From 85cebf13ca7dcda3c4db4b85f5c624ec49791a6f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 20 Dec 2024 16:06:30 +0530 Subject: [PATCH 01/42] feat: add `FMUComponent` with support for v2 ME FMUs --- Project.toml | 3 + ext/MTKFMIExt.jl | 216 +++++++++++++++++++++++++++++++++++++++++ src/ModelingToolkit.jl | 2 + 3 files changed, 221 insertions(+) create mode 100644 ext/MTKFMIExt.jl diff --git a/Project.toml b/Project.toml index 0a6238685a..b25d2a0562 100644 --- a/Project.toml +++ b/Project.toml @@ -64,6 +64,7 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d" BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" DeepDiffs = "ab62b9b5-e342-54a8-a765-a90f495de1a6" +FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac" HomotopyContinuation = "f213a82b-91d6-5c5d-acf7-10f1c761b327" InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57" LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800" @@ -72,6 +73,7 @@ LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800" MTKBifurcationKitExt = "BifurcationKit" MTKChainRulesCoreExt = "ChainRulesCore" MTKDeepDiffsExt = "DeepDiffs" +MTKFMIExt = "FMI" MTKHomotopyContinuationExt = "HomotopyContinuation" MTKInfiniteOptExt = "InfiniteOpt" MTKLabelledArraysExt = "LabelledArrays" @@ -106,6 +108,7 @@ FindFirstFunctions = "1" ForwardDiff = "0.10.3" FunctionWrappers = "1.1" FunctionWrappersWrappers = "0.1" +FMI = "0.14" Graphs = "1.5.2" HomotopyContinuation = "2.11" InfiniteOpt = "0.5" diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl new file mode 100644 index 0000000000..0812506df7 --- /dev/null +++ b/ext/MTKFMIExt.jl @@ -0,0 +1,216 @@ +module MTKFMIExt + +using ModelingToolkit +using ModelingToolkit: t_nounits as t, D_nounits as D +import ModelingToolkit as MTK +import FMI + +macro statuscheck(expr) + @assert Meta.isexpr(expr, :call) + fn = expr.args[1] + @assert Meta.isexpr(fn, :.) + @assert fn.args[1] == :FMI + fnname = fn.args[2] + + instance = expr.args[2] + + return quote + status = $expr + fnname = $fnname + if (status isa Tuple && status[1] == FMI.fmi2True) || + (!(status isa Tuple) && status != FMI.fmi2StatusOK && + status != FMI.fmi2StatusWarning) + if status != FMI.fmi2StatusFatal + FMI.fmi2Terminate(wrapper.instance) + end + FMI.fmi2FreeInstance!(wrapper.instance) + wrapper.instance = nothing + error("FMU Error: status $status") + end + end |> esc +end + +function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, name) + value_references = Dict() + defs = Dict() + states = [] + diffvars = [] + observed = Equation[] + stateT = Float64 + for (valRef, snames) in FMI.getStateValueReferencesAndNames(fmu) + stateT = FMI.dataTypeForValueReference(fmu, valRef) + snames = map(parseFMIVariableName, snames) + vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] + for i in eachindex(vars) + if i == 1 + push!(diffvars, vars[i]) + else + push!(observed, vars[i] ~ vars[1]) + end + value_references[vars[i]] = valRef + end + append!(states, vars) + end + + inputs = [] + for (valRef, snames) in FMI.getInputValueReferencesAndNames(fmu) + snames = map(parseFMIVariableName, snames) + vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] + for i in eachindex(vars) + if i == 1 + push!(inputs, vars[i]) + else + push!(observed, vars[i] ~ vars[1]) + end + value_references[vars[i]] = valRef + end + append!(states, vars) + end + + outputs = [] + for (valRef, snames) in FMI.getOutputValueReferencesAndNames(fmu) + snames = map(parseFMIVariableName, snames) + vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] + for i in eachindex(vars) + if i == 1 + push!(outputs, vars[i]) + else + push!(observed, vars[i] ~ vars[1]) + end + value_references[vars[i]] = valRef + end + append!(states, vars) + end + + params = [] + parameter_dependencies = Equation[] + for (valRef, pnames) in FMI.getParameterValueReferencesAndNames(fmu) + defval = FMI.getStartValue(fmu, valRef) + T = FMI.dataTypeForValueReference(fmu, valRef) + pnames = map(parseFMIVariableName, pnames) + vars = [MTK.unwrap(only(@parameters $pname::T)) for pname in pnames] + for i in eachindex(vars) + if i == 1 + push!(params, vars[i]) + else + push!(parameter_dependencies, vars[i] ~ vars[1]) + end + value_references[vars[i]] = valRef + end + defs[vars[1]] = defval + end + + 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) + + output_value_references = UInt32[value_references[var] for var in outputs] + buffer_length = length(diffvars) + length(outputs) + _functor = FMI2MEFunctor(zeros(buffer_length), output_value_references) + @parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor + call_expr = functor(wrapper, copy(diffvars), copy(inputs), copy(params), t) + + diffeqs = Equation[] + for (i, var) in enumerate([D.(diffvars); outputs]) + push!(diffeqs, var ~ call_expr[i]) + end + + finalize_affect = MTK.FunctionalAffect(fmi2MEFinalize!, [], [wrapper], []) + step_affect = MTK.FunctionalAffect(fmi2MEStep!, [], [wrapper], []) + instance_management_callback = MTK.SymbolicDiscreteCallback( + (t != t - 1), step_affect; finalize = finalize_affect) + + push!(params, wrapper, functor) + eqs = [observed; diffeqs] + return ODESystem(eqs, t, states, params; parameter_dependencies, defaults = defs, + discrete_events = [instance_management_callback], name) +end + +function parseFMIVariableName(name::AbstractString) + return Symbol(replace(name, "." => "__")) +end + +mutable struct FMI2InstanceWrapper + const fmu::FMI.FMU2 + const param_value_references::Vector{UInt32} + const input_value_references::Vector{UInt32} + const tolerance::FMI.fmi2Real + instance::Union{FMI.FMU2Component, Nothing} +end + +function FMI2InstanceWrapper(fmu, params, inputs, tolerance) + FMI2InstanceWrapper(fmu, params, inputs, tolerance, nothing) +end + +function get_instance!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) + if wrapper.instance === nothing + wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component + if !isempty(params) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references, + Csize_t(length(wrapper.param_value_references)), params) + end + @statuscheck FMI.fmi2SetupExperiment( + wrapper.instance, FMI.fmi2True, wrapper.tolerance, t, FMI.fmi2False, t) + @statuscheck FMI.fmi2EnterInitializationMode(wrapper.instance) + if !isempty(inputs) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references, + Csize_t(length(wrapper.param_value_references)), inputs) + end + @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) + eventInfo = FMI.fmi2NewDiscreteStates(wrapper.instance) + @assert eventInfo.newDiscreteStatesNeeded == FMI.fmi2False + # TODO: Support FMU events + @statuscheck FMI.fmi2EnterContinuousTimeMode(wrapper.instance) + end + instance = wrapper.instance + @statuscheck FMI.fmi2SetTime(instance, t) + @statuscheck FMI.fmi2SetContinuousStates(instance, states) + if !isempty(inputs) + @statuscheck FMI.fmi2SetReal(instance, wrapper.input_value_references, + Csize_t(length(wrapper.param_value_references)), inputs) + end + + return instance +end + +function complete_step!(wrapper::FMI2InstanceWrapper) + wrapper.instance === nothing && return + @statuscheck FMI.fmi2CompletedIntegratorStep(wrapper.instance, FMI.fmi2True) +end + +function reset_instance!(wrapper::FMI2InstanceWrapper) + wrapper.instance === nothing && return + FMI.fmi2Terminate(wrapper.instance) + FMI.fmi2FreeInstance!(wrapper.instance) + wrapper.instance = nothing +end + +struct FMI2MEFunctor{T} + return_buffer::Vector{T} + output_value_references::Vector{UInt32} +end + +function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) + instance = get_instance!(wrapper, states, inputs, params, t) + + states_buffer = zeros(length(states)) + @statuscheck FMI.fmi2GetDerivatives!(instance, states_buffer) + outputs_buffer = zeros(length(fn.output_value_references)) + FMI.fmi2GetReal!(instance, fn.output_value_references, outputs_buffer) + return [states_buffer; outputs_buffer] +end + +function fmi2MEStep!(integrator, u, p, ctx) + wrapper_idx = p[1] + wrapper = integrator.ps[wrapper_idx] + complete_step!(wrapper) +end + +function fmi2MEFinalize!(integrator, u, p, ctx) + wrapper_idx = p[1] + wrapper = integrator.ps[wrapper_idx] + reset_instance!(wrapper) +end + +end # module diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl index 743dc8ce76..2710d7d1e4 100644 --- a/src/ModelingToolkit.jl +++ b/src/ModelingToolkit.jl @@ -297,4 +297,6 @@ export HomotopyContinuationProblem export AnalysisPoint, get_sensitivity_function, get_comp_sensitivity_function, get_looptransfer_function, get_sensitivity, get_comp_sensitivity, get_looptransfer, open_loop +function FMIComponent end + end # module From 2409b350f9865a24a115d3cf719e4cc10506a502 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 20 Dec 2024 16:32:39 +0530 Subject: [PATCH 02/42] test: add tests for FMIComponent --- test/extensions/Project.toml | 2 ++ test/extensions/fmi.jl | 19 +++++++++++++++++++ test/runtests.jl | 1 + 3 files changed, 22 insertions(+) create mode 100644 test/extensions/fmi.jl diff --git a/test/extensions/Project.toml b/test/extensions/Project.toml index 5f7afe222a..72501554b5 100644 --- a/test/extensions/Project.toml +++ b/test/extensions/Project.toml @@ -2,6 +2,8 @@ BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" ChainRulesTestUtils = "cdddcdb0-9152-4a09-a978-84456f9df70a" +FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac" +FMIZoo = "724179cf-c260-40a9-bd27-cccc6fe2f195" ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" HomotopyContinuation = "f213a82b-91d6-5c5d-acf7-10f1c761b327" InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57" diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl new file mode 100644 index 0000000000..b11c5f9a31 --- /dev/null +++ b/test/extensions/fmi.jl @@ -0,0 +1,19 @@ +using ModelingToolkit, FMI, FMIZoo, OrdinaryDiffEq +using ModelingToolkit: t_nounits as t, D_nounits as D +import ModelingToolkit as MTK + +@testset "Standalone pendulum model" begin + @testset "v2, ME" begin + fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :ME) + @mtkbuild sys = MTK.FMIComponent(Val(2), Val(:ME); fmu) + 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) + + truesol = FMI.simulate(fmu, (0.0, 8.0); saveat = 0.0:0.1:8.0) + @test sol(0.0:0.1:8.0).u≈truesol.states.u atol=1e-4 + # repeated solve works + @test_nowarn solve(prob, Tsit5()) + end +end diff --git a/test/runtests.jl b/test/runtests.jl index 95154e550e..bfb9e0b6f9 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -117,6 +117,7 @@ end if GROUP == "All" || GROUP == "Extensions" activate_extensions_env() + @safetestset "FMI Extension Test" include("extensions/fmi.jl") @safetestset "HomotopyContinuation Extension Test" include("extensions/homotopy_continuation.jl") @safetestset "Auto Differentiation Test" include("extensions/ad.jl") @safetestset "LabelledArrays Test" include("labelledarrays.jl") From 5a49b030543d8cc5a4e963726b52a69707ca548a Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:26:23 +0530 Subject: [PATCH 03/42] fix: fix `getcalledparameter` namespacing issues --- src/parameters.jl | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/parameters.jl b/src/parameters.jl index ced7767718..91121b7cbb 100644 --- a/src/parameters.jl +++ b/src/parameters.jl @@ -33,7 +33,12 @@ end function getcalledparameter(x) x = unwrap(x) - return getmetadata(x, CallWithParent) + # `parent` is a `CallWithMetadata` with the correct metadata, + # but no namespacing. `operation(x)` has the correct namespacing, + # but is not a `CallWithMetadata` and doesn't have any metadata. + # This approach combines both. + parent = getmetadata(x, CallWithParent) + return CallWithMetadata(operation(x), metadata(parent)) end """ From 02e0ff0e6ca7c5418c3fec02819e5f38a98d0e03 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:26:42 +0530 Subject: [PATCH 04/42] fix: handle scalarized called parameter in `vars!` --- src/utils.jl | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/utils.jl b/src/utils.jl index 5e4f0b52d2..b6544972b9 100644 --- a/src/utils.jl +++ b/src/utils.jl @@ -403,6 +403,9 @@ function vars!(vars, eq::Equation; op = Differential) end function vars!(vars, O; op = Differential) if isvariable(O) + if iscall(O) && operation(O) === getindex && iscalledparameter(first(arguments(O))) + O = first(arguments(O)) + end if iscalledparameter(O) f = getcalledparameter(O) push!(vars, f) From 11b79c79853d742ec3eba7667574edcfa4f9136b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:27:08 +0530 Subject: [PATCH 05/42] fix: run array variables hack on equations added by CSE hack --- src/structural_transformation/symbolics_tearing.jl | 1 + 1 file changed, 1 insertion(+) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 8161a9572b..bd4868125e 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -696,6 +696,7 @@ function cse_and_array_hacks(obs, subeqs, unknowns, neweqs; cse = true, array = tempvar; T = Symbolics.symtype(rhs_arr))) tempvar = setmetadata( tempvar, Symbolics.ArrayShapeCtx, Symbolics.shape(rhs_arr)) + vars!(all_vars, rhs_arr) tempeq = tempvar ~ rhs_arr rhs_to_tempvar[rhs_arr] = tempvar push!(obs, tempeq) From 7f4cd278d203ee6f88052d2643e1b0261db58e19 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:27:31 +0530 Subject: [PATCH 06/42] fix: only use `OffsetArray` in array hack for non-standard `firstindex` --- src/structural_transformation/symbolics_tearing.jl | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index bd4868125e..4382ad6284 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -738,7 +738,9 @@ function cse_and_array_hacks(obs, subeqs, unknowns, neweqs; cse = true, array = # try to `create_array(OffsetArray{...}, ...)` which errors. # `term(Origin(firstind), scal)` doesn't retain the `symtype` and `size` # of `scal`. - push!(obs_arr_eqs, arrvar ~ change_origin(Origin(firstind), scal)) + rhs = scal + rhs = change_origin(firstind, rhs) + push!(obs_arr_eqs, arrvar ~ rhs) end append!(obs, obs_arr_eqs) append!(subeqs, obs_arr_eqs) @@ -765,10 +767,10 @@ getindex_wrapper(x, i) = x[i...] # PART OF HACK 2 function change_origin(origin, arr) - return origin(arr) + return Origin(origin)(arr) end -@register_array_symbolic change_origin(origin::Origin, arr::AbstractArray) begin +@register_array_symbolic change_origin(origin::Any, arr::AbstractArray) begin size = size(arr) eltype = eltype(arr) ndims = ndims(arr) From 86a0bcdaf0f8d86962593a509987ed8b4d00d8b0 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:28:22 +0530 Subject: [PATCH 07/42] fix: handle usage of FMU in initialization --- ext/MTKFMIExt.jl | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 0812506df7..fc9171fab8 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -191,6 +191,14 @@ struct FMI2MEFunctor{T} output_value_references::Vector{UInt32} end +@register_array_symbolic (fn::FMI2MEFunctor)( + wrapper::FMI2InstanceWrapper, 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 (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) instance = get_instance!(wrapper, states, inputs, params, t) From f50893de6c6db46737500a054202dd9d9a4523f1 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:28:52 +0530 Subject: [PATCH 08/42] refactor: modularize code and enable array hacks --- ext/MTKFMIExt.jl | 107 +++++++++++++++++++++++------------------------ 1 file changed, 53 insertions(+), 54 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index fc9171fab8..8b6f294601 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -36,68 +36,43 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, states = [] diffvars = [] observed = Equation[] - stateT = Float64 - for (valRef, snames) in FMI.getStateValueReferencesAndNames(fmu) - stateT = FMI.dataTypeForValueReference(fmu, valRef) - snames = map(parseFMIVariableName, snames) - vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] - for i in eachindex(vars) - if i == 1 - push!(diffvars, vars[i]) - else - push!(observed, vars[i] ~ vars[1]) - end - value_references[vars[i]] = valRef - end - append!(states, vars) + fmi_variables_to_mtk_variables!(fmu, FMI.getStateValueReferencesAndNames(fmu), + value_references, diffvars, states, observed) + if isempty(diffvars) + __mtk_internal_u = [] + else + @variables __mtk_internal_u(t)[1:length(diffvars)] + push!(observed, __mtk_internal_u ~ copy(diffvars)) + push!(states, __mtk_internal_u) end inputs = [] - for (valRef, snames) in FMI.getInputValueReferencesAndNames(fmu) - snames = map(parseFMIVariableName, snames) - vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] - for i in eachindex(vars) - if i == 1 - push!(inputs, vars[i]) - else - push!(observed, vars[i] ~ vars[1]) - end - value_references[vars[i]] = valRef - end - append!(states, vars) + fmi_variables_to_mtk_variables!(fmu, FMI.getInputValueReferencesAndNames(fmu), + value_references, inputs, states, observed) + if isempty(inputs) + __mtk_internal_x = [] + else + @variables __mtk_internal_x(t)[1:length(inputs)] + push!(observed, __mtk_internal_x ~ copy(inputs)) + push!(states, __mtk_internal_x) end outputs = [] - for (valRef, snames) in FMI.getOutputValueReferencesAndNames(fmu) - snames = map(parseFMIVariableName, snames) - vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] - for i in eachindex(vars) - if i == 1 - push!(outputs, vars[i]) - else - push!(observed, vars[i] ~ vars[1]) - end - value_references[vars[i]] = valRef - end - append!(states, vars) - end + fmi_variables_to_mtk_variables!(fmu, FMI.getOutputValueReferencesAndNames(fmu), + value_references, outputs, states, observed) + # @variables __mtk_internal_o(t)[1:length(outputs)] + # push!(observed, __mtk_internal_o ~ outputs) params = [] parameter_dependencies = Equation[] - for (valRef, pnames) in FMI.getParameterValueReferencesAndNames(fmu) - defval = FMI.getStartValue(fmu, valRef) - T = FMI.dataTypeForValueReference(fmu, valRef) - pnames = map(parseFMIVariableName, pnames) - vars = [MTK.unwrap(only(@parameters $pname::T)) for pname in pnames] - for i in eachindex(vars) - if i == 1 - push!(params, vars[i]) - else - push!(parameter_dependencies, vars[i] ~ vars[1]) - end - value_references[vars[i]] = valRef - end - defs[vars[1]] = defval + fmi_variables_to_mtk_variables!( + fmu, FMI.getParameterValueReferencesAndNames(fmu), value_references, + params, [], parameter_dependencies, defs; parameters = true) + if isempty(params) + __mtk_internal_p = [] + else + @parameters __mtk_internal_p[1:length(params)] + push!(parameter_dependencies, __mtk_internal_p ~ copy(params)) end input_value_references = UInt32[value_references[var] for var in inputs] @@ -109,7 +84,7 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, buffer_length = length(diffvars) + length(outputs) _functor = FMI2MEFunctor(zeros(buffer_length), output_value_references) @parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor - call_expr = functor(wrapper, copy(diffvars), copy(inputs), copy(params), t) + call_expr = functor(wrapper, __mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t) diffeqs = Equation[] for (i, var) in enumerate([D.(diffvars); outputs]) @@ -127,6 +102,30 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, discrete_events = [instance_management_callback], name) end +function fmi_variables_to_mtk_variables!(fmu, varmap, value_references, truevars, allvars, + obseqs, defs = Dict(); parameters = false) + for (valRef, snames) in varmap + stateT = FMI.dataTypeForValueReference(fmu, valRef) + snames = map(parseFMIVariableName, snames) + if parameters + vars = [MTK.unwrap(only(@parameters $sname::stateT)) for sname in snames] + else + vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] + end + for i in eachindex(vars) + if i == 1 + push!(truevars, vars[i]) + else + push!(obseqs, vars[i] ~ vars[1]) + end + value_references[vars[i]] = valRef + end + append!(allvars, vars) + defval = FMI.getStartValue(fmu, valRef) + defs[vars[1]] = defval + end +end + function parseFMIVariableName(name::AbstractString) return Symbol(replace(name, "." => "__")) end From a98eec50caa1e25edb65319428e92d826f2b4604 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:29:19 +0530 Subject: [PATCH 09/42] test: add test for component FMU hooked up to MTK model, initialization --- test/extensions/fmi.jl | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index b11c5f9a31..7e5e01f76a 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -17,3 +17,20 @@ import ModelingToolkit as MTK @test_nowarn solve(prob, Tsit5()) end end + +@testset "IO Model" begin + fmu = loadFMU("./fmus/SimpleAdder.fmu"; type = :ME) + @named adder = MTK.FMIComponent(Val(2), Val(:ME); fmu) + @variables a(t) b(t) c(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [adder.a ~ a, adder.b ~ b, D(a) ~ t, + D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], + t; + systems = [adder]) + + # c will be solved for by initialization + # this tests that initialization also works with FMUs + prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], (0.0, 1.0)) + sol = solve(prob, Rodas5P(autodiff = false)) + @test SciMLBase.successful_retcode(sol) +end From 403b92dac69b39f62e1f910516d1776a6eee4218 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 23 Dec 2024 17:31:28 +0530 Subject: [PATCH 10/42] test: add `SimpleAdder.fmu` for testing --- test/extensions/fmus/SimpleAdder.fmu 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From: Aayush Sabharwal Date: Fri, 3 Jan 2025 14:06:14 +0530 Subject: [PATCH 26/42] test: update `SimpleAdder.fmu` --- test/extensions/fmus/SimpleAdder.fmu | Bin 658043 -> 658163 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/test/extensions/fmus/SimpleAdder.fmu b/test/extensions/fmus/SimpleAdder.fmu index 87248ce050479793a8566b3c61b097de464a48f1..a1c3fd2728376ebed8f8dfd81819b0be51c84bef 100644 GIT binary patch delta 199526 zcmYg$XH?Tq(5{GpbPy2)0qIH=kX|Cvq)QX&2q^qPdWVpoB3-KVE={B>MS4Q-y+|kY z&=UwHkdR#8_ndp~-E;QS?1!Ca=IqS#>|j%#pi`evzt$$cLvibW)=#yJBx(+_Y#(RG ze>;7B?)H81|7Us4|NmQ9$p4)-vyKIIKTj$U{lAvqb1Xyv+mT?J(xV^ECd->$JxHeb z<|!U~eX^t)nb}54HeuD0=sqFm0+h|)$623-wqN~6<3Pe|sYp_~|E5vW(^^mKo4I37 z`r4L&Oj8B;i!kp&PPM?Jdjb^Och)`7IyKRZ_hWYGCwW6c>Q>q+{2Gi+!pPHUDIdK5 zO_8^)O&+IM2UtWm7|Gtvwz@CSkXUxFT(E9GUbwpUF2$T2gEXZQO|P&>=+`eAWhyTN z8>YCPNE-hdbT*9M4B%I0*sWJL(y&sj2{YuB!OD>9Q8;#{F3zUz@6WzrwlQ1Z-21z{ z@kXm;;%@n3Xklxz)}F&tjJ3mgLlZy 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zj3~>wNR+Bgus3=JEr0yACLl=Y!vS@0?Yf--UG&AE{^1c(oW{o%O@sNjTM97B^I(Gb zQQqm#;pB@)g&O2C!t^ENbcgFcpYvk?<{S_bwoFbZDkE3Dho$OJpMAT6&;x}+iR_~# zgjQZ2^K(Bex|i+hG#2zDIcQ|nMyI=xhamDzJM@B3WEC(Blck3Z!|!pHkDox61JEJ9 zGk#&1O-aNl8Kerm{)9{6Hh9~|KLTtGXX;2>ep7?E;8V7~R&YVlfp-u5-FV4ThO0BU zE0W0W`VbHE#%(FAp3}zii>~)d%maUQw1nN7Af60G?SCaO$Uot3k-z7$Sc9xnw)FM$ z=XG7gSD^dwi5-l@VEDyfq&BQWeCn2=-t+zZgF^gx%qUkwD#{~n!?ojJ5BYOhXV8z5 z$bAaCfRgAdn1QYEFV=RD!@yPm3aIa<41kc9j3k1OQlRB1r32=||5JQa0uIxX>5550 t@ROEIQ_uzzC6d8tMcgETl6GC8L7Y3K4eYPd>}UUZ5{a>><_gS~;C}*K<=FrL From 3bea3aa15d89dbcc3c30f3300b422c2c32ca171d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 3 Jan 2025 16:54:08 +0530 Subject: [PATCH 27/42] refactor: remove redundant fields from structs --- ext/MTKFMIExt.jl | 18 ++++++------------ 1 file changed, 6 insertions(+), 12 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index e0d59c4032..00ac91fb46 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -128,7 +128,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, if type == :ME FunctorT = Ver == 2 ? FMI2MEFunctor : FMI3MEFunctor - _functor = FunctorT(zeros(buffer_length), output_value_references) + _functor = FunctorT(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) @@ -147,11 +147,8 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, push!(states, __mtk_internal_u) elseif type == :CS state_value_references = UInt32[value_references[var] for var in diffvars] - state_and_output_value_references = vcat( - state_value_references, output_value_references) _functor = if Ver == 2 - FMI2CSFunctor(state_and_output_value_references, - state_value_references, output_value_references) + FMI2CSFunctor(state_value_references, output_value_references) else FMI3CSFunctor(state_value_references, output_value_references) end @@ -351,9 +348,8 @@ function reset_instance!(wrapper::FMI3InstanceWrapper) wrapper.instance = nothing end -struct FMI2MEFunctor{T} - return_buffer::Vector{T} - output_value_references::Vector{UInt32} +struct FMI2MEFunctor + output_value_references::Vector{FMI.fmi2ValueReference} end @register_array_symbolic (fn::FMI2MEFunctor)( @@ -385,9 +381,8 @@ function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, param return [states_buffer; outputs_buffer] end -struct FMI3MEFunctor{T} - return_buffer::Vector{T} - output_value_references::Vector{UInt32} +struct FMI3MEFunctor + output_value_references::Vector{FMI.fmi3ValueReference} end @register_array_symbolic (fn::FMI3MEFunctor)( @@ -431,7 +426,6 @@ function fmiFinalize!(integrator, u, p, ctx) end struct FMI2CSFunctor - state_and_output_value_references::Vector{UInt32} state_value_references::Vector{UInt32} output_value_references::Vector{UInt32} end From d1d3839340d618c7474358f492780b4c85c55289 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 3 Jan 2025 16:54:24 +0530 Subject: [PATCH 28/42] docs: add documentation for all functions in FMIExt --- ext/MTKFMIExt.jl | 421 +++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 392 insertions(+), 29 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 00ac91fb46..4fea249dd9 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -3,10 +3,19 @@ module MTKFMIExt using ModelingToolkit using SymbolicIndexingInterface using ModelingToolkit: t_nounits as t, D_nounits as D +using DocStringExtensions import ModelingToolkit as MTK import SciMLBase import FMI +""" + $(TYPEDSIGNATURES) + +A utility macro for FMI.jl functions that return a status. Will terminate on +fatal statuses. Must be used as `@statuscheck FMI.fmiXFunction(...)` where +`X` should be `2` or `3`. Has an edge case for handling tuples for +`FMI.fmi2CompletedIntegratorStep`. +""" macro statuscheck(expr) @assert Meta.isexpr(expr, :call) fn = expr.args[1] @@ -40,6 +49,12 @@ macro statuscheck(expr) end @static if !hasmethod(FMI.getValueReferencesAndNames, Tuple{FMI.fmi3ModelDescription}) + """ + $(TYPEDSIGNATURES) + + This is type piracy, but FMI.jl is missing this implementation. It allows + `FMI.getStateValueReferencesAndNames` to work. + """ function FMI.getValueReferencesAndNames( md::FMI.fmi3ModelDescription; vrs = md.valueReferences) dict = Dict{FMI.fmi3ValueReference, Array{String}}() @@ -50,6 +65,29 @@ end end end +""" + $(TYPEDSIGNATURES) + +A component that wraps an FMU loaded via FMI.jl. The FMI version (2 or 3) should be +provided as a `Val` to the function. Supports Model Exchange and CoSimulation FMUs. +All inputs, continuous variables and outputs must be `FMI.fmi2Real` or `FMI.fmi3Float64`. +Does not support events or discrete variables in the FMU. Does not support automatic +differentiation. Parameters of the FMU will have defaults corresponding to their initial +values in the FMU specification. All other variables will not have a default. Hierarchical +names in the FMU of the form `namespace.variable` are transformed into symbolic variables +with the name `namespace__variable`. + +# Keyword Arguments + +- `fmu`: The FMU loaded via `FMI.loadFMU`. +- `tolerance`: The tolerance to provide to the FMU. Not used for v3 FMUs since it is not + supported by FMI.jl. +- `communication_step_size`: The periodic interval at which communication with CoSimulation + FMUs will occur. Must be provided for CoSimulation FMU components. +- `type`: Either `:ME` or `:CS` depending on whether `fmu` is a Model Exchange or + CoSimulation FMU respectively. +- `name`: The name of the system. +""" function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, communication_step_size = nothing, type, name) where {Ver} if Ver != 2 && Ver != 3 @@ -58,26 +96,44 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, if type == :CS && communication_step_size === nothing throw(ArgumentError("`communication_step_size` must be specified for Co-Simulation FMUs.")) end + # mapping from MTK variable to value reference value_references = Dict() + # defaults defs = Dict() + # unknowns of the system states = [] + # differential variables of the system + # this is a subset of `states` in the case where the FMU has multiple names for + # the same value reference. diffvars = [] + # observed equations observed = Equation[] + # parse states fmi_variables_to_mtk_variables!(fmu, FMI.getStateValueReferencesAndNames(fmu), value_references, diffvars, states, observed) + # create a symbolic variable __mtk_internal_u to pass to the relevant registered + # functions as the state vector if isempty(diffvars) + # no differential variables __mtk_internal_u = [] elseif type == :ME + # ME FMUs perform integration using the Julia solver, so unknowns of the FMU + # are unknowns of the `ODESystem` @variables __mtk_internal_u(t)[1:length(diffvars)] [guess = diffvars] push!(observed, __mtk_internal_u ~ copy(diffvars)) elseif type == :CS + # CS FMUs do their own independent integration in a periodic callback, so their + # unknowns are discrete variables in the `ODESystem`. A default of `missing` allows + # them to be solved for during initialization. @parameters __mtk_internal_u(t)[1:length(diffvars)]=missing [guess = diffvars] push!(observed, __mtk_internal_u ~ copy(diffvars)) end + # parse the inputs to the FMU inputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getInputValueReferencesAndNames(fmu), value_references, inputs, states, observed) + # create a symbolic variable for the input buffer if isempty(inputs) __mtk_internal_x = [] else @@ -86,9 +142,12 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, push!(states, __mtk_internal_x) end + # parse the outputs of the FMU outputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getOutputValueReferencesAndNames(fmu), value_references, outputs, states, observed) + # create the output buffer. This is only required for CoSimulation to pass it to + # the callback affect if type == :CS if isempty(outputs) __mtk_internal_o = [] @@ -98,11 +157,14 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, end end + # parse the parameters params = [] + # multiple names for the same parameter are treated as parameter dependencies. parameter_dependencies = Equation[] fmi_variables_to_mtk_variables!( fmu, FMI.getParameterValueReferencesAndNames(fmu), value_references, params, [], parameter_dependencies, defs; parameters = true) + # create a symbolic variable for the parameter buffer if isempty(params) __mtk_internal_p = [] else @@ -113,6 +175,8 @@ function MTK.FMIComponent(::Val{Ver}; 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] + # create a parameter for the instance wrapper + # this manages the creation and deallocation of FMU instances if Ver == 2 @parameters wrapper::FMI2InstanceWrapper = FMI2InstanceWrapper( fmu, param_value_references, input_value_references, tolerance) @@ -124,20 +188,28 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, output_value_references = UInt32[value_references[var] for var in outputs] buffer_length = length(diffvars) + length(outputs) + # any additional initialization equations for the system initialization_eqs = Equation[] if type == :ME + # the functor is a callable struct which returns the state derivative and + # output values FunctorT = Ver == 2 ? FMI2MEFunctor : FMI3MEFunctor _functor = FunctorT(output_value_references) @parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor + + # symbolic expression for calling the functor call_expr = functor( wrapper, __mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t) + # differential and observed equations diffeqs = Equation[] for (i, var) in enumerate([D.(diffvars); outputs]) push!(diffeqs, var ~ call_expr[i]) end + # instance management callback which deallocates the instance when + # necessary and notifies the FMU of completed integrator steps finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], []) step_affect = MTK.FunctionalAffect(fmiMEStep!, [], [wrapper], []) instance_management_callback = MTK.SymbolicDiscreteCallback( @@ -153,6 +225,8 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, FMI3CSFunctor(state_value_references, output_value_references) end @parameters (functor::(typeof(_functor)))(..)[1:(length(__mtk_internal_u) + length(__mtk_internal_o))] = _functor + # for co-simulation, we need to ensure the output buffer is solved for + # during initialization for (i, x) in enumerate(collect(__mtk_internal_o)) push!(initialization_eqs, x ~ functor( @@ -161,18 +235,22 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, diffeqs = Equation[] + # use `ImperativeAffect` for instance management here cb_observed = (; inputs = __mtk_internal_x, params = copy(params), t, wrapper, dt = communication_step_size) cb_modified = (;) + # modify the outputs if present if symbolic_type(__mtk_internal_o) != NotSymbolic() cb_modified = (cb_modified..., outputs = __mtk_internal_o) end + # modify the continuous state if present if symbolic_type(__mtk_internal_u) != NotSymbolic() cb_modified = (cb_modified..., states = __mtk_internal_u) end initialize_affect = MTK.ImperativeAffect(fmiCSInitialize!; observed = cb_observed, modified = cb_modified, ctx = _functor) finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], []) + # the callback affect performs the stepping step_affect = MTK.ImperativeAffect( fmiCSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) instance_management_callback = MTK.SymbolicDiscreteCallback( @@ -180,6 +258,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, finalize = finalize_affect, reinitializealg = SciMLBase.NoInit() ) + # guarded in case there are no outputs/states and the variable is `[]`. symbolic_type(__mtk_internal_o) == NotSymbolic() || push!(params, __mtk_internal_o) symbolic_type(__mtk_internal_u) == NotSymbolic() || push!(params, __mtk_internal_u) @@ -191,7 +270,24 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, discrete_events = [instance_management_callback], name, initialization_eqs) end -function fmi_variables_to_mtk_variables!(fmu, varmap, value_references, truevars, allvars, +""" + $(TYPEDSIGNATURES) + +A utility function which accepts an FMU `fmu` and a mapping from value reference to a +list of associated names `varmap`. A symbolic variable is created for each name. The +associated value reference is kept track of in `value_references`. In case there are +multiple names for a value reference, the symbolic variable for the first name is pushed +to `truevars`. All of the created symbolic variables are pushed to `allvars`. Observed +equations equating identical variables are pushed to `obseqs`. `defs` is a dictionary of +defaults. + +# Keyword Arguments +- `parameters`: A boolean indicating whether to use `@parameters` for the symbolic + variables instead of `@variables`. +""" +function fmi_variables_to_mtk_variables!( + fmu::Union{FMI.FMU2, FMI.FMU3}, varmap::AbstractDict, + value_references::AbstractDict, truevars, allvars, obseqs, defs = Dict(); parameters = false) for (valRef, snames) in varmap stateT = FMI.dataTypeForValueReference(fmu, valRef) @@ -215,23 +311,69 @@ function fmi_variables_to_mtk_variables!(fmu, varmap, value_references, truevars end end +""" + $(TYPEDSIGNATURES) + +Parse the string name of an FMI variable into a `Symbol` name for the corresponding +MTK vriable. +""" function parseFMIVariableName(name::AbstractString) return Symbol(replace(name, "." => "__")) end +""" + $(TYPEDEF) + +A struct which manages instance creation and deallocation for v2 FMUs. + +# Fields + +$(TYPEDFIELDS) +""" mutable struct FMI2InstanceWrapper + """ + The FMU from `FMI.loadFMU`. + """ const fmu::FMI.FMU2 - const param_value_references::Vector{UInt32} - const input_value_references::Vector{UInt32} + """ + The parameter value references. These should be in the same order as the parameter + vector passed to functions involving this wrapper. + """ + const param_value_references::Vector{FMI.fmi2ValueReference} + """ + The input value references. These should be in the same order as the inputs passed + to functions involving this wrapper. + """ + const input_value_references::Vector{FMI.fmi2ValueReference} + """ + The tolerance with which to setup the FMU instance. + """ const tolerance::FMI.fmi2Real - instance::Union{FMI.FMU2Component, Nothing} + """ + The FMU instance, if present, and `nothing` otherwise. + """ + instance::Union{FMI.FMU2Component{FMI.FMU2}, Nothing} end +""" + $(TYPEDSIGNATURES) + +Create an `FMI2InstanceWrapper` with no instance. +""" function FMI2InstanceWrapper(fmu, params, inputs, tolerance) FMI2InstanceWrapper(fmu, params, inputs, tolerance, nothing) end -function get_instance_common!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Common functionality for creating an instance of a v2 FMU. Does not check if +`wrapper.instance` is already present, and overwrites the existing value with +a new instance. `inputs` should be in the order of `wrapper.input_value_references`. +`params` should be in the order of `wrapper.param_value_references`. `t` is the current +time. Returns the created instance, which is also stored in `wrapper.instance`. +""" +function get_instance_common!(wrapper::FMI2InstanceWrapper, inputs, params, t) wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component if !isempty(params) @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references, @@ -248,9 +390,17 @@ function get_instance_common!(wrapper::FMI2InstanceWrapper, states, inputs, para return wrapper.instance end -function get_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Create an instance of a Model Exchange FMU. Use the existing instance in `wrapper` if +present and create a new one otherwise. Return the instance. + +See `get_instance_common!` for a description of the arguments. +""" +function get_instance_ME!(wrapper::FMI2InstanceWrapper, inputs, params, t) if wrapper.instance === nothing - get_instance_common!(wrapper, states, inputs, params, t) + get_instance_common!(wrapper, inputs, params, t) @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) eventInfo = FMI.fmi2NewDiscreteStates(wrapper.instance) @assert eventInfo.newDiscreteStatesNeeded == FMI.fmi2False @@ -261,19 +411,39 @@ function get_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, params, return wrapper.instance end -function get_instance_CS!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Create an instance of a CoSimulation FMU. Use the existing instance in `wrapper` if +present and create a new one otherwise. Return the instance. + +See `get_instance_common!` for a description of the arguments. +""" +function get_instance_CS!(wrapper::FMI2InstanceWrapper, inputs, params, t) if wrapper.instance === nothing - get_instance_common!(wrapper, states, inputs, params, t) + get_instance_common!(wrapper, inputs, params, t) @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) end return wrapper.instance end +""" + $(TYPEDSIGNATURES) + +If `wrapper.instance !== nothing`, tell the FMU that an integrator step has been accepted. +This is relevant only for ModelExchange FMUs. +""" function complete_step!(wrapper::FMI2InstanceWrapper) wrapper.instance === nothing && return @statuscheck FMI.fmi2CompletedIntegratorStep(wrapper.instance, FMI.fmi2True) end +""" + $(TYPEDSIGNATURES) + +If `wrapper.instance !== nothing`, terminate and free the instance. Also set +`wrapper.instance` to `nothing`. +""" function reset_instance!(wrapper::FMI2InstanceWrapper) wrapper.instance === nothing && return FMI.fmi2Terminate(wrapper.instance) @@ -281,18 +451,55 @@ function reset_instance!(wrapper::FMI2InstanceWrapper) wrapper.instance = nothing end +""" + $(TYPEDEF) + +A struct which manages instance creation and deallocation for v3 FMUs. + +# Fields + +$(TYPEDFIELDS) +""" mutable struct FMI3InstanceWrapper + """ + The FMU from `FMI.loadFMU`. + """ const fmu::FMI.FMU3 - const param_value_references::Vector{UInt32} - const input_value_references::Vector{UInt32} + """ + The parameter value references. These should be in the same order as the parameter + vector passed to functions involving this wrapper. + """ + const param_value_references::Vector{FMI.fmi3ValueReference} + """ + The input value references. These should be in the same order as the inputs passed + to functions involving this wrapper. + """ + const input_value_references::Vector{FMI.fmi3ValueReference} + """ + The FMU instance, if present, and `nothing` otherwise. + """ instance::Union{FMI.FMU3Instance{FMI.FMU3}, Nothing} end +""" + $(TYPEDSIGNATURES) + +Create an `FMI3InstanceWrapper` with no instance. +""" function FMI3InstanceWrapper(fmu, params, inputs) FMI3InstanceWrapper(fmu, params, inputs, nothing) end -function get_instance_common!(wrapper::FMI3InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Common functionality for creating an instance of a v3 FMU. Since v3 FMUs need to be +instantiated differently depending on the type, this assumes `wrapper.instance` is a +freshly instantiated FMU which needs to be initialized. `inputs` should be in the order +of `wrapper.input_value_references`. `params` should be in the order of +`wrapper.param_value_references`. `t` is the current time. Returns `wrapper.instance`. +""" +function get_instance_common!(wrapper::FMI3InstanceWrapper, inputs, params, t) if !isempty(params) @statuscheck FMI.fmi3SetFloat64(wrapper.instance, wrapper.param_value_references, params) @@ -307,10 +514,18 @@ function get_instance_common!(wrapper::FMI3InstanceWrapper, states, inputs, para return wrapper.instance end -function get_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Create an instance of a Model Exchange FMU. Use the existing instance in `wrapper` if +present and create a new one otherwise. Return the instance. + +See `get_instance_common!` for a description of the arguments. +""" +function get_instance_ME!(wrapper::FMI3InstanceWrapper, inputs, params, t) if wrapper.instance === nothing wrapper.instance = FMI.fmi3InstantiateModelExchange!(wrapper.fmu)::FMI.FMU3Instance - get_instance_common!(wrapper, states, inputs, params, t) + get_instance_common!(wrapper, inputs, params, t) @statuscheck FMI.fmi3ExitInitializationMode(wrapper.instance) eventInfo = FMI.fmi3UpdateDiscreteStates(wrapper.instance) @assert eventInfo[1] == FMI.fmi2False @@ -321,16 +536,31 @@ function get_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, params, return wrapper.instance end -function get_instance_CS!(wrapper::FMI3InstanceWrapper, states, inputs, params, t) +""" + $(TYPEDSIGNATURES) + +Create an instance of a CoSimulation FMU. Use the existing instance in `wrapper` if +present and create a new one otherwise. Return the instance. + +See `get_instance_common!` for a description of the arguments. +""" +function get_instance_CS!(wrapper::FMI3InstanceWrapper, inputs, params, t) if wrapper.instance === nothing wrapper.instance = FMI.fmi3InstantiateCoSimulation!( wrapper.fmu; eventModeUsed = false)::FMI.FMU3Instance - get_instance_common!(wrapper, states, inputs, params, t) + get_instance_common!(wrapper, inputs, params, t) @statuscheck FMI.fmi3ExitInitializationMode(wrapper.instance) end return wrapper.instance end +""" + $(TYPEDSIGNATURES) + +If `wrapper.instance !== nothing`, tell the FMU that an integrator step has been accepted. +This is relevant only for ModelExchange FMUs. Asserts that the simulation does not need +to be terminated and does not require entering event mode. +""" function complete_step!(wrapper::FMI3InstanceWrapper) wrapper.instance === nothing && return enterEventMode = Ref(FMI.fmi3False) @@ -341,6 +571,9 @@ function complete_step!(wrapper::FMI3InstanceWrapper) @assert terminateSimulation[] == FMI.fmi3False end +""" + $(TYPEDSIGNATURES) +""" function reset_instance!(wrapper::FMI3InstanceWrapper) wrapper.instance === nothing && return FMI.fmi3Terminate(wrapper.instance) @@ -348,7 +581,22 @@ function reset_instance!(wrapper::FMI3InstanceWrapper) wrapper.instance = nothing end +""" + $(TYPEDEF) + +A callable struct useful for simulating v2 Model Exchange FMUs. When called, updates the +internal state of the FMU and gets updated values for continuous state derivatives and +output variables. + +# Fields + +$(TYPEDFIELDS) +""" struct FMI2MEFunctor + """ + The value references for outputs of the FMU, in the order that the caller expects + them to be returned when calling `FMI2MEFunctor`. + """ output_value_references::Vector{FMI.fmi2ValueReference} end @@ -360,6 +608,11 @@ end ndims = 1 end +""" + $(TYPEDSIGNATURES) + +Update `wrapper.instance` with the new values of state, input and independent variables. +""" function update_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, t) instance = wrapper.instance @statuscheck FMI.fmi2SetTime(instance, t) @@ -370,10 +623,19 @@ function update_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, t) end end +""" + $(TYPEDSIGNATURES) + +Get the FMU instance (creating and initializing it if not present), update it +with the current values of variables, and return a vector of the state derivatives +and output variables. +""" function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) - instance = get_instance_ME!(wrapper, states, inputs, params, t) + instance = get_instance_ME!(wrapper, inputs, params, t) update_instance_ME!(wrapper, states, inputs, t) + # TODO: Find a way to do this without allocating. We can't pass a view to these + # functions. states_buffer = zeros(length(states)) @statuscheck FMI.fmi2GetDerivatives!(instance, states_buffer) outputs_buffer = zeros(length(fn.output_value_references)) @@ -381,7 +643,22 @@ function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, param return [states_buffer; outputs_buffer] end +""" + $(TYPEDEF) + +A callable struct useful for simulating v3 Model Exchange FMUs. When called, updates the +internal state of the FMU and gets updated values for continuous state derivatives and +output variables. + +# Fields + +$(TYPEDFIELDS) +""" struct FMI3MEFunctor + """ + The value references for outputs of the FMU, in the order that the caller expects + them to be returned when calling `FMI3MEFunctor`. + """ output_value_references::Vector{FMI.fmi3ValueReference} end @@ -393,6 +670,11 @@ end ndims = 1 end +""" + $(TYPEDSIGNATURES) + +Update `wrapper.instance` with the new values of state, input and independent variables. +""" function update_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, t) instance = wrapper.instance @statuscheck FMI.fmi3SetTime(instance, t) @@ -402,10 +684,18 @@ function update_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, t) end end +""" + $(TYPEDSIGNATURES) + +Get the FMU instance (creating and initializing it if not present), update it +with the current values of variables, and return a vector of the state derivatives +and output variables. +""" function (fn::FMI3MEFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, params, t) - instance = get_instance_ME!(wrapper, states, inputs, params, t) + instance = get_instance_ME!(wrapper, inputs, params, t) update_instance_ME!(wrapper, states, inputs, t) + # TODO: Don't allocate states_buffer = zeros(length(states)) @statuscheck FMI.fmi3GetContinuousStateDerivatives!(instance, states_buffer) outputs_buffer = zeros(length(fn.output_value_references)) @@ -413,28 +703,60 @@ function (fn::FMI3MEFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, param return [states_buffer; outputs_buffer] end +""" + $(TYPEDSIGNATURES) + +An affect function for use inside a `FunctionalAffect`. This should be triggered every +time an integrator step is accepted. Expects `p` to be a 1-length array containing +the index of the instance wrapper (`FMI2InstanceWrapper` or `FMI3InstanceWrapper`) in +the parameter object. +""" function fmiMEStep!(integrator, u, p, ctx) wrapper_idx = p[1] wrapper = integrator.ps[wrapper_idx] complete_step!(wrapper) end +""" + $(TYPEDSIGNATURES) + +An affect function for use inside a `FunctionalAffect`. This should be triggered at the +end of the solve, regardless of whether it succeeded or failed. Expects `p` to be a +1-length array containing the index of the instance wrapper (`FMI2InstanceWrapper` or +`FMI3InstanceWrapper`) in the parameter object. +""" function fmiFinalize!(integrator, u, p, ctx) wrapper_idx = p[1] wrapper = integrator.ps[wrapper_idx] reset_instance!(wrapper) end +""" + $(TYPEDEF) + +A callable struct useful for initializing v2 CoSimulation FMUs. When called, updates the +internal state of the FMU and gets updated values for output variables. + +# Fields + +$(TYPEDFIELDS) +""" struct FMI2CSFunctor - state_value_references::Vector{UInt32} - output_value_references::Vector{UInt32} + """ + The value references of state variables in the FMU. + """ + state_value_references::Vector{FMI.fmi2ValueReference} + """ + The value references of output variables in the FMU. + """ + output_value_references::Vector{FMI.fmi2ValueReference} end function (fn::FMI2CSFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) states = states isa SubArray ? copy(states) : states inputs = inputs isa SubArray ? copy(inputs) : inputs params = params isa SubArray ? copy(params) : params - instance = get_instance_CS!(wrapper, states, inputs, params, t) + instance = get_instance_CS!(wrapper, inputs, params, t) if isempty(fn.output_value_references) return eltype(states)[] else @@ -450,6 +772,17 @@ end ndims = 1 end +""" + $(TYPEDSIGNATURES) + +An affect function designed for use with `ImperativeAffect`. Should be triggered during +callback initialization. `m` should contain the key `:states` with the value being the +state vector if the FMU has continuous states. `m` should contain the key `:outputs` with +the value being the output vector if the FMU has output variables. `o` should contain the +`:inputs`, `:params`, `:t` and `:wrapper` where the latter contains the `FMI2InstanceWrapper`. + +Initializes the FMU. Only for use with CoSimulation FMUs. +""" function fmiCSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) states = isdefined(m, :states) ? m.states : () inputs = o.inputs @@ -460,8 +793,7 @@ function fmiCSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) reset_instance!(wrapper) end - instance = get_instance_common!(wrapper, states, inputs, params, t) - @statuscheck FMI.fmi2ExitInitializationMode(instance) + instance = get_instance_CS!(wrapper, inputs, params, t) if isdefined(m, :states) @statuscheck FMI.fmi2GetReal!(instance, ctx.state_value_references, m.states) end @@ -472,6 +804,14 @@ function fmiCSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) return m end +""" + $(TYPEDSIGNATURES) + +An affect function designed for use with `ImperativeAffect`. Should be triggered +periodically to communicte with the CoSimulation FMU. Has the same requirements as +`fmiCSInitialize!` for `m` and `o`, with the addition that `o` should have a key +`:dt` with the value being the communication step size. +""" function fmiCSStep!(m, o, ctx::FMI2CSFunctor, integrator) wrapper = o.wrapper states = isdefined(m, :states) ? m.states : () @@ -480,7 +820,7 @@ function fmiCSStep!(m, o, ctx::FMI2CSFunctor, integrator) t = o.t dt = o.dt - instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + instance = get_instance_CS!(wrapper, inputs, params, integrator.t) @statuscheck FMI.fmi2DoStep(instance, integrator.t - dt, dt, FMI.fmi2True) if isdefined(m, :states) @@ -493,16 +833,33 @@ function fmiCSStep!(m, o, ctx::FMI2CSFunctor, integrator) return m end +""" + $(TYPEDEF) + +A callable struct useful for initializing v3 CoSimulation FMUs. When called, updates the +internal state of the FMU and gets updated values for output variables. + +# Fields + +$(TYPEDFIELDS) +""" struct FMI3CSFunctor - state_value_references::Vector{UInt32} - output_value_references::Vector{UInt32} + """ + The value references of state variables in the FMU. + """ + state_value_references::Vector{FMI.fmi3ValueReference} + """ + The value references of output variables in the FMU. + """ + output_value_references::Vector{FMI.fmi3ValueReference} end function (fn::FMI3CSFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, params, t) states = states isa SubArray ? copy(states) : states inputs = inputs isa SubArray ? copy(inputs) : inputs params = params isa SubArray ? copy(params) : params - instance = get_instance_CS!(wrapper, states, inputs, params, t) + instance = get_instance_CS!(wrapper, inputs, params, t) + if isempty(fn.output_value_references) return eltype(states)[] else @@ -518,6 +875,9 @@ end ndims = 1 end +""" + $(TYPEDSIGNATURES) +""" function fmiCSInitialize!(m, o, ctx::FMI3CSFunctor, integrator) states = isdefined(m, :states) ? m.states : () inputs = o.inputs @@ -527,7 +887,7 @@ function fmiCSInitialize!(m, o, ctx::FMI3CSFunctor, integrator) if wrapper.instance !== nothing reset_instance!(wrapper) end - instance = get_instance_CS!(wrapper, states, inputs, params, t) + instance = get_instance_CS!(wrapper, inputs, params, t) if isdefined(m, :states) @statuscheck FMI.fmi3GetFloat64!(instance, ctx.state_value_references, m.states) end @@ -538,6 +898,9 @@ function fmiCSInitialize!(m, o, ctx::FMI3CSFunctor, integrator) return m end +""" + $(TYPEDSIGNATURES) +""" function fmiCSStep!(m, o, ctx::FMI3CSFunctor, integrator) wrapper = o.wrapper states = isdefined(m, :states) ? m.states : () @@ -546,7 +909,7 @@ function fmiCSStep!(m, o, ctx::FMI3CSFunctor, integrator) t = o.t dt = o.dt - instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + instance = get_instance_CS!(wrapper, inputs, params, integrator.t) eventEncountered = Ref(FMI.fmi3False) terminateSimulation = Ref(FMI.fmi3False) earlyReturn = Ref(FMI.fmi3False) From 2337cbb0318be4ec29a650ed6820500f58b5b82f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 7 Jan 2025 13:00:58 +0530 Subject: [PATCH 29/42] build: bump SymbolicIndexingInterface compat --- Project.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Project.toml b/Project.toml index b25d2a0562..13684a6a52 100644 --- a/Project.toml +++ b/Project.toml @@ -145,9 +145,9 @@ SpecialFunctions = "0.7, 0.8, 0.9, 0.10, 1.0, 2" StaticArrays = "0.10, 0.11, 0.12, 1.0" StochasticDiffEq = "6.72.1" StochasticDelayDiffEq = "1.8.1" -SymbolicIndexingInterface = "0.3.36" +SymbolicIndexingInterface = "0.3.37" SymbolicUtils = "3.10" -Symbolics = "6.22.1" +Symbolics = "6.23" URIs = "1" UnPack = "0.1, 1.0" Unitful = "1.1" From 15a467e2d933b93ea052e698d550c1884eace9cc Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 7 Jan 2025 13:10:20 +0530 Subject: [PATCH 30/42] feat: mark inputs and outputs of FMU with appropriate metadata --- ext/MTKFMIExt.jl | 16 +++++++++++----- test/extensions/fmi.jl | 25 +++++++++++++++++++++++++ 2 files changed, 36 insertions(+), 5 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 4fea249dd9..95e1c0ef26 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -132,7 +132,8 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, # parse the inputs to the FMU inputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getInputValueReferencesAndNames(fmu), - value_references, inputs, states, observed) + value_references, inputs, states, observed; postprocess_variable = v -> MTK.setinput( + v, true)) # create a symbolic variable for the input buffer if isempty(inputs) __mtk_internal_x = [] @@ -145,7 +146,8 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, # parse the outputs of the FMU outputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getOutputValueReferencesAndNames(fmu), - value_references, outputs, states, observed) + value_references, outputs, states, observed; postprocess_variable = v -> MTK.setoutput( + v, true)) # create the output buffer. This is only required for CoSimulation to pass it to # the callback affect if type == :CS @@ -284,18 +286,22 @@ defaults. # Keyword Arguments - `parameters`: A boolean indicating whether to use `@parameters` for the symbolic variables instead of `@variables`. +- `postprocess_variable`: A function applied to each created variable that should + return the updated variable. This is useful to add metadata to variables. """ function fmi_variables_to_mtk_variables!( fmu::Union{FMI.FMU2, FMI.FMU3}, varmap::AbstractDict, value_references::AbstractDict, truevars, allvars, - obseqs, defs = Dict(); parameters = false) + obseqs, defs = Dict(); parameters = false, postprocess_variable = identity) for (valRef, snames) in varmap stateT = FMI.dataTypeForValueReference(fmu, valRef) snames = map(parseFMIVariableName, snames) if parameters - vars = [MTK.unwrap(only(@parameters $sname::stateT)) for sname in snames] + vars = [postprocess_variable(MTK.unwrap(only(@parameters $sname::stateT))) + for sname in snames] else - vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames] + vars = [postprocess_variable(MTK.unwrap(only(@variables $sname(t)::stateT))) + for sname in snames] end for i in eachindex(vars) if i == 1 diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 868d60a9bb..4dc0fc9a67 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -9,9 +9,16 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") truesol = FMI.simulate( fmu, (0.0, 8.0); saveat = 0.0:0.1:8.0, recordValues = ["mass.s", "mass.v"]) + function test_no_inputs_outputs(sys) + for var in unknowns(sys) + @test !MTK.isinput(var) + @test !MTK.isoutput(var) + end + end @testset "v2, ME" begin fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :ME) @mtkbuild sys = MTK.FMIComponent(Val(2); fmu, type = :ME) + test_no_inputs_outputs(sys) 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) @@ -28,6 +35,7 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") Val(2); fmu, communication_step_size = 0.001, type = :CS) @variables x(t) = 1.0 @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + test_no_inputs_outputs(sys) prob = ODEProblem{true, SciMLBase.FullSpecialize}( sys, [sys.inner.mass__s => 0.5, sys.inner.mass__v => 0.0], (0.0, 8.0)) @@ -44,6 +52,7 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") @testset "v3, ME" begin fmu = loadFMU("SpringPendulum1D", "Dymola", "2023x", "3.0"; type = :ME) @mtkbuild sys = MTK.FMIComponent(Val(3); fmu, type = :ME) + test_no_inputs_outputs(sys) 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) @@ -60,6 +69,7 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") Val(3); fmu, communication_step_size = 0.001, type = :CS) @variables x(t) = 1.0 @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + test_no_inputs_outputs(sys) prob = ODEProblem{true, SciMLBase.FullSpecialize}( sys, [sys.inner.mass__s => 0.5, sys.inner.mass__v => 0.0], (0.0, 8.0)) @@ -75,6 +85,11 @@ end @testset "v2, ME" begin fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :ME) @named adder = MTK.FMIComponent(Val(2); fmu, type = :ME) + @test MTK.isinput(adder.a) + @test MTK.isinput(adder.b) + @test MTK.isoutput(adder.out) + @test !MTK.isinput(adder.c) && !MTK.isoutput(adder.c) + @variables a(t) b(t) c(t) [guess = 1.0] @mtkbuild sys = ODESystem( [adder.a ~ a, adder.b ~ b, D(a) ~ t, @@ -92,6 +107,10 @@ end fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :CS) @named adder = MTK.FMIComponent( Val(2); fmu, type = :CS, communication_step_size = 0.001) + @test MTK.isinput(adder.a) + @test MTK.isinput(adder.b) + @test MTK.isoutput(adder.out) + @test !MTK.isinput(adder.c) && !MTK.isoutput(adder.c) @variables a(t) b(t) c(t) [guess = 1.0] @mtkbuild sys = ODESystem( [adder.a ~ a, adder.b ~ b, D(a) ~ t, @@ -110,6 +129,9 @@ end @testset "v3, ME" begin fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :ME) @named sspace = MTK.FMIComponent(Val(3); fmu, type = :ME) + @test MTK.isinput(sspace.u) + @test MTK.isoutput(sspace.y) + @test !MTK.isinput(sspace.x) && !MTK.isoutput(sspace.x) @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] @mtkbuild sys = ODESystem( [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; @@ -125,6 +147,9 @@ end fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :CS) @named sspace = MTK.FMIComponent( Val(3); fmu, communication_step_size = 1e-3, type = :CS) + @test MTK.isinput(sspace.u) + @test MTK.isoutput(sspace.y) + @test !MTK.isinput(sspace.x) && !MTK.isoutput(sspace.x) @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] @mtkbuild sys = ODESystem( [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; From 3daf349247dd3e15c8a90a6292629bd6afd39565 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 8 Jan 2025 16:24:33 +0530 Subject: [PATCH 31/42] fix: fix array hack when looking through unknowns --- src/structural_transformation/symbolics_tearing.jl | 1 - 1 file changed, 1 deletion(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 173f430c04..f1a152b8e7 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -719,7 +719,6 @@ function cse_and_array_hacks(sys, obs, subeqs, unknowns, neweqs; cse = true, arr Symbolics.shape(sym) != Symbolics.Unknown() || continue arg1 = arguments(sym)[1] cnt = get(arr_obs_occurrences, arg1, 0) - cnt == 0 && continue arr_obs_occurrences[arg1] = cnt + 1 end for eq in neweqs From 94fd36a1649eb6f9318ad7bbe1cc00bd19cc32af Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 8 Jan 2025 16:25:22 +0530 Subject: [PATCH 32/42] fix: fix several bugs causing incorrect results in FMU components --- ext/MTKFMIExt.jl | 364 +++++++++++++++++++++++------------------------ 1 file changed, 177 insertions(+), 187 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 95e1c0ef26..603ec8906c 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -84,12 +84,16 @@ with the name `namespace__variable`. supported by FMI.jl. - `communication_step_size`: The periodic interval at which communication with CoSimulation FMUs will occur. Must be provided for CoSimulation FMU components. +- `reinitializealg`: The DAE initialization algorithm to use for the callback managing the + FMU. For CoSimulation FMUs whose states/outputs are used in algebraic equations of the + system, this needs to be an algorithm that will solve for the new algebraic variables. + For example, `OrdinaryDiffEqCore.BrownFullBasicInit()`. - `type`: Either `:ME` or `:CS` depending on whether `fmu` is a Model Exchange or CoSimulation FMU respectively. - `name`: The name of the system. """ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, - communication_step_size = nothing, type, name) where {Ver} + communication_step_size = nothing, reinitializealg = SciMLBase.NoInit(), type, name) where {Ver} if Ver != 2 && Ver != 3 throw(ArgumentError("FMI Version must be `2` or `3`")) end @@ -106,8 +110,14 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, # this is a subset of `states` in the case where the FMU has multiple names for # the same value reference. diffvars = [] + # variables that are derivatives of diffvars + dervars = [] # observed equations observed = Equation[] + # need to separate observed equations for duplicate derivative variables + # since they aren't included in CS FMUs + der_observed = Equation[] + # parse states fmi_variables_to_mtk_variables!(fmu, FMI.getStateValueReferencesAndNames(fmu), value_references, diffvars, states, observed) @@ -115,12 +125,14 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, # functions as the state vector if isempty(diffvars) # no differential variables - __mtk_internal_u = [] + __mtk_internal_u = Float64[] elseif type == :ME - # ME FMUs perform integration using the Julia solver, so unknowns of the FMU - # are unknowns of the `ODESystem` - @variables __mtk_internal_u(t)[1:length(diffvars)] [guess = diffvars] - push!(observed, __mtk_internal_u ~ copy(diffvars)) + # to avoid running into `structural_simplify` warnings about array variables + # and some unfortunate circular dependency issues, ME FMUs use an array of + # symbolics instead. This is also not worse off in performance + # because the former approach would allocate anyway. + # TODO: Can we avoid an allocation here using static arrays? + __mtk_internal_u = copy(diffvars) elseif type == :CS # CS FMUs do their own independent integration in a periodic callback, so their # unknowns are discrete variables in the `ODESystem`. A default of `missing` allows @@ -129,18 +141,30 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, push!(observed, __mtk_internal_u ~ copy(diffvars)) end + # parse derivatives of states + # the variables passed to `postprocess_variable` haven't been differentiated yet, so they + # should match one variable in states. That's the one this is the derivative of, and we + # keep track of this ordering + derivative_order = [] + function derivative_order_postprocess(var) + idx = findfirst(isequal(var), states) + idx === nothing || push!(derivative_order, states[idx]) + return var + end + fmi_variables_to_mtk_variables!( + fmu, FMI.getDerivateValueReferencesAndNames(fmu), value_references, dervars, + states, der_observed; postprocess_variable = derivative_order_postprocess) + @assert length(derivative_order) == length(dervars) + # parse the inputs to the FMU inputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getInputValueReferencesAndNames(fmu), value_references, inputs, states, observed; postprocess_variable = v -> MTK.setinput( v, true)) # create a symbolic variable for the input buffer - if isempty(inputs) - __mtk_internal_x = [] - else - @variables __mtk_internal_x(t)[1:length(inputs)] [guess = inputs] - push!(observed, __mtk_internal_x ~ copy(inputs)) - push!(states, __mtk_internal_x) + __mtk_internal_x = copy(inputs) + if isempty(__mtk_internal_x) + __mtk_internal_x = Float64[] end # parse the outputs of the FMU @@ -152,7 +176,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, # the callback affect if type == :CS if isempty(outputs) - __mtk_internal_o = [] + __mtk_internal_o = Float64[] else @parameters __mtk_internal_o(t)[1:length(outputs)]=missing [guess = zeros(length(outputs))] push!(observed, __mtk_internal_o ~ outputs) @@ -167,60 +191,58 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, fmu, FMI.getParameterValueReferencesAndNames(fmu), value_references, params, [], parameter_dependencies, defs; parameters = true) # create a symbolic variable for the parameter buffer - if isempty(params) - __mtk_internal_p = [] - else - @parameters __mtk_internal_p[1:length(params)] - push!(parameter_dependencies, __mtk_internal_p ~ copy(params)) + __mtk_internal_p = copy(params) + if isempty(__mtk_internal_p) + __mtk_internal_p = Float64[] end + derivative_value_references = UInt32[value_references[var] for var in dervars] + state_value_references = UInt32[value_references[var] for var in diffvars] + output_value_references = UInt32[value_references[var] for var in outputs] input_value_references = UInt32[value_references[var] for var in inputs] param_value_references = UInt32[value_references[var] for var in params] # create a parameter for the instance wrapper # this manages the creation and deallocation of FMU instances + buffer_length = length(diffvars) + length(outputs) if Ver == 2 - @parameters wrapper::FMI2InstanceWrapper = FMI2InstanceWrapper( - fmu, param_value_references, input_value_references, tolerance) + @parameters (wrapper::FMI2InstanceWrapper)(..)[1:buffer_length] = FMI2InstanceWrapper( + fmu, derivative_value_references, state_value_references, output_value_references, + param_value_references, input_value_references, tolerance) else - @parameters wrapper::FMI3InstanceWrapper = FMI3InstanceWrapper( - fmu, param_value_references, input_value_references) + @parameters (wrapper::FMI3InstanceWrapper)(..)[1:buffer_length] = FMI3InstanceWrapper( + fmu, derivative_value_references, state_value_references, + output_value_references, param_value_references, input_value_references) end - output_value_references = UInt32[value_references[var] for var in outputs] - buffer_length = length(diffvars) + length(outputs) - # any additional initialization equations for the system initialization_eqs = Equation[] if type == :ME - # the functor is a callable struct which returns the state derivative and + # the wrapper is a callable struct which returns the state derivative and # output values - FunctorT = Ver == 2 ? FMI2MEFunctor : FMI3MEFunctor - _functor = FunctorT(output_value_references) - @parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor - - # symbolic expression for calling the functor - call_expr = functor( - wrapper, __mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t) + # symbolic expression for calling the wrapper + call_expr = wrapper(__mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t) # differential and observed equations diffeqs = Equation[] - for (i, var) in enumerate([D.(diffvars); outputs]) + for (i, var) in enumerate([dervars; outputs]) push!(diffeqs, var ~ call_expr[i]) end + for (var, dervar) in zip(derivative_order, dervars) + push!(diffeqs, D(var) ~ dervar) + end # instance management callback which deallocates the instance when # necessary and notifies the FMU of completed integrator steps finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], []) - step_affect = MTK.FunctionalAffect(fmiMEStep!, [], [wrapper], []) + step_affect = MTK.FunctionalAffect(Returns(nothing), [], [], []) instance_management_callback = MTK.SymbolicDiscreteCallback( - (t != t - 1), step_affect; finalize = finalize_affect, reinitializealg = SciMLBase.NoInit()) + (t != t - 1), step_affect; finalize = finalize_affect, reinitializealg = reinitializealg) - push!(params, wrapper, functor) - push!(states, __mtk_internal_u) + push!(params, wrapper) + append!(observed, der_observed) elseif type == :CS - state_value_references = UInt32[value_references[var] for var in diffvars] _functor = if Ver == 2 FMI2CSFunctor(state_value_references, output_value_references) else @@ -257,7 +279,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, fmiCSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) instance_management_callback = MTK.SymbolicDiscreteCallback( communication_step_size, step_affect; initialize = initialize_affect, - finalize = finalize_affect, reinitializealg = SciMLBase.NoInit() + finalize = finalize_affect, reinitializealg = reinitializealg ) # guarded in case there are no outputs/states and the variable is `[]`. @@ -293,9 +315,15 @@ function fmi_variables_to_mtk_variables!( fmu::Union{FMI.FMU2, FMI.FMU3}, varmap::AbstractDict, value_references::AbstractDict, truevars, allvars, obseqs, defs = Dict(); parameters = false, postprocess_variable = identity) - for (valRef, snames) in varmap + for (valRef, varnames) in varmap stateT = FMI.dataTypeForValueReference(fmu, valRef) - snames = map(parseFMIVariableName, snames) + snames = Symbol[] + ders = Int[] + for name in varnames + sname, der = parseFMIVariableName(name) + push!(snames, sname) + push!(ders, der) + end if parameters vars = [postprocess_variable(MTK.unwrap(only(@parameters $sname::stateT))) for sname in snames] @@ -303,6 +331,14 @@ function fmi_variables_to_mtk_variables!( vars = [postprocess_variable(MTK.unwrap(only(@variables $sname(t)::stateT))) for sname in snames] end + for i in eachindex(vars) + der = ders[i] + vars[i] = MTK.unwrap(vars[i]) + for j in 1:der + vars[i] = D(vars[i]) + end + vars[i] = MTK.default_toterm(vars[i]) + end for i in eachindex(vars) if i == 1 push!(truevars, vars[i]) @@ -321,10 +357,22 @@ end $(TYPEDSIGNATURES) Parse the string name of an FMI variable into a `Symbol` name for the corresponding -MTK vriable. +MTK variable. Return the `Symbol` name and the number of times it is differentiated. """ function parseFMIVariableName(name::AbstractString) - return Symbol(replace(name, "." => "__")) + name = replace(name, "." => "__") + der = 0 + if startswith(name, "der(") + idx = findfirst(',', name) + if idx === nothing + name = @view name[5:(end - 1)] + der = 1 + else + der = parse(Int, @view name[(idx + 1):(end - 1)]) + name = @view name[5:(idx - 1)] + end + end + return Symbol(name), der end """ @@ -342,6 +390,20 @@ mutable struct FMI2InstanceWrapper """ const fmu::FMI.FMU2 """ + The value references for derivatives of states of the FMU, in the order that the + caller expects them to be returned when calling this struct. + """ + const derivative_value_references::Vector{FMI.fmi2ValueReference} + """ + The value references for the states of the FMU. + """ + const state_value_references::Vector{FMI.fmi2ValueReference} + """ + The value references for outputs of the FMU, in the order that the caller expects + them to be returned when calling this struct. + """ + const output_value_references::Vector{FMI.fmi2ValueReference} + """ The parameter value references. These should be in the same order as the parameter vector passed to functions involving this wrapper. """ @@ -366,10 +428,12 @@ end Create an `FMI2InstanceWrapper` with no instance. """ -function FMI2InstanceWrapper(fmu, params, inputs, tolerance) - FMI2InstanceWrapper(fmu, params, inputs, tolerance, nothing) +function FMI2InstanceWrapper(fmu, ders, states, outputs, params, inputs, tolerance) + FMI2InstanceWrapper(fmu, ders, states, outputs, params, inputs, tolerance, nothing) end +Base.nameof(::FMI2InstanceWrapper) = :FMI2InstanceWrapper + """ $(TYPEDSIGNATURES) @@ -381,6 +445,10 @@ time. Returns the created instance, which is also stored in `wrapper.instance`. """ function get_instance_common!(wrapper::FMI2InstanceWrapper, inputs, params, t) wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component + if !isempty(inputs) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references, + Csize_t(length(wrapper.param_value_references)), inputs) + end if !isempty(params) @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references, Csize_t(length(wrapper.param_value_references)), params) @@ -388,11 +456,6 @@ function get_instance_common!(wrapper::FMI2InstanceWrapper, inputs, params, t) @statuscheck FMI.fmi2SetupExperiment( wrapper.instance, FMI.fmi2True, wrapper.tolerance, t, FMI.fmi2False, t) @statuscheck FMI.fmi2EnterInitializationMode(wrapper.instance) - if !isempty(inputs) - @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references, - Csize_t(length(wrapper.param_value_references)), inputs) - end - return wrapper.instance end @@ -425,9 +488,13 @@ present and create a new one otherwise. Return the instance. See `get_instance_common!` for a description of the arguments. """ -function get_instance_CS!(wrapper::FMI2InstanceWrapper, inputs, params, t) +function get_instance_CS!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) if wrapper.instance === nothing get_instance_common!(wrapper, inputs, params, t) + if !isempty(states) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.state_value_references, + Csize_t(length(wrapper.state_value_references)), states) + end @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) end return wrapper.instance @@ -436,12 +503,10 @@ end """ $(TYPEDSIGNATURES) -If `wrapper.instance !== nothing`, tell the FMU that an integrator step has been accepted. -This is relevant only for ModelExchange FMUs. +Call `fmiXCompletedIntegratorStep` with `noSetFMUStatePriorToCurrentPoint` as false. """ -function complete_step!(wrapper::FMI2InstanceWrapper) - wrapper.instance === nothing && return - @statuscheck FMI.fmi2CompletedIntegratorStep(wrapper.instance, FMI.fmi2True) +function partiallyCompleteIntegratorStep(wrapper::FMI2InstanceWrapper) + @statuscheck FMI.fmi2CompletedIntegratorStep(wrapper.instance, FMI.fmi2False) end """ @@ -472,6 +537,17 @@ mutable struct FMI3InstanceWrapper """ const fmu::FMI.FMU3 """ + The value references for derivatives of states of the FMU, in the order that the + caller expects them to be returned when calling this struct. + """ + const derivative_value_references::Vector{FMI.fmi3ValueReference} + const state_value_references::Vector{FMI.fmi3ValueReference} + """ + The value references for outputs of the FMU, in the order that the caller expects + them to be returned when calling this struct. + """ + const output_value_references::Vector{FMI.fmi3ValueReference} + """ The parameter value references. These should be in the same order as the parameter vector passed to functions involving this wrapper. """ @@ -492,10 +568,12 @@ end Create an `FMI3InstanceWrapper` with no instance. """ -function FMI3InstanceWrapper(fmu, params, inputs) - FMI3InstanceWrapper(fmu, params, inputs, nothing) +function FMI3InstanceWrapper(fmu, ders, states, outputs, params, inputs) + FMI3InstanceWrapper(fmu, ders, states, outputs, params, inputs, nothing) end +Base.nameof(::FMI3InstanceWrapper) = :FMI3InstanceWrapper + """ $(TYPEDSIGNATURES) @@ -550,11 +628,15 @@ present and create a new one otherwise. Return the instance. See `get_instance_common!` for a description of the arguments. """ -function get_instance_CS!(wrapper::FMI3InstanceWrapper, inputs, params, t) +function get_instance_CS!(wrapper::FMI3InstanceWrapper, states, inputs, params, t) if wrapper.instance === nothing wrapper.instance = FMI.fmi3InstantiateCoSimulation!( wrapper.fmu; eventModeUsed = false)::FMI.FMU3Instance get_instance_common!(wrapper, inputs, params, t) + if !isempty(states) + @statuscheck FMI.fmi3SetFloat64( + wrapper.instance, wrapper.state_value_references, states) + end @statuscheck FMI.fmi3ExitInitializationMode(wrapper.instance) end return wrapper.instance @@ -562,17 +644,12 @@ end """ $(TYPEDSIGNATURES) - -If `wrapper.instance !== nothing`, tell the FMU that an integrator step has been accepted. -This is relevant only for ModelExchange FMUs. Asserts that the simulation does not need -to be terminated and does not require entering event mode. """ -function complete_step!(wrapper::FMI3InstanceWrapper) - wrapper.instance === nothing && return +function partiallyCompleteIntegratorStep(wrapper::FMI3InstanceWrapper) enterEventMode = Ref(FMI.fmi3False) terminateSimulation = Ref(FMI.fmi3False) @statuscheck FMI.fmi3CompletedIntegratorStep!( - wrapper.instance, FMI.fmi3True, enterEventMode, terminateSimulation) + wrapper.instance, FMI.fmi3False, enterEventMode, terminateSimulation) @assert enterEventMode[] == FMI.fmi3False @assert terminateSimulation[] == FMI.fmi3False end @@ -587,88 +664,14 @@ function reset_instance!(wrapper::FMI3InstanceWrapper) wrapper.instance = nothing end -""" - $(TYPEDEF) - -A callable struct useful for simulating v2 Model Exchange FMUs. When called, updates the -internal state of the FMU and gets updated values for continuous state derivatives and -output variables. - -# Fields - -$(TYPEDFIELDS) -""" -struct FMI2MEFunctor - """ - The value references for outputs of the FMU, in the order that the caller expects - them to be returned when calling `FMI2MEFunctor`. - """ - output_value_references::Vector{FMI.fmi2ValueReference} -end - -@register_array_symbolic (fn::FMI2MEFunctor)( - wrapper::FMI2InstanceWrapper, states::Vector{<:Real}, - inputs::Vector{<:Real}, params::Vector{<:Real}, t::Real) begin +@register_array_symbolic (fn::FMI2InstanceWrapper)( + 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 -""" - $(TYPEDSIGNATURES) - -Update `wrapper.instance` with the new values of state, input and independent variables. -""" -function update_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, t) - instance = wrapper.instance - @statuscheck FMI.fmi2SetTime(instance, t) - @statuscheck FMI.fmi2SetContinuousStates(instance, states) - if !isempty(inputs) - @statuscheck FMI.fmi2SetReal(instance, wrapper.input_value_references, - Csize_t(length(wrapper.param_value_references)), inputs) - end -end - -""" - $(TYPEDSIGNATURES) - -Get the FMU instance (creating and initializing it if not present), update it -with the current values of variables, and return a vector of the state derivatives -and output variables. -""" -function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) - instance = get_instance_ME!(wrapper, inputs, params, t) - update_instance_ME!(wrapper, states, inputs, t) - - # TODO: Find a way to do this without allocating. We can't pass a view to these - # functions. - states_buffer = zeros(length(states)) - @statuscheck FMI.fmi2GetDerivatives!(instance, states_buffer) - outputs_buffer = zeros(length(fn.output_value_references)) - FMI.fmi2GetReal!(instance, fn.output_value_references, outputs_buffer) - return [states_buffer; outputs_buffer] -end - -""" - $(TYPEDEF) - -A callable struct useful for simulating v3 Model Exchange FMUs. When called, updates the -internal state of the FMU and gets updated values for continuous state derivatives and -output variables. - -# Fields - -$(TYPEDFIELDS) -""" -struct FMI3MEFunctor - """ - The value references for outputs of the FMU, in the order that the caller expects - them to be returned when calling `FMI3MEFunctor`. - """ - output_value_references::Vector{FMI.fmi3ValueReference} -end - -@register_array_symbolic (fn::FMI3MEFunctor)( +@register_array_symbolic (fn::FMI3InstanceWrapper)( wrapper::FMI3InstanceWrapper, states::Vector{<:Real}, inputs::Vector{<:Real}, params::Vector{<:Real}, t::Real) begin size = (length(states) + length(fn.output_value_references),) @@ -679,50 +682,30 @@ end """ $(TYPEDSIGNATURES) -Update `wrapper.instance` with the new values of state, input and independent variables. -""" -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 - -""" - $(TYPEDSIGNATURES) - -Get the FMU instance (creating and initializing it if not present), update it -with the current values of variables, and return a vector of the state derivatives -and output variables. +Update the internal state of the ME FMU and return a vector of updated values +for continuous state derivatives and output variables respectively. Needs to be a +callable struct to enable symbolic registration with an inferred return size. """ -function (fn::FMI3MEFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, params, t) +function (wrapper::Union{FMI2InstanceWrapper, FMI3InstanceWrapper})( + states, inputs, params, t) instance = get_instance_ME!(wrapper, inputs, params, t) - update_instance_ME!(wrapper, states, inputs, t) - # TODO: Don't allocate + # TODO: Find a way to do this without allocating. We can't pass a view to these + # functions. 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) + outputs_buffer = zeros(length(wrapper.output_value_references)) + # Defined in FMIBase.jl/src/eval.jl + # Doesn't seem to be documented, but somehow this is the only way to + # propagate inputs to the FMU consistently. I have no idea why. + instance(; x = states, u = inputs, u_refs = wrapper.input_value_references, + p = params, p_refs = wrapper.param_value_references, t = t) + # the spec requires completing the step before getting updated derivative/output values + partiallyCompleteIntegratorStep(wrapper) + instance(; dx = states_buffer, dx_refs = wrapper.derivative_value_references, + y = outputs_buffer, y_refs = wrapper.output_value_references) return [states_buffer; outputs_buffer] end -""" - $(TYPEDSIGNATURES) - -An affect function for use inside a `FunctionalAffect`. This should be triggered every -time an integrator step is accepted. Expects `p` to be a 1-length array containing -the index of the instance wrapper (`FMI2InstanceWrapper` or `FMI3InstanceWrapper`) in -the parameter object. -""" -function fmiMEStep!(integrator, u, p, ctx) - wrapper_idx = p[1] - wrapper = integrator.ps[wrapper_idx] - complete_step!(wrapper) -end - """ $(TYPEDSIGNATURES) @@ -762,7 +745,7 @@ function (fn::FMI2CSFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, param states = states isa SubArray ? copy(states) : states inputs = inputs isa SubArray ? copy(inputs) : inputs params = params isa SubArray ? copy(params) : params - instance = get_instance_CS!(wrapper, inputs, params, t) + instance = get_instance_CS!(wrapper, states, inputs, params, t) if isempty(fn.output_value_references) return eltype(states)[] else @@ -799,7 +782,7 @@ function fmiCSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) reset_instance!(wrapper) end - instance = get_instance_CS!(wrapper, inputs, params, t) + instance = get_instance_CS!(wrapper, states, inputs, params, t) if isdefined(m, :states) @statuscheck FMI.fmi2GetReal!(instance, ctx.state_value_references, m.states) end @@ -826,7 +809,11 @@ function fmiCSStep!(m, o, ctx::FMI2CSFunctor, integrator) t = o.t dt = o.dt - instance = get_instance_CS!(wrapper, inputs, params, integrator.t) + instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + if !isempty(inputs) + FMI.fmi2SetReal( + instance, wrapper.input_value_references, Csize_t(length(inputs)), inputs) + end @statuscheck FMI.fmi2DoStep(instance, integrator.t - dt, dt, FMI.fmi2True) if isdefined(m, :states) @@ -864,7 +851,7 @@ function (fn::FMI3CSFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, param states = states isa SubArray ? copy(states) : states inputs = inputs isa SubArray ? copy(inputs) : inputs params = params isa SubArray ? copy(params) : params - instance = get_instance_CS!(wrapper, inputs, params, t) + instance = get_instance_CS!(wrapper, states, inputs, params, t) if isempty(fn.output_value_references) return eltype(states)[] @@ -893,7 +880,7 @@ function fmiCSInitialize!(m, o, ctx::FMI3CSFunctor, integrator) if wrapper.instance !== nothing reset_instance!(wrapper) end - instance = get_instance_CS!(wrapper, inputs, params, t) + instance = get_instance_CS!(wrapper, states, inputs, params, t) if isdefined(m, :states) @statuscheck FMI.fmi3GetFloat64!(instance, ctx.state_value_references, m.states) end @@ -915,7 +902,10 @@ function fmiCSStep!(m, o, ctx::FMI3CSFunctor, integrator) t = o.t dt = o.dt - instance = get_instance_CS!(wrapper, inputs, params, integrator.t) + instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + if !isempty(inputs) + FMI.fmi3SetFloat64(instance, wrapper.input_value_references, inputs) + end eventEncountered = Ref(FMI.fmi3False) terminateSimulation = Ref(FMI.fmi3False) earlyReturn = Ref(FMI.fmi3False) From 324cd22d260cde5b0368306e5529534287c59250 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 8 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Date: Wed, 8 Jan 2025 16:25:48 +0530 Subject: [PATCH 34/42] test: update `StateSpace.fmu` --- test/extensions/fmus/StateSpace.fmu | Bin 34391 -> 34301 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/test/extensions/fmus/StateSpace.fmu b/test/extensions/fmus/StateSpace.fmu index c181081ca4222af0c306205c1d721c06905dd3a1..6138e1fdb265d3a94397dc6f8bdad51c46c12414 100644 GIT binary patch delta 20296 zcmaI7WmsEX@Gpu}yilyTyE_yJPO;)ziWe=#9kQX6;_ePDuEm{T#hp@$Lve?ofj|!L z`Ja34{dALO&CZ%>1Af5)WQOpyN1M?aB_4$$NV z+xGSwGKoV$mUdOv{ zxR|hze!UKYE7QI&(;Vj0?EUnri?8VmybSk_UCCT>)1t!i!F=HN*@hAaelNWx&r2=4 zdh5uSd`7*9kSGPay}X-^VKyp{hgHLntD z=1~PpcDG;}$nXY?O5Bo9YBvOa*p5e>u*n{@=n-{?h>_{2Q+3{YpP6UmR`auVo6IwT zXDhKNOda}rrPHvb+kS1Pm34ZBneDJ}Nu9jcW7X>1@2og!$XLweUlPhZ-&6R~^a(vc zxBp#OjaaT+pTMSVHgRRjtC`Q zE2^3|GY~`G^UJFo+ioW1Po!g%mJfUvWPQSHWa^+lm03Nbpy5UFpVRM-eJLPYjtF)whMs1KeH42AH`Xg@SVn4&X<)wiV|cFY2mEi0YOs{!d(6PuSs6kw;n4tM6~fA49v)G%N4 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z=+DnbgCgq_1gwxk)>(H4#Alyayqv4EBAHuyGR_-XItZfOQ%>cR$;WY%iV~V&uSoJl zAz4F3ac*^rB!AUX>Lf0@H7;s;v@k`hmVv(fTF2$z=){%UTJD|1h(0yiDJ;J2KBf%k z?rp@spVB*?ZbAD%=xC25P))gY`Ln*p#iwrt?GlCpC_I^jdp>#s$VLAO)0rV#17kjU zq;E2FQWbbPLl|1jkv|P~NM`P-0y}iD=evWmaUQ#>#ZS5w@>#OC3)CVfamP}Oc!Jqf zUu@W+Dv<-wNKe^1T3GOOMEhUuvoNu^Gl|*F1~69(*G(f{UlCK0fLZtSd54v=HEX-|5h`RfrQybAjM1S)Uc)G6E`>-~tO64}d z7L8UjhIis}Y=4KWXt=j@q(5T~VY4Z4ceyw6r~S*{?zjJ)`|RL3b8s*Sw3n9-u+UI% zbi@y&vIQM&rhR&nlJVbErGL^D%F8%0d4W2)}~lAy{ih``VHQ8hZ9UxWogCyGe>nZV2h=cvdtrXw&b>18y Date: Wed, 8 Jan 2025 16:26:02 +0530 Subject: [PATCH 35/42] test: add more comprehensive tests for FMIComponent --- test/extensions/fmi.jl | 220 ++++++++++++++++++++++++++++++++++------- 1 file changed, 183 insertions(+), 37 deletions(-) diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 4dc0fc9a67..145989ab29 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -81,83 +81,229 @@ const FMU_DIR = joinpath(@__DIR__, "fmus") end end -@testset "IO Model" begin - @testset "v2, ME" begin - fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :ME) - @named adder = MTK.FMIComponent(Val(2); fmu, type = :ME) - @test MTK.isinput(adder.a) - @test MTK.isinput(adder.b) - @test MTK.isoutput(adder.out) - @test !MTK.isinput(adder.c) && !MTK.isoutput(adder.c) +@mtkmodel SimpleAdder begin + @variables begin + a(t) + b(t) + c(t) + out(t) + out2(t) + end + @parameters begin + value = 1.0 + end + @equations begin + out ~ a + b + value + D(c) ~ out + out2 ~ 2c + end +end + +@mtkmodel StateSpace begin + @variables begin + x(t) + y(t) + u(t) + end + @parameters begin + A = 1.0 + B = 1.0 + C = 1.0 + _D = 1.0 + end + @equations begin + D(x) ~ A * x + B * u + y ~ C * x + _D * u + end +end +@testset "IO Model" begin + function build_simple_adder(adder) @variables a(t) b(t) c(t) [guess = 1.0] @mtkbuild sys = ODESystem( [adder.a ~ a, adder.b ~ b, D(a) ~ t, D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], t; systems = [adder]) - # c will be solved for by initialization # this tests that initialization also works with FMUs - prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], (0.0, 1.0)) - sol = solve(prob, Rodas5P(autodiff = false)) + prob = ODEProblem(sys, [sys.adder.c => 2.0, sys.a => 1.0, sys.b => 1.0], + (0.0, 1.0), [sys.adder.value => 2.0]) + return sys, prob + end + + @named adder = SimpleAdder() + truesys, trueprob = build_simple_adder(adder) + truesol = solve(trueprob, abstol = 1e-8, reltol = 1e-8) + @test SciMLBase.successful_retcode(truesol) + + @testset "v2, ME" begin + fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :ME) + @named adder = MTK.FMIComponent(Val(2); fmu, type = :ME) + @test MTK.isinput(adder.a) + @test MTK.isinput(adder.b) + @test MTK.isoutput(adder.out) + @test MTK.isoutput(adder.out2) + @test !MTK.isinput(adder.c) && !MTK.isoutput(adder.c) + + sys, prob = build_simple_adder(adder) + sol = solve(prob, Rodas5P(autodiff = false), abstol = 1e-8, reltol = 1e-8) @test SciMLBase.successful_retcode(sol) + + @test truesol(sol.t; + idxs = [truesys.a, truesys.b, truesys.c, truesys.adder.c]).u≈sol[[ + sys.a, sys.b, sys.c, sys.adder.c]] rtol=1e-7 end @testset "v2, CS" begin fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :CS) @named adder = MTK.FMIComponent( - Val(2); fmu, type = :CS, communication_step_size = 0.001) + Val(2); fmu, type = :CS, communication_step_size = 1e-3, + reinitializealg = BrownFullBasicInit()) @test MTK.isinput(adder.a) @test MTK.isinput(adder.b) @test MTK.isoutput(adder.out) + @test MTK.isoutput(adder.out2) @test !MTK.isinput(adder.c) && !MTK.isoutput(adder.c) - @variables a(t) b(t) c(t) [guess = 1.0] - @mtkbuild sys = ODESystem( - [adder.a ~ a, adder.b ~ b, D(a) ~ t, - D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], - t; - systems = [adder]) - # c will be solved for by initialization - # this tests that initialization also works with FMUs - prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], - (0.0, 1.0); use_scc = false) - sol = solve(prob, Rodas5P(autodiff = false)) + sys, prob = build_simple_adder(adder) + sol = solve(prob, Rodas5P(autodiff = false), abstol = 1e-8, reltol = 1e-8) @test SciMLBase.successful_retcode(sol) + + @test truesol(sol.t; idxs = [truesys.a, truesys.b, truesys.c]).u≈sol.u rtol=1e-2 + # sys.adder.c is a discrete variable + @test truesol(sol.t; idxs = truesys.adder.c)≈sol(sol.t; idxs = sys.adder.c) rtol=1e-3 end + function build_sspace_model(sspace) + @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + sspace.x], t; + systems = [sspace] + ) + + prob = ODEProblem( + sys, [sys.sspace.x => 1.0], (0.0, 1.0), [sys.sspace.A => 2.0]; use_scc = false) + return sys, prob + end + + @named sspace = StateSpace() + truesys, trueprob = build_sspace_model(sspace) + truesol = solve(trueprob, abstol = 1e-8, reltol = 1e-8) + @test SciMLBase.successful_retcode(truesol) + @testset "v3, ME" begin fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :ME) @named sspace = MTK.FMIComponent(Val(3); fmu, type = :ME) @test MTK.isinput(sspace.u) @test MTK.isoutput(sspace.y) @test !MTK.isinput(sspace.x) && !MTK.isoutput(sspace.x) - @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] - @mtkbuild sys = ODESystem( - [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; - systems = [sspace] - ) - prob = ODEProblem(sys, [sys.sspace.x => 1.0], (0.0, 1.0); use_scc = false) - sol = solve(prob, Rodas5P(autodiff = false)) + sys, prob = build_sspace_model(sspace) + sol = solve(prob, Rodas5P(autodiff = false); abstol = 1e-8, reltol = 1e-8) @test SciMLBase.successful_retcode(sol) + + @test truesol(sol.t; + idxs = [truesys.u, truesys.x, truesys.y, truesys.sspace.x]).u≈sol[[ + sys.u, sys.x, sys.y, sys.sspace.x]] rtol=1e-7 end @testset "v3, CS" begin fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :CS) @named sspace = MTK.FMIComponent( - Val(3); fmu, communication_step_size = 1e-3, type = :CS) + Val(3); fmu, communication_step_size = 1e-4, type = :CS, + reinitializealg = BrownFullBasicInit()) @test MTK.isinput(sspace.u) @test MTK.isoutput(sspace.y) @test !MTK.isinput(sspace.x) && !MTK.isoutput(sspace.x) - @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] + + sys, prob = build_sspace_model(sspace) + sol = solve(prob, Rodas5P(autodiff = false); abstol = 1e-8, reltol = 1e-8) + @test SciMLBase.successful_retcode(sol) + + @test truesol( + sol.t; idxs = [truesys.u, truesys.x, truesys.y]).u≈sol[[sys.u, sys.x, sys.y]] rtol=1e-2 + @test truesol(sol.t; idxs = truesys.sspace.x).u≈sol(sol.t; idxs = sys.sspace.x).u rtol=1e-2 + end +end + +@testset "FMUs in a loop" begin + function build_looped_adders(adder1, adder2) + @variables x(t) = 1 @mtkbuild sys = ODESystem( - [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; - systems = [sspace] - ) + [D(x) ~ x, adder1.a ~ adder2.out2, + adder2.a ~ adder1.out2, adder1.b ~ 1.0, adder2.b ~ 2.0], + t; + systems = [adder1, adder2]) + prob = ODEProblem( + sys, [adder1.c => 1.0, adder2.c => 1.0, adder1.a => 2.0], (0.0, 1.0)) + return sys, prob + end + @named adder1 = SimpleAdder() + @named adder2 = SimpleAdder() + truesys, trueprob = build_looped_adders(adder1, adder2) + truesol = solve(trueprob, Tsit5(), reltol = 1e-8) + @test SciMLBase.successful_retcode(truesol) + + @testset "v2, ME" begin + fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :ME) + @named adder1 = MTK.FMIComponent(Val(2); fmu, type = :ME) + @named adder2 = MTK.FMIComponent(Val(2); fmu, type = :ME) + sys, prob = build_looped_adders(adder1, adder2) + sol = solve(prob, Rodas5P(autodiff = false); reltol = 1e-8) + @test SciMLBase.successful_retcode(sol) + @test truesol(sol.t; + idxs = [truesys.adder1.c, truesys.adder2.c]).u≈sol( + sol.t; idxs = [sys.adder1.c, sys.adder2.c]).u rtol=1e-7 + end + @testset "v2, CS" begin + fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :CS) + @named adder1 = MTK.FMIComponent( + Val(2); fmu, type = :CS, communication_step_size = 1e-3) + @named adder2 = MTK.FMIComponent( + Val(2); fmu, type = :CS, communication_step_size = 1e-3) + sys, prob = build_looped_adders(adder1, adder2) + sol = solve(prob, Tsit5(); reltol = 1e-8) + @test truesol(sol.t; + idxs = [truesys.adder1.c, truesys.adder2.c]).u≈sol( + sol.t; idxs = [sys.adder1.c, sys.adder2.c]).u rtol=1e-3 + end + + function build_looped_sspace(sspace1, sspace2) + @variables x(t) = 1 + @mtkbuild sys = ODESystem([D(x) ~ x, sspace1.u ~ sspace2.x, sspace2.u ~ sspace1.y], + t; systems = [sspace1, sspace2]) + prob = ODEProblem(sys, [sspace1.x => 1.0, sspace2.x => 1.0], (0.0, 1.0)) + return sys, prob + end + @named sspace1 = StateSpace() + @named sspace2 = StateSpace() + truesys, trueprob = build_looped_sspace(sspace1, sspace2) + truesol = solve(trueprob, Rodas5P(), reltol = 1e-8) + @test SciMLBase.successful_retcode(truesol) + + @testset "v3, ME" begin + fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :ME) + @named sspace1 = MTK.FMIComponent(Val(3); fmu, type = :ME) + @named sspace2 = MTK.FMIComponent(Val(3); fmu, type = :ME) + sys, prob = build_looped_sspace(sspace1, sspace2) + sol = solve(prob, Rodas5P(autodiff = false); reltol = 1e-8) + @test SciMLBase.successful_retcode(sol) + @test truesol(sol.t; + idxs = [truesys.sspace1.x, truesys.sspace2.x]).u≈sol( + sol.t; idxs = [sys.sspace1.x, sys.sspace2.x]).u rtol=1e-7 + end - prob = ODEProblem(sys, [sys.sspace.x => 1.0], (0.0, 1.0); use_scc = false) - sol = solve(prob, Rodas5P(autodiff = false)) + @testset "v3, CS" begin + fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :CS) + @named sspace1 = MTK.FMIComponent( + Val(3); fmu, type = :CS, communication_step_size = 1e-4) + @named sspace2 = MTK.FMIComponent( + Val(3); fmu, type = :CS, communication_step_size = 1e-4) + sys, prob = build_looped_sspace(sspace1, sspace2) + sol = solve(prob, Rodas5P(autodiff = false); reltol = 1e-8) @test SciMLBase.successful_retcode(sol) + @test truesol(sol.t; + idxs = [truesys.sspace1.x, truesys.sspace2.x]).u≈sol( + sol.t; idxs = [sys.sspace1.x, sys.sspace2.x]).u rtol=1e-2 end end From 7be3be8858de988bb99992936d448a886188d9ca Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 8 Jan 2025 16:29:37 +0530 Subject: [PATCH 36/42] test: add instructions for reproducibly building `SimpleAdder.fmu` --- test/extensions/fmus/SimpleAdder/README.md | 3 +++ test/extensions/fmus/SimpleAdder/SimpleAdder.mo | 12 ++++++++++++ test/extensions/fmus/SimpleAdder/buildFmu.mos | 12 ++++++++++++ 3 files changed, 27 insertions(+) create mode 100644 test/extensions/fmus/SimpleAdder/README.md create mode 100644 test/extensions/fmus/SimpleAdder/SimpleAdder.mo create mode 100644 test/extensions/fmus/SimpleAdder/buildFmu.mos diff --git a/test/extensions/fmus/SimpleAdder/README.md b/test/extensions/fmus/SimpleAdder/README.md new file mode 100644 index 0000000000..b26c247bce --- /dev/null +++ b/test/extensions/fmus/SimpleAdder/README.md @@ -0,0 +1,3 @@ +SimpleAdder.fmu is a v2 FMU built using OpenModelica. The file `SimpleAdder.mo` contains the +modelica source code for the model. The file `buildFMU.mos` is the OpenModelica script used +to build the FMU. diff --git a/test/extensions/fmus/SimpleAdder/SimpleAdder.mo b/test/extensions/fmus/SimpleAdder/SimpleAdder.mo new file mode 100644 index 0000000000..ce97f09a86 --- /dev/null +++ b/test/extensions/fmus/SimpleAdder/SimpleAdder.mo @@ -0,0 +1,12 @@ +block SimpleAdder + parameter Real value = 1.0; + input Real a; + input Real b; + Real c(start = 1.0, fixed = true); + output Real out; + output Real out2; +equation + der(c) = out; + out = a + b + value; + out2 = 2 * c; +end SimpleAdder; diff --git a/test/extensions/fmus/SimpleAdder/buildFmu.mos b/test/extensions/fmus/SimpleAdder/buildFmu.mos new file mode 100644 index 0000000000..df2c9bd58e --- /dev/null +++ b/test/extensions/fmus/SimpleAdder/buildFmu.mos @@ -0,0 +1,12 @@ +OpenModelica.Scripting.loadFile("SimpleAdder.mo"); getErrorString(); + +installPackage(Modelica); + +setCommandLineOptions("-d=newInst"); getErrorString(); +setCommandLineOptions("-d=initialization"); getErrorString(); +setCommandLineOptions("-d=-disableDirectionalDerivatives"); getErrorString(); + +cd("output"); getErrorString(); +buildModelFMU(SimpleAdder, version = "2.0", fmuType = "me_cs"); getErrorString(); +system("unzip -l SimpleAdder.fmu | egrep -v 'sources|files' | tail -n+3 | grep -o '[A-Za-z._0-9/]*$' > BB.log") + From 0fbae810a08c93ba16dbb2abb63a343ccfff6204 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Wed, 8 Jan 2025 16:37:49 +0530 Subject: [PATCH 37/42] test: add instructions for reproducibly building StateSpace.fmu --- .../fmus/StateSpace/0001-tmp-commit.patch | 425 ++++++++++++++++++ test/extensions/fmus/StateSpace/README.md | 7 + 2 files changed, 432 insertions(+) create mode 100644 test/extensions/fmus/StateSpace/0001-tmp-commit.patch create mode 100644 test/extensions/fmus/StateSpace/README.md diff --git a/test/extensions/fmus/StateSpace/0001-tmp-commit.patch b/test/extensions/fmus/StateSpace/0001-tmp-commit.patch new file mode 100644 index 0000000000..951af2d4fd --- /dev/null +++ b/test/extensions/fmus/StateSpace/0001-tmp-commit.patch @@ -0,0 +1,425 @@ +From 10ac73996a7c09772ff31ccd6e030112d3bb5c43 Mon Sep 17 00:00:00 2001 +From: Aayush Sabharwal +Date: Wed, 8 Jan 2025 11:04:01 +0000 +Subject: tmp commit + +--- + StateSpace/FMI3.xml | 31 ++---- + StateSpace/config.h | 18 ++-- + StateSpace/model.c | 230 +++++++++++++------------------------------- + 3 files changed, 83 insertions(+), 196 deletions(-) + +diff --git a/StateSpace/FMI3.xml b/StateSpace/FMI3.xml +index 8d2e4d9..002fbab 100644 +--- a/StateSpace/FMI3.xml ++++ b/StateSpace/FMI3.xml +@@ -33,36 +33,23 @@ + + + +- +- +- ++ + +- +- +- ++ + +- +- +- ++ + +- +- +- ++ + +- +- ++ + +- +- ++ + +- +- ++ + +- +- ++ + +- +- ++ + + + +diff --git a/StateSpace/config.h b/StateSpace/config.h +index 707e500..8b422e2 100644 +--- a/StateSpace/config.h ++++ b/StateSpace/config.h +@@ -44,15 +44,15 @@ typedef struct { + uint64_t m; + uint64_t n; + uint64_t r; +- double A[M_MAX][N_MAX]; +- double B[M_MAX][N_MAX]; +- double C[M_MAX][N_MAX]; +- double D[M_MAX][N_MAX]; +- double x0[N_MAX]; +- double u[N_MAX]; +- double y[N_MAX]; +- double x[N_MAX]; +- double der_x[N_MAX]; ++ double A; ++ double B; ++ double C; ++ double D; ++ double x0; ++ double u; ++ double y; ++ double x; ++ double der_x; + } ModelData; + + #endif /* config_h */ +diff --git a/StateSpace/model.c b/StateSpace/model.c +index 8a47e74..9c170d8 100644 +--- a/StateSpace/model.c ++++ b/StateSpace/model.c +@@ -3,77 +3,29 @@ + + + void setStartValues(ModelInstance *comp) { +- +- M(m) = 3; +- M(n) = 3; +- M(r) = 3; +- + // identity matrix +- for (int i = 0; i < M_MAX; i++) +- for (int j = 0; j < N_MAX; j++) { +- M(A)[i][j] = i == j ? 1 : 0; +- M(B)[i][j] = i == j ? 1 : 0; +- M(C)[i][j] = i == j ? 1 : 0; +- M(D)[i][j] = i == j ? 1 : 0; +- } +- +- for (int i = 0; i < M_MAX; i++) { +- M(u)[i] = i + 1; +- } +- +- for (int i = 0; i < N_MAX; i++) { +- M(y)[i] = 0; +- } +- +- for (int i = 0; i < N_MAX; i++) { +- M(x)[i] = M(x0)[i]; +- M(x)[i] = 0; +- } +- ++ M(m) = 1; ++ M(n) = 1; ++ M(r) = 1; ++ ++ M(A) = 1; ++ M(B) = 1; ++ M(C) = 1; ++ M(D) = 1; ++ ++ M(u) = 1; ++ M(y) = 0; ++ M(x) = 0; ++ M(x0) = 0; + } + + Status calculateValues(ModelInstance *comp) { +- +- // der(x) = Ax + Bu +- for (size_t i = 0; i < M(n); i++) { +- +- M(der_x)[i] = 0; +- +- for (size_t j = 0; j < M(n); j++) { +- M(der_x)[i] += M(A)[i][j] * M(x)[j]; +- } +- } +- +- for (size_t i = 0; i < M(n); i++) { +- +- for (size_t j = 0; j < M(r); j++) { +- M(der_x)[i] += M(B)[i][j] * M(u)[j]; +- } +- } +- +- +- // y = Cx + Du +- for (size_t i = 0; i < M(r); i++) { +- +- M(y)[i] = 0; +- +- for (size_t j = 0; j < M(n); j++) { +- M(y)[i] += M(C)[i][j] * M(x)[j]; +- } +- } +- +- for (size_t i = 0; i < M(r); i++) { +- +- for (size_t j = 0; j < M(m); j++) { +- M(y)[i] += M(D)[i][j] * M(u)[j]; +- } +- } +- ++ M(der_x) = M(A) * M(x) + M(B) * M(u); ++ M(y) = M(C) * M(x) + M(D) * M(u); + return OK; + } + + Status getFloat64(ModelInstance* comp, ValueReference vr, double values[], size_t nValues, size_t* index) { +- + calculateValues(comp); + + switch (vr) { +@@ -82,66 +34,40 @@ Status getFloat64(ModelInstance* comp, ValueReference vr, double values[], size_ + values[(*index)++] = comp->time; + return OK; + case vr_A: +- ASSERT_NVALUES((size_t)(M(n) * M(n))); +- for (size_t i = 0; i < M(n); i++) { +- for (size_t j = 0; j < M(n); j++) { +- values[(*index)++] = M(A)[i][j]; +- } +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(A); + return OK; + case vr_B: +- ASSERT_NVALUES((size_t)(M(m) * M(n))); +- for (size_t i = 0; i < M(m); i++) { +- for (size_t j = 0; j < M(n); j++) { +- values[(*index)++] = M(B)[i][j]; +- } +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(B); + return OK; + case vr_C: +- ASSERT_NVALUES((size_t)(M(r) * M(n))); +- for (size_t i = 0; i < M(r); i++) { +- for (size_t j = 0; j < M(n); j++) { +- values[(*index)++] = M(C)[i][j]; +- } +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(C); + return OK; + case vr_D: +- ASSERT_NVALUES((size_t)(M(r) * M(m))); +- for (size_t i = 0; i < M(r); i++) { +- for (size_t j = 0; j < M(m); j++) { +- values[(*index)++] = M(D)[i][j]; +- } +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(D); + return OK; + case vr_x0: +- ASSERT_NVALUES((size_t)M(n)); +- for (size_t i = 0; i < M(n); i++) { +- values[(*index)++] = M(x0)[i]; +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(x0); + return OK; + case vr_u: +- ASSERT_NVALUES((size_t)M(m)); +- for (size_t i = 0; i < M(m); i++) { +- values[(*index)++] = M(u)[i]; +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(u); + return OK; + case vr_y: +- ASSERT_NVALUES((size_t)M(r)); +- for (size_t i = 0; i < M(r); i++) { +- values[(*index)++] = M(y)[i]; +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(y); + return OK; + case vr_x: +- ASSERT_NVALUES((size_t)M(n)); +- for (size_t i = 0; i < M(n); i++) { +- values[(*index)++] = M(x)[i]; +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(x); + return OK; + case vr_der_x: +- ASSERT_NVALUES((size_t)M(n)); +- for (size_t i = 0; i < M(n); i++) { +- values[(*index)++] = M(der_x)[i]; +- } ++ ASSERT_NVALUES(1); ++ values[(*index)++] = M(der_x); + return OK; + default: + logError(comp, "Get Float64 is not allowed for value reference %u.", vr); +@@ -153,58 +79,40 @@ Status setFloat64(ModelInstance* comp, ValueReference vr, const double values[], + + switch (vr) { + case vr_A: +- ASSERT_NVALUES((size_t)(M(n) * M(n))); +- for (size_t i = 0; i < M(n); i++) { +- for (size_t j = 0; j < M(n); j++) { +- M(A)[i][j] = values[(*index)++]; +- } +- } ++ ASSERT_NVALUES(1); ++ M(A) = values[(*index)++]; + break; + case vr_B: +- ASSERT_NVALUES((size_t)(M(n) * M(m))); +- for (size_t i = 0; i < M(n); i++) { +- for (size_t j = 0; j < M(m); j++) { +- M(B)[i][j] = values[(*index)++]; +- } +- } ++ ASSERT_NVALUES(1); ++ M(B) = values[(*index)++]; + break; + case vr_C: +- ASSERT_NVALUES((size_t)(M(r) * M(n))); +- for (size_t i = 0; i < M(r); i++) { +- for (size_t j = 0; j < M(n); j++) { +- M(C)[i][j] = values[(*index)++]; +- } +- } ++ ASSERT_NVALUES(1); ++ M(C) = values[(*index)++]; + break; + case vr_D: +- ASSERT_NVALUES((size_t)(M(r) * M(m))); +- for (size_t i = 0; i < M(r); i++) { +- for (size_t j = 0; j < M(m); j++) { +- M(D)[i][j] = values[(*index)++]; +- } +- } ++ ASSERT_NVALUES(1); ++ M(D) = values[(*index)++]; + break; + case vr_x0: +- ASSERT_NVALUES((size_t)M(n)); +- for (size_t i = 0; i < M(n); i++) { +- M(x0)[i] = values[(*index)++]; +- } ++ ASSERT_NVALUES(1); ++ M(x0) = values[(*index)++]; + break; + case vr_u: +- ASSERT_NVALUES((size_t)M(m)); +- for (size_t i = 0; i < M(m); i++) { +- M(u)[i] = values[(*index)++]; +- } ++ ASSERT_NVALUES(1); ++ M(u) = values[(*index)++]; ++ break; ++ case vr_y: ++ ASSERT_NVALUES(1); ++ M(y) = values[(*index)++]; + break; + case vr_x: +- if (comp->state != ContinuousTimeMode && comp->state != EventMode) { +- logError(comp, "Variable \"x\" can only be set in Continuous Time Mode and Event Mode."); +- return Error; +- } +- ASSERT_NVALUES((size_t)M(n)); +- for (size_t i = 0; i < M(n); i++) { +- M(x)[i] = values[(*index)++]; +- } ++ ASSERT_NVALUES(1); ++ M(x) = values[(*index)++]; ++ break; ++ case vr_der_x: ++ ASSERT_NVALUES(1); ++ M(der_x) = values[(*index)++]; + break; + default: + logError(comp, "Set Float64 is not allowed for value reference %u.", vr); +@@ -217,8 +125,6 @@ Status setFloat64(ModelInstance* comp, ValueReference vr, const double values[], + } + + Status getUInt64(ModelInstance* comp, ValueReference vr, uint64_t values[], size_t nValues, size_t* index) { +- +- + switch (vr) { + case vr_m: + ASSERT_NVALUES(1); +@@ -289,49 +195,43 @@ Status eventUpdate(ModelInstance *comp) { + } + + size_t getNumberOfContinuousStates(ModelInstance* comp) { +- return (size_t)M(n); ++ return M(n) == 1 ? M(n) : 1; + } + + Status getContinuousStates(ModelInstance* comp, double x[], size_t nx) { + +- if (nx != M(n)) { +- logError(comp, "Expected nx=%zu but was %zu.", M(n), nx); ++ if (nx != 1) { ++ logError(comp, "Expected nx=%zu but was %zu.", 1, nx); + return Error; + } + +- for (size_t i = 0; i < M(n); i++) { +- x[i] = M(x)[i]; +- } ++ x[0] = M(x); + + return OK; + } + + Status setContinuousStates(ModelInstance* comp, const double x[], size_t nx) { + +- if (nx != M(n)) { +- logError(comp, "Expected nx=%zu but was %zu.", M(n), nx); ++ if (nx != 1) { ++ logError(comp, "Expected nx=%zu but was %zu.", 1, nx); + return Error; + } + +- for (size_t i = 0; i < M(n); i++) { +- M(x)[i] = x[i]; +- } ++ M(x) = x[0]; + + return OK; + } + + Status getDerivatives(ModelInstance* comp, double dx[], size_t nx) { + +- if (nx != M(n)) { +- logError(comp, "Expected nx=%zu but was %zu.", M(n), nx); ++ if (nx != 1) { ++ logError(comp, "Expected nx=%zu but was %zu.", 1, nx); + return Error; + } + + calculateValues(comp); + +- for (size_t i = 0; i < M(n); i++) { +- dx[i] = M(der_x)[i]; +- } ++ dx[0] = M(der_x); + + return OK; + } +-- +2.34.1 + diff --git a/test/extensions/fmus/StateSpace/README.md b/test/extensions/fmus/StateSpace/README.md new file mode 100644 index 0000000000..108147443d --- /dev/null +++ b/test/extensions/fmus/StateSpace/README.md @@ -0,0 +1,7 @@ +StateSpace.fmu is a v3 FMU built using a modified version of the StateSpace FMU in Modelica's +Reference-FMUs. The link to the specific commit hash used is + +[https://github.com/modelica/Reference-FMUs/tree/0e1374cad0a7f0583a583ce189060ba7a67c27a7]() + +The git patch containing the changes is provided as `0001-tmp-commit.patch`. The FMU can be +built using the instructions provided in the repository's README. From e903d720c1f2a3573563a44748d75d088eb98d69 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 16 Jan 2025 19:56:15 +0530 Subject: [PATCH 38/42] build: bump SymbolicUtils compat --- Project.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Project.toml b/Project.toml index 13684a6a52..e8a8fea71a 100644 --- a/Project.toml +++ b/Project.toml @@ -146,7 +146,7 @@ StaticArrays = "0.10, 0.11, 0.12, 1.0" StochasticDiffEq = "6.72.1" StochasticDelayDiffEq = "1.8.1" SymbolicIndexingInterface = "0.3.37" -SymbolicUtils = "3.10" +SymbolicUtils = "3.10.1" Symbolics = "6.23" URIs = "1" UnPack = "0.1, 1.0" From 4e7e38025c54985e181ba609ae7db0894bda598b Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 20 Jan 2025 15:56:15 +0530 Subject: [PATCH 39/42] fix: fix type promotion in `InitializationProblem` --- src/systems/diffeqs/abstractodesystem.jl | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/systems/diffeqs/abstractodesystem.jl b/src/systems/diffeqs/abstractodesystem.jl index 921825dac8..6571aed9cc 100644 --- a/src/systems/diffeqs/abstractodesystem.jl +++ b/src/systems/diffeqs/abstractodesystem.jl @@ -1391,16 +1391,16 @@ function InitializationProblem{iip, specialize}(sys::AbstractSystem, fullmap = merge(u0map, parammap) u0T = Union{} for sym in unknowns(isys) - haskey(fullmap, sym) || continue - symbolic_type(fullmap[sym]) == NotSymbolic() || continue - is_array_of_symbolics(fullmap[sym]) && continue - u0T = promote_type(u0T, typeof(fullmap[sym])) + val = fixpoint_sub(sym, fullmap) + symbolic_type(val) == NotSymbolic() || continue + u0T = promote_type(u0T, typeof(val)) end for eq in observed(isys) - haskey(fullmap, eq.lhs) || continue - symbolic_type(fullmap[eq.lhs]) == NotSymbolic() || continue - is_array_of_symbolics(fullmap[eq.lhs]) && continue - u0T = promote_type(u0T, typeof(fullmap[eq.lhs])) + # ignore HACK-ed observed equations + symbolic_type(eq.lhs) == ArraySymbolic() && continue + val = fixpoint_sub(eq.lhs, fullmap) + symbolic_type(val) == NotSymbolic() || continue + u0T = promote_type(u0T, typeof(val)) end if u0T != Union{} u0T = eltype(u0T) From c43d22abacc41746d1dc866e1479380ef848957c Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Mon, 20 Jan 2025 15:56:26 +0530 Subject: [PATCH 40/42] test: fix CSE hack test --- test/structural_transformation/utils.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/structural_transformation/utils.jl b/test/structural_transformation/utils.jl index 863e091aad..621aa8b8a8 100644 --- a/test/structural_transformation/utils.jl +++ b/test/structural_transformation/utils.jl @@ -92,7 +92,7 @@ end @mtkbuild sys = ODESystem( [D(y) ~ foo(x), D(x) ~ sum(y), zeros(2) ~ foo(prod(z))], t) @test length(equations(sys)) == 5 - @test length(observed(sys)) == 2 + @test length(observed(sys)) == 4 prob = ODEProblem( sys, [y => ones(2), z => 2ones(2), x => 3.0], (0.0, 1.0), [foo => _tmp_fn2]) @test_nowarn prob.f(prob.u0, prob.p, 0.0) From ba5221ccc63c707e428380a2de1835a9621b258e Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 21 Jan 2025 15:03:09 +0530 Subject: [PATCH 41/42] build: bump Symbolics compat --- Project.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Project.toml b/Project.toml index e8a8fea71a..5ea34a3e40 100644 --- a/Project.toml +++ b/Project.toml @@ -147,7 +147,7 @@ StochasticDiffEq = "6.72.1" StochasticDelayDiffEq = "1.8.1" SymbolicIndexingInterface = "0.3.37" SymbolicUtils = "3.10.1" -Symbolics = "6.23" +Symbolics = "6.24" URIs = "1" UnPack = "0.1, 1.0" Unitful = "1.1" From a8591a4bcc1edcdfdd48c0b3cd9807b05611a0e7 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 21 Jan 2025 17:17:20 +0530 Subject: [PATCH 42/42] test: move FMI tests to separate environment --- .github/workflows/Tests.yml | 1 + test/extensions/Project.toml | 2 -- test/fmi/Project.toml | 8 ++++++++ test/{extensions => fmi}/fmi.jl | 0 test/{extensions => fmi}/fmus/SimpleAdder.fmu | Bin test/{extensions => fmi}/fmus/SimpleAdder/README.md | 0 .../fmus/SimpleAdder/SimpleAdder.mo | 0 .../fmus/SimpleAdder/buildFmu.mos | 0 test/{extensions => fmi}/fmus/StateSpace.fmu | Bin .../fmus/StateSpace/0001-tmp-commit.patch | 0 test/{extensions => fmi}/fmus/StateSpace/README.md | 0 test/runtests.jl | 12 +++++++++++- 12 files changed, 20 insertions(+), 3 deletions(-) create mode 100644 test/fmi/Project.toml rename test/{extensions => fmi}/fmi.jl (100%) rename test/{extensions => fmi}/fmus/SimpleAdder.fmu (100%) rename test/{extensions => fmi}/fmus/SimpleAdder/README.md (100%) rename test/{extensions => fmi}/fmus/SimpleAdder/SimpleAdder.mo (100%) rename test/{extensions => fmi}/fmus/SimpleAdder/buildFmu.mos (100%) rename test/{extensions => fmi}/fmus/StateSpace.fmu (100%) rename test/{extensions => fmi}/fmus/StateSpace/0001-tmp-commit.patch (100%) rename test/{extensions => fmi}/fmus/StateSpace/README.md (100%) diff --git a/.github/workflows/Tests.yml b/.github/workflows/Tests.yml index a95f19a085..52c5482970 100644 --- a/.github/workflows/Tests.yml +++ b/.github/workflows/Tests.yml @@ -38,6 +38,7 @@ jobs: - Extensions - Downstream - RegressionI + - FMI uses: "SciML/.github/.github/workflows/tests.yml@v1" with: julia-version: "${{ matrix.version }}" diff --git a/test/extensions/Project.toml b/test/extensions/Project.toml index 72501554b5..5f7afe222a 100644 --- a/test/extensions/Project.toml +++ b/test/extensions/Project.toml @@ -2,8 +2,6 @@ BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" ChainRulesTestUtils = "cdddcdb0-9152-4a09-a978-84456f9df70a" -FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac" -FMIZoo = "724179cf-c260-40a9-bd27-cccc6fe2f195" ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" HomotopyContinuation = "f213a82b-91d6-5c5d-acf7-10f1c761b327" InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57" diff --git a/test/fmi/Project.toml b/test/fmi/Project.toml new file mode 100644 index 0000000000..59bd3c90da --- /dev/null +++ b/test/fmi/Project.toml @@ -0,0 +1,8 @@ +[deps] +FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac" +FMIZoo = "724179cf-c260-40a9-bd27-cccc6fe2f195" +ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78" +OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed" + +[compat] +FMI = "0.14" diff --git a/test/extensions/fmi.jl b/test/fmi/fmi.jl similarity index 100% rename from test/extensions/fmi.jl rename to test/fmi/fmi.jl diff --git a/test/extensions/fmus/SimpleAdder.fmu b/test/fmi/fmus/SimpleAdder.fmu similarity index 100% rename from test/extensions/fmus/SimpleAdder.fmu rename to test/fmi/fmus/SimpleAdder.fmu diff --git a/test/extensions/fmus/SimpleAdder/README.md b/test/fmi/fmus/SimpleAdder/README.md similarity index 100% rename from test/extensions/fmus/SimpleAdder/README.md rename to test/fmi/fmus/SimpleAdder/README.md diff --git a/test/extensions/fmus/SimpleAdder/SimpleAdder.mo b/test/fmi/fmus/SimpleAdder/SimpleAdder.mo similarity index 100% rename from test/extensions/fmus/SimpleAdder/SimpleAdder.mo rename to test/fmi/fmus/SimpleAdder/SimpleAdder.mo diff --git a/test/extensions/fmus/SimpleAdder/buildFmu.mos b/test/fmi/fmus/SimpleAdder/buildFmu.mos similarity index 100% rename from test/extensions/fmus/SimpleAdder/buildFmu.mos rename to test/fmi/fmus/SimpleAdder/buildFmu.mos diff --git a/test/extensions/fmus/StateSpace.fmu b/test/fmi/fmus/StateSpace.fmu similarity index 100% rename from test/extensions/fmus/StateSpace.fmu rename to test/fmi/fmus/StateSpace.fmu diff --git a/test/extensions/fmus/StateSpace/0001-tmp-commit.patch b/test/fmi/fmus/StateSpace/0001-tmp-commit.patch similarity index 100% rename from test/extensions/fmus/StateSpace/0001-tmp-commit.patch rename to test/fmi/fmus/StateSpace/0001-tmp-commit.patch diff --git a/test/extensions/fmus/StateSpace/README.md b/test/fmi/fmus/StateSpace/README.md similarity index 100% rename from test/extensions/fmus/StateSpace/README.md rename to test/fmi/fmus/StateSpace/README.md diff --git a/test/runtests.jl b/test/runtests.jl index bfb9e0b6f9..52875fdae5 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -4,6 +4,12 @@ import REPL const GROUP = get(ENV, "GROUP", "All") +function activate_fmi_env() + Pkg.activate("fmi") + Pkg.develop(PackageSpec(path = dirname(@__DIR__))) + Pkg.instantiate() +end + function activate_extensions_env() Pkg.activate("extensions") Pkg.develop(PackageSpec(path = dirname(@__DIR__))) @@ -115,9 +121,13 @@ end @safetestset "Analysis Points Test" include("downstream/analysis_points.jl") end + if GROUP == "All" || GROUP == "FMI" + activate_fmi_env() + @safetestset "FMI Extension Test" include("fmi/fmi.jl") + end + if GROUP == "All" || GROUP == "Extensions" activate_extensions_env() - @safetestset "FMI Extension Test" include("extensions/fmi.jl") @safetestset "HomotopyContinuation Extension Test" include("extensions/homotopy_continuation.jl") @safetestset "Auto Differentiation Test" include("extensions/ad.jl") @safetestset "LabelledArrays Test" include("labelledarrays.jl")

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zyIM91d_UliE-~mf8V71CgfWBdjdRN#z%l(nC61aCD=X0$erts=hW|lu_~I}VI4pUH z?my3K|A7C!6~dU|_)0r~Z?$t6#sQ5i%aRNtppLBmJywlL;Mq)JkM z2&(>bAPk}U4TT08$Ny>wjKKq2h%Q|Kz-y)G;gb>r0{R&s#*yMj>?YJFloiiW*a zoBsnF0D(W~k9Kbj0ya+t_1!9ek22bPZALvlL^)rY*s8^%%b|?6g z^Is+D&Qfg+2sWiU2X35idDX_HJzk`@yF0?u3*(`@So{jXBFJNJfU!|W!%zPP?f&ap z@c+vsTkX>3;wj#5FCN?-;f48Owe-MOYjHnhAP}-h9JCw2);j|`xOxk19@_pkzQyXc zA+7YhNe!^P7|<5#nR-1x;r|Trn=Ct0V*K03LezON;XBQ4lX_5+53TfsLwEz$YMhF52<$c=KcSbP8<8TBFI{Cn+T2satUF2 z4fK*u{u@xPLKMLdHSOj7hN=JC3m!nsf`Mrx7L!ubAOp`dfG-Ww_tuLOz(2vdd6l-; z{X56T1K(IaAK3Zhmc9!B1=$acgjxAtB>%51xuq?@2PB#P3(0@a-D9CGuDna{ssSb& zP!Z~Z%1M=-1@QzC+0!0)Ev80)q`z-T62vZMTJ$WarMff4ueRb}ad*4Ozp1g-+W};N z0vWcl$)?3ew00&C5QO<5u#g}de>D^kbb%i#!B6eK5D2*epT$^3e5p;1J^=i|9|V0m ze<2WdL1K~2&mT+5-T>ctlK`p&H+26(AhK~;7h?(3_k1WIOqAvg|oam1V;2#;XA7pO?=4;9Us z?@S;l07ZIYPB32a_5>0T%z+=O1mu=~ArJ&l3jK><=cKkp0JuO%9o&`RA6aud7BR{` z4G01TzQ%$s0iV@hBoG2OA^#=8HUalQrjt3)|9j9KZAk$B7f7(zZZ`sqC5V-7E{X<- zQ-AE_3j4nh2!jI=%q3Xn{#1_x2yFjw(?o~e2r!lau5pre7!X*1nFgwg<{bY*AmV~e zsL-bEcts9Yf9ekv(K`QyKomSjg1L(J1)l$!4vabsey9>$aQO>?7z=M?OdJ93prr9(YIA#^*_Pd{^5xa(T;_`~F-& z(-${BbOM|n{Mpb*ZcxwAAIL~=TTF4INfX9IK$Ll&jtkj(Gu{U7LeSN{ME~oHH&^WK zx#=7jEEn~=EZfUn2%^s2hW-63ExV~<=h|Rv# Date: Tue, 24 Dec 2024 20:26:00 +0530 Subject: [PATCH 11/42] feat: allow `ImperativeAffect` to accept callable structs --- src/systems/imperative_affect.jl | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/systems/imperative_affect.jl b/src/systems/imperative_affect.jl index 2f489913ad..7580580add 100644 --- a/src/systems/imperative_affect.jl +++ b/src/systems/imperative_affect.jl @@ -38,7 +38,7 @@ in the returned tuple, in which case the associated field will not be updated. skip_checks::Bool end -function ImperativeAffect(f::Function; +function ImperativeAffect(f; observed::NamedTuple = NamedTuple{()}(()), modified::NamedTuple = NamedTuple{()}(()), ctx = nothing, @@ -48,18 +48,18 @@ function ImperativeAffect(f::Function; collect(values(modified)), collect(keys(modified)), ctx, skip_checks) end -function ImperativeAffect(f::Function, modified::NamedTuple; +function ImperativeAffect(f, modified::NamedTuple; observed::NamedTuple = NamedTuple{()}(()), ctx = nothing, skip_checks = false) ImperativeAffect( f, observed = observed, modified = modified, ctx = ctx, skip_checks = skip_checks) end function ImperativeAffect( - f::Function, modified::NamedTuple, observed::NamedTuple; ctx = nothing, skip_checks = false) + f, modified::NamedTuple, observed::NamedTuple; ctx = nothing, skip_checks = false) ImperativeAffect( f, observed = observed, modified = modified, ctx = ctx, skip_checks = skip_checks) end function ImperativeAffect( - f::Function, modified::NamedTuple, observed::NamedTuple, ctx; skip_checks = false) + f, modified::NamedTuple, observed::NamedTuple, ctx; skip_checks = false) ImperativeAffect( f, observed = observed, modified = modified, ctx = ctx, skip_checks = skip_checks) end From edcbaebac9ea47948ac29a167af900b6f7bb76f5 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:26:23 +0530 Subject: [PATCH 12/42] feat: add `vars!` for callbacks and affects --- src/systems/callbacks.jl | 45 ++++++++++++++++++++++++++++++++ src/systems/imperative_affect.jl | 17 ++++++++++++ 2 files changed, 62 insertions(+) diff --git a/src/systems/callbacks.jl b/src/systems/callbacks.jl index eaf31a9c5f..492b5dac8c 100644 --- a/src/systems/callbacks.jl +++ b/src/systems/callbacks.jl @@ -77,6 +77,13 @@ function has_functional_affect(cb) (affects(cb) isa FunctionalAffect || affects(cb) isa ImperativeAffect) end +function vars!(vars, aff::FunctionalAffect; op = Differential) + for var in Iterators.flatten((unknowns(aff), parameters(aff), discretes(aff))) + vars!(vars, var) + end + return vars +end + #################################### continuous events ##################################### const NULL_AFFECT = Equation[] @@ -333,6 +340,22 @@ function continuous_events(sys::AbstractSystem) filter(!isempty, cbs) end +function vars!(vars, cb::SymbolicContinuousCallback; op = Differential) + for eq in equations(cb) + vars!(vars, eq; op) + end + for aff in (affects(cb), affect_negs(cb), initialize_affects(cb), finalize_affects(cb)) + if aff isa Vector{Equation} + for eq in aff + vars!(vars, eq; op) + end + elseif aff !== nothing + vars!(vars, aff; op) + end + end + return vars +end + #################################### discrete events ##################################### struct SymbolicDiscreteCallback @@ -469,6 +492,28 @@ function discrete_events(sys::AbstractSystem) cbs end +function vars!(vars, cb::SymbolicDiscreteCallback; op = Differential) + if symbolic_type(cb.condition) == NotSymbolic + if cb.condition isa AbstractArray + for eq in cb.condition + vars!(vars, eq; op) + end + end + else + vars!(vars, cb.condition; op) + end + for aff in (cb.affects, cb.initialize, cb.finalize) + if aff isa Vector{Equation} + for eq in aff + vars!(vars, eq; op) + end + elseif aff !== nothing + vars!(vars, aff; op) + end + end + return vars +end + ################################# compilation functions #################################### # handles ensuring that affect! functions work with integrator arguments diff --git a/src/systems/imperative_affect.jl b/src/systems/imperative_affect.jl index 7580580add..aee95fd051 100644 --- a/src/systems/imperative_affect.jl +++ b/src/systems/imperative_affect.jl @@ -216,3 +216,20 @@ function compile_user_affect(affect::ImperativeAffect, cb, sys, dvs, ps; kwargs. end scalarize_affects(affects::ImperativeAffect) = affects + +function vars!(vars, aff::ImperativeAffect; op = Differential) + for var in Iterators.flatten((observed(aff), modified(aff))) + if symbolic_type(var) == NotSymbolic() + if var isa AbstractArray + for v in var + v = unwrap(v) + vars!(vars, v) + end + end + else + var = unwrap(var) + vars!(vars, var) + end + end + return vars +end From ae35c77a49bdd47fd565dd896b90a03bfb5c2579 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:26:52 +0530 Subject: [PATCH 13/42] fix: fix `add_fallbacks!` --- src/systems/problem_utils.jl | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index a8d443349b..bf3d72e1e5 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -88,6 +88,18 @@ function symbols_to_symbolics!(sys::AbstractSystem, varmap::AbstractDict) end end +""" + $(TYPEDSIGNATURES) + +Utility function to get the value `val` corresponding to key `var` in `varmap`, and +return `getindex(val, idx)` if it exists or `nothing` otherwise. +""" +function get_and_getindex(varmap, var, idx) + val = get(varmap, var, nothing) + val === nothing && return nothing + return val[idx] +end + """ $(TYPEDSIGNATURES) @@ -115,8 +127,9 @@ function add_fallbacks!( val = map(eachindex(var)) do idx # @something is lazy and saves from writing a massive if-elseif-else @something(get(varmap, var[idx], nothing), - get(varmap, ttvar[idx], nothing), get(fallbacks, var, nothing)[idx], - get(fallbacks, ttvar, nothing)[idx], get(fallbacks, var[idx], nothing), + get(varmap, ttvar[idx], nothing), get_and_getindex(fallbacks, var, idx), + get_and_getindex(fallbacks, ttvar, idx), get( + fallbacks, var[idx], nothing), get(fallbacks, ttvar[idx], nothing), Some(nothing)) end # only push the missing entries From aca5bdbf28fd4ec33eb57fc0138190e0b8e775a8 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:27:09 +0530 Subject: [PATCH 14/42] fix: fix removal of `missing` defaults for solved array parameters --- src/systems/problem_utils.jl | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/systems/problem_utils.jl b/src/systems/problem_utils.jl index bf3d72e1e5..81be9c3d9e 100644 --- a/src/systems/problem_utils.jl +++ b/src/systems/problem_utils.jl @@ -591,6 +591,10 @@ function maybe_build_initialization_problem( p = unwrap(p) stype = symtype(p) op[p] = get_temporary_value(p) + if iscall(p) && operation(p) === getindex + arrp = arguments(p)[1] + op[arrp] = collect(arrp) + end end if is_time_dependent(sys) From 97bc83065582dd39244e5ad2ed6196f20bcb720f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:27:28 +0530 Subject: [PATCH 15/42] fix: avoid trying to scalarize `missing` default of array parameters --- src/systems/systems.jl | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/systems.jl b/src/systems/systems.jl index 04c50bc766..9c8c272c5c 100644 --- a/src/systems/systems.jl +++ b/src/systems/systems.jl @@ -57,6 +57,7 @@ function structural_simplify( ks = collect(keys(defs)) # take copy to avoid mutating defs while iterating. for k in ks if Symbolics.isarraysymbolic(k) && Symbolics.shape(k) !== Symbolics.Unknown() + defs[k] === missing && continue for i in eachindex(k) defs[k[i]] = defs[k][i] end From 9800e5d0ebd22d1e8744e41171d9258e5265beff Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:27:56 +0530 Subject: [PATCH 16/42] fix: fix observed timeseries detection --- src/systems/index_cache.jl | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/systems/index_cache.jl b/src/systems/index_cache.jl index 623623da42..e4ca0b6b48 100644 --- a/src/systems/index_cache.jl +++ b/src/systems/index_cache.jl @@ -299,6 +299,9 @@ function IndexCache(sys::AbstractSystem) for v in vs if (idx = get(disc_idxs, v, nothing)) !== nothing push!(timeseries, idx.clock_idx) + elseif iscall(v) && operation(v) === getindex && + (idx = get(disc_idxs, arguments(v)[1], nothing)) !== nothing + push!(timeseries, idx.clock_idx) elseif haskey(observed_syms_to_timeseries, v) union!(timeseries, observed_syms_to_timeseries[v]) elseif haskey(dependent_pars_to_timeseries, v) From ac6ae987ed31160c7b6d38ef071ef20e9497b5cb Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:31:26 +0530 Subject: [PATCH 17/42] fix: fix conversion of solved array parameters to variables in initialization --- src/systems/nonlinear/initializesystem.jl | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/systems/nonlinear/initializesystem.jl b/src/systems/nonlinear/initializesystem.jl index a7f98d79b1..87be4338b8 100644 --- a/src/systems/nonlinear/initializesystem.jl +++ b/src/systems/nonlinear/initializesystem.jl @@ -193,6 +193,15 @@ function generate_initializesystem(sys::AbstractSystem; append!(eqs_ics, trueobs) end + # even if `p => tovar(p)` is in `paramsubs`, `isparameter(p[1]) === true` after substitution + # so add scalarized versions as well + for k in collect(keys(paramsubs)) + symbolic_type(k) == ArraySymbolic() || continue + for i in eachindex(k) + paramsubs[k[i]] = paramsubs[k][i] + end + end + eqs_ics = Symbolics.substitute.(eqs_ics, (paramsubs,)) if is_time_dependent(sys) vars = [vars; collect(values(paramsubs))] From 0cb7d9c3100ac5d181c89082027562d7c823fd64 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:32:07 +0530 Subject: [PATCH 18/42] fix: make array hack also search callbacks --- src/structural_transformation/symbolics_tearing.jl | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/structural_transformation/symbolics_tearing.jl b/src/structural_transformation/symbolics_tearing.jl index 4382ad6284..173f430c04 100644 --- a/src/structural_transformation/symbolics_tearing.jl +++ b/src/structural_transformation/symbolics_tearing.jl @@ -593,7 +593,7 @@ function tearing_reassemble(state::TearingState, var_eq_matching, @set! sys.unknowns = unknowns obs, subeqs, deps = cse_and_array_hacks( - obs, subeqs, unknowns, neweqs; cse = cse_hack, array = array_hack) + sys, obs, subeqs, unknowns, neweqs; cse = cse_hack, array = array_hack) @set! sys.eqs = neweqs @set! sys.observed = obs @@ -627,7 +627,7 @@ if all `p[i]` are present and the unscalarized form is used in any equation (obs not) we first count the number of times the scalarized form of each observed variable occurs in observed equations (and unknowns if it's split). """ -function cse_and_array_hacks(obs, subeqs, unknowns, neweqs; cse = true, array = true) +function cse_and_array_hacks(sys, obs, subeqs, unknowns, neweqs; cse = true, array = true) # HACK 1 # mapping of rhs to temporary CSE variable # `f(...) => tmpvar` in above example @@ -725,6 +725,11 @@ function cse_and_array_hacks(obs, subeqs, unknowns, neweqs; cse = true, array = for eq in neweqs vars!(all_vars, eq.rhs) end + + # also count unscalarized variables used in callbacks + for ev in Iterators.flatten((continuous_events(sys), discrete_events(sys))) + vars!(all_vars, ev) + end obs_arr_eqs = Equation[] for (arrvar, cnt) in arr_obs_occurrences cnt == length(arrvar) || continue From f06d600028edb00e673f6fbb14eb6a5515a9d7ce Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:32:35 +0530 Subject: [PATCH 19/42] feat: support building v2 Co-Simulation FMU components --- ext/MTKFMIExt.jl | 238 +++++++++++++++++++++++++++++++++++++---------- 1 file changed, 191 insertions(+), 47 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 8b6f294601..f3ebf6d970 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -1,6 +1,7 @@ module MTKFMIExt using ModelingToolkit +using SymbolicIndexingInterface using ModelingToolkit: t_nounits as t, D_nounits as D import ModelingToolkit as MTK import FMI @@ -17,20 +18,24 @@ macro statuscheck(expr) return quote status = $expr fnname = $fnname - if (status isa Tuple && status[1] == FMI.fmi2True) || - (!(status isa Tuple) && status != FMI.fmi2StatusOK && - status != FMI.fmi2StatusWarning) + 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) end FMI.fmi2FreeInstance!(wrapper.instance) wrapper.instance = nothing - error("FMU Error: status $status") + error("FMU Error in $fnname: status $status") end end |> esc end -function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, name) +function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6, + communication_step_size = nothing, type, name) + if type == :CS && communication_step_size === nothing + throw(ArgumentError("`communication_step_size` must be specified for Co-Simulation FMUs.")) + end value_references = Dict() defs = Dict() states = [] @@ -40,10 +45,12 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, value_references, diffvars, states, observed) if isempty(diffvars) __mtk_internal_u = [] - else - @variables __mtk_internal_u(t)[1:length(diffvars)] + elseif type == :ME + @variables __mtk_internal_u(t)[1:length(diffvars)] [guess = diffvars] + push!(observed, __mtk_internal_u ~ copy(diffvars)) + elseif type == :CS + @parameters __mtk_internal_u(t)[1:length(diffvars)]=missing [guess = diffvars] push!(observed, __mtk_internal_u ~ copy(diffvars)) - push!(states, __mtk_internal_u) end inputs = [] @@ -52,7 +59,7 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, if isempty(inputs) __mtk_internal_x = [] else - @variables __mtk_internal_x(t)[1:length(inputs)] + @variables __mtk_internal_x(t)[1:length(inputs)] [guess = inputs] push!(observed, __mtk_internal_x ~ copy(inputs)) push!(states, __mtk_internal_x) end @@ -60,8 +67,14 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, outputs = [] fmi_variables_to_mtk_variables!(fmu, FMI.getOutputValueReferencesAndNames(fmu), value_references, outputs, states, observed) - # @variables __mtk_internal_o(t)[1:length(outputs)] - # push!(observed, __mtk_internal_o ~ outputs) + if type == :CS + if isempty(outputs) + __mtk_internal_o = [] + else + @parameters __mtk_internal_o(t)[1:length(outputs)]=missing [guess = zeros(length(outputs))] + push!(observed, __mtk_internal_o ~ outputs) + end + end params = [] parameter_dependencies = Equation[] @@ -82,24 +95,69 @@ function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, output_value_references = UInt32[value_references[var] for var in outputs] buffer_length = length(diffvars) + length(outputs) - _functor = FMI2MEFunctor(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) - diffeqs = Equation[] - for (i, var) in enumerate([D.(diffvars); outputs]) - push!(diffeqs, var ~ call_expr[i]) - end + initialization_eqs = Equation[] + + if type == :ME + _functor = FMI2MEFunctor(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) + + diffeqs = Equation[] + for (i, var) in enumerate([D.(diffvars); outputs]) + push!(diffeqs, var ~ call_expr[i]) + end + + finalize_affect = MTK.FunctionalAffect(fmi2Finalize!, [], [wrapper], []) + step_affect = MTK.FunctionalAffect(fmi2MEStep!, [], [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 + state_value_references = UInt32[value_references[var] for var in diffvars] + state_and_output_value_references = vcat( + state_value_references, output_value_references) + _functor = FMI2CSFunctor(state_and_output_value_references, + state_value_references, output_value_references) + @parameters (functor::(typeof(_functor)))(..)[1:(length(__mtk_internal_u) + length(__mtk_internal_o))] = _functor + for (i, x) in enumerate(collect(__mtk_internal_o)) + push!(initialization_eqs, + x ~ functor( + wrapper, __mtk_internal_u, __mtk_internal_x, __mtk_internal_p, t)[i]) + end - finalize_affect = MTK.FunctionalAffect(fmi2MEFinalize!, [], [wrapper], []) - step_affect = MTK.FunctionalAffect(fmi2MEStep!, [], [wrapper], []) - instance_management_callback = MTK.SymbolicDiscreteCallback( - (t != t - 1), step_affect; finalize = finalize_affect) + diffeqs = Equation[] + + cb_observed = (; inputs = __mtk_internal_x, params = copy(params), + t, wrapper, dt = communication_step_size) + cb_modified = (;) + if symbolic_type(__mtk_internal_o) != NotSymbolic() + cb_modified = (cb_modified..., outputs = __mtk_internal_o) + end + if symbolic_type(__mtk_internal_u) != NotSymbolic() + cb_modified = (cb_modified..., states = __mtk_internal_u) + end + initialize_affect = MTK.ImperativeAffect(fmi2CSInitialize!; observed = cb_observed, + modified = cb_modified, ctx = _functor) + finalize_affect = MTK.FunctionalAffect(fmi2Finalize!, [], [wrapper], []) + step_affect = MTK.ImperativeAffect( + fmi2CSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) + instance_management_callback = MTK.SymbolicDiscreteCallback( + communication_step_size, step_affect; initialize = initialize_affect, finalize = finalize_affect + ) + + symbolic_type(__mtk_internal_o) == NotSymbolic() || push!(params, __mtk_internal_o) + symbolic_type(__mtk_internal_u) == NotSymbolic() || push!(params, __mtk_internal_u) + + push!(params, wrapper, functor) + end - push!(params, wrapper, functor) eqs = [observed; diffeqs] return ODESystem(eqs, t, states, params; parameter_dependencies, defaults = defs, - discrete_events = [instance_management_callback], name) + discrete_events = [instance_management_callback], name, initialization_eqs) end function fmi_variables_to_mtk_variables!(fmu, varmap, value_references, truevars, allvars, @@ -142,35 +200,42 @@ function FMI2InstanceWrapper(fmu, params, inputs, tolerance) FMI2InstanceWrapper(fmu, params, inputs, tolerance, nothing) end -function get_instance!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) +function get_instance_common!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) + wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component + if !isempty(params) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references, + Csize_t(length(wrapper.param_value_references)), params) + end + @statuscheck FMI.fmi2SetupExperiment( + wrapper.instance, FMI.fmi2True, wrapper.tolerance, t, FMI.fmi2False, t) + @statuscheck FMI.fmi2EnterInitializationMode(wrapper.instance) + if !isempty(inputs) + @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references, + Csize_t(length(wrapper.param_value_references)), inputs) + end + + return wrapper.instance +end + +function get_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) if wrapper.instance === nothing - wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component - if !isempty(params) - @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references, - Csize_t(length(wrapper.param_value_references)), params) - end - @statuscheck FMI.fmi2SetupExperiment( - wrapper.instance, FMI.fmi2True, wrapper.tolerance, t, FMI.fmi2False, t) - @statuscheck FMI.fmi2EnterInitializationMode(wrapper.instance) - if !isempty(inputs) - @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references, - Csize_t(length(wrapper.param_value_references)), inputs) - end + get_instance_common!(wrapper, states, inputs, params, t) @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) eventInfo = FMI.fmi2NewDiscreteStates(wrapper.instance) @assert eventInfo.newDiscreteStatesNeeded == FMI.fmi2False # TODO: Support FMU events @statuscheck FMI.fmi2EnterContinuousTimeMode(wrapper.instance) end - instance = wrapper.instance - @statuscheck FMI.fmi2SetTime(instance, t) - @statuscheck FMI.fmi2SetContinuousStates(instance, states) - if !isempty(inputs) - @statuscheck FMI.fmi2SetReal(instance, wrapper.input_value_references, - Csize_t(length(wrapper.param_value_references)), inputs) - end - return instance + return wrapper.instance +end + +function get_instance_CS!(wrapper::FMI2InstanceWrapper, states, inputs, params, t) + if wrapper.instance === nothing + get_instance_common!(wrapper, states, inputs, params, t) + @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance) + end + return wrapper.instance end function complete_step!(wrapper::FMI2InstanceWrapper) @@ -198,8 +263,19 @@ end ndims = 1 end +function update_instance_ME!(wrapper::FMI2InstanceWrapper, states, inputs, t) + instance = wrapper.instance + @statuscheck FMI.fmi2SetTime(instance, t) + @statuscheck FMI.fmi2SetContinuousStates(instance, states) + if !isempty(inputs) + @statuscheck FMI.fmi2SetReal(instance, wrapper.input_value_references, + Csize_t(length(wrapper.param_value_references)), inputs) + end +end + function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) - instance = get_instance!(wrapper, 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.fmi2GetDerivatives!(instance, states_buffer) @@ -214,10 +290,78 @@ function fmi2MEStep!(integrator, u, p, ctx) complete_step!(wrapper) end -function fmi2MEFinalize!(integrator, u, p, ctx) +function fmi2Finalize!(integrator, u, p, ctx) wrapper_idx = p[1] wrapper = integrator.ps[wrapper_idx] reset_instance!(wrapper) end +struct FMI2CSFunctor + state_and_output_value_references::Vector{UInt32} + state_value_references::Vector{UInt32} + output_value_references::Vector{UInt32} +end + +function (fn::FMI2CSFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t) + states = states isa SubArray ? copy(states) : states + inputs = inputs isa SubArray ? copy(inputs) : inputs + params = params isa SubArray ? copy(params) : params + instance = get_instance_CS!(wrapper, states, inputs, params, t) + if isempty(fn.output_value_references) + return eltype(states)[] + else + return FMI.fmi2GetReal(instance, fn.output_value_references) + end +end + +@register_array_symbolic (fn::FMI2CSFunctor)( + wrapper::FMI2InstanceWrapper, 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 fmi2CSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) + states = isdefined(m, :states) ? m.states : () + inputs = o.inputs + params = o.params + t = o.t + wrapper = o.wrapper + if wrapper.instance !== nothing + reset_instance!(wrapper) + end + instance = get_instance_common!(wrapper, states, inputs, params, t) + @statuscheck FMI.fmi2ExitInitializationMode(instance) + if isdefined(m, :states) + @statuscheck FMI.fmi2GetReal!(instance, ctx.state_value_references, m.states) + end + if isdefined(m, :outputs) + @statuscheck FMI.fmi2GetReal!(instance, ctx.output_value_references, m.outputs) + end + + return m +end + +function fmi2CSStep!(m, o, ctx::FMI2CSFunctor, integrator) + wrapper = o.wrapper + states = isdefined(m, :states) ? m.states : () + inputs = o.inputs + params = o.params + t = o.t + dt = o.dt + + instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + @statuscheck FMI.fmi2DoStep(instance, integrator.t - dt, dt, FMI.fmi2True) + + if isdefined(m, :states) + @statuscheck FMI.fmi2GetReal!(instance, ctx.state_value_references, m.states) + end + if isdefined(m, :outputs) + @statuscheck FMI.fmi2GetReal!(instance, ctx.output_value_references, m.outputs) + end + + return m +end + end # module From 3d68f772e0da774cef4725b7df3cd0c45cd1e092 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Tue, 24 Dec 2024 20:32:44 +0530 Subject: [PATCH 20/42] test: test v2 Co-Simulation FMU components --- test/extensions/fmi.jl | 73 ++++++++++++++++++++++++++++++++---------- 1 file changed, 56 insertions(+), 17 deletions(-) diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 7e5e01f76a..2fc385934f 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -3,34 +3,73 @@ using ModelingToolkit: t_nounits as t, D_nounits as D import ModelingToolkit as MTK @testset "Standalone pendulum model" begin + fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :ME) + truesol = FMI.simulate( + fmu, (0.0, 8.0); saveat = 0.0:0.1:8.0, recordValues = ["mass.s", "mass.v"]) + @testset "v2, ME" begin fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :ME) - @mtkbuild sys = MTK.FMIComponent(Val(2), Val(:ME); fmu) + @mtkbuild sys = MTK.FMIComponent(Val(2); 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) - truesol = FMI.simulate(fmu, (0.0, 8.0); saveat = 0.0:0.1:8.0) - @test sol(0.0:0.1:8.0).u≈truesol.states.u atol=1e-4 + @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 + @testset "v2, CS" begin + fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :CS) + @named inner = MTK.FMIComponent( + Val(2); fmu, communication_step_size = 0.001, type = :CS) + @variables x(t) = 1.0 + @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + + prob = ODEProblem{true, SciMLBase.FullSpecialize}( + sys, [sys.inner.mass__s => 0.5, sys.inner.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.inner.mass__s, sys.inner.mass__v]).u≈collect.(truesol.values.saveval) rtol=1e-2 + end end @testset "IO Model" begin - fmu = loadFMU("./fmus/SimpleAdder.fmu"; type = :ME) - @named adder = MTK.FMIComponent(Val(2), Val(:ME); fmu) - @variables a(t) b(t) c(t) [guess = 1.0] - @mtkbuild sys = ODESystem( - [adder.a ~ a, adder.b ~ b, D(a) ~ t, - D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], - t; - systems = [adder]) - - # c will be solved for by initialization - # this tests that initialization also works with FMUs - prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], (0.0, 1.0)) - sol = solve(prob, Rodas5P(autodiff = false)) - @test SciMLBase.successful_retcode(sol) + @testset "v2, ME" begin + fmu = loadFMU("../../omc-fmus/SimpleAdder.fmu"; type = :ME) + @named adder = MTK.FMIComponent(Val(2); fmu, type = :ME) + @variables a(t) b(t) c(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [adder.a ~ a, adder.b ~ b, D(a) ~ t, + D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], + t; + systems = [adder]) + + # c will be solved for by initialization + # this tests that initialization also works with FMUs + prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], (0.0, 1.0)) + sol = solve(prob, Rodas5P(autodiff = false)) + @test SciMLBase.successful_retcode(sol) + end + @testset "v2, CS" begin + fmu = loadFMU("../../omc-fmus/SimpleAdder.fmu"; type = :CS) + @named adder = MTK.FMIComponent( + Val(2); fmu, type = :CS, communication_step_size = 0.001) + @variables a(t) b(t) c(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [adder.a ~ a, adder.b ~ b, D(a) ~ t, + D(b) ~ adder.out + adder.c, c^2 ~ adder.out + adder.value], + t; + systems = [adder]) + + # c will be solved for by initialization + # this tests that initialization also works with FMUs + prob = ODEProblem(sys, [sys.adder.c => 1.0, sys.a => 1.0, sys.b => 1.0], + (0.0, 1.0); use_scc = false) + sol = solve(prob, Rodas5P(autodiff = false)) + @test SciMLBase.successful_retcode(sol) + end end From 7d2647ec7b0e35c5d883778053e84ab3e2363662 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 2 Jan 2025 17:19:16 +0530 Subject: [PATCH 21/42] feat: support v3 ME FMUs --- ext/MTKFMIExt.jl | 154 ++++++++++++++++++++++++++++++++++++----- test/extensions/fmi.jl | 17 +++++ 2 files changed, 153 insertions(+), 18 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index f3ebf6d970..45412af957 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -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 @@ -90,8 +111,14 @@ 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) @@ -99,7 +126,8 @@ function MTK.FMIComponent(::Val{2}; fmu = nothing, tolerance = 1e-6, 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) @@ -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) @@ -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( @@ -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} @@ -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) diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 2fc385934f..374d340e80 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -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 From a5f0985f9e35f04b1f9e8f5003685990695ce280 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Thu, 2 Jan 2025 18:27:45 +0530 Subject: [PATCH 22/42] feat: support v3 CS FMUs --- ext/MTKFMIExt.jl | 104 ++++++++++++++++++++++++++++++++++++++--- test/extensions/fmi.jl | 15 ++++++ 2 files changed, 112 insertions(+), 7 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 45412af957..15ef376769 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -144,12 +144,16 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, push!(params, wrapper, functor) push!(states, __mtk_internal_u) - elseif type == :CS && Ver == 2 + elseif type == :CS state_value_references = UInt32[value_references[var] for var in diffvars] state_and_output_value_references = vcat( state_value_references, output_value_references) - _functor = FMI2CSFunctor(state_and_output_value_references, - state_value_references, output_value_references) + _functor = if Ver == 2 + FMI2CSFunctor(state_and_output_value_references, + state_value_references, output_value_references) + else + FMI3CSFunctor(state_value_references, output_value_references) + end @parameters (functor::(typeof(_functor)))(..)[1:(length(__mtk_internal_u) + length(__mtk_internal_o))] = _functor for (i, x) in enumerate(collect(__mtk_internal_o)) push!(initialization_eqs, @@ -168,11 +172,11 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, if symbolic_type(__mtk_internal_u) != NotSymbolic() cb_modified = (cb_modified..., states = __mtk_internal_u) end - initialize_affect = MTK.ImperativeAffect(fmi2CSInitialize!; observed = cb_observed, + initialize_affect = MTK.ImperativeAffect(fmiCSInitialize!; observed = cb_observed, modified = cb_modified, ctx = _functor) finalize_affect = MTK.FunctionalAffect(fmiFinalize!, [], [wrapper], []) step_affect = MTK.ImperativeAffect( - fmi2CSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) + fmiCSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) instance_management_callback = MTK.SymbolicDiscreteCallback( communication_step_size, step_affect; initialize = initialize_affect, finalize = finalize_affect ) @@ -318,6 +322,16 @@ function get_instance_ME!(wrapper::FMI3InstanceWrapper, states, inputs, params, return wrapper.instance end +function get_instance_CS!(wrapper::FMI3InstanceWrapper, states, inputs, params, t) + if wrapper.instance === nothing + wrapper.instance = FMI.fmi3InstantiateCoSimulation!( + wrapper.fmu; eventModeUsed = false)::FMI.FMU3Instance + get_instance_common!(wrapper, states, inputs, params, t) + @statuscheck FMI.fmi3ExitInitializationMode(wrapper.instance) + end + return wrapper.instance +end + function complete_step!(wrapper::FMI3InstanceWrapper) wrapper.instance === nothing && return enterEventMode = Ref(FMI.fmi3False) @@ -440,7 +454,7 @@ end ndims = 1 end -function fmi2CSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) +function fmiCSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) states = isdefined(m, :states) ? m.states : () inputs = o.inputs params = o.params @@ -449,6 +463,7 @@ function fmi2CSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) if wrapper.instance !== nothing reset_instance!(wrapper) end + instance = get_instance_common!(wrapper, states, inputs, params, t) @statuscheck FMI.fmi2ExitInitializationMode(instance) if isdefined(m, :states) @@ -461,7 +476,7 @@ function fmi2CSInitialize!(m, o, ctx::FMI2CSFunctor, integrator) return m end -function fmi2CSStep!(m, o, ctx::FMI2CSFunctor, integrator) +function fmiCSStep!(m, o, ctx::FMI2CSFunctor, integrator) wrapper = o.wrapper states = isdefined(m, :states) ? m.states : () inputs = o.inputs @@ -482,4 +497,79 @@ function fmi2CSStep!(m, o, ctx::FMI2CSFunctor, integrator) return m end +struct FMI3CSFunctor + state_value_references::Vector{UInt32} + output_value_references::Vector{UInt32} +end + +function (fn::FMI3CSFunctor)(wrapper::FMI3InstanceWrapper, states, inputs, params, t) + states = states isa SubArray ? copy(states) : states + inputs = inputs isa SubArray ? copy(inputs) : inputs + params = params isa SubArray ? copy(params) : params + instance = get_instance_CS!(wrapper, states, inputs, params, t) + if isempty(fn.output_value_references) + return eltype(states)[] + else + return FMI.fmi3GetFloat64(instance, fn.output_value_references) + end +end + +@register_array_symbolic (fn::FMI3CSFunctor)( + 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 fmiCSInitialize!(m, o, ctx::FMI3CSFunctor, integrator) + states = isdefined(m, :states) ? m.states : () + inputs = o.inputs + params = o.params + t = o.t + wrapper = o.wrapper + if wrapper.instance !== nothing + reset_instance!(wrapper) + end + instance = get_instance_CS!(wrapper, states, inputs, params, t) + if isdefined(m, :states) + @statuscheck FMI.fmi3GetFloat64!(instance, ctx.state_value_references, m.states) + end + if isdefined(m, :outputs) + @statuscheck FMI.fmi3GetFloat64!(instance, ctx.output_value_references, m.outputs) + end + + return m +end + +function fmiCSStep!(m, o, ctx::FMI3CSFunctor, integrator) + wrapper = o.wrapper + states = isdefined(m, :states) ? m.states : () + inputs = o.inputs + params = o.params + t = o.t + dt = o.dt + + instance = get_instance_CS!(wrapper, states, inputs, params, integrator.t) + eventEncountered = Ref(FMI.fmi3False) + terminateSimulation = Ref(FMI.fmi3False) + earlyReturn = Ref(FMI.fmi3False) + lastSuccessfulTime = Ref(zero(FMI.fmi3Float64)) + @statuscheck FMI.fmi3DoStep!( + instance, integrator.t - dt, dt, FMI.fmi3True, eventEncountered, + terminateSimulation, earlyReturn, lastSuccessfulTime) + @assert eventEncountered[] == FMI.fmi3False + @assert terminateSimulation[] == FMI.fmi3False + @assert earlyReturn[] == FMI.fmi3False + + if isdefined(m, :states) + @statuscheck FMI.fmi3GetFloat64!(instance, ctx.state_value_references, m.states) + end + if isdefined(m, :outputs) + @statuscheck FMI.fmi3GetFloat64!(instance, ctx.output_value_references, m.outputs) + end + + return m +end + end # module diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 374d340e80..743b65cae6 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -52,6 +52,21 @@ import ModelingToolkit as MTK # repeated solve works @test_nowarn solve(prob, Tsit5()) end + @testset "v3, CS" begin + fmu = loadFMU("SpringPendulum1D", "Dymola", "2023x", "3.0"; type = :CS) + @named inner = MTK.FMIComponent( + Val(3); fmu, communication_step_size = 0.001, type = :CS) + @variables x(t) = 1.0 + @mtkbuild sys = ODESystem([D(x) ~ x], t; systems = [inner]) + + prob = ODEProblem{true, SciMLBase.FullSpecialize}( + sys, [sys.inner.mass__s => 0.5, sys.inner.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.inner.mass__s, sys.inner.mass__v]).u≈collect.(truesol.values.saveval) rtol=1e-2 + end end @testset "IO Model" begin From 90eead172814ff4d548032a9f8de3c042b2e60d0 Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 3 Jan 2025 14:05:22 +0530 Subject: [PATCH 23/42] fix: use `NoInit` for FMI callback reinitialization --- ext/MTKFMIExt.jl | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ext/MTKFMIExt.jl b/ext/MTKFMIExt.jl index 15ef376769..e0d59c4032 100644 --- a/ext/MTKFMIExt.jl +++ b/ext/MTKFMIExt.jl @@ -4,6 +4,7 @@ using ModelingToolkit using SymbolicIndexingInterface using ModelingToolkit: t_nounits as t, D_nounits as D import ModelingToolkit as MTK +import SciMLBase import FMI macro statuscheck(expr) @@ -140,7 +141,7 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, 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) + (t != t - 1), step_affect; finalize = finalize_affect, reinitializealg = SciMLBase.NoInit()) push!(params, wrapper, functor) push!(states, __mtk_internal_u) @@ -178,7 +179,8 @@ function MTK.FMIComponent(::Val{Ver}; fmu = nothing, tolerance = 1e-6, step_affect = MTK.ImperativeAffect( fmiCSStep!; observed = cb_observed, modified = cb_modified, ctx = _functor) instance_management_callback = MTK.SymbolicDiscreteCallback( - communication_step_size, step_affect; initialize = initialize_affect, finalize = finalize_affect + communication_step_size, step_affect; initialize = initialize_affect, + finalize = finalize_affect, reinitializealg = SciMLBase.NoInit() ) symbolic_type(__mtk_internal_o) == NotSymbolic() || push!(params, __mtk_internal_o) From 2f15702916c3e7b2accc75f9309730a17d96934d Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 3 Jan 2025 14:05:43 +0530 Subject: [PATCH 24/42] fix: handle array of symbolics in `InitializationProblem` type promotion --- src/systems/diffeqs/abstractodesystem.jl | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/systems/diffeqs/abstractodesystem.jl b/src/systems/diffeqs/abstractodesystem.jl index ac28d41dd4..921825dac8 100644 --- a/src/systems/diffeqs/abstractodesystem.jl +++ b/src/systems/diffeqs/abstractodesystem.jl @@ -1393,11 +1393,13 @@ function InitializationProblem{iip, specialize}(sys::AbstractSystem, for sym in unknowns(isys) haskey(fullmap, sym) || continue symbolic_type(fullmap[sym]) == NotSymbolic() || continue + is_array_of_symbolics(fullmap[sym]) && continue u0T = promote_type(u0T, typeof(fullmap[sym])) end for eq in observed(isys) haskey(fullmap, eq.lhs) || continue symbolic_type(fullmap[eq.lhs]) == NotSymbolic() || continue + is_array_of_symbolics(fullmap[eq.lhs]) && continue u0T = promote_type(u0T, typeof(fullmap[eq.lhs])) end if u0T != Union{} From 531f78e14ca511c7e3258ac4d62a7eb0c339e73f Mon Sep 17 00:00:00 2001 From: Aayush Sabharwal Date: Fri, 3 Jan 2025 14:06:00 +0530 Subject: [PATCH 25/42] test: test v3 FMUs as subcomponents --- test/extensions/fmi.jl | 35 ++++++++++++++++++++++++++-- test/extensions/fmus/StateSpace.fmu | Bin 0 -> 34391 bytes 2 files changed, 33 insertions(+), 2 deletions(-) create mode 100644 test/extensions/fmus/StateSpace.fmu diff --git a/test/extensions/fmi.jl b/test/extensions/fmi.jl index 743b65cae6..868d60a9bb 100644 --- a/test/extensions/fmi.jl +++ b/test/extensions/fmi.jl @@ -2,6 +2,8 @@ using ModelingToolkit, FMI, FMIZoo, OrdinaryDiffEq using ModelingToolkit: t_nounits as t, D_nounits as D import ModelingToolkit as MTK +const FMU_DIR = joinpath(@__DIR__, "fmus") + @testset "Standalone pendulum model" begin fmu = loadFMU("SpringPendulum1D", "Dymola", "2022x"; type = :ME) truesol = FMI.simulate( @@ -71,7 +73,7 @@ end @testset "IO Model" begin @testset "v2, ME" begin - fmu = loadFMU("../../omc-fmus/SimpleAdder.fmu"; type = :ME) + fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :ME) @named adder = MTK.FMIComponent(Val(2); fmu, type = :ME) @variables a(t) b(t) c(t) [guess = 1.0] @mtkbuild sys = ODESystem( @@ -87,7 +89,7 @@ end @test SciMLBase.successful_retcode(sol) end @testset "v2, CS" begin - fmu = loadFMU("../../omc-fmus/SimpleAdder.fmu"; type = :CS) + fmu = loadFMU(joinpath(FMU_DIR, "SimpleAdder.fmu"); type = :CS) @named adder = MTK.FMIComponent( Val(2); fmu, type = :CS, communication_step_size = 0.001) @variables a(t) b(t) c(t) [guess = 1.0] @@ -104,4 +106,33 @@ end sol = solve(prob, Rodas5P(autodiff = false)) @test SciMLBase.successful_retcode(sol) end + + @testset "v3, ME" begin + fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :ME) + @named sspace = MTK.FMIComponent(Val(3); fmu, type = :ME) + @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; + systems = [sspace] + ) + + prob = ODEProblem(sys, [sys.sspace.x => 1.0], (0.0, 1.0); use_scc = false) + sol = solve(prob, Rodas5P(autodiff = false)) + @test SciMLBase.successful_retcode(sol) + end + + @testset "v3, CS" begin + fmu = loadFMU(joinpath(FMU_DIR, "StateSpace.fmu"); type = :CS) + @named sspace = MTK.FMIComponent( + Val(3); fmu, communication_step_size = 1e-3, type = :CS) + @variables u(t)=1.0 x(t)=1.0 y(t) [guess = 1.0] + @mtkbuild sys = ODESystem( + [sspace.u ~ u, D(u) ~ t, D(x) ~ sspace.x + sspace.y, y^2 ~ sspace.y + x], t; + systems = [sspace] + ) + + prob = ODEProblem(sys, [sys.sspace.x => 1.0], (0.0, 1.0); use_scc = false) + sol = solve(prob, Rodas5P(autodiff = false)) + @test SciMLBase.successful_retcode(sol) + end end diff --git a/test/extensions/fmus/StateSpace.fmu b/test/extensions/fmus/StateSpace.fmu new file mode 100644 index 0000000000000000000000000000000000000000..c181081ca4222af0c306205c1d721c06905dd3a1 GIT binary patch literal 34391 zcmagF1yEc;(>6+QcXuZQ4;q{h+#wL$-Q8hv2*KSY0fIwtcPF?7T?mW&q6-WAllS}O zyMNtVcehTTIkVl*JZE}(s zzVTdMi6NMu$3RWHDkDFR(|rQ8?Bv44%5fjyl#BEn=Q=*3){55|<{ri>4d{t!zM-0F zT@0gHfZLF5yE^sV{bK!IYv9vwsgR~9^?_`}%CA=NmCDoQ)}Qs=-6eWNn5@m%QAzC4 z@%g-xM-;CT?h)~9OOW6DXOX(&4`8;%8mWU*xTy<-xtQaJZ5@vukjJh9T>VxZ3-a$P 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