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fmu2_model_interface.c
1282 lines (1132 loc) · 50.3 KB
/
fmu2_model_interface.c
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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 "simulation_data.h"
#include "simulation/solver/stateset.h"
#include "simulation/solver/model_help.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/simulation_info_json.h"
#include "simulation/simulation_input_xml.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_REALS>0
fmi2ValueReference vrStates[NUMBER_OF_STATES] = STATES;
fmi2ValueReference vrStatesDerivatives[NUMBER_OF_STATES] = STATESDERIVATIVES;
#endif
// ---------------------------------------------------------------------------
// Private helpers used below to validate function arguments
// ---------------------------------------------------------------------------
const char* stateToString(ModelInstance *comp) {
switch (comp->state) {
case modelInstantiated: return "Instantiated";
case modelInitializationMode: return "Initialization Mode";
case modelEventMode: return "Event Mode";
case modelContinuousTimeMode: return "Continuous-Time Mode";
case modelTerminated: return "Terminated";
case modelError: return "Error";
default: break;
}
return "Unknown";
}
static fmi2Boolean invalidNumber(ModelInstance *comp, const char *f, const char *arg, int n, int nExpected) {
if (n != nExpected) {
comp->state = modelError;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Invalid argument %s = %d. Expected %d.", f, arg, n, nExpected)
return fmi2True;
}
return fmi2False;
}
static fmi2Boolean invalidState(ModelInstance *comp, const char *f, int statesExpected) {
if (!comp)
return fmi2True;
if (!(comp->state & statesExpected)) {
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Illegal call sequence. %s is not allowed in %s state.", f, f, stateToString(comp))
comp->state = modelError;
return fmi2True;
}
return fmi2False;
}
static fmi2Boolean nullPointer(ModelInstance* comp, const char *f, const char *arg, const void *p) {
if (!p) {
comp->state = modelError;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Invalid argument %s = NULL.", f, arg)
return fmi2True;
}
return fmi2False;
}
static fmi2Boolean vrOutOfRange(ModelInstance *comp, const char *f, fmi2ValueReference vr, int end) {
if (vr >= end) {
comp->state = modelError;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Illegal value reference %u.", f, vr)
return fmi2True;
}
return fmi2False;
}
static fmi2Status unsupportedFunction(fmi2Component c, const char *fName, int statesExpected) {
ModelInstance *comp = (ModelInstance *)c;
fmi2CallbackLogger log = comp->functions->logger;
if (invalidState(comp, fName, statesExpected))
return fmi2Error;
FILTERED_LOG(comp, fmi2Error, LOG_STATUSERROR, "%s: Function not implemented.", fName)
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;
}
// ---------------------------------------------------------------------------
// Private helpers functions
// ---------------------------------------------------------------------------
fmi2Status fmi2EventUpdate(fmi2Component c, fmi2EventInfo* eventInfo)
{
int i;
ModelInstance* comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
if (nullPointer(comp, "fmi2EventUpdate", "eventInfo", eventInfo))
return fmi2Error;
eventInfo->valuesOfContinuousStatesChanged = fmi2False;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EventUpdate: Start Event Update! Next Sample Event %g", eventInfo->nextEventTime)
/* 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, "fmi2EventUpdate: 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];
if(comp->fmuData->callback->checkForDiscreteChanges(comp->fmuData, comp->threadData) || comp->fmuData->simulationInfo->needToIterate || checkRelations(comp->fmuData) || eventInfo->valuesOfContinuousStatesChanged)
{
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EventUpdate: Need to iterate(discrete changes)!")
eventInfo->newDiscreteStatesNeeded = fmi2True;
eventInfo->nominalsOfContinuousStatesChanged = fmi2False;
eventInfo->valuesOfContinuousStatesChanged = fmi2True;
eventInfo->terminateSimulation = fmi2False;
}
else
{
eventInfo->newDiscreteStatesNeeded = fmi2False;
eventInfo->nominalsOfContinuousStatesChanged = fmi2False;
eventInfo->terminateSimulation = fmi2False;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EventUpdate: 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);
//Get Next Event Time
double nextSampleEvent=0;
nextSampleEvent = getNextSampleTimeFMU(comp->fmuData);
if (nextSampleEvent == -1)
{
eventInfo->nextEventTimeDefined = fmi2False;
}
else
{
eventInfo->nextEventTimeDefined = fmi2True;
eventInfo->nextEventTime = nextSampleEvent;
}
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EventUpdate: Checked for Sample Events! Next Sample Event %g",eventInfo->nextEventTime)
return fmi2OK;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2EventUpdate: terminated by an assertion.")
comp->_need_update = 1;
return fmi2Error;
}
fmi2Status fmi2EventIteration(fmi2Component c, fmi2EventInfo *eventInfo)
{
fmi2Status status = fmi2OK;
eventInfo->newDiscreteStatesNeeded = fmi2True;
eventInfo->terminateSimulation = fmi2False;
while (eventInfo->newDiscreteStatesNeeded && !eventInfo->terminateSimulation) {
status = fmi2NewDiscreteStates(c, eventInfo);
}
return status;
}
/***************************************************
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;
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) {
// ignoring arguments: fmuResourceLocation, visible
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 (!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->instanceName = (fmi2String)functions->allocateMemory(1 + strlen(instanceName), sizeof(char));
comp->GUID = (fmi2String)functions->allocateMemory(1 + strlen(fmuGUID), sizeof(char));
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->fmuData = fmudata;
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) {
functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "error", "fmi2Instantiate: Out of memory.");
return NULL;
}
strcpy((char*)comp->instanceName, (const char*)instanceName);
comp->type = fmuType;
strcpy((char*)comp->GUID, (const char*)fmuGUID);
comp->functions = functions;
comp->componentEnvironment = functions->componentEnvironment;
comp->loggingOn = loggingOn;
comp->state = modelInstantiated;
/* intialize modelData */
fmu2_model_interface_setupDataStruc(comp->fmuData);
useStream[LOG_STDOUT] = 1;
useStream[LOG_ASSERT] = 1;
initializeDataStruc(comp->fmuData, comp->threadData);
/* setup model data with default start data */
setDefaultStartValues(comp);
setAllVarsToStart(comp->fmuData);
setAllParamsToStart(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
/* read input vars */
/* input_function(comp->fmuData); */
#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
#ifdef FMU_EXPERIMENTAL
/* allocate memory for Jacobian */
comp->_has_jacobian = !comp->fmuData->callback->initialAnalyticJacobianA(comp->fmuData, comp->threadData);
#endif
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Instantiate: GUID=%s", fmuGUID)
return comp;
}
void fmi2FreeInstance(fmi2Component c) {
ModelInstance *comp = (ModelInstance *)c;
if (!comp) return;
if (invalidState(comp, "fmi2FreeInstance", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2FreeInstance")
/* free simuation data */
comp->functions->freeMemory(comp->fmuData->modelData);
comp->functions->freeMemory(comp->fmuData->simulationInfo);
/* free fmuData */
comp->functions->freeMemory(comp->threadData);
comp->functions->freeMemory(comp->fmuData);
/* free instanceName & GUID */
if (comp->instanceName) comp->functions->freeMemory((void*)comp->instanceName);
if (comp->GUID) comp->functions->freeMemory((void*)comp->GUID);
/* free comp */
comp->functions->freeMemory(comp);
}
fmi2Status fmi2SetupExperiment(fmi2Component c, fmi2Boolean toleranceDefined, fmi2Real tolerance, fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetupExperiment", modelInstantiated))
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;
threadData_t *threadData = comp->threadData;
double nextSampleEvent;
threadData->currentErrorStage = ERROR_SIMULATION;
if (invalidState(comp, "fmi2EnterInitializationMode", modelInstantiated))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EnterInitializationMode...")
/* set zero-crossing tolerance */
setZCtol(comp->tolerance);
setStartValues(comp);
copyStartValuestoInitValues(comp->fmuData);
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
if (initialization(comp->fmuData, comp->threadData, "", "", 0.0, 5)) {
comp->state = modelError;
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2EnterInitializationMode: failed")
return fmi2Error;
}
else
{
/*TODO: Simulation stop time is need to calculate in before hand all sample events
We shouldn't generate them all in beforehand */
initSample(comp->fmuData, comp->threadData, comp->fmuData->localData[0]->timeValue, 100 /*should be stopTime*/);
#if !defined(OMC_NDELAY_EXPRESSIONS) || OMC_NDELAY_EXPRESSIONS>0
initDelay(comp->fmuData, comp->fmuData->localData[0]->timeValue);
#endif
/* due to an event overwrite old values */
overwriteOldSimulationData(comp->fmuData);
comp->eventInfo.terminateSimulation = fmi2False;
comp->eventInfo.valuesOfContinuousStatesChanged = fmi2True;
/* Get next event time (sample calls)*/
nextSampleEvent = 0;
nextSampleEvent = getNextSampleTimeFMU(comp->fmuData);
if (nextSampleEvent == -1) {
comp->eventInfo.nextEventTimeDefined = fmi2False;
} else {
comp->eventInfo.nextEventTimeDefined = fmi2True;
comp->eventInfo.nextEventTime = nextSampleEvent;
fmi2EventUpdate(comp, &(comp->eventInfo));
}
comp->state = modelInitializationMode;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2EnterInitializationMode: succeed")
return fmi2OK;
}
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2EnterInitializationMode: terminated by an assertion.")
return fmi2Error;
}
fmi2Status fmi2ExitInitializationMode(fmi2Component c) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2ExitInitializationMode", modelInitializationMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2ExitInitializationMode...")
comp->state = modelEventMode;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2ExitInitializationMode: succeed")
return fmi2OK;
}
fmi2Status fmi2Terminate(fmi2Component c) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2Terminate", modelEventMode|modelContinuousTimeMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Terminate")
/* 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
#if !defined(OMC_NO_STATESELECTION)
/* free stateset data */
freeStateSetData(comp->fmuData);
#endif
/* free data struct */
deInitializeDataStruc(comp->fmuData);
comp->state = modelTerminated;
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", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2Reset")
if (comp->state & modelTerminated) {
/* intialize modelData */
fmu2_model_interface_setupDataStruc(comp->fmuData);
initializeDataStruc(comp->fmuData, comp->threadData);
}
/* reset the values to start */
setDefaultStartValues(comp);
setAllVarsToStart(comp->fmuData);
setAllParamsToStart(comp->fmuData);
comp->state = modelInstantiated;
return fmi2OK;
}
fmi2Status fmi2GetReal(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, fmi2Real value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetReal", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetReal", "vr[]", vr))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetReal", "value[]", value))
return fmi2Error;
#if NUMBER_OF_REALS > 0
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2GetReal", vr[i], NUMBER_OF_REALS))
return fmi2Error;
value[i] = getReal(comp, vr[i]); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetReal: #r%u# = %.16g", vr[i], value[i])
}
#endif
return fmi2OK;
}
fmi2Status fmi2GetInteger(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, fmi2Integer value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetInteger", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetInteger", "vr[]", vr))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetInteger", "value[]", value))
return fmi2Error;
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2GetInteger", vr[i], NUMBER_OF_INTEGERS))
return fmi2Error;
value[i] = getInteger(comp, vr[i]); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetInteger: #i%u# = %d", vr[i], value[i])
}
return fmi2OK;
}
fmi2Status fmi2GetBoolean(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, fmi2Boolean value[]){
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetBoolean", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetBoolean", "vr[]", vr))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2GetBoolean", "value[]", value))
return fmi2Error;
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2GetBoolean", vr[i], NUMBER_OF_BOOLEANS))
return fmi2Error;
value[i] = getBoolean(comp, vr[i]); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetBoolean: #b%u# = %s", vr[i], value[i]? "true" : "false")
}
return fmi2OK;
}
fmi2Status fmi2GetString(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, fmi2String value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetString", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2GetString", "vr[]", vr))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2GetString", "value[]", value))
return fmi2Error;
for (i=0; i<nvr; i++) {
if (vrOutOfRange(comp, "fmi2GetString", vr[i], NUMBER_OF_STRINGS))
return fmi2Error;
value[i] = getString(comp, vr[i]); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetString: #s%u# = '%s'", vr[i], value[i])
}
return fmi2OK;
}
fmi2Status fmi2SetReal(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, const fmi2Real value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetReal", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2SetReal", "vr[]", vr))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2SetReal", "value[]", value))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetReal: nvr = %d", nvr)
// no check whether setting the value is allowed in the current state
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2SetReal", vr[i], NUMBER_OF_REALS+NUMBER_OF_STATES))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetReal: #r%d# = %.16g", vr[i], value[i])
if (setReal(comp, vr[i], value[i]) != fmi2OK) // to be implemented by the includer of this file
return fmi2Error;
}
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2SetInteger(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, const fmi2Integer value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetInteger", modelInstantiated|modelInitializationMode|modelEventMode))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2SetInteger", "vr[]", vr))
return fmi2Error;
if (nvr > 0 && nullPointer(comp, "fmi2SetInteger", "value[]", value))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetInteger: nvr = %d", nvr)
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2SetInteger", vr[i], NUMBER_OF_INTEGERS))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetInteger: #i%d# = %d", vr[i], value[i])
if (setInteger(comp, vr[i], value[i]) != fmi2OK) // to be implemented by the includer of this file
return fmi2Error;
}
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2SetBoolean(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, const fmi2Boolean value[]) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetBoolean", modelInstantiated|modelInitializationMode|modelEventMode))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2SetBoolean", "vr[]", vr))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2SetBoolean", "value[]", value))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetBoolean: nvr = %d", nvr)
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2SetBoolean", vr[i], NUMBER_OF_BOOLEANS))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetBoolean: #b%d# = %s", vr[i], value[i] ? "true" : "false")
if (setBoolean(comp, vr[i], value[i]) != fmi2OK) // to be implemented by the includer of this file
return fmi2Error;
}
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2SetString(fmi2Component c, const fmi2ValueReference vr[], size_t nvr, const fmi2String value[]) {
int i, n;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetString", modelInstantiated|modelInitializationMode|modelEventMode))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2SetString", "vr[]", vr))
return fmi2Error;
if (nvr>0 && nullPointer(comp, "fmi2SetString", "value[]", value))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetString: nvr = %d", nvr)
for (i = 0; i < nvr; i++) {
if (vrOutOfRange(comp, "fmi2SetString", vr[i], NUMBER_OF_STRINGS))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetString: #s%d# = '%s'", vr[i], value[i])
if (setString(comp, vr[i], value[i]) != fmi2OK) // to be implemented by the includer of this file
return fmi2Error;
}
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2GetFMUstate(fmi2Component c, fmi2FMUstate* FMUstate) {
return unsupportedFunction(c, "fmi2GetFMUstate", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2SetFMUstate(fmi2Component c, fmi2FMUstate FMUstate) {
return unsupportedFunction(c, "fmi2SetFMUstate", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2FreeFMUstate(fmi2Component c, fmi2FMUstate* FMUstate) {
return unsupportedFunction(c, "fmi2FreeFMUstate", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2SerializedFMUstateSize(fmi2Component c, fmi2FMUstate FMUstate, size_t *size) {
return unsupportedFunction(c, "fmi2SerializedFMUstateSize", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2SerializeFMUstate(fmi2Component c, fmi2FMUstate FMUstate, fmi2Byte serializedState[], size_t size) {
return unsupportedFunction(c, "fmi2SerializeFMUstate", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2DeSerializeFMUstate(fmi2Component c, const fmi2Byte serializedState[], size_t size, fmi2FMUstate* FMUstate) {
return unsupportedFunction(c, "fmi2DeSerializeFMUstate", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
}
fmi2Status fmi2GetDirectionalDerivative(fmi2Component c, const fmi2ValueReference vUnknown_ref[], size_t nUnknown, const fmi2ValueReference vKnown_ref[] , size_t nKnown,
const fmi2Real dvKnown[], fmi2Real dvUnknown[]) {
#ifndef FMU_EXPERIMENTAL
return unsupportedFunction(c, "fmi2GetDirectionalDerivative", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
#else
int i,j;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetDirectionalDerivative", modelInstantiated|modelEventMode|modelContinuousTimeMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetDirectionalDerivative")
if (!comp->_has_jacobian)
return unsupportedFunction(c, "fmi2GetDirectionalDerivative", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError);
/***************************************/
#if NUMBER_OF_STATES>0
// This code assumes that the FMU variables are always sorted,
// states first and then derivatives.
// This is true for the actual OMC FMUs.
// Anyway we'll check that the references are in the valid range
for (i = 0; i < nUnknown; i++) {
if (vUnknown_ref[i]>=NUMBER_OF_STATES)
// We are only computing the A part of the Jacobian for now
// so unknowns can only be states
return fmi2Error;
}
for (i = 0; i < nKnown; i++) {
if (vKnown_ref[i]>=2*NUMBER_OF_STATES) {
// We are only computing the A part of the Jacobian for now
// so knowns can only be states derivatives
return fmi2Error;
}
}
comp->fmuData->callback->functionFMIJacobian(comp->fmuData, comp->threadData, vUnknown_ref, nUnknown, vKnown_ref, nKnown, (double*)dvKnown, dvUnknown);
#endif
/***************************************/
return fmi2OK;
#endif
}
/***************************************************
Functions for FMI2 for Model Exchange
****************************************************/
fmi2Status fmi2EnterEventMode(fmi2Component c) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2EnterEventMode", modelInitializationMode|modelContinuousTimeMode|modelEventMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_EVENTS, "fmi2EnterEventMode")
comp->state = modelEventMode;
return fmi2OK;
}
fmi2Status fmi2NewDiscreteStates(fmi2Component c, fmi2EventInfo* eventInfo) {
ModelInstance *comp = (ModelInstance *)c;
double nextSampleEvent = 0;
fmi2Status returnValue = fmi2OK;
if (invalidState(comp, "fmi2NewDiscreteStates", modelEventMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2NewDiscreteStates")
eventInfo->newDiscreteStatesNeeded = fmi2False;
eventInfo->terminateSimulation = fmi2False;
eventInfo->nominalsOfContinuousStatesChanged = fmi2False;
eventInfo->valuesOfContinuousStatesChanged = fmi2False;
eventInfo->nextEventTimeDefined = fmi2False;
eventInfo->nextEventTime = 0;
returnValue = fmi2EventUpdate(comp, eventInfo);
return returnValue;
}
fmi2Status fmi2EnterContinuousTimeMode(fmi2Component c) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2EnterContinuousTimeMode", modelEventMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL,"fmi2EnterContinuousTimeMode")
comp->state = modelContinuousTimeMode;
return fmi2OK;
}
fmi2Status fmi2CompletedIntegratorStep(fmi2Component c, fmi2Boolean noSetFMUStatePriorToCurrentPoint, fmi2Boolean* enterEventMode, fmi2Boolean* terminateSimulation) {
ModelInstance *comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
if (invalidState(comp, "fmi2CompletedIntegratorStep", modelContinuousTimeMode))
return fmi2Error;
if (nullPointer(comp, "fmi2CompletedIntegratorStep", "enterEventMode", enterEventMode))
return fmi2Error;
if (nullPointer(comp, "fmi2CompletedIntegratorStep", "terminateSimulation", terminateSimulation))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL,"fmi2CompletedIntegratorStep")
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
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);
storePreValues(comp->fmuData);
*enterEventMode = fmi2False;
*terminateSimulation = fmi2False;
/******** check state selection ********/
#if !defined(OMC_NO_STATESELECTION)
if (stateSelection(comp->fmuData, comp->threadData, 1, 0))
{
/* if new set is calculated reinit the solver */
*enterEventMode = fmi2True;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL,"fmi2CompletedIntegratorStep: Need to iterate state values changed!")
}
#endif
/* TODO: fix the extrapolation in non-linear system
* then we can stop to save all variables in
* in the whole ringbuffer
*/
overwriteOldSimulationData(comp->fmuData);
return fmi2OK;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2CompletedIntegratorStep: terminated by an assertion.")
return fmi2Error;
}
fmi2Status fmi2SetTime(fmi2Component c, fmi2Real t) {
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2SetTime", modelInstantiated|modelEventMode|modelContinuousTimeMode))
return fmi2Error;
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetTime: time=%.16g", t)
comp->fmuData->localData[0]->timeValue = t;
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2SetContinuousStates(fmi2Component c, const fmi2Real x[], size_t nx) {
ModelInstance *comp = (ModelInstance *)c;
int i;
/* According to FMI RC2 specification fmi2SetContinuousStates should only be allowed in Continuous-Time Mode.
* The following code is done only to make the FMUs compatible with Dymola because Dymola is trying to call fmi2SetContinuousStates after fmi2EnterInitializationMode.
*/
if (invalidState(comp, "fmi2SetContinuousStates", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode))
/*if (invalidState(comp, "fmi2SetContinuousStates", modelContinuousTimeMode))*/
return fmi2Error;
if (invalidNumber(comp, "fmi2SetContinuousStates", "nx", nx, NUMBER_OF_STATES))
return fmi2Error;
if (nullPointer(comp, "fmi2SetContinuousStates", "x[]", x))
return fmi2Error;
#if NUMBER_OF_REALS>0
for (i = 0; i < nx; i++) {
fmi2ValueReference vr = vrStates[i];
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2SetContinuousStates: #r%d# = %.16g", vr, x[i])
if (vr < 0 || vr >= NUMBER_OF_REALS|| setReal(comp, vr, x[i]) != fmi2OK) { // to be implemented by the includer of this file
return fmi2Error;
}
}
#endif
comp->_need_update = 1;
return fmi2OK;
}
fmi2Status fmi2GetDerivatives(fmi2Component c, fmi2Real derivatives[], size_t nx) {
int i;
ModelInstance* comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
if (invalidState(comp, "fmi2GetDerivatives", modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (invalidNumber(comp, "fmi2GetDerivatives", "nx", nx, NUMBER_OF_STATES))
return fmi2Error;
if (nullPointer(comp, "fmi2GetDerivatives", "derivatives[]", derivatives))
return fmi2Error;
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
if (comp->_need_update){
comp->fmuData->callback->functionODE(comp->fmuData, comp->threadData);
overwriteOldSimulationData(comp->fmuData);
comp->_need_update = 0;
}
#if NUMBER_OF_STATES>0
for (i = 0; i < nx; i++) {
fmi2ValueReference vr = vrStatesDerivatives[i];
derivatives[i] = getReal(comp, vr); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetDerivatives: #r%d# = %.16g", vr, derivatives[i])
}
#endif
return fmi2OK;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
FILTERED_LOG(comp, fmi2Error, LOG_FMI2_CALL, "fmi2GetDerivatives: terminated by an assertion.")
return fmi2Error;
}
fmi2Status fmi2GetEventIndicators(fmi2Component c, fmi2Real eventIndicators[], size_t nx) {
int i;
ModelInstance *comp = (ModelInstance *)c;
threadData_t *threadData = comp->threadData;
/* According to FMI RC2 specification fmi2GetEventIndicators should only be allowed in Event Mode, Continuous-Time Mode & terminated.
* The following code is done only to make the FMUs compatible with Dymola because Dymola is trying to call fmi2GetEventIndicators after fmi2EnterInitializationMode.
*/
if (invalidState(comp, "fmi2GetEventIndicators", modelInstantiated|modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
/*if (invalidState(comp, "fmi2GetEventIndicators", modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))*/
return fmi2Error;
if (invalidNumber(comp, "fmi2GetEventIndicators", "nx", nx, NUMBER_OF_EVENT_INDICATORS))
return fmi2Error;
/* try */
MMC_TRY_INTERNAL(simulationJumpBuffer)
#if NUMBER_OF_EVENT_INDICATORS>0
/* eval needed equations*/
if (comp->_need_update){
comp->fmuData->callback->functionODE(comp->fmuData, comp->threadData);
comp->_need_update = 0;
}
comp->fmuData->callback->function_ZeroCrossings(comp->fmuData, comp->threadData, comp->fmuData->simulationInfo->zeroCrossings);
for (i = 0; i < nx; i++) {
eventIndicators[i] = comp->fmuData->simulationInfo->zeroCrossings[i];
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetEventIndicators: z%d = %.16g", i, eventIndicators[i])
}
#endif
return fmi2OK;
/* catch */
MMC_CATCH_INTERNAL(simulationJumpBuffer)
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "error", "fmi2GetEventIndicators: terminated by an assertion.");
return fmi2Error;
}
fmi2Status fmi2GetContinuousStates(fmi2Component c, fmi2Real x[], size_t nx) {
int i;
ModelInstance *comp = (ModelInstance *)c;
if (invalidState(comp, "fmi2GetContinuousStates", modelInitializationMode|modelEventMode|modelContinuousTimeMode|modelTerminated|modelError))
return fmi2Error;
if (invalidNumber(comp, "fmi2GetContinuousStates", "nx", nx, NUMBER_OF_STATES))
return fmi2Error;
if (nullPointer(comp, "fmi2GetContinuousStates", "states[]", x))
return fmi2Error;
#if NUMBER_OF_REALS>0
for (i = 0; i < nx; i++) {
fmi2ValueReference vr = vrStates[i];
x[i] = getReal(comp, vr); // to be implemented by the includer of this file
FILTERED_LOG(comp, fmi2OK, LOG_FMI2_CALL, "fmi2GetContinuousStates: #r%u# = %.16g", vr, x[i])
}
#endif
return fmi2OK;
}
fmi2Status fmi2GetNominalsOfContinuousStates(fmi2Component c, fmi2Real x_nominal[], size_t nx) {
int i;