/*
* Wrapper for the FMI function fmi2GetDerivatives.
* parameter flowStates is dummy and is only used to run the equations in sequence.
* Returns states.
*/
void fmi2GetDerivatives_OMC(void* in_fmi2me, int numberOfContinuousStates, double flowStates, double* states)
{
FMI2ModelExchange* FMI2ME = (FMI2ModelExchange*)in_fmi2me;
if (FMI2ME->FMISolvingMode == fmi2_continuousTime_mode){
fmi2_status_t status = fmi2_import_get_derivatives(FMI2ME->FMIImportInstance, (fmi2_real_t*)states, numberOfContinuousStates);
if (status != fmi1_status_ok && status != fmi1_status_warning) {
ModelicaFormatError("fmi2GetDerivatives failed with status : %s\n", fmi2_status_to_string(status));
}
}
}
int test_simulate_me(fmi2_import_t* fmu)
{
fmi2_status_t fmistatus;
jm_status_enu_t jmstatus;
fmi2_real_t tstart = 0.0;
fmi2_real_t tcur;
fmi2_real_t hcur;
fmi2_real_t hdef = 0.1;
fmi2_real_t tend = 2.0;
size_t n_states;
size_t n_event_indicators;
fmi2_real_t* states;
fmi2_real_t states_end_results[] = {0.362000, -3.962000};
fmi2_real_t* states_der;
fmi2_real_t* event_indicators;
fmi2_real_t* event_indicators_prev;
fmi2_boolean_t callEventUpdate;
fmi2_boolean_t terminateSimulation = fmi2_false;
fmi2_boolean_t toleranceControlled = fmi2_true;
fmi2_real_t relativeTolerance = 0.001;
fmi2_event_info_t eventInfo;
size_t k;
printf("Version returned from FMU: %s\n", fmi2_import_get_version(fmu));
printf("Platform type returned: %s\n", fmi2_import_get_types_platform(fmu));
n_states = fmi2_import_get_number_of_continuous_states(fmu);
n_event_indicators = fmi2_import_get_number_of_event_indicators(fmu);
if (sizeof(states_end_results)/sizeof(fmi2_real_t) != n_states) {
printf("Number of states and results have different length n_states = %u n_results = %u\n", (unsigned)n_states, (unsigned)sizeof(states_end_results));
do_exit(CTEST_RETURN_FAIL);
}
states = calloc(n_states, sizeof(double));
states_der = calloc(n_states, sizeof(double));
event_indicators = calloc(n_event_indicators, sizeof(double));
event_indicators_prev = calloc(n_event_indicators, sizeof(double));
jmstatus = fmi2_import_instantiate(fmu, "Test ME model instance",fmi2_model_exchange,0,0);
if (jmstatus == jm_status_error) {
printf("fmi2_import_instantiate failed\n");
do_exit(CTEST_RETURN_FAIL);
}
fmistatus = fmi2_import_set_debug_logging(fmu, fmi2_false,0,0);
printf("fmi2_import_set_debug_logging: %s\n", fmi2_status_to_string(fmistatus));
fmi2_import_set_debug_logging(fmu, fmi2_true, 0, 0);
fmistatus = fmi2_import_setup_experiment(fmu, toleranceControlled,
relativeTolerance, tstart, fmi2_false, 0.0);
fmistatus = fmi2_import_enter_initialization_mode(fmu);
fmistatus = fmi2_import_exit_initialization_mode(fmu);
tcur = tstart;
hcur = hdef;
callEventUpdate = fmi2_false;
eventInfo.newDiscreteStatesNeeded = fmi2_false;
eventInfo.terminateSimulation = fmi2_false;
eventInfo.nominalsOfContinuousStatesChanged = fmi2_false;
eventInfo.valuesOfContinuousStatesChanged = fmi2_true;
eventInfo.nextEventTimeDefined = fmi2_false;
eventInfo.nextEventTime = -0.0;
/* fmiExitInitializationMode leaves FMU in event mode */
do_event_iteration(fmu, &eventInfo);
fmi2_import_enter_continuous_time_mode(fmu);
fmistatus = fmi2_import_get_continuous_states(fmu, states, n_states);
fmistatus = fmi2_import_get_event_indicators(fmu, event_indicators, n_event_indicators);
while ((tcur < tend) && (!(eventInfo.terminateSimulation || terminateSimulation))) {
size_t k;
fmi2_real_t tlast;
int zero_crossing_event = 0;
fmistatus = fmi2_import_set_time(fmu, tcur);
{ /* Swap event_indicators and event_indicators_prev so that we can get new indicators */
fmi2_real_t *temp = event_indicators;
event_indicators = event_indicators_prev;
event_indicators_prev = temp;
}
fmistatus = fmi2_import_get_event_indicators(fmu, event_indicators, n_event_indicators);
/* Check if an event indicator has triggered */
for (k = 0; k < n_event_indicators; k++) {
if ((event_indicators[k] > 0) != (event_indicators_prev[k] > 0)) {
zero_crossing_event = 1;
break;
}
}
/* Handle any events */
if (callEventUpdate || zero_crossing_event ||
(eventInfo.nextEventTimeDefined && tcur == eventInfo.nextEventTime)) {
fmistatus = fmi2_import_enter_event_mode(fmu);
do_event_iteration(fmu, &eventInfo);
fmistatus = fmi2_import_enter_continuous_time_mode(fmu);
fmistatus = fmi2_import_get_continuous_states(fmu, states, n_states);
fmistatus = fmi2_import_get_event_indicators(fmu, event_indicators, n_event_indicators);
}
/* Calculate next time step */
tlast = tcur;
tcur += hdef;
if (eventInfo.nextEventTimeDefined && (tcur >= eventInfo.nextEventTime)) {
tcur = eventInfo.nextEventTime;
}
hcur = tcur - tlast;
if(tcur > tend - hcur/1e16) {
tcur = tend;
hcur = tcur - tlast;
}
/* Integrate a step */
fmistatus = fmi2_import_get_derivatives(fmu, states_der, n_states);
for (k = 0; k < n_states; k++) {
states[k] = states[k] + hcur*states_der[k];
if (k == 0) printf("Ball height state[%u] = %f\n", (unsigned)k, states[k]);
}
/* Set states */
fmistatus = fmi2_import_set_continuous_states(fmu, states, n_states);
/* Step is complete */
fmistatus = fmi2_import_completed_integrator_step(fmu, fmi2_true, &callEventUpdate,
&terminateSimulation);
}
/* Validate result */
for (k = 0; k < n_states; k++) {
fmi2_real_t res = states[k] - states_end_results[k];
res = res > 0 ? res: -res; /* Take abs */
if (res > 1e-10) {
printf("Simulation results is wrong states[%u] %f != %f, |res| = %f\n", (unsigned)k, states[k], states_end_results[k], res);
do_exit(CTEST_RETURN_FAIL);
}
}
fmistatus = fmi2_import_terminate(fmu);
fmi2_import_free_instance(fmu);
free(states);
free(states_der);
free(event_indicators);
free(event_indicators_prev);
return 0;
}
/*
* Wrapper for the FMI function fmiGetDerivatives.
* parameter flowStates is dummy and is only used to run the equations in sequence.
* Returns states.
*/
void fmi2GetDerivatives_OMC(void* in_fmi2me, int numberOfContinuousStates, double flowStates, double* states)
{
FMI2ModelExchange* FMI2ME = (FMI2ModelExchange*)in_fmi2me;
fmi2_import_get_derivatives(FMI2ME->FMIImportInstance, (fmi2_real_t*)states, numberOfContinuousStates);
}