Ticket #5421: FMU-WORKING-EXAMPLE.txt

This little file is an illustration of a working case of the treatment of a fmu object in COMMON-LISP.
This is working on a 64bits Linux 4.9.0-8-amd64 #1 SMP Debian 4.9.130-2 (2018-10-27) x86_64 GNU/Linux
SBCL 1.3.14.debian
; SLIME 2.23

;;************************************************************************************************************
;; First we load the package that I have called cl-fmi.
CL-USER> (in-package :cl-fmi)
#<PACKAGE "CL-FMI">
;;************************************************************************************************************
;; Then we define a parameter containing the path to the fmu file.
FMI> (defparameter test-fmu-file-path-64 "/home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/Modelica_Blocks_Continuous_SecondOrder_64bits.fmu")
TEST-FMU-FILE-PATH-64

;; The following is the instantiation of the fmu-info object of the class fmi2-information I have defined elsewhere.
;; The instantiation method unzip the fmu file, goes through the xml file and dispatch info in the class slots.
;; We also in this identifies the library location.
FMI> (defparameter fmu-info (make-fmi2-information test-fmu-file-path-64  :unzip t))

"unzip" 
"/home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/unzip-3763774181/" 
 UNZIP DIRECTORY : /home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/unzip-3763774181/ 

"unzip finished" UPDATE OF *foreign-library-directories* 
FMU PATHNAME : /home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/Modelica_Blocks_Continuous_SecondOrder_64bits.fmu 
FMU DIRECTORY : /home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/ 
UNZIP FLAG : T 
UNZIP DIRECTORY : /home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/unzip-3763774181/ 
INPUT LIB DIR FLAG : NIL 
IDENTIFIED LIB DIR FLAG : /home/frederic/quicklisp/local-projects/cl-fmi/test/linux64/unzip-3763774181/binaries/linux64/ 
FMU-INFO

;; Small confirmation that the instance is indeed a fmi2-information class
FMI> (class-of fmu-info)
#<STANDARD-CLASS CL-FMI::FMI2-INFORMATION>

;;************************************************************************************************************
;; Then we generate the fmu-test object , instance of an instance-me model exchange class I have defined elsewhere.
FMI> (defparameter fmu-test (make-instance-me fmu-info ))
FMU-TEST

FMI> (class-of fmu-test)
#<STANDARD-CLASS CL-FMI::INSTANCE-ME>

;;************************************************************************************************************
;; At this stage we can talk to it ... and the library was indeed accessed in this case.
;; Pre initialization stage
;; Here we reset the object
FMI> (fmi2reset (p fmu-test))
:FMI2OK
;; We can set the time ... notice the accessor (p fmu-test) to the process pointer.
FMI> (fmi2settime (p fmu-test) 0.0d0)
:FMI2OK
;; We can set the experimental plan ... notice the fmi2 boolean variables
FMI> (fmi2SetupExperiment (p fmu-test) fmi2True 1.0d-5 0.0d0 fmi2True 1.0d0)
:FMI2OK

;; Initialization stage
FMI>(fmi2enterinitializationmode (p fmu-test))
:FMI2OK
;; The fmu-info helps us locate the variables
;; At this moment we need to identify the parameters and variables to initialize
;; We only access the fmu-info object so no status message here 
FMI> (fmi2-print-variables fmu-info  :index t :variability t :causality t :type t)
---------------
MODEL VARIABLES 
            y            0   continuous Real by Default       output
           yd            1   continuous Real by Default       output
       der(y)            2   continuous Real by Default        local
      der(yd)            3   continuous Real by Default        local
            u            4   continuous Real by Default        input
            D            5        fixed Real by Default    parameter
            k            6        fixed Real by Default    parameter
            w            7        fixed Real by Default    parameter
      y_start            8        fixed Real by Default    parameter
     yd_start            9        fixed Real by Default    parameter
     initType           10        fixed Modelica.Blocks.Types.Init calculatedParameter
---------------
MODEL STRUCTURE 
---------------
INDEX of OUTPUT VARIABLES :  (1 2) 
---------------
INDEX of DERIVATIVE VARIABLES :  (3 4) 
NIL
;; TO Ease the readability we can assign some values to parameters
FMI> (defparameter D 0.7d0)
(defparameter k 1.0d0)
(defparameter w 100.0d0)
(defparameter y_start 0.0d0)
(defparameter yd_start 0.0d0)
;; And send them to the real parameters of the FMU object
FMI> (fmi2-set-real (p fmu-test) '(5 6 7 8 9) (list D k w y_start yd_start))
:FMI2OK
;; And check that it worked.
FMI> (fmi2-get-real (p fmu-test) '(1 2 3 4 5 6 7 8))
:FMI2OK 
((1 0.0d0) (2 0.0d0) (3 0.0d0) (4 0.0d0) (5 0.7d0) (6 1.0d0) (7 100.0d0)
 (8 0.0d0))

;; Let us get out of initialization
FMI> (fmi2ExitInitializationMode (p fmu-test))
:FMI2OK

;;************************************************************************************************************
;; Let us enter the continuous mode
FMI> (fmi2entercontinuoustimemode (p fmu-test))
:FMI2OK
;; At this stage we can set variables and see the impact for example on the derivatives
;; Once we can do this we can exploit the model and feed it to a solver.
;; u is the variable 4 it is an input
FMI> (fmi2-set-real (p fmu-test) '(4) '(1.0d-2))
:FMI2OK
;; We can set time also at this stage ... as an input to the get derivatives
;; It was already done but we can do it.
FMI> (fmi2settime (p fmu-test) 0.0d0)
:FMI2OK
;; First let us set the states variables
;; Setting of the State variables (here there are two )
FMI> (fmi2-set-continuous-states (p fmu-test) '(0.0d0 0.0d0))
:FMI2OK
;; Getting the value of the Derivatives of the State variables
FMI> (fmi2-get-derivatives (p fmu-test) 2 )
:FMI2OK 
((1 0.0d0) (2 100.0d0))