uploading with functional co-simulation setting

co-simulation/coe.json

@@ -3,5 +3,6 @@
     "endTime": 15.0,
     "reportProgress": true,
     "liveLogInterval": 0,
-    "logLevels": {}
+    "logLevels": {},
+    "loggingOn": true
 }

co-simulation/controller.py

@@ -7,7 +7,7 @@
 
 ## Co-sim properties
 timestep=0.5
-max_time = 15.0
+max_time = 15.0 + 5.0
 
 rabbitmq_host = "localhost"
 rabbitmq_port = 5672
@@ -45,39 +45,51 @@ def publish():
 
     msg = {}
     msg['time']= dt.isoformat()
-    msg['controller_event'] = "moveDiscreteCommand"
-    msg['controller_event_args_0'] = 4.0
-    msg['controller_event_args_1'] = 18.0
-    msg['controller_event_args_2'] = 4.0
-    msg['controller_event_args_3'] = 0.0
+    #msg['controller_event'] = "moveDiscreteCommand"
+    #msg['controller_event_args_0'] = 4.0
+    #msg['controller_event_args_1'] = 18.0
+    #msg['controller_event_args_2'] = 4.0
+    #msg['controller_event_args_3'] = 0.0
 
 
     for i in range(int(max_time/timestep)):
             msg['time']= datetime.now(tz = datetime.now().astimezone().tzinfo).isoformat(timespec='milliseconds')
             print("i:" + str(i))
             if (i==2):
                 msg['controller_event'] = "moveDiscreteCommand"
-                msg['controller_event_args_0'] = 4.0
-                msg['controller_event_args_1'] = 18.0
-                msg['controller_event_args_2'] = 4.0
-
-            if (i==11):
-                msg['controller_event'] = "closeGripperCommand"
                 msg['controller_event_args_0'] = 0.0
-                msg['controller_event_args_1'] = 0.0
-                msg['controller_event_args_2'] = 0.0
+                msg['controller_event_args_1'] = 23.0
+                msg['controller_event_args_2'] = 2.0
 
-            if (i==16):
+            elif (i==11):
                 msg['controller_event'] = "moveDiscreteCommand"
-                msg['controller_event_args_0'] = 0.0
+                msg['controller_event_args_0'] = 3.0
                 msg['controller_event_args_1'] = 20.0
                 msg['controller_event_args_2'] = 3.0
 
-            if (i==25):
-                msg['controller_event'] = "closeGripperCommand"
+            elif (i==16):
+                msg['controller_event'] = "moveDiscreteCommand"
+                msg['controller_event_args_0'] = 8.0
+                msg['controller_event_args_1'] = 10.0
+                msg['controller_event_args_2'] = 0.0
+
+            elif (i==25):
+                msg['controller_event'] = "moveDiscreteCommand"
+                msg['controller_event_args_0'] = 11.0
+                msg['controller_event_args_1'] = 16.0
+                msg['controller_event_args_2'] = 4.0
+            else:
+                msg['controller_event'] = ""
                 msg['controller_event_args_0'] = 0.0
                 msg['controller_event_args_1'] = 0.0
                 msg['controller_event_args_2'] = 0.0
+                msg['controller_event_args_3'] = 0.0
+                msg['controller_event_args_4'] = 0.0
+                msg['controller_event_args_5'] = 0.0
+                msg['controller_event_args_6'] = 0.0
+                msg['controller_event_args_7'] = 0.0
+                msg['controller_event_args_8'] = 0.0
+                msg['controller_event_args_9'] = 0.0
 
             channel.basic_publish(exchange='fmi_digital_twin',
                           routing_key='data.to_cosim',

co-simulation/controllerFMU/controllerFMU/modelDescription.xml

@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<fmiModelDescription fmiVersion="2.0" modelName="unifmu" guid="77236337-210e-4e9c-8f2c-c1a0677db21b" author="Santiago Gil" generationDateAndTime="2020-10-23T19:51:25Z" variableNamingConvention="flat" generationTool="unifmu">
+  <CoSimulation modelIdentifier="unifmu" needsExecutionTool="true" canNotUseMemoryManagementFunctions="false" canHandleVariableCommunicationStepSize="true" />
+  <LogCategories>
+    <Category name="logStatusWarning" />
+    <Category name="logStatusDiscard" />
+    <Category name="logStatusError" />
+    <Category name="logStatusFatal" />
+    <Category name="logStatusPending" />
+    <Category name="logAll" />
+  </LogCategories>
+  <ModelVariables>
+    <!--Index of variable = "1"-->
+    <ScalarVariable name="controller_event" valueReference="0" variability="discrete" causality="output">
+      <String />
+    </ScalarVariable>
+<ScalarVariable name="controller_event_args_0" valueReference="1" causality="output" variability="continuous">
+      <Real />
+    </ScalarVariable>
+<ScalarVariable name="controller_event_args_1" valueReference="2" causality="output" variability="continuous">
+      <Real />
+    </ScalarVariable>
+<ScalarVariable name="controller_event_args_2" valueReference="3" causality="output" variability="continuous">
+      <Real />
+    </ScalarVariable>
+
+  </ModelVariables>
+  <ModelStructure>
+    <Outputs>
+      <Unknown index="1" dependencies="" />
+      <Unknown index="2" dependencies="" />
+      <Unknown index="3" dependencies="" />
+      <Unknown index="4" dependencies="" />
+    </Outputs>
+    <InitialUnknowns>
+      <Unknown index="1" dependencies="" />
+      <Unknown index="2" dependencies="" />
+      <Unknown index="3" dependencies="" />
+      <Unknown index="4" dependencies="" />
+    </InitialUnknowns>
+  </ModelStructure>
+</fmiModelDescription>

co-simulation/controllerFMU/controllerFMU/resources/README.md

@@ -0,0 +1,115 @@
+**This FMU was generated using UniFMU.
+For general instructions on how to use the tool access the repository https://github.com/INTO-CPS-Association/unifmu**
+
+# Implementing the model
+
+The `resources/model.py` file defines the functional relationship between inputs and outputs of the FMU.
+
+## Declaring inputs and outputs
+
+By default, each input, output or parameter declared in the `modelDescription.xml` file is represented as attributes on the instance of the `Model` class.
+For instance if a variable `a` is declared in the `modelDescription.xml` file, it an attribute of the same name should be declared in the `Model` class:
+
+```xml
+<ScalarVariable name="a" valueReference="0" variability="continuous" causality="input">
+    <Real start="0.0" />
+</ScalarVariable>
+```
+
+```python
+def __init__(self) -> None:
+    self.a = 0.0
+
+    self.reference_to_attribute = {
+        0: "a",
+    }
+```
+
+The FMI C-API uses numerical indices rather than names to which variables to read or write to.
+As such a mapping between the indices declared by the `valueReference` attribute of the xml and the attributes must be defined.
+By default the mapping between a value reference and its corresponding Python attribute is defined by adding an entry to the `reference_to_attributes` variable of the `Model` class.
+
+## Defining the behavior
+
+The `Model` class declares several methods that can be used to define the behavior of the FMU.
+Methods prefixed with `fmi2` mirror the methods declared in the C-API defined by the FMI specification.
+
+For instance, to update an output `b` to be twice the value of `a` the `fmi2DoStep` method could be defined as:
+
+```python
+def fmi2DoStep(self, current_time, step_size, no_step_prior):
+    self.b = self.a * 2
+    return Fmi2Status.ok
+```
+
+# Testing and debugging the model
+
+The `model.py` is _plain_ Python code, which means we can test the model using test cases and debugging tools.
+A small test program can be written and placed in the `model.py` the slave as seen below:
+
+```python
+if __name__ == "__main__":
+    m = Model()
+
+    assert m.a == 0.0
+    assert m.b == 0.0
+
+    m.a = 1.0
+    m.fmiDoStep(0.0, 1.0, False)
+
+    assert m.b == 2.0
+```
+
+The program can be executed in your IDE with or from the command line by running the `resources/model.py` script.
+
+# Runtime dependencies
+
+The environment that invokes the Python code must provide all the dependencies, otherwise the simulation will fail when instantiating or simulation the model.
+For instance, if the `resources/model.py` imports a third-party package such as `numpy`
+
+```python
+import numpy as np
+```
+
+this must also be available to the Python interpreter specified by the `launch.toml` file, in this case the system's `python3` interpreter:
+
+```toml
+linux = ["python3", "backend.py"]
+```
+
+One way to address a missing dependency is to install using package manager such as `pip`
+
+```
+python3 -m pip install numpy
+```
+
+**Any Python FMU generated UniFMU requires the `protobuf` package.
+The easiest way to install this is using pip:**
+
+```
+python3 -m pip install protobuf
+```
+
+# File structure
+
+An overview of the role of each file is provided in the tree below:
+
+```python
+📦model
+ ┣ 📂binaries
+ ┃ ┣ 📂darwin64
+ ┃ ┃ ┗ 📜unifmu.dylib       # binary for macOS
+ ┃ ┣ 📂linux64
+ ┃ ┃ ┗ 📜unifmu.so          # binary for Linux
+ ┃ ┗ 📂win64
+ ┃ ┃ ┗ 📜unifmu.dll         # binary For Windows
+ ┣ 📂resources
+ ┃ ┣ 📂schemas
+ ┃ ┃ ┗ 📜unifmu_fmi2_pb2.py # schema defining structure of messages sent over RPC
+ ┃ ┣ 📜backend.py           # receives messages and dispatched function calls to "model.py"
+ ┃ ┣ 📜launch.toml*         # specifies command used to start FMU
+ ┃ ┗ 📜model.py*            # implementation of FMU
+ ┗ 📜modelDescription.xml*  # definition of inputs and outputs
+```
+
+\* denotes files that would typically be modified by the implementor of the FMU

co-simulation/controllerFMU/controllerFMU/resources/backend.py

@@ -0,0 +1,142 @@
+import logging
+import os
+import sys
+from schemas.unifmu_fmi2_pb2 import (
+    Fmi2Command,
+    Fmi2ExtHandshakeReturn,
+    Fmi2ExtSerializeSlaveReturn,
+    Fmi2StatusReturn,
+    Fmi2GetRealReturn,
+    Fmi2GetIntegerReturn,
+    Fmi2GetBooleanReturn,
+    Fmi2GetStringReturn,
+    Fmi2FreeInstanceReturn,
+)
+
+logging.basicConfig(level=logging.DEBUG)
+logger = logging.getLogger(__file__)
+
+try:
+    import zmq
+except ImportError:
+    logger.fatal(
+        "unable to import the python library 'zmq' required by the schemaless backend. "
+        "please ensure that the library is present in the python environment launching the script. "
+        "the missing dependencies can be installed using 'python -m pip install unifmu[python-backend]'"
+    )
+    sys.exit(-1)
+
+from model import Model
+
+if __name__ == "__main__":
+
+    slave = Model()
+
+    # initializing message queue
+    context = zmq.Context()
+    socket = context.socket(zmq.REQ)
+    dispatcher_endpoint = os.environ["UNIFMU_DISPATCHER_ENDPOINT"]
+    logger.info(f"dispatcher endpoint received: {dispatcher_endpoint}")
+    socket.connect(dispatcher_endpoint)
+
+    state = Fmi2ExtHandshakeReturn().SerializeToString()
+    socket.send(state)
+
+    command = Fmi2Command()
+
+    while True:
+
+        msg = socket.recv()
+        command.ParseFromString(msg)
+
+        group = command.WhichOneof("command")
+
+        data = getattr(command, command.WhichOneof("command"))
+        if group == "Fmi2SetupExperiment":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2SetupExperiment(
+                data.start_time, data.stop_time, data.tolerance
+            )
+
+        elif group == "Fmi2SetDebugLogging":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmiSetDebugLogging(
+                data.categores, data.logging_on
+            )
+
+        elif group == "Fmi2DoStep":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2DoStep(
+                data.current_time, data.step_size, data.no_step_prior
+            )
+        elif group == "Fmi2EnterInitializationMode":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2EnterInitializationMode()
+        elif group == "Fmi2ExitInitializationMode":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2ExitInitializationMode()
+        elif group == "Fmi2ExtSerializeSlave":
+            result = Fmi2ExtSerializeSlaveReturn()
+            (result.status, result.state) = slave.fmi2ExtSerialize()
+        elif group == "Fmi2ExtDeserializeSlave":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2ExtDeserialize(data.state)
+        elif group == "Fmi2GetReal":
+            result = Fmi2GetRealReturn()
+            result.status, result.values[:] = slave.fmi2GetReal(
+                command.Fmi2GetReal.references
+            )
+        elif group == "Fmi2GetInteger":
+            result = Fmi2GetIntegerReturn()
+            result.status, result.values[:] = slave.fmi2GetInteger(
+                command.Fmi2GetInteger.references
+            )
+        elif group == "Fmi2GetBoolean":
+            result = Fmi2GetBooleanReturn()
+            result.status, result.values[:] = slave.fmi2GetBoolean(
+                command.Fmi2GetBoolean.references
+            )
+        elif group == "Fmi2GetString":
+            result = Fmi2GetStringReturn()
+            result.status, result.values[:] = slave.fmi2GetString(
+                command.Fmi2GetString.references
+            )
+        elif group == "Fmi2SetReal":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2SetReal(
+                command.Fmi2SetReal.references, command.Fmi2SetReal.values
+            )
+
+        elif group == "Fmi2SetInteger":
+            result = Fmi2StatusReturn()
+
+            result.status = slave.fmi2SetInteger(
+                command.Fmi2SetInteger.references, command.Fmi2SetInteger.values
+            )
+
+        elif group == "Fmi2SetBoolean":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2SetBoolean(
+                command.Fmi2SetBoolean.references, command.Fmi2SetBoolean.values
+            )
+        elif group == "Fmi2SetString":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2SetString(
+                command.Fmi2SetString.references, command.Fmi2SetString.values
+            )
+        elif group == "Fmi2Terminate":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2Terminate()
+        elif group == "Fmi2Reset":
+            result = Fmi2StatusReturn()
+            result.status = slave.fmi2Reset()
+        elif group == "Fmi2FreeInstance":
+            result = Fmi2FreeInstanceReturn()
+            logger.info(f"Fmi2FreeInstance received, shutting down")
+            sys.exit(0)
+        else:
+            logger.error(f"unrecognized command '{group}' received, shutting down")
+            sys.exit(-1)
+
+        state = result.SerializeToString()
+        socket.send(state)

co-simulation/controllerFMU/controllerFMU/resources/launch.toml

@@ -0,0 +1,3 @@
+linux = ["python3", "backend.py"]
+macos = ["python3", "backend.py"]
+windows = ["python", "backend.py"]