bip examples + master example + scripts

Compiler/Frontend/ujf.verimag.bip.userinterface.cli/src/main/java/ujf/verimag/bip/userinterface/cli/Version.java

@@ -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 = "2022.02.114844-DEV"; 
+ public static final String VERSION = "2022.02.105337-DEV"; 
 } 

examples/bip_example/modelDescription.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<fmiModelDescription fmiVersion="2.0" modelName="bip_example" guid="123456789" description="LEC" generationTool="Manually" generationDateAndTime="2022-02-24T12:43:32Z">
+<CoSimulation modelIdentifier="bip_example" needsExecutionTool="true" canBeInstantiatedOnlyOncePerProcess="true" canNotUseMemoryManagementFunctions="true" canGetAndSetFMUstate="false" canSerializeFMUstate="false" providesDirectionalDerivative="false" canHandleVariableCommunicationStepSize="true" canInterpolateInputs="false" maxOutputDerivativeOrder="0" canRunAsynchronuously="false"/>
+<UnitDefinitions>
+  <Unit name="s"/>
+</UnitDefinitions>
+<ModelVariables>
+  <ScalarVariable name="ROOT.environment._id__inputIndex" valueReference="100" description="input index" causality="local" initial="exact" variability="discrete">
+    <Integer start="1"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="1"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.environment._id__time" valueReference="101" description="timer" causality="output" variability="discrete" initial="exact">
+    <Integer min="0" max="10" start="10"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="2"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.camera._id__inputIndex" valueReference="102" description="Current index frame for camera" causality="local" variability="continuous">
+    <Integer min="0" max="10"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="3"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.perception._id__inputIndex" valueReference="103" description="Current index frame for perception" causality="local" variability="discrete">
+    <Integer min="0" max="10"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="4"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.perception._id__result" valueReference="104" description="Detection result" causality="output" variability="discrete">
+    <Integer />
+    <Annotations><Tool name="Amesim"><VarAnnot index="5"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.controller._id__speed" valueReference="105" description="Vehicle speed" causality="local" variability="discrete" initial="exact">
+    <Integer min="0" max="270" start="70"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="6"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.controller._id__speedLimit" valueReference="106" description="Speed limit" causality="local" variability="discrete">
+    <Integer min="0" max="120"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="7"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.controller._id__deltaSpeed" valueReference="107" description="Delta speed" causality="local" variability="discrete" initial="exact">
+    <Integer start="0"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="8"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.controller._id__zero" valueReference="108" description="Zero" causality="parameter" variability="fixed" initial="exact">
+    <Integer start="0"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="9"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.brake._id__deltaSpeed" valueReference="109" description="Delta speed" causality="local" variability="discrete" initial="exact">
+    <Integer start="0"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="10"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.throttle._id__deltaSpeed" valueReference="110" description="Delta speed" causality="local" variability="discrete" initial="exact">
+    <Integer start="0"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="11"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.speedSensor._id__speed" valueReference="111" description="Vehicle speed" causality="local" variability="discrete">
+    <Integer min="0" max="120"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="12"/></Tool></Annotations>
+  </ScalarVariable>
+  <ScalarVariable name="ROOT.speedSensor._id__deltaSpeed" valueReference="112" description="Delta speed" causality="local" variability="discrete" initial="exact">
+    <Integer start="0"/>
+    <Annotations><Tool name="Amesim"><VarAnnot index="13"/></Tool></Annotations>
+  </ScalarVariable>
+</ModelVariables>
+<ModelStructure>
+  <Outputs>
+    <Unknown index="2" dependencies=""/>
+    <Unknown index="5" dependencies=""/>
+  </Outputs>
+  <InitialUnknowns>
+    <Unknown index="5" dependencies=""/>
+  </InitialUnknowns>
+</ModelStructure>
+</fmiModelDescription>

examples/master_example/create_master.sh

+# for SPEEDCONTROLMODULE example
+cp $1/libProject.so .
+cp -r $1/Signs .
+cp -r $1/ext-cpp .
+g++ src/DEPLOY_TEMPLATE.cpp -I includes -LProject -ldl -o master -Wl,--export-dynamic
+./master

examples/master_example/ext-cpp/Inference.py

+import os
+import sys
+import cv2
+import numpy as np
+import onnxruntime
+#import pyautogui
+CLASSES = [100, 120, 20, 30, 40, 15, 50, 60, 70, 80]
+def preprocess(img, input_size, swap=(2, 0, 1)):
+    if len(img.shape) == 3:
+        padded_img = np.ones((input_size[0], input_size[1], 3), dtype=np.uint8) * 114
+    else:
+        padded_img = np.ones(input_size, dtype=np.uint8) * 114
+
+    r = min(input_size[0] / img.shape[0], input_size[1] / img.shape[1])
+    resized_img = cv2.resize(
+        img,
+        (int(img.shape[1] * r), int(img.shape[0] * r)),
+        interpolation=cv2.INTER_LINEAR,
+    ).astype(np.uint8)
+    padded_img[: int(img.shape[0] * r), : int(img.shape[1] * r)] = resized_img
+
+    padded_img = padded_img.transpose(swap)
+    padded_img = np.ascontiguousarray(padded_img, dtype=np.float32)
+    return padded_img, r
+
+def nms(boxes, scores, nms_thr):
+    """Single class NMS implemented in Numpy."""
+    x1 = boxes[:, 0]
+    y1 = boxes[:, 1]
+    x2 = boxes[:, 2]
+    y2 = boxes[:, 3]
+
+    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
+    order = scores.argsort()[::-1]
+
+    keep = []
+    while order.size > 0:
+        i = order[0]
+        keep.append(i)
+        xx1 = np.maximum(x1[i], x1[order[1:]])
+        yy1 = np.maximum(y1[i], y1[order[1:]])
+        xx2 = np.minimum(x2[i], x2[order[1:]])
+        yy2 = np.minimum(y2[i], y2[order[1:]])
+
+        w = np.maximum(0.0, xx2 - xx1 + 1)
+        h = np.maximum(0.0, yy2 - yy1 + 1)
+        inter = w * h
+        ovr = inter / (areas[i] + areas[order[1:]] - inter)
+
+        inds = np.where(ovr <= nms_thr)[0]
+        order = order[inds + 1]
+
+    return keep
+
+def multiclass_nms(boxes, scores, nms_thr, score_thr, class_agnostic=True):
+    """Multiclass NMS implemented in Numpy"""
+    if class_agnostic:
+        nms_method = multiclass_nms_class_agnostic
+    else:
+        nms_method = multiclass_nms_class_aware
+    return nms_method(boxes, scores, nms_thr, score_thr)
+
+
+def multiclass_nms_class_aware(boxes, scores, nms_thr, score_thr):
+    """Multiclass NMS implemented in Numpy. Class-aware version."""
+    final_dets = []
+    num_classes = scores.shape[1]
+    for cls_ind in range(num_classes):
+        cls_scores = scores[:, cls_ind]
+        valid_score_mask = cls_scores > score_thr
+        if valid_score_mask.sum() == 0:
+            continue
+        else:
+            valid_scores = cls_scores[valid_score_mask]
+            valid_boxes = boxes[valid_score_mask]
+            keep = nms(valid_boxes, valid_scores, nms_thr)
+            if len(keep) > 0:
+                cls_inds = np.ones((len(keep), 1)) * cls_ind
+                dets = np.concatenate(
+                    [valid_boxes[keep], valid_scores[keep, None], cls_inds], 1
+                )
+                final_dets.append(dets)
+    if len(final_dets) == 0:
+        return None
+    return np.concatenate(final_dets, 0)
+
+
+def multiclass_nms_class_agnostic(boxes, scores, nms_thr, score_thr):
+    """Multiclass NMS implemented in Numpy. Class-agnostic version."""
+    cls_inds = scores.argmax(1)
+    cls_scores = scores[np.arange(len(cls_inds)), cls_inds]
+
+    valid_score_mask = cls_scores > score_thr
+    if valid_score_mask.sum() == 0:
+        return None
+    valid_scores = cls_scores[valid_score_mask]
+    valid_boxes = boxes[valid_score_mask]
+    valid_cls_inds = cls_inds[valid_score_mask]
+    keep = nms(valid_boxes, valid_scores, nms_thr)
+    if keep:
+        dets = np.concatenate(
+            [valid_boxes[keep], valid_scores[keep, None], valid_cls_inds[keep, None]], 1
+        )
+    return dets
+    
+def demo_postprocess(outputs, img_size, p6=False):
+
+    grids = []
+    expanded_strides = []
+
+    if not p6:
+        strides = [8, 16, 32]
+    else:
+        strides = [8, 16, 32, 64]
+
+    hsizes = [img_size[0] // stride for stride in strides]
+    wsizes = [img_size[1] // stride for stride in strides]
+
+    for hsize, wsize, stride in zip(hsizes, wsizes, strides):
+        xv, yv = np.meshgrid(np.arange(wsize), np.arange(hsize))
+        grid = np.stack((xv, yv), 2).reshape(1, -1, 2)
+        grids.append(grid)
+        shape = grid.shape[:2]
+        expanded_strides.append(np.full((*shape, 1), stride))
+
+    grids = np.concatenate(grids, 1)
+    expanded_strides = np.concatenate(expanded_strides, 1)
+    outputs[..., :2] = (outputs[..., :2] + grids) * expanded_strides
+    outputs[..., 2:4] = np.exp(outputs[..., 2:4]) * expanded_strides
+
+    return outputs
+
+#img = pyautogui.screenshot(region = [1, 66, 800, 700])
+#origin_img = cv2.cvtColor(np.array(img), cv2.COLOR_BGR2RGB)
+
+origin_img = cv2.imread(sys.argv[2])
+
+img, ratio = preprocess(origin_img, [640, 640])
+
+session = onnxruntime.InferenceSession(sys.argv[1])
+
+ort_inputs = {session.get_inputs()[0].name: img[None, :, :, :]}
+output = session.run(None, ort_inputs)
+predictions = demo_postprocess(output[0], [640, 640])[0]
+
+boxes = predictions[:, :4]
+scores = predictions[:, 4:5] * predictions[:, 5:]
+
+boxes_xyxy = np.ones_like(boxes)
+boxes_xyxy[:, 0] = boxes[:, 0] - boxes[:, 2]/2.
+boxes_xyxy[:, 1] = boxes[:, 1] - boxes[:, 3]/2.
+boxes_xyxy[:, 2] = boxes[:, 0] + boxes[:, 2]/2.
+boxes_xyxy[:, 3] = boxes[:, 1] + boxes[:, 3]/2.
+boxes_xyxy /= ratio
+dets = multiclass_nms(boxes_xyxy, scores, nms_thr=0.45, score_thr=0.1)
+if dets is not None:
+    final_boxes, final_scores, final_cls_inds = dets[:, :4], dets[:, 4], dets[:, 5]
+    cls_ind = int(final_cls_inds[0])
+    score = final_scores[0]
+    if score > 0.9:
+      print(CLASSES[cls_ind])

examples/master_example/ext-cpp/utilities.cpp

+#include"utilities.hpp"
+
+int const_getFileNum()
+{
+    FILE* crs = popen(GET_FILE_NUM_CMD, "r"); // execute the shell command 
+
+    char result[4] = "0";
+
+    fread(result, sizeof(char), sizeof(result), crs);
+
+    if (NULL != crs)
+    {
+        fclose(crs);
+        crs = NULL;
+    }
+
+    int num = atoi(result);
+    return num;
+}
+
+
+int deepLearn(int i){
+	char buffer [50];
+	sprintf (buffer, "%d.png", i);
+	stringstream tmp;
+	tmp<<"python3 ./ext-cpp/Inference.py ./ext-cpp/yolox_s.onnx Signs/"<<i<<".png > system.txt";
+	//tmp<<"python ./ext-cpp/Inference.py ./ext-cpp/yolox_s.onnx > system.txt";
+	string execCmd = tmp.str();
+	int a = system(execCmd.c_str());
+	FILE *fp;
+	int buff;
+
+	fp = fopen("system.txt", "r");
+	int result = fscanf(fp, "%d", &buff);
+	fclose(fp);
+
+	if(result == EOF)
+		return -1;
+
+	return buff;
+
+}
+
+
+
+

examples/master_example/ext-cpp/utilities.hpp

+#ifndef _Utilities
+#define _Utilities
+
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <math.h>
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+#include <sys/time.h>
+#include <limits> 
+#include <fstream>
+#include <cstring>
+#include <unistd.h>
+
+#define GET_FILE_NUM_CMD "ls Signs/*.png | wc -l"
+using namespace std;
+
+int const_getFileNum();
+int deepLearn(int i);
+int get_directory();
+#endif

examples/master_example/includes/FMI_template.h

+/*
+FMI Interface for FMU generated by FMICodeGenerator.
+This file is part of FMICodeGenerator (https://github.com/ghorwin/FMICodeGenerator)
+BSD 3-Clause License
+Copyright (c) 2018, Andreas Nicolai
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef FMI_templateH
+#define FMI_templateH
+
+#include <InstanceData.h>
+
+/*! This class wraps all data needed for a single instance of the FMU. */
+class FMI_template : public InstanceData {
+public:
+	/*! Initializes empty instance. */
+	FMI_template();
+
+	/*! Destructor, writes out cached results from Therakles. */
+	~FMI_template();
+
+	/*! Initializes model */
+	void init();
+
+	/*! This function triggers a state-update of the embedded model whenever our cached input
+		data differs from the input data in the model.
+	*/
+	void updateIfModified();
+
+	/*! Called from fmi2DoStep(). */
+	virtual void integrateTo(double tCommunicationIntervalEnd);
+
+	virtual void doStep();
+
+	// Functions for getting/setting the state
+
+	/*! This function computes the size needed for full serizalization of
+		the FMU and stores the size in m_fmuStateSize.
+		\note The size includes the leading 8byte for the 64bit integer size
+		of the memory array (for testing purposes).
+	*/
+	virtual void computeFMUStateSize();
+
+	/*! Copies the internal state of the FMU to the memory array pointed to by FMUstate.
+		Memory array always has size m_fmuStateSize.
+	*/
+	virtual void serializeFMUstate(void * FMUstate);
+
+	/*! Copies the content of the memory array pointed to by FMUstate to the internal state of the FMU.
+		Memory array always has size m_fmuStateSize.
+	*/
+	virtual bool deserializeFMUstate(void * FMUstate);
+
+	/*! Cached current time point of the FMU, defines starting point for time integration in co-simulation mode. */
+	double m_currentTimePoint;
+}; // class FMI_template
+
+#endif // FMI_templateH
\ No newline at end of file

examples/master_example/includes/InstanceData.h

+/*
+Generic FMI Interface Implementation
+This file is part of FMICodeGenerator (https://github.com/ghorwin/FMICodeGenerator)
+BSD 3-Clause License
+Copyright (c) 2018, Andreas Nicolai
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef InstanceDataH
+#define InstanceDataH
+
+#include <vector>
+#include <map>
+#include <set>
+#include <string>
+#include "fmi2FunctionTypes.h"
+#include "Launcher.hpp"
+
+/*! This class wraps data needed for FMUs and implements common functionality.
+	In order to use this in your own InstanceData structure, you must inherit this
+	file and implement the following functions:
+	\code
+	class MyFMIClass : public InstanceDataCommon {
+	public:
+		// Initializes InstanceData
+		void init();
+		// Re-implement if you want ModelExchange support
+		virtual void updateIfModified();
+		// Re-implement if you want CoSim support
+		virtual void integrateTo(double tCommunicationIntervalEnd);
+	};
+	\endcode
+	Also, you must define the constant with some GUID and implement the static function create().
+	\code
+	const char * const InstanceData::GUID = "{471a3b52-4923-44d8-ab4a-fcdb813c7322}";
+	InstanceData * InstanceData::create() {
+		return new MyFMIClass;
+	}
+	\endcode
+	in your MyFMIClass.cpp file.
+*/
+class InstanceData {
+public:
+	/*! Global unique ID that identifies this FMU.
+		Must match the GUID in the ModelDescription file.
+		\note This GUID is model-specific, so you must define this static symbol
+			  in the cpp file of your derived class.
+	*/
+	static const char * const GUID;
+	/*! Factory function, needs to be implemented in user code.
+		\note Only the model-specific implementation knows the concrete type of the class
+			derived from abstract InterfaceData class, and so this function must be
+			implemented in the model-specific code.
+	*/
+	static InstanceData * create();
+
+
+	/*! Initializes empty instance.
+		\note You must initialize all input and output variables here, since input
+			variable can be set and output variables can be requested, even before
+			entering initialization mode (i.e. before a call to init()).
+	*/
+	InstanceData();
+
+	/*! Destructor, resource cleanup. */
+	virtual ~InstanceData();
+
+	/*! Re-implement this function in derived classes to perform initialization
+		of the model during the initialization phase.
+	*/
+	virtual void init() {}
+
+	/*! This function triggers a state-update of the embedded model whenever our cached input
+		data differs from the input data in the model.
+		Re-implement in models that support model exchange.
+		\note You should check the state of m_externalInputVarsModified and only
+			update the results of this flag is true. Afterwards set this flag to false.
+	*/
+	virtual void updateIfModified() {}
+
+	/*! Called from fmi2DoStep().
+		Re-implement in models that support co-simulation.
+	*/
+	virtual void integrateTo(double tCommunicationIntervalEnd) { (void)tCommunicationIntervalEnd; }
+
+
+	virtual void doStep() {}
+
+	/*! Send a logging message to FMU environment if logger is present.*/
+	void logger(fmi2Status state, fmi2String category, fmi2String msg);
+
+	/*! Send a logging message to FMU environment if logger is present.
+		This function copies the error message (which may be a temporary string object) into the
+		persistent member variable m_lastError and passes a pointer to this string through the
+		logger function.
+	*/
+	void logger(fmi2Status state, fmi2String category, const std::string & msg) {
+		m_lastError = msg;
+		logger(state, category, m_lastError.c_str());
+	}
+
+	/*! Sets a new input parameter of type double. */
+	void setReal(int varID, double value);
+
+	/*! Sets a new input parameter of type int. */
+	void setInt(int varID, int value);
+
+	/*! Sets a new input parameter of type string. */
+	void setString(int varID, fmi2String value);
+
+	/*! Sets a new input parameter of type bool. */
+	void setBool(int varID, bool value);
+
+	/*! Retrieves an output parameter of type double. */
+	void getReal(int varID, double & value);
+
+	/*! Retrieves an output parameter of type int. */
+	void getInt(int varID, int & value);
+
+	/*! Retrieves an output parameter of type string. */
+	void getString(int varID, fmi2String & value);
+
+	/*! Retrieves an output parameter of type bool. */
+	void getBool(int varID, bool & value);
+
+	/*! Called from fmi2CompletedIntegratorStep(): only ModelExchange. */
+	void completedIntegratorStep();
+
+	/*! Called from completedIntegratorStep(): only ModelExchange.
+		Re-implement with your own code.
+	*/
+	virtual void completedIntegratorStep(double t_stepEnd, double * yInput) { (void)t_stepEnd; (void)yInput; }
+
+	/*! Re-implement for getFMUState()/setFMUState() support.
+		This function computes the size needed for full serizalization of
+		the FMU and stores the size in m_fmuStateSize.
+		\note The size includes the leading 8byte for the 64bit integer size
+		of the memory array (for testing purposes).
+		If serialization is not supported, the function will set an fmu size of 0.
+	*/
+	virtual void computeFMUStateSize() { m_fmuStateSize = 0; } // default implementation sets zero size = no serialization
+
+	/*! Re-implement for getFMUState() support.
+		Copies the internal state of the FMU to the memory array pointed to by FMUstate.
+		Memory array always has size m_fmuStateSize.
+	*/
+	virtual void serializeFMUstate(void * FMUstate) { (void)FMUstate; }
+
+	/*! Re-implement for setFMUState() support.
+		Copies the content of the memory array pointed to by FMUstate to the internal state of the FMU.
+		Memory array always has size m_fmuStateSize.
+		\return Returns false if checks during deserialization fail.
+	*/
+	virtual bool deserializeFMUstate(void * FMUstate) { (void)FMUstate; return true; }
+
+	/*! Called from either doStep() or terminate() in CoSimulation mode whenever
+		a communication interval has been completed and all related buffers can be cleared/output files can be
+		written.
+	*/
+	virtual void clearBuffers() {}
+
+	Launcher* 						m_launcher;
+	/*! Stores the FMU callback functions for later use.
+		It is usable between fmi2Instantiate and fmi2Terminate.*/
+	const fmi2CallbackFunctions*	m_callbackFunctions;
+
+	/*! True if in initialization mode. */
+	bool							m_initializationMode;
+
+	/*! Name of the instance inside the FMU environment.*/
+	std::string						m_instanceName;
+
+	/*! Resource root path as set via fmi2Instantiate(). */
+	std::string						m_resourceLocation;
+
+	/*! Logging enabled flag as set via fmi2Instantiate(). */
+	bool							m_loggingOn;
+
+	/*! Logging categories supported by the master. */
+	std::vector<std::string>		m_loggingCategories;
+
+	/*! If true, this is a ModelExchange FMU. */
+	bool							m_modelExchange;
+
+	std::map<int,int>				m_boolVar;
+	std::map<int,double>			m_realVar;
+	std::map<int,int>				m_integerVar;
+	std::map<int,std::string>		m_stringVar;
+
+	/*! Time point in [s] received by last call to fmi2SetTime(). */
+	double							m_tInput;
+
+	/*! Model state vector as received by last call to fmi2SetContinuousStates(). */
+	std::vector<double>				m_yInput;
+
+	/*! Model derivatives vector as updated by last call to updateIfModified(). */
+	std::vector<double>				m_ydot;
+
+	/*! Signals that one of the real parameter inputs have been changed.
+		This flag is reset whenever updateIfModified() has been called.
+		The flag is set in any of the setXXXParameter() functions.
+	*/
+	bool							m_externalInputVarsModified;
+
+	/*! Holds the size of the FMU when serialized in memory.
+		This value does not change after full initialization of the solver so it can be cached.
+		Initially it will be zero so functions can check if initialization is properly done.
+	*/
+	size_t							m_fmuStateSize;
+	/*! Holds pointers to all currently stored FMU states.
+		Pointers get added in function fmi2GetFMUstate(), and removed in fmi2FreeFMUstate().
+		Unreleased memory gets deallocated in destructor.
+	*/
+	std::set<void*>					m_fmuStates;
+
+	/*! Persistent string pointing to last error message.
+		\warning DO not change/resize string manually, only through logger() function.
+	*/
+	std::string						m_lastError;
+
+}; // class InstanceData
+
+#endif // InstanceDataH
\ No newline at end of file

examples/master_example/includes/Variables.hpp

+#include <iostream>
+#include <string>
+#include <map>
+ 
+using namespace std;
+
+extern map<string,int> int_variables;
+extern map<string,double> real_variables;
+extern map<string,int> boolean_variables;
+extern map<string,string> string_variables;
+extern map<int,string> inverted_map;
+
+//extern map<string,double> variables;
+//extern map<string,string> variables;
\ No newline at end of file

examples/master_example/includes/fmi2TypesPlatform.h

+#ifndef fmi2TypesPlatform_h
+#define fmi2TypesPlatform_h
+
+/* Standard header file to define the argument types of the
+   functions of the Functional Mock-up Interface 2.0.3
+   This header file must be utilized both by the model and
+   by the simulation engine.
+
+   Revisions:
+   - Sep. 29, 2019:  License changed to 2-clause BSD License (without extensions)
+   - Apr.  9, 2014:  All prefixes "fmi" renamed to "fmi2" (decision from April 8)
+   - Mar   31, 2014: New datatype fmiChar introduced.
+   - Feb.  17, 2013: Changed fmiTypesPlatform from "standard32" to "default".
+                     Removed fmiUndefinedValueReference since no longer needed
+                     (because every state is defined in ScalarVariables).
+   - March 20, 2012: Renamed from fmiPlatformTypes.h to fmiTypesPlatform.h
+   - Nov.  14, 2011: Use the header file "fmiPlatformTypes.h" for FMI 2.0
+                     both for "FMI for model exchange" and for "FMI for co-simulation"
+                     New types "fmiComponentEnvironment", "fmiState", and "fmiByte".
+                     The implementation of "fmiBoolean" is change from "char" to "int".
+                     The #define "fmiPlatform" changed to "fmiTypesPlatform"
+                     (in order that #define and function call are consistent)
+   - Oct.   4, 2010: Renamed header file from "fmiModelTypes.h" to fmiPlatformTypes.h"
+                     for the co-simulation interface
+   - Jan.   4, 2010: Renamed meModelTypes_h to fmiModelTypes_h (by Mauss, QTronic)
+   - Dec.  21, 2009: Changed "me" to "fmi" and "meModel" to "fmiComponent"
+                     according to meeting on Dec. 18 (by Martin Otter, DLR)
+   - Dec.   6, 2009: Added meUndefinedValueReference (by Martin Otter, DLR)
+   - Sept.  9, 2009: Changes according to FMI-meeting on July 21:
+                     Changed "version" to "platform", "standard" to "standard32",
+                     Added a precise definition of "standard32" as comment
+                     (by Martin Otter, DLR)
+   - July  19, 2009: Added "me" as prefix to file names, added meTrue/meFalse,
+                     and changed meValueReferenced from int to unsigned int
+                     (by Martin Otter, DLR).
+   - March  2, 2009: Moved enums and function pointer definitions to
+                     ModelFunctions.h (by Martin Otter, DLR).
+   - Dec.  3, 2008 : First version by Martin Otter (DLR) and
+                     Hans Olsson (Dynasim).
+
+
+   Copyright (C) 2008-2011 MODELISAR consortium,
+                 2012-2021 Modelica Association Project "FMI"
+                 All rights reserved.
+
+   This file is licensed by the copyright holders under the 2-Clause BSD License
+   (https://opensource.org/licenses/BSD-2-Clause):
+
+   ----------------------------------------------------------------------------
+   Redistribution and use in source and binary forms, with or without
+   modification, are permitted provided that the following conditions are met:
+
+   - Redistributions of source code must retain the above copyright notice,
+     this list of conditions and the following disclaimer.
+
+   - Redistributions in binary form must reproduce the above copyright notice,
+     this list of conditions and the following disclaimer in the documentation
+     and/or other materials provided with the distribution.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+   TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+   PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+   EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+   PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+   OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+   WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+   OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+   ----------------------------------------------------------------------------
+*/
+
+/* Platform (unique identification of this header file) */
+#define fmi2TypesPlatform "default"
+
+/* Type definitions of variables passed as arguments
+   Version "default" means:
+
+   fmi2Component           : an opaque object pointer
+   fmi2ComponentEnvironment: an opaque object pointer
+   fmi2FMUstate            : an opaque object pointer
+   fmi2ValueReference      : handle to the value of a variable
+   fmi2Real                : double precision floating-point data type
+   fmi2Integer             : basic signed integer data type
+   fmi2Boolean             : basic signed integer data type
+   fmi2Char                : character data type
+   fmi2String              : a pointer to a vector of fmi2Char characters
+                             ('\0' terminated, UTF8 encoded)
+   fmi2Byte                : smallest addressable unit of the machine, typically one byte.
+*/
+   typedef void*           fmi2Component;               /* Pointer to FMU instance       */
+   typedef void*           fmi2ComponentEnvironment;    /* Pointer to FMU environment    */
+   typedef void*           fmi2FMUstate;                /* Pointer to internal FMU state */
+   typedef unsigned int    fmi2ValueReference;
+   typedef double          fmi2Real   ;
+   typedef int             fmi2Integer;
+   typedef int             fmi2Boolean;
+   typedef char            fmi2Char;
+   typedef const fmi2Char* fmi2String;
+   typedef char            fmi2Byte;
+
+/* Values for fmi2Boolean  */
+#define fmi2True  1
+#define fmi2False 0
+
+
+#endif /* fmi2TypesPlatform_h */
+

examples/master_example/src/DEPLOY_TEMPLATE.cpp

+#include <stdio.h>
+#include <stdlib.h>
+#include <dlfcn.h>
+#include <fmi2Functions.h>
+#include <fmi2FunctionTypes.h>
+#include <Variables.hpp>
+
+// global map array that matches each variable of the bip models with their name
+map<string,int> int_variables;
+map<string,double> real_variables;
+map<string,int> boolean_variables;
+map<string,string> string_variables;
+map<int,string> inverted_map;
+
+int main(int argc, char **argv) {
+
+    int ret = EXIT_SUCCESS;
+    int NUM_ITERATION = 50;
+    void *handle;
+  
+    fmi2InstantiateTYPE* (fmi2Instantiate);
+    fmi2EnterInitializationModeTYPE* (fmi2EnterInitializationMode);
+    fmi2ExitInitializationModeTYPE* (fmi2ExitInitializationMode);
+    fmi2SetIntegerTYPE* (fmi2SetInteger);
+    fmi2GetIntegerTYPE* (fmi2GetInteger);
+    fmi2DoStepTYPE* (fmi2DoStep);
+   
+    char *error;
+    handle = dlopen ("./libProject.so", RTLD_LAZY);
+    if (!handle) {
+        fprintf (stderr, "%s\n", dlerror());
+        exit(1);
+    }
+    dlerror();    /* Clear any existing error */
+    
+    fmi2Instantiate = (fmi2InstantiateTYPE*) dlsym(handle, "fmi2Instantiate");
+    fmi2EnterInitializationMode = (fmi2EnterInitializationModeTYPE*) dlsym(handle, "fmi2EnterInitializationMode");
+    fmi2ExitInitializationMode = (fmi2ExitInitializationModeTYPE*) dlsym(handle, "fmi2ExitInitializationMode");
+    fmi2SetInteger = (fmi2SetIntegerTYPE*) dlsym(handle, "fmi2SetInteger");
+    fmi2GetInteger = (fmi2GetIntegerTYPE*) dlsym(handle, "fmi2GetInteger");
+    fmi2DoStep = (fmi2DoStepTYPE*) dlsym(handle, "fmi2DoStep");
+    
+    if ((error = dlerror()) != NULL)  {
+        fprintf (stderr, "%s\n", error);
+        exit(1);
+    }
+    
+    cout<<"CALL fmi2Instantiate...\n";
+    
+    fmi2Component 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};
+    
+    cout<<"CALL fmi2SetInteger...\n";
+    (*fmi2SetInteger)(c, vr, 13, values);
+    
+    fmi2Integer values2[] = {0,0,0,0,0,0,0,0,0,0,0,0,0};
+    
+    cout<<"CALL fmi2EnterInitializationMode...\n";
+    (*fmi2EnterInitializationMode)(c);
+    
+    cout<<"CALL fmi2ExitInitializationMode...\n";
+    //(*fmi2ExitInitializationMode)(c);
+    
+    int i=0;
+    while(i<NUM_ITERATION){
+        i++;
+        cout<<i<<"\n";
+        cout<<"CALL fmi2GetInteger...\n";
+        fmi2GetInteger(c, vr, 13, values2);
+        cout<<"CALL fmi2DoStep...\n";
+        fmi2DoStep(c, 0.5,0.6, true);
+     }
+    
+   dlclose(handle);
+    return ret;
+}

examples/master_example/system.txt

+70

run.sh

@@ -3,15 +3,49 @@
 #    exit 1
 #fi
 
-#cd distribution
-#./single-archive-dist.sh
-#source build/bip-full/setup.sh
-#cd ..
+BIP_PATH=/home/siemens/bip
+
+cd distribution
+./single-archive-dist.sh
+source build/bip-full/setup.sh
+cd ..
 #rm distribution/build/bip-full/bipc-*/bin/bipc.sh
 #cp -R examples/sync_lec/* distribution/build/bip-full/bipc-*/bin/
-#cd distribution/build/bip-full/bipc-*/bin
-source compile_run_bip.sh -c learn Compound
-#cp -R ext-cpp/Signs .
-#cp ext-cpp/limit .
-#cp ext-cpp/model.pt .
-./system
+
+
+###### MODEL CLASSIFICATION EXAMPLE
+echo "Creating shared object of modelClassification example ..."
+cd examples/SpeedControlModule/modelClassification
+echo "Compiling bip example..."
+. compile_run_bip.sh -c learn Compound
+mv output/build/system .
+cd output
+echo "Generating .so file ..."
+g++ -fPIC Deploy/Deploy.cpp learn/src/learn/* ../ext-cpp/utilities.cpp -I learn/include  -I ../ext-cpp/  -I $BIP2_ENGINE_GENERIC_DIR -I $BIP2_ENGINE_SPECIFIC_DIR  -shared -o libProject.so -L $BIP_PATH/distribution/build/bip-full/BIP-reference-engine-*/lib/static -lengine
+mv libProject.so ../
+echo "Created!"
+
+####### IMAGE DETECTION EXAMPLE
+echo "Creating shared object of imageDetection example ..."
+cd ../../modelDetection/imageDetection
+echo "Compiling bip example..."
+. compile_run_bip.sh -c learn Compound
+mv output/build/system .
+cd output
+echo "Generating .so file ..."
+g++ -fPIC Deploy/Deploy.cpp learn/src/learn/* ../ext-cpp/utilities.cpp -I learn/include  -I ../ext-cpp/  -I $BIP2_ENGINE_GENERIC_DIR -I $BIP2_ENGINE_SPECIFIC_DIR  -shared -o libProject.so -L $BIP_PATH/distribution/build/bip-full/BIP-reference-engine-*/lib/static -lengine
+mv libProject.so ../
+echo "Created!"
+
+
+####### STREAM DETECTION EXAMPLE
+echo "Creating shared object of streamDetection example ..."
+cd ../../streamDetection
+echo "Compiling bip example..."
+. compile_run_bip.sh -c learn Compound
+mv output/build/system .
+cd output
+echo "Generating .so file ..."
+g++ -fPIC Deploy/Deploy.cpp learn/src/learn/* ../ext-cpp/utilities.cpp -I learn/include  -I ../ext-cpp/  -I $BIP2_ENGINE_GENERIC_DIR -I $BIP2_ENGINE_SPECIFIC_DIR  -shared -o libProject.so -L $BIP_PATH/distribution/build/bip-full/BIP-reference-engine-*/lib/static -lengine
+mv libProject.so ../
+echo "Created!"