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Commit 0580cb88 authored by Anastasios Temperekidis's avatar Anastasios Temperekidis
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new examples: SpeedControlModule

parent ef65cd3f
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Showing with 15535 additions and 31 deletions
Compiler/Frontend/ujf.verimag.bip.userinterface.cli/src/main/java/ujf/verimag/bip/userinterface/cli/Version.java
View file @ 0580cb88
......@@ -7,5 +7,5 @@ package ujf.verimag.bip.userinterface.cli;
* use "svn annotate" and BLAME the one who has commited it !
*/
public class Version {
public static final String VERSION = "2022.01.175206-DEV";
public static final String VERSION = "2022.02.114844-DEV";
}
Engines/reference-engine/CMakeLists.txt
View file @ 0580cb88
......@@ -24,7 +24,7 @@ configure_file( engine-version.hpp.in ${CMAKE_BINARY_DIR}/generated/engine-versi
include_directories( ${CMAKE_BINARY_DIR}/generated/ ) # Make sure it can be included...
# Select flags.
SET(CMAKE_CXX_FLAGS "-Wall -g")
SET(CMAKE_CXX_FLAGS "-Wall -g -fPIC")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
......
Engines/reference-engine/specific/src/FMI_template.cpp
View file @ 0580cb88
......@@ -72,11 +72,11 @@ void FMI_template::init() {
//$$initialStatesCS$$
// TODO : implement your own initialization code here
cout<<m_launcher<<'\n';
//cout<<m_launcher<<'\n';
int ret = m_launcher->initialize();
cout<<"end"<<'\n';
//cout<<"end"<<'\n';
if (ret != EXIT_SUCCESS)
logger(fmi2OK, "progress", "Initialization error.");
logger(fmi2Error, "Launcher", "Initialization error.");
// initialize integrator for co-simulation
m_currentTimePoint = 0;
......
Engines/reference-engine/specific/src/InstanceData.cpp
View file @ 0580cb88
......@@ -55,8 +55,8 @@ void InstanceData::logger(fmi2Status state, fmi2String category, fmi2String mess
/*m_callbackFunctions->logger(m_callbackFunctions->componentEnvironment,
m_instanceName.c_str(), state, category,
message);
*/
message);*/
cout<<category<<" ~ "<<message<<'\n';
}
}
......
Engines/reference-engine/specific/src/fmi2Functions.cpp
View file @ 0580cb88
......@@ -116,13 +116,12 @@ void* fmi2Instantiate(fmi2String instanceName, fmi2Type fmuType, fmi2String guid
fmi2Boolean, fmi2Boolean loggingOn)
{
// initial checks
//if (functions == NULL) return NULL;
//if (functions->logger == NULL) return NULL;
//if (functions == NULL) return NULL;
//if (functions->logger == NULL) return NULL;
std::string instanceNameString = instanceName;
/*if (instanceNameString.empty()) {
//if (loggingOn) functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "logStatusError", "fmi2Instantiate: Missing instance name.");
if (loggingOn) functions->logger(functions->componentEnvironment, instanceName, fmi2Error, "logStatusError", "fmi2Instantiate: Missing instance name.");
return NULL;
}*/
......@@ -148,10 +147,10 @@ void* fmi2Instantiate(fmi2String instanceName, fmi2Type fmuType, fmi2String guid
char* argv[] = {"./system"};
Component &component = *deploy(argc, argv);
cout<<&component<<'\n';
//cout<<&component<<'\n';
Launcher* l = new Launcher(argc,argv,component);
modelInstance->m_launcher = l;
cout<<modelInstance->m_launcher<<'\n';
//cout<<modelInstance->m_launcher<<'\n';
modelInstance->logger(fmi2OK, "logAll", "fmi2Instantiate: Model instance created.");
}
catch (...) {
......@@ -173,15 +172,13 @@ void fmi2FreeInstance(void* c) {
/* Enter and exit initialization mode, terminate and reset */
// Overrides project settings?
fmi2Status fmi2SetupExperiment(void* c, int, double, double,
int, double)
{
InstanceData * modelInstance = static_cast<InstanceData*>(c);
FMI_ASSERT(modelInstance != NULL);
modelInstance->logger(fmi2OK, "logAll", "fmi2SetupExperiment: Call of setup experiment.");
// transfer experiment specs to Therakles
return fmi2OK;
}
......@@ -249,6 +246,12 @@ fmi2Status fmi2GetReal(void* c, const fmi2ValueReference vr[], size_t nvr, fmi2R
for (size_t i=0; i<nvr; ++i) {
try {
if (inverted_map.find(vr[i]) == inverted_map.end()) {
cout<< "fmi2GetReal: Value Reference " << vr[i] << " not found!" << "\n";
return fmi2Error;
}
cout<<"fmi2GetReal:";
value[i] = real_variables[inverted_map[vr[i]]];
cout<< "(Variable Reference: "<<vr[i]<<", Name: "<< inverted_map[vr[i]]<<", Value: "<<value[i]<<")\n";
......@@ -270,6 +273,13 @@ fmi2Status fmi2GetInteger(void* c, const fmi2ValueReference vr[], size_t nvr, fm
FMI_ASSERT(modelInstance != NULL);
for (size_t i=0; i<nvr; ++i) {
try {
if (inverted_map.find(vr[i]) == inverted_map.end()) {
cout<< "fmi2GetInteger: Value Reference " << vr[i] << " not found!" << "\n";
return fmi2Error;
}
cout<<"fmi2GetInteger:";
value[i] = int_variables[inverted_map[vr[i]]];
cout<< "(Variable Reference: "<<vr[i]<<", Name: "<< inverted_map[vr[i]]<<", Value: "<<value[i]<<")\n";
......@@ -294,6 +304,13 @@ fmi2Status fmi2GetBoolean(void* c, const fmi2ValueReference vr[], size_t nvr, fm
//bool val;
//modelInstance->getBool(vr[i], val);
//value[i] = val;
if (inverted_map.find(vr[i]) == inverted_map.end()) {
cout<< "fmi2GetBoolean: Value Reference " << vr[i] << " not found!" << "\n";
return fmi2Error;
}
cout<<"fmi2GetBoolean:";
value[i] = boolean_variables[inverted_map[vr[i]]];
cout<< "(Variable Reference: "<<vr[i]<<", Name: "<< inverted_map[vr[i]]<<", Value: "<<value[i]<<")\n";
......@@ -316,8 +333,14 @@ fmi2Status fmi2GetString(void* c, const fmi2ValueReference vr[], size_t nvr, fmi
for (size_t i=0; i<nvr; ++i) {
try {
if (inverted_map.find(vr[i]) == inverted_map.end()) {
cout<< "fmi2GetString: Value Reference " << vr[i] << " not found!" << "\n";
return fmi2Error;
}
cout<<"fmi2GetString:";
value[i] = string_variables[inverted_map[vr[i]]].c_str();
value[i] = string_variables[inverted_map[vr[i]]].c_str(); //must copy the string
cout<< "(Variable Reference: "<<vr[i]<<", Name: "<< inverted_map[vr[i]]<<", Value: "<<value[i]<<")\n";
//modelInstance->getString(vr[i], value[i]);
}
......@@ -338,7 +361,7 @@ fmi2Status fmi2SetReal (void* c, const fmi2ValueReference vr[], size_t nvr, cons
for (size_t i=0; i<nvr; ++i) {
try {
if (inverted_map.find(vr[i]) == inverted_map.end()) {
cout<< "fmi2SetReal: Value Reference " << vr[i] << " not found!" << "\n";
return fmi2Error;
}
......@@ -425,6 +448,7 @@ fmi2Status fmi2SetString(void* c, const fmi2ValueReference vr[], size_t nvr, con
return fmi2Error;
}
//strcpy(string_variables[inverted_map[vr[i]]],value[i]);
string_variables[inverted_map[vr[i]]] = value[i];
cout<< "fmi2SetString: (Value Reference " << vr[i] << ", Name: " << inverted_map[vr[i]] << " Value: " <<string_variables[inverted_map[vr[i]]] << ")\n";
//modelInstance->setString(vr[i], value[i]);
......@@ -872,4 +896,4 @@ fmi2Status fmi2GetStringStatus(void* c, const fmi2StatusKind s, fmi2String* valu
FMI_ASSERT(!modelInstance->m_modelExchange);
modelInstance->logger(fmi2OK, "logAll", "fmi2GetStringStatus: get string status.");
return fmi2OK;
}
\ No newline at end of file
}
SpeedControlModule @ 9f8df28e
Subproject commit 9f8df28e169a9d42338842bf284a4d376c22615d
examples/sync_lec/compile_run_bip.sh
View file @ 0580cb88
......@@ -47,7 +47,7 @@ cd output/build
pwd
#curl -L https://gist.github.com/tasosxak/5aca0a0208d1dee9d732513f17570d7a/raw > ../Deploy/Deploy.cpp
#sed '$ s/.$//' ../Deploy/Deploy.cpp
cp /home/siemens/bip/vars.hpp ../learn/include
#cp /home/siemens/bip/vars.hpp ../learn/include
echo "=========================================="
echo "============== CMAKE ====================="
echo "=========================================="
......
examples/sync_lec/output/CMakeLists.txt 0 → 100644
View file @ 0580cb88
cmake_minimum_required(VERSION 2.8)
# 2.8.3 has "CMAKE_CURRENT_LIST_DIR" variable. We have 2.8.2 deployed,
# so using "CMAKE_SOURCE_DIR" instead.
set(GEN_ROOT ${CMAKE_SOURCE_DIR})
# Select flags.
SET(CMAKE_CXX_FLAGS "-Wall -std=c++0x ")
SET(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g -std=c++0x ")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -std=c++0x ")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -std=c++0x ")
SET(CMAKE_EXE_LINKER_FLAGS "")
SET(CMAKE_CXX_FLAGS_PROFILING "-O0 -g -pg")
SET(CMAKE_EXE_LINKER_FLAGS_PROFILING "-pg ")
# if none provided elsewhere, defaults to
# values from environment variables
IF(NOT BIP2_ENGINE_GENERIC_DIR)
SET(BIP2_ENGINE_GENERIC_DIR $ENV{BIP2_ENGINE_GENERIC_DIR})
ENDIF()
IF(NOT BIP2_ENGINE_SPECIFIC_DIR)
SET(BIP2_ENGINE_SPECIFIC_DIR $ENV{BIP2_ENGINE_SPECIFIC_DIR})
ENDIF()
IF(NOT BIP2_ENGINE_LIB_DIR)
SET(BIP2_ENGINE_LIB_DIR $ENV{BIP2_ENGINE_LIB_DIR})
ENDIF()
include_directories(${BIP2_ENGINE_GENERIC_DIR})
include_directories(${BIP2_ENGINE_SPECIFIC_DIR})
# user include dir
include_directories(/home/siemens/bip/examples/sync_lec/ext-cpp)
# For package learn
include_directories(${GEN_ROOT}/learn/include)
add_subdirectory(${GEN_ROOT}/learn)
set(CUSTOM_LIB_DIRS )
# Following only for building from instances.
find_library(libengine_path engine ${BIP2_ENGINE_LIB_DIR} ${CUSTOM_LIB_DIRS})
# user lib
find_library(RT_path rt PATHS ${CUSTOM_LIB_DIRS})
set(USER_EXTRA_SRC)
set(USR_EXTRA_OBJ)
add_executable(system
${GEN_ROOT}/Deploy/Deploy.cpp
${USER_EXTRA_SRC}
${USER_EXTRA_OBJ})
target_link_libraries(system
pack__learn ${libengine_path}
${RT_path}
)
examples/sync_lec/output/Deploy/Deploy.cpp 0 → 100644
View file @ 0580cb88
#include "Deploy.hpp"
#include <fmi2Functions.h>
#include <fmi2FunctionTypes.h>
#include <Variables.hpp>
int main(int argc, char **argv) {
int ret = EXIT_SUCCESS;
// deploy the system corresponding to the root component
//Component &component = *deploy(argc, argv);
// create an engine launcher
//Launcher launcher(argc, argv, component);
void * c = fmi2Instantiate("prModel", fmi2CoSimulation , "prModel", "resource/location", NULL, true, true);
inverted_map[100] = "ROOT.environment._id__inputIndex";
inverted_map[101] = "ROOT.environment._id__time";
inverted_map[102] = "ROOT.camera._id__inputIndex";
inverted_map[103] = "ROOT.perception._id__inputIndex";
inverted_map[104] = "ROOT.perception._id__result";
inverted_map[105] = "ROOT.controller._id__speed";
inverted_map[106] = "ROOT.controller._id__speedLimit";
inverted_map[107] = "ROOT.controller._id__deltaSpeed";
inverted_map[108] = "ROOT.controller._id__zero";
inverted_map[109] = "ROOT.brake._id__deltaSpeed";
inverted_map[110] = "ROOT.throttle._id__deltaSpeed";
inverted_map[111] = "ROOT.speedSensor._id__speed";
inverted_map[112] = "ROOT.speedSensor._id__deltaSpeed";
const unsigned int vr[] = {100,101,102,103,104,105,106,107,108,109,110,111,112};
const int values[] = {1,10,0,0,0,0,0,0,0,0,0,100,0};
fmi2SetInteger(c, vr, 13, values);
fmi2Integer values2[] = {0,0,0,0,0,0,0,0,0,0,0,0,0};
// initialize the launcher (components, etc.)
//ret = launcher.initialize();
fmi2EnterInitializationMode(c);
int i=0;
while(i<70){
i++;
fmi2GetInteger(c, vr, 13, values2);
fmi2DoStep(c, 0.5,0.6, true);}
// run the engine
/*if (ret == EXIT_SUCCESS) {
//ret = launcher.launch();
while(1){
fmi2DoStep(c, 0.5,0.6, true);
}
}*/
return ret;
}
Component* deploy(int argc __attribute__((unused)), char **argv __attribute__((unused))){
// Top is Comp__ROOT
staticallocated::port__ROOT__environment__sendInput.addInternalPort(staticallocated::iport__ROOT__environment__sendInput);
staticallocated::port__ROOT__environment__getInput.addInternalPort(staticallocated::iport__ROOT__environment__getInput);
staticallocated::port__ROOT__environment__getInputInitial.addInternalPort(staticallocated::iport__ROOT__environment__getInputInitial);
staticallocated::port__ROOT__environment__noInput.addInternalPort(staticallocated::iport__ROOT__environment__noInput);
// Runtime init for Atom: Comp__ROOT__environment
// staticallocated::Comp__ROOT__environment
staticallocated::port__ROOT__camera__capture.addInternalPort(staticallocated::iport__ROOT__camera__capture);
staticallocated::port__ROOT__camera__sendInput.addInternalPort(staticallocated::iport__ROOT__camera__sendInput);
// Runtime init for Atom: Comp__ROOT__camera
// staticallocated::Comp__ROOT__camera
staticallocated::port__ROOT__perception__getInput.addInternalPort(staticallocated::iport__ROOT__perception__getInput);
staticallocated::port__ROOT__perception__sendResult.addInternalPort(staticallocated::iport__ROOT__perception__sendResult);
staticallocated::port__ROOT__perception__inference.addInternalPort(staticallocated::iport__ROOT__perception__inference);
// Runtime init for Atom: Comp__ROOT__perception
// staticallocated::Comp__ROOT__perception
staticallocated::port__ROOT__controller__getSpeedLimit.addInternalPort(staticallocated::iport__ROOT__controller__getSpeedLimit);
staticallocated::port__ROOT__controller__getSpeed.addInternalPort(staticallocated::iport__ROOT__controller__getSpeed);
staticallocated::port__ROOT__controller__brake.addInternalPort(staticallocated::iport__ROOT__controller__brake);
staticallocated::port__ROOT__controller__throttle.addInternalPort(staticallocated::iport__ROOT__controller__throttle);
staticallocated::port__ROOT__controller__noSpeedChange.addInternalPort(staticallocated::iport__ROOT__controller__noSpeedChange);
// Runtime init for Atom: Comp__ROOT__controller
// staticallocated::Comp__ROOT__controller
staticallocated::port__ROOT__brake__brake.addInternalPort(staticallocated::iport__ROOT__brake__brake);
staticallocated::port__ROOT__brake__changeSpeed.addInternalPort(staticallocated::iport__ROOT__brake__changeSpeed);
// Runtime init for Atom: Comp__ROOT__brake
// staticallocated::Comp__ROOT__brake
staticallocated::port__ROOT__throttle__throttle.addInternalPort(staticallocated::iport__ROOT__throttle__throttle);
staticallocated::port__ROOT__throttle__changeSpeed.addInternalPort(staticallocated::iport__ROOT__throttle__changeSpeed);
// Runtime init for Atom: Comp__ROOT__throttle
// staticallocated::Comp__ROOT__throttle
staticallocated::port__ROOT__speedSensor__getSpeed.addInternalPort(staticallocated::iport__ROOT__speedSensor__getSpeed);
staticallocated::port__ROOT__speedSensor__changeSpeed.addInternalPort(staticallocated::iport__ROOT__speedSensor__changeSpeed);
// Runtime init for Atom: Comp__ROOT__speedSensor
// staticallocated::Comp__ROOT__speedSensor
// Runtime init for Compound: Comp__ROOT
// staticallocated::Comp__ROOT
// Finished: Comp__ROOT
return &(staticallocated::Comp__ROOT);
}
bool isSerializeEnabled() {
return false;
}
void serialize(char **cbuf __attribute__((unused)), size_t *clen __attribute__((unused))){
assert(false);
}
void deserialize(const char *buf __attribute__((unused)), size_t len __attribute__((unused))){
assert(false);
}
examples/sync_lec/output/Deploy/Deploy.hpp 0 → 100644
View file @ 0580cb88
This diff is collapsed.
examples/sync_lec/output/Deploy/DeployTypes.hpp 0 → 100644
View file @ 0580cb88
// All Types used in deployed system
#include <learn/CT__learn__Compound.hpp>
#include <learn/AT__learn__Environment.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__silent.hpp>
#include <learn/AtomIPort__learn__silent.hpp>
#include <learn/AtomIPort__learn__silent.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__silent.hpp>
#include <learn/AtomEPort__learn__silent.hpp>
#include <learn/AtomEPort__learn__silent.hpp>
#include <learn/AT__learn__Camera.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AT__learn__Perception.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__silent.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__silent.hpp>
#include <learn/AT__learn__Controller.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AT__learn__Brake.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AT__learn__Throttle.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AT__learn__SpeedSensor.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomIPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/AtomEPort__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/ConnT__learn__intConnector.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__rendezVous.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__rendezVous.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__intPort.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__rendezVous.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__singleton.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__singleton.hpp>
#include <learn/QPR__learn__silent.hpp>
#include <learn/ConnT__learn__singleton.hpp>
examples/sync_lec/output/build/CMakeCache.txt 0 → 100644
View file @ 0580cb88
This diff is collapsed.
examples/sync_lec/output/build/CMakeFiles/3.16.3/CMakeCCompiler.cmake 0 → 100644
View file @ 0580cb88
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