feat: add FMUComponent with support for v2 ME FMUs

Author: AayushSabharwal

Project.toml

@@ -64,6 +64,7 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665"
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
 DeepDiffs = "ab62b9b5-e342-54a8-a765-a90f495de1a6"
+FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac"
 HomotopyContinuation = "f213a82b-91d6-5c5d-acf7-10f1c761b327"
 InfiniteOpt = "20393b10-9daf-11e9-18c9-8db751c92c57"
 LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
@@ -72,9 +73,10 @@ LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
 MTKBifurcationKitExt = "BifurcationKit"
 MTKChainRulesCoreExt = "ChainRulesCore"
 MTKDeepDiffsExt = "DeepDiffs"
+MTKFMIExt = "FMI"
 MTKHomotopyContinuationExt = "HomotopyContinuation"
-MTKLabelledArraysExt = "LabelledArrays"
 MTKInfiniteOptExt = "InfiniteOpt"
+MTKLabelledArraysExt = "LabelledArrays"
 
 [compat]
 AbstractTrees = "0.3, 0.4"
@@ -106,6 +108,7 @@ FindFirstFunctions = "1"
 ForwardDiff = "0.10.3"
 FunctionWrappers = "1.1"
 FunctionWrappersWrappers = "0.1"
+FMI = "0.14"
 Graphs = "1.5.2"
 HomotopyContinuation = "2.11"
 InfiniteOpt = "0.5"

ext/MTKFMIExt.jl

@@ -0,0 +1,216 @@
+module MTKFMIExt
+
+using ModelingToolkit
+using ModelingToolkit: t_nounits as t, D_nounits as D
+import ModelingToolkit as MTK
+import FMI
+
+macro statuscheck(expr)
+    @assert Meta.isexpr(expr, :call)
+    fn = expr.args[1]
+    @assert Meta.isexpr(fn, :.)
+    @assert fn.args[1] == :FMI
+    fnname = fn.args[2]
+
+    instance = expr.args[2]
+
+    return quote
+        status = $expr
+        fnname = $fnname
+        if (status isa Tuple && status[1] == FMI.fmi2True) ||
+           (!(status isa Tuple) && status != FMI.fmi2StatusOK &&
+            status != FMI.fmi2StatusWarning)
+            if status != FMI.fmi2StatusFatal
+                FMI.fmi2Terminate(wrapper.instance)
+            end
+            FMI.fmi2FreeInstance!(wrapper.instance)
+            wrapper.instance = nothing
+            error("FMU Error: status $status")
+        end
+    end |> esc
+end
+
+function MTK.FMIComponent(::Val{2}, ::Val{:ME}; fmu = nothing, tolerance = 1e-6, name)
+    value_references = Dict()
+    defs = Dict()
+    states = []
+    diffvars = []
+    observed = Equation[]
+    stateT = Float64
+    for (valRef, snames) in FMI.getStateValueReferencesAndNames(fmu)
+        stateT = FMI.dataTypeForValueReference(fmu, valRef)
+        snames = map(parseFMIVariableName, snames)
+        vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames]
+        for i in eachindex(vars)
+            if i == 1
+                push!(diffvars, vars[i])
+            else
+                push!(observed, vars[i] ~ vars[1])
+            end
+            value_references[vars[i]] = valRef
+        end
+        append!(states, vars)
+    end
+
+    inputs = []
+    for (valRef, snames) in FMI.getInputValueReferencesAndNames(fmu)
+        snames = map(parseFMIVariableName, snames)
+        vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames]
+        for i in eachindex(vars)
+            if i == 1
+                push!(inputs, vars[i])
+            else
+                push!(observed, vars[i] ~ vars[1])
+            end
+            value_references[vars[i]] = valRef
+        end
+        append!(states, vars)
+    end
+
+    outputs = []
+    for (valRef, snames) in FMI.getOutputValueReferencesAndNames(fmu)
+        snames = map(parseFMIVariableName, snames)
+        vars = [MTK.unwrap(only(@variables $sname(t)::stateT)) for sname in snames]
+        for i in eachindex(vars)
+            if i == 1
+                push!(outputs, vars[i])
+            else
+                push!(observed, vars[i] ~ vars[1])
+            end
+            value_references[vars[i]] = valRef
+        end
+        append!(states, vars)
+    end
+
+    params = []
+    parameter_dependencies = Equation[]
+    for (valRef, pnames) in FMI.getParameterValueReferencesAndNames(fmu)
+        defval = FMI.getStartValue(fmu, valRef)
+        T = FMI.dataTypeForValueReference(fmu, valRef)
+        pnames = map(parseFMIVariableName, pnames)
+        vars = [MTK.unwrap(only(@parameters $pname::T)) for pname in pnames]
+        for i in eachindex(vars)
+            if i == 1
+                push!(params, vars[i])
+            else
+                push!(parameter_dependencies, vars[i] ~ vars[1])
+            end
+            value_references[vars[i]] = valRef
+        end
+        defs[vars[1]] = defval
+    end
+
+    input_value_references = UInt32[value_references[var] for var in inputs]
+    param_value_references = UInt32[value_references[var] for var in params]
+    @parameters wrapper::FMI2InstanceWrapper = FMI2InstanceWrapper(
+        fmu, param_value_references, input_value_references, tolerance)
+
+    output_value_references = UInt32[value_references[var] for var in outputs]
+    buffer_length = length(diffvars) + length(outputs)
+    _functor = FMI2MEFunctor(zeros(buffer_length), output_value_references)
+    @parameters (functor::(typeof(_functor)))(..)[1:buffer_length] = _functor
+    call_expr = functor(wrapper, copy(diffvars), copy(inputs), copy(params), t)
+
+    diffeqs = Equation[]
+    for (i, var) in enumerate([D.(diffvars); outputs])
+        push!(diffeqs, var ~ call_expr[i])
+    end
+
+    finalize_affect = MTK.FunctionalAffect(fmi2MEFinalize!, [], [wrapper], [])
+    step_affect = MTK.FunctionalAffect(fmi2MEStep!, [], [wrapper], [])
+    instance_management_callback = MTK.SymbolicDiscreteCallback(
+        (t != t - 1), step_affect; finalize = finalize_affect)
+
+    push!(params, wrapper, functor)
+    eqs = [observed; diffeqs]
+    return ODESystem(eqs, t, states, params; parameter_dependencies, defaults = defs,
+        discrete_events = [instance_management_callback], name)
+end
+
+function parseFMIVariableName(name::AbstractString)
+    return Symbol(replace(name, "." => "__"))
+end
+
+mutable struct FMI2InstanceWrapper
+    const fmu::FMI.FMU2
+    const param_value_references::Vector{UInt32}
+    const input_value_references::Vector{UInt32}
+    const tolerance::FMI.fmi2Real
+    instance::Union{FMI.FMU2Component, Nothing}
+end
+
+function FMI2InstanceWrapper(fmu, params, inputs, tolerance)
+    FMI2InstanceWrapper(fmu, params, inputs, tolerance, nothing)
+end
+
+function get_instance!(wrapper::FMI2InstanceWrapper, states, inputs, params, t)
+    if wrapper.instance === nothing
+        wrapper.instance = FMI.fmi2Instantiate!(wrapper.fmu)::FMI.FMU2Component
+        if !isempty(params)
+            @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.param_value_references,
+                Csize_t(length(wrapper.param_value_references)), params)
+        end
+        @statuscheck FMI.fmi2SetupExperiment(
+            wrapper.instance, FMI.fmi2True, wrapper.tolerance, t, FMI.fmi2False, t)
+        @statuscheck FMI.fmi2EnterInitializationMode(wrapper.instance)
+        if !isempty(inputs)
+            @statuscheck FMI.fmi2SetReal(wrapper.instance, wrapper.input_value_references,
+                Csize_t(length(wrapper.param_value_references)), inputs)
+        end
+        @statuscheck FMI.fmi2ExitInitializationMode(wrapper.instance)
+        eventInfo = FMI.fmi2NewDiscreteStates(wrapper.instance)
+        @assert eventInfo.newDiscreteStatesNeeded == FMI.fmi2False
+        # TODO: Support FMU events
+        @statuscheck FMI.fmi2EnterContinuousTimeMode(wrapper.instance)
+    end
+    instance = wrapper.instance
+    @statuscheck FMI.fmi2SetTime(instance, t)
+    @statuscheck FMI.fmi2SetContinuousStates(instance, states)
+    if !isempty(inputs)
+        @statuscheck FMI.fmi2SetReal(instance, wrapper.input_value_references,
+            Csize_t(length(wrapper.param_value_references)), inputs)
+    end
+
+    return instance
+end
+
+function complete_step!(wrapper::FMI2InstanceWrapper)
+    wrapper.instance === nothing && return
+    @statuscheck FMI.fmi2CompletedIntegratorStep(wrapper.instance, FMI.fmi2True)
+end
+
+function reset_instance!(wrapper::FMI2InstanceWrapper)
+    wrapper.instance === nothing && return
+    FMI.fmi2Terminate(wrapper.instance)
+    FMI.fmi2FreeInstance!(wrapper.instance)
+    wrapper.instance = nothing
+end
+
+struct FMI2MEFunctor{T}
+    return_buffer::Vector{T}
+    output_value_references::Vector{UInt32}
+end
+
+function (fn::FMI2MEFunctor)(wrapper::FMI2InstanceWrapper, states, inputs, params, t)
+    instance = get_instance!(wrapper, states, inputs, params, t)
+
+    states_buffer = zeros(length(states))
+    @statuscheck FMI.fmi2GetDerivatives!(instance, states_buffer)
+    outputs_buffer = zeros(length(fn.output_value_references))
+    FMI.fmi2GetReal!(instance, fn.output_value_references, outputs_buffer)
+    return [states_buffer; outputs_buffer]
+end
+
+function fmi2MEStep!(integrator, u, p, ctx)
+    wrapper_idx = p[1]
+    wrapper = integrator.ps[wrapper_idx]
+    complete_step!(wrapper)
+end
+
+function fmi2MEFinalize!(integrator, u, p, ctx)
+    wrapper_idx = p[1]
+    wrapper = integrator.ps[wrapper_idx]
+    reset_instance!(wrapper)
+end
+
+end # module

src/ModelingToolkit.jl

@@ -291,4 +291,6 @@ export MTKParameters, reorder_dimension_by_tunables!, reorder_dimension_by_tunab
 
 export HomotopyContinuationProblem
 
+function FMIComponent end
+
 end # module