feat(node-fmu): Add FMU node type

Signed-off-by: Jitpanu Maneeratpongsuk <jitpanu.maneeratpongsuk@rwth-aachen.de>

Author: JitpanuM

CMakeLists.txt

@@ -87,6 +87,7 @@ find_package(Criterion)
 find_package(OpalOrchestra)
 find_package(LibXml2)
 find_package(OpalAsyncApi)
+find_package(FMI)
 
 # Check for tools
 find_program(PROTOBUFC_COMPILER NAMES protoc-c)
@@ -195,6 +196,7 @@ cmake_dependent_option(WITH_NODE_ETHERCAT       "Build with ethercat node-type"
 cmake_dependent_option(WITH_NODE_EXAMPLE        "Build with example node-type"                          "${WITH_DEFAULTS}" "" OFF)
 cmake_dependent_option(WITH_NODE_EXEC           "Build with exec node-type"                             "${WITH_DEFAULTS}" "" OFF)
 cmake_dependent_option(WITH_NODE_FILE           "Build with file node-type"                             "${WITH_DEFAULTS}" "" OFF)
+cmake_dependent_option(WITH_NODE_FMU            "Build with fmu node-type"                              "${WITH_DEFAULTS}" "FMI_FOUND" OFF)
 cmake_dependent_option(WITH_NODE_FPGA           "Build with fpga node-type"                             "${WITH_DEFAULTS}" "WITH_FPGA" OFF)
 cmake_dependent_option(WITH_NODE_IEC60870       "Build with iec60870 node-types"                        "${WITH_DEFAULTS}" "LIB60870_FOUND; NOT WITHOUT_GPL" OFF)
 cmake_dependent_option(WITH_NODE_IEC61850       "Build with iec61850 node-types"                        "${WITH_DEFAULTS}" "LIBIEC61850_FOUND; NOT WITHOUT_GPL" OFF)
@@ -305,6 +307,7 @@ add_feature_info(NODE_ETHERCAT          WITH_NODE_ETHERCAT          "Build with
 add_feature_info(NODE_EXAMPLE           WITH_NODE_EXAMPLE           "Build with example node-type")
 add_feature_info(NODE_EXEC              WITH_NODE_EXEC              "Build with exec node-type")
 add_feature_info(NODE_FILE              WITH_NODE_FILE              "Build with file node-type")
+add_feature_info(NODE_FMU               WITH_NODE_FMU               "Build with fmu node-type")
 add_feature_info(NODE_FPGA              WITH_NODE_FPGA              "Build with fpga node-type")
 add_feature_info(NODE_IEC60870          WITH_NODE_IEC60870          "Build with iec60870 node-types")
 add_feature_info(NODE_IEC61850          WITH_NODE_IEC61850          "Build with iec61850 node-types")

cmake/FindFMI.cmake

@@ -0,0 +1,22 @@
+
+
+find_path(FMI_INCLUDE_DIR
+    NAMES fmilib.h
+)
+
+find_library(FMI_LIBRARY fmilib
+  PATHS /usr/local/lib /usr/local/lib64
+)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(FMI DEFAULT_MSG FMI_LIBRARY FMI_INCLUDE_DIR)
+
+mark_as_advanced(FMI_INCLUDE_DIR FMI_LIBRARY)
+
+if(FMI_FOUND)
+    add_library(FMI SHARED IMPORTED)
+    set_target_properties(FMI PROPERTIES
+        IMPORTED_LOCATION "${FMI_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${FMI_INCLUDE_DIR}"
+    )
+endif()

etc/examples/nodes/fmu.conf

@@ -0,0 +1,30 @@
+# 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 = "fmu/Feedthrough.fmu"
+        fmu_unpack_path = "/tmp/fmu_unpack"
+        fmu_writefirst = false
+        stopTime = 10.0
+        startTime = 0.0
+        stepSize = 0.01
+        # fmu output list
+        # name must be same as in fmu model description file
+        in = {
+            signals = (
+                {name = "Float64_discrete_output", type = "float"},
+                {name = "Int64_output", type = "integer"}
+            )
+        }
+        # fmu input list
+        out = {
+            signals = (
+                {name = "Float64_discrete_input", type = "float"},
+                {name = "Int64_input", type = "integer"}
+            )
+        }
+    }
+}

include/villas/nodes/fmu.hpp

@@ -0,0 +1,74 @@
+/* Node type: Functional Mock-up unit.
+ *
+ * Author: Jitpanu Maneeratpongsuk <jitpanu.maneeratpongsuk@rwth-aachen.de>
+ * SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, RWTH Aachen University
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <fmilib.h>
+
+#include <villas/format.hpp>
+#include <villas/node.hpp>
+
+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 *unpack_path;
+
+  timespec ts;
+  pthread_mutex_t mutex;
+  pthread_cond_t cv;
+
+  fmi3_import_t *fmu;
+  jm_callbacks callbacks;
+  fmi_import_context_t *context;
+
+public:
+  FmuNode(const uuid_t &id = {}, const std::string &name = "");
+  struct fmu_signal {
+    unsigned int ref = 0;
+    fmi3_base_type_enu_t type = fmi3_base_type_enu_t::fmi3_base_type_float64;
+    std::string name;
+  };
+
+  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);
+  double currentTime = 0;
+  double stepSize = 0.1;
+  double stopTime = 0;
+  double startTime = 0;
+  bool stopTimeDef = false;
+  void get_vr(const char *var_name, fmi3_value_reference_t &ref,
+              fmi3_base_type_enu_t &type);
+};
+
+} // namespace node
+} // namespace villas

lib/nodes/CMakeLists.txt

@@ -202,6 +202,12 @@ if(WITH_NODE_WEBRTC)
     list(APPEND LIBRARIES LibDataChannel::LibDataChannel)
 endif()
 
+# Enable FMU node-type support
+if(WITH_NODE_FMU)
+    list(APPEND NODE_SRC fmu.cpp)
+    list(APPEND LIBRARIES FMI)
+endif()
+
 add_library(nodes STATIC ${NODE_SRC})
 target_include_directories(nodes PUBLIC ${INCLUDE_DIRS})
 target_link_libraries(nodes PUBLIC ${LIBRARIES})