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RiteshKarki27RiteshKarki27
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feat (node-fmu): New node fmu using FMI3.0
Signed-off-by: Ritesh.K <riteshkarki6@gmail.com>
1 parent 5ab933a commit 81f32f4

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‎CMakeLists.txt‎

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@@ -91,6 +91,7 @@ find_package(Criterion)
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find_package(OpalOrchestra)
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find_package(LibXml2)
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find_package(OpalAsyncApi)
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find_package(FMI)
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# Check for tools
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find_program(PROTOBUFC_COMPILER NAMES protoc-c)
@@ -199,6 +200,7 @@ cmake_dependent_option(WITH_NODE_ETHERCAT "Build with ethercat node-type"
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cmake_dependent_option(WITH_NODE_EXAMPLE "Build with example node-type" "${WITH_DEFAULTS}" "" OFF)
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cmake_dependent_option(WITH_NODE_EXEC "Build with exec node-type" "${WITH_DEFAULTS}" "" OFF)
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cmake_dependent_option(WITH_NODE_FILE "Build with file node-type" "${WITH_DEFAULTS}" "" OFF)
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cmake_dependent_option(WITH_NODE_FMU "Build with fmu node-type" "${WITH_DEFAULTS}" "FMI_FOUND" OFF)
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cmake_dependent_option(WITH_NODE_FPGA "Build with fpga node-type" "${WITH_DEFAULTS}" "WITH_FPGA" OFF)
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cmake_dependent_option(WITH_NODE_IEC60870 "Build with iec60870 node-types" "${WITH_DEFAULTS}" "LIB60870_FOUND; NOT WITHOUT_GPL" OFF)
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cmake_dependent_option(WITH_NODE_IEC61850 "Build with iec61850 node-types" "${WITH_DEFAULTS}" "LIBIEC61850_FOUND; NOT WITHOUT_GPL" OFF)
@@ -309,6 +311,7 @@ add_feature_info(NODE_ETHERCAT WITH_NODE_ETHERCAT "Build with
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add_feature_info(NODE_EXAMPLE WITH_NODE_EXAMPLE "Build with example node-type")
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add_feature_info(NODE_EXEC WITH_NODE_EXEC "Build with exec node-type")
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add_feature_info(NODE_FILE WITH_NODE_FILE "Build with file node-type")
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add_feature_info(NODE_FMU WITH_NODE_FMU "Build with fmu node-type")
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add_feature_info(NODE_FPGA WITH_NODE_FPGA "Build with fpga node-type")
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add_feature_info(NODE_IEC60870 WITH_NODE_IEC60870 "Build with iec60870 node-types")
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add_feature_info(NODE_IEC61850 WITH_NODE_IEC61850 "Build with iec61850 node-types")

‎cmake/FindFMI.cmake‎

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

‎etc/examples/nodes/fmu.conf‎

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# SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
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# SPDX-License-Identifier: Apache-2.0
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nodes = {
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file_output = {
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type = "file"
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# format = "csv"
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uri = "/workspaces/node/fmu_temp/output.dat"
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out = {
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}
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},
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signal_node = {
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type = "signal.v2"
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rate = 100.0
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realtime = true
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limit = 100
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in = {
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signals = (
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{ name = "sine1", signal = "sine", amplitude = 1, frequency = 100 },
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# { name = "in2", signal = "constant", amplitude = 1 },
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)
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}
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},
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fmu_node = {
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type = "fmu"
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# Path to fmu file
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fmu_path = "/workspaces/node/fmu_temp/asine.fmu"
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fmu_unpack_path = "/workspaces/node/fmu_temp/fmu_asine"
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fmu_writefirst = true
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stopTime = 10.0
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startTime = 0.0
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stepSize = 0.2
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in = {
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signals = (
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{name = "In1", type = "float"}
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)
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}
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out = {
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signals = (
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{name = "Out1", type = "float"},
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)
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}
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}
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}
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paths = (
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{
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in = "signal_node",
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out = "fmu_node"
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},
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{
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in = "fmu_node",
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out = "file_output"
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},
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)

‎include/villas/nodes/fmu.hpp‎

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/* Node type: Functional Mock-up unit.
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*
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* Author: Jitpanu Maneeratpongsuk <jitpanu.maneeratpongsuk@rwth-aachen.de>
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* SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, RWTH Aachen University
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include <string>
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#include <vector>
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#include <fmilib.h>
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#include <villas/format.hpp>
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#include <villas/node.hpp>
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namespace villas {
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namespace node {
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// Forward declarations
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struct Sample;
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class FmuNode : public Node {
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protected:
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int parse(json_t *json) override;
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int _read(struct Sample *smps[], unsigned cnt) override;
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int _write(struct Sample *smps[], unsigned cnt) override;
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bool writingTurn = true;
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const char *path;
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const char *unpack_path;
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timespec ts;
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pthread_mutex_t mutex;
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pthread_cond_t cv;
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fmi3_import_t *fmu;
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jm_callbacks callbacks;
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fmi_import_context_t *context;
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public:
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FmuNode(const uuid_t &id = {}, const std::string &name = "");
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struct fmu_signal {
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unsigned int ref = 0;
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fmi3_base_type_enu_t type = fmi3_base_type_enu_t::fmi3_base_type_float64;
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std::string name;
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};
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std::vector<fmu_signal> signalIn;
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std::vector<fmu_signal> signalOut;
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int prepare() override;
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int check() override;
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int start() override;
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int stop() override;
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// ~FmuNode();
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private:
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void parse_signal(json_t *json, bool in);
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double currentTime = 0;
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double stepSize = 0.1;
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double stopTime = 0;
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double startTime = 0;
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bool stopTimeDef = false;
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double nextTime = 0.0;
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void get_vr(const char *var_name, fmi3_value_reference_t &ref,
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fmi3_base_type_enu_t &type);
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};
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} // namespace node
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} // namespace villas

‎lib/nodes/CMakeLists.txt‎

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

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