feat(node-fmu): Add new FMU node type

Author: JitpanuM

CMakeLists.txt

@@ -214,6 +214,7 @@ cmake_dependent_option(WITH_NODE_ULDAQ          "Build with uldaq node-type"
 cmake_dependent_option(WITH_NODE_WEBRTC         "Build with webrtc node-type"                           "${WITH_DEFAULTS}" "WITH_WEB; LibDataChannel_FOUND" OFF)
 cmake_dependent_option(WITH_NODE_WEBSOCKET      "Build with websocket node-type"                        "${WITH_DEFAULTS}" "WITH_WEB" OFF)
 cmake_dependent_option(WITH_NODE_ZEROMQ         "Build with zeromq node-type"                           "${WITH_DEFAULTS}" "LIBZMQ_FOUND; NOT WITHOUT_GPL" OFF)
+cmake_dependent_option(WITH_NODE_FMU            "Build with fmu node-type"                              "${WITH_DEFAULTS}" "" OFF)
 
 # Set a default for the build type
 if("${CMAKE_BUILD_TYPE}" STREQUAL "")
@@ -324,6 +325,7 @@ add_feature_info(NODE_ULDAQ             WITH_NODE_ULDAQ             "Build with
 add_feature_info(NODE_WEBRTC            WITH_NODE_WEBRTC            "Build with webrtc node-type")
 add_feature_info(NODE_WEBSOCKET         WITH_NODE_WEBSOCKET         "Build with websocket node-type")
 add_feature_info(NODE_ZEROMQ            WITH_NODE_ZEROMQ            "Build with zeromq node-type")
+add_feature_info(NODE_FMU               WITH_NODE_FMU               "Build with fmu node-type")
 
 if(TOPLEVEL_PROJECT)
     feature_summary(WHAT ALL VAR FEATURES)

etc/examples/nodes/fmu.conf

@@ -0,0 +1,51 @@
+# SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
+# SPDX-License-Identifier: Apache-2.0
+
+nodes = {
+    fmu = {
+        type = "fmu"
+        # Path to fmu file
+        fmu_path = "external/fmu/ieee13bus/binaries/x86_64-linux/ieee13bus.so"
+        # fmu token usually in xml file
+        fmu_token = ""
+        fmu_writefirst = false
+        # fmu output list
+        in = {
+            signals = (
+                {ref = 48, type = "float"},
+                {ref = 49, type = "float"},
+                {ref = 50, type = "float"},
+                {ref = 51, type = "float"},
+                {ref = 52, type = "float"},
+                {ref = 53, type = "float"}
+            )
+        }
+        # fmu input list
+        out = {
+            signals = (
+                {ref = 99, type = "float"},
+                {ref = 99, type = "float"},
+            )
+        }
+    }
+
+    signal_node = {
+        type = "signal"
+        limit = 10
+        signal = "mixed"
+        values = 1
+        rate = 2.0
+    }
+}
+
+paths = (
+    {
+        in = "signal_node"
+        out = "fmu"
+        hooks = ( { type = "print" } )
+    },
+    {
+        in = "fmu"
+        hooks = ( { type = "print" } )
+    }
+)

include/villas/nodes/fmu.hpp

@@ -0,0 +1,96 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <villas/node.hpp>
+#include <villas/format.hpp>
+
+#include "fmi3FunctionTypes.h"
+#include "fmi3Functions.h"
+#include "fmi3PlatformTypes.h"
+
+namespace villas {
+namespace node {
+
+// Forward declarations
+struct Sample;
+
+class FmuNode : public Node {
+protected:
+  int parse(json_t *json) override;
+
+  int _read(struct Sample *smps[], unsigned cnt) override;
+  int _write(struct Sample *smps[], unsigned cnt) override;
+
+  bool writingTurn;
+  const char *path;
+  const char *token;
+  void *handle;
+
+  timespec ts;
+  pthread_mutex_t mutex;
+  pthread_cond_t cv;
+
+  fmi3Instance fmu;
+  fmi3InstantiateCoSimulationTYPE* fmi3InstantiateCoSimulation;
+  fmi3EnterInitializationModeTYPE* fmi3EnterInitializationMode;
+  fmi3ExitInitializationModeTYPE* fmi3ExitInitializationMode;
+  fmi3DoStepTYPE* fmi3DoStep;
+  fmi3FreeInstanceTYPE* fmi3FreeInstance;
+
+  fmi3Float64 stoptime;
+  fmi3Boolean stoptimedefined;
+
+  fmi3Float64 stepsize;
+  fmi3Float64 currenttime;
+
+  fmi3Boolean eventHandlingNeeded;
+  fmi3Boolean terminateSimulation;
+  fmi3Boolean earlyReturn;
+  fmi3Float64 lastSuccessfulTime;
+
+  fmi3GetFloat64TYPE* fmi3GetFloat64;
+  fmi3SetFloat64TYPE* fmi3SetFloat64;
+
+  fmi3GetFloat32TYPE* fmi3GetFloat32;
+  fmi3SetFloat32TYPE* fmi3SetFloat32;
+
+  fmi3SetInt32TYPE* fmi3SetInt32;
+  fmi3GetInt32TYPE* fmi3GetInt32;
+
+  fmi3GetInt64TYPE* fmi3GetInt64;
+  fmi3SetInt64TYPE* fmi3SetInt64;
+
+  fmi3GetBooleanTYPE* fmi3GetBoolean;
+  fmi3SetBooleanTYPE* fmi3SetBoolean;
+
+public:
+  FmuNode(const uuid_t &id = {}, const std::string &name = "");
+
+  enum FMUDataType { fmu_float, fmu_int, fmu_bool };
+
+  struct fmu_signal {
+    unsigned int ref;
+    FMUDataType type;
+  };
+
+  std::vector<fmu_signal> signal_in, signal_out;
+
+  int prepare() override;
+
+  int check() override;
+
+  int start() override;
+
+  int stop() override;
+
+  ~FmuNode();
+
+private:
+  void parse_signal(json_t *json, bool in);
+  int limit;
+  int step;
+};
+
+} // namespace node
+} // namespace villas

lib/nodes/CMakeLists.txt

@@ -12,6 +12,10 @@ if(WITH_WEB)
     list(APPEND NODE_SRC api.cpp)
 endif()
 
+if(WITH_NODE_FMU)
+    list(APPEND NODE_SRC fmu.cpp)
+endif()
+
 if(LIBNL3_ROUTE_FOUND)
     list(APPEND LIBRARIES PkgConfig::LIBNL3_ROUTE)
 endif()