Extend LinearTransform to StateSpace

CMakeLists.txt

@@ -90,7 +90,7 @@ if (${FMI_VERSION} GREATER 1 OR "${FMI_TYPE}" STREQUAL "CS")
 endif ()
 
 if (${FMI_VERSION} GREATER 2)
-  set (MODEL_NAMES ${MODEL_NAMES} LinearTransform Clocks)
+  set (MODEL_NAMES ${MODEL_NAMES} StateSpace Clocks)
 endif ()
 
 foreach (MODEL_NAME ${MODEL_NAMES})

README.md

@@ -5,9 +5,9 @@ A set of hand-coded FMUs for development, testing and debugging of the [Function
 - [BouncingBall](BouncingBall) - a bouncing ball model with state events
 - [Dahlquist](Dahlquist) - Dahlquist test equation
 - [Feedthrough](Feedthrough) - all variable types
-- [LinearTransform](LinearTransform) - arrays and structural parameters
 - [Resource](Resource) - load data from a file
 - [Stair](Stair) - a counter with time events
+- [StateSpace](StateSpace) - arrays and structural parameters
 - [VanDerPol](VanDerPol) - Van der Pol test equation
 
 Use the [fmusim](fmusim) executable to simulate an FMU:
@@ -96,7 +96,7 @@ To build the `fmusim` executable, run the `ThirdParty/build_*.py` Python scripts
 
 ## License and attribution
 
-Copyright © 2022, Modelica Association Project "FMI".
+Copyright © 2023, Modelica Association Project "FMI".
 All rights reserved.
 The code is released under the [2-Clause BSD License](LICENSE.txt).
 

StateSpace/FMI3.xml

@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<fmiModelDescription
+  fmiVersion="3.0"
+  modelName="StateSpace"
+  generationTool="Reference FMUs (development build)"
+  instantiationToken="{D773325B-AB94-4630-BF85-643EB24FCB78}">
+
+    <ModelExchange
+      modelIdentifier="StateSpace"
+      canGetAndSetFMUState="true"
+      canSerializeFMUState="true"/>
+
+    <CoSimulation
+      modelIdentifier="StateSpace"
+      canGetAndSetFMUState="true"
+      canSerializeFMUState="true"
+      canHandleVariableCommunicationStepSize="true"
+      providesIntermediateUpdate="true"
+      canReturnEarlyAfterIntermediateUpdate="true"
+      fixedInternalStepSize="1"
+      hasEventMode="true"/>
+
+    <LogCategories>
+        <Category name="logEvents" description="Log events"/>
+        <Category name="logStatusError" description="Log error messages"/>
+    </LogCategories>
+
+    <DefaultExperiment startTime="0" stopTime="10"/>
+
+    <ModelVariables>
+        <Float64 name="time" valueReference="0" causality="independent" variability="continuous" description="Simulation time"/>
+        <UInt64 name="m" valueReference="1" description="Number of inputs" causality="structuralParameter" variability="tunable" start="3" min="0" max="5"/>
+        <UInt64 name="n" valueReference="2" description="Number of states" causality="structuralParameter" variability="tunable" start="3" min="0" max="5"/>
+        <UInt64 name="r" valueReference="3" description="Number of outputs" causality="structuralParameter" variability="tunable" start="3" min="0" max="5"/>
+        <Float64 name="A" valueReference="4" description="Matrix coefficient A" causality="parameter" variability="tunable" start="1 0 0 0 1 0 0 0 1">
+            <Dimension valueReference="2"/>
+            <Dimension valueReference="2"/>
+        </Float64>
+        <Float64 name="B" valueReference="5" description="Matrix coefficient B" causality="parameter" variability="tunable" start="1 0 0 0 1 0 0 0 1">
+            <Dimension valueReference="2"/>
+            <Dimension valueReference="1"/>
+        </Float64>
+        <Float64 name="C" valueReference="6" description="Matrix coefficient C" causality="parameter" variability="tunable" start="1 0 0 0 1 0 0 0 1">
+            <Dimension valueReference="3"/>
+            <Dimension valueReference="2"/>
+        </Float64>
+        <Float64 name="D" valueReference="7" description="Matrix coefficient D" causality="parameter" variability="tunable" start="1 0 0 0 1 0 0 0 1">
+            <Dimension valueReference="3"/>
+            <Dimension valueReference="1"/>
+        </Float64>
+        <Float64 name="x0" valueReference="8" description="Initial state vector" causality="parameter" variability="tunable" start="0 0 0">
+            <Dimension valueReference="2"/>
+        </Float64>
+        <Float64 name="u" valueReference="9" description="Input vector" causality="input" start="1 2 3">
+            <Dimension valueReference="1"/>
+        </Float64>
+        <Float64 name="y" valueReference="10" description="Output vector" causality="output">
+            <Dimension valueReference="3"/>
+        </Float64>
+        <Float64 name="x" valueReference="11" description="State vector" causality="local">
+            <Dimension valueReference="2"/>
+        </Float64>
+        <Float64 name="der(x)" valueReference="12" description="Derivative of the state vector" causality="local" derivative="11">
+            <Dimension valueReference="2"/>
+        </Float64>
+    </ModelVariables>
+
+    <ModelStructure>
+        <Output valueReference="10"/>
+        <ContinuousStateDerivative valueReference="12"/>
+        <InitialUnknown valueReference="10"/>
+        <InitialUnknown valueReference="11"/>
+        <InitialUnknown valueReference="12"/>
+    </ModelStructure>
+
+</fmiModelDescription>

LinearTransform/config.h → StateSpace/config.h

@@ -4,9 +4,11 @@
 #include <stdint.h>
 
 // define class name and unique id
-#define MODEL_IDENTIFIER LinearTransform
+#define MODEL_IDENTIFIER StateSpace
 #define INSTANTIATION_TOKEN "{D773325B-AB94-4630-BF85-643EB24FCB78}"
 
+#define HAS_CONTINUOUS_STATES
+
 #define CO_SIMULATION
 #define MODEL_EXCHANGE
 
@@ -15,27 +17,42 @@
 #define SET_UINT64
 #define EVENT_UPDATE
 
-#define FIXED_SOLVER_STEP 1
+#define FIXED_SOLVER_STEP 1e-3
 #define DEFAULT_STOP_TIME 10
 
 #define M_MAX 5
 #define N_MAX 5
+#define R_MAX 5
 
 typedef enum {
     vr_time,
     vr_m,
     vr_n,
-    vr_u,
+    vr_r,
     vr_A,
-    vr_y
+    vr_B,
+    vr_C,
+    vr_D,
+    vr_x0,
+    vr_u,
+    vr_y,
+    vr_x,
+    vr_der_x
 } ValueReference;
 
 typedef struct {
     uint64_t m;
     uint64_t n;
-    double u[N_MAX];
+    uint64_t r;
     double A[M_MAX][N_MAX];
-    double y[M_MAX];
+    double B[M_MAX][N_MAX];
+    double C[M_MAX][N_MAX];
+    double D[M_MAX][N_MAX];
+    double x0[N_MAX];
+    double u[N_MAX];
+    double y[N_MAX];
+    double x[N_MAX];
+    double der_x[N_MAX];
 } ModelData;
 
 #endif /* config_h */