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#
# MIT No Attribution
#
# Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy of this
# software and associated documentation files (the "Software"), to deal in the Software
# without restriction, including without limitation the rights to use, copy, modify,
# merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
# INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
# PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
# HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
# SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#
# -*- coding: utf-8 -*-
from casadi import *
# Example how to export FMUs from CasADi
# Joel Andersson, joel@jaeandersson.com
# Start with an empty DaeBuilder instance
dae = DaeBuilder('vdp')
# States
t = dae.add('t', 'independent')
x1 = dae.add('x1', 'output', dict(start = 1))
x2 = dae.add('x2', 'output', dict(start = 0))
q = dae.add('q')
# Input
u = dae.add('u', 'input')
# Set ODE right-hand-sides
dae.eq(dae.der(x1), (1 - x2 * x2)*x1 - x2 + u)
dae.eq(dae.der(x2), x1)
dae.eq(dae.der(q), x1**2 + x2**2 + u**2)
# Add bounds
dae.set_min('u', -0.75)
dae.set_max('u', 1)
dae.set_start('u', 0.5)
# Print DAE
dae.disp(True)
# Export FMU
funcs = dae.export_fmu()
print('Generated files: {}'.format(funcs))
# Compile DLL
import os
casadi_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(__file__))))
os.system(f'gcc --shared -fPIC -I{casadi_root}/external_packages/FMI-Standard-3.0/headers/ vdp.c vdp_wrap.c -o vdp.so')
print('Compiled vdp.so')
# Package into an FMU
import zipfile
fmuname = 'vdp_generated.fmu'
with zipfile.ZipFile(fmuname, 'w') as fmufile:
# Add generated files to the archive
for f in funcs:
arcname = f if f == 'modelDescription.xml' else 'sources/' + f
fmufile.write(f, arcname = arcname)
os.remove(f)
# Add compile DLL to the archive (assume Linux 64 bit)
fmufile.write('vdp.so', arcname = 'binaries/x86_64-linux/vdp.so')
os.remove('vdp.so')
print(f'Created FMU: {fmuname}')
# Load the FMU in FMPy
try:
import fmpy
fmpy.dump(fmuname)
# Simulate the generated FMU
res = fmpy.simulate_fmu(fmuname)
import matplotlib.pyplot as plt
plt.figure(1)
plt.clf()
plt.plot(res['time'], res['x1'],'-', label = 'x1')
plt.plot(res['time'], res['x2'],'--', label = 'x2')
plt.xlabel('time')
plt.legend()
plt.grid()
plt.show()
except ImportError as e:
print('FMPy not installed. Skipping FMU simulation.')
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