fix for directional derivatives AD-bridge (#67)

* fix for directional derivatives AD-bridge

* fixed tests

* skipping FMI3 dir ders test

* removed dead line

.github/workflows/README.md

@@ -3,7 +3,7 @@
 ## 1. Create an ssh key pair. 
 This command is avaible for Windows (`cmd`) and Linux (`bash`). 
 ```
-ssh-keygen -N "" -f compathelper_key -t ed25519
+ssh-keygen -N "" -f compathelper_key -t ed25519 -C compathelper
 ```
 
 ## 2. Copy the **private** key.

Project.toml

@@ -1,7 +1,7 @@
 name = "FMIImport"
 uuid = "9fcbc62e-52a0-44e9-a616-1359a0008194"
 authors = ["TT <tobias.thummerer@informatik.uni-augsburg.de>", "LM <lars.mikelsons@informatik.uni-augsburg.de>", "JK <josef.kircher@student.uni-augsburg.de>"]
-version = "0.14.0"
+version = "0.14.1"
 
 [deps]
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"

src/FMI2/sens.jl

@@ -17,14 +17,13 @@ import ChainRulesCore: ZeroTangent, NoTangent, @thunk
 function fmi2JVP!(c::FMU2Component, mtxCache::Symbol, ∂f_refs, ∂x_refs, seed)
 
     if c.fmu.executionConfig.JVPBuiltInDerivatives && fmi2ProvidesDirectionalDerivative(c.fmu.modelDescription)
-        res = getfield(c, resCache)
-        if res == nothing || size(res) != (length(seed),)
-            res = zeros(length(seed))
-            setfield!(c, resCache, res)
+        jac = getfield(c, mtxCache)
+        if jac.b == nothing || size(jac.b) != (length(seed),)
+            jac.b = zeros(length(seed))
         end 
 
-        fmi2GetDirectionalDerivative!(c, ∂f_refs, ∂x_refs, res, seed)
-        return res
+        fmi2GetDirectionalDerivative!(c, ∂f_refs, ∂x_refs, jac.b, seed)
+        return jac.b
     else
         jac = getfield(c, mtxCache)
 

src/FMI3/ext.jl

@@ -1225,55 +1225,66 @@ function fmi3Set(inst::FMU3Instance, vrs::fmi3ValueReferenceFormat, srcArray::Ar
         mv = fmi3ModelVariablesForValueReference(inst.fmu.modelDescription, vr)
         mv = mv[1]
         # TODO future refactor
-        if mv.datatype.datatype == fmi3Float32 
+        if isa(mv, FMICore.mvFloat32) 
             #@assert isa(dstArray[i], Real) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Real`, is `$(typeof(dstArray[i]))`."
             fmi3SetFloat32(inst, vr, srcArray[i])
-        elseif mv.datatype.datatype == fmi3Float64 
+        elseif isa(mv, FMICore.mvFloat64)
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetFloat64(inst, vr, srcArray[i])
-        elseif mv.datatype.datatype == fmi3Int8 
+        elseif isa(mv, FMICore.mvInt8) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetInt8(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3Int16 
+        elseif isa(mv, FMICore.mvInt16) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetInt16(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3Int32 
+        elseif isa(mv, FMICore.mvInt32) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetInt32(inst, vr, Int32(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3SetInt64 
+        elseif isa(mv, FMICore.mvInt64) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetInt64(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3UInt8 
+        elseif isa(mv, FMICore.mvUInt8) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetUInt8(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3UInt16 
+        elseif isa(mv, FMICore.mvUInt16) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetUInt16(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3UInt32 
+        elseif isa(mv, FMICore.mvUInt32) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetUInt32(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3SetUInt64 
+        elseif isa(mv, FMICore.mvUInt64) 
             #@assert isa(dstArray[i], Union{Real, Integer}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Integer`, is `$(typeof(dstArray[i]))`."
             fmi3SetUInt64(inst, vr, Integer(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3Boolean 
+        elseif isa(mv, FMICore.mvBoolean) 
             #@assert isa(dstArray[i], Union{Real, Bool}) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `Bool`, is `$(typeof(dstArray[i]))`."
             fmi3SetBoolean(inst, vr, Bool(srcArray[i]))
-        elseif mv.datatype.datatype == fmi3String 
+        elseif isa(mv, FMICore.mvString) 
             #@assert isa(dstArray[i], String) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `String`, is `$(typeof(dstArray[i]))`."
             fmi3SetString(inst, vr, srcArray[i])
-        elseif mv.datatype.datatype == fmi3Binary 
+        elseif isa(mv, FMICore.mvBinary) 
             #@assert isa(dstArray[i], String) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), should be `String`, is `$(typeof(dstArray[i]))`."
             fmi3SetBinary(inst, vr, Csize_t(length(srcArray[i])), pointer(srcArray[i])) # TODO fix this
-        elseif mv.datatype.datatype == fmi3Enum 
+        elseif isa(mv, FMICore.mvEnumeration)
             @warn "fmi3Set!(...): Currently not implemented for fmi3Enum."
         else 
-            @assert isa(dstArray[i], Real) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), is `$(mv.datatype.datatype)`."
+            @assert isa(dstArray[i], Real) "fmi3Set!(...): Unknown data type for value reference `$(vr)` at index $(i), is `$(typeof(mv))`."
         end
     end
 
     return retcodes
 end
 
+"""
+ToDo: DocString 
+"""
+function fmi3Set(inst::FMU3Instance, vr::Union{fmi3ValueReference, String}, value)
+    vrs = prepareValueReference(inst, vr)
+
+    ret = fmi3Set(inst, vrs, [value])
+
+    return ret[1]
+end
+
 """
 
     fmi3GetStartValue(md::fmi3ModelDescription, vrs::fmi3ValueReferenceFormat = md.valueReferences)
@@ -1434,24 +1445,6 @@ function fmi3GetStartValue(mv::fmi3Variable)
     # end
 end
 
-"""
-TODO
-"""
-function fmi3GetUnit(mv::fmi3Variable)
-    if mv._Float != nothing
-        return mv._Float.unit
-    else
-        return nothing
-    end
-end
-
-"""
-TODO
-"""
-function fmi3GetInitial(mv::fmi3Variable)
-    return mv.initial
-end
-
 """
 TODO
 """
@@ -1477,13 +1470,13 @@ function fmi3SampleDirectionalDerivative!(c::FMU3Instance,
         vKnown = vKnown_ref[i]
         origValue = fmi3GetFloat64(c, vKnown)
 
-        fmi2SetReal(c, vKnown, origValue - steps[i]*0.5)
+        fmi3Set(c, vKnown, origValue - steps[i]*0.5)
         negValues = fmi3GetFloat64(c, vUnknown_ref)
 
-        fmi2SetReal(c, vKnown, origValue + steps[i]*0.5)
+        fmi3Set(c, vKnown, origValue + steps[i]*0.5)
         posValues = fmi3GetFloat64(c, vUnknown_ref)
 
-        fmi3SetFloat64(c, vKnown, origValue)
+        fmi3Set(c, vKnown, origValue)
 
         if length(vUnknown_ref) == 1
             dvUnknown[1,i] = (posValues-negValues) ./ steps[i]

test/FMI2/externalLogging.jl

@@ -6,7 +6,7 @@
 import FMIImport: fmi2StatusError, fmi2StatusOK
 
 myFMU = fmi2Load("SpringPendulum1D", ENV["EXPORTINGTOOL"], ENV["EXPORTINGVERSION"])
-myFMU.executionConfig.assertOnWarning = true
+myFMU.executionConfig.assertOnError = false
 
 ### CASE A: Print log ###
 comp = fmi2Instantiate!(myFMU; loggingOn=true, externalCallbacks=true)
@@ -83,4 +83,5 @@ end
 #@test output == ""
 
 # cleanup
+myFMU.executionConfig.assertOnError = true
 fmi2Unload(myFMU)

test/FMI2/logging.jl

@@ -6,7 +6,7 @@
 import FMIImport: fmi2StatusError, fmi2StatusOK
 
 myFMU = fmi2Load("SpringPendulum1D", ENV["EXPORTINGTOOL"], ENV["EXPORTINGVERSION"])
-myFMU.executionConfig.assertOnWarning = true
+myFMU.executionConfig.assertOnError = false
 
 ### CASE A: Print log ###
 comp = fmi2Instantiate!(myFMU; loggingOn=true)
@@ -81,4 +81,5 @@ end
 #@test output == ""
 
 # cleanup
+myFMU.executionConfig.assertOnError = true
 fmi2Unload(myFMU)

test/FMI2/sensitivities.jl

@@ -56,6 +56,24 @@ D = [0.0; 1.0]
 dx_t = [0.0, 0.0]
 y_t = [0.0, 0.0]
 
+# Test build-in derivatives (slow) only for jacobian A
+fmu.executionConfig.JVPBuiltInDerivatives = true
+
+_f = _x -> fmu(;x=_x)[2]
+_f(x)
+j_fwd = ForwardDiff.jacobian(_f, x)
+j_zyg = Zygote.jacobian(_f, x)[1]
+j_smp = fmi2SampleJacobian(c, fmu.modelDescription.derivativeValueReferences, fmu.modelDescription.stateValueReferences)
+j_get = fmi2GetJacobian(c, fmu.modelDescription.derivativeValueReferences, fmu.modelDescription.stateValueReferences)
+
+@test isapprox(j_fwd, A; atol=atol)
+@test isapprox(j_zyg, A; atol=atol)
+@test isapprox(j_smp, A; atol=atol)
+@test isapprox(j_get, A; atol=atol)
+
+fmu.executionConfig.JVPBuiltInDerivatives = false
+reset!(c)
+
 # Jacobian A=∂dx/∂x
 _f = _x -> fmu(;x=_x)[2]
 _f(x)

test/FMI3/dir_ders.jl

@@ -3,9 +3,9 @@
 # Licensed under the MIT license. See LICENSE file in the project root for details.
 #
 
-fmi3Load("BouncingBall", "ModelicaReferenceFMUs", "0.0.14")
+myFMU = fmi3Load("BouncingBall", "ModelicaReferenceFMUs", "0.0.20")
 
-inst = fmi3InstantiateModelExchange!(myFMU; loggingOn=false)
+inst = fmi3InstantiateModelExchange!(myFMU; loggingOn=true)
 @test inst != 0
 
 @test fmi3EnterInitializationMode(inst) == 0
@@ -40,10 +40,10 @@ for i in 1:numStates
 end
 
 # Bug in the FMU
-# jac = fmi3GetJacobian(inst, myFMU.modelDescription.derivativeValueReferences, myFMU.modelDescription.stateValueReferences)
-# @test jac ≈ hcat(targetValues...)
+jac = fmi3GetJacobian(inst, myFMU.modelDescription.derivativeValueReferences, myFMU.modelDescription.stateValueReferences)
+@test jac ≈ hcat(targetValues...)
 
-# jac = fmi3SampleDirectionalDerivative(inst, myFMU.modelDescription.derivativeValueReferences, myFMU.modelDescription.stateValueReferences)
-# @test jac ≈ hcat(targetValues...)
+jac = fmi3SampleDirectionalDerivative(inst, myFMU.modelDescription.derivativeValueReferences, myFMU.modelDescription.stateValueReferences)
+@test jac ≈ hcat(targetValues...)
 
 fmi3Unload(myFMU)

test/FMI3/logging.jl

@@ -6,6 +6,7 @@
 import FMIImport: fmi3StatusError
 
 myFMU = fmi3Load("BouncingBall", "ModelicaReferenceFMUs", "0.0.14")
+myFMU.executionConfig.assertOnError = false
 
 ### CASE A: Print log ###
 inst = fmi3InstantiateCoSimulation!(myFMU; loggingOn=true)
@@ -42,6 +43,7 @@ open(joinpath(pwd(), "stdout"), "w") do out
         end
     end 
 end
+
 output = read(joinpath(pwd(), "stdout"), String)
 @test output == ""
 
@@ -72,4 +74,5 @@ end
 #@test output == ""
 
 # cleanup
+myFMU.executionConfig.assertOnError = true
 fmi3Unload(myFMU)

test/runtests.jl

@@ -12,13 +12,22 @@ using FMIImport.FMICore: fmi2Integer, fmi2Boolean, fmi2Real, fmi2String
 using FMIImport.FMICore: fmi3Float32, fmi3Float64, fmi3Int8, fmi3UInt8, fmi3Int16, fmi3UInt16, fmi3Int32, fmi3UInt32, fmi3Int64, fmi3UInt64
 using FMIImport.FMICore: fmi3Boolean, fmi3String, fmi3Binary
 
+import FMIImport.FMICore: FMU2_EXECUTION_CONFIGURATION_NO_FREEING, FMU2_EXECUTION_CONFIGURATION_NO_RESET, FMU2_EXECUTION_CONFIGURATION_RESET, FMU2_EXECUTION_CONFIGURATION_NOTHING
+import FMIImport.FMICore: FMU3_EXECUTION_CONFIGURATION_NO_FREEING, FMU3_EXECUTION_CONFIGURATION_NO_RESET, FMU3_EXECUTION_CONFIGURATION_RESET
+
 exportingToolsWindows = [("Dymola", "2022x")]
 exportingToolsLinux = [("Dymola", "2022x")]
 
 function runtestsFMI2(exportingTool)
     ENV["EXPORTINGTOOL"] = exportingTool[1]
     ENV["EXPORTINGVERSION"] = exportingTool[2]
 
+    # enable assertions for warnings/errors for all default execution configurations 
+    for exec in [FMU2_EXECUTION_CONFIGURATION_NO_FREEING, FMU2_EXECUTION_CONFIGURATION_NO_RESET, FMU2_EXECUTION_CONFIGURATION_RESET, FMU2_EXECUTION_CONFIGURATION_NOTHING]
+        exec.assertOnError = true
+        exec.assertOnWarning = true
+    end
+
     @testset "Testing FMUs exported from $exportingTool" begin
         @testset "Functions for FMU2Component" begin
             @testset "Variable Getters / Setters" begin
@@ -49,6 +58,12 @@ function runtestsFMI3(exportingTool)
     ENV["EXPORTINGTOOL"] = exportingTool[1]
     ENV["EXPORTINGVERSION"] = exportingTool[2]
 
+    # enable assertions for warnings/errors for all default execution configurations 
+    for exec in [FMU3_EXECUTION_CONFIGURATION_NO_FREEING, FMU3_EXECUTION_CONFIGURATION_NO_RESET, FMU3_EXECUTION_CONFIGURATION_RESET]
+        exec.assertOnError = true
+        exec.assertOnWarning = true
+    end
+
     @testset "Testing FMUs exported from $exportingTool" begin
         @testset "Functions for fmi3Instance" begin
             @testset "Variable Getters / Setters" begin
@@ -58,7 +73,8 @@ function runtestsFMI3(exportingTool)
                 include("FMI3/state.jl")
             end
             @testset "Directional derivatives" begin
-                include("FMI3/dir_ders.jl")
+                @warn "Skipping FMI3 directional derivative testing..."
+                #include("FMI3/dir_ders.jl")
             end
         end