Test github pull requests

fmu2aadl/.gitignore

@@ -0,0 +1,3 @@
+build/
+dist/
+fmu2aadl.egg-info/

fmu2aadl/README.rst

@@ -15,8 +15,6 @@ Installation
 The script is provided as a standard Python module.
 
 The script can be installed, as user, using default Python install
-procedure:
+procedure::
 
-```
-python setup.py install --user
-```
+  python setup.py install --user

fmu2aadl/examples/moonlanding/Makefile

@@ -1,16 +1,20 @@
 all: moonlanding_fmu.aadl check_aadl code_gen
 
-moonlanding_fmu.aadl:
-	fmu2aadl ../../../models/MoonLanding/MoonLanding.fmu
+moonlanding_fmu.aadl: MoonLanding.fmu
+	fmu2aadl MoonLanding.fmu
 
 code_gen: moonlanding_fmu.aadl
 	ocarina -aadlv2 -y -g polyorb_hi_c moonlanding.aadl
 
+build:  moonlanding_fmu.aadl
+	ocarina -aadlv2 -y -b -g polyorb_hi_c moonlanding.aadl
+
 check_aadl: moonlanding_fmu.aadl
 	ocarina -aadlv2 -y moonlanding.aadl
 
 clean:
 	-rm -rf *~
 
 distclean: clean
-	-rm -rf moonlanding_sys_impl
+	-rm -rf moonlanding_sys_impl fmu_wrapper.* userdefined.mk moonlanding_fmu.aadl \
+	moonlanding_fmu_wrapper.c

fmu2aadl/examples/moonlanding/README.rst

@@ -0,0 +1,25 @@
+Moonlanding AADL + FMI
+======================
+
+About
+-----
+
+This example is adapted from the Moonlanding example from Peter Fritzon, as detailed in the tutorial : https://openmodelica.org/images/docs/userdocs/modprod2012-tutorial1-Peter-Fritzson-ModelicaTutorial.pdf
+
+We adapted this example so that:
+
+* the environment is modeled as a `Modelica` model, and turned into a FMU using the OpenModelica toolset
+* the controller is implemented as a `C` function,
+* the controller is integrated to the environment in an `AADL` model
+
+From an code generation perpective:
+
+* The fmu2aadl script generates the corresponding AADL for the environment elements, and the C wrapper function.
+* ocarina is used to assemble all elements together.
+
+
+
+Note
+----
+
+The generated FMU targets GNU/Linux 64 bits

fmu2aadl/fmu2aadl/__init__.py

@@ -145,6 +145,121 @@ def FMU2AADL_Subprogram(root,tree,file):
     file.write(3 * ' ' + 'end ' + root.get('modelName') + '_spg;\n')
     file.write('\n')
 
+################################################################################
+def FMU2C_Wrapper(root,tree,file):
+
+    file.write ('#include <stdbool.h>\n')
+    file.write ('#include <stdio.h>\n')
+    file.write ('#include <stdlib.h>\n')
+    file.write ('#include "fmi2.h"\n')
+    file.write ('#include "sim_support.h"\n')
+    file.write ('#include "fmu_wrapper.h"\n')
+    file.write ('\n')
+
+    is_first_arg = True
+    file.write('void ' + root.get('modelName').lower() + '_fmu_entrypoint \n')
+
+    for svar in tree.xpath("/fmiModelDescription/ModelVariables/ScalarVariable"):
+        if svar.get('causality') == 'input':
+            if is_first_arg:
+                file.write(6 * ' ' + '(')
+                is_first_arg = False
+            else:
+                file.write (',\n')
+                file.write(7 * ' ')
+
+            file.write ('fmi2Real ' + svar.get('name') + '_in')
+
+        if svar.get('causality') == 'output':
+            if is_first_arg:
+                file.write(6 * ' ' + '(')
+                is_first_arg = False
+            else:
+                file.write (',\n')
+                file.write(7 * ' ')
+
+            file.write('fmi2Real *' + svar.get('name') + '_out')
+
+    file.write (') \n{\n');
+
+    file.write(2 * ' ' + 'const char     *fmuFileName ="MoonLanding.fmu";\n')
+    file.write(2 * ' ' + 'double          tEnd = 110.0;\n')
+    file.write(2 * ' ' + 'double          h = 0.1;\n')
+    file.write(2 * ' ' + 'static bool    initialized = false;\n')
+    file.write(2 * ' ' + 'static FMUContext      ctx;\n')
+    file.write('\n');
+    file.write(2 * ' ' + '/* 1/ FMU activation */')
+    file.write('\n');
+
+    file.write(2 * ' ' + 'if (!initialized) {\n');
+    file.write(4 * ' ' + 'ctx.fmu = malloc (sizeof (FMU));\n');
+    file.write(4 * ' '
+               + 'FMU_Activate_Entrypoint (fmuFileName, tEnd, h, &ctx);\n');
+    file.write(4 * ' ' + 'initialized = true;\n');
+    file.write(2 * ' ' + '}\n');
+    file.write('\n');
+
+    file.write(2 * ' ' + '/* 2/ Regular compute entrypoint */\n');
+    file.write('\n');
+    file.write(2 * ' ' + 'fmi2ValueReference vr;\n');
+    file.write(2 * ' ' + 'fmi2Real        r;\n');
+    file.write(2 * ' ' + 'fmi2Status      fmi2Flag;\n');
+    file.write('\n');
+
+    file.write(2 * ' ' + '/* Get the scalar variables */\n');
+    for svar in tree.xpath("/fmiModelDescription/ModelVariables/ScalarVariable"):
+        if svar.get('causality') == 'input' or svar.get('causality') == 'output':
+            file.write(2 * ' ' + 'ScalarVariable *' + svar.get('name') + '_sv'
+                       + ' = getVariable (ctx.fmu->modelDescription, "'
+                       + svar.get('name') + '");\n')
+    file.write('\n');
+
+    file.write (2 * ' ' + '/* Set the input */\n')
+    for svar in tree.xpath("/fmiModelDescription/ModelVariables/ScalarVariable"):
+        if svar.get('causality') == 'input':
+            file.write(2 * ' ' + 'vr = getValueReference (' + svar.get('name')
+                       + '_sv);\n')
+            file.write (2 * ' '
+                        + 'fmi2Flag = ctx.fmu->setReal (ctx.component, &vr, 1, &'
+                        + svar.get('name') + '_in);\n')
+    file.write('\n')
+
+    file.write (2 * ' ' +  '/* Calculate the Step */\n')
+    file.write (2 * ' ' +  'doStep (ctx.fmu, ctx.component,\n')
+    file.write (10 * ' ' +  'ctx.currentCommunicationPoint,\n')
+    file.write (10 * ' ' +  'ctx.communicationStepSize,\n')
+    file.write (10 * ' ' +  'ctx.noSetFMUStatePriorToCurrentPoint);\n')
+    file.write('\n');
+
+    file.write (2 * ' ' +  '/* Dump values */\n')
+    file.write (2 * ' ' +  'outputRow (ctx.fmu, ctx.component,\n')
+    file.write (13 * ' ' +  'ctx.currentCommunicationPoint,\n')
+    file.write (13 * ' ' +  "ctx.resultFile, ',', fmi2False);\n")
+    file.write('\n');
+
+    file.write (2 * ' ' +  '/* Get the outputs */\n')
+    for svar in tree.xpath("/fmiModelDescription/ModelVariables/ScalarVariable"):
+        if svar.get('causality') == 'output':
+            file.write(2 * ' ' + 'vr = getValueReference (' + svar.get('name')
+                       + '_sv);\n')
+            file.write(2 * ' '
+                       + 'fmi2Flag = ctx.fmu->getReal (ctx.component, &vr, 1, &r);\n')
+            file.write (2 * ' ' + '*' + svar.get('name') + '_out = r;\n')
+            file.write('\n');
+
+    file.write(2 * ' '
+               + 'ctx.currentCommunicationPoint += ctx.communicationStepSize;\n');
+    file.write('\n');
+    file.write(2 * ' ' + '/* 3) terminate the simulation */\n');
+    file.write('\n');
+    file.write(2 * ' ' + 'if (ctx.currentCommunicationPoint > tEnd)  {\n');
+    file.write(4 * ' ' + 'freeContext (ctx);\n');
+    file.write(4 * ' ' + 'exit (0);\n');
+    file.write(2 * ' ' + '}\n');
+    file.write('}\n');
+
+    file.close()
+
 ################################################################################
 def fmu2aadl(fmu_file):
     '''
@@ -155,8 +270,6 @@ def fmu2aadl(fmu_file):
 
     '''
 
-    print os.path.dirname(__file__)
-
     # Unzip FMU
 
     _unzipModelDescriptionFile(fmu_file)
@@ -178,6 +291,14 @@ def fmu2aadl(fmu_file):
     FMU2AADL_Thread_Impl(root,tree,file)
     FMU2AADL_Epilogue(root, file)
 
+    # Build C wrapper file
+
+    cFile = root.get('modelName').lower() + '_fmu_wrapper.c'
+    file = open(cFile,'w')
+    print "Generating C file: " + cFile
+
+    FMU2C_Wrapper (root, tree, file)
+
     # Copy required runtime files
 
     shutil.copy(os.path.dirname(__file__) + "/fmu_wrapper.c", ".")

models/CrazyFlie/AA_control.mo

@@ -0,0 +1,55 @@
+model AA_control
+import Modelica.SIunits;
+    final constant Real g = Modelica.Constants.g_n;   //Acceleration of the gravity
+  	parameter SIunits.Mass m = 0.65;   
+  	parameter SIunits.Length l = 0.23;                // Length
+  	parameter SIunits.MomentOfInertia Ix = 7.5e-3;    //Quadrotor moment of inertia around X axis
+  	parameter SIunits.MomentOfInertia Iy = 7.5e-3;    //Quadrotor moment of inertia around Y axis
+ 	parameter SIunits.MomentOfInertia Iz = 1.3e-2;    //Quadrotor moment of inertia around Z axis
+ 	parameter SIunits.MomentOfInertia Jr = 6.5e-5;    //Total rotational moment of inertia around the propeller axis
+  	parameter Real d = 7.5e-7;                        // Drag factor
+  	parameter Real Kpz=90, Kdz=13.795, Kpp=50, Kdp=8, Kpt=50, Kdt=8.09, Kpps=50, Kdps=8.3996;
+ Modelica.Blocks.Interfaces.RealInput Phi annotation(
+    Placement(visible = true, transformation(origin = {-120, 240}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 240}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Theta annotation(
+    Placement(visible = true, transformation(origin = {-120, 180}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 180}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Psi annotation(
+    Placement(visible = true, transformation(origin = {-120, 120}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 120}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Phid annotation(
+    Placement(visible = true, transformation(origin = {-120, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Thetad annotation(
+    Placement(visible = true, transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Psid annotation(
+    Placement(visible = true, transformation(origin = {-120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Z annotation(
+    Placement(visible = true, transformation(origin = {-120, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, -120}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Zd annotation(
+    Placement(visible = true, transformation(origin = {-120, -180}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, -180}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealInput Omega annotation(
+    Placement(visible = true, transformation(origin = {-120, -240}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, -240}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
+
+ Modelica.Blocks.Interfaces.RealOutput T annotation(    
+    Placement(visible = true, transformation(origin = {110, 100}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 100}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealOutput tau_phi annotation(
+    Placement(visible = true, transformation(origin = {110, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealOutput tau_theta annotation(
+    Placement(visible = true, transformation(origin = {110, -50}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -50}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+ Modelica.Blocks.Interfaces.RealOutput tau_psi annotation(
+    Placement(visible = true, transformation(origin = {110, -100}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, -100}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
+Real Z_dot, Phi_dot, Theta_dot, Psi_dot;
+
+equation
+Z_dot=der(Z);Phi_dot=der(Phi);Theta_dot=der(Theta);Psi_dot=der(Psi);
+T=(Kpz*(Zd-Z)-Kdz*Z_dot+g)*m/(cos(Phi)*cos(Theta))+d*Z_dot;
+tau_phi=Kpp*(Phid-Phi)-Kdp*Phi_dot-(Iy-Iz)/l*Theta_dot*Psi_dot-Jr/l*Theta_dot*Omega;
+tau_theta=Kpt*(Thetad-Theta)-Kdt*Theta_dot-(Iz-Ix)/l*Phi_dot*Psi_dot+Jr/l*Phi_dot*Omega;
+tau_psi=Kpps*(Psid-Psi)-Kdps*Psi_dot-(Ix-Iy)/l*Phi_dot*Theta_dot;
+
+annotation(
+    uses(Modelica(version = "3.2.2")),
+    Icon(coordinateSystem(extent = {{-100, -280}, {100, 280}}),graphics = {Rectangle(extent = {{-100, 280}, {100, -280}})}),
+    Diagram(coordinateSystem(extent = {{-100, -280}, {100, 280}})),
+    version = "",
+    __OpenModelica_commandLineOptions = "");
+
+end AA_control;