- fmu tests for HPCOM added

openmodelica/cppruntime/Makefile

@@ -46,9 +46,9 @@ libraries
 
 CLEAN = `ls | grep -w -v -f deps.tmp`
 HPCOM_DIR = hpcom/
+HPCOM_FMI_1_0_DIR = hpcom/fmu/modelExchange/1.0
 UMFPACK_DIR = umfpack/
 FMI_1_0_DIR = fmu/modelExchange/1.0
-FMI_2_0_DIR = fmu/modelExchange/2.0
 STATIC_LINKING_DIR = staticLinking
 
 .PHONY : test clean getdeps
@@ -74,6 +74,7 @@ clean :
 	@$(MAKE) -C $(UMFPACK_DIR) clean
 	@$(MAKE) -C $(FMI_1_0_DIR) clean
 	@$(MAKE) -C $(FMI_2_0_DIR) clean
+	@$(MAKE) -C $(HPCOM_FMI_1_0_DIR) clean
 	@$(MAKE) -C $(STATIC_LINKING_DIR) clean
 
 

openmodelica/cppruntime/hpcom/fmu/modelExchange/1.0/CoupledClutches.mo

@@ -0,0 +1,59 @@
+model CoupledClutches "Drive train with 3 dynamically coupled clutches"
+  extends Modelica.Icons.Example;
+  parameter Modelica.SIunits.Frequency freqHz = 0.2 "Frequency of sine function to invoke clutch1";
+  parameter Modelica.SIunits.Time T2 = 0.4 "Time when clutch2 is invoked";
+  parameter Modelica.SIunits.Time T3 = 0.9 "Time when clutch3 is invoked";
+  Modelica.Mechanics.Rotational.Components.Inertia J1(J = 1, phi(fixed = true, start = 0), w(start = 10, fixed = true)) annotation(Placement(transformation(extent = {{-70, -10}, {-50, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Sources.Torque torque(useSupport = true) annotation(Placement(transformation(extent = {{-100, -10}, {-80, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Components.Clutch clutch1(peak = 1.1, fn_max = 20) annotation(Placement(transformation(extent = {{-40, -10}, {-20, 10}}, rotation = 0)));
+  Modelica.Blocks.Sources.Sine sin1(amplitude = 10, freqHz = 5) annotation(Placement(transformation(extent = {{-130, -10}, {-110, 10}}, rotation = 0)));
+  Modelica.Blocks.Sources.Step step1(startTime = T2) annotation(Placement(transformation(origin = {25, 35}, extent = {{-5, -5}, {15, 15}}, rotation = 270)));
+  Modelica.Mechanics.Rotational.Components.Inertia J2(J = 1, phi(fixed = true, start = 0), w(fixed = true, start = 0)) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Components.Clutch clutch2(peak = 1.1, fn_max = 20) annotation(Placement(transformation(extent = {{20, -10}, {40, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Components.Inertia J3(J = 1, phi(fixed = true, start = 0), w(fixed = true, start = 0)) annotation(Placement(transformation(extent = {{50, -10}, {70, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Components.Clutch clutch3(peak = 1.1, fn_max = 20) annotation(Placement(transformation(extent = {{80, -10}, {100, 10}}, rotation = 0)));
+  Modelica.Mechanics.Rotational.Components.Inertia J4(J = 1, phi(fixed = true, start = 0), w(fixed = true, start = 0)) annotation(Placement(transformation(extent = {{110, -10}, {130, 10}}, rotation = 0)));
+  Modelica.Blocks.Sources.Sine sin2(amplitude = 1, freqHz = freqHz, phase = 1.57) annotation(Placement(transformation(origin = {-35, 35}, extent = {{-5, -5}, {15, 15}}, rotation = 270)));
+  input Real step2;
+  output Real J1_w1, J2_w1, J3_w1, J4_w1;
+  Modelica.Mechanics.Rotational.Components.Fixed fixed annotation(Placement(transformation(extent = {{-100, -30}, {-80, -10}}, rotation = 0)));
+equation
+  J1_w1 = J1.w;
+  J2_w1 = J2.w;
+  J3_w1 = J3.w;
+  J4_w1 = J4.w;
+  connect(torque.flange, J1.flange_a) annotation(Line(points = {{-80, 0}, {-70, 0}}, color = {0, 0, 0}));
+  connect(J1.flange_b, clutch1.flange_a) annotation(Line(points = {{-50, 0}, {-40, 0}}, color = {0, 0, 0}));
+  connect(clutch1.flange_b, J2.flange_a) annotation(Line(points = {{-20, 0}, {-10, 0}}, color = {0, 0, 0}));
+  connect(J2.flange_b, clutch2.flange_a) annotation(Line(points = {{10, 0}, {10, 0}, {20, 0}}, color = {0, 0, 0}));
+  connect(clutch2.flange_b, J3.flange_a) annotation(Line(points = {{40, 0}, {50, 0}}, color = {0, 0, 0}));
+  connect(J3.flange_b, clutch3.flange_a) annotation(Line(points = {{70, 0}, {80, 0}}, color = {0, 0, 0}));
+  connect(clutch3.flange_b, J4.flange_a) annotation(Line(points = {{100, 0}, {110, 0}}, color = {0, 0, 0}));
+  connect(sin1.y, torque.tau) annotation(Line(points = {{-109, 0}, {-102, 0}}, color = {0, 0, 127}));
+  connect(sin2.y, clutch1.f_normalized) annotation(Line(points = {{-30, 19}, {-30, 19}, {-30, 11}}, color = {0, 0, 127}));
+  connect(step1.y, clutch2.f_normalized) annotation(Line(points = {{30, 19}, {30, 19}, {30, 10}, {30, 11}}, color = {0, 0, 127}));
+  connect(step2, clutch3.f_normalized) annotation(Line(points = {{90, 19}, {90, 19}, {90, 11}}, color = {0, 0, 127}));
+  connect(fixed.flange, torque.support) annotation(Line(points = {{-90, -20}, {-90, -11}, {-90, -10}}, color = {0, 0, 0}));
+  annotation(Documentation(info = "<html>
+<p>This example demonstrates how variable structure
+drive trains are handled. The drive train consists
+of 4 inertias and 3 clutches, where the clutches
+are controlled by input signals. The system has
+2^3=8 different configurations and 3^3 = 27
+different states (every clutch may be in forward
+sliding, backward sliding or locked mode when the
+relative angular velocity is zero). By invoking the
+clutches at different time instances, the switching
+of the configurations can be studied.</p>
+<p>Simulate the system for 1.2 seconds with the
+following initial values:<br>
+J1.w = 10.</p>
+<p>Plot the following variables:<br>
+angular velocities of inertias (J1.w, J2.w, J3.w,
+J4.w), frictional torques of clutches (clutchX.tau),
+frictional mode of clutches (clutchX.mode) where
+mode = -1/0/+1 means backward sliding,
+locked, forward sliding.</p>
+
+</HTML>"), __Dymola_Commands(file = "modelica://Modelica/Resources/Scripts/Dymola/Mechanics/Rotational/CoupledClutches.mos" "Simulate and Plot"), experiment(StopTime = 1.5, Interval = 0.001), Diagram(coordinateSystem(preserveAspectRatio = false, extent = {{-140, -100}, {140, 100}})), Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}})));
+end CoupledClutches;

openmodelica/cppruntime/hpcom/fmu/modelExchange/1.0/CoupledClutches.mos

@@ -0,0 +1,32 @@
+// name:     CoupledClutches_HPCOM_FMI_1_0_CPP
+// keywords: CoupledClutches FMI-Export FMI-Import
+// status:   correct
+// teardown_command: rm -rf binaries sources modelDescription.xml CoupledClutches.fmu CoupledClutches_me_FMU.mo CoupledClutches.lib* CoupledClutches.so CoupledClutches.dll CoupledClutches_*.c CoupledClutches_*.h CoupledClutches_*.o CoupledClutches_*.json
+// Real variables, Real input variable, continuous-time states, state events, event iteration
+
+loadModel(Modelica); getErrorString();
+setDebugFlags("hpcom"); getErrorString();
+setCommandLineOptions("+simCodeTarget=Cpp +n=2 +hpcomCode=openmp +hpcomScheduler=level"); getErrorString();
+loadFile("CoupledClutches.mo"); getErrorString();
+translateModelFMU(CoupledClutches); getErrorString();
+
+//importFMU("CoupledClutches.fmu", "<default>", 6); getErrorString();
+//loadFile("CoupledClutches_me_FMU.mo"); getErrorString();
+//simulate(CoupledClutches_me_FMU, numberOfIntervals=150, variableFilter="J1_w1|J2_w1|J3_w1|J4_w1"); getErrorString();
+
+//val(J1_w1, 1);
+//val(J2_w1, 1);
+//val(J3_w1, 1);
+//val(J4_w1, 1);
+
+// Result:
+// true
+// ""
+// true
+// ""
+// true
+// ""
+// "SimCode: The model CoupledClutches has been translated to FMU"
+// "Warning: There are iteration variables with default zero start attribute. Use +d=initialization for more information.
+// "
+// endResult

openmodelica/cppruntime/hpcom/fmu/modelExchange/1.0/Makefile

@@ -0,0 +1,41 @@
+TEST = ../../../../../rtest -v
+
+
+TESTFILES = \
+CoupledClutches.mos \
+crane.mos
+
+FAILINGTESTFILES =
+
+DEPENDENCIES = \
+*.mo \
+*.mos \
+Makefile
+
+
+CLEAN = `ls | grep -w -v -f deps.tmp`
+
+.PHONY : test testAll clean getdeps failingtest
+
+test:
+	@echo
+	@echo Running tests...
+	@echo
+	@echo OPENMODELICAHOME=" $(OPENMODELICAHOME) "
+	@$(TEST) $(TESTFILES)
+
+clean :
+	@echo $(DEPENDENCIES) | sed 's/ /\\|/g' > deps.tmp
+	@rm -f $(CLEAN)
+
+getdeps:
+	@echo $(DEPENDENCIES) | sed 's/ /\\|/g' > deps.tmp
+	@echo $(CLEAN) | sed -r 's/deps.txt|deps.tmp//g' | sed 's/ / \\\n/g' > deps.txt
+	@echo Dependency list saved in deps.txt.
+	@echo Copy the list from deps.txt and add it to the Makefile @DEPENDENCIES
+
+failingtest:
+	@echo
+	@echo Running failing tests...
+	@echo
+	@$(TEST) $(FAILINGTESTFILES)

openmodelica/cppruntime/hpcom/fmu/modelExchange/1.0/crane.mo

@@ -0,0 +1,68 @@
+within ;
+model crane
+  inner Modelica.Mechanics.MultiBody.World world
+    annotation (Placement(transformation(extent={{-80,40},{-60,60}})));
+  Modelica.Mechanics.MultiBody.Parts.BodyShape bodyShape(m=1, r={0,0,0})
+    annotation (Placement(transformation(extent={{18,40},{38,60}})));
+  Modelica.Mechanics.MultiBody.Joints.Prismatic prismatic(useAxisFlange=true)
+    annotation (Placement(transformation(extent={{-30,40},{-10,60}})));
+  Modelica.Mechanics.Translational.Sources.Position position(useSupport=true)
+    annotation (Placement(transformation(extent={{-34,68},{-14,88}})));
+  Modelica.Blocks.Sources.Sine sine(amplitude=1, freqHz=0.2)
+    annotation (Placement(transformation(extent={{-94,68},{-74,88}})));
+  Modelica.Mechanics.MultiBody.Joints.Revolute revolute(cylinderLength=0.2)
+    annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=270,
+        origin={42,26})));
+  Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation(r={0,-1,
+        0}) annotation (Placement(transformation(
+        extent={{-10,-10},{10,10}},
+        rotation=270,
+        origin={42,-10})));
+  Modelica.Mechanics.MultiBody.Parts.Body body(m=500) annotation (Placement(
+        transformation(
+        extent={{-10,-11},{10,11}},
+        rotation=270,
+        origin={42,-39})));
+equation
+  connect(world.frame_b, prismatic.frame_a) annotation (Line(
+      points={{-60,50},{-30,50}},
+      color={95,95,95},
+      thickness=0.5,
+      smooth=Smooth.None));
+  connect(bodyShape.frame_a, prismatic.frame_b) annotation (Line(
+      points={{18,50},{-10,50}},
+      color={95,95,95},
+      thickness=0.5,
+      smooth=Smooth.None));
+  connect(prismatic.support, position.support) annotation (Line(
+      points={{-24,56},{-24,68}},
+      color={0,127,0},
+      smooth=Smooth.None));
+  connect(position.flange, prismatic.axis) annotation (Line(
+      points={{-14,78},{-14,56},{-12,56}},
+      color={0,127,0},
+      smooth=Smooth.None));
+  connect(position.s_ref, sine.y) annotation (Line(
+      points={{-36,78},{-73,78}},
+      color={0,0,127},
+      smooth=Smooth.None));
+  connect(bodyShape.frame_b, revolute.frame_a) annotation (Line(
+      points={{38,50},{42,50},{42,36}},
+      color={95,95,95},
+      thickness=0.5,
+      smooth=Smooth.None));
+  connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
+      points={{42,16},{42,0}},
+      color={95,95,95},
+      thickness=0.5,
+      smooth=Smooth.None));
+  connect(fixedTranslation.frame_b, body.frame_a) annotation (Line(
+      points={{42,-20},{42,-20},{42,-30},{42,-30},{42,-30},{42,-29}},
+      color={95,95,95},
+      thickness=0.5,
+      smooth=Smooth.None));
+  annotation (uses(Modelica(version="3.2.1")), Diagram(coordinateSystem(
+          preserveAspectRatio=false, extent={{-100,-100},{100,100}}), graphics));
+end crane;

openmodelica/cppruntime/hpcom/fmu/modelExchange/1.0/crane.mos

@@ -0,0 +1,21 @@
+// name:     Crane_HPCOM_FMI_1_0_CPP
+// keywords: Crane FMI-Export FMI-Import
+// status:   correct
+// Real variables, Real input variable, continuous-time states, state events, event iteration
+
+loadModel(Modelica); getErrorString();
+setDebugFlags("hpcom"); getErrorString();
+setCommandLineOptions("+simCodeTarget=Cpp +n=2 +hpcomCode=openmp +hpcomScheduler=level"); getErrorString();
+loadFile("cranes.mo"); getErrorString();
+translateModelFMU(cranes.crane); getErrorString();
+
+// Result:
+// true
+// ""
+// true
+// ""
+// true
+// ""
+// "SimCode: The model cranes.crane has been translated to FMU"
+// ""
+// endResult