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fmu2_model_interface.c.inc
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fmu2_model_interface.c.inc
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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 "fmu2_model_interface.h"
#include "fmu_read_flags.h"
#include "../simulation/solver/stateset.h"
#include "../simulation/solver/model_help.h"
#include "../simulation/solver/cvode_solver.h"
#if !defined(OMC_NUM_NONLINEAR_SYSTEMS) || OMC_NUM_NONLINEAR_SYSTEMS>0
#include "../simulation/solver/nonlinearSystem.h"
#endif
#if !defined(OMC_NUM_LINEAR_SYSTEMS) || OMC_NUM_LINEAR_SYSTEMS>0
#include "../simulation/solver/linearSystem.h"
#endif
#if !defined(OMC_NUM_MIXED_SYSTEMS) || OMC_NUM_MIXED_SYSTEMS>0
#include "../simulation/solver/mixedSystem.h"
#endif
#include "../simulation/solver/delay.h"
#include "../simulation/solver/fmi_events.h"
#include "../simulation/simulation_info_json.h"
#include "../simulation/simulation_input_xml.h"
#include "../simulation/solver/synchronous.h"
#include "../simulation/options.h"
#include "../util/simulation_options.h"
#include "../util/omc_error.h"
/*
DLLExport pthread_key_t fmu2_thread_data_key;
*/
fmi2Boolean isCategoryLogged(ModelInstance *comp, int categoryIndex);
static fmi2String logCategoriesNames[] = {"logEvents", "logSingularLinearSystems", "logNonlinearSystems", "logDynamicStateSelection",
"logStatusWarning", "logStatusDiscard", "logStatusError", "logStatusFatal", "logStatusPending", "logAll", "logFmi2Call"};
// macro to be used to log messages. The macro check if current
// log category is valid and, if true, call the logger provided by simulator.
#define FILTERED_LOG(instance, status, categoryIndex, message, ...) if (isCategoryLogged(instance, categoryIndex)) { \
instance->functions->logger(instance->functions->componentEnvironment, instance->instanceName, status, \
logCategoriesNames[categoryIndex], message, ##__VA_ARGS__); }
// array of value references of states
#if NUMBER_OF_STATES > 0
fmi2ValueReference vrStates[NUMBER_OF_STATES] = STATES;
fmi2ValueReference vrStatesDerivatives[NUMBER_OF_STATES] = STATESDERIVATIVES;
#endif
// ---------------------------------------------------------------------------
// Private helpers used below to validate function arguments
// ---------------------------------------------------------------------------
static fmi2Boolean isModelExchange(ModelInstance *comp)
{
return (fmi2ModelExchange == comp->type);
}
static fmi2Boolean isCoSimulation(ModelInstance *comp)
{
return (fmi2CoSimulation == comp->type);
}
const char* stateToString(ModelInstance *comp)
{
if (isModelExchange(comp))
{
switch (comp->state)
{
case model_state_start_end: return "model_state_start_end";
case model_state_instantiated: return "model_state_instantiated";
case model_state_initialization_mode: return "model_state_initialization_mode";
case model_state_cs_step_complete: return "model_state_cs_step_complete (invalid!)";
case model_state_cs_step_in_progress: return "model_state_cs_step_in_progress (invalid!)";
case model_state_cs_step_failed: return "model_state_cs_step_failed (invalid!)";
case model_state_cs_step_canceled: return "model_state_cs_step_canceled (invalid!)";
case model_state_me_event_mode: return "model_state_me_event_mode";
case model_state_me_continuous_time_mode: return "model_state_me_continuous_time_mode";
case model_state_terminated: return "model_state_terminated";
case model_state_error: return "model_state_error";
case model_state_fatal: return "model_state_fatal";
}
}
if (isCoSimulation(comp))
{
switch (comp->state)
{
case model_state_start_end: return "model_state_start_end";
case model_state_instantiated: return "model_state_instantiated";
case model_state_initialization_mode: return "model_state_initialization_mode";
case model_state_cs_step_complete: return "model_state_cs_step_complete";
case model_state_cs_step_in_progress: return "model_state_cs_step_in_progress";
case model_state_cs_step_failed: return "model_state_cs_step_failed";
case model_state_cs_step_canceled: return "model_state_cs_step_canceled";
case model_state_me_event_mode: return "model_state_me_event_mode (invalid!)";
case model_state_me_continuous_time_mode: return "model_state_me_continuous_time_mode (invalid!)";
case model_state_terminated: return "model_state_terminated";
case model_state_error: return "model_state_error";
case model_state_fatal: return "model_state_fatal";
}
}
return "Unknown";
}
static fmi2Boolean invalidNumber(ModelInstance *comp, const char *func, const char *arg, int n, int nExpected)
{
if (n != nExpected)
{
comp->state = model_state_error;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Invalid argument %s = %d. Expected %d.", func, arg, n, nExpected)
return fmi2True;
}
return fmi2False;
}
static fmi2Boolean invalidState(ModelInstance *comp, const char *func, int meStates, int csStates)
{
if (!comp)
return fmi2True;
if (isModelExchange(comp))
{
if (!(comp->state & meStates))
{
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Illegal model exchange call sequence. %s is not allowed in %s state.", func, func, stateToString(comp))
comp->state = model_state_error;
return fmi2True;
}
}
if (isCoSimulation(comp))
{
if (!(comp->state & csStates))
{
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Illegal co-simulation call sequence. %s is not allowed in %s state.", func, func, stateToString(comp))
comp->state = model_state_error;
return fmi2True;
}
}
return fmi2False;
}
static fmi2Boolean nullPointer(ModelInstance* comp, const char *func, const char *arg, const void *p)
{
if (!p)
{
comp->state = model_state_error;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Invalid argument %s = NULL.", func, arg)
return fmi2True;
}
return fmi2False;
}
static fmi2Boolean vrOutOfRange(ModelInstance *comp, const char *func, fmi2ValueReference vr, int end)
{
if (vr >= end) {
comp->state = model_state_error;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Illegal value reference %u.", func, vr)
return fmi2True;
}
return fmi2False;
}
static fmi2Status unsupportedFunction(ModelInstance *comp, const char *func)
{
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Function not implemented.", func)
return fmi2Error;
}
// ---------------------------------------------------------------------------
// Private helpers logger
// ---------------------------------------------------------------------------
// return fmi2True if logging category is on. Else return fmi2False.
fmi2Boolean isCategoryLogged(ModelInstance *comp, int categoryIndex)
{
if (categoryIndex < NUMBER_OF_CATEGORIES && (comp->logCategories[categoryIndex] || comp->logCategories[LOG_ALL])) {
return fmi2True;
}
return fmi2False;
}
static void omc_assert_fmi_common(threadData_t *threadData, fmi2Status status, int categoryIndex, FILE_INFO info, const char *msg, va_list args)
{
const char *str;
ModelInstance* c = (ModelInstance*) threadData->localRoots[LOCAL_ROOT_FMI_DATA];
GC_vasprintf(&str, msg, args);
if (info.lineStart) {
FILTERED_LOG(c, status, categoryIndex, "%s:%d: %s", info.filename, info.lineStart, str)
} else {
FILTERED_LOG(c, status, categoryIndex, "%s", str)
}
}
static void omc_assert_fmi(threadData_t *threadData, FILE_INFO info, const char *msg, ...) __attribute__ ((noreturn));
static void omc_assert_fmi(threadData_t *threadData, FILE_INFO info, const char *msg, ...)
{
va_list args;
va_start(args, msg);
omc_assert_fmi_common(threadData, fmi2Error, LOG_STATUSERROR, info, msg, args);
va_end(args);
MMC_THROW_INTERNAL();
}
static void omc_assert_fmi_warning(FILE_INFO info, const char *msg, ...)
{
va_list args;
va_start(args, msg);
omc_assert_fmi_common((threadData_t*)pthread_getspecific(mmc_thread_data_key), fmi2Warning, LOG_STATUSWARNING, info, msg, args);
va_end(args);
}
// ---------------------------------------------------------------------------
// Private helpers functions
// ---------------------------------------------------------------------------
static inline void resetThreadData(ModelInstance* comp)
{
#if defined(OM_HAVE_PTHREADS)
if (comp->threadDataParent) {
pthread_setspecific(mmc_thread_data_key, comp->threadDataParent);
}
#endif
}
static inline void setThreadData(ModelInstance* comp)
{
#if defined(OM_HAVE_PTHREADS)
if (comp->threadDataParent) {
pthread_setspecific(mmc_thread_data_key, comp->threadData);
}
#endif
}
fmi2Status internalEventUpdate(fmi2Component c, fmi2EventInfo* eventInfo)
{
int i, done=0;
ModelInstance* comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
fmi2Real nextSampleEvent;
fmi2Boolean nextSampleEventDefined;
modelica_boolean nextTimerDefined;
fmi2Real nextTimerActivationTime;
int syncRet;
if (nullPointer(comp, "internalEventUpdate", "eventInfo", eventInfo)) {
return fmi2Error;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "internalEventUpdate: Start Event Update! Next Sample Event %g", eventInfo->nextEventTime)
setThreadData(comp);
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
#if !defined(OMC_NO_STATESELECTION)
if (stateSelection(comp->fmuData, comp->threadData, 1, 1)) {
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "internalEventUpdate: Need to iterate state values changed!")
/* if new set is calculated reinit the solver */
eventInfo->valuesOfContinuousStatesChanged = fmi2True;
}
#endif
storePreValues(comp->fmuData);
/* activate sample event */
for(i=0; i<comp->fmuData->modelData->nSamples; ++i) {
if (comp->fmuData->simulationInfo->nextSampleTimes[i] <= comp->fmuData->localData[0]->timeValue) {
comp->fmuData->simulationInfo->samples[i] = 1;
infoStreamPrint(LOG_EVENTS, 0, "[%ld] sample(%g, %g)", comp->fmuData->modelData->samplesInfo[i].index, comp->fmuData->modelData->samplesInfo[i].start, comp->fmuData->modelData->samplesInfo[i].interval);
}
}
comp->fmuData->callback->functionDAE(comp->fmuData, comp->threadData);
/* deactivate sample events */
for(i=0; i<comp->fmuData->modelData->nSamples; ++i) {
if (comp->fmuData->simulationInfo->samples[i]) {
comp->fmuData->simulationInfo->samples[i] = 0;
comp->fmuData->simulationInfo->nextSampleTimes[i] += comp->fmuData->modelData->samplesInfo[i].interval;
}
}
for(i=0; i<comp->fmuData->modelData->nSamples; ++i) {
if ((i == 0) || (comp->fmuData->simulationInfo->nextSampleTimes[i] < comp->fmuData->simulationInfo->nextSampleEvent)) {
comp->fmuData->simulationInfo->nextSampleEvent = comp->fmuData->simulationInfo->nextSampleTimes[i];
}
}
/* Handle clock timers */
syncRet = handleTimersFMI(comp->fmuData, comp->threadData, comp->fmuData->localData[0]->timeValue, &nextTimerDefined, &nextTimerActivationTime);
if (checkForDiscreteChanges(comp->fmuData, comp->threadData) || comp->fmuData->simulationInfo->needToIterate || checkRelations(comp->fmuData) || syncRet==2 ) {
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "internalEventUpdate: Need to iterate(discrete changes)!")
eventInfo->newDiscreteStatesNeeded = fmi2True;
eventInfo->valuesOfContinuousStatesChanged = fmi2True;
eventInfo->terminateSimulation = fmi2False;
} else {
eventInfo->newDiscreteStatesNeeded = fmi2False;
eventInfo->terminateSimulation = fmi2False;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "internalEventUpdate: newDiscreteStatesNeeded %s",eventInfo->newDiscreteStatesNeeded?"true":"false");
/* due to an event overwrite old values */
overwriteOldSimulationData(comp->fmuData);
/* TODO: check the event iteration for relation
* in fmi2 import and export. This is an workaround,
* since the iteration seem not starting.
*/
storePreValues(comp->fmuData);
updateRelationsPre(comp->fmuData);
nextSampleEventDefined = getNextSampleTimeFMU(comp->fmuData, &nextSampleEvent);
/* Get next event time */
if (nextSampleEventDefined && !nextTimerDefined) {
eventInfo->nextEventTimeDefined = fmi2True;
eventInfo->nextEventTime = nextSampleEvent;
}
else if (!nextSampleEventDefined && nextTimerDefined) {
eventInfo->nextEventTimeDefined = fmi2True;
eventInfo->nextEventTime = nextTimerActivationTime;
}
else if (nextSampleEventDefined && nextTimerDefined) {
eventInfo->nextEventTimeDefined = fmi2True;
eventInfo->nextEventTime = fmin(nextSampleEvent,nextTimerActivationTime);
}
else {
if (eventInfo->nextEventTime <= comp->fmuData->localData[0]->timeValue) {
eventInfo->nextEventTimeDefined = fmi2False;
}
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "internalEventUpdate: Checked for Sample Events! Next Sample Event %g",eventInfo->nextEventTime)
done=1;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
resetThreadData(comp);
if (done) {
return fmi2OK;
}
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "internalEventUpdate: terminated by an assertion.")
comp->_need_update = 1;
return fmi2Error;
}
fmi2Status internalEventIteration(fmi2Component c, fmi2EventInfo *eventInfo)
{
fmi2Status status = fmi2OK;
eventInfo->newDiscreteStatesNeeded = fmi2True;
eventInfo->terminateSimulation = fmi2False;
while (eventInfo->newDiscreteStatesNeeded && !eventInfo->terminateSimulation && status != fmi2Error) {
status = internalEventUpdate((ModelInstance *)c, eventInfo);
}
return status;
}
/********************************************************************
* Private helpers for (modelica_)string array handling *
********************************************************************/
/* size of array of strings is not known at compile-time! */
/* figure out total size by repeatedly scanning with strlen(). */
/* this code relies on the assumption of 1 char = 1 byte. */
size_t getStringArraySize(char *stringArray, int elements) {
size_t totalSize = 0;
char *currStr = stringArray;
int currStrLen;
for (int j = 0; j < elements; j++) {
currStrLen = strlen(currStr) + 1;
currStr += currStrLen;
totalSize += currStrLen;
}
return totalSize;
}
size_t copyStringArray(char* destination, char *stringArray, int elements) {
size_t copiedBytes = 0;
char *currStr = stringArray;
int currStrLen;
for (int j = 0; j < elements; j++) {
currStrLen = strlen(currStr) + 1;
memcpy(destination, currStr, currStrLen);
currStr += currStrLen;
copiedBytes += currStrLen;
}
return copiedBytes;
}
/**
* @brief Helper function for fmi2GetXXX to update the component if needed.
*
* @param comp FMI component
* @param func Name of fmi2GetXXX function calling this function.
* @return fmi2Status Returns fmi2Error if an error was caught, fmi2OK otherwise.
*/
fmi2Status updateIfNeeded(ModelInstance *comp, const char *func)
{
/* Variables */
threadData_t *threadData = comp->threadData;
jmp_buf *old_jmp=threadData->mmc_jumper;
int success = 0;
if (comp->_need_update)
{
setThreadData(comp);
MemPoolState mem_pool_state = omc_util_get_pool_state();
/* TRY */
#if !defined(OMC_EMCC)
MMC_TRY_INTERNAL(simulationJumpBuffer)
threadData->mmc_jumper = threadData->simulationJumpBuffer;
#endif
if (model_state_initialization_mode == comp->state)
{
initialization(comp->fmuData, comp->threadData, "fmi", "", 0.0);
}
else
{
comp->fmuData->callback->functionODE(comp->fmuData, comp->threadData);
overwriteOldSimulationData(comp->fmuData);
comp->fmuData->callback->functionAlgebraics(comp->fmuData, comp->threadData);
comp->fmuData->callback->output_function(comp->fmuData, comp->threadData);
comp->fmuData->callback->function_storeDelayed(comp->fmuData, comp->threadData);
comp->fmuData->callback->function_storeSpatialDistribution(comp->fmuData, threadData);
storePreValues(comp->fmuData);
}
comp->_need_update = 0;
success = 1;
/* CATCH */
#if !defined(OMC_EMCC)
MMC_CATCH_INTERNAL(simulationJumpBuffer)
threadData->mmc_jumper = old_jmp;
#endif
omc_util_restore_pool_state(mem_pool_state);
resetThreadData(comp);
if (!success)
{
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "%s: terminated by an assertion.", func)
// TODO: Check if fmi2Error or fmi2Discard should be returned
return fmi2Error;
}
}
return fmi2OK;
}
/***************************************************
Common Functions
****************************************************/
const char* fmi2GetTypesPlatform()
{
return fmi2TypesPlatform;
}
const char* fmi2GetVersion()
{
return fmi2Version;
}
fmi2Status fmi2SetDebugLogging(fmi2Component c, fmi2Boolean loggingOn, size_t nCategories, const fmi2String categories[])
{
int i, j;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetDebugLogging", model_state_instantiated|model_state_initialization_mode|model_state_me_event_mode|model_state_me_continuous_time_mode|model_state_terminated|model_state_error, model_state_instantiated|model_state_initialization_mode|model_state_cs_step_complete|model_state_cs_step_in_progress|model_state_cs_step_failed|model_state_cs_step_canceled|model_state_terminated|model_state_error))
return fmi2Error;
comp->loggingOn = loggingOn;
for (j = 0; j < NUMBER_OF_CATEGORIES; j++) {
comp->logCategories[j] = fmi2False;
}
for (i = 0; i < nCategories; i++) {
fmi2Boolean categoryFound = fmi2False;
for (j = 0; j < NUMBER_OF_CATEGORIES; j++) {
if (strcmp(logCategoriesNames[j], categories[i]) == 0) {
comp->logCategories[j] = loggingOn;
categoryFound = fmi2True;
break;
}
}
if (!categoryFound) {
comp->functions->logger(comp->componentEnvironment, comp->instanceName, fmi2Warning, logCategoriesNames[LOG_STATUSERROR],
"logging category '%s' is not supported by model", categories[i]);
}
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetDebugLogging")
return fmi2OK;
}
fmi2Component fmi2Instantiate(fmi2String instanceName, fmi2Type fmuType, fmi2String fmuGUID, fmi2String fmuResourceLocation, const fmi2CallbackFunctions* functions,
fmi2Boolean visible, fmi2Boolean loggingOn)
{
/*
TODO: We should set the interface, but we can't until it's no longer a global variable.
* The problem is that we might overwrite the main simulation's copy of the interface...
*/
threadData_t *threadDataParent = (threadData_t*) pthread_getspecific(mmc_thread_data_key);
ModelInstance *comp;
if (!functions->logger) {
return NULL;
}
if (!functions->allocateMemory || !functions->freeMemory) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Missing callback function.");
return NULL;
}
if (0==threadDataParent) {
/* We can only disable GC if the parent is not OM */
omc_alloc_interface = omc_alloc_interface_pooled;
/* TODO: omc_alloc_interface.malloc_uncollectable = functions->allocateMemory; // Note that the interface is wrong. Should pass threadData to all allocations instead, and have the interface in there. */
}
mmc_init_nogc();
omc_alloc_interface.init();
// ignoring arguments: fmuResourceLocation, visible
if (!instanceName || strlen(instanceName) == 0) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Missing instance name.");
return NULL;
}
if (strcmp(fmuGUID, MODEL_GUID) != 0) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Wrong GUID %s. Expected %s.", fmuGUID, MODEL_GUID);
return NULL;
}
comp = (ModelInstance *)functions->allocateMemory(1, sizeof(ModelInstance));
if (comp) {
DATA* fmudata = NULL;
MODEL_DATA* modelData = NULL;
SIMULATION_INFO* simInfo = NULL;
threadData_t *threadData = NULL;
int i;
comp->state = model_state_start_end;
comp->instanceName = (fmi2String)functions->allocateMemory(1 + strlen(instanceName), sizeof(char));
comp->GUID = (fmi2String)functions->allocateMemory(1 + strlen(fmuGUID), sizeof(char));
comp->functions = (fmi2CallbackFunctions*)functions->allocateMemory(1, sizeof(fmi2CallbackFunctions));
fmudata = (DATA *)functions->allocateMemory(1, sizeof(DATA));
modelData = (MODEL_DATA *)functions->allocateMemory(1, sizeof(MODEL_DATA));
simInfo = (SIMULATION_INFO *)functions->allocateMemory(1, sizeof(SIMULATION_INFO));
fmudata->modelData = modelData;
fmudata->simulationInfo = simInfo;
threadData = (threadData_t *)functions->allocateMemory(1, sizeof(threadData_t));
memset(threadData, 0, sizeof(threadData_t));
/*
pthread_key_create(&fmu2_thread_data_key,NULL);
pthread_setspecific(fmu2_thread_data_key, threadData);
*/
comp->threadData = threadData;
comp->threadDataParent = threadDataParent;
comp->fmuData = fmudata;
threadData->localRoots[LOCAL_ROOT_FMI_DATA] = comp;
if (!comp->fmuData) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Could not initialize the global data structure file.");
return NULL;
}
// set all categories to on or off. fmi2SetDebugLogging should be called to choose specific categories.
for (i = 0; i < NUMBER_OF_CATEGORIES; i++) {
comp->logCategories[i] = loggingOn;
}
}
if (!comp || !comp->instanceName || !comp->GUID || !comp->functions) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Out of memory.");
return NULL;
}
#if defined(OM_HAVE_PTHREADS)
pthread_setspecific(mmc_thread_data_key, comp->threadData);
#endif
omc_assert = omc_assert_fmi;
omc_assert_warning = omc_assert_fmi_warning;
strcpy((char*)comp->instanceName, (const char*)instanceName);
comp->type = fmuType;
strcpy((char*)comp->GUID, (const char*)fmuGUID);
memcpy((void*)comp->functions, (void*)functions, sizeof(fmi2CallbackFunctions));
comp->componentEnvironment = functions->componentEnvironment;
comp->loggingOn = loggingOn;
comp->state = model_state_instantiated;
/* Add the resourcesDir */
fmuResourceLocation = OpenModelica_parseFmuResourcePath(fmuResourceLocation);
if (fmuResourceLocation) {
comp->fmuData->modelData->resourcesDir = functions->allocateMemory(1 + strlen(fmuResourceLocation), sizeof(char));
strcpy(comp->fmuData->modelData->resourcesDir, fmuResourceLocation);
} else {
FILTERED_LOG(comp, fmi2OK, LOG_STATUSWARNING, "fmi2Instantiate: Ignoring unknown resource URI: %s", fmuResourceLocation)
}
/* initialize modelData */
useStream[LOG_STDOUT] = 1;
useStream[LOG_ASSERT] = 1;
fmu2_model_interface_setupDataStruc(comp->fmuData, comp->threadData);
initializeDataStruc(comp->fmuData, comp->threadData);
/* setup model data with default start data */
setDefaultStartValues(comp);
setAllParamsToStart(comp->fmuData);
setAllVarsToStart(comp->fmuData);
comp->fmuData->callback->read_input_fmu(comp->fmuData->modelData, comp->fmuData->simulationInfo);
#if !defined(OMC_MINIMAL_METADATA)
modelInfoInit(&(comp->fmuData->modelData->modelDataXml));
#endif
#if !defined(OMC_NUM_NONLINEAR_SYSTEMS) || OMC_NUM_NONLINEAR_SYSTEMS>0
/* allocate memory for non-linear system solvers */
initializeNonlinearSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_LINEAR_SYSTEMS) || OMC_NUM_LINEAR_SYSTEMS>0
/* allocate memory for non-linear system solvers */
initializeLinearSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_MIXED_SYSTEMS) || OMC_NUM_MIXED_SYSTEMS>0
/* allocate memory for mixed system solvers */
initializeMixedSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NO_STATESELECTION)
/* allocate memory for state selection */
initializeStateSetJacobians(comp->fmuData, comp->threadData);
#endif
/* allocate memory for Jacobian */
comp->_has_jacobian = 0;
comp->fmiDerJac = NULL;
if (comp->fmuData->callback->initialPartialFMIDER != NULL)
{
comp->fmiDerJac = (ANALYTIC_JACOBIAN*) functions->allocateMemory(1, sizeof(ANALYTIC_JACOBIAN));
if (! comp->fmuData->callback->initialPartialFMIDER(comp->fmuData, comp->threadData, comp->fmiDerJac))
{
comp->_has_jacobian = 1;
}
}
/* allocate memory for Jacobian during initialization DAE */
comp->_has_jacobian_intialization = 0;
comp->fmiDerJacInitialization = NULL;
if (comp->fmuData->callback->initialPartialFMIDERINIT != NULL)
{
comp->fmiDerJacInitialization = (ANALYTIC_JACOBIAN*) functions->allocateMemory(1, sizeof(ANALYTIC_JACOBIAN));
if (! comp->fmuData->callback->initialPartialFMIDERINIT(comp->fmuData, comp->threadData, comp->fmiDerJacInitialization))
{
comp->_has_jacobian_intialization = 1;
}
}
// int cols = comp->fmiDerJac->sizeCols;
// int rows = comp->fmiDerJac->sizeRows;
// printf("\nFMIDER number of rows and colums");
// printf("\nNumber of rows : %i", rows);
// printf("\nNumber of columns: %i", cols);
// printf("\n");
// int cols_ = comp->fmiDerJacInitialization->sizeCols;
// int rows_ = comp->fmiDerJacInitialization->sizeRows;
// printf("\nFMIDER INITIALIZATION number of rows and colums");
// printf("\nNumber of rows : %i", rows_);
// printf("\nNumber of columns: %i", cols_);
// printf("\n");
#if NUMBER_OF_STATES > 0
comp->states = (fmi2Real*)functions->allocateMemory(NUMBER_OF_STATES, sizeof(fmi2Real));
comp->states_der = (fmi2Real*)functions->allocateMemory(NUMBER_OF_STATES, sizeof(fmi2Real));
#else
comp->states = NULL;
comp->states_der = NULL;
#endif
#if NUMBER_OF_EVENT_INDICATORS > 0
comp->event_indicators = (fmi2Real*)functions->allocateMemory(NUMBER_OF_EVENT_INDICATORS, sizeof(fmi2Real));
comp->event_indicators_prev = (fmi2Real*)functions->allocateMemory(NUMBER_OF_EVENT_INDICATORS, sizeof(fmi2Real));
#else
comp->event_indicators = NULL;
comp->event_indicators_prev = NULL;
#endif
#if NUMBER_OF_REAL_INPUTS > 0
comp->input_real_derivative = (fmi2Real*)functions->allocateMemory(NUMBER_OF_REAL_INPUTS, sizeof(fmi2Real));
#else
comp->input_real_derivative = NULL;
#endif
comp->_need_update = 1;
/* Initialize solverInfo */
if (fmi2CoSimulation == comp->type) {
FMI2CS_initializeSolverData(comp);
} else {
comp->solverInfo = NULL;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Instantiate: GUID=%s", fmuGUID)
resetThreadData(comp);
return comp;
}
void fmi2FreeInstance(fmi2Component c)
{
ModelInstance *comp = (ModelInstance *)c;
fmi2CallbackFreeMemory freeMemory = comp->functions->freeMemory;
int meStates = model_state_instantiated|model_state_initialization_mode|model_state_me_event_mode|model_state_me_continuous_time_mode|model_state_terminated|model_state_error;
int csStates = model_state_instantiated|model_state_initialization_mode|model_state_cs_step_complete|model_state_cs_step_failed|model_state_cs_step_canceled|model_state_terminated|model_state_error;
if (invalidState(comp, "fmi2FreeInstance", meStates, csStates))
return;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2FreeInstance")
/* call external objects destructors */
comp->fmuData->callback->callExternalObjectDestructors(comp->fmuData, comp->threadData);
#if !defined(OMC_NUM_NONLINEAR_SYSTEMS) || OMC_NUM_NONLINEAR_SYSTEMS>0
/* free nonlinear system data */
freeNonlinearSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_MIXED_SYSTEMS) || OMC_NUM_MIXED_SYSTEMS>0
/* free mixed system data */
freeMixedSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_LINEAR_SYSTEMS) || OMC_NUM_LINEAR_SYSTEMS>0
/* free linear system data */
freeLinearSystems(comp->fmuData, comp->threadData);
#endif
/* free data struct */
deInitializeDataStruc(comp->fmuData); /* TODO: Use comp->functions->freeMemory inside deInitializeDataStruc to be FMI comform */
/* Free jacobian data */
if (comp->_has_jacobian == 1) {
/* TODO: Use comp->functions->freeMemory insted of free,
* but generated code uses malloc / calloc instead of comp->functions->allocateMemory */
free(comp->fmiDerJac->seedVars); comp->fmiDerJac->seedVars = NULL;
free(comp->fmiDerJac->resultVars); comp->fmiDerJac->resultVars = NULL;
free(comp->fmiDerJac->tmpVars); comp->fmiDerJac->tmpVars = NULL;
free(comp->fmiDerJac->sparsePattern->leadindex); comp->fmiDerJac->sparsePattern->leadindex = NULL;
free(comp->fmiDerJac->sparsePattern->index); comp->fmiDerJac->sparsePattern->index = NULL;
free(comp->fmiDerJac->sparsePattern->colorCols); comp->fmiDerJac->sparsePattern->colorCols = NULL;
free(comp->fmiDerJac->sparsePattern); comp->fmiDerJac->sparsePattern = NULL;
freeMemory(comp->fmiDerJac); comp->fmiDerJac=NULL;
}
/* Free jacobian data */
if (comp->_has_jacobian_intialization == 1) {
/* TODO: Use comp->functions->freeMemory insted of free,
* but generated code uses malloc / calloc instead of comp->functions->allocateMemory */
free(comp->fmiDerJacInitialization->seedVars); comp->fmiDerJacInitialization->seedVars = NULL;
free(comp->fmiDerJacInitialization->resultVars); comp->fmiDerJacInitialization->resultVars = NULL;
free(comp->fmiDerJacInitialization->tmpVars); comp->fmiDerJacInitialization->tmpVars = NULL;
free(comp->fmiDerJacInitialization->sparsePattern->leadindex); comp->fmiDerJacInitialization->sparsePattern->leadindex = NULL;
free(comp->fmiDerJacInitialization->sparsePattern->index); comp->fmiDerJacInitialization->sparsePattern->index = NULL;
free(comp->fmiDerJacInitialization->sparsePattern->colorCols); comp->fmiDerJacInitialization->sparsePattern->colorCols = NULL;
free(comp->fmiDerJacInitialization->sparsePattern); comp->fmiDerJacInitialization->sparsePattern = NULL;
freeMemory(comp->fmiDerJacInitialization); comp->fmiDerJacInitialization=NULL;
}
freeMemory(comp->states); comp->states = NULL;
freeMemory(comp->states_der); comp->states_der = NULL;
freeMemory(comp->event_indicators); comp->event_indicators = NULL;
freeMemory(comp->event_indicators_prev); comp->event_indicators_prev = NULL;
freeMemory(comp->input_real_derivative); comp->input_real_derivative = NULL;
freeMemory(comp->fmuData->modelData->resourcesDir);
if (comp->solverInfo) {
FMI2CS_deInitializeSolverData(comp);
}
/* free simuation data */
freeMemory(comp->fmuData->modelData);
freeMemory(comp->fmuData->simulationInfo);
/* free fmuData */
freeMemory(comp->threadData);
freeMemory(comp->fmuData);
/* free instanceName & GUID */
if (comp->instanceName) freeMemory((void*)comp->instanceName);
if (comp->GUID) freeMemory((void*)comp->GUID);
if (comp->functions) freeMemory((void*)comp->functions);
/* free comp */
freeMemory(comp);
free_memory_pool();
}
fmi2Status fmi2SetupExperiment(fmi2Component c, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime)
{
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetupExperiment", model_state_instantiated, model_state_instantiated))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetupExperiment: toleranceDefined=%d tolerance=%g startTime=%g stopTimeDefined=%d stopTime=%g", toleranceDefined, tolerance,
startTime, stopTimeDefined, stopTime)
comp->toleranceDefined = toleranceDefined;
comp->tolerance = tolerance;
comp->startTime = startTime;
comp->stopTimeDefined = stopTimeDefined;
comp->stopTime = stopTime;
return fmi2OK;
}
fmi2Status fmi2EnterInitializationMode(fmi2Component c)
{
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2EnterInitializationMode", model_state_instantiated, model_state_instantiated))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EnterInitializationMode...")
setZCtol(comp->tolerance); /* set zero-crossing tolerance */
setStartValues(comp);
copyStartValuestoInitValues(comp->fmuData);
comp->state = model_state_initialization_mode;
return fmi2OK;
}
fmi2Status fmi2ExitInitializationMode(fmi2Component c)
{
fmi2Status res = fmi2Error;
ModelInstance *comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
jmp_buf *old_jmp = threadData->mmc_jumper;
fmi2Real nextSampleEvent;
fmi2Boolean nextSampleEventDefined;
int done=0;
threadData->currentErrorStage = ERROR_SIMULATION;
if (invalidState(comp, "fmi2ExitInitializationMode", model_state_initialization_mode, model_state_initialization_mode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2ExitInitializationMode...")
setThreadData(comp);
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
threadData->mmc_jumper = threadData->simulationJumpBuffer;
if (comp->_need_update)
{
if (initialization(comp->fmuData, comp->threadData, "fmi", "", 0.0))
{
comp->state = model_state_error;
resetThreadData(comp);
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2EnterInitializationMode: failed")
return fmi2Error;
}
}
/* use defined stopTime, if stopTimeDefined is given to calculate the sample events beforehand.
* TODO: when stopTime is not defined we use an arbitrary constant 100.0, maybe issue a warning
*/
initSample(comp->fmuData, comp->threadData, comp->fmuData->localData[0]->timeValue, comp->stopTimeDefined ? comp->stopTime : 100.0 /* default stopTime */);
/* overwrite old values due to an event */
overwriteOldSimulationData(comp->fmuData);
comp->eventInfo.terminateSimulation = fmi2False;
comp->eventInfo.valuesOfContinuousStatesChanged = fmi2True;
/* get next event time (sample calls) */
nextSampleEventDefined = getNextSampleTimeFMU(comp->fmuData, &nextSampleEvent);
if (nextSampleEventDefined)
{
comp->eventInfo.nextEventTimeDefined = fmi2True;
comp->eventInfo.nextEventTime = nextSampleEvent;
internalEventUpdate(comp, &(comp->eventInfo));
}
else
{
comp->eventInfo.nextEventTimeDefined = fmi2False;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EnterInitializationMode: succeed")
res = fmi2OK;
done = 1;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
threadData->mmc_jumper = old_jmp;
if (!done)
{
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2EnterInitializationMode: terminated by an assertion.")
}
comp->state = isCoSimulation(comp) ? model_state_cs_step_complete : model_state_me_event_mode;
resetThreadData(comp);
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2ExitInitializationMode: succeed")
return res;
}
/*
* fmi2Status fmi2Terminate(fmi2Component c);
* Informs the FMU that the simulation run is terminated. After calling this function, the final
* values of all variables can be inquired with the fmi2GetXXX(..) functions. It is not allowed
* to call this function after one of the functions returned with a status flag of fmi2Error or
* fmi2Fatal.
*
*/
fmi2Status fmi2Terminate(fmi2Component c)
{
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2Terminate", model_state_me_event_mode|model_state_me_continuous_time_mode, model_state_cs_step_complete|model_state_cs_step_failed))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Terminate")
setThreadData(comp);
comp->state = model_state_terminated;
resetThreadData(comp);
return fmi2OK;
}
/*!
* Is called by the environment to reset the FMU after a simulation run. Before starting a new run, fmi2EnterInitializationMode has to be called.
*/
fmi2Status fmi2Reset(fmi2Component c)
{
ModelInstance* comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2Reset", model_state_instantiated|model_state_initialization_mode|model_state_me_event_mode|model_state_me_continuous_time_mode|model_state_terminated|model_state_error, model_state_instantiated|model_state_initialization_mode|model_state_cs_step_complete|model_state_cs_step_failed|model_state_cs_step_canceled|model_state_terminated|model_state_error))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Reset")
setThreadData(comp);
/* Free modelData */
if (!(comp->state & model_state_terminated)) {
/* call external objects destructors */
comp->fmuData->callback->callExternalObjectDestructors(comp->fmuData, comp->threadData);
#if !defined(OMC_NUM_NONLINEAR_SYSTEMS) || OMC_NUM_NONLINEAR_SYSTEMS>0
/* free nonlinear system data */
freeNonlinearSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_MIXED_SYSTEMS) || OMC_NUM_MIXED_SYSTEMS>0
/* free mixed system data */
freeMixedSystems(comp->fmuData, comp->threadData);
#endif
#if !defined(OMC_NUM_LINEAR_SYSTEMS) || OMC_NUM_LINEAR_SYSTEMS>0
/* free linear system data */
freeLinearSystems(comp->fmuData, comp->threadData);
#endif
/* free data struct */
deInitializeDataStruc(comp->fmuData);
}
/* Free CS simulator */
if (comp->solverInfo) {
FMI2CS_deInitializeSolverData(comp);
}
/* Initialize modelData */
useStream[LOG_STDOUT] = 1;
useStream[LOG_ASSERT] = 1;
fmu2_model_interface_setupDataStruc(comp->fmuData, comp->threadData);
initializeDataStruc(comp->fmuData, comp->threadData);
/* reset model data with default start data */
setDefaultStartValues(comp);
setAllParamsToStart(comp->fmuData);
setAllVarsToStart(comp->fmuData);
comp->fmuData->callback->read_input_fmu(comp->fmuData->modelData, comp->fmuData->simulationInfo);
#if !defined(OMC_MINIMAL_METADATA)
modelInfoInit(&(comp->fmuData->modelData->modelDataXml));
#endif
#if !defined(OMC_NUM_NONLINEAR_SYSTEMS) || OMC_NUM_NONLINEAR_SYSTEMS>0
/* allocate memory for non-linear system solvers */