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ComponentFMUCS.cpp
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ComponentFMUCS.cpp
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/*
* This file is part of OpenModelica.
*
* Copyright (c) 1998-CurrentYear, Open Source Modelica Consortium (OSMC),
* c/o Linköpings universitet, Department of Computer and Information Science,
* SE-58183 Linköping, Sweden.
*
* All rights reserved.
*
* THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3 LICENSE OR
* THIS OSMC PUBLIC LICENSE (OSMC-PL) VERSION 1.2.
* ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES
* RECIPIENT'S ACCEPTANCE OF THE OSMC PUBLIC LICENSE OR THE GPL VERSION 3,
* ACCORDING TO RECIPIENTS CHOICE.
*
* The OpenModelica software and the Open Source Modelica
* Consortium (OSMC) Public License (OSMC-PL) are obtained
* from OSMC, either from the above address,
* from the URLs: http://www.ida.liu.se/projects/OpenModelica or
* http://www.openmodelica.org, and in the OpenModelica distribution.
* GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html.
*
* This program is distributed WITHOUT ANY WARRANTY; without
* even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE, EXCEPT AS EXPRESSLY SET FORTH
* IN THE BY RECIPIENT SELECTED SUBSIDIARY LICENSE CONDITIONS OF OSMC-PL.
*
* See the full OSMC Public License conditions for more details.
*
*/
#include "ComponentFMUCS.h"
#include "Flags.h"
#include "Logging.h"
#include "Model.h"
#include "OMSFileSystem.h"
#include "ssd/Tags.h"
#include "System.h"
#include "SystemTLM.h"
#include "SystemWC.h"
#include <fmilib.h>
#include <JM/jm_portability.h>
#include <RegEx.h>
#include <unordered_set>
#include <cmath>
oms::ComponentFMUCS::ComponentFMUCS(const ComRef& cref, System* parentSystem, const std::string& fmuPath)
: oms::Component(cref, oms_component_fmu, parentSystem, fmuPath), fmuInfo(fmuPath)
{
}
oms::ComponentFMUCS::~ComponentFMUCS()
{
fmi2_import_free_instance(fmu);
fmi2_import_destroy_dllfmu(fmu);
fmi2_import_free(fmu);
fmi_import_free_context(context);
}
oms::Component* oms::ComponentFMUCS::NewComponent(const oms::ComRef& cref, oms::System* parentSystem, const std::string& fmuPath)
{
if (!cref.isValidIdent())
{
logError_InvalidIdent(cref);
return NULL;
}
if (!parentSystem)
{
logError_InternalError;
return NULL;
}
filesystem::path temp_root(parentSystem->getModel().getTempDirectory());
filesystem::path temp_temp = temp_root / "temp";
filesystem::path relFMUPath = parentSystem->copyResources() ? (filesystem::path("resources") / (parentSystem->getUniqueID() + "_" + std::string(cref) + ".fmu")) : filesystem::path(fmuPath);
filesystem::path absFMUPath = temp_root / relFMUPath;
ComponentFMUCS* component = new ComponentFMUCS(cref, parentSystem, relFMUPath.generic_string());
/* parse the modeldescription.xml at top level to get the GUID to check whether instance already exist
* so we don't need to unpack the fmu, and also parse start values before instantiating fmu's
*/
std::string guid_ = "";
filesystem::path modelDescriptionPath;
/*
* check for modeldescription path from file system or temp directory
* because when importingSnapshot the path will be resources/0001_tank1.fmu
*/
if (parentSystem->copyResources())
modelDescriptionPath = fmuPath;
else
modelDescriptionPath = parentSystem->getModel().getTempDirectory() / filesystem::path(fmuPath);
component->values.parseModelDescription(modelDescriptionPath, guid_);
/*
* check if instance of an fmu already exist by using guid of the fmu
* if instance exist use the existing instance path
* eg: tank1 => resources /0001_tank1.fmu
* tank2 => resources /0001_tank1.fmu
*/
auto it = parentSystem->fmuGuid.find(guid_);
if (it == parentSystem->fmuGuid.end())
parentSystem->fmuGuid[guid_] = relFMUPath;
else
{
// instance exists and update the FMU path to already existing instance
relFMUPath = parentSystem->fmuGuid[guid_];
absFMUPath = temp_root / relFMUPath;
component->setPath(relFMUPath.generic_string());
}
//std::cout <<"\nFmuInstances: " << cref.c_str() << "=" << guid_ << "=" << relFMUPath.generic_string();
component->callbacks.malloc = malloc;
component->callbacks.calloc = calloc;
component->callbacks.realloc = realloc;
component->callbacks.free = free;
component->callbacks.logger = oms::fmiLogger;
component->callbacks.log_level = jm_log_level_all;
component->callbacks.context = 0;
// Copy the resource to the temp directory of the model? We don't want have
// to copy resources if importing an SSP file or snapshot.
if (parentSystem->copyResources() && !filesystem::exists(absFMUPath))
oms_copy_file(filesystem::path(fmuPath), absFMUPath);
// set temp directory
filesystem::path tempDir = temp_temp / relFMUPath.stem();
component->setTempDir(tempDir.string());
bool dirExist = true;
if (!filesystem::is_directory(tempDir))
{
dirExist = false;
if (!filesystem::create_directory(tempDir))
{
logError("Creating temp directory for component \"" + std::string(cref) + "\" failed");
return NULL;
}
}
component->context = fmi_import_allocate_context(&component->callbacks);
// check version of FMU
fmi_version_enu_t version;
if (dirExist)
version = fmi_import_get_fmi_version_unzipped(component->context, tempDir.generic_string().c_str());
else
version = fmi_import_get_fmi_version(component->context, absFMUPath.string().c_str(), component->getTempDir().c_str());
if (fmi_version_2_0_enu != version)
{
logError("Unsupported FMI version: " + std::string(fmi_version_to_string(version)));
delete component;
return NULL;
}
// parse modelDescription.xml
component->fmu = fmi2_import_parse_xml(component->context, component->getTempDir().c_str(), 0);
if (!component->fmu)
{
logError("Error parsing modelDescription.xml");
delete component;
return NULL;
}
fmi2_fmu_kind_enu_t fmuKind = fmi2_import_get_fmu_kind(component->fmu);
if (!(fmi2_fmu_kind_cs == fmuKind || fmi2_fmu_kind_me_and_cs == fmuKind))
{
logError("FMU \"" + std::string(cref) + "\" doesn't support co-simulation mode.");
delete component;
return NULL;
}
// update FMU info
component->fmuInfo.update(version, component->fmu);
component->callbackFunctions.logger = oms::fmi2logger;
component->callbackFunctions.allocateMemory = calloc;
component->callbackFunctions.freeMemory = free;
component->callbackFunctions.componentEnvironment = component->fmu;
component->callbackFunctions.stepFinished = NULL;
// create a list of all variables
fmi2_import_variable_list_t *varList = fmi2_import_get_variable_list(component->fmu, 0);
size_t varListSize = fmi2_import_get_variable_list_size(varList);
component->allVariables.reserve(varListSize);
component->exportVariables.reserve(varListSize);
for (size_t i = 0; i < varListSize; ++i)
{
fmi2_import_variable_t* var = fmi2_import_get_variable(varList, i);
oms::Variable v(var);
if (v.getIndex() != i)
{
logError("Index mismatch " + std::to_string(v.getIndex()) + " != " + std::to_string(i) + ".\nPlease report the problem to the dev team: https://github.com/OpenModelica/OMSimulator/issues/new?assignees=&labels=&template=bug_report.md");
fmi2_import_free_variable_list(varList);
delete component;
return NULL;
}
component->allVariables.push_back(v);
component->exportVariables.push_back(true);
}
fmi2_import_free_variable_list(varList);
// extract continuous-time derivatives
varList = fmi2_import_get_derivatives_list(component->fmu);
varListSize = fmi2_import_get_variable_list_size(varList);
for (size_t i = 0; i < varListSize; ++i)
{
fmi2_import_variable_t* var = fmi2_import_get_variable(varList, i);
size_t originalIndex = fmi2_import_get_variable_original_order(var);
component->allVariables[originalIndex].markAsContinuousTimeDer();
component->derivatives.push_back(originalIndex);
}
fmi2_import_free_variable_list(varList);
// mark states and continuous-time states
for (size_t i = 0; i < component->allVariables.size(); ++i)
{
if (component->allVariables[i].isContinuousTimeDer())
component->allVariables[component->allVariables[i].getStateIndex()].markAsContinuousTimeState(i);
else if (component->allVariables[i].isDer())
component->allVariables[component->allVariables[i].getStateIndex()].markAsState(i);
}
// create some special variable maps
for (auto const& v : component->allVariables)
{
if (v.isInput())
component->inputs.push_back(v.getIndex());
else if (v.isOutput())
{
component->outputs.push_back(v.getIndex());
component->outputsGraph.addNode(Connector(oms_causality_output, v.getType(), v.getCref(), component->getFullCref()));
}
else if (v.isParameter())
component->parameters.push_back(v.getIndex());
else if (v.isCalculatedParameter())
component->calculatedParameters.push_back(v.getIndex());
if (v.isInitialUnknown())
component->initialUnknownsGraph.addNode(Connector(v.getCausality(), v.getType(), v.getCref(), component->getFullCref()));
component->exportVariables.push_back(v.isInput() || v.isOutput());
}
// create connectors
while (component->connectors.size() > 0 && NULL == component->connectors.back())
component->connectors.pop_back();
int j = 1;
int size = 1 + component->inputs.size();
for (const auto& i : component->inputs)
component->connectors.push_back(new Connector(oms_causality_input, component->allVariables[i].getType(), component->allVariables[i].getCref(), component->getFullCref(), j++/(double)size));
j = 1;
size = 1 + component->outputs.size();
for (const auto& i : component->outputs)
component->connectors.push_back(new Connector(oms_causality_output, component->allVariables[i].getType(), component->allVariables[i].getCref(), component->getFullCref(), j++/(double)size));
for (const auto& i : component->parameters)
component->connectors.push_back(new Connector(oms_causality_parameter, component->allVariables[i].getType(), component->allVariables[i].getCref(), component->getFullCref()));
for (const auto& i : component->calculatedParameters)
component->connectors.push_back(new Connector(oms_causality_calculatedParameter, component->allVariables[i].getType(), component->allVariables[i].getCref(), component->getFullCref()));
component->connectors.push_back(NULL);
component->element.setConnectors(&component->connectors[0]);
if (oms_status_ok != component->initializeDependencyGraph_initialUnknowns())
{
logError(std::string(cref) + ": Couldn't initialize dependency graph for initial unknowns.");
delete component;
return NULL;
}
if (oms_status_ok != component->initializeDependencyGraph_outputs())
{
logError(std::string(cref) + ": Couldn't initialize dependency graph for simulation unknowns.");
delete component;
return NULL;
}
// set units to connector
for (auto &connector : component->connectors)
{
if (connector)
{
oms::ComRef connectorCref = connector->getName();
std::string unitName = component->values.getUnitFromModeldescription(connectorCref);
if (!unitName.empty())
connector->connectorUnits[unitName] = component->values.modeldescriptionUnitDefinitions[unitName];
}
}
return component;
}
oms::Component* oms::ComponentFMUCS::NewComponent(const pugi::xml_node& node, oms::System* parentSystem, const std::string& sspVersion, const Snapshot& snapshot)
{
ComRef cref = ComRef(node.attribute("name").as_string());
std::string type = node.attribute("type").as_string();
std::string source = node.attribute("source").as_string();
if (type != "application/x-fmu-sharedlibrary" && !type.empty())
{
logError("Unexpected component type: " + type);
return NULL;
}
oms::ComponentFMUCS* component = dynamic_cast<oms::ComponentFMUCS*>(oms::ComponentFMUCS::NewComponent(cref, parentSystem, source));
if (!component)
return NULL;
for (const auto& connector : component->connectors)
if (connector)
delete connector;
component->connectors.clear();
for(pugi::xml_node_iterator it = node.begin(); it != node.end(); ++it)
{
std::string name = it->name();
if(name == oms::ssp::Draft20180219::ssd::connectors)
{
// get the ssdNode to parse UnitDefinitions in "SystemStructure.ssd"
pugi::xml_node ssdNode = snapshot.getResourceNode("SystemStructure.ssd");
component->values.importUnitDefinitions(ssdNode);
// import connectors
for(pugi::xml_node_iterator itConnectors = (*it).begin(); itConnectors != (*it).end(); ++itConnectors)
{
component->connectors.push_back(oms::Connector::NewConnector(*itConnectors, sspVersion, component->getFullCref()));
// set units to connector
if ((*itConnectors).child(oms::ssp::Version1_0::ssc::real_type))
{
std::string unitName = (*itConnectors).child(oms::ssp::Version1_0::ssc::real_type).attribute("unit").as_string();
if (!unitName.empty())
component->connectors.back()->connectorUnits[unitName] = component->values.modeldescriptionUnitDefinitions[unitName];
}
}
}
else if(name == oms::ssp::Draft20180219::ssd::element_geometry)
{
oms::ssd::ElementGeometry geometry;
geometry.importFromSSD(*it);
component->setGeometry(geometry);
}
else if(name == oms::ssp::Version1_0::ssd::parameter_bindings)
{
// set parameter bindings associated with the component
Values resources;
std::string tempdir = parentSystem->getModel().getTempDirectory();
resources.importFromSnapshot(*it, sspVersion, snapshot);
component->values.parameterResources.push_back(resources);
}
else
{
logError_WrongSchema(name);
delete component;
return NULL;
}
}
component->connectors.push_back(NULL);
component->element.setConnectors(&component->connectors[0]);
return component;
}
oms_status_enu_t oms::ComponentFMUCS::exportToSSD(pugi::xml_node& node, Snapshot& snapshot) const
{
#if !defined(NO_TLM)
if (tlmbusconnectors[0])
{
pugi::xml_node annotations_node = node.append_child(oms::ssp::Draft20180219::ssd::annotations);
pugi::xml_node annotation_node = annotations_node.append_child(oms::ssp::Version1_0::ssc::annotation);
annotation_node.append_attribute("type") = oms::ssp::Draft20180219::annotation_type;
for (const auto& tlmbusconnector : tlmbusconnectors)
if (tlmbusconnector)
tlmbusconnector->exportToSSD(annotation_node);
}
#endif
node.append_attribute("name") = this->getCref().c_str();
node.append_attribute("type") = "application/x-fmu-sharedlibrary";
node.append_attribute("source") = getPath().c_str();
pugi::xml_node node_connectors = node.append_child(oms::ssp::Draft20180219::ssd::connectors);
if (element.getGeometry())
element.getGeometry()->exportToSSD(node);
for (const auto& connector : connectors)
if (connector)
if (oms_status_ok != connector->exportToSSD(node_connectors))
return oms_status_error;
// export ParameterBindings at component level
values.exportParameterBindings(node, snapshot);
return oms_status_ok;
}
void oms::ComponentFMUCS::getFilteredUnitDefinitionsToSSD(std::map<std::string, std::map<std::string, std::string>>& unitDefinitions)
{
// get units from connectors
for (const auto &connector : connectors)
{
if (connector)
{
if (!connector->connectorUnits.empty())
{
for (auto &con : connector->connectorUnits)
{
auto unitvalue = unitDefinitions.find(con.first);
if (unitvalue == unitDefinitions.end())
unitDefinitions[con.first] = con.second;
}
}
}
}
return values.getFilteredUnitDefinitionsToSSD(unitDefinitions);
}
oms_status_enu_t oms::ComponentFMUCS::exportToSSV(pugi::xml_node& ssvNode)
{
return values.exportToSSV(ssvNode);
}
oms_status_enu_t oms::ComponentFMUCS::exportToSSVTemplate(pugi::xml_node& ssvNode, Snapshot& snapshot)
{
values.exportToSSVTemplate(ssvNode, getCref());
values.exportUnitDefinitionsToSSVTemplate(snapshot, "template.ssv");
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::exportToSSMTemplate(pugi::xml_node& ssmNode)
{
values.exportToSSMTemplate(ssmNode, getCref());
return oms_status_ok;
}
void oms::ComponentFMUCS::dumpInitialUnknowns()
{
std::string str = "";
int n=0;
for (auto &v : allVariables)
{
if (v.isInitialUnknown())
{
n++;
if (!str.empty())
str += ", ";
str += std::to_string(v.getIndex()+1) + ": " + std::string(v.getCref());
}
}
logInfo("[" + std::string(getCref()) + ": " + getPath() + "] The FMU contains " + std::to_string(n) + " initial unknowns: " + str);
}
oms_status_enu_t oms::ComponentFMUCS::initializeDependencyGraph_initialUnknowns()
{
if (initialUnknownsGraph.getEdges().connections.size() > 0)
return logError(std::string(getCref()) + ": " + getPath() + " is already initialized");
//dumpInitialUnknowns();
// Check if initial unknowns from modelDescription.xml are the same as in initialUnknownsGraph
fmi2_import_variable_list_t* initialUnknowns_ModelStructure;
initialUnknowns_ModelStructure = fmi2_import_get_initial_unknowns_list(fmu);
size_t N_ModelStructure = fmi2_import_get_variable_list_size(initialUnknowns_ModelStructure);
size_t N = initialUnknownsGraph.getNodes().size();
bool badInitialUnknowns = false;
std::unordered_set <unsigned int> setA_ModelStructure;
for (size_t i=0; i < N_ModelStructure; ++i)
{
fmi2_xml_variable_t* var_ModelStructure = fmi2_import_get_variable(initialUnknowns_ModelStructure, i);
size_t originalIndex = fmi2_import_get_variable_original_order(var_ModelStructure);
setA_ModelStructure.insert(originalIndex);
}
std::string missing_unknowns = "";
for (auto &v : allVariables)
{
if (v.isInitialUnknown() && setA_ModelStructure.find(v.getIndex()) == setA_ModelStructure.end())
{
badInitialUnknowns = true;
missing_unknowns += "\n * " + std::to_string(v.getIndex()+1) + ": " + std::string(v.getCref()) + " is missing";
}
}
for (size_t i=0; i < N_ModelStructure; ++i)
{
fmi2_xml_variable_t* var_ModelStructure = fmi2_import_get_variable(initialUnknowns_ModelStructure, i);
size_t originalIndex = fmi2_import_get_variable_original_order(var_ModelStructure);
const Variable& var_oms = allVariables[originalIndex];
oms::ComRef name_fmilib(fmi2_import_get_variable_name(var_ModelStructure));
if (var_oms.getCref() != name_fmilib)
{
missing_unknowns += "\n * " + std::to_string(originalIndex+1) + ": " + std::string(var_oms.getCref()) + " could not be found";
badInitialUnknowns = true;
}
else if (!var_oms.isInitialUnknown())
{
missing_unknowns += "\n * " + std::to_string(originalIndex+1) + ": " + std::string(var_oms.getCref()) + " is wrongly listed";
badInitialUnknowns = true;
}
}
if (badInitialUnknowns && !Flags::IgnoreInitialUnknowns() && N_ModelStructure > 0)
logWarning("[" + std::string(getCref()) + ": " + getPath() + "] The FMU lists " + std::to_string(N_ModelStructure) + " initial unknowns and exposes " + std::to_string(N) + " initial unknowns." + missing_unknowns);
fmi2_import_free_variable_list(initialUnknowns_ModelStructure);
if (badInitialUnknowns)
{
if(!Flags::IgnoreInitialUnknowns() && N_ModelStructure > 0)
logInfo("[" + std::string(getCref()) + ": " + getPath() + "] The FMU contains bad initial unknowns. This might cause problems, e.g. wrong simulation results.");
else
{
if (N_ModelStructure > 0)
logWarning("[" + std::string(getCref()) + ": " + getPath() + "] The dependencies of the initial unknowns defined in the FMU are ignored because the flag --ignoreInitialUnknowns is active. Instead, all the initial unknowns will depend on all inputs.");
for (int i=0; i < N; i++)
{
logDebug(std::string(getCref()) + ": " + getPath() + " initial unknown " + std::string(initialUnknownsGraph.getNodes()[i]) + " depends on all inputs");
for (const auto& j : inputs)
initialUnknownsGraph.addEdge(allVariables[j].makeConnector(this->getFullCref()), initialUnknownsGraph.getNodes()[i]);
}
return oms_status_ok;
}
}
size_t *startIndex=NULL, *dependency=NULL;
char* factorKind;
fmi2_import_get_initial_unknowns_dependencies(fmu, &startIndex, &dependency, &factorKind);
if (!startIndex)
{
logDebug(std::string(getCref()) + ": " + getPath() + " no dependencies");
return oms_status_ok;
}
//logInfo(std::string(getCref()) + ": " + getPath());
//std::string buffer = "startIndex(" + std::to_string(N+1) + ")\n";
//for (int i=0; i < N; i++)
// buffer += "startIndex[" + std::to_string(i) + "] (" + std::string(initialUnknownsGraph.getNodes()[i]) + ") = " + std::to_string(startIndex[i]) + "\n";
//buffer += "startIndex[" + std::to_string(N) + "] = " + std::to_string(startIndex[N]) + "\n";
//logInfo(buffer);
//buffer = "dependency(" + std::to_string(startIndex[N]) + ")\n";
//for (int i=0; i < startIndex[N]; i++)
// buffer += "dependency[" + std::to_string(i) + "] = " + std::to_string(dependency[i]) + "\n";
//logInfo(buffer);
//buffer = "factorKind(" + std::to_string(startIndex[N]) + ")\n";
//for (int i=0; i < startIndex[N]; i++)
// buffer += "factorKind[" + std::to_string(i) + "] = " + std::string(fmi2_dependency_factor_kind_to_string((fmi2_dependency_factor_kind_enu_t)factorKind[i])) + "\n";
//logInfo(buffer);
for (int i=0; i < N_ModelStructure; i++)
{
if (startIndex[i] == startIndex[i+1])
{
logDebug(std::string(getCref()) + ": " + getPath() + " initial unknown " + std::string(initialUnknownsGraph.getNodes()[i]) + " has no dependencies");
}
else if ((startIndex[i] + 1 == startIndex[i+1]) && (dependency[startIndex[i]] == 0))
{
logDebug(std::string(getCref()) + ": " + getPath() + " initial unknown " + std::string(initialUnknownsGraph.getNodes()[i]) + " depends on all inputs");
for (const auto& j : inputs)
initialUnknownsGraph.addEdge(allVariables[j].makeConnector(this->getFullCref()), initialUnknownsGraph.getNodes()[i]);
}
else
{
for (size_t j=startIndex[i]; j < startIndex[i+1]; j++)
{
if (dependency[j] < 1 || dependency[j] > allVariables.size())
{
logWarning("Initial unknown " + std::string(initialUnknownsGraph.getNodes()[i]) + " has bad dependency on variable with index " + std::to_string(dependency[j]) + " which couldn't be resolved");
return logError(std::string(getCref()) + ": Erroneous initial unknowns detected in modelDescription.xml\nUse flag --ignoreInitialUnknowns=true to ignore all initial unknowns, but this can cause inflated loop size.");
}
logDebug(std::string(getCref()) + ": " + getPath() + " initial unknown " + std::string(initialUnknownsGraph.getNodes()[i]) + " depends on " + std::string(allVariables[dependency[j] - 1]));
initialUnknownsGraph.addEdge(allVariables[dependency[j] - 1].makeConnector(this->getFullCref()), initialUnknownsGraph.getNodes()[i]);
}
}
}
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::initializeDependencyGraph_outputs()
{
if (outputsGraph.getEdges().connections.size() > 0)
{
logError(std::string(getCref()) + ": " + getPath() + " is already initialized.");
return oms_status_error;
}
size_t *startIndex=NULL, *dependency=NULL;
char* factorKind;
fmi2_import_get_outputs_dependencies(fmu, &startIndex, &dependency, &factorKind);
if (!startIndex)
{
logDebug(std::string(getCref()) + ": " + getPath() + " no dependencies");
return oms_status_ok;
}
for (int i=0; i < outputs.size(); i++)
{
Variable& output = allVariables[outputs[i]];
if (startIndex[i] == startIndex[i + 1])
{
logDebug(std::string(getCref()) + ": " + getPath() + " output " + std::string(output) + " has no dependencies");
}
else if ((startIndex[i] + 1 == startIndex[i + 1]) && (dependency[startIndex[i]] == 0))
{
logDebug(std::string(getCref()) + ": " + getPath() + " output " + std::string(output) + " depends on all");
for (const auto& j : inputs)
outputsGraph.addEdge(allVariables[j].makeConnector(this->getFullCref()), output.makeConnector(this->getFullCref()));
}
else
{
for (size_t j = startIndex[i]; j < startIndex[i + 1]; j++)
{
if (dependency[j] < 1 || dependency[j] > allVariables.size())
{
logWarning("Output " + std::string(output) + " has bad dependency on variable with index " + std::to_string(dependency[j]) + " which couldn't be resolved");
return logError(std::string(getCref()) + ": erroneous dependencies detected in modelDescription.xml");
}
logDebug(std::string(getCref()) + ": " + getPath() + " output " + std::string(output) + " depends on " + std::string(allVariables[dependency[j] - 1]));
outputsGraph.addEdge(allVariables[dependency[j] - 1].makeConnector(this->getFullCref()), output.makeConnector(this->getFullCref()));
}
}
}
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::instantiate()
{
jm_status_enu_t jmstatus;
fmi2_status_t fmistatus;
// load the FMU shared library
jmstatus = fmi2_import_create_dllfmu(fmu, fmi2_fmu_kind_cs, &callbackFunctions);
if (jm_status_error == jmstatus)
return logError("Could not load \"" + getPath() + "\" which is associated with \"" + std::string(getFullCref()) + "\"; it may be corrupted or may not support your platform");
jmstatus = fmi2_import_instantiate(fmu, getCref().c_str(), fmi2_cosimulation, NULL, fmi2_false);
if (jm_status_error == jmstatus)
return logError_FMUCall("fmi2_import_instantiate", this);
// set start values from local resources
if (values.hasResources())
{
for (const auto &it : values.parameterResources)
{
for (const auto &res : it.allresources)
{
if (res.second.linkResources) // set values only if resources are linked in ssd
setResourcesHelper1(res.second);
}
}
}
// set start values from root resources
else if (getParentSystem() && getParentSystem()->getValues().hasResources())
{
setResourcesHelper2(getParentSystem()->getValues());
}
// set start values from top level root resources
else if (getParentSystem()->getParentSystem() && getParentSystem()->getParentSystem()->getValues().hasResources())
{
setResourcesHelper2(getParentSystem()->getParentSystem()->getValues());
}
// set start values from inline resources
else
{
setResourcesHelper1(values);
}
// enterInitialization
time = getModel().getStartTime();
double relativeTolerance = 0.0;
dynamic_cast<SystemWC*>(getParentSystem())->getTolerance(NULL, &relativeTolerance);
fmistatus = fmi2_import_setup_experiment(fmu, fmi2_true, relativeTolerance, time, fmi2_false, 1.0);
if (fmi2_status_ok != fmistatus) return logError_FMUCall("fmi2_import_setup_experiment", this);
fmistatus = fmi2_import_enter_initialization_mode(fmu);
if (fmi2_status_ok != fmistatus) return logError_FMUCall("fmi2_import_enter_initialization_mode", this);
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::setResourcesHelper1(Values values)
{
for (const auto &v : values.booleanStartValues)
{
oms::ComRef cref = getValidCref(v.first);
if (oms_status_ok != setBoolean(cref, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
for (const auto &v : values.integerStartValues)
{
oms::ComRef cref = getValidCref(v.first);
if (oms_status_ok != setInteger(cref, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
for (const auto &v : values.realStartValues)
{
oms::ComRef cref = getValidCref(v.first);
if (oms_status_ok != setReal(cref, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::setResourcesHelper2(Values values)
{
for (const auto &it : values.parameterResources)
{
for (const auto &res : it.allresources)
{
for (const auto &v : res.second.booleanStartValues)
{
if (res.second.linkResources) // set values only if resources are linked in ssd
{
oms::ComRef tail(v.first);
oms::ComRef head = tail.pop_front();
if (head == getCref())
{
if (oms_status_ok != setBoolean(tail, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
}
}
for (const auto &v : res.second.integerStartValues)
{
if (res.second.linkResources) // set values only if resources are linked in ssd
{
oms::ComRef tail(v.first);
oms::ComRef head = tail.pop_front();
if (head == getCref())
{
if (oms_status_ok != setInteger(tail, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
}
}
for (const auto &v : res.second.realStartValues)
{
if (res.second.linkResources) // set values only if resources are linked in ssd
{
oms::ComRef tail(v.first);
oms::ComRef head = tail.pop_front();
if (head == getCref())
{
if (oms_status_ok != setReal(tail, v.second))
return logError("Failed to set start value for " + std::string(v.first));
}
}
}
}
}
return oms_status_ok;
}
/*
* function which returns validCrefs
* (e.g) add.P => P
* (e.g) chassis.C.mChassis => C.mChassis
* inline parameters should be returned as default value (e.g.) P => P or C.mChassis => C.mChassis
*/
oms::ComRef oms::ComponentFMUCS::getValidCref(ComRef cref)
{
oms::ComRef tail(cref);
oms::ComRef head = tail.pop_front();
if (tail.isEmpty() || head != getCref()) // check for inline parameter crefs, (e.g.) P => P or C.mChassis => C.mChassis
tail = cref;
return tail;
}
oms_status_enu_t oms::ComponentFMUCS::newResources(const std::string& ssvFilename, const std::string& ssmFilename, bool externalResources)
{
Values resources;
if (externalResources) // check of external resources and override the start values with new references
{
Snapshot snapshot;
snapshot.importResourceFile(ssvFilename, getModel().getTempDirectory() + "/resources");
// import ssm file, if provided
if (!ssmFilename.empty())
snapshot.importResourceFile(ssmFilename, getModel().getTempDirectory() + "/resources");
if (oms_status_ok != resources.importFromSnapshot(snapshot, ssvFilename, ssmFilename))
return logError("referenceResources failed for \"" + std::string(getFullCref()) + ":" + ssvFilename + "\"");
}
if (!values.hasResources())
{
if(!ssmFilename.empty())
resources.ssmFile = "resources/" + ssmFilename;
// copy modeldescriptionVariableUnits to ssv resources which will be used to export units
resources.modelDescriptionVariableUnits = values.modelDescriptionVariableUnits;
// copy modeldescriptionVariableUnitDefinitions to ssv resources which will be used to export unit definitions
resources.modeldescriptionUnitDefinitions = values.modeldescriptionUnitDefinitions;
resources.allresources["resources/" + ssvFilename] = resources;
values.parameterResources.push_back(resources);
}
else
{
// generate empty ssv file, if more resources are added to same level
if(!ssmFilename.empty())
resources.ssmFile = "resources/" + ssmFilename;
// copy modeldescriptionVariableUnits to ssv resources which will be used to export units
resources.modelDescriptionVariableUnits = values.modelDescriptionVariableUnits;
// copy modeldescriptionVariableUnitDefinitions to ssv resources which will be used to export unit definitions
resources.modeldescriptionUnitDefinitions = values.modeldescriptionUnitDefinitions;
values.parameterResources[0].allresources["resources/" + ssvFilename] = resources;
}
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::deleteReferencesInSSD(const std::string& filename)
{
if (values.hasResources())
return values.deleteReferencesInSSD(filename);
return oms_status_error;
}
oms_status_enu_t oms::ComponentFMUCS::deleteResourcesInSSP(const std::string& filename)
{
if (values.hasResources())
return values.deleteResourcesInSSP(filename);
return oms_status_error;
}
oms_status_enu_t oms::ComponentFMUCS::initialize()
{
clock.reset();
CallClock callClock(clock);
fmi2_status_t fmistatus;
// exitInitialization
fmistatus = fmi2_import_exit_initialization_mode(fmu);
if (fmi2_status_ok != fmistatus) return logError_FMUCall("fmi2_import_exit_initialization_mode", this);
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::terminate()
{
freeState();
fmi2_status_t fmistatus = fmi2_import_terminate(fmu);
if (fmi2_status_ok != fmistatus)
return logError_Termination(getCref());
fmi2_import_free_instance(fmu);
fmi2_import_destroy_dllfmu(fmu);
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::reset()
{
fmi2_status_t fmistatus = fmi2_import_reset(fmu);
if (fmi2_status_ok != fmistatus)
return logError_ResetFailed(getCref());
// enterInitialization
time = getModel().getStartTime();
double relativeTolerance = 0.0;
dynamic_cast<SystemWC*>(getParentSystem())->getTolerance(NULL, &relativeTolerance);
fmistatus = fmi2_import_setup_experiment(fmu, fmi2_true, relativeTolerance, time, fmi2_false, 1.0);
if (fmi2_status_ok != fmistatus) return logError_FMUCall("fmi2_import_setup_experiment", this);
fmistatus = fmi2_import_enter_initialization_mode(fmu);
if (fmi2_status_ok != fmistatus) return logError_FMUCall("fmi2_import_enter_initialization_mode", this);
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::stepUntil(double stopTime)
{
CallClock callClock(clock);
System *topLevelSystem = getModel().getTopLevelSystem();
fmi2_status_t fmistatus;
double hdef = (stopTime-time) / 1.0;
while (time < stopTime)
{
#if !defined(NO_TLM)
//Read from TLM sockets if top level system is of TLM type
if(topLevelSystem->getType() == oms_system_tlm)
reinterpret_cast<SystemTLM*>(topLevelSystem)->readFromSockets(reinterpret_cast<SystemWC*>(getParentSystem()), time, this);
#endif
// HACK for certain FMUs
if (fetchAllVars_)
{
for (auto &v : allVariables)
{
if (v.isTypeReal())
{
double realValue;
if (oms_status_ok != getReal(v.getCref(), realValue))
logError("failed to fetch variable " + std::string(v));
}
}
}
fmistatus = fmi2_import_do_step(fmu, time, hdef, fmi2_true);
time += hdef;
#if !defined(NO_TLM)
//Write to TLM sockets if top level system is of TLM type
if(topLevelSystem->getType() == oms_system_tlm)
reinterpret_cast<SystemTLM*>(topLevelSystem)->writeToSockets(reinterpret_cast<SystemWC*>(getParentSystem()), time, this);
#endif
}
time = stopTime;
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::getBoolean(const fmi2_value_reference_t& vr, bool& value)
{
CallClock callClock(clock);
int value_;
if (fmi2_status_ok != fmi2_import_get_boolean(fmu, &vr, 1, &value_))
return oms_status_error;
value = value_ ? true : false;
return oms_status_ok;
}
oms_status_enu_t oms::ComponentFMUCS::getBoolean(const ComRef& cref, bool& value)
{
CallClock callClock(clock);
if (oms_modelState_virgin == getModel().getModelState())
{
// check for start values exist, priority over modeldescription.xml start values
if (values.hasResources()) // search in local resources
{
if (oms_status_ok == values.getBooleanResources(cref, value, false, oms_modelState_virgin))
{
return oms_status_ok;
}
// search in modelDescription.xml
else if (oms_status_ok == values.getBooleanFromModeldescription(cref, value))
{
return oms_status_ok;
}
return logError("no start value set or available for signal: " + std::string(getFullCref() + cref));
}
else if (getParentSystem() && getParentSystem()->getValues().hasResources()) // search in root resources
{
if (oms_status_ok == getParentSystem()->getValues().getBooleanResources(getCref()+cref, value, false, oms_modelState_virgin))
{
return oms_status_ok;
}
// search in modelDescription.xml
else if(oms_status_ok == values.getBooleanFromModeldescription(cref, value))
{
return oms_status_ok;
}
return logError("no start value set or available for signal: " + std::string(getFullCref() + cref));
}
else if (getParentSystem()->getParentSystem() && getParentSystem()->getParentSystem()->getValues().hasResources()) // search in top level root resources
{
if (oms_status_ok == getParentSystem()->getParentSystem()->getValues().getBooleanResources(getCref()+cref, value, false, oms_modelState_virgin))
{
return oms_status_ok;
}
// search in modelDescription.xml
else if(oms_status_ok == values.getBooleanFromModeldescription(cref, value))
{
return oms_status_ok;
}
return logError("no start value set or available for signal: " + std::string(getFullCref() + cref));
}
else // search inline
{
// check for start values exist, priority over modeldescription.xml start values
if (oms_status_ok == values.getBoolean(cref, value))
{
return oms_status_ok;
}