void exec()
{
fmi2Flag = fmu.doStep(c, time.to_seconds(), h.to_seconds(), fmi2True);
if (fmi2Flag == fmi2Discard) {
fmi2Boolean b;
// check if model requests to end simulation
if (fmi2OK != fmu.getBooleanStatus(c, fmi2Terminated, &b)) {
return SC_REPORT_ERROR(name(),"could not complete simulation of the model. getBooleanStatus return other than fmi2OK");
}
if (b == fmi2True) {
return SC_REPORT_ERROR(name(),"the model requested to end the simulation");
}
return SC_REPORT_ERROR(name(),"could not complete simulation of the model");
}
if (fmi2Flag != fmi2OK)
return SC_REPORT_ERROR(name(),"could not complete simulation of the model");
// FIXME: res = outputRow(fmu, c, time, file, separator, fmi2False); // output values for this step
auto res = getRealOutput(&fmu, c, output_index);
oval = sub_signal(time, time+h,
[this,res](const sc_time& t)
{
return res;
}
);
}
//Implementing the abstract semantics
void init()
{
time = SC_ZERO_TIME;
fmuResourceLocation = getTempResourcesLocation();
visible = fmi2False;
//~ callbacks = {fmuLogger, calloc, free, NULL, fmu};
toleranceDefined = fmi2False;
tolerance = 0;
//~ vs = 0;
// load the FMU
loadFMU(fmuFileName.c_str(), &fmu);
// run the simulation
// instantiate the fmu
md = fmu.modelDescription;
guid = getAttributeValue((Element *)md, att_guid);
instanceName = getAttributeValue((Element *)getCoSimulation(md),
att_modelIdentifier);
c = fmu.instantiate(instanceName, fmi2CoSimulation, guid,
fmuResourceLocation, &callbacks, visible, fmi2False/*logging off*/);
free(fmuResourceLocation);
if (!c) return SC_REPORT_ERROR(name(),"could not instantiate model");
defaultExp = getDefaultExperiment(md);
if (defaultExp) tolerance = getAttributeDouble(defaultExp, att_tolerance, &vs);
if (vs == valueDefined) {
toleranceDefined = fmi2True;
}
fmi2Flag = fmu.setupExperiment(c, toleranceDefined, tolerance, 0, fmi2True, 1000/* FIXME */);
if (fmi2Flag > fmi2Warning) {
return SC_REPORT_ERROR(name(),"could not initialize model; failed FMI setup experiment");
}
fmi2Flag = fmu.enterInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return SC_REPORT_ERROR(name(),"could not initialize model; failed FMI enter initialization mode");
}
fmi2Flag = fmu.exitInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return SC_REPORT_ERROR(name(),"could not initialize model; failed FMI exit initialization mode");
}
// output solution for time t0
// FIXME: outputRow(fmu, c, tStart, file, separator, fmi2False); // output values
//~ auto res = getRealOutput(fmu, c, 0);
//~ oval = sub_signal(time, time+h,
//~ [this,res](const sc_time& t)
//~ {
//~ return res;
//~ }
//~ );
//~ WRITE_MULTIPORT(oport1, oval)
//~ time += h;
//~ wait(time - sc_time_stamp());
ival1 = iport1.read();
}
void clean()
{
// end simulation
fmu.terminate(c);
fmu.freeInstance(c);
#ifdef _MSC_VER
FreeLibrary(fmu.dllHandle);
#else
dlclose(fmu.dllHandle);
#endif
freeModelDescription(fmu.modelDescription);
deleteUnzippedFiles();
}
///////////////////////////////////////////////////////////////////////////////
/// Simulate the given FMU using the forward euler method.
/// Time events are processed by reducing step size to exactly hit tNext.
/// State events are checked and fired only at the end of an Euler step.
/// The simulator may therefore miss state events and fires state events typically too late.
///
///\param fmu FMU.
///\param tEnd Ending time of simulation.
///\param h Tiem step size.
///\param loggingOn Controller for logging.
///\param separator Separator character.
///\return 0 if there is no error occurred.
///////////////////////////////////////////////////////////////////////////////
static int simulate(FMU* fmu, double tEnd, double h, fmiBoolean loggingOn, char separator) {
int i, n;
fmiBoolean timeEvent, stateEvent, stepEvent;
double time;
ModelDescription* md; // handle to the parsed XML file
const char* guid; // global unique id of the fmu
fmiCallbackFunctions callbacks; // called by the model during simulation
fmiComponent c; // instance of the fmu
fmiStatus fmiFlag; // return code of the fmu functions
fmiReal t0 = 0; // start time
fmiBoolean toleranceControlled = fmiFalse;
int nSteps = 0;
FILE* file;
fmiValueReference vr; // add it to get value reference for variables
//Note: User defined references
//Begin------------------------------------------------------------------
fmiValueReference vru[1], vry[1]; // value references for two input and two output variables
//End--------------------------------------------------------------------
ScalarVariable** vars = fmu->modelDescription->modelVariables; // add it to get variables
int k; // add a counter for variables
fmiReal ru1, ru2, ry, ry1, ry2; // add real variables for input and output
fmiInteger ix, iy; // add integer variables for input and output
fmiBoolean bx, by; // add boolean variables for input and output
fmiString sx, sy; // Zuo: add string variables for input and output
fmiStatus status; // Zuo: add stauus for fmi
printDebug("Instantiate the fmu.\n");
// instantiate the fmu
md = fmu->modelDescription;
guid = getString(md, att_guid);
printfDebug("Got GUID = %s!\n", guid);
callbacks.logger = fmuLogger;
callbacks.allocateMemory = calloc;
callbacks.freeMemory = free;
printDebug("Got callbacks!\n");
printfDebug("Model Identifer is %s\n", getModelIdentifier(md));
c = fmu->instantiateSlave(getModelIdentifier(md), guid, "Model1", "", 10, fmiFalse, fmiFalse, callbacks, loggingOn);
if (!c) {
printError("could not instantiate slaves.\n");
return 1;
}
printDebug("Instantiated slaves!\n");
// Open result file
if (!(file=fopen(RESULT_FILE, "w"))) {
printfError("could not write %s because:\n", RESULT_FILE);
printfError(" %s\n", strerror(errno));
return 1;
}
printDebug("Open results file!\n");
// Set the start time and initialize
time = t0;
printDebug("start to initialize fmu!\n");
fmiFlag = fmu->initializeSlave(c, t0, fmiTrue, tEnd);
printDebug("Initialized fmu!\n");
if (fmiFlag > fmiWarning) {
printError("could not initialize model");
return 1;
}
// Output solution for time t0
printDebug("start to outputRow");
//outputRow(fmu, c, t0, file, separator, TRUE); // output column names
//outputRow(fmu, c, t0, file, separator, FALSE); // output initla value of fmu
outputdata(t0, file, separator, 0, 0, TRUE);
printDebug("start to getValueReference");
/////////////////////////////////////////////////////////////////////////////
// Get value references for input and output varibles
// Note: User needs to specify the name of variables for their own fmus
//Begin------------------------------------------------------------------
vru[0] = getValueReference(getVariableByName(md, "Toa"));
//vru[1] = getValueReference(getVariableByName(md, "u2"));
vry[0] = getValueReference(getVariableByName(md, "TrmSou"));
//vry[1] = getValueReference(getVariableByName(md, "y2"));
//End--------------------------------------------------------------------
printDebug("Enter in simulation loop.\n");
// enter the simulation loop
while (time < tEnd) {
if (loggingOn) printf("Step %d to t=%.4f\n", nSteps, time);
///////////////////////////////////////////////////////////////////////////
// Step 1: get values of output variables from slaves
for (k=0; vars[k]; k++) {
ScalarVariable* sv = vars[k];
if (getAlias(sv)!=enu_noAlias) continue;
if (getCausality(sv) != enu_output) continue; // only get output variable
vr = getValueReference(sv);
switch (sv->typeSpec->type){
case elm_Real:
fmu->getReal(c, &vr, 1, &ry);
break;
case elm_Integer:
fmu->getInteger(c, &vr, 1, &iy);
break;
case elm_Boolean:
fmu->getBoolean(c, &vr, 1, &by);
break;
case elm_String:
fmu->getString(c, &vr, 1, &sy);
break;
}
// Allocate values to cooresponding varibles on master program
// Note: User needs to specify the output variables for their own fmu
//Begin------------------------------------------------------------------
if (vr == vry[0]) ry1 = ry;
//else if(vr == vry[1]) ry2 = ry;
//End--------------------------------------------------------------------
}
///////////////////////////////////////////////////////////////////////////
// Step 2: compute on master side
// Note: User can adjust the computing schemes of mater program
//Begin------------------------------------------------------------------
printf("Dymola output = %f\n", ry1);
//= ry2 + 3.0;
ru1 = 293;
//End--------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////
// Step 3: set input variables back to slaves
for (k=0; vars[k]; k++) {
ScalarVariable* sv = vars[k];
if (getAlias(sv)!=enu_noAlias) continue;
if (getCausality(sv) != enu_input) continue; // only set input variable
vr = getValueReference(sv);
// Note: User can adjust the settings for input variables
//Begin------------------------------------------------------------------
switch (sv->typeSpec->type){
case elm_Real:
if(vr == vru[0]) {
fmu->setReal(c, &vr, 1, &ru1);
printDebug("Set u1.\n");
}
//else if (vr == vru[1]) {
// fmu->setReal(c, &vr, 1, &ru2);
// printDebug("Set u2.\n");
//}
else
printf("Warning: no data given for input variable.\n");
break;
case elm_Integer:
fmu->setInteger(c, &vr, 1, &ix);
break;
case elm_Boolean:
fmu->setBoolean(c, &vr, 1, &bx);
break;
case elm_String:
printDebug("Get string in simulatio()");
fmu->setString(c, &vr, 1, &sx);
break;
}
//End--------------------------------------------------------------------
}
// Advance to next time step
status = fmu->doStep(c, time, h, fmiTrue);
// Terminate this row
// fprintf(file, "\n"); (comment out this line to get rid of the blank line between the results in the csv file.)
time = min(time+h, tEnd);
//outputRow(fmu, c, time, file, separator, FALSE); // output values for this step
outputdata(time, file, separator, ru1, ry1, FALSE);
nSteps++;
} // end of while
// Cleanup
fclose(file);
// Print simulation summary
if (loggingOn) printf("Step %d to t=%.4f\n", nSteps, time);
printf("Simulation from %g to %g terminated successful\n", t0, tEnd);
printf(" steps ............ %d\n", nSteps);
printf(" fixed step size .. %g\n", h);
return 0; // success
}
///////////////////////////////////////////////////////////////////////////////
/// Output time and all non-alias variables in CSV format.
/// If separator is ',', columns are separated by ',' and '.' is used for floating-point numbers.
/// Otherwise, the given separator (e.g. ';' or '\t') is to separate columns, and ',' is used for
/// floating-point numbers.
///
///\param fmu FMU.
///\param c FMI component.
///\param time Time when data is outputed.
///\param separator Separator in file.
///\param header Indicator of row head.
///////////////////////////////////////////////////////////////////////////////
static void outputRow(FMU *fmu, fmiComponent c, double time, FILE* file, char separator, boolean header, double x, double y) {
int k;
fmiReal r;
fmiInteger i;
fmiBoolean b;
fmiString s;
fmiValueReference vr;
ScalarVariable** vars = fmu->modelDescription->modelVariables;
char buffer[32];
// Print first column
if (header)
fprintf(file, "time");
else {
if (separator==',')
fprintf(file, "%.4f", time);
else {
// Separator is e.g. ';' or '\t'
doubleToCommaString(buffer, time);
fprintf(file, "%s", buffer);
}
}
// Print all other columns
for (k=0; vars[k]; k++) {
ScalarVariable* sv = vars[k];
if (getAlias(sv)!=enu_noAlias) continue;
if (header) {
// Output names only
fprintf(file, "%c%s", separator, getName(sv));
}
else {
// Output values
vr = getValueReference(sv);
switch (sv->typeSpec->type){
case elm_Real:
fmu->getReal(c, &vr, 1, &r);
if (separator==',')
fprintf(file, ",%.4f", r);
else {
// Separator is e.g. ';' or '\t'
doubleToCommaString(buffer, r);
fprintf(file, "%c%s", separator, buffer);
}
break;
case elm_Integer:
fmu->getInteger(c, &vr, 1, &i);
fprintf(file, "%c%d", separator, i);
break;
case elm_Boolean:
fmu->getBoolean(c, &vr, 1, &b);
fprintf(file, "%c%d", separator, b);
break;
case elm_String:
printDebug("get string in outputrow");
//fmu->getString(c, &vr, 1, &s);
//fprintf(file, "%c%s", separator, s);
break;
}
}
} // for
// Terminate this row
fprintf(file, "\n");
}
// simulate the given FMU from tStart = 0 to tEnd.
static int simulate(FMU* fmu, double tEnd, double h, fmi2Boolean loggingOn, char separator,
int nCategories, const fmi2String categories[]) {
double time;
double tStart = 0; // start time
const char *guid; // global unique id of the fmu
const char *instanceName; // instance name
fmi2Component c; // instance of the fmu
fmi2Status fmi2Flag; // return code of the fmu functions
char *fmuResourceLocation = getTempResourcesLocation(); // path to the fmu resources as URL, "file://C:\QTronic\sales"
fmi2Boolean visible = fmi2False; // no simulator user interface
fmi2CallbackFunctions callbacks = {fmuLogger, calloc, free, NULL, fmu}; // called by the model during simulation
ModelDescription* md; // handle to the parsed XML file
fmi2Boolean toleranceDefined = fmi2False; // true if model description define tolerance
fmi2Real tolerance = 0; // used in setting up the experiment
ValueStatus vs = 0;
int nSteps = 0;
Element *defaultExp;
FILE* file;
// instantiate the fmu
md = fmu->modelDescription;
guid = getAttributeValue((Element *)md, att_guid);
instanceName = getAttributeValue((Element *)getCoSimulation(md), att_modelIdentifier);
c = fmu->instantiate(instanceName, fmi2CoSimulation, guid, fmuResourceLocation,
&callbacks, visible, loggingOn);
free(fmuResourceLocation);
if (!c) return error("could not instantiate model");
if (nCategories > 0) {
fmi2Flag = fmu->setDebugLogging(c, fmi2True, nCategories, categories);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI set debug logging");
}
}
defaultExp = getDefaultExperiment(md);
if (defaultExp) tolerance = getAttributeDouble(defaultExp, att_tolerance, &vs);
if (vs == valueDefined) {
toleranceDefined = fmi2True;
}
fmi2Flag = fmu->setupExperiment(c, toleranceDefined, tolerance, tStart, fmi2True, tEnd);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI setup experiment");
}
fmi2Flag = fmu->enterInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI enter initialization mode");
}
fmi2Flag = fmu->exitInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI exit initialization mode");
}
// open result file
if (!(file = fopen(RESULT_FILE, "w"))) {
printf("could not write %s because:\n", RESULT_FILE);
printf(" %s\n", strerror(errno));
return 0; // failure
}
// output solution for time t0
outputRow(fmu, c, tStart, file, separator, fmi2True); // output column names
outputRow(fmu, c, tStart, file, separator, fmi2False); // output values
// enter the simulation loop
time = tStart;
while (time < tEnd) {
fmi2Flag = fmu->doStep(c, time, h, fmi2True);
if (fmi2Flag == fmi2Discard) {
fmi2Boolean b;
// check if model requests to end simulation
if (fmi2OK != fmu->getBooleanStatus(c, fmi2Terminated, &b)) {
return error("could not complete simulation of the model. getBooleanStatus return other than fmi2OK");
}
if (b == fmi2True) {
return error("the model requested to end the simulation");
}
return error("could not complete simulation of the model");
}
if (fmi2Flag != fmi2OK) return error("could not complete simulation of the model");
time += h;
outputRow(fmu, c, time, file, separator, fmi2False); // output values for this step
nSteps++;
}
// end simulation
fmu->terminate(c);
fmu->freeInstance(c);
fclose(file);
// print simulation summary
printf("Simulation from %g to %g terminated successful\n", tStart, tEnd);
printf(" steps ............ %d\n", nSteps);
printf(" fixed step size .. %g\n", h);
return 1; // success
}
// simulate the given FMU using the forward euler method.
// time events are processed by reducing step size to exactly hit tNext.
// state events are checked and fired only at the end of an Euler step.
// the simulator may therefore miss state events and fires state events typically too late.
static int simulate(FMU* fmu, double tEnd, double h, fmi2Boolean loggingOn, char separator,
int nCategories, const fmi2String categories[]) {
int i;
double dt, tPre;
fmi2Boolean timeEvent, stateEvent, stepEvent, terminateSimulation;
double time;
int nx; // number of state variables
int nz; // number of state event indicators
double *x = NULL; // continuous states
double *xdot = NULL; // the corresponding derivatives in same order
double *z = NULL; // state event indicators
double *prez = NULL; // previous values of state event indicators
fmi2EventInfo eventInfo; // updated by calls to initialize and eventUpdate
ModelDescription* md; // handle to the parsed XML file
const char* guid; // global unique id of the fmu
fmi2CallbackFunctions callbacks = {fmuLogger, calloc, free, NULL, fmu}; // called by the model during simulation
fmi2Component c; // instance of the fmu
fmi2Status fmi2Flag; // return code of the fmu functions
fmi2Real tStart = 0; // start time
fmi2Boolean toleranceDefined = fmi2False; // true if model description define tolerance
fmi2Real tolerance = 0; // used in setting up the experiment
fmi2Boolean visible = fmi2False; // no simulator user interface
const char *instanceName; // instance name
char *fmuResourceLocation = getTempResourcesLocation(); // path to the fmu resources as URL, "file://C:\QTronic\sales"
int nSteps = 0;
int nTimeEvents = 0;
int nStepEvents = 0;
int nStateEvents = 0;
FILE* file;
ValueStatus vs;
// instantiate the fmu
md = fmu->modelDescription;
guid = getAttributeValue((Element *)md, att_guid);
instanceName = getAttributeValue((Element *)getModelExchange(md), att_modelIdentifier);
c = fmu->instantiate(instanceName, fmi2ModelExchange, guid, fmuResourceLocation,
&callbacks, visible, loggingOn);
free(fmuResourceLocation);
if (!c) return error("could not instantiate model");
if (nCategories > 0) {
fmi2Flag = fmu->setDebugLogging(c, fmi2True, nCategories, categories);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI set debug logging");
}
}
// allocate memory
nx = getDerivativesSize(getModelStructure(md)); // number of continuous states is number of derivatives
// declared in model structure
nz = getAttributeInt((Element *)md, att_numberOfEventIndicators, &vs); // number of event indicators
x = (double *) calloc(nx, sizeof(double));
xdot = (double *) calloc(nx, sizeof(double));
if (nz>0) {
z = (double *) calloc(nz, sizeof(double));
prez = (double *) calloc(nz, sizeof(double));
}
if ((!x || !xdot) || (nz>0 && (!z || !prez))) return error("out of memory");
// open result file
if (!(file = fopen(RESULT_FILE, "w"))) {
printf("could not write %s because:\n", RESULT_FILE);
printf(" %s\n", strerror(errno));
free (x);
free(xdot);
free(z);
free(prez);
return 0; // failure
}
// setup the experiment, set the start time
time = tStart;
fmi2Flag = fmu->setupExperiment(c, toleranceDefined, tolerance, tStart, fmi2True, tEnd);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI setup experiment");
}
// initialize
fmi2Flag = fmu->enterInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI enter initialization mode");
}
fmi2Flag = fmu->exitInitializationMode(c);
if (fmi2Flag > fmi2Warning) {
return error("could not initialize model; failed FMI exit initialization mode");
}
// event iteration
eventInfo.newDiscreteStatesNeeded = fmi2True;
eventInfo.terminateSimulation = fmi2False;
while (eventInfo.newDiscreteStatesNeeded && !eventInfo.terminateSimulation) {
// update discrete states
fmi2Flag = fmu->newDiscreteStates(c, &eventInfo);
if (fmi2Flag > fmi2Warning) return error("could not set a new discrete state");
}
if (eventInfo.terminateSimulation) {
printf("model requested termination at t=%.16g\n", time);
} else {
// enter Continuous-Time Mode
fmu->enterContinuousTimeMode(c);
// output solution for time tStart
outputRow(fmu, c, tStart, file, separator, fmi2True); // output column names
outputRow(fmu, c, tStart, file, separator, fmi2False); // output values
// enter the simulation loop
while (time < tEnd) {
// get current state and derivatives
fmi2Flag = fmu->getContinuousStates(c, x, nx);
if (fmi2Flag > fmi2Warning) return error("could not retrieve states");
fmi2Flag = fmu->getDerivatives(c, xdot, nx);
if (fmi2Flag > fmi2Warning) return error("could not retrieve derivatives");
// advance time
tPre = time;
time = min(time+h, tEnd);
timeEvent = eventInfo.nextEventTimeDefined && eventInfo.nextEventTime <= time;
if (timeEvent) time = eventInfo.nextEventTime;
dt = time - tPre;
fmi2Flag = fmu->setTime(c, time);
if (fmi2Flag > fmi2Warning) error("could not set time");
// perform one step
for (i = 0; i < nx; i++) x[i] += dt * xdot[i]; // forward Euler method
fmi2Flag = fmu->setContinuousStates(c, x, nx);
if (fmi2Flag > fmi2Warning) return error("could not set states");
if (loggingOn) printf("Step %d to t=%.16g\n", nSteps, time);
// check for state event
for (i = 0; i < nz; i++) prez[i] = z[i];
fmi2Flag = fmu->getEventIndicators(c, z, nz);
if (fmi2Flag > fmi2Warning) return error("could not retrieve event indicators");
stateEvent = FALSE;
for (i=0; i<nz; i++)
stateEvent = stateEvent || (prez[i] * z[i] < 0);
// check for step event, e.g. dynamic state selection
fmi2Flag = fmu->completedIntegratorStep(c, fmi2True, &stepEvent, &terminateSimulation);
if (fmi2Flag > fmi2Warning) return error("could not complete intgrator step");
if (terminateSimulation) {
printf("model requested termination at t=%.16g\n", time);
break; // success
}
// handle events
if (timeEvent || stateEvent || stepEvent) {
fmu->enterEventMode(c);
if (timeEvent) {
nTimeEvents++;
if (loggingOn) printf("time event at t=%.16g\n", time);
}
if (stateEvent) {
nStateEvents++;
if (loggingOn) for (i=0; i<nz; i++)
printf("state event %s z[%d] at t=%.16g\n",
(prez[i]>0 && z[i]<0) ? "-\\-" : "-/-", i, time);
}
if (stepEvent) {
nStepEvents++;
if (loggingOn) printf("step event at t=%.16g\n", time);
}
// event iteration in one step, ignoring intermediate results
eventInfo.newDiscreteStatesNeeded = fmi2True;
eventInfo.terminateSimulation = fmi2False;
while (eventInfo.newDiscreteStatesNeeded && !eventInfo.terminateSimulation) {
// update discrete states
fmi2Flag = fmu->newDiscreteStates(c, &eventInfo);
if (fmi2Flag > fmi2Warning) return error("could not set a new discrete state");
}
if (eventInfo.terminateSimulation) {
printf("model requested termination at t=%.16g\n", time);
break; // success
}
// enter Continuous-Time Mode
fmu->enterContinuousTimeMode(c);
// check for change of value of states
if (eventInfo.valuesOfContinuousStatesChanged && loggingOn) {
printf("continuous state values changed at t=%.16g\n", time);
}
if (eventInfo.nominalsOfContinuousStatesChanged && loggingOn){
printf("nominals of continuous state changed at t=%.16g\n", time);
}
} // if event
outputRow(fmu, c, time, file, separator, fmi2False); // output values for this step
nSteps++;
} // while
}
// cleanup
fmu->terminate(c);
fmu->freeInstance(c);
fclose(file);
if (x != NULL) free(x);
if (xdot != NULL) free(xdot);
if (z != NULL) free(z);
if (prez != NULL) free(prez);
// print simulation summary
printf("Simulation from %g to %g terminated successful\n", tStart, tEnd);
printf(" steps ............ %d\n", nSteps);
printf(" fixed step size .. %g\n", h);
printf(" time events ...... %d\n", nTimeEvents);
printf(" state events ..... %d\n", nStateEvents);
printf(" step events ...... %d\n", nStepEvents);
return 1; // success
}
// simulate the given FMU from tStart = 0 to tEnd.
static int simulate(FMU* fmu, double tEnd, double h, fmiBoolean loggingOn, char separator) {
double time;
double tStart = 0; // start time
const char* guid; // global unique id of the fmu
fmiComponent c; // instance of the fmu
fmiStatus fmiFlag; // return code of the fmu functions
char* fmuLocation = getTempFmuLocation(); // path to the fmu as URL, "file://C:\QTronic\sales"
const char* mimeType = "application/x-fmu-sharedlibrary"; // denotes tool in case of tool coupling
fmiReal timeout = 1000; // wait period in milli seconds, 0 for unlimited wait period"
fmiBoolean visible = fmiFalse; // no simulator user interface
fmiBoolean interactive = fmiFalse; // simulation run without user interaction
fmiCallbackFunctions callbacks; // called by the model during simulation
ModelDescription* md; // handle to the parsed XML file
int nSteps = 0;
FILE* file;
// instantiate the fmu
md = fmu->modelDescription;
guid = getString(md, att_guid);
callbacks.logger = fmuLogger;
callbacks.allocateMemory = calloc;
callbacks.freeMemory = free;
callbacks.stepFinished = NULL; // fmiDoStep has to be carried out synchronously
c = fmu->instantiateSlave(getModelIdentifier(md), guid, fmuLocation, mimeType,
timeout, visible, interactive, callbacks, loggingOn);
free(fmuLocation);
if (!c) return error("could not instantiate model");
// open result file
if (!(file=fopen(RESULT_FILE, "w"))) {
printf("could not write %s because:\n", RESULT_FILE);
printf(" %s\n", strerror(errno));
return 0; // failure
}
// StopTimeDefined=fmiFalse means: ignore value of tEnd
fmiFlag = fmu->initializeSlave(c, tStart, fmiTrue, tEnd);
if (fmiFlag > fmiWarning) return error("could not initialize model");
// output solution for time t0
outputRow(fmu, c, tStart, file, separator, fmiTrue); // output column names
outputRow(fmu, c, tStart, file, separator, fmiFalse); // output values
// enter the simulation loop
time = tStart;
while (time < tEnd) {
fmiFlag = fmu->doStep(c, time, h, fmiTrue);
if (fmiFlag != fmiOK) return error("could not complete simulation of the model");
time += h;
outputRow(fmu, c, time, file, separator, fmiFalse); // output values for this step
nSteps++;
}
// end simulation
fmiFlag = fmu->terminateSlave(c);
fmu->freeSlaveInstance(c);
fclose(file);
// print simulation summary
printf("Simulation from %g to %g terminated successful\n", tStart, tEnd);
printf(" steps ............ %d\n", nSteps);
printf(" fixed step size .. %g\n", h);
return 1; // success
}
// simulate the given FMU using the forward euler method.
// time events are processed by reducing step size to exactly hit tNext.
// state events are checked and fired only at the end of an Euler step.
// the simulator may therefore miss state events and fires state events typically too late.
static int simulate(FMU* fmu, double tEnd, double h, fmiBoolean loggingOn, char separator) {
int i, n;
double dt, tPre;
fmiBoolean timeEvent, stateEvent, stepEvent;
double time;
int nx; // number of state variables
int nz; // number of state event indicators
double *x; // continuous states
double *xdot; // the crresponding derivatives in same order
double *z = NULL; // state event indicators
double *prez = NULL; // previous values of state event indicators
fmiEventInfo eventInfo; // updated by calls to initialize and eventUpdate
ModelDescription* md; // handle to the parsed XML file
const char* guid; // global unique id of the fmu
fmiCallbackFunctions callbacks; // called by the model during simulation
fmiComponent c; // instance of the fmu
fmiStatus fmiFlag; // return code of the fmu functions
fmiReal t0 = 0; // start time
fmiBoolean toleranceControlled = fmiFalse;
int nSteps = 0;
int nTimeEvents = 0;
int nStepEvents = 0;
int nStateEvents = 0;
FILE* file;
// instantiate the fmu
md = fmu->modelDescription;
guid = getString(md, att_guid);
callbacks.logger = fmuLogger;
callbacks.allocateMemory = calloc;
callbacks.freeMemory = free;
c = fmu->instantiateModel(getModelIdentifier(md), guid, callbacks, loggingOn);
if (!c) return error("could not instantiate model");
// allocate memory
nx = getNumberOfStates(md);
nz = getNumberOfEventIndicators(md);
x = (double *) calloc(nx, sizeof(double));
xdot = (double *) calloc(nx, sizeof(double));
if (nz>0) {
z = (double *) calloc(nz, sizeof(double));
prez = (double *) calloc(nz, sizeof(double));
}
if (!x || !xdot || nz>0 && (!z || !prez)) return error("out of memory");
// open result file
if (!(file=fopen(RESULT_FILE, "w"))) {
printf("could not write %s because:\n", RESULT_FILE);
printf(" %s\n", strerror(errno));
return 0; // failure
}
// set the start time and initialize
time = t0;
fmiFlag = fmu->setTime(c, t0);
if (fmiFlag > fmiWarning) return error("could not set time");
fmiFlag = fmu->initialize(c, toleranceControlled, t0, &eventInfo);
if (fmiFlag > fmiWarning) error("could not initialize model");
if (eventInfo.terminateSimulation) {
printf("model requested termination at init");
tEnd = time;
}
// output solution for time t0
outputRow(fmu, c, t0, file, separator, TRUE); // output column names
outputRow(fmu, c, t0, file, separator, FALSE); // output values
// enter the simulation loop
while (time < tEnd) {
// get current state and derivatives
fmiFlag = fmu->getContinuousStates(c, x, nx);
if (fmiFlag > fmiWarning) return error("could not retrieve states");
fmiFlag = fmu->getDerivatives(c, xdot, nx);
if (fmiFlag > fmiWarning) return error("could not retrieve derivatives");
// advance time
tPre = time;
time = min(time+h, tEnd);
timeEvent = eventInfo.upcomingTimeEvent && eventInfo.nextEventTime < time;
if (timeEvent) time = eventInfo.nextEventTime;
dt = time - tPre;
fmiFlag = fmu->setTime(c, time);
if (fmiFlag > fmiWarning) error("could not set time");
// perform one step
for (i=0; i<nx; i++) x[i] += dt*xdot[i]; // forward Euler method
fmiFlag = fmu->setContinuousStates(c, x, nx);
if (fmiFlag > fmiWarning) return error("could not set states");
if (loggingOn) printf("Step %d to t=%.16g\n", nSteps, time);
// Check for step event, e.g. dynamic state selection
fmiFlag = fmu->completedIntegratorStep(c, &stepEvent);
if (fmiFlag > fmiWarning) return error("could not complete intgrator step");
// Check for state event
for (i=0; i<nz; i++) prez[i] = z[i];
fmiFlag = fmu->getEventIndicators(c, z, nz);
if (fmiFlag > fmiWarning) return error("could not retrieve event indicators");
stateEvent = FALSE;
for (i=0; i<nz; i++)
stateEvent = stateEvent || (prez[i] * z[i] < 0);
// handle events
if (timeEvent || stateEvent || stepEvent) {
if (timeEvent) {
nTimeEvents++;
if (loggingOn) printf("time event at t=%.16g\n", time);
}
if (stateEvent) {
nStateEvents++;
if (loggingOn) for (i=0; i<nz; i++)
printf("state event %s z[%d] at t=%.16g\n",
(prez[i]>0 && z[i]<0) ? "-\\-" : "-/-", i, time);
}
if (stepEvent) {
nStepEvents++;
if (loggingOn) printf("step event at t=%.16g\n", time);
}
// event iteration in one step, ignoring intermediate results
fmiFlag = fmu->eventUpdate(c, fmiFalse, &eventInfo);
if (fmiFlag > fmiWarning) return error("could not perform event update");
// terminate simulation, if requested by the model
if (eventInfo.terminateSimulation) {
printf("model requested termination at t=%.16g\n", time);
break; // success
}
// check for change of value of states
if (eventInfo.stateValuesChanged && loggingOn) {
printf("state values changed at t=%.16g\n", time);
}
// check for selection of new state variables
if (eventInfo.stateValueReferencesChanged && loggingOn) {
printf("new state variables selected at t=%.16g\n", time);
}
} // if event
outputRow(fmu, c, time, file, separator, FALSE); // output values for this step
nSteps++;
} // while
// cleanup
fclose(file);
if (x!=NULL) free(x);
if (xdot!= NULL) free(xdot);
if (z!= NULL) free(z);
if (prez!= NULL) free(prez);
// print simulation summary
printf("Simulation from %g to %g terminated successful\n", t0, tEnd);
printf(" steps ............ %d\n", nSteps);
printf(" fixed step size .. %g\n", h);
printf(" time events ...... %d\n", nTimeEvents);
printf(" state events ..... %d\n", nStateEvents);
printf(" step events ...... %d\n", nStepEvents);
return 1; // success
}
