FMIAdapter.h

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// Copyright (c) 2018 - 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.

#pragma once

#include <cassert>
#include <map>
#include <string>
#include <utility>
#include <vector>

#include <ros/ros.h>

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 {

class FMIAdapter {
 public:
  explicit FMIAdapter(const std::string& fmuPath, ros::Duration stepSize = ros::Duration(0.0),
                      bool interpolateInput = true, const std::string& tmpPath = "");

  FMIAdapter(const FMIAdapter& other) = delete;

  FMIAdapter& operator=(const FMIAdapter&) = delete;

  virtual ~FMIAdapter();

  static std::string rosifyName(const std::string& name);

  bool canHandleVariableCommunicationStepSize() const;

  ros::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, ros::Time time, double value);

  void setInputValue(std::string variableName, ros::Time time, double value);

  ros::Duration getStepSize() const { return stepSize_; }

  bool isInInitializationMode() const { return inInitializationMode_; }

  void exitInitializationMode(ros::Time simulationTime);

  ros::Time doStep();

  ros::Time doStep(const ros::Duration& stepSize);

  ros::Time doStepsUntil(const ros::Time& simulationTime);

  __attribute__((deprecated)) void calcUntil(ros::Time simulationTime) { doStepsUntil(simulationTime); }

  ros::Time getSimulationTime() const;

  double getOutputValue(fmi2_import_variable_t* variable) const;

  double getOutputValue(const std::string& variableName) const;

  void setInitialValue(fmi2_import_variable_t* variable, double value);

  void setInitialValue(const std::string& variableName, double value);

  void initializeFromROSParameters(const ros::NodeHandle& handle);

 private:
  const std::string fmuPath_;

  ros::Duration stepSize_;

  bool interpolateInput_;

  std::string tmpPath_;

  bool removeTmpPathInDtor_{false};

  bool inInitializationMode_{true};

  ros::Duration fmuTimeOffset_{0.0};

  double fmuTime_{0.0};

  ros::Time simulationTime_{0.0};

  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<ros::Time, double>> inputValuesByVariable_{};

  void doStepInternal(const ros::Duration& stepSize);

  ros::Time getSimulationTimeInternal() const { return ros::Time(fmuTime_) + fmuTimeOffset_; }
};

}  // namespace fmi_adapter