fmu_base_activity

1 

4 #pragma once

5 

6 #include "core/lifecycle/activity/base_activity.h"

7 #include "core/lifecycle/fmu_activity/fmu_config.h"

8 #include "core/lifecycle/fmu_activity/i_fmu_logic.h"

9 #include "core/message/rtidds/fmu/fmu_message.hpp"

10 #include "core/scheduler/i_scheduler_client/i_scheduler_client.h"

11 #include <optional>

12 

17 namespace simulation_framework

18 {

19 namespace core

20 {

21 

22 class CommunicationManager;

23 

24 namespace lifecycle

25 {

26 

30 class FmuBaseActivity : public BaseActivity

31 {

32  public:

41  FmuBaseActivity(const std::string& name,

42  std::shared_ptr<CommunicationManager> communication_manager,

43  std::unique_ptr<scheduling::ISchedulerClient> scheduler_client,

44  FmuConfig fmu_config,

45  std::unique_ptr<IFmuLogic> fmu_logic,

46  const std::optional<double> step_size = std::nullopt);

47 

49  virtual void ExecuteStep() override;

50 

52  virtual void Init() override;

53 

55  virtual void AddPublisherAndSubscriber() override;

56 

57  protected:

61  FmuInOutMap DecodeMessage(const rtidds::FmuMessage& message);

62 

66  rtidds::FmuMessage EncodeMessage(const FmuInOutMap& outputs);

67 

71  FmuInOutMap DecodeBytesMessage(const rtidds::GenericBytesMessage& message);

72 

76  rtidds::GenericBytesMessage EncodeBytesMessage(const FmuInOutMap& outputs);

77 

79  FmuConfig fmu_config_{};

80 

82  std::unique_ptr<IFmuLogic> fmu_logic_;

83 

85  std::optional<double> step_size_;

86 

88  FmuTopicToVarMap input_topics_to_var_map_{};

89 

91  FmuTopicToVarMap output_topics_to_var_map_{};

92 };

93 

94 } // namespace lifecycle

95 } // namespace core

96 } // namespace simulation_framework