Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Handle time events in model exchange example. #71

Merged
merged 20 commits into from
May 7, 2021
Merged

Handle time events in model exchange example. #71

Changes from all commits
Commits
Show all changes
20 commits
Select commit Hold shift + click to select a range
1380456
Change cmake examples to use Stair for model exchange example.
clagms Sep 23, 2020
3e4a407
Solution to handle time events.
clagms Sep 23, 2020
4557884
Add example
clagms Sep 23, 2020
834fe0d
Merge branch 'master' of https://github.com/modelica/Reference-FMUs i…
clagms Apr 24, 2021
d35f059
Add new example to build system.
clagms Apr 24, 2021
b7a32c6
Fix white space.
clagms Apr 24, 2021
2cba9ab
Add documentation for new example and remove it from older FMI versions.
clagms Apr 24, 2021
ef6daaf
Use logging function.
clagms Apr 24, 2021
2cea336
Add generated html documentation.
clagms Apr 24, 2021
6d73d8c
Remove whitespace.
clagms Apr 24, 2021
918f391
Added BouncingBallStairs example only to FMI version 3.
clagms Apr 24, 2021
dc962ca
Exclude bouncing ball stairs example from FMI2 test.
clagms Apr 24, 2021
7db5ae8
Set ref according to FMPy output.
clagms Apr 24, 2021
e1a986b
Add start value.
clagms Apr 24, 2021
986bae7
Exclude BouncingBallStairs from co-simulation validation.
clagms Apr 24, 2021
d70ceaa
Remove white space.
clagms Apr 24, 2021
a899d01
Remove BouncingBallStairs from co-simulation test.
clagms Apr 24, 2021
11d4538
Merge branch 'master' into pr-71/clagms/handle_time_events
t-sommer May 6, 2021
fdfae03
Remove "BouncingBallStairs" and use fixed step solver
t-sommer May 6, 2021
fa453ee
Remove excess space
t-sommer May 6, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
94 changes: 53 additions & 41 deletions examples/model_exchange.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,13 +26,10 @@ fmi3Status recordVariables(FILE *outputFile, fmi3Instance s, fmi3Float64 time) {
int main(int argc, char* argv[]) {

fmi3Status status = fmi3OK;
const fmi3Float64 fixedStep = FIXED_STEP;
fmi3Float64 h = fixedStep;
fmi3Float64 tNext = h;
const fmi3Float64 h = FIXED_STEP;
const fmi3Float64 tEnd = STOP_TIME;
fmi3Float64 time = 0;
const fmi3Float64 tStart = 0;
fmi3Boolean timeEvent, stateEvent, enterEventMode, terminateSimulation = fmi3False, initialEventMode;
fmi3Int32 rootsFound[NZ] = { 0 };
fmi3Instance m = NULL;
fmi3Float64 x[NX] = { 0 };
Expand All @@ -42,7 +39,7 @@ fmi3Float64 z[NZ] = { 0 };
fmi3Float64 previous_z[NZ] = { 0 };
FILE *outputFile = NULL;

printf("Running model_exchange example... ");
printf("Running model_exchange example... \n");

outputFile = fopen("model_exchange_out.csv", "w");

Expand Down Expand Up @@ -74,20 +71,45 @@ time = tStart;
// initialize
// determine continuous and discrete states
CHECK_STATUS(M_fmi3EnterInitializationMode(m, fmi3False, 0.0, tStart, fmi3True, tEnd));
CHECK_STATUS(M_fmi3ExitInitializationMode(m));

initialEventMode = fmi3True;
enterEventMode = fmi3False;
timeEvent = fmi3False;
stateEvent = fmi3False;
// TODO: apply input

// initialize previous event indicators
CHECK_STATUS(M_fmi3GetEventIndicators(m, previous_z, NZ));
CHECK_STATUS(M_fmi3ExitInitializationMode(m));

initialEventMode = fmi3False;
fmi3Boolean inputEvent = fmi3False;
fmi3Boolean timeEvent = fmi3False;
fmi3Boolean stateEvent = fmi3False;
fmi3Boolean stepEvent = fmi3False;

fmi3Boolean discreteStatesNeedUpdate = fmi3True;
fmi3Boolean terminateSimulation = fmi3False;
fmi3Boolean nominalsOfContinuousStatesChanged = fmi3False;
fmi3Boolean valuesOfContinuousStatesChanged = fmi3False;
fmi3Boolean nextEventTimeDefined = fmi3False;
fmi3Float64 nextEventTime = INFINITY;

// intial event iteration
while (discreteStatesNeedUpdate) {

CHECK_STATUS(M_fmi3UpdateDiscreteStates(
m,
&discreteStatesNeedUpdate,
&terminateSimulation,
&nominalsOfContinuousStatesChanged,
&valuesOfContinuousStatesChanged,
&nextEventTimeDefined,
&nextEventTime));

if (terminateSimulation) {
goto TERMINATE;
}
}

CHECK_STATUS(M_fmi3EnterContinuousTimeMode(m));

// initialize previous event indicators
CHECK_STATUS(M_fmi3GetEventIndicators(m, previous_z, NZ));

// retrieve initial state x and
// nominal values of x (if absolute tolerance is needed)
CHECK_STATUS(M_fmi3GetContinuousStates(m, x, NX));
Expand All @@ -98,25 +120,19 @@ CHECK_STATUS(M_fmi3GetNominalsOfContinuousStates(m, x_nominal, NX));

while (!terminateSimulation) {

tNext = time + h;
// detect time event
timeEvent = nextEventTimeDefined && time >= nextEventTime;

// handle events
if (enterEventMode || stateEvent || timeEvent) {
if (inputEvent || timeEvent || stateEvent || stepEvent) {

if (!initialEventMode) {
CHECK_STATUS(M_fmi3EnterEventMode(m, enterEventMode, stateEvent, rootsFound, NZ, timeEvent));
}

// event iteration
fmi3Boolean discreteStatesNeedUpdate = fmi3True;
fmi3Boolean terminateSimulation = fmi3False;
fmi3Boolean nominalsOfContinuousStatesChanged = fmi3False;
fmi3Boolean valuesOfContinuousStatesChanged = fmi3False;
fmi3Boolean nextEventTimeDefined = fmi3False;
fmi3Float64 nextEventTime = 0;
CHECK_STATUS(M_fmi3EnterEventMode(m, stepEvent, stateEvent, rootsFound, NZ, timeEvent))

while (discreteStatesNeedUpdate) {
nominalsOfContinuousStatesChanged = fmi3False;
valuesOfContinuousStatesChanged = fmi3False;

// event iteration
do {
// set inputs at super dense time point
// M_fmi3SetFloat*/Int*/UInt*/Boolean/String/Binary(m, ...)

Expand All @@ -126,38 +142,34 @@ while (!terminateSimulation) {
// update discrete states
CHECK_STATUS(M_fmi3UpdateDiscreteStates(m, &discreteStatesNeedUpdate, &terminateSimulation, &nominalsChanged, &statesChanged, &nextEventTimeDefined, &nextEventTime));

// getOutput at super dense time point
// get output at super dense time point
// M_fmi3GetFloat*/Int*/UInt*/Boolean/String/Binary(m, ...)

nominalsOfContinuousStatesChanged |= nominalsChanged;
valuesOfContinuousStatesChanged |= statesChanged;

if (terminateSimulation) goto TERMINATE;
}
if (terminateSimulation) {
goto TERMINATE;
}

} while (discreteStatesNeedUpdate);

// enter Continuous-Time Mode
CHECK_STATUS(M_fmi3EnterContinuousTimeMode(m));

// retrieve solution at simulation (re)start
CHECK_STATUS(recordVariables(outputFile, m, time));

if (initialEventMode || valuesOfContinuousStatesChanged) {
if (valuesOfContinuousStatesChanged) {
// the model signals a value change of states, retrieve them
CHECK_STATUS(M_fmi3GetContinuousStates(m, x, NX));
}

if (initialEventMode || nominalsOfContinuousStatesChanged) {
if (nominalsOfContinuousStatesChanged) {
// the meaning of states has changed; retrieve new nominal values
CHECK_STATUS(M_fmi3GetNominalsOfContinuousStates(m, x_nominal, NX));
}

if (nextEventTimeDefined) {
tNext = min(nextEventTime, tEnd);
} else {
tNext = tEnd;
}

initialEventMode = fmi3False;
}

if (time >= tEnd) {
Expand All @@ -168,8 +180,8 @@ while (!terminateSimulation) {
CHECK_STATUS(M_fmi3GetContinuousStateDerivatives(m, der_x, NX));

// advance time
h = min(fixedStep, tNext - time);
time += h;

CHECK_STATUS(M_fmi3SetTime(m, time));

// set continuous inputs at t = time
Expand Down Expand Up @@ -204,7 +216,7 @@ while (!terminateSimulation) {
}

// inform the model about an accepted step
CHECK_STATUS(M_fmi3CompletedIntegratorStep(m, fmi3True, &enterEventMode, &terminateSimulation));
CHECK_STATUS(M_fmi3CompletedIntegratorStep(m, fmi3True, &stepEvent, &terminateSimulation));

// get continuous output
// M_fmi3GetFloat*(m, ...)
Expand Down