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Support for CAN via FMIMCL and FMI2 Strings.
Signed-off-by: Timothy Rule (VM/EMT3) <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,220 @@ | ||
| # Operate from the WORKDIR (allocated by caller, i.e. docker command). | ||
| cd $WORKDIR | ||
| env SIM=sim | ||
| env NAME=fmu_inst | ||
| env SIM_YAML=$REPODIR/dse/build/_out/fmimcl/examples/data/simulation.yaml | ||
| env FMU=$REPODIR/dse/build/_out/fmimcl/examples/fmu | ||
| env MCL=$REPODIR/dse/build/_out/fmimcl/lib/libfmimcl.so | ||
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| # Create the simulation folder (Simer layout) | ||
| exec ls -R $WORK | ||
| mkdir $SIM/data $SIM/lib | ||
| cp $WORK/simulation.yaml $SIM/data/simulation.yaml | ||
| cp $MCL $SIM/lib/libfmimcl.so | ||
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| mkdir $SIM/fmu | ||
| exec cp -r $FMU $SIM/fmu/fmi2fmu | ||
| mkdir $SIM/fmu/fmi2fmu/resources | ||
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| mkdir $SIM/model/input/data $SIM/model/input/lib | ||
| cp $WORK/input_model.yaml $SIM/model/input/data/model.yaml | ||
| cp $REPODIR/dse/build/_out/fmimcl/examples/lib/libinput.so $SIM/model/input/lib/libinput.so | ||
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| # Run the toolchains | ||
| env | ||
| exec ls -R $SIM | ||
| exec sh -e $WORK/generate.sh | ||
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| exists $SIM/model/fmi2fmu/data/model.yaml | ||
| exists $SIM/model/fmi2fmu/data/signalgroup.yaml | ||
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| exec cat $SIM/data/simulation.yaml | ||
| exec cat $SIM/model/input/data/model.yaml | ||
| exec cat $SIM/model/fmi2fmu/data/model.yaml | ||
| exec cat $SIM/model/fmi2fmu/data/signalgroup.yaml | ||
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| # TEST: FMI MCL with CoSim FMU using FMIv2 | ||
| exec sh -e $WORK/test.sh | ||
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| stdout 'Load YAML File: data/simulation.yaml' | ||
| stdout 'Load YAML File: model/fmi2fmu/data/model.yaml' | ||
| stdout 'Load YAML File: model/fmi2fmu/data/signalgroup.yaml' | ||
| stdout 'Loading symbol: model_create ... ok' | ||
| stdout 'Loading symbol: model_step ... ok' | ||
| stdout 'Run the Simulation ...' | ||
| stdout 'Controller exit ...' | ||
| stdout 'Transport: redis' | ||
| ! stdout 'Transport: redispubsub' | ||
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| stdout 'SignalVector <-> MCL mapping for: signal' | ||
| stdout 'Signal: integer_2_tx \(3\) <-> integer_2_tx \(0\)' | ||
| stdout 'Signal: integer_1_tx \(4\) <-> integer_1_tx \(1\)' | ||
| stdout 'Signal: integer_3_rx \(2\) <-> integer_3_rx \(2\)' | ||
| stdout 'Signal: real_1_tx \(1\) <-> real_1_tx \(4\)' | ||
| stdout 'Signal: real_A_tx \(10\) <-> real_A_tx \(5\)' | ||
| stdout 'Signal: real_B_tx \(11\) <-> real_B_tx \(6\)' | ||
| stdout 'Signal: real_3_rx \(0\) <-> real_3_rx \(7\)' | ||
| stdout 'Signal: real_2_rx \(5\) <-> real_2_rx \(8\)' | ||
| stdout 'Signal: real_A_rx \(8\) <-> real_A_rx \(9\)' | ||
| stdout 'Signal: real_B_rx \(9\) <-> real_B_rx \(10\)' | ||
| stdout 'Signal: bool_2_tx \(7\) <-> bool_2_tx \(11\)' | ||
| stdout 'Signal: bool_1_rx \(6\) <-> bool_1_rx \(12\)' | ||
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| stdout 'SignalVector <-> MCL mapping for: network' | ||
| stdout 'Signal: string_rx \(1\) <-> integer_2_tx \(0\)' | ||
| stdout 'Signal: string_ascii85_rx \(3\) <-> integer_1_tx \(1\)' | ||
| stdout 'Signal: string_tx \(0\) <-> integer_3_rx \(2\)' | ||
| stdout 'Signal: string_ascii85_tx \(2\) <-> local_var \(3\)' | ||
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| stdout 'uid=4130119698, val=54.000000, final_val=54.000000, name=real_1_tx' | ||
| stdout 'uid=2274494661, val=99.000000, final_val=99.000000, name=integer_2_tx' | ||
| stdout 'uid=2618602618, val=10.000000, final_val=10.000000, name=real_3_rx' | ||
| stdout 'uid=1459318059, val=0.000000, final_val=0.000000, name=real_2_rx' | ||
| stdout 'uid=490176922, val=9.000000, final_val=9.000000, name=integer_1_tx' | ||
| stdout 'uid=1343595106, val=20.000000, final_val=20.000000, name=integer_3_rx' | ||
| stdout 'uid=1955499220, val=0.000000, final_val=0.000000, name=bool_1_rx' | ||
| stdout 'uid=3382072605, val=0.000000, final_val=0.000000, name=bool_2_tx' | ||
| stdout 'uid=3194481060, val=30.000000, final_val=30.000000, name=real_A_rx' | ||
| stdout 'uid=3261297346, val=37.000000, final_val=37.000000, name=real_A_tx' | ||
| stdout 'uid=750647789, val=100.000000, final_val=100.000000, name=real_B_tx' | ||
| ! stdout 'name=local_var' | ||
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| stdout 'uid=750647789, val=100.000000, final_val=100.000000, name=real_B_tx' | ||
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| stdout 'String \(string_tx\) : foo 2' | ||
| stdout 'String \(string_tx\) : foo 3' | ||
| stdout 'String \(string_tx\) : foo 4' | ||
| stdout 'String \(string_tx\) : foo 5' | ||
| stdout 'String \(string_rx\) : foo 2' | ||
| stdout 'String \(string_rx\) : foo 3' | ||
| stdout 'String \(string_rx\) : foo 4' | ||
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| stdout 'String \(string_ascii85_tx\) : bar 6' | ||
| stdout 'String \(string_ascii85_tx\) : bar 9' | ||
| stdout 'String \(string_ascii85_rx\) : 6 rab' | ||
| stdout 'String \(string_ascii85_tx\) : bar 12' | ||
| stdout 'String \(string_ascii85_rx\) : 9 rab' | ||
| stdout 'String \(string_ascii85_tx\) : bar 15' | ||
| stdout 'String \(string_ascii85_rx\) : 21 rab' | ||
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| -- generate.sh -- | ||
| # All paths relative to $SIM (triggered by setting $SIM). See Taskfile for details. | ||
| task -t /$REPODIR/Taskfile.yml generate-fmimcl \ | ||
| FMU_DIR=fmu/fmi2fmu \ | ||
| MCL_PATH=lib/libfmimcl.so \ | ||
| OUT_DIR=model/fmi2fmu/data | ||
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| -- test.sh -- | ||
| SIMER="${SIMER:-ghcr.io/boschglobal/dse-simer:latest}" | ||
| docker run --name simer -i --rm -v $ENTRYWORKDIR/$SIM:/sim \ | ||
| $SIMER -valgrind $NAME \ | ||
| -env simbus:SIMBUS_LOGLEVEL=2 \ | ||
| -env input_inst:SIMBUS_LOGLEVEL=3 \ | ||
| -env $NAME:SIMBUS_LOGLEVEL=4 \ | ||
| -stepsize 0.0005 -endtime 0.0050 | ||
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| -- input_model.yaml -- | ||
| --- | ||
| kind: Model | ||
| metadata: | ||
| name: Input | ||
| spec: | ||
| runtime: | ||
| dynlib: | ||
| - os: linux | ||
| arch: amd64 | ||
| path: model/input/lib/libinput.so | ||
| channels: | ||
| - alias: input_channel | ||
| selectors: | ||
| channel: input_vector | ||
| - alias: binary_channel | ||
| selectors: | ||
| channel: binary_vector | ||
| --- | ||
| kind: SignalGroup | ||
| metadata: | ||
| name: VARIABLES | ||
| labels: | ||
| model: Input | ||
| channel: input_vector | ||
| spec: | ||
| signals: | ||
| - signal: real_3_rx | ||
| - signal: integer_3_rx | ||
| - signal: real_A_rx | ||
| --- | ||
| kind: SignalGroup | ||
| metadata: | ||
| name: STRINGS | ||
| labels: | ||
| model: Input | ||
| channel: binary_vector | ||
| annotations: | ||
| vector_type: binary | ||
| spec: | ||
| signals: | ||
| - signal: string_tx | ||
| - signal: string_rx | ||
| - signal: string_ascii85_tx | ||
| - signal: string_ascii85_rx | ||
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| -- simulation.yaml -- | ||
| --- | ||
| kind: Stack | ||
| metadata: | ||
| name: stack | ||
| spec: | ||
| runtime: | ||
| env: | ||
| SIMBUS_LOGLEVEL: 2 | ||
| connection: | ||
| transport: | ||
| redis: | ||
| uri: redis://localhost:6379 | ||
| timeout: 5 | ||
| models: | ||
| - name: simbus | ||
| model: | ||
| name: simbus | ||
| channels: | ||
| - name: signal | ||
| expectedModelCount: 2 | ||
| - name: network | ||
| expectedModelCount: 2 | ||
| - name: fmu_inst | ||
| uid: 42 | ||
| model: | ||
| name: fmi2fmu | ||
| runtime: | ||
| files: | ||
| - model/fmi2fmu/data/signalgroup.yaml | ||
| channels: | ||
| - name: signal | ||
| alias: signal_channel | ||
| selectors: | ||
| model: fmi2fmu | ||
| channel: signal_vector | ||
| - name: network | ||
| alias: network_channel | ||
| selectors: | ||
| model: fmi2fmu | ||
| channel: network_vector | ||
| - name: input_inst | ||
| uid: 21 | ||
| model: | ||
| name: Input | ||
| channels: | ||
| - name: signal | ||
| alias: input_channel | ||
| - name: network | ||
| alias: binary_channel | ||
| --- | ||
| kind: Model | ||
| metadata: | ||
| name: simbus |