use std::sync::Arc;
use crate::fmi3::log::DefaultLogger;
use crate::fmi3::native::{NativeLibrary, PLATFORM_TUPLE};
use crate::fmi3::types::{fmi3Boolean, fmi3Float64, fmi3ValueReference};
#[cfg(feature = "wasm")]
use crate::fmi3::wasm::cs::WasmLibrary;
use crate::fmi3::{Implementation, IntermediateUpdateHandler, LibraryKind};
use crate::platform_binary_path;
use crate::sim::fmi3::{
SimulationSettings, call, read_initial_fmu_state, set_start_values, write_final_fmu_state,
};
use crate::sim::{
SimulationError, next_communication_point, next_regular_point, validate_simulation_steps,
};
use crate::{
fmi3::FMU3,
sim::{
fmi3::{input::StaticInput, recorder::Recorder},
relative_eq, relative_le, relative_lt,
},
};
struct IntermediateValueRecorder {
input: Option<Arc<StaticInput>>,
recorder: Arc<Recorder>,
}
impl IntermediateUpdateHandler for IntermediateValueRecorder {
fn required_intermediate_variables(&self) -> Vec<fmi3ValueReference> {
let mut value_references = vec![];
if let Some(input) = &self.input {
value_references.extend(input.trajectories.value_references());
}
value_references.extend(self.recorder.trajectories.borrow().value_references());
value_references
}
fn intermediate_update(
&self,
fmu: &FMU3,
intermediateUpdateTime: fmi3Float64,
intermediateVariableSetRequested: fmi3Boolean,
intermediateVariableGetAllowed: fmi3Boolean,
intermediateStepFinished: fmi3Boolean,
canReturnEarly: fmi3Boolean,
) -> (fmi3Boolean, fmi3Float64) {
if intermediateVariableSetRequested
&& let Some(input) = &self.input
&& let Err(_) = input.set_continuous_inputs(intermediateUpdateTime, false, fmu)
{
return (canReturnEarly, intermediateUpdateTime);
}
if intermediateVariableGetAllowed
&& intermediateStepFinished
&& let Err(_) = self.recorder.sample(intermediateUpdateTime, fmu)
{
return (canReturnEarly, intermediateUpdateTime);
}
(false, 0.0)
}
}
pub fn simulate(
settings: &SimulationSettings,
input: Option<Arc<StaticInput>>,
recorder: Arc<Recorder>,
) -> Result<(), SimulationError> {
let start_time = settings.start_time;
let stop_time = settings.stop_time;
let set_stop_time = settings.set_stop_time;
let output_interval = settings.output_interval;
let event_mode_used = settings.event_mode_used;
let relative_tolerance = settings.tolerance;
validate_simulation_steps(start_time, stop_time, output_interval, relative_tolerance)
.map_err(SimulationError::Parameter)?;
let mut time = start_time;
let co_simulation = settings
.model_description
.coSimulation
.as_ref()
.ok_or(SimulationError::InterfaceType)?;
let can_handle_variable_communication_step_size =
co_simulation.canHandleVariableCommunicationStepSize;
let logger = Arc::new(if let Some(log_file) = &settings.log_file {
DefaultLogger::from_path(log_file).map_err(SimulationError::io(&log_file))?
} else {
DefaultLogger::default()
});
let intermediate_update_handler: Option<Box<dyn IntermediateUpdateHandler>> =
if settings.intermediate_update {
Some(Box::new(IntermediateValueRecorder {
input: input.clone(),
recorder: recorder.clone(),
}))
} else {
None
};
let model_identifier = &co_simulation.modelIdentifier;
let implementation: Box<dyn Implementation> = match settings.library_kind {
LibraryKind::Native => {
let file = platform_binary_path(&settings.unzipdir, PLATFORM_TUPLE, model_identifier);
Box::new(NativeLibrary::load(file)?)
}
#[cfg(feature = "wasm")]
LibraryKind::Wasm32 => {
let wasm_file = settings
.unzipdir
.join(format!("binaries/wasm32-wasip2/{}.wasm", model_identifier));
Box::new(WasmLibrary::load(wasm_file)?)
}
};
let resource_dir = settings.unzipdir.join("resources");
let resourcePath = if resource_dir.is_dir() {
Some(resource_dir.as_path())
} else {
None
};
let fmu = FMU3::instantiateCoSimulation(
implementation,
resourcePath,
&settings.model_description.modelName,
&settings.model_description.instantiationToken,
settings.visible,
settings.logging_on,
settings.event_mode_used,
settings.early_return_allowed,
logger,
settings.log_fmi_calls,
intermediate_update_handler,
)?;
if let Some(path) = &settings.initial_fmu_state_file {
read_initial_fmu_state(&fmu, path)?;
set_start_values(
&settings.start_values,
settings.model_description.as_ref(),
&fmu,
)?;
} else {
set_start_values(
&settings.start_values,
settings.model_description.as_ref(),
&fmu,
)?;
call(fmu.enterInitializationMode(
if settings.set_tolerance {
Some(settings.tolerance)
} else {
None
},
start_time,
if set_stop_time { Some(stop_time) } else { None },
))?;
if let Some(input) = &input {
input.set_discrete_inputs(time, &fmu)?;
input.set_continuous_inputs(time, true, &fmu)?;
}
call(fmu.exitInitializationMode())?;
if event_mode_used {
loop {
let mut discreteStatesNeedUpdate = false;
let mut terminateSimulation = false;
let mut nominalsOfContinuousStatesChanged = false;
let mut valuesOfContinuousStatesChanged = false;
let mut nextEventTime = None;
call(fmu.updateDiscreteStates(
&mut discreteStatesNeedUpdate,
&mut terminateSimulation,
&mut nominalsOfContinuousStatesChanged,
&mut valuesOfContinuousStatesChanged,
&mut nextEventTime,
))?;
if let Some(next_event_time) = nextEventTime
&& relative_le(next_event_time, time, relative_tolerance)
{
return Err(SimulationError::NextEventTime {
time,
next_event_time,
});
}
if terminateSimulation {
call(fmu.terminate())?;
return Ok(());
}
if !discreteStatesNeedUpdate {
break;
}
}
call(fmu.enterStepMode())?;
}
}
recorder.sample(time, &fmu)?;
let mut n_steps = 0;
let mut input_applied = false;
while relative_lt(time, stop_time, relative_tolerance) {
let next_regular_point = next_regular_point(
settings.log_time_scale,
start_time,
output_interval,
n_steps,
)?;
let next_input_event_time = input.as_ref().and_then(|i| i.next_event_time(time));
let next_communication_point = if can_handle_variable_communication_step_size {
next_communication_point(
next_regular_point,
next_input_event_time,
None,
stop_time,
relative_tolerance,
)
} else {
next_regular_point
};
if !input_applied && let Some(input) = &input {
input.set_discrete_inputs(time, &fmu)?;
input.set_continuous_inputs(time, !event_mode_used, &fmu)?;
}
let communication_step_size = next_communication_point - time;
let mut event_handling_needed = false;
let mut terminate_simulation = false;
let mut early_return = false;
let mut last_successful_time = 0.0;
call(fmu.doStep(
time,
communication_step_size,
true,
&mut event_handling_needed,
&mut terminate_simulation,
&mut early_return,
&mut last_successful_time,
))?;
if early_return && !settings.early_return_allowed {
return Err(SimulationError::Parameter(
"The FMU returned early from fmi3DoStep() but early return is not allowed"
.to_owned(),
));
}
time = if early_return && last_successful_time < next_communication_point {
last_successful_time
} else {
next_communication_point
};
if relative_eq(time, next_regular_point, relative_tolerance) {
n_steps = n_steps.saturating_add(1);
}
recorder.sample(time, &fmu)?;
if terminate_simulation {
call(fmu.terminate())?;
return Ok(());
}
let input_event = if let Some(next_input_event_time) = next_input_event_time {
relative_eq(
next_communication_point,
next_input_event_time,
relative_tolerance,
)
} else {
false
};
input_applied = if event_mode_used && (input_event || event_handling_needed) {
call(fmu.enterEventMode())?;
if input_event && let Some(input) = &input {
input.set_discrete_inputs(time, &fmu)?;
input.set_continuous_inputs(time, true, &fmu)?;
}
loop {
let mut discreteStatesNeedUpdate = false;
let mut terminateSimulation = false;
let mut nominalsOfContinuousStatesChanged = false;
let mut valuesOfContinuousStatesChanged = false;
let mut nextEventTime = None;
call(fmu.updateDiscreteStates(
&mut discreteStatesNeedUpdate,
&mut terminateSimulation,
&mut nominalsOfContinuousStatesChanged,
&mut valuesOfContinuousStatesChanged,
&mut nextEventTime,
))?;
if let Some(next_event_time) = nextEventTime
&& relative_le(next_event_time, time, relative_tolerance)
{
return Err(SimulationError::NextEventTime {
time,
next_event_time,
});
}
if terminateSimulation {
call(fmu.terminate())?;
return Ok(());
}
if !discreteStatesNeedUpdate {
break;
}
}
call(fmu.enterStepMode())?;
recorder.sample(time, &fmu)?;
true
} else {
false
};
}
if let Some(path) = &settings.final_fmu_state_file {
write_final_fmu_state(&fmu, path)?;
}
call(fmu.terminate())?;
Ok(())
}