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Merge pull request #46 from INTO-CPS-Association/#44
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‎README.md‎

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# UniFMU - Universal Functional Mock-Up Units
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The [_Functional Mock-Up Interface_](https://fmi-standard.org/) _(FMI)_ defines an exchange format that allows models, referred to as _Functional Mock-Up Unit (FMU)_, to be shared between tools supporting the standard.
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In general, an FMU must be implemented in a programming language that can produce binaries that can be called from C, such as C itself or C++.
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While this allows efficient execution of a simulation, it is a significant limitation when prototyping models.
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Traditionally, an FMU must be implemented in a programming language that is compatible with C's binary interface such as C itself or C++.
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UniFMU is a command line tool that facilitates the implementation of FMUs in other popular languages that would otherwise not be able to produce C-compatible binaries.
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It does this by providing a precompiled binary that is C-compatible, which then dispatches calls to the implementation of the model in the target language.
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UniFMU is a command line tool that facilitates the implementation of FMUs in languages in several languages, such as:
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| Specification Version | FMU Types | Languages |
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| --------------------- | ------------ | ---------- |
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| FMI3 | | |
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| FMI2 | cosimulation | Python, C# |
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| FMI1 | | |
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- Python
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- C#
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Examples of generated FMUs can be found in the [unifmu_examples](https://github.com/INTO-CPS-Association/unifmu_examples) repo.
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This is made possible by providing a generic binary that dispatches calls to the users implementation using _remote procedure call_ _(RPC)_.
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## Getting the tool
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## Installing the tool
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The current and revious versions of the tool can be downloaded from the releases tab of the repository.
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For convenience the tool can be copied to a directory that is in the systems path such as `/usr/bin/` for most Linux distributions.
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The tool can be downloaded from [releases](https://github.com/INTO-CPS-Association/unifmu/releases) tab of the repository.
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It is a single executable that bundles all assets used during FMU generation as part of the binary.
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## How to use the command line interface?
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To display the synopsis use the `--help` flag.
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```
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UniFMU 0.0.4
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UniFMU 0.0.6
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Implement 'Functional Mock-up units' (FMUs) in various source languages.
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USAGE:
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Depending on the language a `README.md` is placed in the root of the generated FMU, which serves as documentation for the particular language.
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For reference the `README.md` copied into Python FMUs looks like [README.md](tool/unifmu/resources/backends/python/README.md).
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## Building and Testing
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Build the cross compilation image from the dockerfile stored in `docker-build` folder:
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```
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docker build -t unifmu-build docker-build
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```
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**Note: This process may take a long time 10-30 minutes, but must only be done once.**
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Start a container with the name `builder` from the cross-compilation image `unifmu-build`:
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```bash
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docker run --name builder -it -v $(pwd):/workdir unifmu-build # bash
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```
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```powershell
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$pwd = (pwd).Path
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docker run --name builder -it -v ${pwd}:/workdir unifmu-build # powershell
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```
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**Note: On windows you may have to enable the use of shared folders through the dockers interface, otherwise the container fails to start.**
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To build the code invoke the script `docker-build/build_all.sh` in the `workdir` of the container:
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``` bash
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bash ./docker-build/build_all.sh
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```
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This generates and copies all relevant build artifacts into the `assets/auto_generated` directory:
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```
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📦auto_generated
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┣ 📜.gitkeep
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┣ 📜unifmu.dll
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┣ 📜unifmu.dylib
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┣ 📜unifmu.so
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┣ 📜UnifmuFmi2.cs
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┗ 📜unifmu_fmi2_pb2.py
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```
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**Note: On windows Git may be configured to replace LF line-endings with CRLF, which are not compatible with bash.**
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Following this the cli is compiled for each platform, including the assets that were just compiled.
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The final standalone executables can be found in the target folder, under the host tripple:
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- linux: unifmu-x86_64-unknown-linux-gnu-0.0.4.zip
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- windows: unifmu-x86_64-pc-windows-gnu-0.0.4.zip
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- macOS: unifmu-x86_64-apple-darwin-0.0.4.zip
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## Environment Variables
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In addition to the systems environment variables, UniFMU defines the following variables in the process created during instantiation of a slave.
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These can be accessed during execution by the model implementation or the backend.
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| Variable | Description | Example |
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| ------------------------------- | ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------- |
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| UNIFMU_GUID | The global unique identifier, passed as an argument to fmi2Instantiate | 77236337-210e-4e9c-8f2c-c1a0677db21b |
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| UNIFMU_INSTANCE_NAME | Name of the slave instance, passed as an argument to fmi2Instantiate | left_wheel_motor |
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| UNIFMU_VISIBLE | Flag used to indicating if the instance should run in visible mode, passed as an argument to fmi2Instantiate | {true, false} |
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| UNIFMU_LOGGING_ON | Flag used to indicating if the instance should run with logging, passed as an argument to fmi2Instantiate | {true, false} |
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| UNIFMU_FMU_TYPE | Flag used to indicating if the instance is running in co-sim or model exchange mode, passed as an argument to fmi2Instantiate | {fmi2ModelExchange, fmi2CoSimulation} |
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| UNIFMU_DISPATCHER_ENDPOINT | Endpoint bound by the zmq socket of the binary | tcp://127.0.0.1/5000 |
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| UNIFMU_DISPATCHER_ENDPOINT_PORT | Port component of UNIFMU_DISPATCHER_ENDPOINT | 5000 |
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| UNIFMU_REFS_TO_ATTRS | Mapping from value references to variable names encoded as a JSON dictionary\*. | {"0": "my_input", "1" : "my_output"} |
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\* This variable is only defined if the modelDescription.xml is present in the parent directory of the resources folder passed to fmi2Instantiate.
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## Citing the tool
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When citing the tool, please cite the following paper:

‎assets/csharp/model.cs‎

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using System.IO;
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using System.Reflection;
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using Newtonsoft.Json;
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using System.Linq;
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using Fmi2Proto;
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public Model()
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{
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// Populate map from value reference to attributes of the model.
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string references_to_values = System.Environment.GetEnvironmentVariable("UNIFMU_REFS_TO_ATTRS");
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if (references_to_values == null)
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{
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Console.WriteLine("the environment variable 'UNIFMU_REFS_TO_ATTRS' was not set");
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Environment.Exit(-1);
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}
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var dict = JsonConvert.DeserializeObject<Dictionary<uint, String>>(references_to_values);
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foreach (var (vref, variable) in dict)
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this.reference_to_attributes = new Dictionary<uint, PropertyInfo>
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{
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this.reference_to_attributes.Add(vref, this.GetType().GetProperty(variable));
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}
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{ 0, this.GetType().GetProperty("real_a") },
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{ 1, this.GetType().GetProperty("real_b") },
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{ 2, this.GetType().GetProperty("real_c") },
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{ 3, this.GetType().GetProperty("integer_a") },
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{ 4, this.GetType().GetProperty("integer_b") },
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{ 5, this.GetType().GetProperty("integer_c") },
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{ 6, this.GetType().GetProperty("boolean_a") },
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{ 7, this.GetType().GetProperty("boolean_b") },
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{ 8, this.GetType().GetProperty("boolean_c") },
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{ 9, this.GetType().GetProperty("string_a") },
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{ 10, this.GetType().GetProperty("string_b") },
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{ 11, this.GetType().GetProperty("string_c") },
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};
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}
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public Fmi2Status Fmi2DoStep(double currentTime, double stepSize, bool noStepPrior)

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