traversaro / awesome-fmi

A curated list of Functional Mock-up Interface (FMI) libraries, tools and resources.

Awesome FMI

A curated list of Functional Mock-up Interface (FMI) libraries, tools and resources.

Functional Mock-up Interface (FMI) is a tool independent standard to support both model exchange and co-simulation of dynamic models. See the official FMI website for the official specification and more information about the FMI standard.

Contents

• FMI 2
  • Libraries
    • C
    • C++
    • Python
    • Java
    • MATLAB/Simulink
    • Rust
    • Julia
  • Tools
• FMI 3
• Community

FMI 2

The latest (as of June 2024) stable release of the FMI 2 specification is 2.0.4, released on 2022-12-1. You can find the text of the FMI specification 2.0.4 at https://github.com/modelica/fmi-standard/releases/tag/v2.0.4 . Unless noted otherwise, the tools and libraries listed are compatible with FMI 2.

Libraries

Libraries to import, simulate and export FMUs (Functional Mock-up Units) that support FMI 2.

C

• FMI Library - C library for import of FMUs. [BSD]
• FMU SDK - C library for exporting FMUs. [BSD]

C++

• FMI++ - C++ library for import and export of FMUs. [BSD]
• FMI4cpp - FMI 2.0 implementation written in modern C++. [MIT]

Python

• PyFMI - Python package for loading and interacting with FMUs, based on the FMI Library. [LGPL]
• FMPy - Python package for loading and interacting with FMUs. It supports also the latest System Structure and Parameterization (SSP standard). [BSD]
• FMI++ Python Interface - Python interface for the FMI++ library. [BSD, BOOST]
• SimulatorToFMU - Python package that allows to export a memoryless Python-driven simulation program or script as a FMU. [BSD]
• modestpy - Python package for parameter estimation in FMUs. [BSD]
• PythonFMU - Framework for exporting Python code as FMUs. [MIT]
• qFMU - Generate standard LTI system FMUs through CLI [BSD]

Java

• FMI4j - Java/Kotlin library for dealing with FMUs on the JVM platform. [MIT]
• javaFMI - Java library for import and export of FMUs. [LGPL3]

MATLAB/Simulink

• Simulink FMU Importing/Export a Model as a Tool-Coupling FMU - Out-of-the-box official support for FMU import and export (tool coupling) in Simulink. [Commercial]
• FMI Toolbox for MATLAB/Simulink - Toolbox with support for Simulink FMU Import/Export and MATLAB FMU import. [Commercial]
• matlab-fmu - MATLAB Toolbox for Windows with support for import of FMUs for Model-Exchange and Co-Simulation as well as the export of MATLAB scripts as FMUs for Co-Simulation, based on the FMI++ library. [BSD]
• Simulix - A third-party Simulink tool to generate FMUs from Simulink models using the C-API. [GPL3]
• FMIKit-Simulink - Import and export Functional Mock-up Units with Simulink. [BSD]

Rust

• rust-fmi - A Rust interface to FMUs (Functional Mock-up Units) that follow the FMI Standard. [APACHE2/MIT]

Julia

• FMI.jl - Library which integrates FMI and permits load, instantiate, parameterize and simulate FMUs seamlessly inside the Julia programming language. [MIT]
• FMIFlux.jl - Library which offers the ability to setup NeuralFMUs, put FMUs inside any feed-forward NN topology and get a hybrid model trainable with a standard AD training process. [MIT]

Tools

For the official list of tools that support FMI 2, check http://fmi-standard.org/tools/ .

• λ-Sim - Tool that converts FMU simulation models into REST APIs. [MIT]
• Dymola - A modeling and simulation environment for Modelica, with full support for FMI. [Commercial]
• FMIGo! - A set of tools for dealing with the FMI and SSP standards. [MIT]
• FMITerminalBlock - Two way interface between the FMI and IEC 61499-based controllers. [BSD]
• FMU-proxy - Framework that allows Functional Mock-up Units (FMUs) to be accessed through language independent RPC calls and that permits to transform a co-simulation FMU into a proxified version of the same FMU, so that each FMU can run in a separate process. [MIT]
• Unity-FMI-Addon - FMI support for Unity, a cross-platform game engine. [BSD]
• ROS fmi_adapter - FMI support for ROS, a flexible framework for writing robot software. [APACHE2]
• fmi_adapter_ros2 - FMI support for ROS2, the new version of the Robot Operating System. [APACHE2]
• fmu-viewer - A simple FMU viewer in the browser

FMI 3

The latest (as of June 2024) stable release of the FMI 3 specification is 3.0.1, released on 2023-07-10 . You can find the text of the FMI specification 3.0.1 at https://fmi-standard.org/docs/3.0.1/ . General information on the FMI 3.0 feature list can be found in https://fmi-standard.org/faq/ .

Some of the projects listed in the previous section also support for FMI 3 :

• Examples:
  • Reference-FMUs : 3.0 examples FMUs are available, including examples for new co-simulation features such as scheduled co-simulation and early return in co-simulation.
  • PMSFIT/FMI30TestFMUs : Some examples FMUs based on the FMI 3.0 specification are available, including features such as binary variables.
• Modelica:
  • Dymola - support for FMI 3.0 is available, including arrays, terminals, icons, event mode and early return.
• Python:
  • fmpy - support for FMI 3.0 is available.
• Julia:
  • FMI.jl - experimental support for FMI 3.0 is work in progress
• Simulink:
  • FMIKit-Simulink - support for export of FMU 3.0 is available.
• Formal models
  • FMI-VDM-Model - VDM formal models for the FMI3.0 specification.

Community

• Stack Overflow - Questions related to FMI in Stack Overflow.
• Twitter's FMI Info and News - Unofficial news account about the FMI Standard, FMI usage and FMI tools.
• LinkedIn FMI Group - Open group to spread news and discuss topics w.r.t. FMI.

Contribute

Contributions are welcome! Read the contribution guidelines first.

License

awesome-fmi's Issues

Update to latest FMI 2.0.4

v2.0.3 is superseded by v2.0.4

Update link for FMI++

As of 2022-05-27 The FMI++ project moved to GitHub fmipp/fmipp.
Please update link.

Add FMI Go!

See http://www.fmigo.net/ .

Introduce a new category for AI / ML learning tools supporting FMI?

More and more AI and Machine Learning tools support FMI.

• FMIflux https://github.com/ThummeTo/FMIFlux.jl
• JuliaSim https://help.juliahub.com/JuliaSim/Tutorials/FMUs/
• bons.ai
  -- https://github.com/microsoft/FMU-bonsai-connector
  -- https://docs.microsoft.com/en-us/bonsai/guides/add-simulator?tabs=add-cli%2Ctrain-inkling&pivots=sim-platform-fmu
• openAI gyms (various)
  -- https://github.com/ucuapps/modelicagym
  -- https://pypi.org/project/openmodelica-microgrid-gym/
  -- fmpy, see e.g. CATIA-Systems/FMPy#277

Perhaps it would be good to introduce a new category for them?

Add rust-fmi

https://crates.io/crates/fmi