FMI 2.0 support

Description

Collaboration diagram for FMI 2.0 support:

Classes
class	chrono::fmi2::ChOutputFMU
	Class for serializing variables to FmuComponentBase. More...
class	chrono::fmi2::FmuChronoComponentBase
	Extension of FmuComponentBase class for Chrono FMUs. More...
class	chrono::fmi2::FmuChronoUnit
	Extension of FmuUnit class for Chrono FMUs. More...

Macros
#define	ADD_BVAL_AS_FMU_GETSET(returnType, codeGet, codeSet)
#define	ADD_BVAL_AS_FMU_POINTER(returnType)

Typedefs
using	chrono::fmi2::FmuVariable = fmu_tools::fmi2::FmuVariable

Functions
void	chrono::fmi2::FmuChronoComponentBase::AddFmuVisualShapes (const ChPhysicsItem &pi, std::string custom_pi_name="")
	Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem. More...
void	chrono::fmi2::FmuChronoComponentBase::AddFmuVisualShapes (const ChAssembly &ass)
	Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly. More...

Variables
const std::unordered_map< chrono::ChVariabilityType, FmuVariable::VariabilityType >	chrono::fmi2::VariabilityType_conv
const std::unordered_map< chrono::ChCausalityType, FmuVariable::CausalityType >	chrono::fmi2::CausalityType_conv
static const std::unordered_set< std::string >	chrono::fmi2::FmuChronoComponentBase::supported_shape_types
	list of supported shapes for visualization, required to provide a memory position to getters of shape type More...

Macro Definition Documentation

ADD_BVAL_AS_FMU_GETSET

#define ADD_BVAL_AS_FMU_GETSET	(		returnType,
			codeGet,
			codeSet
	)

Value:

_fmucomp->AddFmuVariable(                                                                        \
        std::make_pair(std::function<fmi2##returnType(void)>([bVal]() -> fmi2##returnType codeGet),  \
                       std::function<void(fmi2##returnType)>([bVal](fmi2##returnType val) codeSet)), \
        getCurrentVarName(bVal.name()), FmuVariable::Type::returnType, "", "",                       \
        CausalityType_conv.at(bVal.GetCausality()), VariabilityType_conv.at(bVal.GetVariability()));

ADD_BVAL_AS_FMU_POINTER

#define ADD_BVAL_AS_FMU_POINTER

(

returnType

)

Value:

_fmucomp->AddFmuVariable(&(bVal.value()), getCurrentVarName(bVal.name()), FmuVariable::Type::returnType, "", "", \
                             CausalityType_conv.at(bVal.GetCausality()),                                             \
                             VariabilityType_conv.at(bVal.GetVariability()));

Function Documentation

AddFmuVisualShapes() [1/2]

void chrono::fmi2::FmuChronoComponentBase::AddFmuVisualShapes

(

const ChAssembly &

ass

)

Add FMU variables corresponding to the visual shapes attached to the specified ChAssembly.

Refer to the AddFmuVisualShapes(ChPhysicsItem) function for details on the variables created.

AddFmuVisualShapes() [2/2]

void chrono::fmi2::FmuChronoComponentBase::AddFmuVisualShapes	(	const ChPhysicsItem &	pi,
		std::string	custom_pi_name = ""
	)

Add FMU variables corresponding to the visual shapes attached to the specified ChPhysicsItem.

Variables with the following names are created for each visual shape:

• VISUALIZER[i].frame.pos.[x|y|z]: position from global to shape local frame in global reference frame
• VISUALIZER[i].frame.rot.[e0|e1|e2|e3]]: rotation from shape local to global frame
• VISUALIZER[i].shape.type [fmi2String]: one of the supported_shape_types
• VISUALIZER[i].owner [fmi2String]: owner of the shape, either custom_pi_name or from ChPhysicsItem::GetName()
• VISUALIZER[i].owner_id [fmi2String]: id of the owner ChPhysicsItem
• VISUALIZER[i].shape.<shape-specific variables>: depends on the shape type Variables are of fmi2Real type if not otherwise specified.

Variable Documentation

CausalityType_conv

const std::unordered_map<chrono::ChCausalityType, FmuVariable::CausalityType> chrono::fmi2::CausalityType_conv

Initial value:

= {
    {chrono::ChCausalityType::parameter, FmuVariable::CausalityType::parameter},
    {chrono::ChCausalityType::calculatedParameter, FmuVariable::CausalityType::calculatedParameter},
    {chrono::ChCausalityType::input, FmuVariable::CausalityType::input},
    {chrono::ChCausalityType::output, FmuVariable::CausalityType::output},
    {chrono::ChCausalityType::local, FmuVariable::CausalityType::local},
    {chrono::ChCausalityType::independent, FmuVariable::CausalityType::independent}}

supported_shape_types

const std::unordered_set< std::string > chrono::fmi2::FmuChronoComponentBase::supported_shape_types

staticprotected

Initial value:

= {
    "ChVisualShapeModelFile", "ChVisualShapeTriangleMesh",
    "ChVisualShapeSurface",   "ChVisualShapeSphere",
    "ChVisualShapeEllipsoid", "ChVisualShapeCylinder",
    "ChVisualShapeCapsule",   "ChVisualShapeBox",
    "ChVisualShapeBarrel",    "ChGlyphs",
    "ChVisualShapePath",      "ChVisualShapeLine",
    "ChVisualShapeUNKNOWN"}

list of supported shapes for visualization, required to provide a memory position to getters of shape type

VariabilityType_conv

const std::unordered_map<chrono::ChVariabilityType, FmuVariable::VariabilityType> chrono::fmi2::VariabilityType_conv

Initial value:

= {
    {chrono::ChVariabilityType::constant, FmuVariable::VariabilityType::constant},
    {chrono::ChVariabilityType::fixed, FmuVariable::VariabilityType::fixed},
    {chrono::ChVariabilityType::tunable, FmuVariable::VariabilityType::tunable},
    {chrono::ChVariabilityType::discrete, FmuVariable::VariabilityType::discrete},
    {chrono::ChVariabilityType::continuous, FmuVariable::VariabilityType::continuous}}