Merge branch 'release/v2.9'

+FMIKit/minorVersion.m

@@ -1,6 +1,6 @@
 function v = minorVersion()
 % FMIKit.minorVersion  Get the minor version of FMI Kit
 
-v = 8;
+v = 9;
 
 end

docs/changelog.md

@@ -1,6 +1,19 @@
 # Changelog
 
-## 2.8
+## v2.9
+
+This release resolves issues with the FMU export:
+
+- Fix memory allocation and fmi2Reset() in rtwsfcnfmi.tlc (#31)
+- Initialize model variables in fmi2Reset() in grtfmi.tlc (#211)
+- Use 0-based indexing when exporting FMI 2.0 arrays in grtfmi.tlc and rtwsfcnfmi.tlc (#208)
+- Add sources of referenced models in grtfmi.tlc
+- Evaluate nextEventTimeDefined in Model Exchange (#209)
+- Skip duplicate CGType indices in rtwsfcnfmi.tlc (#205)
+- Escape special characters in input and output variables in grtfmi.tlc (#206)
+- Fix loading of MEX S-functions in rtwsfcnfmi.tlc (#203)
+
+## v2.8
 
 This release improves the import of source code FMUs and fixes issues with export of FMUs.
 The build system for the S-function based target has been changed to CMake for improved flexibility.
@@ -25,7 +38,7 @@ The build system for the S-function based target has been changed to CMake for i
 
 - `new` build system changed to CMake (same as for grtfmi.tlc)
 
-## 2.7
+## v2.7
 
 This release brings fixes and improvements for the import and export of FMUs.
 It is now distributed as a ZIP archive (instead of a MATLAB App) for easier deployment.

grtfmi/CMakeLists.txt

@@ -117,14 +117,12 @@ set(HEADERS ${HEADERS} ${MATLAB_HEADERS})
 set(HEADERS ${HEADERS} ${SIMULINK_HEADERS})
 
 FILE(GLOB RTW_SOURCES      "${RTW_DIR}/*.c")
-FILE(GLOB SHARED_SOURCES   "${RTW_DIR}/../slprj/grtfmi/_sharedutils/*.c")
-FILE(GLOB REFMODEL_SOURCES "${RTW_DIR}/../slprj/grtfmi/sldemo_mdlref_counter_bus/*.c")
+FILE(GLOB SHARED_SOURCES   "${RTW_DIR}/../slprj/grtfmi/*/*.c")
 
 set(SOURCES
   "${MATLAB_ROOT}/rtw/c/src/rt_matrx.c"
   ${RTW_SOURCES}
   ${SHARED_SOURCES}
-  ${REFMODEL_SOURCES}
   ${RTW_DIR}/fmiwrapper.inc
   ${CMAKE_SOURCE_DIR}/fmi${FMI_VERSION}Functions.c
   ${CUSTOM_SOURCE}

grtfmi/fmi2Functions.c

@@ -185,6 +185,8 @@ fmi2Status fmi2Reset(fmi2Component c) {
 	MODEL_INITIALIZE();
 #endif
 
+	initializeModelVariables(instance->S, instance->modelVariables);
+
 	return fmi2OK;
 }
 

grtfmi/grtfmi_xml_encode.m

@@ -5,6 +5,7 @@
 string = strrep(string, '&', '&');
 string = strrep(string, '<', '&lt;');
 string = strrep(string, '>', '&gt;');
+string = strrep(string, '"', '&quot;');
 string = strrep(string, char(hex2dec('D')), ' '); % carriage return
 string = strrep(string, char(hex2dec('A')), ' '); % line feed
 string = strrep(string, char(hex2dec('9')), ' '); % tab

grtfmi/grtfmilib.tlc

@@ -100,6 +100,7 @@
 %endfunction
 
 %function VariableFMI2(record, variableName, dataName, vr, variableAttr, typeAttr) Output
+  %assign variableName = FEVAL("grtfmi_xml_encode", variableName)
   %assign dataTypeName = SLibGetRecordDataTypeName(record, "")
   %assign fmiType      = GetFMIType(record)
   %assign dtypeID      = LibGetRecordContainerDataTypeId(record) 
@@ -131,10 +132,10 @@
     %foreach rowid = nRows
       %if nCols > 1 && nRows > 1
         %assign dataSubs     = "[%<index>]"
-        %assign variableSubs = "[%<rowid+1>,%<colid+1>]"
+        %assign variableSubs = "[%<rowid>,%<colid>]"
       %elseif width > 1
         %assign dataSubs     = "[%<index>]"
-        %assign variableSubs = "[%<index+1>]"
+        %assign variableSubs = "[%<index>]"
       %else
         %assign dataSubs     = ""
         %assign variableSubs = "" 
@@ -194,6 +195,7 @@
 %endfunction
 
 %function VariableFMI3(record, variableName, dataName, vr, variableAttr, typeAttr) Output
+  %assign variableName = FEVAL("grtfmi_xml_encode", variableName)
   %assign dataTypeName = SLibGetRecordDataTypeName(record, "")
   %assign fmiType      = GetFMI3Type(dataTypeName)
   %assign dtypeID      = LibGetRecordDataTypeId(record)

grtfmi/grtfmixml.tlc

@@ -17,7 +17,7 @@
   instantiationToken="%<GUID>"
   %endif
   modelName="%<OrigName>"
-  generationTool="Simulink %<Version> with FMI Kit 2.8 (grtfmi.tlc, %<Solver>, %<FundamentalStepSize> s)"
+  generationTool="Simulink %<Version> with FMI Kit 2.9 (grtfmi.tlc, %<Solver>, %<FundamentalStepSize> s)"
   %assign XMLdate = FEVAL("grtfmi_xml_datetime")
   generationDateAndTime="%<XMLdate>"
   %assign description = FEVAL("get_param", "%<OrigName>", "Description")

include/sfun_fmu_fmi2_me.c

@@ -3,7 +3,7 @@
  *  This file is part of FMIKit. See LICENSE.txt in the project  *
  *  root for license information.                                *
  *****************************************************************/
- 
+
 #include <stdarg.h>
 
 #define S_FUNCTION_LEVEL 2
@@ -42,7 +42,7 @@ static void mdlStart(SimStruct *S) {
 
   time_T startTime = ssGetT(S);
   time_T stopTime = ssGetTFinal(S);
-  
+
 	static fmi2CallbackFunctions callbacks = { logFMUMessage, calloc, free, NULL, NULL };
 
 	EVENT_INFO_PTR = calloc(1, sizeof(fmi2EventInfo));
@@ -79,12 +79,11 @@ static void mdlStart(SimStruct *S) {
 
 static void update(SimStruct *S) {
 
-	fmi2Boolean timeEvent, stateEvent;
-	fmi2Boolean enterEventMode, terminateSimulation;
+	fmi2Boolean timeEvent, stateEvent, enterEventMode, terminateSimulation;
 	int i;
 
 	// Work around for the event handling in Dymola FMUs:
-	timeEvent = ssGetT(S) >= EVENT_INFO->nextEventTime;
+	timeEvent = EVENT_INFO->nextEventTimeDefined && ssGetT(S) >= EVENT_INFO->nextEventTime;
 
 	ASSERT_OK(fmi2CompletedIntegratorStep(COMPONENT, fmi2True, &enterEventMode, &terminateSimulation), "Completed integrator step failed")
 

rtwsfcnfmi/CMakeLists.txt

@@ -55,22 +55,26 @@ target_include_directories(${SOLVER} PRIVATE
   "${MATLAB_ROOT}/rtw/c/src"
 )
 
-set(MODEL_SOURCES 
+set(MODEL_SOURCES
   ../include/fmi2Functions.h
   ../include/fmi2FunctionTypes.h
   ../include/fmi2TypesPlatform.h
   fmi2Functions.c
   sfunction.h
   sfunction.c
+  "${RTW_DIR}/sfcn_fmi.h"
   "${RTW_DIR}/modelDescription.xml"
 )
 
 if (EXISTS "${RTW_DIR}/rt_zcfcn.c")
   set (MODEL_SOURCES ${MODEL_SOURCES} "${RTW_DIR}/rt_zcfcn.c")
 endif ()
 
+if (NOT LOAD_MEX)
+  set (MODEL_SOURCES ${MODEL_SOURCES} "${MATLAB_ROOT}/rtw/c/src/rt_matrx.c")
+endif ()
+
 add_library(${MODEL_NAME} SHARED
-  "${MATLAB_ROOT}/rtw/c/src/rt_matrx.c"
   ${MODEL_SOURCES}
   ${CUSTOM_SOURCE}
 )

rtwsfcnfmi/fmi2Functions.c

@@ -21,12 +21,6 @@
 #include "model_interface.h"
 
 
-typedef struct {
-	fmi2CallbackFunctions functions;
-	fmi2EventInfo eventInfo;
-} UserData;
-
-
 /* -------------- Macro to check if initialized -------------- */
 
 #define CHECK_INITIALIZED(model, label)                                        \
@@ -55,9 +49,9 @@ static void logMessage(Model *model, int status, const char *message, ...) {
 	vsnprintf(buf, 1024, message, args);
 	va_end(args);
 
-	UserData *userData = (UserData *)model->userData;
+	fmi2CallbackFunctions *functions = (fmi2CallbackFunctions *)model->userData;
 
-	userData->functions.logger(userData->functions.componentEnvironment, model->instanceName, status, "", buf);
+	functions->logger(functions->componentEnvironment, model->instanceName, status, "", buf);
 }
 
 /* Function for double precision comparison */
@@ -118,29 +112,29 @@ fmi2Component fmi2Instantiate(fmi2String	instanceName,
 {
 	/* The following arguments are ignored: fmuResourceLocation, visible */
 
-	// TODO: check GUID
-	///* verify GUID */
-	//if (strcmp(GUID, MODEL_GUID) != 0) {
-	//	logMessage(model, fmi2Error, "Invalid GUID: %s, expected %s\n", GUID, MODEL_GUID);
-	//	functions->freeMemory(model);
-	//	return NULL;
-	//}
+	// check logger callback
+	if (!functions || !functions->logger) {
+		return NULL;
+	}
 
-	// TODO: check logger callback
+	/* verify GUID */
+	if (strcmp(GUID, MODEL_GUID) != 0) {
+		functions->logger(NULL, instanceName, fmi2Error, "logError", "Invalid GUID \"%s\", expected \"%s\".", GUID, MODEL_GUID);
+		return NULL;
+	}
 
-	UserData *userData = (UserData *)calloc(1, sizeof(UserData));
-	userData->functions = *functions;
+	fmi2CallbackFunctions *callbacks = (fmi2CallbackFunctions *)calloc(1, sizeof(fmi2CallbackFunctions));
+
+	memcpy(callbacks, functions, sizeof(fmi2CallbackFunctions));
 
-	Model *model = InstantiateModel(instanceName, logMessage, userData);
+	Model *model = InstantiateModel(instanceName, logMessage, fmuType == fmi2CoSimulation, callbacks);
 
     initializeModelVariables(model->S, model->modelVariables);
-
-	model->isCoSim = fmi2False;
-	model->hasEnteredContMode = fmi2False;
+
 	if (fmuType == fmi2CoSimulation) {
-		model->isCoSim = fmi2True;
-		if (functions->stepFinished != NULL) {
-			logMessage(model, fmi2Warning, "fmi2Instantiate: Callback function stepFinished != NULL but asynchronous fmi2DoStep is not supported");
+
+		if (functions->stepFinished) {
+			logMessage(model, fmi2Warning, "Callback function stepFinished != NULL but asynchronous fmi2DoStep is not supported.");
 		}
 	}
 
@@ -149,9 +143,10 @@ fmi2Component fmi2Instantiate(fmi2String	instanceName,
 
 void fmi2FreeInstance(fmi2Component c)
 {
-	Model* model = (Model*) c;
-	// TODO: fix this
-    //FreeModel(model);
+	Model* model = (Model*)c;
+	free(model->userData);
+	model->userData = NULL;
+    FreeModel(model);
 }
 
 fmi2Status fmi2SetTime(fmi2Component c, fmi2Real time);
@@ -234,12 +229,13 @@ fmi2Status fmi2ExitInitializationMode(fmi2Component c)
 {
 	Model* model = (Model*) c;
 	fmi2Status status = fmi2OK;
+	fmi2EventInfo eventInfo = { 0 };
 
 	model->status = modelEventMode;
 
 	if (model->isCoSim) {
 		/* Evaluate model at t=0 */
-		status = fmi2NewDiscreteStates(c, &(((UserData *)model->userData)->eventInfo));
+		status = fmi2NewDiscreteStates(c, &eventInfo);
 		if (status != fmi2OK) {
 			model->status = modelInstantiated;
 			return status;
@@ -270,11 +266,18 @@ fmi2Status fmi2Terminate(fmi2Component c)
 fmi2Status fmi2Reset(fmi2Component c)
 {
 	Model* model = (Model*) c;
+
+	Model *temp = (Model *)calloc(1, sizeof(Model));
+
+	memcpy(temp, model, sizeof(Model));
+
+	Model *new_model = InstantiateModel(model->instanceName, logMessage, model->isCoSim, model->userData);
+
+	initializeModelVariables(new_model->S, new_model->modelVariables);
 
-    ResetModel(model);
+	memcpy(model, new_model, sizeof(Model));
 
-	UserData *userData = (UserData *)model->userData;
-	memset(&(userData->eventInfo), 0, sizeof(fmi2EventInfo));
+	FreeModel(temp);
 
 	return fmi2OK;
 }
@@ -925,8 +928,8 @@ fmi2Status fmi2DoStep(fmi2Component c, fmi2Real currentCommunicationPoint, fmi2R
 		/* Extrapolate inputs */
 		extrapolateInputs(model, nextSolverTime);
 		/* Set sample hits and call mdlOutputs / mdlUpdate (always a discrete sample time = Fixed-step size) */
-		UserData *userData = (UserData *)model->userData;
-		fmi2NewDiscreteStates(c, &(userData->eventInfo));
+		fmi2EventInfo eventInfo = { 0 };
+		fmi2NewDiscreteStates(c, &eventInfo);
 		/* Update solver times */
 		lastSolverTime = nextSolverTime;
 		model->nbrSolverSteps++;
@@ -1020,8 +1023,8 @@ static void logger(fmi2Component c, fmi2String instanceName, fmi2Status status,
 	vsnprintf(buf, capacity, message, ap);
 #endif
 	va_end(ap);
-	fmi2ComponentEnvironment componentEnvironment = ((UserData *)model->userData)->functions.componentEnvironment;
-	((UserData *)model->userData)->functions.logger(componentEnvironment, instanceName, status, category, buf);
+	fmi2CallbackFunctions *functions = (fmi2CallbackFunctions *)model->userData;
+	functions->logger(functions->componentEnvironment, instanceName, status, category, buf);
 }
 
 /* FMU mapping of ssPrintf for child C source S-functions (through rtPrintfNoOp) */

rtwsfcnfmi/rtwsfcnfmi_make_rtw_hook.m

@@ -87,6 +87,9 @@ function rtwsfcnfmi_make_rtw_hook(hookMethod, modelName, rtwRoot, templateMakefi
             for i = 1:numel(mex_functions)
                 copyfile(which(mex_functions{i}), fullfile('FMUArchive', 'binaries', fmi_platform));
             end
+            load_mex = 'YES';
+        else
+            load_mex = 'NO';
         end
 
         % write the CMakeCache.txt file
@@ -99,6 +102,7 @@ function rtwsfcnfmi_make_rtw_hook(hookMethod, modelName, rtwRoot, templateMakefi
         fprintf(fid, 'CUSTOM_INCLUDE:STRING=%s\n', custom_include);
         fprintf(fid, 'CUSTOM_SOURCE:STRING=%s\n', custom_source);
         fprintf(fid, 'CUSTOM_LIBRARY:STRING=%s\n', custom_library);
+        fprintf(fid, 'LOAD_MEX:BOOL=%s\n', load_mex);
         fprintf(fid, 'BINARY_SFUNCTIONS:STRING=%s\n', cmake_list(mex_functions));
         fprintf(fid, 'COMPILER_OPTIMIZATION_LEVEL:STRING=%s\n', get_param(modelName, 'CMakeCompilerOptimizationLevel'));
         fprintf(fid, 'COMPILER_OPTIMIZATION_FLAGS:STRING=%s\n', get_param(modelName, 'CMakeCompilerOptimizationFlags'));

rtwsfcnfmi/rtwsfcnfmilib.tlc

@@ -135,10 +135,10 @@
     %foreach rowid = nRows
       %if nCols > 1 && nRows > 1
         %assign dataSubs     = "[%<index>]"
-        %assign variableSubs = "[%<rowid+1>,%<colid+1>]"
+        %assign variableSubs = "[%<rowid>,%<colid>]"
       %elseif width > 1
         %assign dataSubs     = "[%<index>]"
-        %assign variableSubs = "[%<index+1>]"
+        %assign variableSubs = "[%<index>]"
       %else
         %assign dataSubs     = ""
         %assign variableSubs = "" 

rtwsfcnfmi/rtwsfcnfmixml.tlc

@@ -19,9 +19,9 @@
   %endif
   modelName="%<OrigName>"
   %if FMIType == "CoSimulation"
-  generationTool="Simulink %<Version> with FMI Kit 2.8 (rtwsfcnfmi.tlc, %<Solver>, %<FundamentalStepSize> s)"
+  generationTool="Simulink %<Version> with FMI Kit 2.9 (rtwsfcnfmi.tlc, %<Solver>, %<FundamentalStepSize> s)"
   %else
-  generationTool="Simulink %<Version> with FMI Kit 2.8 (rtwsfcnfmi.tlc)"
+  generationTool="Simulink %<Version> with FMI Kit 2.9 (rtwsfcnfmi.tlc)"
   %endif
   %assign XMLdate = FEVAL("grtfmi_xml_datetime")
   generationDateAndTime="%<XMLdate>"
@@ -106,12 +106,18 @@
 #include "model_interface.h"
 
 
+%assign CGTypIndices = []
+
 size_t getCGTypeSize(int typeIndex) {
 
   switch (typeIndex) {
   %foreach dataTypeIdx = DataTypes.NumDataTypes
     %assign dataType = DataTypes.DataType[dataTypeIdx]
+    %if FEVAL("ismember", dataType.CGTypeIdx, CGTypIndices)
+      %continue
+    %endif
     case %<dataType.CGTypeIdx>: return %<dataType.Size>; /* %<dataType.Name> */
+    %assign CGTypIndices = CGTypIndices + dataType.CGTypeIdx
   %endforeach
     default: return 0; /* unknown type */
   }