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feat: support v3 ME FMUs
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@AayushSabharwal
AayushSabharwal committed Jan 2, 2025
1 parent 9824fec commit 9853693
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Showing 2 changed files with 153 additions and 18 deletions.
154 changes: 136 additions & 18 deletions ext/MTKFMIExt.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -14,25 +14,46 @@ macro statuscheck(expr)
fnname = fn.args[2]

instance = expr.args[2]

is_v2 = startswith("fmi2", string(fnname))

fmiTrue = is_v2 ? FMI.fmi2True : FMI.fmi3True
fmiStatusOK = is_v2 ? FMI.fmi2StatusOK : FMI.fmi3StatusOK
fmiStatusWarning = is_v2 ? FMI.fmi2StatusWarning : FMI.fmi3StatusWarning
fmiStatusFatal = is_v2 ? FMI.fmi2StatusFatal : FMI.fmi3StatusFatal
fmiTerminate = is_v2 ? FMI.fmi2Terminate : FMI.fmi3Terminate
fmiFreeInstance! = is_v2 ? FMI.fmi2FreeInstance! : FMI.fmi3FreeInstance!
return quote
status = $expr
fnname = $fnname
if status !== nothing && ((status isa Tuple && status[1] == FMI.fmi2True) ||
(!(status isa Tuple) && status != FMI.fmi2StatusOK &&
status != FMI.fmi2StatusWarning))
if status != FMI.fmi2StatusFatal
FMI.fmi2Terminate(wrapper.instance)
if status !== nothing && ((status isa Tuple && status[1] == $fmiTrue) ||
(!(status isa Tuple) && status != $fmiStatusOK &&
status != $fmiStatusWarning))
if status != $fmiStatusFatal
$fmiTerminate(wrapper.instance)
end
FMI.fmi2FreeInstance!(wrapper.instance)
$fmiFreeInstance!(wrapper.instance)
wrapper.instance = nothing
error("FMU Error in $fnname: status $status")
end
end |> esc
end

function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6,
communication_step_size = nothing, type, name)
@static if !hasmethod(FMI.getValueReferencesAndNames, Tuple{FMI.fmi3ModelDescription})
function FMI.getValueReferencesAndNames(
md::FMI.fmi3ModelDescription; vrs = md.valueReferences)
dict = Dict{FMI.fmi3ValueReference, Array{String}}()
for vr in vrs
dict[vr] = FMI.valueReferenceToString(md, vr)
end
return dict
end
end

function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6,
communication_step_size = nothing, type, name) where {Ver}
if Ver != 2 && Ver != 3
throw(ArgumentError("FMI Version must be `2` or `3`"))
end
if type == :CS && communication_step_size === nothing
throw(ArgumentError("`communication_step_size` must be specified for Co-Simulation FMUs."))
end
Expand Down Expand Up @@ -90,16 +111,23 @@ function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6,

input_value_references = UInt32[value_references[var] for var in inputs]
param_value_references = UInt32[value_references[var] for var in params]
@parameters wrapper::FMI2InstanceWrapper = FMI2InstanceWrapper(
fmu, param_value_references, input_value_references, tolerance)

if Ver == 2
@parameters wrapper::FMI2InstanceWrapper = FMI2InstanceWrapper(
fmu, param_value_references, input_value_references, tolerance)
else
@parameters wrapper::FMI3InstanceWrapper = FMI3InstanceWrapper(
fmu, param_value_references, input_value_references)
end

output_value_references = UInt32[value_references[var] for var in outputs]
buffer_length = length(diffvars) + length(outputs)

initialization_eqs = Equation[]

if type == :ME
_functor = FMI2MEFunctor(zeros(buffer_length), output_value_references)
FunctorT = Ver == 2 ? FMI2MEFunctor : FMI3MEFunctor
_functor = FunctorT(zeros(buffer_length), output_value_references)
@parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor
call_expr = functor(
wrapper, __mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t)
Expand All @@ -109,14 +137,14 @@ function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6,
push!(diffeqs, var ~ call_expr[i])
end

finalize_affect = MTK.FunctionalAffect(fmi2Finalize!, [], [wrapper], [])
step_affect = MTK.FunctionalAffect(fmi2MEStep!, [], [wrapper], [])
finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], [])
step_affect = MTK.FunctionalAffect(fmiMEStep!, [], [wrapper], [])
instance_management_callback = MTK.SymbolicDiscreteCallback(
(t != t - 1), step_affect; finalize = finalize_affect)

push!(params, wrapper, functor)
push!(states, __mtk_internal_u)
elseif type == :CS
elseif type == :CS && Ver == 2
state_value_references = UInt32[value_references[var] for var in diffvars]
state_and_output_value_references = vcat(
state_value_references, output_value_references)
Expand All @@ -142,7 +170,7 @@ function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6,
end
initialize_affect = MTK.ImperativeAffect(fmi2CSInitialize!; observed = cb_observed,
modified = cb_modified, ctx = _functor)
finalize_affect = MTK.FunctionalAffect(fmi2Finalize!, [], [wrapper], [])
finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], [])
step_affect = MTK.ImperativeAffect(
fmi2CSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor)
instance_management_callback = MTK.SymbolicDiscreteCallback(
Expand Down Expand Up @@ -250,6 +278,63 @@ function reset_instance!(wrapper::FMI2InstanceWrapper)
wrapper.instance = nothing
end

mutable struct FMI3InstanceWrapper
const fmu::FMI.FMU3
const param_value_references::Vector{UInt32}
const input_value_references::Vector{UInt32}
instance::Union{FMI.FMU3Instance{FMI.FMU3}, Nothing}
end

function FMI3InstanceWrapper(fmu, params, inputs)
FMI3InstanceWrapper(fmu, params, inputs, nothing)
end

function get_instance_common!(wrapper::FMI3InstanceWrapper, states, inputs, params, t)
if !isempty(params)
@statuscheck FMI.fmi3SetFloat64(wrapper.instance, wrapper.param_value_references,
params)
end
@statuscheck FMI.fmi3EnterInitializationMode(
wrapper.instance, FMI.fmi3False, zero(FMI.fmi3Float64), t, FMI.fmi3False, t)
if !isempty(inputs)
@statuscheck FMI.fmi3SetFloat64(
wrapper.instance, wrapper.input_value_references, inputs)
end

return wrapper.instance
end

function get_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, params, t)
if wrapper.instance === nothing
wrapper.instance = FMI.fmi3InstantiateModelExchange!(wrapper.fmu)::FMI.FMU3Instance
get_instance_common!(wrapper, states, inputs, params, t)
@statuscheck FMI.fmi3ExitInitializationMode(wrapper.instance)
eventInfo = FMI.fmi3UpdateDiscreteStates(wrapper.instance)
@assert eventInfo[1] == FMI.fmi2False
# TODO: Support FMU events
@statuscheck FMI.fmi3EnterContinuousTimeMode(wrapper.instance)
end

return wrapper.instance
end

function complete_step!(wrapper::FMI3InstanceWrapper)
wrapper.instance === nothing && return
enterEventMode = Ref(FMI.fmi3False)
terminateSimulation = Ref(FMI.fmi3False)
@statuscheck FMI.fmi3CompletedIntegratorStep!(
wrapper.instance, FMI.fmi3True, enterEventMode, terminateSimulation)
@assert enterEventMode[] == FMI.fmi3False
@assert terminateSimulation[] == FMI.fmi3False
end

function reset_instance!(wrapper::FMI3InstanceWrapper)
wrapper.instance === nothing && return
FMI.fmi3Terminate(wrapper.instance)
FMI.fmi3FreeInstance!(wrapper.instance)
wrapper.instance = nothing
end

struct FMI2MEFunctor{T}
return_buffer::Vector{T}
output_value_references::Vector{UInt32}
Expand Down Expand Up @@ -284,13 +369,46 @@ function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, param
return [states_buffer; outputs_buffer]
end

function fmi2MEStep!(integrator, u, p, ctx)
struct FMI3MEFunctor{T}
return_buffer::Vector{T}
output_value_references::Vector{UInt32}
end

@register_array_symbolic (fn::FMI3MEFunctor)(
wrapper::FMI3InstanceWrapper, states::Vector{<:Real},
inputs::Vector{<:Real}, params::Vector{<:Real}, t::Real) begin
size = (length(states) + length(fn.output_value_references),)
eltype = eltype(states)
ndims = 1
end

function update_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, t)
instance = wrapper.instance
@statuscheck FMI.fmi3SetTime(instance, t)
@statuscheck FMI.fmi3SetContinuousStates(instance, states)
if !isempty(inputs)
@statuscheck FMI.fmi3SetFloat64(instance, wrapper.input_value_references, inputs)
end
end

function (fn::FMI3MEFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, params, t)
instance = get_instance_ME!(wrapper, states, inputs, params, t)
update_instance_ME!(wrapper, states, inputs, t)

states_buffer = zeros(length(states))
@statuscheck FMI.fmi3GetContinuousStateDerivatives!(instance, states_buffer)
outputs_buffer = zeros(length(fn.output_value_references))
FMI.fmi3GetFloat64!(instance, fn.output_value_references, outputs_buffer)
return [states_buffer; outputs_buffer]
end

function fmiMEStep!(integrator, u, p, ctx)
wrapper_idx = p[1]
wrapper = integrator.ps[wrapper_idx]
complete_step!(wrapper)
end

function fmi2Finalize!(integrator, u, p, ctx)
function fmiFinalize!(integrator, u, p, ctx)
wrapper_idx = p[1]
wrapper = integrator.ps[wrapper_idx]
reset_instance!(wrapper)
Expand Down
17 changes: 17 additions & 0 deletions test/extensions/fmi.jl
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,23 @@ import ModelingToolkit as MTK
@test sol(0.0:0.1:8.0;
idxs = [sys.inner.mass__s, sys.inner.mass__v]).u≈collect.(truesol.values.saveval) rtol=1e-2
end

fmu = loadFMU("SpringPendulum1D", "Dymola", "2023x", "3.0"; type = :ME)
truesol = FMI.simulate(
fmu, (0.0, 8.0); saveat = 0.0:0.1:8.0, recordValues = ["mass.s", "mass.v"])
@testset "v3, ME" begin
fmu = loadFMU("SpringPendulum1D", "Dymola", "2023x", "3.0"; type = :ME)
@mtkbuild sys = MTK.FMIComponent(Val(3); fmu, type = :ME)
prob = ODEProblem{true, SciMLBase.FullSpecialize}(
sys, [sys.mass__s => 0.5, sys.mass__v => 0.0], (0.0, 8.0))
sol = solve(prob, Tsit5(); reltol = 1e-8, abstol = 1e-8)
@test SciMLBase.successful_retcode(sol)

@test sol(0.0:0.1:8.0;
idxs = [sys.mass__s, sys.mass__v]).u≈collect.(truesol.values.saveval) atol=1e-4
# repeated solve works
@test_nowarn solve(prob, Tsit5())
end
end

@testset "IO Model" begin
Expand Down

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