module-FMU.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/modules/module-FMU/module-FMU.h,v 1.3 2017/01/12 15:20:16 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/*
        AUTHOR: Devyesh Tandon <devyeshtandon+mbdyn@gmail.com>
        Copyright (C) 2016(-2017) all rights reserved.
        The copyright of this patch is transferred
        to Pierangelo Masarati and Paolo Mantegazza
        for use in the software MBDyn as described 
        in the GNU Public License version 2.1

*/

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#include <iostream>
#include <cfloat>

#include "dataman.h"
#include "userelem.h"
#include "drive.h"
#include "privdrive.h"

#include "mbdynFMI_config.h"



class ModuleFMU
: virtual public Elem, public UserDefinedElem {
private:
        fmu* model;
        char FMUlocation[1000];
        const char* simType;
        double currTime;
        double initialTime;
        double timeStep;
        double endTime;

        fmi_import_context_t* context;
        fmi_version_enu_t version;

        jm_callbacks callbacks;
        jm_status_enu_t status;
        
        typedef std::map<std::string, const DriveCaller *> strDriveCon;
        typedef std::map<int, const PrivDriveCaller*> intDriveCon;
        strDriveCon drivesContainer;
        intDriveCon privDrivesIndex;
        
        int numOfContinousStates;
        int numOfEventIndicators;
        DataManager* pDM;
        
        int* statesOrder;
        double* currState;
        double* stateDerivatives;
        int* jacobianInputVector;
        bool* privDriveArray;
        int privDriveLength;

        bool directionalFlag;   
        double *seedVector;     

public:
        ModuleFMU(unsigned uLabel, const DofOwner *pDO,
                DataManager* pDM, MBDynParser& HP);
        virtual ~ModuleFMU(void);

        virtual void Output(OutputHandler& OH) const;
        virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;
        VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);
        unsigned int iGetNumPrivData(void) const;
        unsigned int iGetPrivDataIdx(const char *s) const; //
        doublereal dGetPrivData(unsigned int i) const; //
        int iGetNumConnectedNodes(void) const;
        void GetConnectedNodes(std::vector<const Node *>& connectedNodes) const;
        void SetValue(DataManager *pDM, VectorHandler& X, VectorHandler& XP,
                SimulationEntity::Hints *ph);
        std::ostream& Restart(std::ostream& out) const;
        virtual unsigned int iGetInitialNumDof(void) const;
        virtual void
        InitialWorkSpaceDim(integer* piNumRows, integer* piNumCols) const;
        VariableSubMatrixHandler&
        InitialAssJac(VariableSubMatrixHandler& WorkMat,
                      const VectorHandler& XCurr);
        SubVectorHandler&
        InitialAssRes(SubVectorHandler& WorkVec, const VectorHandler& XCurr);
        unsigned int iGetNumDof(void) const;
        DofOrder::Order GetDofType(unsigned int i) const;
        DofOrder::Order GetEqType(unsigned int i) const;

        fmu::SimulationTypes SIMTYPE;

};