Fmi2 directional derivatives

.github/workflows/ci-cmake.yml

@@ -7,6 +7,8 @@ jobs:
   linux:
     name: Linux
     runs-on: ubuntu-latest
+    container:
+      image: debian:bookworm
     strategy:
       fail-fast: false
       matrix:
@@ -15,45 +17,69 @@ jobs:
     timeout-minutes: 35
 
     steps:
-      - uses: actions/checkout@v4
-      - name: Generate Dockerfile
+      - name: Install Debian prerequisites
+        shell: bash
         run: |
-          mkdir /tmp/osp-builder-docker
-          cat <<EOF >/tmp/osp-builder-docker/Dockerfile
-          FROM debian:bookworm
-          RUN apt-get update && apt-get install -y --no-install-recommends \
-              cmake \
-              build-essential \
-              doxygen \
-              wget \
-              libboost-all-dev \
-              libmsgsl-dev \
-              libyaml-cpp-dev \
-              libxerces-c-dev \
-              libzip-dev zipcmp zipmerge ziptool
-          RUN wget \
-              --no-check-certificate \
-              "https://github.com/viproma/debian-fmilib/releases/download/debian%2F2.0.3-1/libfmilib2_2.0.3-1_amd64.deb" \
-              "https://github.com/viproma/debian-fmilib/releases/download/debian%2F2.0.3-1/libfmilib2-dev_2.0.3-1_amd64.deb"
-          RUN dpkg -i libfmilib2_2.0.3-1_amd64.deb libfmilib2-dev_2.0.3-1_amd64.deb
-          RUN wget --no-check-certificate https://github.com/PJK/libcbor/archive/refs/tags/v0.11.0.tar.gz && \
-                tar xaf v0.11.0.tar.gz && cd libcbor-0.11.0 && \
-                cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON . && make && make install
-          COPY entrypoint.sh /
-          ENTRYPOINT /entrypoint.sh
-          EOF
-      - name: Generate entrypoint.sh
+          set -euxo pipefail
+          export DEBIAN_FRONTEND=noninteractive
+          apt-get update
+          apt-get install -y --no-install-recommends \
+            build-essential \
+            ca-certificates \
+            cmake \
+            doxygen \
+            git \
+            libboost-all-dev \
+            libmsgsl-dev \
+            libyaml-cpp-dev \
+            libxerces-c-dev \
+            libzip-dev \
+            wget \
+            zipcmp \
+            zipmerge \
+            ziptool
+      - uses: actions/checkout@v4
+      - name: Install FMI Library and libcbor
+        shell: bash
         run: |
-          cat <<'EOF' >/tmp/osp-builder-docker/entrypoint.sh
-          #!/bin/bash
-          mkdir build
-          cd build
-          cmake -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_${{ matrix.shared_libs }} /mnt/source
-          cmake --build .
-          ctest --output-on-failure
-          EOF
-          chmod 0755 /tmp/osp-builder-docker/entrypoint.sh
-      - name: Build Docker image
-        run: docker build -t osp-builder /tmp/osp-builder-docker/
+          set -euxo pipefail
+          cd /tmp
+          FMILIB_VERSION=3.0.4
+          wget \
+            -O "fmi-library-${FMILIB_VERSION}.tar.gz" \
+            "https://github.com/modelon-community/fmi-library/archive/refs/tags/${FMILIB_VERSION}.tar.gz"
+          tar xaf "fmi-library-${FMILIB_VERSION}.tar.gz"
+          cmake \
+            -S "fmi-library-${FMILIB_VERSION}" \
+            -B fmi-library-build \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCMAKE_INSTALL_PREFIX=/usr/local \
+            -DCMAKE_INSTALL_LIBDIR=lib \
+            -DFMILIB_BUILD_STATIC_LIB=ON \
+            -DFMILIB_BUILD_SHARED_LIB=ON \
+            -DFMILIB_BUILD_TESTS=OFF \
+            -DFMILIB_GENERATE_DOXYGEN_DOC=OFF
+          cmake --build fmi-library-build
+          cmake --install fmi-library-build
+          wget \
+            --no-check-certificate \
+            https://github.com/PJK/libcbor/archive/refs/tags/v0.11.0.tar.gz
+          tar xaf v0.11.0.tar.gz
+          cmake \
+            -S libcbor-0.11.0 \
+            -B libcbor-0.11.0/build \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCMAKE_POSITION_INDEPENDENT_CODE=ON
+          cmake --build libcbor-0.11.0/build
+          cmake --install libcbor-0.11.0/build
       - name: Build cosim
-        run: docker run --rm -v $(pwd):/mnt/source:ro osp-builder
+        shell: bash
+        run: |
+          set -euxo pipefail
+          cmake \
+            -S . \
+            -B build \
+            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+            -DBUILD_${{ matrix.shared_libs }}
+          cmake --build build
+          ctest --test-dir build --output-on-failure

.github/workflows/ci-conan.yml

@@ -19,6 +19,7 @@ jobs:
     env:
       CONAN_LOGIN_USERNAME_OSP: ${{ secrets.osp_artifactory_usr }}
       CONAN_PASSWORD_OSP: ${{ secrets.osp_artifactory_pwd }}
+      CONAN_HOME: ${{ github.workspace }}/.conan2
       LIBCOSIM_RUN_TESTS_ON_CONAN_BUILD: 1
     timeout-minutes: 35
 
@@ -32,8 +33,8 @@ jobs:
           echo "$HOME/.local/bin" >> "$GITHUB_PATH"
       - name: Configure Conan
         run: |
-          conan profile detect
-          conan remote add osp https://osp.jfrog.io/artifactory/api/conan/conan-local
+          conan profile detect -f
+          conan remote add osp https://osp.jfrog.io/artifactory/api/conan/conan-local --force
       - name: Build package
         shell: bash
         run: |
@@ -65,11 +66,12 @@ jobs:
     env:
       CONAN_LOGIN_USERNAME_OSP: ${{ secrets.osp_artifactory_usr }}
       CONAN_PASSWORD_OSP: ${{ secrets.osp_artifactory_pwd }}
+      CONAN_HOME: ${{ github.workspace }}/.conan2
       LIBCOSIM_RUN_TESTS_ON_CONAN_BUILD: 1
     strategy:
       fail-fast: false
       matrix:
-        os: [windows-2022]
+        os: [windows-2025]
         build_type: [Debug, Release]
         option_proxyfmu: ['proxyfmu=True', 'proxyfmu=False']
         option_shared: ['shared=True', 'shared=False']
@@ -83,7 +85,7 @@ jobs:
           pip3 install conan cmake ninja
       - name: Configure Conan
         run: |
-          conan profile detect
+          conan profile detect -f
           conan remote add osp https://osp.jfrog.io/artifactory/api/conan/conan-local --force
       - name: Conan create
         shell: bash

cmake/AddTestExecutable.cmake

@@ -7,13 +7,21 @@
 #       SOURCES <sources...>
 #       DEPENDENCIES <targets...>
 #       DATA_DIR <directory>
+#       REFERENCE_FMU_V2_DIR <directory>
+#       GEN_TEST_DATA_DIR <directory>
 #   )
 #
 # "target folder" is just a human-readable name for the IDE folder that the
 # target will be grouped under. If omitted, it will be a top-level target.
 function(add_test_executable name)
     # Parse argument list
-    set(params "FOLDER" "SOURCES" "DEPENDENCIES" "DATA_DIR")
+    set(params
+        "FOLDER"
+        "SOURCES"
+        "DEPENDENCIES"
+        "DATA_DIR"
+        "REFERENCE_FMU_V2_DIR"
+        "GEN_TEST_DATA_DIR")
     foreach(p IN LISTS params)
         set(arg_${p})
     endforeach()
@@ -37,7 +45,18 @@ function(add_test_executable name)
 
     # Add test
     add_test(NAME "${name}" COMMAND "${name}")
+    set(environment)
     if(arg_DATA_DIR)
-        set_property(TEST "${name}" PROPERTY ENVIRONMENT "TEST_DATA_DIR=${arg_DATA_DIR}")
+        list(APPEND environment "TEST_DATA_DIR=${arg_DATA_DIR}")
+    endif()
+    if(arg_REFERENCE_FMU_V2_DIR)
+        list(APPEND environment
+            "REFERENCE_FMU_V2_DIR=${arg_REFERENCE_FMU_V2_DIR}")
+    endif()
+    if(arg_GEN_TEST_DATA_DIR)
+        list(APPEND environment "GEN_TEST_DATA_DIR=${arg_GEN_TEST_DATA_DIR}")
+    endif()
+    if(environment)
+        set_property(TEST "${name}" PROPERTY ENVIRONMENT ${environment})
     endif()
 endfunction()

conanfile.py

@@ -41,13 +41,13 @@ def set_version(self):
     # Dependencies/requirements
     def requirements(self):
         self.tool_requires("cmake/[>=4.0]")
-        self.requires("fmilibrary/[~2.3]")
+        self.requires("fmilibrary/[~3.0.4]")
         self.requires("libcbor/0.11.0")
         self.requires("libzip/[~1.11]")
         self.requires("ms-gsl/[>=3 <5]", transitive_headers=True)
         self.requires("boost/[~1.85]", transitive_headers=True, transitive_libs=True)  # Required by Thrift
         if self.options.proxyfmu:
-            self.requires("proxyfmu/0.4.2@osp/stable",
+            self.requires("proxyfmu/0.4.3@osp/testing",
                           transitive_headers=True,
                           transitive_libs=True)
         self.requires("yaml-cpp/[~0.9]")

include/cosim/exception.hpp

@@ -51,7 +51,10 @@ enum class errc
     invalid_system_structure,
 
     /// ZIP file error
-    zip_error
+    zip_error,
+
+    /// Invalid operation (e.g. calling a function at the invalid time in the simulation lifecycle)
+    invalid_operation
 };
 
 

include/cosim/fmi/v2/fmu.hpp

@@ -186,21 +186,46 @@ class slave_instance : public fmi::slave_instance
     /// Returns the underlying C API handle (for FMI Library)
     fmi2_import_t* fmilib_handle() const;
 
+    /// Reports whether the FMU provides directional derivatives.
+    bool provides_directional_derivatives() const noexcept;
+
+    /**
+     *  Computes directional derivatives of unknown Real variables with respect
+     *  to known Real variables.
+     */
+    void get_directional_derivative(
+        gsl::span<const value_reference> unknowns,
+        gsl::span<const value_reference> knowns,
+        gsl::span<const double> seed,
+        gsl::span<double> sensitivity) const;
+
 private:
+    enum class lifecycle_state : std::int32_t
+    {
+        instantiated = 0,
+        initialization = 1,
+        step = 2,
+        terminated = 3
+    };
+
     struct saved_state
     {
         fmi2_FMU_state_t fmuState = nullptr;
-        bool setupComplete = false;
-        bool simStarted = false;
+        lifecycle_state lifecycleState = lifecycle_state::instantiated;
     };
     void copy_current_state(saved_state& state);
     state_index store_new_state(saved_state state);
+    void cache_directional_derivative_metadata();
 
     std::shared_ptr<v2::fmu> fmu_;
     fmi2_import_t* handle_;
 
-    bool setupComplete_ = false;
-    bool simStarted_ = false;
+    lifecycle_state lifecycleState_ = lifecycle_state::instantiated;
+    bool providesDirectionalDerivatives_ = false;
+    std::vector<value_reference> outputReferences_;
+    std::vector<value_reference> derivativeReferences_;
+    std::vector<value_reference> initialUnknownReferences_;
+    std::vector<value_reference> continuousStateReferences_;
 
     std::string instanceName_;
 

src/CMakeLists.txt

@@ -195,14 +195,14 @@ endif ()
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     target_link_libraries(cosim INTERFACE "atomic" "stdc++fs")
 endif()
+
 if(WIN32)
-    target_link_libraries(cosim PUBLIC "Bcrypt")
-    if(BUILD_SHARED_LIBS)
-        target_link_libraries(cosim PUBLIC "Shlwapi") # Windows API DLLs
-    else()
+    target_link_libraries(cosim PUBLIC "Bcrypt" "Shlwapi")
+    if(NOT BUILD_SHARED_LIBS)
         set_target_properties(cosim PROPERTIES OUTPUT_NAME "libcosim")
     endif()
 endif()
+
 if(LIBCOSIM_STANDALONE_INSTALLATION)
     set_target_properties(cosim PROPERTIES INSTALL_RPATH "\$ORIGIN")
 endif()

src/cosim/exception.cpp

@@ -44,6 +44,8 @@ class my_error_category : public std::error_category
                 return "Invalid system structure";
             case errc::zip_error:
                 return "ZIP file error";
+            case errc::invalid_operation:
+                return "Invalid operation";
             default:
                 COSIM_PANIC();
         }