPort("output");
        //hsout.setOutput(true);
        //hsout.setTypeEquals(BaseType.DOUBLE);
        TypedIOPort hsst = (TypedIOPort) hs.newPort("state");
        hsst.setOutput(true);
        hsst.setTypeEquals(BaseType.DOUBLE);


        //TypedIOPort hstr = (TypedIOPort)hs.newPort("trig");
        //hstr.setOutput(true);
        //hstr.setTypeEquals(BaseType.DOUBLE);
        FSMActor ctrl = new FSMActor(hs, "Controller");


        //ctrl.addDebugListener(dbl);
        State ctrlInc = new State(ctrl, "Increasing");
        State ctrlDec = new State(ctrl, "Decreasing");
        ctrl.initialStateName.setExpression("Increasing");


        Transition ctrlTr1 = new Transition(ctrl, "ctrlTr1");
        ctrlInc.outgoingPort.link(ctrlTr1);
        ctrlDec.incomingPort.link(ctrlTr1);
        ctrlTr1.setGuardExpression("output_isPresent");
        ctrlTr1.setActions
                .setExpression("Decreasing.Integrator.initialState = state");
        ctrlTr1.reset.setExpression("true");


        Transition ctrlTr2 = new Transition(ctrl, "ctrlTr2");
        ctrlDec.outgoingPort.link(ctrlTr2);
        ctrlInc.incomingPort.link(ctrlTr2);
        ctrlTr2.setGuardExpression("output_isPresent");
        ctrlTr2.setActions
                .setExpression("Increasing.Integrator.initialState = state");
        ctrlTr2.reset.setExpression("true");


        IOPort ctrlIn = new TypedIOPort(ctrl, "output");
        ctrlIn.setInput(true);


        IOPort ctrlSt = new TypedIOPort(ctrl, "state");
        ctrlSt.setInput(true);


        // the hybrid system director
        HSFSMDirector hsdir = new HSFSMDirector(hs, "HSFSMDirector");


        //hs.setDirector(hsdir);
        hsdir.controllerName.setExpression("Controller");


        //hsdir.addDebugListener(dbl);
        CTCompositeActor ctInc = new CTCompositeActor(hs, "Increasing");


        //ZeroOrderHold ctIncH = new ZeroOrderHold(ctInc, "Hold");
        Integrator ctIncI = new Integrator(ctInc, "Integrator");


        //ctIncI.addDebugListener(dbl);
        ZeroCrossingDetector ctIncD = new ZeroCrossingDetector(ctInc, "ZD");


        //ctIncD.addDebugListener(dbl);
        Expression ctIncGF = new Expression(ctInc, "EXPRESSION");


        TypedIOPort ctIncGFi = (TypedIOPort) ctIncGF.newPort("in");
        ctIncGFi.setInput(true);
        ctIncGFi.setTypeEquals(BaseType.DOUBLE);
        ctIncGF.output.setTypeEquals(BaseType.DOUBLE);
        ctIncGF.expression.setExpression("in - 0.2");


        // the ports
        TypedIOPort ctIncIn = (TypedIOPort) ctInc.newPort("input");
        ctIncIn.setInput(true);
        ctIncIn.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctIncOut = (TypedIOPort) ctInc.newPort("output");
        ctIncOut.setOutput(true);
        ctIncOut.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctIncSt = (TypedIOPort) ctInc.newPort("state");
        ctIncSt.setOutput(true);
        ctIncSt.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctIncTr = (TypedIOPort) ctInc.newPort("trig");
        ctIncTr.setOutput(true);
        ctIncTr.setTypeEquals(BaseType.DOUBLE);


        // connect ctInc
        //ctInc.connect(ctIncIn, ctIncH.input);
        //ctInc.connect(ctIncH.output, ctIncI.input);
        ctInc.connect(ctIncIn, ctIncI.input);


        Relation ctIncR2 = ctInc.newRelation("R2");
        ctIncGF.output.link(ctIncR2);
        ctIncD.trigger.link(ctIncR2);
        ctIncTr.link(ctIncR2);
        ctInc.connect(ctIncD.output, ctIncOut);


        //ctInc.connect(ctIncS.output, ctIncSt);
        TypedIORelation ctIncR1 = (TypedIORelation) ctInc
                .newRelation("CTIncR1");
        ctIncI.output.link(ctIncR1);


        //ctIncS.input.link(ctIncR1);
        ctIncGFi.link(ctIncR1);
        ctIncSt.link(ctIncR1);


        CTEmbeddedDirector ctIncDir = new CTEmbeddedDirector(ctInc, "CTIncDir");


        //ctIncDir.addDebugListener(dbl);
        CTCompositeActor ctDec = new CTCompositeActor(hs, "Decreasing");


        //ctDec.addDebugListener(dbl);
        //ZeroOrderHold ctDecH = new ZeroOrderHold(ctDec, "Hold");
        Integrator ctDecI = new Integrator(ctDec, "Integrator");
        Scale ctGain = new Scale(ctDec, "Gain");
        ZeroCrossingDetector ctDecD = new ZeroCrossingDetector(ctDec, "ZD");


        Expression ctDecGF = new Expression(ctDec, "EXPRESSION");
        TypedIOPort ctDecGFi = (TypedIOPort) ctDecGF.newPort("in");
        ctDecGFi.setInput(true);
        ctDecGFi.setTypeEquals(BaseType.DOUBLE);
        ctDecGF.output.setTypeEquals(BaseType.DOUBLE);
        ctDecGF.expression.setExpression("in + 0.0");


        // the ports
        TypedIOPort ctDecIn = (TypedIOPort) ctDec.newPort("input");
        ctDecIn.setInput(true);
        ctDecIn.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctDecOut = (TypedIOPort) ctDec.newPort("output");
        ctDecOut.setOutput(true);
        ctDecOut.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctDecSt = (TypedIOPort) ctDec.newPort("state");
        ctDecSt.setOutput(true);
        ctDecSt.setTypeEquals(BaseType.DOUBLE);


        TypedIOPort ctDecTr = (TypedIOPort) ctDec.newPort("trig");
        ctDecTr.setOutput(true);
        ctDecTr.setTypeEquals(BaseType.DOUBLE);


        // connect ctDec
        //ctDec.connect(ctDecIn, ctDecH.input);
        //ctDec.connect(ctDecH.output, ctGain.input);
        ctDec.connect(ctDecIn, ctGain.input);
        ctDec.connect(ctGain.output, ctDecI.input);


        Relation ctDecR2 = ctDec.newRelation("R2");
        ctDecGF.output.link(ctDecR2);
        ctDecD.trigger.link(ctDecR2);
        ctDecTr.link(ctDecR2);
        ctDec.connect(ctDecD.output, ctDecOut);


        //ctDec.connect(ctDecS.output, ctDecSt);
        TypedIORelation ctDecR1 = (TypedIORelation) ctDec
                .newRelation("CTDecR1");
        ctDecI.output.link(ctDecR1);


        //ctDecS.input.link(ctDecR1);
        ctDecGFi.link(ctDecR1);

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Examples of ptolemy.domains.ct.kernel.CTCompositeActor


        //dir.addDebugListener(new StreamListener());
        // ---------------------------------
        // Create the controller actors.
        // ---------------------------------
        CTCompositeActor sub = new CTCompositeActor(this, "Controllers");
        HSFSMDirector hsdir = new HSFSMDirector(sub, "HSFSMDirector");


        TypedIOPort subinPx = new TypedIOPort(sub, "inputPx");
        subinPx.setInput(true);
        subinPx.setOutput(false);


        TypedIOPort subinDPx = new TypedIOPort(sub, "inputDPx");
        subinDPx.setInput(true);
        subinDPx.setOutput(false);


        TypedIOPort subinDDPx = new TypedIOPort(sub, "inputDDPx");
        subinDDPx.setInput(true);
        subinDDPx.setOutput(false);


        TypedIOPort subinD3Px = new TypedIOPort(sub, "inputD3Px");
        subinD3Px.setInput(true);
        subinD3Px.setOutput(false);


        TypedIOPort subinD4Px = new TypedIOPort(sub, "inputD4Px");
        subinD4Px.setInput(true);
        subinD4Px.setOutput(false);


        TypedIOPort subinPz = new TypedIOPort(sub, "inputPz");
        subinPz.setInput(true);
        subinPz.setOutput(false);


        TypedIOPort subinDPz = new TypedIOPort(sub, "inputDPz");
        subinDPz.setInput(true);
        subinDPz.setOutput(false);


        TypedIOPort subinDDPz = new TypedIOPort(sub, "inputDDPz");
        subinDDPz.setInput(true);
        subinDDPz.setOutput(false);


        TypedIOPort subinD3Pz = new TypedIOPort(sub, "inputD3Pz");
        subinD3Pz.setInput(true);
        subinD3Pz.setOutput(false);


        TypedIOPort subinD4Pz = new TypedIOPort(sub, "inputD4Pz");
        subinD4Pz.setInput(true);
        subinD4Pz.setOutput(false);


        TypedIOPort subinAction = new TypedIOPort(sub, "inputAction");
        subinAction.setInput(true);
        subinAction.setOutput(false);


        TypedIOPort suboutVx = new TypedIOPort(sub, "outputVx");
        suboutVx.setInput(false);
        suboutVx.setOutput(true);


        TypedIOPort suboutVz = new TypedIOPort(sub, "outputVz");
        suboutVz.setInput(false);
        suboutVz.setOutput(true);


        FSMActor hsctrl = new FSMActor(sub, "HSController");
        hsdir.controllerName.setExpression("HSController");


        TypedIOPort hscInAct = new TypedIOPort(hsctrl, "inputAction");
        hscInAct.setInput(true);
        hscInAct.setOutput(false);


        TypedIOPort hscInPz = new TypedIOPort(hsctrl, "inputPz");
        hscInPz.setInput(true);
        hscInPz.setOutput(false);


        TypedIOPort hscInV = new TypedIOPort(hsctrl, "outputV");
        hscInV.setInput(true);
        hscInV.setOutput(false);


        TypedIOPort hscInR = new TypedIOPort(hsctrl, "outputR");
        hscInR.setInput(true);
        hscInR.setOutput(false);


        State hoverState = new State(hsctrl, "HoverState");
        State accelState = new State(hsctrl, "AccelState");
        State cruise1State = new State(hsctrl, "Cruise1State");
        State climbState = new State(hsctrl, "ClimbState");
        State cruise2State = new State(hsctrl, "Cruise2State");
        hsctrl.initialStateName.setExpression("HoverState");


        /* CTCompositeActor linHover = */_createLinearizer(sub, 0);


        /* CTCompositeActor linAccel = */_createLinearizer(sub, 1);


        /* CTCompositeActor linCruise1 = */_createLinearizer(sub, 2);


        /* CTCompositeActor linClimb = */_createLinearizer(sub, 3);


        /* CTCompositeActor linCruise2 = */_createLinearizer(sub, 4);
        hoverState.refinementName.setExpression("HoverCTSub");
        accelState.refinementName.setExpression("AccelCTSub");
        cruise1State.refinementName.setExpression("Cruise1CTSub");
        climbState.refinementName.setExpression("ClimbCTSub");
        cruise2State.refinementName.setExpression("Cruise2CTSub");


        Transition tr1 = new Transition(hsctrl, "tr1");
        hoverState.outgoingPort.link(tr1);
        accelState.incomingPort.link(tr1);
        tr1.setGuardExpression("inputAction");


        Transition tr2 = new Transition(hsctrl, "tr2");
        accelState.outgoingPort.link(tr2);
        cruise1State.incomingPort.link(tr2);
        tr2.setGuardExpression("(outputV >= 5.0) && (inputPz > -2.05) "
                + "&& (inputPz < -1.95)");


        Transition tr3 = new Transition(hsctrl, "tr3");
        cruise1State.outgoingPort.link(tr3);
        climbState.incomingPort.link(tr3);
        tr3.setGuardExpression("(outputV > 4.9) && (outputV < 5.1) "
                + "&& (outputR > -0.01) && (outputR < 0.01)");


        Transition tr4 = new Transition(hsctrl, "tr4");
        climbState.outgoingPort.link(tr4);
        cruise2State.incomingPort.link(tr4);


        //
        tr4.setGuardExpression("(outputV > 4.9) && (outputV < 5.1) "
                + "&& (inputPz > -10.05) && (inputPz < -9.95)");


        TypedIORelation rSubPx = new TypedIORelation(sub, "rSubPx");
        TypedIORelation rSubDPx = new TypedIORelation(sub, "rSubDPx");
        TypedIORelation rSubDDPx = new TypedIORelation(sub, "rSubDDPx");
        TypedIORelation rSubD3Px = new TypedIORelation(sub, "rSubD3Px");
        TypedIORelation rSubD4Px = new TypedIORelation(sub, "rSubD4Px");
        TypedIORelation rSubPz = new TypedIORelation(sub, "rSubPz");
        TypedIORelation rSubDPz = new TypedIORelation(sub, "rSubDPz");
        TypedIORelation rSubDDPz = new TypedIORelation(sub, "rSubDDPz");
        TypedIORelation rSubD3Pz = new TypedIORelation(sub, "rSubD3Pz");
        TypedIORelation rSubD4Pz = new TypedIORelation(sub, "rSubD4Pz");
        TypedIORelation rSubOutVx = new TypedIORelation(sub, "rSubOutVx");
        TypedIORelation rSubOutVz = new TypedIORelation(sub, "rSubOutVz");
        TypedIORelation rSubOutV = new TypedIORelation(sub, "rSubOutV");
        TypedIORelation rSubOutR = new TypedIORelation(sub, "rSubOutR");


        subinPx.link(rSubPx);
        subinDPx.link(rSubDPx);
        subinDDPx.link(rSubDDPx);
        subinD3Px.link(rSubD3Px);
        subinD4Px.link(rSubD4Px);
        subinPz.link(rSubPz);
        subinDPz.link(rSubDPz);
        subinDDPz.link(rSubDDPz);
        subinD3Pz.link(rSubD3Pz);
        subinD4Pz.link(rSubD4Pz);
        suboutVx.link(rSubOutVx);
        suboutVz.link(rSubOutVz);


        sub.connect(subinAction, hscInAct);


        //hscInPz.link(rSubPz);
        //hscInV.link(rSubOutV);
        //hscInR.link(rSubOutR);
        Iterator entities = sub.entityList().iterator();


        while (entities.hasNext()) {
            Entity ent = (Entity) entities.next();
            Port p = ent.getPort("inputPx");


            if (p != null) {
                p.link(rSubPx);
            }


            p = ent.getPort("inputDPx");


            if (p != null) {
                p.link(rSubDPx);
            }


            p = ent.getPort("inputDDPx");


            if (p != null) {
                p.link(rSubDDPx);
            }


            p = ent.getPort("inputD3Px");


            if (p != null) {
                p.link(rSubD3Px);
            }


            p = ent.getPort("inputD4Px");


            if (p != null) {
                p.link(rSubD4Px);
            }


            p = ent.getPort("inputPz");


            if (p != null) {
                p.link(rSubPz);
            }


            p = ent.getPort("inputDPz");


            if (p != null) {
                p.link(rSubDPz);
            }


            p = ent.getPort("inputDDPz");


            if (p != null) {
                p.link(rSubDDPz);
            }


            p = ent.getPort("inputD3Pz");


            if (p != null) {
                p.link(rSubD3Pz);
            }


            p = ent.getPort("inputD4Pz");


            if (p != null) {
                p.link(rSubD4Pz);
            }


            p = ent.getPort("outputVx");


            if (p != null) {
                p.link(rSubOutVx);
            }


            p = ent.getPort("outputVz");


            if (p != null) {
                p.link(rSubOutVz);
            }


            p = ent.getPort("outputV");


            if (p != null) {
                p.link(rSubOutV);
            }


            p = ent.getPort("outputR");


            if (p != null) {
                p.link(rSubOutR);
            }
        }


        // CTActors
        Clock clock = new Clock(this, "Clock");
        clock.period.setToken(new DoubleToken(1e308));
        clock.offsets.setExpression("{0.0, 20.0}");
        clock.values.setExpression("{false, true}");
        connect(clock.output, subinAction);


        HelicopterActor heli = new HelicopterActor(this, "Helicopter");
        ControllerActor ctrl = new ControllerActor(this, "Controller");
        XZHigherDerivatives higher = new XZHigherDerivatives(this,
                "XZHigherDerivatives");


        Integrator Px = new Integrator(this, "IntegratorPx");
        Integrator DPx = new Integrator(this, "IntegratorDPx");


        Integrator Pz = new Integrator(this, "IntegratorPz");
        Integrator DPz = new Integrator(this, "IntegratorDPz");


        Integrator Th = new Integrator(this, "IntegratorTh");
        Integrator DTh = new Integrator(this, "IntegratorDTh");


        Integrator Tm = new Integrator(this, "IntegratorTm");
        Integrator DTm = new Integrator(this, "IntegratorDTm");
        Integrator DDTm = new Integrator(this, "IntegratorDDTm");


        Integrator A = new Integrator(this, "IntegratorA");


        Scale MINUS = new Scale(this, "MINUS");


        //CTPlot ctPlot = new CTPlot(this, "CTPlot", ctPanel);
        XYPlotter xzPlot = new XYPlotter(this, "Helicopter Position");
        xzPlot.plot = new Plot();
        xzPlot.plot.setTitle("Helicopter Position");
        xzPlot.plot.setButtons(false);
        xzPlot.plot.setGrid(true);
        xzPlot.plot.setXRange(-1.0, 100.0);
        xzPlot.plot.setYRange(1.0, 12.0);
        xzPlot.plot.setSize(200, 200);
        xzPlot.plot.addLegend(0, "x, z");


        TimedPlotter vxPlot = new TimedPlotter(this, "Horizontal Speed");
        vxPlot.plot = new Plot();
        vxPlot.plot.setTitle("Horizontal Speed");
        vxPlot.plot.setButtons(false);
        vxPlot.plot.setGrid(true);
        vxPlot.plot.setXRange(0.0, 70.0);
        vxPlot.plot.setYRange(0.0, 6.0);
        vxPlot.plot.setSize(200, 200);
        vxPlot.plot.addLegend(0, "Vx");


        TimedPlotter pzPlot = new TimedPlotter(this, "Vertical Position");
        pzPlot.plot = new Plot();
        pzPlot.plot.setTitle("Vertical Position");
        pzPlot.plot.setButtons(false);
        pzPlot.plot.setGrid(true);
        pzPlot.plot.setXRange(0.0, 70.0);
        pzPlot.plot.setYRange(0.0, 12.0);
        pzPlot.plot.setSize(200, 200);
        pzPlot.plot.addLegend(0, "Pz");


        TimedPlotter thPlot = new TimedPlotter(this, "Pitch Angle");
        thPlot.plot = new Plot();
        thPlot.plot.setTitle("Pitch Angle");
        thPlot.plot.setButtons(false);
        thPlot.plot.setGrid(true);
        thPlot.plot.setXRange(0.0, 70.0);
        thPlot.plot.setYRange(-0.05, 0.05);
        thPlot.plot.setSize(200, 200);
        thPlot.plot.addLegend(0, "Th");


        // CTConnections
        TypedIORelation rPx = new TypedIORelation(this, "rPx");
        TypedIORelation rDPx = new TypedIORelation(this, "rDPx");
        TypedIORelation rDDPx = new TypedIORelation(this, "rDDPx");
        TypedIORelation rD3Px = new TypedIORelation(this, "rD3Px");
        TypedIORelation rD4Px = new TypedIORelation(this, "rD4Px");


        TypedIORelation rPz = new TypedIORelation(this, "rPz");
        TypedIORelation rDPz = new TypedIORelation(this, "rDPz");
        TypedIORelation rDDPz = new TypedIORelation(this, "rDDPz");
        TypedIORelation rD3Pz = new TypedIORelation(this, "rD3Pz");
        TypedIORelation rD4Pz = new TypedIORelation(this, "rD4Pz");


        TypedIORelation rTh = new TypedIORelation(this, "rTh");
        TypedIORelation rDTh = new TypedIORelation(this, "rDTh");
        TypedIORelation rDDTh = new TypedIORelation(this, "rDDTh");


        TypedIORelation rTm = new TypedIORelation(this, "rTm");
        TypedIORelation rDTm = new TypedIORelation(this, "rDTm");
        TypedIORelation rDDTm = new TypedIORelation(this, "rDDTm");


        TypedIORelation rA = new TypedIORelation(this, "rA");
        TypedIORelation rVx = new TypedIORelation(this, "rVx");
        TypedIORelation rVz = new TypedIORelation(this, "rVz");


        sub.getPort("outputVx").link(rVx);
        sub.getPort("outputVz").link(rVz);
        sub.getPort("inputPx").link(rPx);
        sub.getPort("inputDPx").link(rDPx);
        sub.getPort("inputDDPx").link(rDDPx);
        sub.getPort("inputD3Px").link(rD3Px);
        sub.getPort("inputD4Px").link(rD4Px);


        sub.getPort("inputPz").link(rPz);
        sub.getPort("inputDPz").link(rDPz);
        sub.getPort("inputDDPz").link(rDDPz);
        sub.getPort("inputD3Pz").link(rD3Pz);
        sub.getPort("inputD4Pz").link(rD4Pz);


        Px.output.link(rPx);
        DPx.output.link(rDPx);
        heli.outputDDPx.link(rDDPx);
        higher.outputD3Px.link(rD3Px);

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Examples of ptolemy.domains.ct.kernel.CTCompositeActor


    ///////////////////////////////////////////////////////////////////
    ////                         private methods                   ////
    CTCompositeActor _createLinearizer(TypedCompositeActor container, int code)
            throws NameDuplicationException, IllegalActionException {
        CTCompositeActor sub = new CTCompositeActor(container, "dummy");
        CTEmbeddedDirector subdir = new CTEmbeddedDirector(sub,
                "CTInnerDirector");


        TypedIOPort subinPx = new TypedIOPort(sub, "inputPx");
        subinPx.setInput(true);
        subinPx.setOutput(false);


        TypedIOPort subinDPx = new TypedIOPort(sub, "inputDPx");
        subinDPx.setInput(true);
        subinDPx.setOutput(false);


        TypedIOPort subinDDPx = new TypedIOPort(sub, "inputDDPx");
        subinDDPx.setInput(true);
        subinDDPx.setOutput(false);


        TypedIOPort subinD3Px = new TypedIOPort(sub, "inputD3Px");
        subinD3Px.setInput(true);
        subinD3Px.setOutput(false);


        TypedIOPort subinD4Px = new TypedIOPort(sub, "inputD4Px");
        subinD4Px.setInput(true);
        subinD4Px.setOutput(false);


        TypedIOPort subinPz = new TypedIOPort(sub, "inputPz");
        subinPz.setInput(true);
        subinPz.setOutput(false);


        TypedIOPort subinDPz = new TypedIOPort(sub, "inputDPz");
        subinDPz.setInput(true);
        subinDPz.setOutput(false);


        TypedIOPort subinDDPz = new TypedIOPort(sub, "inputDDPz");
        subinDDPz.setInput(true);
        subinDDPz.setOutput(false);


        TypedIOPort subinD3Pz = new TypedIOPort(sub, "inputD3Pz");
        subinD3Pz.setInput(true);
        subinD3Pz.setOutput(false);


        TypedIOPort subinD4Pz = new TypedIOPort(sub, "inputD4Pz");
        subinD4Pz.setInput(true);
        subinD4Pz.setOutput(false);


        TypedIOPort suboutVx = new TypedIOPort(sub, "outputVx");
        suboutVx.setInput(false);
        suboutVx.setOutput(true);


        TypedIOPort suboutVz = new TypedIOPort(sub, "outputVz");
        suboutVz.setInput(false);
        suboutVz.setOutput(true);


        TypedIOPort suboutV = new TypedIOPort(sub, "outputV");
        suboutV.setInput(false);
        suboutV.setOutput(true);


        TypedIOPort suboutR = new TypedIOPort(sub, "outputR");
        suboutR.setInput(false);
        suboutR.setOutput(true);


        // ---------------------------------
        // Create the actors.
        // ---------------------------------
        TypedAtomicActor lin = null;
        ThresholdMonitor mon1 = null;
        ThresholdMonitor mon2 = null;


        switch (code) {
        case 0: // hover state
            sub.setName("HoverCTSub");
            lin = new HoverLinearizer(sub, "Hover");
            break;


        case 1: // acc state
            sub.setName("AccelCTSub");
            lin = new AccelerLinearizer(sub, "Accel");
            mon1 = new ThresholdMonitor(sub, "Mon1");
            break;


        case 2: // first cruise state
            sub.setName("Cruise1CTSub");
            lin = new CruiseLinearizer(sub, "Cruise1");
            mon1 = new ThresholdMonitor(sub, "Mon1");
            mon2 = new ThresholdMonitor(sub, "Mon2");
            break;


        case 3: // climb state
            sub.setName("ClimbCTSub");
            lin = new ClimbLinearizer(sub, "Climb");
            mon1 = new ThresholdMonitor(sub, "Mon1");
            mon2 = new ThresholdMonitor(sub, "Mon2");
            break;


        case 4: // second cruise state
            sub.setName("Cruise2CTSub");
            lin = new CruiseLinearizer(sub, "Cruise2");


            Parameter param = (Parameter) lin.getAttribute("CPz");
            param.setToken(new DoubleToken(-10.0));
            param = (Parameter) lin.getAttribute("CVx");
            param.setToken(new DoubleToken(5.0));
            break;


        default:
            break;
        }


        /*
         ZeroOrderHold hPx = new ZeroOrderHold(sub, "HPx");
         ZeroOrderHold hDPx = new ZeroOrderHold(sub, "HDPx");
         ZeroOrderHold hDDPx = new ZeroOrderHold(sub, "HDDPx");
         ZeroOrderHold hD3Px = new ZeroOrderHold(sub, "HD3Px");
         ZeroOrderHold hD4Px = new ZeroOrderHold(sub, "HD4Px");
         ZeroOrderHold hPz = new ZeroOrderHold(sub, "HPz");
         ZeroOrderHold hDPz = new ZeroOrderHold(sub, "HDPz");
         ZeroOrderHold hDDPz = new ZeroOrderHold(sub, "HDDPz");
         ZeroOrderHold hD3Pz = new ZeroOrderHold(sub, "HD3Pz");
         ZeroOrderHold hD4Pz = new ZeroOrderHold(sub, "HD4Pz");


         sub.connect(hPx.input, subinPx);
         sub.connect(hDPx.input, subinDPx);
         sub.connect(hDDPx.input, subinDDPx);
         sub.connect(hD3Px.input, subinD3Px);
         sub.connect(hD4Px.input, subinD4Px);


         Relation rInPz = sub.connect(hPz.input, subinPz);
         sub.connect(hDPz.input, subinDPz);
         sub.connect(hDDPz.input, subinDDPz);
         sub.connect(hD3Pz.input, subinD3Pz);
         sub.connect(hD4Pz.input, subinD4Pz);


         sub.connect(hPx.output, (ComponentPort)lin.getPort("inputPx"));
         sub.connect(hDPx.output, (ComponentPort)lin.getPort("inputDPx"));
         sub.connect(hDDPx.output, (ComponentPort)lin.getPort("inputDDPx"));
         sub.connect(hD3Px.output, (ComponentPort)lin.getPort("inputD3Px"));
         sub.connect(hD4Px.output, (ComponentPort)lin.getPort("inputD4Px"));


         sub.connect(hPz.output, (ComponentPort)lin.getPort("inputPz"));
         sub.connect(hDPz.output, (ComponentPort)lin.getPort("inputDPz"));
         sub.connect(hDDPz.output, (ComponentPort)lin.getPort("inputDDPz"));
         sub.connect(hD3Pz.output, (ComponentPort)lin.getPort("inputD3Pz"));
         sub.connect(hD4Pz.output, (ComponentPort)lin.getPort("inputD4Pz"));
         */
        sub.connect(subinPx, (ComponentPort) lin.getPort("inputPx"));
        sub.connect(subinDPx, (ComponentPort) lin.getPort("inputDPx"));
        sub.connect(subinDDPx, (ComponentPort) lin.getPort("inputDDPx"));
        sub.connect(subinD3Px, (ComponentPort) lin.getPort("inputD3Px"));
        sub.connect(subinD4Px, (ComponentPort) lin.getPort("inputD4Px"));


        Relation rInPz = sub.connect(subinPz, (ComponentPort) lin
                .getPort("inputPz"));


        //sub.connect(hPz.output, (ComponentPort)lin.getPort("inputPz"));
        sub.connect(subinDPz, (ComponentPort) lin.getPort("inputDPz"));
        sub.connect(subinDDPz, (ComponentPort) lin.getPort("inputDDPz"));
        sub.connect(subinD3Pz, (ComponentPort) lin.getPort("inputD3Pz"));
        sub.connect(subinD4Pz, (ComponentPort) lin.getPort("inputD4Pz"));


        sub.connect(suboutVx, (ComponentPort) lin.getPort("outputVx"));
        sub.connect(suboutVz, (ComponentPort) lin.getPort("outputVz"));


        Relation rV = sub.connect(suboutV, (ComponentPort) lin
                .getPort("outputV"));
        Relation rR = sub.connect(suboutR, (ComponentPort) lin
                .getPort("outputR"));


        // connect and set the monitors
        Parameter p = null;

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