Program Listing for File FMIAdapter.hpp

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// 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_