tasosxak/FMI_Master_Runtime_Monitor.cpp

## FMI_Master_Runtime_Monitor.cpp
#include <stdio.h>
#include <stdlib.h>
#include <dlfcn.h>
#include <string>
#include <cstring>
#include <fmi2Functions.h>
#include <fmi2FunctionTypes.h>
#include <iostream>
#include <jni.h>
using namespace std;


int main(int argc, char **argv) {


    /* Create JVM instance in order to load scala code */
    JavaVM *jvm;       /* denotes a Java VM */
    JNIEnv *env;       //<!-- same as yours
    JavaVMInitArgs vm_args; /* JDK/JRE 6 VM initialization arguments */
    JavaVMOption* options = new JavaVMOption[1];
    options[0].optionString = "-Djava.class.path=/usr/lib/java:/home/siemens/dejavu/dir/dejavu.jar:/usr/share/scala-2.11/lib/scala-library.jar :/home/siemens/dejavu/out/examples/speedlimit/TraceMonitor.jar";
    vm_args.version = JNI_VERSION_1_6;
    vm_args.nOptions = 1;
    vm_args.options = options;
    vm_args.ignoreUnrecognized = false;

    /* load and initialize a Java VM, return a JNI interface
    * pointer in env */
    JNI_CreateJavaVM(&jvm, (void**)&env, &vm_args);

    // First get the class that contains the method you need to call
    jclass tracemonitor_class = env->FindClass("TraceMonitor");

    // Get the method that you want to call
    jmethodID main_method = env->GetStaticMethodID(tracemonitor_class, "eval", "(Ljava/lang/String;)Z");

    int ret = EXIT_SUCCESS;
    fmi2Real tstart = 0.0;
    fmi2Real tcur = tstart;
    fmi2Real hstep = 0.2;
    fmi2Real tend = 7.0;
    void *handle;

    fmi2InstantiateTYPE* (fmi2Instantiate);
    fmi2EnterInitializationModeTYPE* (fmi2EnterInitializationMode);
    fmi2ExitInitializationModeTYPE* (fmi2ExitInitializationMode);
    fmi2SetRealTYPE* (fmi2SetReal);
    fmi2GetRealTYPE* (fmi2GetReal);
    fmi2DoStepTYPE* (fmi2DoStep);
    void (*set_inverted_map)(int,string);

    char *error;
    handle = dlopen ("bip_example/binaries/linux64/bip_example.so", RTLD_LAZY);
    if (!handle) {
        fprintf (stderr, "%s\n", dlerror());
        exit(1);
    }
    dlerror();    /* Clear any existing error */

    fmi2Instantiate = (fmi2InstantiateTYPE*) dlsym(handle, "fmi2Instantiate");
    fmi2EnterInitializationMode = (fmi2EnterInitializationModeTYPE*) dlsym(handle, "fmi2EnterInitializationMode");
    fmi2ExitInitializationMode = (fmi2ExitInitializationModeTYPE*) dlsym(handle, "fmi2ExitInitializationMode");
    fmi2SetReal = (fmi2SetRealTYPE*) dlsym(handle, "fmi2SetReal");
    fmi2GetReal = (fmi2GetRealTYPE*) dlsym(handle, "fmi2GetReal");
    fmi2DoStep = (fmi2DoStepTYPE*) dlsym(handle, "fmi2DoStep");
    set_inverted_map = (void (*)(int, std::string)) dlsym(handle, "set_inverted_map");

    if ((error = dlerror()) != NULL)  {
        fprintf (stderr, "%s\n", error);
        exit(1);
    }

    cout<<"CALL fmi2Instantiate...\n";

    fmi2Component c = (*fmi2Instantiate)("prModel", fmi2CoSimulation , "prModel", "resource/location", NULL, true, true);

    (*set_inverted_map)(100, "ROOT.environment._id__inputIndex");
    //(*set_inverted_map)(101, "ROOT.environment._id__time");
    (*set_inverted_map)(102, "ROOT.camera._id__inputIndex");
    (*set_inverted_map)(103, "ROOT.perception._id__inputIndex");
    (*set_inverted_map)(104, "ROOT.perception._id__result");
    (*set_inverted_map)(105, "ROOT.controller._id__speed");
    (*set_inverted_map)(106, "ROOT.controller._id__speedLimit");
    (*set_inverted_map)(107, "ROOT.controller._id__deltaSpeed");
    (*set_inverted_map)(108, "ROOT.controller._id__zero");
    (*set_inverted_map)(109, "ROOT.brake._id__deltaSpeed");
    (*set_inverted_map)(110, "ROOT.throttle._id__deltaSpeed");
    (*set_inverted_map)(111, "ROOT.speedSensor._id__speed");
    (*set_inverted_map)(112, "ROOT.speedSensor._id__deltaSpeed");

    const unsigned int vr[] = {100,/*101,*/ 102,103,104,105,106,107,108,109,110,111,112};
    fmi2Real values[] = {1,/*10,*/ 0,0,0,0,0,0,0,0,0,100,0};

    cout<<"CALL fmi2SetReal...\n";
    (*fmi2SetReal)(c, vr, 12, values);

    cout<<"CALL fmi2EnterInitializationMode...\n";
    (*fmi2EnterInitializationMode)(c);

    cout<<"CALL fmi2ExitInitializationMode...\n";
    (*fmi2ExitInitializationMode)(c);

    tcur = tstart;
    while(tcur<tend){
        fmi2Boolean newStep = fmi2True;
        fmi2Real val[12];

        cout<<"tcur: "<<tcur<<'\n';
        //cout<<"CALL fmi2DoStep...\n";

        fmi2DoStep(c, tcur,hstep, newStep);

        //cout<<"CALL fmi2GetReal...\n";

        fmi2GetReal(c, vr, 12, val);
        cout<<"Speed:"<<val[4]<<endl;
        cout<<"Speed Limit:"<<val[5]<<endl;
        tcur += hstep;

        /* SEND EVENT TO RUNTIME MONITOR */
        string nativeString;

        nativeString+="speed,";
        nativeString+=to_string((int)(val[5]-val[4]));

        /* call scala function 'eval' for the evaluation of the property */
        env->CallStaticBooleanMethod(tracemonitor_class, main_method, env->NewStringUTF(nativeString.c_str()));

     }

    cout<<"Simulation finished.\n";
    dlclose(handle);

    return ret;
}
	#include <stdio.h>
	#include <stdlib.h>
	#include <dlfcn.h>
	#include <string>
	#include <cstring>
	#include <fmi2Functions.h>
	#include <fmi2FunctionTypes.h>
	#include <iostream>
	#include <jni.h>
	using namespace std;




	int main(int argc, char **argv) {


	/* Create JVM instance in order to load scala code */
	JavaVM jvm; / denotes a Java VM */
	JNIEnv *env; //<!-- same as yours
	JavaVMInitArgs vm_args; /* JDK/JRE 6 VM initialization arguments */
	JavaVMOption* options = new JavaVMOption[1];
	options[0].optionString = "-Djava.class.path=/usr/lib/java:/home/siemens/dejavu/dir/dejavu.jar:/usr/share/scala-2.11/lib/scala-library.jar :/home/siemens/dejavu/out/examples/speedlimit/TraceMonitor.jar";
	vm_args.version = JNI_VERSION_1_6;
	vm_args.nOptions = 1;
	vm_args.options = options;
	vm_args.ignoreUnrecognized = false;

	/* load and initialize a Java VM, return a JNI interface
	* pointer in env */
	JNI_CreateJavaVM(&jvm, (void**)&env, &vm_args);

	// First get the class that contains the method you need to call
	jclass tracemonitor_class = env->FindClass("TraceMonitor");

	// Get the method that you want to call
	jmethodID main_method = env->GetStaticMethodID(tracemonitor_class, "eval", "(Ljava/lang/String;)Z");

	int ret = EXIT_SUCCESS;
	fmi2Real tstart = 0.0;
	fmi2Real tcur = tstart;
	fmi2Real hstep = 0.2;
	fmi2Real tend = 7.0;
	void *handle;

	fmi2InstantiateTYPE* (fmi2Instantiate);
	fmi2EnterInitializationModeTYPE* (fmi2EnterInitializationMode);
	fmi2ExitInitializationModeTYPE* (fmi2ExitInitializationMode);
	fmi2SetRealTYPE* (fmi2SetReal);
	fmi2GetRealTYPE* (fmi2GetReal);
	fmi2DoStepTYPE* (fmi2DoStep);
	void (*set_inverted_map)(int,string);

	char *error;
	handle = dlopen ("bip_example/binaries/linux64/bip_example.so", RTLD_LAZY);
	if (!handle) {
	fprintf (stderr, "%s\n", dlerror());
	exit(1);
	}
	dlerror(); /* Clear any existing error */

	fmi2Instantiate = (fmi2InstantiateTYPE*) dlsym(handle, "fmi2Instantiate");
	fmi2EnterInitializationMode = (fmi2EnterInitializationModeTYPE*) dlsym(handle, "fmi2EnterInitializationMode");
	fmi2ExitInitializationMode = (fmi2ExitInitializationModeTYPE*) dlsym(handle, "fmi2ExitInitializationMode");
	fmi2SetReal = (fmi2SetRealTYPE*) dlsym(handle, "fmi2SetReal");
	fmi2GetReal = (fmi2GetRealTYPE*) dlsym(handle, "fmi2GetReal");
	fmi2DoStep = (fmi2DoStepTYPE*) dlsym(handle, "fmi2DoStep");
	set_inverted_map = (void (*)(int, std::string)) dlsym(handle, "set_inverted_map");

	if ((error = dlerror()) != NULL) {
	fprintf (stderr, "%s\n", error);
	exit(1);
	}

	cout<<"CALL fmi2Instantiate...\n";

	fmi2Component c = (*fmi2Instantiate)("prModel", fmi2CoSimulation , "prModel", "resource/location", NULL, true, true);

	(*set_inverted_map)(100, "ROOT.environment._id__inputIndex");
	//(*set_inverted_map)(101, "ROOT.environment._id__time");
	(*set_inverted_map)(102, "ROOT.camera._id__inputIndex");
	(*set_inverted_map)(103, "ROOT.perception._id__inputIndex");
	(*set_inverted_map)(104, "ROOT.perception._id__result");
	(*set_inverted_map)(105, "ROOT.controller._id__speed");
	(*set_inverted_map)(106, "ROOT.controller._id__speedLimit");
	(*set_inverted_map)(107, "ROOT.controller._id__deltaSpeed");
	(*set_inverted_map)(108, "ROOT.controller._id__zero");
	(*set_inverted_map)(109, "ROOT.brake._id__deltaSpeed");
	(*set_inverted_map)(110, "ROOT.throttle._id__deltaSpeed");
	(*set_inverted_map)(111, "ROOT.speedSensor._id__speed");
	(*set_inverted_map)(112, "ROOT.speedSensor._id__deltaSpeed");

	const unsigned int vr[] = {100,/101,/ 102,103,104,105,106,107,108,109,110,111,112};
	fmi2Real values[] = {1,/10,/ 0,0,0,0,0,0,0,0,0,100,0};

	cout<<"CALL fmi2SetReal...\n";
	(*fmi2SetReal)(c, vr, 12, values);

	cout<<"CALL fmi2EnterInitializationMode...\n";
	(*fmi2EnterInitializationMode)(c);

	cout<<"CALL fmi2ExitInitializationMode...\n";
	(*fmi2ExitInitializationMode)(c);

	tcur = tstart;
	while(tcur<tend){
	fmi2Boolean newStep = fmi2True;
	fmi2Real val[12];

	cout<<"tcur: "<<tcur<<'\n';
	//cout<<"CALL fmi2DoStep...\n";

	fmi2DoStep(c, tcur,hstep, newStep);

	//cout<<"CALL fmi2GetReal...\n";

	fmi2GetReal(c, vr, 12, val);
	cout<<"Speed:"<<val[4]<<endl;
	cout<<"Speed Limit:"<<val[5]<<endl;
	tcur += hstep;

	/* SEND EVENT TO RUNTIME MONITOR */
	string nativeString;

	nativeString+="speed,";
	nativeString+=to_string((int)(val[5]-val[4]));

	/* call scala function 'eval' for the evaluation of the property */
	env->CallStaticBooleanMethod(tracemonitor_class, main_method, env->NewStringUTF(nativeString.c_str()));

	}

	cout<<"Simulation finished.\n";
	dlclose(handle);

	return ret;
	}