Adapt Cpp code to increased use of calculatedParameter, ticket:4027

This follows up 25249c8
"Fix initialization problems containing parameters having implicitly fixed=false"

- move initialization details to the three sub-methods
  initializeMemory/FreeVariables/BoundVariables
- in particular place initParameterEquations() in initializeBoundVariables
- avoid duplicate initialization steps in FMUWrapper and FMU2Wrapper
- force HARDCODED_START_VALUES for FMI export -- this is needed for FMI2,
  because calculatedParameters have no values in the XML file;
  it is also needed for FMI1 tests that re-import FMUs (e.g. Crane*)

Author: rfranke

Compiler/Template/CodegenCpp.tpl

@@ -5871,32 +5871,13 @@ case SIMCODE(modelInfo = MODELINFO(__),makefileParams = MAKEFILE_PARAMS(__))  th
    let initialequations  = functionInitialEquations(initialEquations,"initEquation",simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation, false, true, false)
    let boundparameterequations  = functionInitialEquations(parameterEquations,"initParameterEquation",simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation, false, true, true)
    <<
+   // convenience function for full initialization
    void <%lastIdentOfPath(modelInfo.name)%>Initialize::initialize()
    {
       initializeMemory();
-
-      #if !defined(FMU_BUILD)
-        #if defined(__vxworks)
-        _reader  = shared_ptr<IPropertyReader>(new XmlPropertyReader("/SYSTEM/bundles/com.boschrexroth.<%modelname%>/<%fileNamePrefix%>_init.xml"));
-        #else
-        _reader  =  shared_ptr<IPropertyReader>(new XmlPropertyReader("<%makefileParams.compileDir%>/<%fileNamePrefix%>_init.xml"));
-        #endif
-        _reader->readInitialValues(*this, getSimVars());
-      #endif
       initializeFreeVariables();
-      /*Start complex expressions */
-      <%complexStartExpressions%>
-      /* End complex expression */
-      <%if(boolAnd(boolNot(Flags.isSet(Flags.HARDCODED_START_VALUES)), Flags.isSet(Flags.GEN_DEBUG_SYMBOLS))) then 'checkParameters();' else '//checkParameters();'%>
-      initParameterEquations();
       initializeBoundVariables();
-      <%if(boolAnd(boolNot(Flags.isSet(Flags.HARDCODED_START_VALUES)), Flags.isSet(Flags.GEN_DEBUG_SYMBOLS))) then 'checkVariables();' else '//checkVariables();'%>
       saveAll();
-
-      <%lastIdentOfPath(modelInfo.name)%>WriteOutput::initialize();
-      <%lastIdentOfPath(modelInfo.name)%>Jacobian::initialize();
-      <%lastIdentOfPath(modelInfo.name)%>Jacobian::initializeColoredJacobianA();
-      //delete reader;
    }
 
    void <%lastIdentOfPath(modelInfo.name)%>Initialize::initializeMemory()
@@ -5910,6 +5891,10 @@ case SIMCODE(modelInfo = MODELINFO(__),makefileParams = MAKEFILE_PARAMS(__))  th
       initializeAlgloopSolverVariables();
       //init alg loop vars
       <%initAlgloopvars%>
+
+      <%lastIdentOfPath(modelInfo.name)%>WriteOutput::initialize();
+      <%lastIdentOfPath(modelInfo.name)%>Jacobian::initialize();
+      <%lastIdentOfPath(modelInfo.name)%>Jacobian::initializeColoredJacobianA();
    }
    <%if(boolAnd(boolNot(Flags.isSet(Flags.HARDCODED_START_VALUES)), Flags.isSet(Flags.GEN_DEBUG_SYMBOLS))) then
      <<
@@ -5940,6 +5925,15 @@ case SIMCODE(modelInfo = MODELINFO(__),makefileParams = MAKEFILE_PARAMS(__))  th
    %>
    void <%lastIdentOfPath(modelInfo.name)%>Initialize::initializeFreeVariables()
    {
+      #if !defined(FMU_BUILD)
+        #if defined(__vxworks)
+        _reader  = shared_ptr<IPropertyReader>(new XmlPropertyReader("/SYSTEM/bundles/com.boschrexroth.<%modelname%>/<%fileNamePrefix%>_init.xml"));
+        #else
+        _reader  =  shared_ptr<IPropertyReader>(new XmlPropertyReader("<%makefileParams.compileDir%>/<%fileNamePrefix%>_init.xml"));
+        #endif
+        _reader->readInitialValues(*this, getSimVars());
+      #endif
+
       _simTime = 0.0;
       _state_var_reinitialized = false;
 
@@ -5968,13 +5962,21 @@ case SIMCODE(modelInfo = MODELINFO(__),makefileParams = MAKEFILE_PARAMS(__))  th
       //init inputs
       stepStarted(0.0);
    #endif
+
+      /*Start complex expressions */
+      <%complexStartExpressions%>
+      /* End complex expression */
+      <%if(boolAnd(boolNot(Flags.isSet(Flags.HARDCODED_START_VALUES)), Flags.isSet(Flags.GEN_DEBUG_SYMBOLS))) then 'checkParameters();' else '//checkParameters();'%>
+                                                                                      //delete reader;
    }
 
    void <%lastIdentOfPath(modelInfo.name)%>Initialize::initializeBoundVariables()
    {
       //variable decls
       <%varDecls%>
 
+      initParameterEquations();
+
       //construct external objects once
       if (!_constructedExternalObjects)
         constructExternalObjects();
@@ -5993,14 +5995,16 @@ case SIMCODE(modelInfo = MODELINFO(__),makefileParams = MAKEFILE_PARAMS(__))  th
       //init alg loop solvers
       <%initAlgloopSolvers%>
 
-      for(int i=0;i<_dimZeroFunc;i++)
+      for(int i = 0; i < _dimZeroFunc; i++)
       {
          getCondition(i);
       }
 
       //initialAnalyticJacobian();
 
       <%functionInitDelay(delayedExps,simCode , &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)%>
+
+      <%if(boolAnd(boolNot(Flags.isSet(Flags.HARDCODED_START_VALUES)), Flags.isSet(Flags.GEN_DEBUG_SYMBOLS))) then 'checkVariables();' else '//checkVariables();'%>
    }
 
    void <%lastIdentOfPath(modelInfo.name)%>Initialize::initEquations()

Compiler/Template/CodegenFMUCpp.tpl

@@ -75,6 +75,7 @@ case SIMCODE(modelInfo=modelInfo as MODELINFO(__)) then
   let numBoolVars = numBoolvars(modelInfo)
   let numStringVars = numStringvars(modelInfo)
 
+  let flag = Flags.set(Flags.HARDCODED_START_VALUES, true)
   let cpp = CodegenCpp.translateModel(simCode)
   let()= textFile(fmuWriteOutputHeaderFile(simCode , &extraFuncs , &extraFuncsDecl, ""),'OMCpp<%fileNamePrefix%>WriteOutput.h')
   let()= textFile(fmuModelHeaderFile(simCode, extraFuncs, extraFuncsDecl, "",guid, FMUVersion), 'OMCpp<%fileNamePrefix%>FMU.h')

Compiler/Template/SimCodeTV.mo

@@ -3339,6 +3339,12 @@ package Flags
   constant ConfigFlag DAE_MODE;
   constant ConfigFlag EQUATIONS_PER_FILE;
 
+  function set
+    input DebugFlag inFlag;
+    input Boolean inValue;
+    output Boolean outOldValue;
+  end set;
+
   function isSet
     input DebugFlag inFlag;
     output Boolean outValue;

SimulationRuntime/cpp/Include/FMU/FMUWrapper.h

@@ -151,10 +151,12 @@ class FMUWrapper : public IFMUInterface
     virtual fmiStatus initialize(fmiBoolean toleranceControlled, fmiReal relativeTolerance, fmiEventInfo& eventInfo)
     {
       //LOGGER_WRITE("Initialize",LC_OTHER,LL_DEBUG);
-      // TODO: here is some code duplication to SimulationRuntime/cpp/Core/Solver/Initailization.cpp
-      Logger::write("Initializing memory and variables",LC_MOD,LL_DEBUG);
-      _model->initialize();
+      Logger::write("Initializing memory and variables", LC_MOD, LL_DEBUG);
+      _model->initializeMemory();
+      _model->initializeFreeVariables();
       _model->initializeBoundVariables();
+      _model->saveAll();
+
       _model->setInitial(true);
 
       bool restart=true;

SimulationRuntime/cpp/Include/FMU2/FMU2Wrapper.cpp

@@ -64,7 +64,8 @@ FMU2Wrapper::FMU2Wrapper(fmi2String instanceName, fmi2String GUID,
   _GUID = GUID;
   _logCategories = loggingOn? 0xFFFF: 0x0000;
   _model = createSystemFMU(&_global_settings);
-  _model->initialize();
+  _model->initializeMemory();
+  _model->initializeFreeVariables();
   _string_buffer.resize(_model->getDimString());
   _clock_buffer = new bool[_model->getDimClock()];
   std::fill(_clock_buffer, _clock_buffer + _model->getDimClock(), false);
@@ -153,8 +154,10 @@ fmi2Status FMU2Wrapper::reset()
 
 void FMU2Wrapper::updateModel()
 {
-  if (_model->initial())
+  if (_model->initial()) {
     _model->initializeBoundVariables();
+    _model->saveAll();
+  }
   _model->evaluateAll();     // derivatives and algebraic variables
   _need_update = false;
 }