$ cat /tmp/error.log

Opening a socket on port 29500

generate_ode_system2_nonlinear_residuals failed

model TestControlBrushedDC0 "Closed loop with an external controller" 

  import Modelica.Electrical.Analog;

  import Modelica.Mechanics.Rotational;

  OpenRobotica.Machines.BrushedDC dcm;

  Analog.Basic.Ground gnd;

  Analog.Sources.SignalVoltage vsource;

  Rotational.Fixed fixed;

  Rotational.Sensors.SpeedSensor speedSensor;

  OpenRobotica.Interfaces.Fifos.FifoRealArray myFifo;

                                               //(Nout=3);

equation 

  //vsource.v = if time < 0.5 then 0 else 10; //Hier Controller-Modell aufrufen

  connect(myFifo.varin[1], vsource.v);

  connect(myFifo.varout[1], speedSensor.w);

  connect(gnd.p, vsource.n);

  connect(vsource.p, dcm.pin_p);

  connect(vsource.n, dcm.pin_n);

  connect(dcm.pin_n, gnd.p);

  connect(fixed.flange_b, dcm.support);

  connect(dcm.flange, speedSensor.flange_a);

initial equation 

  dcm.phiMechanical = 0;

end TestControlBrushedDC0;

block FifoRealArray "Read and write real array to fifo" 

  function openFifoOutWrp 

  input String fifoName;

  input Integer dummy;  // force execution order in equation sections

  output Integer fd;

  algorithm 

    fd :=openFifoOut(fifoName);

  end openFifoOutWrp;

  

  function openFifoInWrp 

  input String fifoName;

  input Integer dummy;  // force execution order in equation sections

  output Integer fd;

  algorithm 

    fd :=openFifoIn(fifoName);

  end openFifoInWrp;

  

  parameter String FifoName="ModelicaFifo";

  parameter Integer Nin=1 "Number of inputs from fifo";

  parameter Integer Nout=1 "Number of outputs to fifo";

  parameter Real CompTime=1e-12 "Computation time of controller";

  parameter Boolean IsServer=true 

    "Indicates if model creates the fifo and opens for writing first";

  //output Real varin[Nin]; //[Nin];

  //input Real varout[Nout];

  Modelica.Blocks.Interfaces.RealInput varout[Nout] 

    "Connector of Real vector to be send to fifo";

  Modelica.Blocks.Interfaces.BooleanInput interrupt=false 

    "Send to and recieve from fifo when interrupt/event becomes true";

  Modelica.Blocks.Interfaces.RealOutput varin[Nin] 

    "Connector of Real vector, recieved from fifo";

protected 

  discrete Real dvarout[Nout];

  discrete Real dvarin[Nin];

  discrete Real nextWriteEvent(start=0);

  discrete Real nextReadEvent(start=0);

  //discrete Integer nextReadEvent(start=0);

  discrete Integer fd_in; // File descriptor

  discrete Integer fd_out;

  discrete Integer retval;

  discrete Integer numwritten[Nout];

  discrete Integer timewritten;

equation 

  when (time >= nextWriteEvent or interrupt) then

    for i in 1:Nout loop //index auch uebergeben

      dvarout[i] = varout[i];

      numwritten[i] = fifoOutReal(fd_out, dvarout[i], i, Nout+1); //write2fifo

    end for;

    if interrupt then

      timewritten = fifoOutReal(fd_out, time, 0, Nout+1);  // send SimTime

    else

      timewritten = fifoOutReal(fd_out, nextWriteEvent, 0, Nout+1);  // send SimTime==nextWriteEvent

    end if;

    nextReadEvent = time + CompTime;

  end when;

  

  when (time > nextReadEvent) then

  //when (nextReadEvent >= 1) then //!!! change() geht in OM nur mit Real

    for i in 1:Nin loop

      dvarin[i] = fifoInReal(fd_in, i, Nin+1);

      varin[i] = dvarin[i];

    end for;

    nextWriteEvent = fifoInReal(fd_in, 0, Nin+1);

  end when;

  

  when initial() then

        retval = createFifo(FifoName);

        fd_out = openFifoOutWrp(FifoName, retval);

        fd_in = openFifoInWrp(FifoName, fd_out);

  end when;

  when terminal() then

    // end of sim

  end when;

end FifoRealArray;