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Delay exitInitializationMode() until first call to doStep() #420

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merged 3 commits into from
Apr 29, 2023
Merged

Delay exitInitializationMode() until first call to doStep() #420

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4969b61
Handle FMIDiscreteFloat{32|64}Type in simulinkVariableType()
t-sommer Apr 29, 2023
2ffe5f5
Set noSetFMUStatePriorToCurrentPoint=true in fmi{2|3}DoStep()
t-sommer Apr 29, 2023
740a267
Delay exitInitializationMode() until first call to doStep()
t-sommer Apr 29, 2023
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106 changes: 82 additions & 24 deletions src/sfun_fmurun.c
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Original file line number Diff line number Diff line change
Expand Up @@ -211,23 +211,39 @@ static FMIVariableType variableType(SimStruct *S, Parameter parameter, int index
}

static DTypeId simulinkVariableType(SimStruct *S, Parameter parameter, size_t index) {

const mxArray *param = ssGetSFcnParam(S, parameter);
const real_T realValue = ((real_T *)mxGetData(param))[index];
const int intValue = (int)realValue;
FMIVariableType type = (FMIVariableType)intValue;
const FMIVariableType type = (FMIVariableType)intValue;

switch (type) {
case FMIFloat32Type: return SS_SINGLE;
case FMIFloat64Type: return SS_DOUBLE;
case FMIInt8Type: return SS_INT8;
case FMIUInt8Type: return SS_UINT8;
case FMIInt16Type: return SS_INT16;
case FMIUInt16Type: return SS_UINT16;
case FMIInt32Type: return SS_INT32;
case FMIUInt32Type: return SS_UINT32;
case FMIInt64Type: return SS_INT32;
case FMIUInt64Type: return SS_UINT32;
case FMIBooleanType: return SS_BOOLEAN;
default: return -1; // error
case FMIFloat32Type:
case FMIDiscreteFloat32Type:
return SS_SINGLE;
case FMIFloat64Type:
case FMIDiscreteFloat64Type:
return SS_DOUBLE;
case FMIInt8Type:
return SS_INT8;
case FMIUInt8Type:
return SS_UINT8;
case FMIInt16Type:
return SS_INT16;
case FMIUInt16Type:
return SS_UINT16;
case FMIInt32Type:
return SS_INT32;
case FMIUInt32Type:
return SS_UINT32;
case FMIInt64Type:
return SS_INT32;
case FMIUInt64Type:
return SS_UINT32;
case FMIBooleanType:
return SS_BOOLEAN;
default:
return -1; // error
}
}

Expand All @@ -245,6 +261,22 @@ static int ny(SimStruct *S) {
return (int)mxGetNumberOfElements(ssGetSFcnParam(S, outputPortWidthsParam));
}

static bool initialized(SimStruct* S) {

void** p = ssGetPWork(S);

FMIInstance* instance = (FMIInstance*)p[0];

switch (instance->state) {
case FMI2EventModeState:
case FMI2ContinuousTimeModeState:
case FMI2StepCompleteState:
return true;
default:
return false;
}
}

static void logCall(SimStruct *S, const char* message) {

FILE *logfile = NULL;
Expand Down Expand Up @@ -839,6 +871,8 @@ static void update(SimStruct *S, bool inputEvent) {
nextEventTime = instance->fmi2Functions->eventInfo.nextEventTime;
} else {
// TODO
upcomingTimeEvent = false;
nextEventTime = 0;
}

// Work around for the event handling in Dymola FMUs:
Expand Down Expand Up @@ -1057,7 +1091,6 @@ static void initialize(SimStruct *S) {
CHECK_ERROR(setParameters(S, false, false));
CHECK_STATUS(FMI2SetupExperiment(instance, toleranceDefined, relativeTolerance(S), time, stopTime > time, stopTime));
CHECK_STATUS(FMI2EnterInitializationMode(instance));
CHECK_STATUS(FMI2ExitInitializationMode(instance));

} else {

Expand All @@ -1070,12 +1103,17 @@ static void initialize(SimStruct *S) {
CHECK_ERROR(setParameters(S, false, false));

CHECK_STATUS(FMI3EnterInitializationMode(instance, toleranceDefined, relativeTolerance(S), time, stopTime > time, stopTime));
CHECK_STATUS(FMI3ExitInitializationMode(instance));

}

if (isME(S)) {

if (isFMI2(S)) {
CHECK_STATUS(FMI2ExitInitializationMode(instance));
} else {
CHECK_STATUS(FMI3ExitInitializationMode(instance));
}

// initialize the continuous states
real_T *x = ssGetContStates(S);

Expand Down Expand Up @@ -1222,7 +1260,6 @@ static void mdlEnable(SimStruct *S) {
if (!isFMI1(S)) {
strcat(fmuResourceLocation, "/resources");
}


// instantiate the FMU
if (isFMI1(S)) {
Expand Down Expand Up @@ -1737,16 +1774,25 @@ static void mdlOutputs(SimStruct *S, int_T tid) {
const time_T h = time - instance->time;

if (h > 0) {

if (!initialized(S)) {
if (isFMI2(S)) {
CHECK_STATUS(FMI2ExitInitializationMode(instance));
} else if (isFMI3(S)) {
CHECK_STATUS(FMI3ExitInitializationMode(instance));
}
}

if (isFMI1(S)) {
CHECK_STATUS(FMI1DoStep(instance, instance->time, h, fmi1True));
} else if (isFMI2(S)) {
CHECK_STATUS(FMI2DoStep(instance, instance->time, h, fmi2False));
CHECK_STATUS(FMI2DoStep(instance, instance->time, h, fmi2True));
} else {
fmi3Boolean eventEncountered;
fmi3Boolean terminateSimulation;
fmi3Boolean earlyReturn;
fmi3Float64 lastSuccessfulTime;
CHECK_STATUS(FMI3DoStep(instance, instance->time, h, fmi2False, &eventEncountered, &terminateSimulation, &earlyReturn, &lastSuccessfulTime));
CHECK_STATUS(FMI3DoStep(instance, instance->time, h, fmi3True, &eventEncountered, &terminateSimulation, &earlyReturn, &lastSuccessfulTime));
// TODO: handle terminateSimulation == true
}
}
Expand All @@ -1760,6 +1806,10 @@ static void mdlOutputs(SimStruct *S, int_T tid) {
#if defined(MDL_UPDATE)
static void mdlUpdate(SimStruct *S, int_T tid) {

void** p = ssGetPWork(S);

FMIInstance* instance = (FMIInstance*)p[0];

logDebug(S, "mdlUpdate(tid=%d, time=%.16g, majorTimeStep=%d)", tid, ssGetT(S), ssIsMajorTimeStep(S));

bool inputEvent;
Expand Down Expand Up @@ -1875,21 +1925,29 @@ static void mdlTerminate(SimStruct *S) {
if (isFMI1(S)) {

if (isME(S)) {
CHECK_STATUS(FMI1Terminate(instance));
if (initialized(S)) {
CHECK_STATUS(FMI1Terminate(instance));
}
FMI1FreeModelInstance(instance);
} else {
CHECK_STATUS(FMI1TerminateSlave(instance));
if (initialized(S)) {
CHECK_STATUS(FMI1TerminateSlave(instance));
}
FMI1FreeSlaveInstance(instance);
}

} else if (isFMI2(S)) {

CHECK_STATUS(FMI2Terminate(instance));

if (initialized(S)) {
CHECK_STATUS(FMI2Terminate(instance));
}
FMI2FreeInstance(instance);

} else {

CHECK_STATUS(FMI3Terminate(instance));

if (initialized(S)) {
CHECK_STATUS(FMI3Terminate(instance));
}
FMI3FreeInstance(instance);

}
Expand Down