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Revert #8358 (#8646)
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* Revert "revert the last OPC UA commit as it breaks the Windows builds" (#8358)

* Fixed MinGW 'omc_terminate' symbol reference issue
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@rahulp13
rahulp13 committed Apr 11, 2022
1 parent 1d6bbd4 commit 834a38b
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Showing 5 changed files with 77 additions and 15 deletions.
4 changes: 2 additions & 2 deletions OMCompiler/SimulationRuntime/c/simulation/solver/embedded_server.c
View file
Expand Up @@ -55,7 +55,7 @@ void no_embedded_server_deinit(void *handle)
{
}

int no_embedded_server_update(void *handle, double tout)
int no_embedded_server_update(void *handle, double tout, int *terminate)
{
return 0;
}
Expand All @@ -65,7 +65,7 @@ void (*wait_for_step)(void*) = no_wait_for_step;
void (*embedded_server_deinit)(void*) = no_embedded_server_deinit;
// Tells the embedded server that a simulation step has passed; the server
// can read/write values from/to the simulator
int (*embedded_server_update)(void*, double tout) = no_embedded_server_update;
int (*embedded_server_update)(void*, double tout, int*) = no_embedded_server_update;

void* embedded_server_load_functions(const char *server_name)
{
Expand Down
2 changes: 1 addition & 1 deletion OMCompiler/SimulationRuntime/c/simulation/solver/embedded_server.h
View file
Expand Up @@ -43,7 +43,7 @@ extern void (*embedded_server_deinit)(void *handle);
/* Tells the embedded server that a simulation step has passed; the server
* can read/write values from/to the simulator
*/
extern int (*embedded_server_update)(void *handle, double tout);
extern int (*embedded_server_update)(void *handle, double tout, int *terminate);
/* Give the filename or generic name to use for loading an embedded server */
extern void* embedded_server_load_functions(const char *name);
extern void embedded_server_unload_functions(void *dllHandle);
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16 changes: 13 additions & 3 deletions OMCompiler/SimulationRuntime/c/simulation/solver/perform_simulation.c.inc
View file
Expand Up @@ -273,13 +273,20 @@ static void fmtEmitStep(DATA* data, threadData_t *threadData, MEASURE_TIME* mt,
sim_result.emit(&sim_result, data, threadData);
}
#if !defined(OMC_MINIMAL_RUNTIME)
if (embedded_server_update(data->embeddedServerState, data->localData[0]->timeValue)) {
int terminate=0;

if (embedded_server_update(data->embeddedServerState, data->localData[0]->timeValue, &terminate)) {
solverInfo->didEventStep = 1;
overwriteOldSimulationData(data);
storePreValues(data); // Maybe??
storeOldValues(data); // Maybe??
sim_result.emit(&sim_result, data, threadData);
}

if (terminate) {
omc_terminate((FILE_INFO) omc_dummyFileInfo, "The embedded server received command to terminate.");
}

if (data->real_time_sync.enabled) {
double time = data->localData[0]->timeValue;
int64_t res = rt_ext_tp_sync_nanosec(&data->real_time_sync.clock, (uint64_t) (data->real_time_sync.scaling*(time-data->real_time_sync.time)*1e9));
Expand Down Expand Up @@ -317,8 +324,11 @@ static void checkSimulationTerminated(DATA* data, SOLVER_INFO* solverInfo)
{
if(terminationTerminate)
{
printInfo(stdout, TermInfo);
fputc('\n', stdout);
if (TermInfo.filename != NULL && TermInfo.filename[0] != '\0') {
printInfo(stdout, TermInfo);
fputc('\n', stdout);
}

infoStreamPrint(LOG_STDOUT, 0, "Simulation call terminate() at time %f\nMessage : %s", data->localData[0]->timeValue, TermMsg);
data->simulationInfo->stopTime = solverInfo->currentTime;
}
Expand Down
67 changes: 59 additions & 8 deletions OMCompiler/SimulationRuntime/opc/ua/omc_opc_ua.c
View file
Expand Up @@ -46,6 +46,8 @@ typedef struct {
UA_Boolean server_running;
UA_Boolean run;
UA_Boolean step;
UA_Boolean terminate;
UA_Boolean oldUseStopTime;
pthread_mutex_t mutex_pause;
pthread_cond_t cond_pause;
double time[2];
Expand Down Expand Up @@ -126,6 +128,8 @@ readBoolean(void *handle, const UA_NodeId nodeid, UA_Boolean sourceTimeStamp, co
val = state->run;
} else if (nodeid.identifier.numeric == OMC_OPC_NODEID_ENABLE_STOP_TIME) {
val = state->data->simulationInfo->useStopTime;
} else if (nodeid.identifier.numeric == OMC_OPC_NODEID_TERMINATE) {
val = state->terminate;
} else if (nodeid.identifier.numeric >= VARKIND_BOOL*MAX_VARS_KIND && nodeid.identifier.numeric < (1+VARKIND_BOOL)*MAX_VARS_KIND) {
int index1 = nodeid.identifier.numeric-VARKIND_BOOL*MAX_VARS_KIND;
int index = index1 >= ALIAS_START_ID ? modelData->booleanAlias[index1-ALIAS_START_ID].nameID : index1;
Expand Down Expand Up @@ -170,10 +174,27 @@ writeBoolean(void *handle, const UA_NodeId nodeid, const UA_Variant *data, const
pthread_mutex_unlock(&state->mutex_pause);
pthread_cond_signal(&state->cond_pause);
} else if (nodeid.identifier.numeric==OMC_OPC_NODEID_ENABLE_STOP_TIME) {
if (!(state->terminate)) { /* prevent writes to useStopTime if terminate flag is set */
pthread_mutex_lock(&state->mutex_pause);
state->data->simulationInfo->useStopTime = newVal;
pthread_mutex_unlock(&state->mutex_pause);
} else {
statusCode = UA_STATUSCODE_BADREQUESTNOTALLOWED;
}
} else if (nodeid.identifier.numeric==OMC_OPC_NODEID_TERMINATE) {
pthread_mutex_lock(&state->mutex_pause);
state->data->simulationInfo->useStopTime = newVal;

if (newVal) {
/* Store prev. useStopTime state in case terminate flag is reset in same step */
state->oldUseStopTime = state->data->simulationInfo->useStopTime;
state->data->simulationInfo->useStopTime = newVal; /* enable stop time for termination */
}
else if (state->terminate) /* Falling edge of this flag occurred in the same step, restore prev. val of useStopTime */
state->data->simulationInfo->useStopTime = state->oldUseStopTime;

state->terminate = newVal;

pthread_mutex_unlock(&state->mutex_pause);
pthread_cond_signal(&state->cond_pause);
} else if (nodeid.identifier.numeric >= VARKIND_BOOL*MAX_VARS_KIND && nodeid.identifier.numeric < (1+VARKIND_BOOL)*MAX_VARS_KIND) {
int index1 = nodeid.identifier.numeric-VARKIND_BOOL*MAX_VARS_KIND;
int index = index1 >= ALIAS_START_ID ? modelData->booleanAlias[index1-ALIAS_START_ID].nameID : index1;
Expand Down Expand Up @@ -504,10 +525,12 @@ void* omc_embedded_server_init(DATA *data, double t, double step, const char *ar

state->run = 0;
state->step = 0;
state->terminate = 0;
state->oldUseStopTime = data->simulationInfo->useStopTime;

pthread_create(&state->thread, NULL, (void*) &threadWork, state);

/* add a variable node to the address space */
/* add variable for a simulation step */
UA_NodeId stepNodeId = UA_NODEID_NUMERIC(0, OMC_OPC_NODEID_STEP);
UA_QualifiedName stepName = UA_QUALIFIEDNAME(1, "OpenModelica.step");
UA_DataSource stepDataSource = (UA_DataSource) {
Expand All @@ -523,7 +546,7 @@ void* omc_embedded_server_init(DATA *data, double t, double step, const char *ar
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
stepName, UA_NODEID_NULL, attr, stepDataSource, NULL);

/* Run variable */
/* add variable for simulation run */
UA_NodeId runNodeId = UA_NODEID_NUMERIC(0, OMC_OPC_NODEID_RUN);
UA_QualifiedName runName = UA_QUALIFIEDNAME(1, "OpenModelica.run");
UA_VariableAttributes runAttr;
Expand Down Expand Up @@ -571,7 +594,7 @@ void* omc_embedded_server_init(DATA *data, double t, double step, const char *ar
name, UA_NODEID_NULL, attr, dataSource, NULL);
}

/* add a variable node to the address space */
/* add variable for current simulation time */
UA_NodeId timeNodeId = UA_NODEID_NUMERIC(0, OMC_OPC_NODEID_TIME);
UA_QualifiedName timeName = UA_QUALIFIEDNAME(1, "time");
UA_DataSource timeDataSource = (UA_DataSource) {
Expand All @@ -585,6 +608,24 @@ void* omc_embedded_server_init(DATA *data, double t, double step, const char *ar
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
timeName, UA_NODEID_NULL, timeAttr, timeDataSource, NULL);

{
/* add variable for graceful termination of the simulation */
UA_NodeId terminateNodeId = UA_NODEID_NUMERIC(0, OMC_OPC_NODEID_TERMINATE);
UA_QualifiedName terminateName = UA_QUALIFIEDNAME(1, "OpenModelica.terminate");
UA_DataSource dataSource = (UA_DataSource) {
.handle = state, .read = readBoolean, .write = writeBoolean};
UA_VariableAttributes attr;
UA_VariableAttributes_init(&attr);
attr.description = UA_LOCALIZEDTEXT("en_US", "When set to true, the simulation is terminated gracefully");
attr.displayName = UA_LOCALIZEDTEXT("en_US", "terminate");
attr.writeMask = 1;
attr.userWriteMask = 1;
UA_Server_addDataSourceVariableNode(state->server, terminateNodeId,
UA_NODEID_NUMERIC(0, UA_NS0ID_OBJECTSFOLDER),
UA_NODEID_NUMERIC(0, UA_NS0ID_ORGANIZES),
terminateName, UA_NODEID_NULL, attr, dataSource, NULL);
}

state->gotNewInput = 0;
state->inputVarsBackup = malloc(modelData->nInputVars * sizeof(double));
memcpy(state->inputVarsBackup, data->simulationInfo->inputVars, modelData->nInputVars * sizeof(double));
Expand Down Expand Up @@ -640,16 +681,14 @@ void omc_embedded_server_deinit(void *state_vp)
free(state);
}

int omc_embedded_server_update(void *state_vp, double t)
int omc_embedded_server_update(void *state_vp, double t, int *terminate)
{
omc_opc_ua_state *state = (omc_opc_ua_state*) state_vp;
int i, realIndex=0, boolIndex=0, res=0;
DATA *data = state->data;
MODEL_DATA *modelData = data->modelData;
int latestValues;

waitForStep(state);

latestValues = state->latestValues ? 0 : 1;

state->time[latestValues] = t;
Expand All @@ -664,11 +703,17 @@ int omc_embedded_server_update(void *state_vp, double t)
state->latestValues = latestValues;
pthread_mutex_unlock(&state->mutex_values);


waitForStep(state);


pthread_mutex_lock(&state->write_values);

if (state->gotNewInput) {
res = 1; /* Trigger an event in the solver, restarting it */
memcpy(data->simulationInfo->inputVars, state->inputVarsBackup, modelData->nInputVars * sizeof(double));

state->gotNewInput = 0;
}

if (state->reinitStateFlag) {
Expand All @@ -679,7 +724,13 @@ int omc_embedded_server_update(void *state_vp, double t)
(data->localData[0])->realVars[i] = state->updatedStates[i];
}
}

state->reinitStateFlag = 0;
}

if (state->terminate)
*terminate = 1;

pthread_mutex_unlock(&state->write_values);

return res;
Expand Down
3 changes: 2 additions & 1 deletion OMCompiler/SimulationRuntime/opc/ua/omc_opc_ua.h
View file
Expand Up @@ -50,13 +50,14 @@
OPC_UA_EXPORT void* omc_embedded_server_init(DATA *data, double t, double step, const char *argv_0, void (*omc_real_time_sync_update)(DATA *data, double scaling), int port);
OPC_UA_EXPORT void omc_wait_for_step(void*);
OPC_UA_EXPORT void omc_embedded_server_deinit(void*);
OPC_UA_EXPORT int omc_embedded_server_update(void*, double t);
OPC_UA_EXPORT int omc_embedded_server_update(void*, double t, int*);

#define OMC_OPC_NODEID_STEP 10000
#define OMC_OPC_NODEID_RUN 10001
#define OMC_OPC_NODEID_REAL_TIME_SCALING_FACTOR 10002
#define OMC_OPC_NODEID_ENABLE_STOP_TIME 10003
#define OMC_OPC_NODEID_TIME 10004
#define OMC_OPC_NODEID_TERMINATE 10005

#define MAX_VARS_KIND 100000000
#define ALIAS_START_ID (MAX_VARS_KIND/2)
Expand Down

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