123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263264265266267268269270271272273274275276277278279280281282283284285286287288289290291292293294295296297298299300301302303304305306307308309310311312313314315316317318319320321322323324325326327328329330331332333334335336337338339340341342343344345346347348349350351352353354355356357358359360361362363364365366367368369370371372373374375376377378379380381382383384385386387388389390391392393394395396397398399400401402403404405406407408409410411412413414415416417418419420421422423424425426427428429430431432433434435436437438439440441442443444445446447448449450451452453454455456457458459460461462463464465466467468469470471472473474475476477478479480481482483484485486487488489490491492493494495496497498499500501502503504505506507508509510511512513514515516517518519520521522523524525526527528529530531532533534535536537 |
- /* ---------------------------------------------------------------------------*
- * Sample implementation of an FMU - a power window controller
- * The code is generated from a Yakindu SC
- * ---------------------------------------------------------------------------*/
- /*
- Template for a sc FMU
- */
- #define MODEL_IDENTIFIER SEL
- #define MODEL_GUID "{41f87101-edf2-4eef-90f3-42db56d4565f}"
- #define FMI2_FUNCTION_PREFIX PW_ENV
- #include <stdio.h>
- #include "string.h"
- #include "fmi2Functions.h"
- #include <float.h>
- #include "FMI_Environment.h"
- #include <math.h>
- #define NUMBER_OF_REALS 0
- #define NUMBER_OF_STRINGS 0
- #define NUMBER_OF_BOOLEANS 9
- #define NUMBER_OF_INTEGERS 0
- #define _out_driver_up 0
- #define _out_driver_up_stop 1
- #define _out_driver_down 2
- #define _out_driver_down_stop 3
- #define _out_passenger_up 4
- #define _out_passenger_up_stop 5
- #define _out_passenger_down 6
- #define _out_passenger_down_stop 7
- #define _out_object 8
- /*
- * Helper function for relative error
- */
- double relativeError(double a, double b){
- return fabs((a - b) / a);
- }
- /*
- * Helper function for absolute error
- */
- double absoluteError(double a, double b){
- return fabs(a - b);
- }
- /*
- * is_close function for double comparison
- */
- int is_close(double a, double b, double REL_TOL, double ABS_TOL){
- return ((absoluteError(a,b)<ABS_TOL) && (relativeError(a,b)<REL_TOL));
- }
- fmi2Status fmi2SetDebugLogging(fmi2Component fc, fmi2Boolean loggingOn, size_t nCategories, const fmi2String categories[])
- {
- return fmi2OK;
- }
- fmi2Status fmi2SetString(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, const fmi2String value[])
- {
- return fmi2Error;
- }
- fmi2Status fmi2GetString(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, fmi2String value[])
- {
- return fmi2Error;
- }
- fmi2Status fmi2SetReal(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, const fmi2Real value[])
- {
- FMUInstance* comp = (FMUInstance *)fc;
- int i;
- for (i = 0; i < nvr; i++)
- {
- if(vr[i]>=5){
- printf("Value reference: %d, cannot be set, it is a store element\n", vr[i]);
- }else{
- printf("Value reference: %d\n", vr[i]);
- comp->r[vr[i]] = value[i];
- }
- //setExposedReal(vr[i], value[i]);
- //comp->r[vr[i]] = value[i];
- }
- return fmi2OK;
- }
- fmi2Status fmi2GetReal(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, fmi2Real value[])
- {
- FMUInstance* comp = (FMUInstance *)fc;
- int i;
- for (i = 0; i < nvr; i++)
- {
- value[i] = comp->r[(vr[i])];
- }
- return fmi2OK;
- }
- fmi2Status fmi2SetBoolean(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, const fmi2Boolean value[])
- {
- FMUInstance* comp = (FMUInstance *)fc;
- int i;
- for (i = 0; i < nvr; i++)
- {
- comp->b[vr[i]] = value[i];
- }
- return fmi2OK;
- }
- fmi2Status fmi2GetBoolean(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, fmi2Boolean value[])
- {
- FMUInstance* comp = (FMUInstance *)fc;
- int i;
- for (i = 0; i < nvr; i++)
- {
- value[i] = comp->b[vr[i]];
- }
- return fmi2OK;
- }
- fmi2Component fmi2Instantiate(fmi2String instanceName, fmi2Type fmuType, fmi2String fmuGUID, fmi2String fmuLocation, const fmi2CallbackFunctions* functions, fmi2Boolean visible, fmi2Boolean loggingOn)
- {
- //Declare data structure for fmu instance
- FMUInstance* fi;
- printf("%s in fmiInstantiate\n",instanceName);
- //Perform checks on passed callback functions
- if (loggingOn) {
- if (!functions->logger);
- //return NULL;
- }
- //Check for instanceName
- if (!instanceName || strlen(instanceName)==0) {
- // print (and/or log) instanceName is missing
- //return NULL;
- }
- //Check passed GUID to defined model GUID
- if (strcmp(fmuGUID, MODEL_GUID))
- {
- // print (and/or log) GUID doesn't match
- //return NULL;
- }
- //Allocate fmu instance Memory
- // TODO check if "canNotUseMemoryManagementFunctions == true/false". If false memory allocation not possible
- fi = (FMUInstance *)functions->allocateMemory(1, sizeof(FMUInstance));
- fi->functions = functions;
- if (fi) {
- // Think about what to do with variable values. Using these structs and pointers slows down simulation computations. Maybe only necessary for input, output and tunable parameters??
- fi->r = functions->allocateMemory(NUMBER_OF_REALS, sizeof(fmi2Real));
- fi->i = functions->allocateMemory(NUMBER_OF_INTEGERS, sizeof(fmi2Integer));
- fi->b = functions->allocateMemory(NUMBER_OF_BOOLEANS, sizeof(fmi2Boolean));
- fi->s = functions->allocateMemory(NUMBER_OF_STRINGS, sizeof(fmi2String));
- } // variables in predefined arrays (performance issue) --> makes multiple instances of fmu impossible
- fi->instanceName = functions->allocateMemory(1 + strlen(instanceName), sizeof(char));
- fi->GUID = functions->allocateMemory(1 + strlen(fmuGUID), sizeof(char));
- strcpy((char*)fi->instanceName, instanceName);
- strcpy((char*)fi->GUID, fmuGUID);
- fi->functions = functions;
- fi->loggingOn = loggingOn;
- fi->isVisible = visible;
- fi->state = fmuInstantiated;
- return fi;
- }
- fmi2Status fmi2SetupExperiment(fmi2Component fc, fmi2Boolean toleranceDefined, fmi2Real tolerance,
- fmi2Real startTime, fmi2Boolean stopTimeDefined, fmi2Real stopTime) {
- FMUInstance* fi = (FMUInstance*) fc;
- printf("%s in fmiSetupExperiment\n",fi->instanceName);
- if (fi->state != fmuInstantiated)
- {
- printf("fmu: %s was not instatiated before calling fmiSetupExperiment\n", fi->instanceName);
- return fmi2Error;
- }
- fi->currentTime = startTime;
- fi->stopTimeDefined = stopTimeDefined;
- fi->toleranceDefined = toleranceDefined;
- if (stopTimeDefined)
- {
- fi->stopTime = stopTime;
- }
- if (toleranceDefined)
- {
- fi->tolerance = tolerance;
- }
- //TODO
- //fi->stepSize = getStepSize();
- fi->state = fmuExperimentSettedUp;
- return fmi2OK;
- }
- fmi2Status fmi2EnterInitializationMode(fmi2Component fc)
- {
- FMUInstance* fi = (FMUInstance*) fc;
- printf("%s in fmiEnterInitializationMode\n",fi->instanceName);
- if (fi->state != fmuExperimentSettedUp)
- {
- printf("fmu: %s experiment was not set-up before calling fmiEnterInitializationMode\n", fi->instanceName);
- return fmi2Error;
- }
- fi->state = fmuInitMode;
- return fmi2OK;
- }
- fmi2Status fmi2ExitInitializationMode(fmi2Component fc)
- {
- FMUInstance* fi = (FMUInstance*) fc;
- fmi2Status initStatus = fmi2OK;
- printf("%s in fmiExitInitializationMode\n",fi->instanceName);
- if (fi->state != fmuInitMode)
- {
- printf("fmu: %s did not enter Initialization Mode before calling fmiExitInitializationMode\n", fi->instanceName);
- return fmi2Error;
- }
- // TODO
- //initStatus = calculateInitialUnknownValues();
- //initialize();
- fi->state = fmuInitialized;
- return initStatus;
- }
- fmi2Status fmi2DoStep(fmi2Component fc , fmi2Real currentCommPoint, fmi2Real commStepSize, fmi2Boolean noPrevFMUState)
- {
- FMUInstance* fi = (FMUInstance *)fc;
- fmi2Status simStatus = fmi2OK;
- printf("%s in fmiDoStep()\n",fi->instanceName);
- if(currentCommPoint < 0.5){
- fi->b[_out_driver_up] = 0;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 0;
- }else if(currentCommPoint < 1){
- fi->b[_out_driver_up] = 1;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 0;
- }else if(currentCommPoint < 1.5){
- fi->b[_out_driver_up] = 1;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 1;
- }else if(currentCommPoint < 1.7){
- fi->b[_out_driver_up] = 0;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 0;
- }else if(currentCommPoint < 2.7){
- fi->b[_out_driver_up] = 0;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 0;
- }else if(currentCommPoint < 3.1){
- fi->b[_out_driver_up] = 1;
- fi->b[_out_driver_up_stop] = 0;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 1;
- fi->b[_out_passenger_down_stop] = 0;
- fi->b[_out_object] = 0;
- }else if(currentCommPoint < 3.5){
- fi->b[_out_driver_up] = 0;
- fi->b[_out_driver_up_stop] = 1;
- fi->b[_out_driver_down] = 0;
- fi->b[_out_driver_down_stop] = 0;
- fi->b[_out_passenger_up] = 0;
- fi->b[_out_passenger_up_stop] = 0;
- fi->b[_out_passenger_down] = 0;
- fi->b[_out_passenger_down_stop] = 1;
- fi->b[_out_object] = 0;
- }
- return simStatus;
- }
- fmi2Status fmi2Terminate(fmi2Component fc)
- {
- FMUInstance* fi = (FMUInstance *)fc;
- printf("%s in fmiTerminate\n",fi->instanceName);
- // do check if fi may be terminated
- fi->state = fmuTerminated;
- return fmi2OK;
- }
- void fmi2FreeInstance(fmi2Component fc)
- {
- FMUInstance* fi = (FMUInstance*) fc;
- printf("%s in fmiFreeInstance\n",fi->instanceName);
- if (fi) {
- fi->functions->freeMemory(fi->r);
- fi->functions->freeMemory(fi->i);
- fi->functions->freeMemory(fi->b);
- fi->functions->freeMemory(fi->s);// TODO has to be done with loop
- fi->functions->freeMemory((void*)fi->instanceName);
- fi->functions->freeMemory((void*)fi->GUID);
- fi->functions->freeMemory((void*)fi);
- }
- }
- //To be implemented
- const char* fmi2GetVersion() {
- printf("Function fmiGetVersion not supported\n");
- return NULL;
- }
- const char* fmi2GetTypesPlatform() {
- printf("Function fmiGetTypesPlatform not supported\n");
- return NULL;
- }
- fmi2Status fmi2Reset(fmi2Component fc)
- {
- printf("Function fmiReset not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2SetInteger(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, const fmi2Integer value[])
- {
- printf("Function fmiSetInteger not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetInteger(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, fmi2Integer value[])
- {
- printf("Function fmiGetInteger not supported\n");
- return fmi2Error;
- }
- /*******OWN IMPLEMENTATION OF Get/Set FMU state*******/
- fmi2Status fmi2GetFMUstate (fmi2Component c, fmi2FMUstate* FMUstate) {
- FMUInstance* orig = (FMUInstance*)c;
- FMUInstance* fi = (FMUInstance *)FMUstate;
- fi = orig->functions->allocateMemory(1, sizeof(FMUInstance));
- *FMUstate = fi;
- if (fi) {
- // Think about what to do with variable values. Using these structs and pointers slows down simulation computations. Maybe only necessary for input, output and tunable parameters??
- fi->r = orig->functions->allocateMemory(NUMBER_OF_REALS, sizeof(fmi2Real));
- fi->i = orig->functions->allocateMemory(NUMBER_OF_INTEGERS, sizeof(fmi2Integer));
- fi->b = orig->functions->allocateMemory(NUMBER_OF_BOOLEANS, sizeof(fmi2Boolean));
- fi->s = orig->functions->allocateMemory(NUMBER_OF_STRINGS, sizeof(fmi2String));
- } // variables in predefined arrays (performance issue) --> makes multiple instances of fmu impossible
- fi->instanceName = orig->functions->allocateMemory(1 + strlen(orig->instanceName), sizeof(char));
- fi->GUID = orig->functions->allocateMemory(1 + strlen(orig->GUID), sizeof(char));
- strcpy((char *)fi->instanceName, (char *)orig->instanceName);
- strcpy((char *)fi->GUID, (char *)orig->GUID);
- fi->functions = orig->functions;
- fi->loggingOn = orig->loggingOn;
- fi->isVisible = orig->isVisible;
- fi->state = orig->state;
- fi->stepSize = orig->stepSize;
- fi->startTime = orig->startTime;
- fi->stopTime = orig->stopTime;
- fi->currentTime = orig->currentTime;
- //copy r
- int i=0;
- for (i=0; i< NUMBER_OF_REALS;i++){
- printf("Setting real: %i %f\n", i, orig->r[i]);
- fi->r[i] = orig->r[i];
- printf("Setted real: %i %f\n", i, fi->r[i]);
- }
- //copy s
- for (i=0; i< NUMBER_OF_STRINGS;i++){
- fi->s[i] = orig->s[i];
- }
- //copy i
- for (i=0; i< NUMBER_OF_INTEGERS;i++){
- fi->i[i] = orig->i[i];
- }
- //copy b
- for (i=0; i< NUMBER_OF_BOOLEANS;i++){
- fi->b[i] = orig->b[i];
- }
- return fmi2OK;
- }
- fmi2Status fmi2SetFMUstate (fmi2Component c, fmi2FMUstate FMUstate) {
- FMUInstance* orig = (FMUInstance*)FMUstate;
- FMUInstance* fi = (FMUInstance*)c;
- //set time etc correct, name and GUID should still be ok ;-)
- printf("setting time values from %f to %f\n", fi->currentTime, orig->currentTime);
- fi->state = orig->state;
- fi->stepSize = orig->stepSize;
- fi->startTime = orig->startTime;
- fi->stopTime = orig->stopTime;
- fi->currentTime = orig->currentTime;
- printf("setting real values\n");
- //copy r
- int i=0;
- for (i=0; i< NUMBER_OF_REALS;i++){
- fi->r[i] = orig->r[i];
- }
- printf("setting string values\n");
- //copy s
- for (i=0; i< NUMBER_OF_STRINGS;i++){
- fi->s[i] = orig->s[i];
- }
- //copy i
- for (i=0; i< NUMBER_OF_INTEGERS;i++){
- fi->i[i] = orig->i[i];
- }
- //copy b
- for (i=0; i< NUMBER_OF_BOOLEANS;i++){
- fi->b[i] = orig->b[i];
- }
- return fmi2OK;
- }
- /****************************************************/
- fmi2Status fmi2FreeFMUstate(fmi2Component c, fmi2FMUstate* FMUstate) {
- printf("Function fmiFreeFMUstate not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2SerializedFMUstateSize(fmi2Component c, fmi2FMUstate FMUstate, size_t *size) {
- printf("Function fmiSerializedFMUstateSize not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2SerializeFMUstate (fmi2Component c, fmi2FMUstate FMUstate, fmi2Byte serializedState[], size_t size) {
- printf("Function fmiSerializeFMUstate not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2DeSerializeFMUstate (fmi2Component c, const fmi2Byte serializedState[], size_t size, fmi2FMUstate* FMUstate) {
- printf("Function fmiDeSerializeFMUstate not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetDirectionalDerivative(fmi2Component c, const fmi2ValueReference vUnknown_ref[], size_t nUnknown,
- const fmi2ValueReference vKnown_ref[] , size_t nKnown, const fmi2Real dvKnown[], fmi2Real dvUnknown[]) {
- printf("Function fmiGetDirectionalDerivative not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2SetRealInputDerivatives(fmi2Component c, const fmi2ValueReference vr[], size_t nvr,
- const fmi2Integer order[], const fmi2Real value[]) {
- printf("Function fmiGetDirectionalDerivative not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetRealOutputDerivatives(fmi2Component c, const fmi2ValueReference vr[], size_t nvr,
- const fmi2Integer order[], fmi2Real value[]) {
- printf("Function fmiGetDirectionalDerivative not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2CancelStep(fmi2Component c) {
- printf("Function fmiGetDirectionalDerivative not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetStatus(fmi2Component c, const fmi2StatusKind s, fmi2Status *value) {
- printf("Function fmiGetStatus not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetRealStatus(fmi2Component c, const fmi2StatusKind s, fmi2Real *value) {
- if(s == fmi2LastSuccessfulTime){
- FMUInstance* comp = (FMUInstance*) c;
- *value = comp->currentTime;
- return fmi2OK;
- }
- printf("Function fmiGetRealStatus not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetIntegerStatus(fmi2Component c, const fmi2StatusKind s, fmi2Integer *value) {
- printf("Function fmiGetIntegerStatus not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetBooleanStatus(fmi2Component c, const fmi2StatusKind s, fmi2Boolean *value) {
- printf("Function fmiGetBooleanStatus not supported\n");
- return fmi2Error;
- }
- fmi2Status fmi2GetStringStatus(fmi2Component c, const fmi2StatusKind s, fmi2String *value) {
- printf("Function fmiGetStringStatus not supported\n");
- return fmi2Error;
- }
|