.. _program_listing_file__tmp_ws_src_fmi_adapter_fmi_adapter_include_fmi_adapter_FMIAdapter.hpp:

Program Listing for File FMIAdapter.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_fmi_adapter_fmi_adapter_include_fmi_adapter_FMIAdapter.hpp>` (``/tmp/ws/src/fmi_adapter/fmi_adapter/include/fmi_adapter/FMIAdapter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2019 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschresearch/fmi_adapter.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef FMI_ADAPTER__FMIADAPTER_HPP_
   #define FMI_ADAPTER__FMIADAPTER_HPP_
   
   #include <cassert>
   #include <chrono>
   #include <map>
   #include <string>
   #include <utility>
   #include <vector>
   
   #include <rclcpp/rclcpp.hpp>
   
   struct fmi_xml_context_t;
   typedef struct fmi_xml_context_t fmi_import_context_t;
   struct fmi2_import_t;
   struct fmi2_xml_variable_t;
   typedef struct fmi2_xml_variable_t fmi2_import_variable_t;
   struct jm_callbacks;
   
   namespace fmi_adapter
   {
   
   namespace internal
   {
   const rclcpp::Duration ZERO_DURATION{std::chrono::nanoseconds(0)};
   }  // namespace internal
   
   class FMIAdapter
   {
   public:
     explicit FMIAdapter(
       rclcpp::Logger logger, const std::string & fmuPath,
       rclcpp::Duration stepSize = internal::ZERO_DURATION,
       bool interpolateInput = true, const std::string & tmpPath = "");
   
     RCLCPP_DISABLE_COPY(FMIAdapter)
   
     virtual ~FMIAdapter();
   
     static std::string rosifyName(const std::string & name);
   
     bool canHandleVariableCommunicationStepSize() const;
   
     rclcpp::Duration getDefaultExperimentStep() const;
   
     std::vector<fmi2_import_variable_t *> getAllVariables() const;
   
     std::vector<fmi2_import_variable_t *> getInputVariables() const;
   
     std::vector<fmi2_import_variable_t *> getOutputVariables() const;
   
     std::vector<fmi2_import_variable_t *> getParameters() const;
   
     std::vector<std::string> getAllVariableNames() const;
   
     std::vector<std::string> getInputVariableNames() const;
   
     std::vector<std::string> getOutputVariableNames() const;
   
     std::vector<std::string> getParameterNames() const;
   
     void setInputValue(fmi2_import_variable_t * variable, const rclcpp::Time & time, double value);
   
     void setInputValue(const std::string & variableName, const rclcpp::Time & time, double value);
   
     rclcpp::Duration getStepSize() const {return stepSize_;}
   
     bool isInInitializationMode() const {return inInitializationMode_;}
   
     void exitInitializationMode(const rclcpp::Time & simulationTime);
   
     rclcpp::Time doStep();
   
     rclcpp::Time doStep(const rclcpp::Duration & stepSize);
   
     rclcpp::Time doStepsUntil(const rclcpp::Time & simulationTime);
   
     rclcpp::Time getSimulationTime() const;
   
     double getOutputValue(fmi2_import_variable_t * variable) const;
   
     double getOutputValue(const std::string & variableName) const;
   
     double getValue(fmi2_import_variable_t * variable) const;
   
     double getValue(const std::string & variableName) const;
   
     void setInitialValue(fmi2_import_variable_t * variable, double value);
   
     void setInitialValue(const std::string & variableName, double value);
   
     void declareROSParameters(
       rclcpp::node_interfaces::NodeParametersInterface::SharedPtr nodeInterface);
   
     void initializeFromROSParameters(
       rclcpp::node_interfaces::NodeParametersInterface::SharedPtr nodeInterface);
   
   private:
     rclcpp::Logger logger_;
   
     const std::string fmuPath_;
   
     rclcpp::Duration stepSize_;
   
     bool interpolateInput_;
   
     std::string tmpPath_;
   
     bool removeTmpPathInDtor_{false};
   
     bool inInitializationMode_{true};
   
     rclcpp::Duration fmuTimeOffset_{internal::ZERO_DURATION};
   
     double fmuTime_{0.0};
   
     rclcpp::Time simulationTime_{0, 0, RCL_ROS_TIME};
   
     fmi2_import_t * fmu_{nullptr};
   
     fmi_import_context_t * context_{nullptr};
   
     void * fmiCallbacks_{nullptr};
   
     jm_callbacks * jmCallbacks_{nullptr};
   
     std::map<fmi2_import_variable_t *, std::map<rclcpp::Time, double>> inputValuesByVariable_{};
   
     void doStepInternal(const rclcpp::Duration & stepSize);
   
     rclcpp::Time getSimulationTimeInternal() const
     {
       return rclcpp::Time(static_cast<uint64_t>(fmuTime_ * 1000000000.0), RCL_ROS_TIME) +
              fmuTimeOffset_;
     }
   };
   
   }  // namespace fmi_adapter
   
   #endif  // FMI_ADAPTER__FMIADAPTER_HPP_