HybridCosimulation/SemanticAdaptationForFMI/Experiments/power_window_case_study/fmus/FMI_controller/PW_Controller.c

/* ---------------------------------------------------------------------------*
 * 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 PW_Controller
#define MODEL_GUID "{f4893318-1565-4931-b8c8-8a19fb3fcfda}"
#define FMI2_FUNCTION_PREFIX PW_Controller


#include <stdio.h>
#include <math.h>
#include "string.h"
#include "fmi2Functions.h"
#include <float.h>
#include "PW_Controller.h"
#include "PowerwindowRequired.h"


#define NUMBER_OF_REALS 0
#define NUMBER_OF_STRINGS 0
#define NUMBER_OF_BOOLEANS 11
#define NUMBER_OF_INTEGERS 0
/*
 * The input events:
 * */
#define _in_obj_detected 0
#define _in_driver_up 1
#define _in_driver_up_stop 2
#define _in_driver_down 3
#define _in_driver_down_stop 4
#define _in_passenger_up 5
#define _in_passenger_up_stop 6
#define _in_passenger_down 7
#define _in_passenger_down_stop 8

/*
 * The output events
 */
#define _motor_up 9
#define _motor_down 10


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[])
{
    return fmi2Error;
}

fmi2Status fmi2GetReal(fmi2Component fc, const fmi2ValueReference vr[], size_t nvr, fmi2Real value[])
{

    return fmi2Error;
}

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));
        fi->Handle = functions->allocateMemory(1,sizeof(Powerwindow));
        fi->thePWTimer = functions->allocateMemory(1,sizeof(fmi_timer));
    } // variables in predefined arrays (performance issue) --> makes multiple instances of fmu impossible

    fi->thePWTimer->callback = &powerwindow_raiseTimeEvent;
    powerwindow_initTimer(fi->thePWTimer);
    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->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;
	fi->next_timer_event = -1;
    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;
    powerwindow_init(fi->Handle);
    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();
	powerwindow_enter(fi->Handle);
    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(), ct: %f, h:%f\n",fi->instanceName, currentCommPoint, commStepSize);

    /*
     */
    int isfin = fi->next_timer_event > 0;
    if(fi->next_timer_event > 0){
    	if (is_close(fi->next_timer_event, currentCommPoint+commStepSize, 1e-3, 1e-7)){
    		powerwindow_timeradvance(fi->thePWTimer, (currentCommPoint+commStepSize)*1000); // yakindu in ms not in s
    	}else{
    		if (fi->next_timer_event < currentCommPoint + commStepSize){
    			simStatus = fmi2Discard;
    			fi->currentTime = fi->next_timer_event;
    			return simStatus;
    		}else{
    			powerwindow_timeradvance(fi->thePWTimer, (currentCommPoint+commStepSize)*1000);
    		}

    	}
    }else{powerwindow_timeradvance(fi->thePWTimer, (currentCommPoint+commStepSize)*1000);}




    if (fi->b[_in_driver_up]){
    	powerwindowIfaceInput_raise_driver_up(fi->Handle);
    	printf("raise up driver\n");
    }


	if(fi->b[ _in_driver_down]){
		powerwindowIfaceInput_raise_driver_down(fi->Handle);
		printf("raise down driver\n");
	}

	if(fi->b[_in_driver_up_stop]){
		powerwindowIfaceInput_raise_stop(fi->Handle);
		printf("raise up stop\n");
	}
	if(fi->b[ _in_driver_down_stop]){
		powerwindowIfaceInput_raise_stop(fi->Handle);
		printf("raise driver down stop\n");
	}
	if(fi->b[_in_passenger_up]){
		powerwindowIfaceInput_raise_passenger_up(fi->Handle);
		printf("raise up passenger\n");
	}
	if(fi->b[_in_passenger_down]){
		powerwindowIfaceInput_raise_passenger_down(fi->Handle);
		printf("raise passenger down\n");
	}
	if(fi->b[_in_passenger_up_stop]){
		powerwindowIfaceInput_raise_stop(fi->Handle);
		printf("raise passenger up stop\n");
	}
	if(fi->b[_in_passenger_down_stop]){
		powerwindowIfaceInput_raise_stop(fi->Handle);
		printf("raise passenger down stop\n");
	}
	if(fi->b[_in_obj_detected]){
		powerwindowIfaceInput_raise_obj_detected(fi->Handle);
	}

	powerwindow_runCycle(fi->Handle);


	fi->b[_motor_up] = powerwindowIfaceOutput_get_down(fi->Handle);
	fi->b[_motor_down] = powerwindowIfaceOutput_get_up(fi->Handle);
	/*
	 * Check timers and set
	 */
	if(fi->thePWTimer->active){
		fi->next_timer_event = fi->thePWTimer->nextTime/1000; // yakindu in ms not in s
	}else{
		fi->next_timer_event = -1;
	}


	fi->currentTime = currentCommPoint +  commStepSize;

	return fmi2OK;
}

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->Handle);
        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));
        fi->Handle = orig->functions->allocateMemory(1,sizeof(Powerwindow));

    } // 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;
	fi->next_timer_event = orig->next_timer_event;
	powerwindow_copy(orig->Handle, fi->Handle);
	//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];
	}

	// copy pw

    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;
	fi->next_timer_event = orig->next_timer_event;
	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];
	}
	powerwindow_copy(orig->Handle,fi->Handle);

    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;
}