sim_export.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado/code_generation/sim_export.hpp>
#include <acado/code_generation/integrators/export_matlab_integrator.hpp>
#include <acado/code_generation/integrators/integrator_generation.hpp>
#include <acado/code_generation/export_common_header.hpp>
#include <acado/code_generation/templates/templates.hpp>
#include <acado/code_generation/integrators/export_auxiliary_sim_functions.hpp>
#include <acado/code_generation/export_algorithm_factory.hpp>
#include <acado/code_generation/export_data_internal.hpp>

#ifdef WIN32
#include <windows.h>
#endif

using namespace std;

BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

SIMexport::SIMexport( const uint simIntervals, const double totalTime ) : ExportModule( )
{
        setN(simIntervals);
        T = totalTime;
        integrator  = 0;
        timingSteps = 100;
        
        _initStates = "initStates.txt";
        _controls = "controls.txt";
        _results = "results.txt";
        _ref = "ref.txt";
        referenceProvided = false;
        PRINT_DETAILS = true;

        timingCalls = 0;

        setStatus( BS_NOT_INITIALIZED );
}


SIMexport::SIMexport(   const SIMexport& arg
                                                ) : ExportModule( arg )
{
        copy( arg );
}


SIMexport::~SIMexport( )
{
        clear( );
}


SIMexport& SIMexport::operator=(        const SIMexport& arg
                                                                        )
{
        if( this != &arg )
        {
                clear( );
                ExportModule::operator=( arg );
                copy( arg );
        }

        return *this;
}



returnValue SIMexport::exportCode(      const std::string& dirName,
                                                                        const std::string& _realString,
                                                                        const std::string& _intString,
                                                                        int _precision
                                                                        )
{
        if (!modelDimensionsSet() && !exportRhs()) return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
        set( QP_SOLVER, QP_NONE );

    string moduleName, modulePrefix;
        get(CG_MODULE_NAME, moduleName);
    get(CG_MODULE_PREFIX, modulePrefix);
    
    ExportDataInternal::fcnPrefix = moduleName;
    ExportStatement::fcnPrefix = moduleName;
    ExportStatement::varPrefix = modulePrefix;
    
        //
        // Create the export folders
        //

        set(CG_EXPORT_FOLDER_NAME, dirName);

        returnValue dirStatus = acadoCreateFolder( dirName );
        if (dirStatus != SUCCESSFUL_RETURN)
                return dirStatus;

        if ( setup( ) != SUCCESSFUL_RETURN )
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );

        int printLevel;
        get( PRINTLEVEL,printLevel );

        // export mandatory source code files
        if ( exportAcadoHeader( dirName,commonHeaderName,_realString,_intString,_precision ) != SUCCESSFUL_RETURN )
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );

        if( integrator != 0 )
        {
                std::string fileName( dirName );
                fileName += "/" + moduleName + "_integrator.c";

                ExportFile integratorFile( fileName,commonHeaderName,_realString,_intString,_precision );
                integrator->getCode( integratorFile );
                
                if ( integratorFile.exportCode( ) != SUCCESSFUL_RETURN )
                        return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );

                int sensGen;
                get( DYNAMIC_SENSITIVITY, sensGen );
                if( (ExportSensitivityType)sensGen == SYMMETRIC_FB ) sensGen = SYMMETRIC;
                int measGrid;
                get( MEASUREMENT_GRID, measGrid );
                int generateMatlabInterface;
                get( GENERATE_MATLAB_INTERFACE, generateMatlabInterface );
                int debugMode;
                get( INTEGRATOR_DEBUG_MODE, debugMode );
                if ( (bool)generateMatlabInterface == true ) {
                        std::string integrateInterface =  dirName;
                        integrateInterface += "/" + moduleName + "_integrate.c";
                        ExportMatlabIntegrator exportMexFun( INTEGRATOR_MEX_TEMPLATE, integrateInterface, commonHeaderName,_realString,_intString,_precision );
                        exportMexFun.configure((ExportSensitivityType)sensGen, (MeasurementGrid)measGrid == ONLINE_GRID, (bool)debugMode, timingCalls, ((RungeKuttaExport*)integrator)->getNumStages());
                        exportMexFun.exportCode();

                        ExportTemplatedFile mexInterfaceMake;
                        mexInterfaceMake.dictionary[ "@MODULE_NAME@" ] = moduleName;
                        mexInterfaceMake.dictionary[ "@MODULE_PREFIX@" ] = modulePrefix;
                        integrateInterface = dirName + std::string("/make_" + moduleName + "_integrator.m");
                        
                        //acadoCopyTemplateFile(MAKE_MEX_INTEGRATOR, integrateInterface, "%", true);
                        mexInterfaceMake.setup( MAKE_MEX_INTEGRATOR,integrateInterface, "","real_t","int",16,"%" );
                        mexInterfaceMake.configure();
                        mexInterfaceMake.exportCode();


                        // NOT SUPPORTED ANYMORE:
//                      std::string rhsInterface = dirName;
//                      rhsInterface += "/" + moduleName + "_rhs.c";
//                      ExportMatlabRhs exportMexFun2( RHS_MEX_TEMPLATE, rhsInterface, commonHeaderName,_realString,_intString,_precision );
//                      exportMexFun2.configure(integrator->getNameFullRHS());
//                      exportMexFun2.exportCode();
//
//                      rhsInterface = dirName + std::string("/make_acado_model.m");
//                      acadoCopyTempateFile(MAKE_MEX_MODEL, rhsInterface, "%", true);
                }
        }


        // export template for main file, if desired
        if ( (PrintLevel)printLevel >= HIGH ) 
                cout <<  "--> Exporting remaining files... ";

        // Export auxiliary functions, always
        //
        ExportAuxiliarySimFunctions eaf(
                        dirName + string("/") + moduleName + "_auxiliary_sim_functions.h",
                        dirName + string("/") + moduleName + "_auxiliary_sim_functions.c",
                        moduleName,
            modulePrefix );
        eaf.configure();
        eaf.exportCode();

        // export a basic Makefile, if desired
        int generateMakeFile;
        get( GENERATE_MAKE_FILE,generateMakeFile );
        if ( (bool)generateMakeFile == true )
                if ( exportMakefile( dirName,"Makefile",_realString,_intString,_precision ) != SUCCESSFUL_RETURN )
                        return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
                        
        // export the evaluation file
        int exportTestFile;
        get( GENERATE_TEST_FILE, exportTestFile );
        if ( exportTestFile && exportEvaluation( dirName, std::string( moduleName + "_compare.c" ) ) != SUCCESSFUL_RETURN )
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );

        if ( (PrintLevel)printLevel >= HIGH ) 
                cout <<  "done.\n";

        if ( (PrintLevel)printLevel > NONE )
                ACADOINFO( RET_CODE_EXPORT_SUCCESSFUL );

    return SUCCESSFUL_RETURN;
}



//
// PROTECTED MEMBER FUNCTIONS:
//

returnValue SIMexport::copy(    const SIMexport& arg
                                                                )
{
        integrator = arg.integrator;
                
        _initStates = arg._initStates;
        _controls = arg._controls;
        _results = arg._results;
        _ref = arg._ref;
        _refOutputFiles = arg._refOutputFiles;
        referenceProvided = arg.referenceProvided;
        PRINT_DETAILS = arg.PRINT_DETAILS;
        timingSteps = arg.timingSteps;

        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::clear( )
{
        if ( integrator != 0 )
                delete integrator;

        return SUCCESSFUL_RETURN;
}



returnValue SIMexport::setup( )
{
        returnValue returnvalue = checkConsistency( );
        if ( returnvalue != SUCCESSFUL_RETURN )
                return ACADOERROR( returnvalue );

        //
        // Set common header name
        //
        string moduleName;
        get(CG_MODULE_NAME, moduleName);
        commonHeaderName = moduleName + "_common.h";

        int numSteps;
    get( NUM_INTEGRATOR_STEPS, numSteps );

        if ( numSteps <= 0 )
                return ACADOERROR( RET_INVALID_OPTION );

        int integratorType;
        get( INTEGRATOR_TYPE, integratorType );

        if ( integrator != NULL )
                delete integrator;

        integrator = IntegratorExportFactory::instance().createAlgorithm(this, commonHeaderName, static_cast<ExportIntegratorType>(integratorType));

        if ( integrator == NULL )
                return ACADOERROR( RET_INVALID_OPTION );

        Grid grid( 0.0, T, modelData.getN()+1 );
        modelData.setIntegrationGrid( grid, numSteps );
        returnvalue = integrator->setModelData( modelData );
        if ( returnvalue != SUCCESSFUL_RETURN )
                return returnvalue;
        
        if( modelData.hasOutputs() ) {
                uint i;

                std::vector<Grid> newGrids_;
                if( !referenceProvided ) _refOutputFiles.clear();
                _outputFiles.clear();
                for( i = 0; i < modelData.getNumOutputs(); i++ ) {
                        if( !referenceProvided ) _refOutputFiles.push_back( (std::string)"refOutput" + toString(i) +  ".txt" );
                        _outputFiles.push_back( (std::string)"output" + toString(i) +  ".txt" );
                }
        }

        if( !integrator->equidistantControlGrid() ) return ACADOERROR( RET_INVALID_OPTION );
        
        setStatus( BS_READY );

        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::checkConsistency( ) const
{
        // consistency checks:
        // only time-continuous DAEs without parameter and disturbances supported!
        DifferentialEquation f;
        modelData.getModel(f);
        if ( f.isDiscretized( ) == true )
                return ACADOERROR( RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT );
        
        if ( ( f.getNUI( ) > 0 ) || 
                 /*( f.getNP( ) > 0 ) ||*/ ( f.getNPI( ) > 0 ) || ( f.getNW( ) > 0 ) )
                return ACADOERROR( RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT );

        int mode;
    get( IMPLICIT_INTEGRATOR_MODE, mode );
    if( (ImplicitIntegratorMode) mode == LIFTED ) return ACADOERROR( RET_NOT_IMPLEMENTED_YET );

        return SUCCESSFUL_RETURN;
}



returnValue SIMexport::collectDataDeclarations( ExportStatementBlock& declarations,
                                                                                                ExportStruct dataStruct
                                                                                                ) const
{
        if ( integrator->getDataDeclarations( declarations,dataStruct ) != SUCCESSFUL_RETURN )
                return RET_UNABLE_TO_EXPORT_CODE;

        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::collectFunctionDeclarations(     ExportStatementBlock& declarations
                                                                                                        ) const
{
        if ( integrator->getFunctionDeclarations( declarations ) != SUCCESSFUL_RETURN )
                return RET_UNABLE_TO_EXPORT_CODE;

        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::exportTest(      const std::string& _dirName,
                                                                        const std::string& _fileName,
                                                                        const std::string& _resultsFile,
                                                                        const std::vector<std::string>& outputFiles,
                                                                        const bool& TIMING,
                                                                        const uint jumpReference
                                                                        ) const
{
        int i;
        int sensGen;
        get( DYNAMIC_SENSITIVITY, sensGen );
        bool DERIVATIVES = ((ExportSensitivityType) sensGen != NO_SENSITIVITY);
    
        string moduleName, modulePrefix;
        get(CG_MODULE_NAME, moduleName);
    get(CG_MODULE_PREFIX, modulePrefix);

        std::vector<Grid> outputGrids;
        std::vector<Expression> outputExpressions;
        std::vector<std::string> outputNames;
        modelData.getOutputGrids(outputGrids);
        modelData.getOutputExpressions(outputExpressions);
        modelData.getNameOutputs(outputNames);
        if( outputFiles.size() != outputGrids.size() || (outputFiles.size() != outputExpressions.size() && outputFiles.size() != outputNames.size()) ) {
                return ACADOERROR( RET_INVALID_OPTION );
        }

    std::string fileName( _dirName );
    fileName += "/" + _fileName;

        ExportFile main( fileName,commonHeaderName );

        main.addStatement( "#include <stdio.h>\n" );
        main << "#include \"" + moduleName + "_auxiliary_sim_functions.h\"\n";
        main.addLinebreak( 1 );
        main.addComment( "SOME CONVENIENT DEFINTIONS:" );
        main.addComment( "---------------------------------------------------------------" );
        main.addStatement( (std::string)"   #define JUMP           " + toString(jumpReference)  + "      /* jump for the output reference    */\n" );
        main.addStatement( (std::string)"   #define h           " + toString(T/modelData.getN())  + "      /* length of one simulation interval    */\n" );
        if( TIMING == true ) main.addStatement( (std::string)"   #define STEPS_TIMING   " + toString(timingSteps) + "      /* number of steps for the timing */\n" );
        if( TIMING == true ) main.addStatement( (std::string)"   #define CALLS_TIMING   " + toString(timingCalls) + "      /* number of calls for the timing */\n" );
        main.addStatement( (std::string)"   #define RESULTS_NAME          \"" + _resultsFile + "\"\n" );
        for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"   #define OUTPUT" + toString(i) +  "_NAME       \"" + outputFiles[i] + "\"\n" );
        }
        main.addStatement( (std::string)"   #define CONTROLS_NAME  \"" + _controls + "\"\n" );
        main.addStatement( (std::string)"   #define INIT_NAME     \"" + _initStates + "\"\n" );
        main.addComment( "---------------------------------------------------------------" );
        main.addLinebreak( 2 );
        main.addComment( "GLOBAL VARIABLES FOR THE ACADO REAL-TIME ALGORITHM:" );
        main.addComment( "---------------------------------------------------" );
        main.addStatement( "   " + modulePrefix + "workspace " + moduleName + "Workspace;\n" );
        main.addStatement( "   " + modulePrefix + "variables " + moduleName + "Variables;\n" );
        main.addLinebreak( );

    main.addLinebreak( 2 );
        main.addComment( "A TEMPLATE FOR TESTING THE INTEGRATOR:" );
    main.addComment( "----------------------------------------------------" );
    main.addStatement( "int main(){\n" );
    main.addLinebreak( );
    main.addComment( 3,"INTRODUCE AUXILIARY VAIRABLES:" );
    main.addComment( 3,"------------------------------" );
    main.addStatement( "      FILE *file, *controls, *initStates;\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      FILE *output" + toString(i) +  ";\n" );
        }
    main.addStatement( "      int i,j,k,nil,reset;\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
        if( !DERIVATIVES )  main.addStatement( (std::string)"      const int dimOut" + toString(i) +  " = " + modulePrefix + "_NOUT[" + toString(i) +  "];\n" );
        else  main.addStatement( (std::string)"      const int dimOut" + toString(i) +  " = " + modulePrefix + "_NOUT[" + toString(i) +  "]*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU);\n" );
        }
    if( !DERIVATIVES )  main.addStatement( "      real_t x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+" + modulePrefix + "_NU];\n" );
    else  main.addStatement( "      real_t x[(" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)+" + modulePrefix + "_NU];\n" );

    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      real_t out" + toString(i) +  "[" + modulePrefix + "_NMEAS[" + toString(i) +  "]*dimOut" + toString(i) +  "];\n" );
        }
    main.addStatement( "      real_t u[" + modulePrefix + "_NU];\n" );
    if( modelData.getNXA() > 0 ) main.addStatement( "      real_t norm;\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      real_t step" + toString(i) +  " = h/" + modulePrefix + "_NMEAS[" + toString(i) +  "];\n" );
        }
    if( TIMING == true ) {
                main.addStatement( "      struct timeval theclock;\n" );
                main.addStatement( "      real_t start, end, time;\n" );
                if( !DERIVATIVES )  main.addStatement( "      real_t xT[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+" + modulePrefix + "_NU];\n" );
                else  main.addStatement( "      real_t xT[(" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)+" + modulePrefix + "_NU];\n" );
        }
    main.addStatement( "      const " + modulePrefix + "workspace nullWork2 = {0};\n" );
    main.addStatement( "          " + moduleName + "Workspace = nullWork2;\n" );
    main.addLinebreak( 2 );

    main.addComment( 3,"INITIALIZATION:" );
    main.addComment( 3,"----------------------------------------" );
    main.addStatement( "      initStates = fopen( INIT_NAME,\"r\" );\n" );
    main.addStatement( "      for( j = 0; j < " + modulePrefix + "_NX+" + modulePrefix + "_NXA; j++) {\n" );
    main.addStatement( "                nil = fscanf( initStates, \"%lf\", &x[j] );\n" );
    main.addStatement( "      }\n" );
    main.addStatement( "      fclose( initStates );\n" );
    main.addLinebreak( 1 );
    if( DERIVATIVES ) {
        main.addStatement( "      for( i = 0; i < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA); i++ ) {\n" );
        main.addStatement( "                    for( j = 0; j < " + modulePrefix + "_NX; j++ ) {\n" );
        main.addStatement( "                            if( i == j ) {\n" );
        main.addStatement( "                                    x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+i*" + modulePrefix + "_NX+j] = 1;\n" );
        main.addStatement( "                            } else {\n" );
        main.addStatement( "                                    x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+i*" + modulePrefix + "_NX+j] = 0;\n" );
        main.addStatement( "                            }\n" );
        main.addStatement( "                    }\n" );
        main.addStatement( "      }\n" );
        main.addStatement( "      for( i = 0; i < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA); i++ ) {\n" );
        main.addStatement( "                    for( j = 0; j < " + modulePrefix + "_NU; j++ ) {\n" );
        main.addStatement( "                            x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+(" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*" + modulePrefix + "_NX+i*" + modulePrefix + "_NU+j] = 0;\n" );
        main.addStatement( "                    }\n" );
        main.addStatement( "      }\n" );
    }
    main.addLinebreak( 1 );
    main.addStatement( "          reset = 1;\n" );
    main.addLinebreak( 1 );
    main.addComment( 3,"RUN INTEGRATOR:" );
    main.addComment( 3,"----------------------------------------" );
    main.addStatement( "      file = fopen(RESULTS_NAME,\"w\");\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      output" + toString(i) +  " = fopen(OUTPUT" + toString(i) +  "_NAME,\"w\");\n" );
        }
    main.addStatement( "      controls = fopen(CONTROLS_NAME,\"r\");\n" );
    main.addStatement( "      for( i = 0; i < " + modulePrefix + "_N; i++ ) {\n" );
    main.addStatement( "                fprintf(file, \"%.16f \", i*h);\n" );
    if( !DERIVATIVES )  main.addStatement( "                    for( j = 0; j < " + modulePrefix + "_NX+" + modulePrefix + "_NXA; j++) {\n" );
    else  main.addStatement( "                  for( j = 0; j < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU); j++) {\n" );
    main.addStatement( "                        fprintf(file, \"%.16f \", x[j]);\n" );
    main.addStatement( "                }\n" );
    main.addStatement( "                fprintf(file, \"\\n\");\n" );
    main.addLinebreak( );
    if( !DERIVATIVES )  main.addStatement( "                    nil = fscanf( controls, \"%lf\", &x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA] );\n" );
    else  main.addStatement( "                  nil = fscanf( controls, \"%lf\", &x[(" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)] );\n" );
    main.addStatement( "                for( j = 0; j < " + modulePrefix + "_NU; j++) {\n" );
    if( !DERIVATIVES )  main.addStatement( "                            nil = fscanf( controls, \"%lf\", &x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA+j] );\n" );
    else  main.addStatement( "                          nil = fscanf( controls, \"%lf\", &x[(" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)+j] );\n" );
    main.addStatement( "                }\n" );
    main.addLinebreak( );
    if( TIMING == true ) {
                main.addStatement( "                    if( i == 0 ) {\n" );
                if( !DERIVATIVES )  main.addStatement( "                        for( j=0; j < " + modulePrefix + "_NX+" + modulePrefix + "_NXA+" + modulePrefix + "_NU; j++ ) {\n" );
                else  main.addStatement( "                              for( j=0; j < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)+" + modulePrefix + "_NU; j++ ) {\n" );
                main.addStatement( "                                    xT[j] = x[j];\n" );
                main.addStatement( "                            }\n" );
                main.addStatement( "                    }\n" );
        }
    main.addLinebreak( );
    std::string integrate( "                    integrate( x" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                integrate += string(", out") + toString(i);
        }
    integrate += ", reset";
    main.addStatement( integrate + " );\n" );
    main.addStatement( "                reset = 0;\n" );
    main.addLinebreak( );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"               for( j = 0; j < " + modulePrefix + "_NMEAS[" + toString(i) +  "]; j=j+JUMP ) {\n" );
                main.addStatement( (std::string)"                       fprintf(output" + toString(i) +  ", \"%.16f \", i*h+(j+1)*step" + toString(i) +  ");\n" );
                main.addStatement( (std::string)"                       for( k = 0; k < dimOut" + toString(i) +  "; k++ ) {\n" );
                main.addStatement( (std::string)"                               fprintf(output" + toString(i) +  ", \"%.16f \", out" + toString(i) +  "[j*dimOut" + toString(i) +  "+k]);\n" );
                main.addStatement( "                            }\n" );
                main.addStatement( (std::string)"                       fprintf(output" + toString(i) +  ", \"%s\", \"\\n\");\n" );
                main.addStatement( "                    }\n" );
        }
    main.addStatement( "      }\n" );
    main.addStatement( "      fprintf(file, \"%.16f \", " + modulePrefix + "_N*h);\n" );
    if( !DERIVATIVES )  main.addStatement( "      for( j = 0; j < " + modulePrefix + "_NX+" + modulePrefix + "_NXA; j++) {\n" );
    else  main.addStatement( "      for( j = 0; j < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU); j++) {\n" );
    main.addStatement( "                fprintf(file, \"%.16f \", x[j]);\n" );
    main.addStatement( "      }\n" );
    main.addStatement( "      fprintf(file, \"\\n\");\n" );
    main.addLinebreak( );
    main.addStatement( "      fclose(file);\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      fclose(output" + toString(i) +  ");\n" );
        }
    main.addStatement( "      fclose(controls);\n" );
    if( TIMING == true ) {
                main.addStatement( "      gettimeofday( &theclock,0 );\n" );
                main.addStatement( "      start = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;\n" );
            main.addStatement( "      reset = 1;\n" );
                main.addStatement( "      for( i=0; i < CALLS_TIMING; i++ ) {\n" );
                main.addStatement( "                    for( j=0; j < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA); j++ ) {\n" );
                main.addStatement( "                            x[j] = xT[j];\n" );
                main.addStatement( "                    }\n" );
                integrate = std::string( "                      integrate( x" );
                for( i = 0; i < (int)outputGrids.size(); i++ ) {
                        integrate += string(", out") + toString(i);
                }
                integrate += ", reset";
                main.addStatement( integrate + " );\n" );
            main.addStatement( "                reset = 0;\n" );
                main.addStatement( "      }\n" );
                main.addStatement( "      gettimeofday( &theclock,0 );\n" );
                main.addStatement( "      end = 1.0*theclock.tv_sec + 1.0e-6*theclock.tv_usec;\n" );
                main.addStatement( "      time = (end-start);\n" );
                main.addLinebreak( );
                main.addStatement( "      printf( \"\\n\\n AVERAGE DURATION OF ONE INTEGRATION STEP:   %.3g μs\\n\\n\", 1e6*time/STEPS_TIMING );\n" );
        }
    main.addLinebreak( );
        main.addStatement( "      return 0;\n" );
        main.addStatement( "}\n" );
    
    
        return main.exportCode( );
}


returnValue SIMexport::exportEvaluation(        const std::string& _dirName,
                                                                                        const std::string& _fileName
                                                                                        ) const
{
        int i;
        int sensGen;
        get( DYNAMIC_SENSITIVITY, sensGen );
        bool DERIVATIVES = ((ExportSensitivityType) sensGen != NO_SENSITIVITY);
    
    string moduleName, modulePrefix;
        get(CG_MODULE_NAME, moduleName);
    get(CG_MODULE_PREFIX, modulePrefix);
        
        DVector nMeasV = modelData.getNumMeas();
        DVector nOutV = modelData.getDimOutputs();

        std::vector<Grid> outputGrids;
        modelData.getOutputGrids(outputGrids);

    std::string fileName =  _dirName;
    fileName += string("/") + _fileName;

        ExportFile main( fileName,commonHeaderName );

        main.addStatement( "#include <stdio.h>\n" );
        main.addStatement( "#include \"" + moduleName + "_auxiliary_sim_functions.h\"\n" );
        main.addLinebreak( 1 );
        main.addComment( "SOME CONVENIENT DEFINTIONS:" );
        main.addComment( "---------------------------------------------------------------" );
        main.addStatement( (std::string)"   #define h           " + toString(T/modelData.getN())  + "      /* length of one simulation interval   */\n" );
        main.addStatement( (std::string)"   #define RESULTS_NAME          \"" + _results + "\"\n" );
        for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"   #define OUTPUT" + toString(i) +  "_NAME       \"" + _outputFiles[i] + "\"\n" );
                main.addStatement( (std::string)"   #define REF_OUTPUT" + toString(i) +  "_NAME   \"" + _refOutputFiles[i] + "\"\n" );
        }
        main.addStatement( (std::string)"   #define REF_NAME  \"" + _ref + "\"\n" );
        main.addComment( "---------------------------------------------------------------" );
        main.addLinebreak( 2 );
        main.addComment( "GLOBAL VARIABLES FOR THE ACADO REAL-TIME ALGORITHM:" );
        main.addComment( "---------------------------------------------------" );
        main.addStatement( "   " + modulePrefix + "workspace " + moduleName + "Workspace;\n" );
        main.addStatement( "   " + modulePrefix + "variables " + moduleName + "Variables;\n" );
        main.addLinebreak( );

    main.addLinebreak( 2 );
        main.addComment( "A TEMPLATE FOR TESTING THE INTEGRATOR:" );
    main.addComment( "----------------------------------------------------" );
    main.addStatement( "int main(){\n" );
    main.addLinebreak( );
    main.addComment( 3,"INTRODUCE AUXILIARY VAIRABLES:" );
    main.addComment( 3,"------------------------------" );
    main.addStatement( "      FILE *file, *ref;\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      FILE *output" + toString(i) +  ";\n" );
                main.addStatement( (std::string)"      FILE *refOutput" + toString(i) +  ";\n" );
        }
    main.addStatement( "      int i, j, nil;\n" );
    main.addStatement( "      real_t x[" + modulePrefix + "_NX+" + modulePrefix + "_NXA];\n" );
    main.addStatement( "      real_t xRef[" + modulePrefix + "_NX+" + modulePrefix + "_NXA];\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addStatement( (std::string)"      real_t step" + toString(i) +  " = h/" + modulePrefix + "_NMEAS[" + toString(i) +  "];\n" );
                main.addStatement( (std::string)"      real_t out" + toString(i) +  "[" + modulePrefix + "_NMEAS[" + toString(i) +  "]*" + modulePrefix + "_NOUT[" + toString(i) +  "]];\n" );
                main.addStatement( (std::string)"      real_t refOut" + toString(i) +  "[" + modulePrefix + "_NMEAS[" + toString(i) +  "]*" + modulePrefix + "_NOUT[" + toString(i) +  "]];\n" );
        }
    main.addStatement( "      real_t maxErr, meanErr, maxErrX, meanErrX, maxErrXA, meanErrXA, temp;\n" );
    main.addStatement( "      const " + modulePrefix + "workspace nullWork2 = {0};\n" );
    main.addStatement( "          " + moduleName + "Workspace = nullWork2;\n" );
    main.addLinebreak( 2 );

    main.addComment( 3,"START EVALUATION RESULTS:" );
    main.addComment( 3,"----------------------------------------" );
        main.addStatement( "      meanErrX = 0;\n" );
        main.addStatement( "      meanErrXA = 0;\n" );
    main.addStatement( "      file = fopen(RESULTS_NAME,\"r\");\n" );
    main.addStatement( "      ref = fopen(REF_NAME,\"r\");\n" );
    if( DERIVATIVES )  main.addStatement( "      for( i = 0; i < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(1+" + modulePrefix + "_NX+" + modulePrefix + "_NU)+1; i++ ) {\n" );
    else  main.addStatement( "      for( i = 0; i < " + modulePrefix + "_NX+" + modulePrefix + "_NXA+1; i++ ) {\n" );
    main.addStatement( "                nil = fscanf( file, \"%lf\", &temp );\n" );
    main.addStatement( "                nil = fscanf( ref, \"%lf\", &temp );\n" );
    main.addStatement( "      }\n" );
        main.addStatement( "      printf( \" STATES:\\n\" );\n" );
    main.addLinebreak( );
    main.addStatement( "      for( i = 1; i <= " + modulePrefix + "_N; i++ ) {\n" );
    main.addStatement( "                nil = fscanf( file, \"%lf\", &temp );\n" );
    main.addStatement( "                nil = fscanf( ref, \"%lf\", &temp );\n" );
    main.addLinebreak( );
    main.addStatement( "                maxErrX = 0;\n" );
    main.addStatement( "                for( j = 0; j < " + modulePrefix + "_NX; j++ ) {\n" );
    main.addStatement( "                        nil = fscanf( file, \"%lf\", &x[j] );\n" );
    main.addStatement( "                        nil = fscanf( ref, \"%lf\", &xRef[j] );\n" );
    main.addStatement( "                        temp = fabs(x[j] - xRef[j])/fabs(xRef[j]);\n" );
    main.addStatement( "                        if( temp > maxErrX ) maxErrX = temp;\n" );
    main.addStatement( "                        if( isnan(x[j]) ) maxErrX = sqrt(-1);\n" );
    main.addStatement( "                }\n" );
    main.addLinebreak( );
    main.addStatement( "                maxErrXA = 0;\n" );
    main.addStatement( "                for( j = 0; j < " + modulePrefix + "_NXA; j++ ) {\n" );
    main.addStatement( "                        nil = fscanf( file, \"%lf\", &x[" + modulePrefix + "_NX+j] );\n" );
    main.addStatement( "                        nil = fscanf( ref, \"%lf\", &xRef[" + modulePrefix + "_NX+j] );\n" );
    main.addStatement( "                        temp = fabs(x[" + modulePrefix + "_NX+j] - xRef[" + modulePrefix + "_NX+j])/fabs(xRef[" + modulePrefix + "_NX+j]);\n" );
    main.addStatement( "                        if( temp > maxErrXA ) maxErrXA = temp;\n" );
    main.addStatement( "                        if( isnan(x[" + modulePrefix + "_NX+j]) ) maxErrXA = sqrt(-1);\n" );
    main.addStatement( "                }\n" );
    main.addLinebreak( );
    if( PRINT_DETAILS && modelData.getNXA() > 0 ) {
        main.addStatement( "                    printf( \"MAX ERROR AT %.3f s:   %.4e   %.4e \\n\", i*h, maxErrX, maxErrXA );\n" );
    }
    else if( PRINT_DETAILS ) {
        main.addStatement( "                    printf( \"MAX ERROR AT %.3f s:   %.4e \\n\", i*h, maxErrX );\n" );
    }
    main.addStatement( "                        meanErrX += maxErrX;\n" );
    main.addStatement( "                        meanErrXA += maxErrXA;\n" );
    main.addLinebreak( );
    if( DERIVATIVES ) {
        main.addStatement( "                    for( j = 0; j < (" + modulePrefix + "_NX+" + modulePrefix + "_NXA)*(" + modulePrefix + "_NX+" + modulePrefix + "_NU); j++ ) {\n" );
        main.addStatement( "                            nil = fscanf( file, \"%lf\", &temp );\n" );
        main.addStatement( "                            nil = fscanf( ref, \"%lf\", &temp );\n" );
        main.addStatement( "                    }\n" );
    }
    main.addStatement( "      }\n" );
    main.addStatement( "          meanErrX = meanErrX/" + modulePrefix + "_N;\n" );
    main.addStatement( "          meanErrXA = meanErrXA/" + modulePrefix + "_N;\n" );
    if( PRINT_DETAILS ) main.addStatement( "      printf( \"\\n\" );\n" );
    if( modelData.getNXA() > 0 ) {
        main.addStatement( "      printf( \"TOTAL MEAN ERROR:   %.4e   %.4e \\n\", meanErrX, meanErrXA );\n" );
    }
    else {
        main.addStatement( "      printf( \"TOTAL MEAN ERROR:   %.4e \\n\", meanErrX );\n" );
    }
    main.addStatement( "      printf( \"\\n\\n\" );\n" );
    for( i = 0; i < (int)outputGrids.size(); i++ ) {
                main.addLinebreak( );
                main.addStatement( (std::string)"      printf( \" OUTPUT FUNCTION " + toString(i+1) + ":\\n\" );\n" );
                main.addStatement( (std::string)"      meanErr = 0;\n" );
                main.addStatement( (std::string)"      output" + toString(i) +  " = fopen(OUTPUT" + toString(i) +  "_NAME,\"r\");\n" );
                main.addStatement( (std::string)"      refOutput" + toString(i) +  " = fopen(REF_OUTPUT" + toString(i) +  "_NAME,\"r\");\n" );
                main.addLinebreak( );
                main.addStatement( (std::string)"      for( i = 1; i <= " + modulePrefix + "_N*" + modulePrefix + "_NMEAS[" + toString(i) +  "]; i++ ) {\n" );
                main.addStatement( (std::string)"               nil = fscanf( output" + toString(i) +  ", \"%lf\", &temp );\n" );
                main.addStatement( (std::string)"               nil = fscanf( refOutput" + toString(i) +  ", \"%lf\", &temp );\n" );
                main.addLinebreak( );
                main.addStatement( "                    maxErr = 0;\n" );
                main.addStatement( (std::string)"               for( j = 0; j < " + modulePrefix + "_NOUT[" + toString(i) +  "]; j++ ) {\n" );
                main.addStatement( (std::string)"                       nil = fscanf( output" + toString(i) +  ", \"%lf\", &out" + toString(i) +  "[j] );\n" );
                main.addStatement( (std::string)"                       nil = fscanf( refOutput" + toString(i) +  ", \"%lf\", &refOut" + toString(i) +  "[j] );\n" );
                main.addStatement( (std::string)"                       temp = fabs(out" + toString(i) +  "[j] - refOut" + toString(i) +  "[j])/fabs(refOut" + toString(i) +  "[j]);\n" );
                main.addStatement( "                            if( temp > maxErr ) maxErr = temp;\n" );
                main.addStatement( (std::string)"                       if( isnan(out" + toString(i) +  "[j]) ) maxErr = sqrt(-1);\n" );
                main.addStatement( "                    }\n" );
                main.addLinebreak( );
                if( PRINT_DETAILS ) main.addStatement( (std::string)"                   printf( \"MAX ERROR AT %.3f s:   %.4e \\n\", (i-1)*step" + toString(i) + ", maxErr );\n" );
                main.addStatement( "                    meanErr += maxErr;\n" );
                main.addLinebreak( );
                if( DERIVATIVES ) {
                        main.addStatement( (std::string)"               for( j = 0; j < " + modulePrefix + "_NOUT[" + toString(i) + "]*(" + modulePrefix + "_NX+" + modulePrefix + "_NU); j++ ) {\n" );
                        main.addStatement( (std::string)"                       nil = fscanf( output" + toString(i) + ", \"%lf\", &temp );\n" );
                        main.addStatement( (std::string)"                       nil = fscanf( refOutput" + toString(i) + ", \"%lf\", &temp );\n" );
                        main.addStatement( "                    }\n" );
                }
                main.addStatement( "      }\n" );
                main.addStatement( (std::string)"         meanErr = meanErr/(" + modulePrefix + "_N*" + modulePrefix + "_NMEAS[" + toString(i) + "]);\n" );
                if( PRINT_DETAILS ) main.addStatement( "      printf( \"\\n\" );\n" );
                main.addStatement( "      printf( \"TOTAL MEAN ERROR:   %.4e \\n\", meanErr );\n" );
                main.addStatement( "      printf( \"\\n\\n\" );\n" );
        }
    main.addLinebreak( );
    main.addStatement( "      return 0;\n" );
    main.addStatement( "}\n" );
    
        return main.exportCode( );
}



returnValue SIMexport::exportAndRun(    const std::string& dirName,
                                                                                const std::string& initStates,
                                                                                const std::string& controls,
                                                                                const std::string& results,
                                                                                const std::string& ref
                                                                                )
{
    string moduleName;
        get(CG_MODULE_NAME, moduleName);
    
        std::string test( moduleName + "_test.c" );
        set( GENERATE_TEST_FILE, 1 );

        Grid integrationGrid;
        modelData.getIntegrationGrid(integrationGrid);
        std::vector<Grid> outputGrids;
        modelData.getOutputGrids(outputGrids);

        int measGrid;
        get( MEASUREMENT_GRID, measGrid );
        if( (MeasurementGrid)measGrid == ONLINE_GRID ) return ACADOERROR( RET_INVALID_OPTION );

        _initStates = initStates;
        _controls = controls;
        _results = results;
        _ref = ref;

        int numSteps;
    get( NUM_INTEGRATOR_STEPS, numSteps );
        timingCalls = (uint) ceil((double)(timingSteps*modelData.getN())/((double) numSteps) - 10.0*EPS);
        timingSteps = (uint) ceil((double)timingCalls*((double) numSteps/((double) modelData.getN())) - 10.0*EPS);
    
    if( !referenceProvided ) {
            // REFERENCE:
        set( NUM_INTEGRATOR_STEPS,  (int)factorRef*numSteps );
        exportCode(     dirName );
        exportTest(     dirName, test, _ref, _refOutputFiles, false, 1 );
        executeTest( dirName );
        }
    modelData.clearIntegrationGrid();
    
    // THE INTEGRATOR:
        set( NUM_INTEGRATOR_STEPS,  numSteps );
        exportCode(     dirName );
        if(timingSteps > 0 && timingCalls > 0)  exportTest(     dirName, test, _results, _outputFiles, true, 1 );
        else                                                                    exportTest(     dirName, test, _results, _outputFiles, false, 1 );
        executeTest( dirName );

        // THE EVALUATION:
        int nil;
        nil = system( (dirName + "/./" + moduleName + "_compare").c_str() );
        nil = nil+1;
        
        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::exportAcadoHeader(       const std::string& _dirName,
                                                                                        const std::string& _fileName,
                                                                                        const std::string& _realString,
                                                                                        const std::string& _intString,
                                                                                        int _precision
                                                                                        ) const
{
        string moduleName, modulePrefix;
        get(CG_MODULE_NAME, moduleName);
    get(CG_MODULE_PREFIX, modulePrefix);

        int qpSolver;
        get(QP_SOLVER, qpSolver);

        int useSinglePrecision;
        get(USE_SINGLE_PRECISION, useSinglePrecision);

        string fileName;
        fileName = _dirName + "/" + _fileName;


        map<string, pair<string, string> > options;

        DVector nMeasV = getNumMeas();
        DVector nOutV = getDimOutputs();

        options[ modulePrefix + "_N" ]   = make_pair(toString( getN() ),   "Number of control/estimation intervals.");
        options[ modulePrefix + "_NX" ]  = make_pair(toString( getNX() ),  "Number of differential variables.");
        options[ modulePrefix + "_NXD" ] = make_pair(toString( getNDX() ), "Number of differential derivative variables.");
        options[ modulePrefix + "_NXA" ] = make_pair(toString( getNXA() ), "Number of algebraic variables.");
        options[ modulePrefix + "_NU" ]  = make_pair(toString( getNU() ),  "Number of control variables.");
        options[ modulePrefix + "_NOD" ]  = make_pair(toString( getNOD() ),  "Number of online data values.");
        options[ modulePrefix + "_NUMOUT" ]  = make_pair(toString( nOutV.getDim() ),  "Number of output functions.");

        if( !nMeasV.isEmpty() && !nOutV.isEmpty() ) {
                std::ostringstream acado_nout;
                ExportVariable( modulePrefix + "_NOUT",nOutV,STATIC_CONST_INT ).exportDataDeclaration(acado_nout);
                std::ostringstream acado_nmeas;
                ExportVariable( modulePrefix + "_NMEAS",nMeasV,STATIC_CONST_INT ).exportDataDeclaration(acado_nmeas);
                options[ modulePrefix + "_OUTPUTS_DEFINED" ]  = make_pair("\n" + acado_nout.str() + acado_nmeas.str(),  "Dimension and measurements of the output functions per shooting interval.");
        }

        //
        // ACADO variables and workspace
        //
        ExportStatementBlock variablesBlock;
        stringstream variables;

        if (collectDataDeclarations(variablesBlock, ACADO_VARIABLES) != SUCCESSFUL_RETURN)
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
        variablesBlock.exportCode(variables, _realString, _intString, _precision);

        ExportStatementBlock workspaceBlock;
        stringstream workspace;

        if (collectDataDeclarations(workspaceBlock, ACADO_WORKSPACE) != SUCCESSFUL_RETURN)
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
        workspaceBlock.exportCode(workspace, _realString, _intString, _precision);

        ExportStatementBlock functionsBlock;
        stringstream functions;

        if (collectFunctionDeclarations( functionsBlock ) != SUCCESSFUL_RETURN)
                return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
        functionsBlock.exportCode(functions, _realString);

        ExportCommonHeader ech(fileName, "", _realString, _intString, _precision);
        ech.configure( moduleName, modulePrefix, useSinglePrecision, false, (QPSolverName)qpSolver,
                        options, variables.str(), workspace.str(), functions.str());

        return ech.exportCode();
}


returnValue SIMexport::exportMakefile(  const std::string& _dirName,
                                                                                const std::string& _fileName,
                                                                                const std::string& _realString,
                                                                                const std::string& _intString,
                                                                                int _precision
                                                                                ) const
{
        string moduleName, modulePrefix;
        get(CG_MODULE_NAME, moduleName);
    get(CG_MODULE_PREFIX, modulePrefix);

        ExportTemplatedFile makefile;
        makefile.dictionary[ "@MODULE_NAME@" ] = moduleName;
    makefile.dictionary[ "@MODULE_PREFIX@" ] = modulePrefix;
        
        std::string fileName( _dirName );
        fileName += "/" + _fileName;

        //acadoCopyTemplateFile(MAKEFILE_INTEGRATOR, fileName, "#", true);
        makefile.setup( MAKEFILE_INTEGRATOR,fileName, "","real_t","int",16,"#" );
    makefile.configure();
        makefile.exportCode();

        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::setReference( const std::string& reference, const std::vector<std::string>& outputReference ) {
        if( hasOutputs() && outputReference.size() == 0 ) {
                referenceProvided = false;
                return RET_UNABLE_TO_EXPORT_CODE;
        }
        referenceProvided = true;
        _ref = reference;
        if( outputReference.size() > 0 ) _refOutputFiles = outputReference;
        
        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::setTimingSteps( uint _timingSteps ) {
        timingSteps = _timingSteps;
        
        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::printDetails( bool details ) {
        PRINT_DETAILS = details;
        
        return SUCCESSFUL_RETURN;
}


returnValue SIMexport::executeTest( const std::string& _dirName ) {
        //sleep(2); does not compile on windows!!
    
    string moduleName;
        get(CG_MODULE_NAME, moduleName);
    
        int nil;
        nil = system((string("make clean -s -C ") + _dirName).c_str());
        nil = system((string("make -s -C ") + _dirName).c_str());
        nil = system((_dirName + "/./" + moduleName + "_test").c_str());
        nil = nil+1;
        
        return SUCCESSFUL_RETURN;
}

returnValue SIMexport::setTimingCalls( uint _timingCalls ) {
        timingCalls = _timingCalls;

        return SUCCESSFUL_RETURN;
}


CLOSE_NAMESPACE_ACADO

// end of file.