diff --git a/de.prob.core/.classpath b/de.prob.core/.classpath
index 5004b8808efadf10e19fa4e2470fc73ccdd87d92..335ff9a8928bfc22ed8542d5eabf96a22f2a582b 100644
--- a/de.prob.core/.classpath
+++ b/de.prob.core/.classpath
@@ -1,9 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<classpath>
+ <classpathentry exported="true" kind="lib" path="lib/dependencies/jfmi-1.0.2-SNAPSHOT.jar"/>
+ <classpathentry exported="true" kind="lib" path="lib/dependencies/jna-3.4.0.jar"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
<classpathentry kind="src" path="src"/>
- <classpathentry kind="output" path="bin"/>
<classpathentry exported="true" kind="lib" path="lib/dependencies/answerparser-2.4.22-SNAPSHOT.jar"/>
<classpathentry exported="true" kind="lib" path="lib/dependencies/bparser-2.4.22-SNAPSHOT.jar"/>
<classpathentry exported="true" kind="lib" path="lib/dependencies/cliparser-2.4.22-SNAPSHOT.jar"/>
@@ -18,4 +19,5 @@
<classpathentry exported="true" kind="lib" path="lib/dependencies/xmlpull-1.1.3.1.jar"/>
<classpathentry exported="true" kind="lib" path="lib/dependencies/xpp3_min-1.1.4c.jar"/>
<classpathentry exported="true" kind="lib" path="lib/dependencies/xstream-1.4.3.jar"/>
+ <classpathentry kind="output" path="bin"/>
</classpath>
diff --git a/de.prob.core/META-INF/MANIFEST.MF b/de.prob.core/META-INF/MANIFEST.MF
index f909299e5350c0dd7344b7c0f9de8f1aaa2ec559..83fe4c54078113f1ed4d0d5a83910db86a9c88ae 100644
--- a/de.prob.core/META-INF/MANIFEST.MF
+++ b/de.prob.core/META-INF/MANIFEST.MF
@@ -82,6 +82,7 @@ Export-Package: com.thoughtworks.xstream,
de.prob.core.sablecc.parser,
de.prob.core.translator,
de.prob.core.types,
+ de.prob.cosimulation,
de.prob.eventb.translator,
de.prob.eventb.translator.flow,
de.prob.eventb.translator.internal,
@@ -113,7 +114,10 @@ Export-Package: com.thoughtworks.xstream,
org.apache.commons.lang.mutable,
org.apache.commons.lang.reflect,
org.apache.commons.lang.text,
- org.apache.commons.lang.time
+ org.apache.commons.lang.time,
+ org.ptolemy.fmi,
+ org.ptolemy.fmi.driver,
+ org.ptolemy.fmi.type
Bundle-Activator: de.prob.core.internal.Activator
Eclipse-BuddyPolicy: registered
Bundle-RequiredExecutionEnvironment: JavaSE-1.6
@@ -132,4 +136,6 @@ Bundle-ClassPath: .,
lib/dependencies/jsr305-1.3.9.jar,
lib/dependencies/xmlpull-1.1.3.1.jar,
lib/dependencies/xpp3_min-1.1.4c.jar,
- lib/dependencies/xstream-1.4.3.jar
+ lib/dependencies/xstream-1.4.3.jar,
+ lib/dependencies/jfmi-1.0.2-SNAPSHOT.jar,
+ lib/dependencies/jna-3.4.0.jar
diff --git a/de.prob.core/build.gradle b/de.prob.core/build.gradle
index a4692401acacc2acb2529817321b113b81f4a2ec..60dd16f13dc3acdbf16941f1423292a2600a4663 100644
--- a/de.prob.core/build.gradle
+++ b/de.prob.core/build.gradle
@@ -14,4 +14,6 @@ dependencies {
compile 'commons-lang:commons-lang:2.6'
compile 'commons-codec:commons-codec:1.6'
compile 'com.thoughtworks.xstream:xstream:1.4.3'
+ compile group: 'net.java.dev.jna', name: 'jna', version: '3.4.0'
+ compile group: 'edu.berkeley.eecs.ptolemy', name: 'jfmi', version: '1.0.2-SNAPSHOT'
}
\ No newline at end of file
diff --git a/de.prob.core/build.properties b/de.prob.core/build.properties
index 1a6cddddba5661de2f965051163daed933d90407..99230d528427c77989fe9534724cf6533e521d2e 100644
--- a/de.prob.core/build.properties
+++ b/de.prob.core/build.properties
@@ -8,6 +8,8 @@ bin.includes = META-INF/,\
lib/dependencies/commons-codec-1.6.jar,\
lib/dependencies/xmlpull-1.1.3.1.jar,\
lib/dependencies/xpp3_min-1.1.4c.jar,\
- lib/dependencies/xstream-1.4.3.jar
+ lib/dependencies/xstream-1.4.3.jar,\
+ lib/dependencies/jfmi-1.0.2-SNAPSHOT.jar,\
+ lib/dependencies/jna-3.4.0.jar
diff --git a/de.prob.core/src/de/prob/cosimulation/FMU.java b/de.prob.core/src/de/prob/cosimulation/FMU.java
new file mode 100644
index 0000000000000000000000000000000000000000..d726cdea926eb06c21100d0c7da0774fb18d216a
--- /dev/null
+++ b/de.prob.core/src/de/prob/cosimulation/FMU.java
@@ -0,0 +1,240 @@
+package de.prob.cosimulation;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.Map;
+import java.util.Set;
+
+import org.ptolemy.fmi.FMICallbackFunctions;
+import org.ptolemy.fmi.FMILibrary;
+import org.ptolemy.fmi.FMIModelDescription;
+import org.ptolemy.fmi.FMIScalarVariable;
+import org.ptolemy.fmi.FMUFile;
+import org.ptolemy.fmi.FMULibrary;
+
+import com.sun.jna.Function;
+import com.sun.jna.NativeLibrary;
+import com.sun.jna.Pointer;
+
+public class FMU {
+
+ private static final double TIMEOUT = 1000;
+
+ /** The modelIdentifier from modelDescription.xml. */
+ String _modelIdentifier;
+
+ /** The NativeLibrary that contains the functions. */
+ NativeLibrary _nativeLibrary;
+ private Pointer component;
+
+ private final FMIModelDescription modelDescription;
+
+ private final Map<String, FMIScalarVariable> variables = new HashMap<String, FMIScalarVariable>();
+
+ private final Set<IFMUListener> listeners = new HashSet<IFMUListener>();
+
+ public void registerListener(final IFMUListener listener) {
+ listeners.add(listener);
+ }
+
+ public void unregisterListener(final IFMUListener listener) {
+ listeners.remove(listener);
+ }
+
+ public FMU(final String fmuFileName) throws IOException {
+ modelDescription = FMUFile.parseFMUFile(fmuFileName);
+ String sharedLibrary = FMUFile.fmuSharedLibrary(modelDescription);
+
+ for (FMIScalarVariable fmiScalarVariable : modelDescription.modelVariables) {
+ variables.put(fmiScalarVariable.name, fmiScalarVariable);
+ }
+
+ _nativeLibrary = NativeLibrary.getInstance(sharedLibrary);
+
+ // The modelName may have spaces in it.
+ _modelIdentifier = modelDescription.modelIdentifier;
+
+ // The URL of the fmu file.
+ String fmuLocation = new File(fmuFileName).toURI().toURL().toString();
+
+ // The tool to use if we have tool coupling.
+ String mimeType = "application/x-fmu-sharedlibrary";
+
+ // Timeout in ms., 0 means wait forever.
+ double timeout = TIMEOUT;
+
+ // There is no simulator UI.
+ byte visible = 0;
+ // Run the simulator without user interaction.
+ byte interactive = 0;
+ // Callbacks
+ FMICallbackFunctions.ByValue callbacks = new FMICallbackFunctions.ByValue(
+ new FMULibrary.FMULogger(), new FMULibrary.FMUAllocateMemory(),
+ new FMULibrary.FMUFreeMemory(),
+ new FMULibrary.FMUStepFinished());
+ // Logging tends to cause segfaults because of vararg callbacks.
+ byte loggingOn = (byte) 0;
+
+ component = instantiateFMU(fmuLocation, mimeType, timeout, visible,
+ interactive, callbacks, loggingOn);
+
+ if (component.equals(Pointer.NULL)) {
+ throw new RuntimeException("Could not instantiate model.");
+ }
+ }
+
+ public String getFmiVersion() {
+ assert _nativeLibrary != null;
+ Function function = getFunction("_fmiGetVersion");
+ return (String) function.invoke(String.class, new Object[0]);
+ }
+
+ public void initialize(final double startTime, final double endTime) {
+ invoke("_fmiInitializeSlave", new Object[] { component, startTime,
+ (byte) 1, endTime }, "Could not initialize slave: ");
+ }
+
+ public boolean getBoolean(final String name) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ return fmiScalarVariable.getBoolean(component);
+ }
+
+ public double getDouble(final String name) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ return fmiScalarVariable.getDouble(component);
+ }
+
+ public int getInt(final String name) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ return fmiScalarVariable.getInt(component);
+ }
+
+ public String getString(final String name) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ return fmiScalarVariable.getString(component);
+ }
+
+ public void set(final String name, final boolean b) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ fmiScalarVariable.setBoolean(component, b);
+ }
+
+ public void set(final String name, final int i) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ fmiScalarVariable.setInt(component, i);
+ }
+
+ public void set(final String name, final double d) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ fmiScalarVariable.setDouble(component, d);
+ }
+
+ public void set(final String name, final String s) {
+ FMIScalarVariable fmiScalarVariable = variables.get(name);
+ fmiScalarVariable.setString(component, s);
+ }
+
+ public double doStep(final double time, final double delta_t) {
+ Function doStep = getFunction("_fmiDoStep");
+ invoke(doStep, new Object[] { component, time, delta_t, (byte) 1 },
+ "Could not simulate, time was " + time + ": ");
+
+ for (IFMUListener l : listeners) {
+ l.trigger(variables);
+ }
+ return time + delta_t;
+ }
+
+ public void terminate() {
+ invoke("_fmiTerminateSlave", new Object[] { component },
+ "Could not terminate slave: ");
+ invoke("_fmiFreeSlaveInstance", new Object[] { component },
+ "Could not dispose resources of slave: ");
+ component = null;
+ }
+
+ @Override
+ protected void finalize() throws Throwable {
+ this.terminate();
+ super.finalize();
+ }
+
+ public void reset() {
+ invoke("_fmiResetSlave", new Object[] { component },
+ "Could not reset slave: ");
+ }
+
+ public FMIModelDescription getModelDescription() {
+ return modelDescription;
+ }
+
+ private Pointer instantiateFMU(final String fmuLocation,
+ final String mimeType, final double timeout, final byte visible,
+ final byte interactive,
+ final FMICallbackFunctions.ByValue callbacks, final byte loggingOn) {
+ Function instantiateSlave = getFunction("_fmiInstantiateSlave");
+ Pointer fmiComponent = (Pointer) instantiateSlave.invoke(Pointer.class,
+ new Object[] { _modelIdentifier, modelDescription.guid,
+ fmuLocation, mimeType, timeout, visible, interactive,
+ callbacks, loggingOn });
+ return fmiComponent;
+ }
+
+ /**
+ * Return a function by name.
+ *
+ * @param name
+ * The name of the function. The value of the modelIdentifier is
+ * prepended to the value of this parameter to yield the function
+ * name.
+ * @return the function.
+ */
+ public Function getFunction(final String name) {
+ // This is syntactic sugar.
+ return _nativeLibrary.getFunction(_modelIdentifier + name);
+ }
+
+ /**
+ * Invoke a function that returns an integer representing the FMIStatus
+ * return value.
+ *
+ * @param name
+ * The name of the function.
+ * @param arguments
+ * The arguments to be passed to the function.
+ * @param message
+ * The error message to be used if there is a problem. The
+ * message should end with ": " because the return value of the
+ * function will be printed after the error message.
+ */
+ public void invoke(final String name, final Object[] arguments,
+ final String message) {
+ Function function = getFunction(name);
+ invoke(function, arguments, message);
+ }
+
+ /**
+ * Invoke a function that returns an integer representing the FMIStatus
+ * return value.
+ *
+ * @param function
+ * The function to be invoked.
+ * @param arguments
+ * The arguments to be passed to the function.
+ * @param message
+ * The error message to be used if there is a problem. The
+ * message should end with ": " because the return value of the
+ * function will be printed after the error message.
+ */
+ public void invoke(final Function function, final Object[] arguments,
+ final String message) {
+ int fmiFlag = ((Integer) function.invoke(Integer.class, arguments))
+ .intValue();
+ if (fmiFlag > FMILibrary.FMIStatus.fmiWarning) {
+ throw new RuntimeException(message + fmiFlag);
+ }
+ }
+
+}
diff --git a/de.prob.core/src/de/prob/cosimulation/IFMUListener.java b/de.prob.core/src/de/prob/cosimulation/IFMUListener.java
new file mode 100644
index 0000000000000000000000000000000000000000..2001ffddf65a1e1aa8941b133b3d81cf65cb5b6b
--- /dev/null
+++ b/de.prob.core/src/de/prob/cosimulation/IFMUListener.java
@@ -0,0 +1,11 @@
+package de.prob.cosimulation;
+
+import java.util.Map;
+
+import org.ptolemy.fmi.FMIScalarVariable;
+
+public interface IFMUListener {
+
+ void trigger(Map<String, FMIScalarVariable> variables);
+
+}