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awesome-fmi

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

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# Awesome FMI [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome)

> 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](http://fmi-standard.org/) for the official specification and more information about the FMI standard.

## Contents

- [FMI 2](#fmi-2)
  - [Libraries](#libraries)
    - [C](#c)
    - [C++](#c-1)
    - [Python](#python)
    - [Java](#java)
    - [MATLAB/Simulink](#matlabsimulink)
    - [Rust](#rust)
    - [Julia](#julia)
  - [Tools](#tools)
- [FMI 3](#fmi-3)
- [Community](#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](https://github.com/modelon-community/fmi-library) - C library for import of FMUs. [BSD]
- [FMU SDK](https://github.com/qtronic/fmusdk) - C library for exporting FMUs. [BSD]

#### C++
- [FMI++](https://github.com/fmipp/fmipp) - C++ library for import and export of FMUs. [BSD]
- [FMI4cpp](https://github.com/NTNU-IHB/FMI4cpp) - FMI 2.0 implementation written in modern C++. [MIT]
- [FMU4cpp](https://github.com/Ecos-platform/fmu4cpp) - CMake/Github Actions template project for building FMUs in C++. [MIT]

#### Python
- [PyFMI](https://github.com/modelon-community/pyfmi) - Python package for loading and interacting with FMUs, based on the FMI Library. [LGPL]
- [FMPy](https://github.com/CATIA-Systems/FMPy) - Python package for loading and interacting with FMUs. It supports also the latest [System Structure and Parameterization (SSP standard)](https://www.modelica.org/projects). [BSD]
- [FMI++ Python Interface](https://pypi.python.org/pypi/fmipp) - Python interface for the FMI++ library. [BSD, BOOST]
- [SimulatorToFMU](https://github.com/LBNL-ETA/SimulatorToFMU) - Python package that allows to export a memoryless Python-driven simulation program or script as a FMU. [BSD]
- [modestpy](https://github.com/sdu-cfei/modest-py) - Python package for parameter estimation in FMUs. [BSD]
- [PythonFMU](https://github.com/NTNU-IHB/PythonFMU) - Framework for exporting Python code as FMUs. [MIT]
- [qFMU](https://github.com/hyumo/qFMU) - Generate standard LTI system FMUs through CLI [BSD]

#### Java
- [FMI4j](https://github.com/NTNU-IHB/FMI4j) - Java/Kotlin library for dealing with FMUs on the JVM platform. [MIT]
- [javaFMI](https://bitbucket.org/siani/javafmi) - Java library for import and export of FMUs. [LGPL3]

#### MATLAB/Simulink
- [Simulink FMU Importing](https://mathworks.com/help/simulink/in-product-solutions.html)/[Export a Model as a Tool-Coupling FMU](https://mathworks.com/help/simulink/ug/_mw_54e936ec-2fa7-4418-be70-d99c8f91d2bd.html) - Out-of-the-box official support for FMU import and export (tool coupling) in Simulink. [Commercial]
- [FMI Toolbox for MATLAB/Simulink](https://www.modelon.com/products-services/modelon-deployment-suite/fmi-toolbox/) - Toolbox with support for Simulink FMU Import/Export and MATLAB FMU import. [Commercial]
- [matlab-fmu](https://sourceforge.net/projects/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](https://github.com/Kvixen/Simulix) - A third-party Simulink tool to generate FMUs from Simulink models using the C-API. [GPL3]
- [FMIKit-Simulink](https://github.com/CATIA-Systems/FMIKit-Simulink) - Import and export Functional Mock-up Units with Simulink. [BSD]

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

#### Julia
- [FMI.jl](https://github.com/ThummeTo/FMI.jl) - Library which integrates FMI and permits load, instantiate, parameterize and simulate FMUs seamlessly inside the Julia programming language. [MIT]
- [FMIFlux.jl](https://github.com/ThummeTo/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](https://github.com/mbonvini/LambdaSim) - Tool that converts FMU simulation models into REST APIs. [MIT]
- [Dymola](https://www.dymola.com) - A modeling and simulation environment for Modelica, with full support for FMI. [Commercial]
- [FMIGo!](http://www.fmigo.net/) - A set of tools for dealing with the FMI and SSP standards. [MIT]
- [FMITerminalBlock](https://github.com/AIT-IES/FMITerminalBlock) -  Two way interface between the FMI and IEC 61499-based controllers. [BSD]
- [FMU-proxy](https://github.com/NTNU-IHB/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](https://github.com/CATIA-Systems/Unity-FMI-Addon) - FMI support for [Unity](https://unity3d.com/), a cross-platform game engine. [BSD]
- [ROS fmi_adapter](https://github.com/boschresearch/fmi_adapter) - FMI support for [ROS](http://www.ros.org/), a flexible framework for writing robot software. [APACHE2]
- [fmi_adapter_ros2](https://github.com/boschresearch/fmi_adapter_ros2) - FMI support for [ROS2](https://index.ros.org/doc/ros2/), the new version of the Robot Operating System. [APACHE2]
- [fmu-viewer](https://hyumo.github.io/fmuviewer-web/) - 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](https://github.com/modelica/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](https://github.com/PMSFIT/FMI30TestFMUs) : Some examples FMUs based on the FMI 3.0 specification are available, including features such as binary variables.
- **Modelica:** 
  - [Dymola](https://www.dymola.com) - support for FMI `3.0` is available, including arrays, terminals, icons, event mode and early return.
- **Python:** 
  - [fmpy](https://github.com/CATIA-Systems/FMPy) - support for FMI `3.0` is available.
- **Julia:**
  - [FMI.jl](https://github.com/ThummeTo/FMI.jl)  - experimental support for FMI `3.0` is work in progress
- **Simulink:** 
  - [FMIKit-Simulink](https://github.com/CATIA-Systems/FMIKit-Simulink) - support for export of FMU `3.0` is available.
- **Formal models**
  - [FMI-VDM-Model](https://github.com/INTO-CPS-Association/FMI-VDM-Model) - [VDM](https://en.wikipedia.org/wiki/Vienna_Development_Method) formal models for the FMI3.0 specification.

## Community

- [Stack Overflow](https://stackoverflow.com/tags/fmi) - Questions related to FMI in Stack Overflow.
- [Twitter's FMI Info and News](https://twitter.com/fmi_info) - Unofficial news account about the FMI Standard, FMI usage and FMI tools.
- [LinkedIn FMI Group](https://www.linkedin.com/groups/7477473/) - Open group to spread news and discuss topics w.r.t. FMI.

## Contribute

Contributions are welcome! Read the [contribution guidelines](CONTRIBUTING.md) first.

## License

[![CC0](http://mirrors.creativecommons.org/presskit/buttons/88x31/svg/cc-zero.svg)](http://creativecommons.org/publicdomain/zero/1.0)

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