static real_T c2_sign(real_T c2_X)
{
real_T c2_S;
real_T c2_k;
real_T c2_b_k;
real_T c2_b_x;
real_T c2_c_x;
boolean_T c2_b;
real_T c2_b_y;
c2_S = 0.0;
c2_k = 1.0;
c2_b_k = c2_k;
_SFD_EML_ARRAY_BOUNDS_CHECK("X", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1,
1, 1);
c2_b_x = c2_X;
c2_c_x = c2_b_x;
c2_b = rtIsNaN(c2_c_x);
if(c2_b) {
_SFD_EML_ARRAY_BOUNDS_CHECK("S", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
c2_b_y = rtNaN;
return c2_b_y;
} else if(c2_b_x > 0.0) {
_SFD_EML_ARRAY_BOUNDS_CHECK("S", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
return 1.0;
} else if(c2_b_x < 0.0) {
_SFD_EML_ARRAY_BOUNDS_CHECK("S", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
return -1.0;
}
return c2_S;
}
static void c2_power(uint16_T *c2_a, real_T c2_b, uint16_T *c2_y)
{
int32_T c2_em_i25;
real_T c2_k;
real_T c2_b_k;
int32_T c2_em_i26;
uint16_T c2_x[10][1];
real_T c2_c_k;
uint16_T c2_xk;
uint16_T c2_ak;
real_T c2_b_x;
real_T c2_b_xk;
real_T c2_bk;
real_T c2_c_x;
real_T c2_b_y;
real_T c2_em_d2;
real_T c2_em_d3;
for(c2_em_i25 = 0; c2_em_i25 < 10; c2_em_i25 = c2_em_i25 + 1) {
c2_y[c2_em_i25] = 0U;
}
for(c2_k = 1.0; c2_k <= 10.0; c2_k = c2_k + 1.0) {
c2_b_k = c2_k;
for(c2_em_i26 = 0; c2_em_i26 < 10; c2_em_i26 = c2_em_i26 + 1) {
c2_x[c2_em_i26][0] = c2_a[c2_em_i26];
}
c2_c_k = c2_b_k;
c2_xk = (*(uint16_T (*)[10])&c2_x)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
(int32_T)_SFD_INTEGER_CHECK("k", c2_c_k), 1, 10, 1) - 1
];
c2_ak = c2_xk;
c2_b_x = c2_b;
c2_b_xk = c2_b_x;
c2_bk = c2_b_xk;
if(c2_bk >= 0.0) {
c2_c_x = c2_bk;
c2_b_y = floor(c2_c_x);
if(c2_b_y == c2_bk) {
c2_em_d2 = pow((real_T)c2_ak, c2_bk);
c2_em_d3 = c2_em_d2 < 0.0 ? ceil(c2_em_d2 - 0.5) : floor(c2_em_d2 + 0.5);
(*(uint16_T (*)[10])c2_y)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("y",
(int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1, 10, 1) - 1] = (
uint16_T)(c2_em_d3 <= 65535.0 ? c2_em_d3 >= 0.0 ? c2_em_d3 : 0.0 :
65535.0);
goto label_1;
}
}
sf_mex_call("error", 0U, 1U, 15,
"Integers can only be raised to positive integral powers.");
(*(uint16_T (*)[10])c2_y)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("y",
(int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1, 10, 1) - 1] = 0U;
label_1:;
}
}
static real_T c7_ceval_xdot(int32_T c7_n, real_T c7_x[4], int32_T c7_ix0,
int32_T c7_incx, real_T c7_y[4], int32_T c7_iy0, int32_T
c7_incy)
{
real_T c7_d;
c7_d = 0.0;
if ((real_T)c7_n > 0.0) {
return ddot32(&c7_n, &c7_x[_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)
_SFD_INTEGER_CHECK("ix0", (real_T)c7_ix0), 1, 4, 1, 0) - 1], &
c7_incx, &c7_y[_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)
_SFD_INTEGER_CHECK("iy0", (real_T)c7_iy0), 1, 4, 1, 0) - 1], &c7_incy);
}
return c7_d;
}
static real_T c3_norm(SFc3_ErdMondInstanceStruct *chartInstance, real_T c3_x[2])
{
real_T c3_y;
real_T c3_scale;
int32_T c3_k;
int32_T c3_b_k;
real_T c3_b_x;
real_T c3_c_x;
real_T c3_absxk;
real_T c3_t;
c3_y = 0.0;
c3_scale = 2.2250738585072014E-308;
c3_eml_int_forloop_overflow_check(chartInstance);
for (c3_k = 1; c3_k < 3; c3_k++) {
c3_b_k = c3_k;
c3_b_x = c3_x[_SFD_EML_ARRAY_BOUNDS_CHECK("", (int32_T)_SFD_INTEGER_CHECK("",
(real_T)c3_b_k), 1, 2, 1, 0) - 1];
c3_c_x = c3_b_x;
c3_absxk = muDoubleScalarAbs(c3_c_x);
if (c3_absxk > c3_scale) {
c3_t = c3_scale / c3_absxk;
c3_y = 1.0 + c3_y * c3_t * c3_t;
c3_scale = c3_absxk;
} else {
c3_t = c3_absxk / c3_scale;
c3_y += c3_t * c3_t;
}
}
return c3_scale * muDoubleScalarSqrt(c3_y);
}
static real_T c3_c_mpower(real_T c3_a)
{
real_T c3_b_a;
real_T c3_b;
real_T c3_k;
real_T c3_b_k;
real_T c3_x;
real_T c3_xk;
real_T c3_ak;
real_T c3_b_x;
real_T c3_b_xk;
real_T c3_bk;
real_T c3_c_x;
real_T c3_y;
real_T c3_b_y;
c3_b_a = c3_a;
c3_b = 2.0;
c3_k = 1.0;
c3_b_k = c3_k;
c3_x = c3_b_a;
c3_xk = c3_x;
c3_ak = c3_xk;
c3_b_x = c3_b;
c3_b_xk = c3_b_x;
c3_bk = c3_b_xk;
if(c3_ak < 0.0) {
c3_c_x = c3_bk;
c3_y = floor(c3_c_x);
if(c3_y != c3_bk) {
sf_mex_call("error", 0U, 1U, 15,
"Domain error. To compute complex results, make at least one input complex, e.g. \'power(complex(a),b)\'.");
}
}
_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)_SFD_INTEGER_CHECK("k", c3_b_k), 1,
1, 1);
c3_b_y = pow(c3_ak, c3_bk);
return c3_b_y;
}
static void sf_gateway_c39_CSE1_Oculus_gesture
(SFc39_CSE1_Oculus_gestureInstanceStruct *chartInstance)
{
int32_T c39_i2;
real_T c39_K_p1[3];
uint32_T c39_debug_family_var_map[4];
real_T c39_nargin = 1.0;
real_T c39_nargout = 1.0;
real_T c39_K_p[9];
int32_T c39_i3;
real_T c39_v[3];
int32_T c39_i4;
int32_T c39_j;
int32_T c39_b_j;
int32_T c39_i5;
int32_T c39_i6;
int32_T c39_i7;
real_T (*c39_b_K_p)[9];
real_T (*c39_b_K_p1)[3];
c39_b_K_p1 = (real_T (*)[3])ssGetInputPortSignal(chartInstance->S, 0);
c39_b_K_p = (real_T (*)[9])ssGetOutputPortSignal(chartInstance->S, 1);
_SFD_SYMBOL_SCOPE_PUSH(0U, 0U);
_sfTime_ = sf_get_time(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 25U, chartInstance->c39_sfEvent);
chartInstance->c39_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 25U, chartInstance->c39_sfEvent);
for (c39_i2 = 0; c39_i2 < 3; c39_i2++) {
c39_K_p1[c39_i2] = (*c39_b_K_p1)[c39_i2];
}
_SFD_SYMBOL_SCOPE_PUSH_EML(0U, 4U, 4U, c39_debug_family_names,
c39_debug_family_var_map);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c39_nargin, 0U, c39_c_sf_marshallOut,
c39_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c39_nargout, 1U, c39_c_sf_marshallOut,
c39_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML(c39_K_p1, 2U, c39_b_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c39_K_p, 3U, c39_sf_marshallOut,
c39_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c39_sfEvent, 4);
for (c39_i3 = 0; c39_i3 < 3; c39_i3++) {
c39_v[c39_i3] = c39_K_p1[c39_i3];
}
for (c39_i4 = 0; c39_i4 < 9; c39_i4++) {
c39_K_p[c39_i4] = 0.0;
}
for (c39_j = 1; c39_j < 4; c39_j++) {
c39_b_j = c39_j;
c39_K_p[(_SFD_EML_ARRAY_BOUNDS_CHECK("", (int32_T)_SFD_INTEGER_CHECK("",
(real_T)c39_b_j), 1, 3, 1, 0) + 3 * (_SFD_EML_ARRAY_BOUNDS_CHECK(
"", (int32_T)_SFD_INTEGER_CHECK("", (real_T)c39_b_j), 1, 3, 2, 0)
- 1)) - 1] = c39_v[_SFD_EML_ARRAY_BOUNDS_CHECK("", (int32_T)
_SFD_INTEGER_CHECK("", (real_T)c39_b_j), 1, 3, 1, 0) - 1];
}
_SFD_EML_CALL(0U, chartInstance->c39_sfEvent, -4);
_SFD_SYMBOL_SCOPE_POP();
for (c39_i5 = 0; c39_i5 < 9; c39_i5++) {
(*c39_b_K_p)[c39_i5] = c39_K_p[c39_i5];
}
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 25U, chartInstance->c39_sfEvent);
_SFD_SYMBOL_SCOPE_POP();
_SFD_CHECK_FOR_STATE_INCONSISTENCY(_CSE1_Oculus_gestureMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
for (c39_i6 = 0; c39_i6 < 9; c39_i6++) {
_SFD_DATA_RANGE_CHECK((*c39_b_K_p)[c39_i6], 0U);
}
for (c39_i7 = 0; c39_i7 < 3; c39_i7++) {
_SFD_DATA_RANGE_CHECK((*c39_b_K_p1)[c39_i7], 1U);
}
}
static void sf_c3_MPC_framework(void)
{
uint8_T c3_previousEvent;
real32_T c3_b_a0;
real32_T c3_b_a1;
real32_T c3_b_a2;
real32_T c3_b_a3;
real32_T c3_b_a4;
real32_T c3_b_a5;
real_T c3_b_t_sim;
real_T c3_b_t_end;
real32_T c3_Q[3];
real_T c3_T[6][3];
real32_T c3_b_qapp;
real32_T c3_b_qap;
real32_T c3_b_qa;
real_T c3_a;
real_T c3_b_a;
real_T c3_b;
real_T c3_k;
real_T c3_b_k;
real_T c3_x;
real_T c3_xk;
real_T c3_ak;
real_T c3_b_x;
real_T c3_b_xk;
real_T c3_bk;
real_T c3_c_x;
real_T c3_y;
real_T c3_b_y;
real_T c3_c;
real_T c3_A;
real_T c3_B;
real_T c3_d_x;
real_T c3_c_y;
real_T c3_z;
real_T c3_d_y;
real_T c3_b_A;
real_T c3_b_B;
real_T c3_e_x;
real_T c3_e_y;
real_T c3_b_z;
real_T c3_f_y;
real_T c3_c_A;
real_T c3_c_B;
real_T c3_f_x;
real_T c3_g_y;
real_T c3_c_z;
real_T c3_h_y;
real_T c3_d_A;
real_T c3_d_B;
real_T c3_g_x;
real_T c3_i_y;
real_T c3_d_z;
real_T c3_j_y;
real_T c3_e_A;
real_T c3_e_B;
real_T c3_h_x;
real_T c3_k_y;
real_T c3_e_z;
real_T c3_l_y;
real_T c3_f_A;
real_T c3_f_B;
real_T c3_i_x;
real_T c3_m_y;
real_T c3_f_z;
real_T c3_n_y;
real_T c3_g_A;
real_T c3_g_B;
real_T c3_j_x;
real_T c3_o_y;
real_T c3_g_z;
real_T c3_p_y;
real_T c3_q_y[6][1];
real_T c3_r_y[6][1];
real_T c3_em_dv0[6][1];
int32_T c3_em_i0;
int32_T c3_em_i1;
int32_T c3_em_i2;
int32_T c3_em_i3;
int32_T c3_em_i4;
real32_T c3_b_T[6][3];
real32_T c3_c_a0[6];
int32_T c3_em_i5;
int32_T c3_em_i6;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a0(), 3U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a1(), 9U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a2(), 1U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a3(), 8U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a4(), 0U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a5(), 6U);
_SFD_DATA_RANGE_CHECK(*c3_t_sim(), 4U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qa(), 2U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qap(), 10U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qapp(), 7U);
_SFD_DATA_RANGE_CHECK(*c3_t_end(), 5U);
c3_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,2);
c3_b_a0 = *c3_a0();
c3_b_a1 = *c3_a1();
c3_b_a2 = *c3_a2();
c3_b_a3 = *c3_a3();
c3_b_a4 = *c3_a4();
c3_b_a5 = *c3_a5();
c3_b_t_sim = *c3_t_sim();
c3_b_t_end = *c3_t_end();
sf_debug_push_symbol_scope(13U, 0U);
sf_debug_symbol_scope_add_symbol("Q", 1, 1U, 3U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c3_Q, 0);
sf_debug_symbol_scope_add_symbol("T", 0, 2U, 3U, 6U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c3_T, 0);
sf_debug_symbol_scope_add_symbol("qapp", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_qapp, 0);
sf_debug_symbol_scope_add_symbol("qap", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_qap, 0);
sf_debug_symbol_scope_add_symbol("qa", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_qa, 0);
sf_debug_symbol_scope_add_symbol("t_end", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_t_end, 0);
sf_debug_symbol_scope_add_symbol("t_sim", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_t_sim, 0);
sf_debug_symbol_scope_add_symbol("a5", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a5, 0);
sf_debug_symbol_scope_add_symbol("a4", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a4, 0);
sf_debug_symbol_scope_add_symbol("a3", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a3, 0);
sf_debug_symbol_scope_add_symbol("a2", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a2, 0);
sf_debug_symbol_scope_add_symbol("a1", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a1, 0);
sf_debug_symbol_scope_add_symbol("a0", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a0, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
if(CV_EML_IF(0, 0, c3_b_t_sim >= c3_b_t_end)) {
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c3_b_t_sim = c3_b_t_end;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
c3_a = c3_b_t_sim;
c3_b_a = c3_a;
c3_b = 5.0;
c3_k = 1.0;
c3_b_k = c3_k;
c3_x = c3_b_a;
c3_xk = c3_x;
c3_ak = c3_xk;
c3_b_x = c3_b;
c3_b_xk = c3_b_x;
c3_bk = c3_b_xk;
if(c3_ak < 0.0) {
c3_c_x = c3_bk;
c3_y = floor(c3_c_x);
if(c3_y != c3_bk) {
sf_mex_call("error", 0U, 1U, 15,
"Domain error. To compute complex results, make at least one input complex, e.g. \'power(complex(a),b)\'.");
}
}
_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)_SFD_INTEGER_CHECK("k", c3_b_k), 1,
1, 1);
c3_b_y = pow(c3_ak, c3_bk);
c3_c = c3_b_y;
c3_A = c3_c;
c3_B = 20.0;
c3_d_x = c3_A;
c3_c_y = c3_B;
c3_z = c3_d_x / c3_c_y;
c3_d_y = c3_z;
c3_b_A = c3_mpower(c3_b_t_sim);
c3_b_B = 12.0;
c3_e_x = c3_b_A;
c3_e_y = c3_b_B;
c3_b_z = c3_e_x / c3_e_y;
c3_f_y = c3_b_z;
c3_c_A = c3_b_mpower(c3_b_t_sim);
c3_c_B = 6.0;
c3_f_x = c3_c_A;
c3_g_y = c3_c_B;
c3_c_z = c3_f_x / c3_g_y;
c3_h_y = c3_c_z;
c3_d_A = c3_c_mpower(c3_b_t_sim);
c3_d_B = 2.0;
c3_g_x = c3_d_A;
c3_i_y = c3_d_B;
c3_d_z = c3_g_x / c3_i_y;
c3_j_y = c3_d_z;
c3_e_A = c3_mpower(c3_b_t_sim);
c3_e_B = 4.0;
c3_h_x = c3_e_A;
c3_k_y = c3_e_B;
c3_e_z = c3_h_x / c3_k_y;
c3_l_y = c3_e_z;
c3_f_A = c3_b_mpower(c3_b_t_sim);
c3_f_B = 3.0;
c3_i_x = c3_f_A;
c3_m_y = c3_f_B;
c3_f_z = c3_i_x / c3_m_y;
c3_n_y = c3_f_z;
c3_g_A = c3_c_mpower(c3_b_t_sim);
c3_g_B = 2.0;
c3_j_x = c3_g_A;
c3_o_y = c3_g_B;
c3_g_z = c3_j_x / c3_o_y;
c3_p_y = c3_g_z;
c3_q_y[0][0] = c3_d_y;
c3_q_y[1][0] = c3_f_y;
c3_q_y[2][0] = c3_h_y;
c3_q_y[3][0] = c3_j_y;
c3_q_y[4][0] = c3_b_t_sim;
c3_q_y[5][0] = 1.0;
c3_r_y[0][0] = c3_l_y;
c3_r_y[1][0] = c3_n_y;
c3_r_y[2][0] = c3_p_y;
c3_r_y[3][0] = c3_b_t_sim;
c3_r_y[4][0] = 1.0;
c3_r_y[5][0] = 0.0;
c3_em_dv0[0][0] = c3_b_mpower(c3_b_t_sim);
c3_em_dv0[1][0] = c3_c_mpower(c3_b_t_sim);
c3_em_dv0[2][0] = c3_b_t_sim;
c3_em_dv0[3][0] = 1.0;
c3_em_dv0[4][0] = 0.0;
c3_em_dv0[5][0] = 0.0;
for(c3_em_i0 = 0; c3_em_i0 < 6; c3_em_i0 = c3_em_i0 + 1) {
c3_T[c3_em_i0][0] = c3_q_y[c3_em_i0][0];
}
for(c3_em_i1 = 0; c3_em_i1 < 6; c3_em_i1 = c3_em_i1 + 1) {
c3_T[c3_em_i1][1] = c3_r_y[c3_em_i1][0];
}
for(c3_em_i2 = 0; c3_em_i2 < 6; c3_em_i2 = c3_em_i2 + 1) {
c3_T[c3_em_i2][2] = c3_em_dv0[c3_em_i2][0];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,10);
for(c3_em_i3 = 0; c3_em_i3 < 6; c3_em_i3 = c3_em_i3 + 1) {
for(c3_em_i4 = 0; c3_em_i4 < 3; c3_em_i4 = c3_em_i4 + 1) {
c3_b_T[c3_em_i3][c3_em_i4] = (real32_T)c3_T[c3_em_i3][c3_em_i4];
}
}
c3_c_a0[0] = c3_b_a0;
c3_c_a0[1] = c3_b_a1;
c3_c_a0[2] = c3_b_a2;
c3_c_a0[3] = c3_b_a3;
c3_c_a0[4] = c3_b_a4;
c3_c_a0[5] = c3_b_a5;
for(c3_em_i5 = 0; c3_em_i5 < 3; c3_em_i5 = c3_em_i5 + 1) {
c3_Q[c3_em_i5] = 0.0F;
for(c3_em_i6 = 0; c3_em_i6 < 6; c3_em_i6 = c3_em_i6 + 1) {
c3_Q[c3_em_i5] = c3_Q[c3_em_i5] + c3_b_T[c3_em_i6][c3_em_i5] *
c3_c_a0[c3_em_i6];
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
c3_b_qa = c3_Q[0];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
c3_b_qap = c3_Q[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
c3_b_qapp = c3_Q[2];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-14);
sf_debug_pop_symbol_scope();
*c3_qa() = c3_b_qa;
*c3_qap() = c3_b_qap;
*c3_qapp() = c3_b_qapp;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,2);
_sfEvent_ = c3_previousEvent;
sf_debug_check_for_state_inconsistency(_MPC_frameworkMachineNumber_,
chartInstance.chartNumber, chartInstance.instanceNumber);
}
static void sf_c1_my_demo_ref(SFc1_my_demo_refInstanceStruct *chartInstance)
{
int32_T c1_i0;
real_T c1_hoistedGlobal;
real_T c1_b_hoistedGlobal;
real_T c1_x;
real_T c1_y;
int32_T c1_i1;
real_T c1_fpath[170];
uint32_T c1_debug_family_var_map[13];
real_T c1_dmin;
real_T c1_xx[85];
real_T c1_yy[85];
real_T c1_d;
real_T c1_nargin = 3.0;
real_T c1_nargout = 3.0;
real_T c1_x_g;
real_T c1_y_g;
real_T c1_stop;
int32_T c1_i2;
int32_T c1_i3;
real_T c1_c_hoistedGlobal;
real_T c1_d_hoistedGlobal;
real_T c1_b_x;
real_T c1_c_x;
real_T *c1_b_x_g;
real_T *c1_b_y_g;
real_T *c1_d_x;
real_T *c1_b_y;
real_T *c1_b_stop;
real_T (*c1_b_fpath)[170];
boolean_T guard1 = FALSE;
boolean_T guard2 = FALSE;
c1_b_stop = (real_T *)ssGetOutputPortSignal(chartInstance->S, 3);
c1_b_fpath = (real_T (*)[170])ssGetInputPortSignal(chartInstance->S, 2);
c1_b_y = (real_T *)ssGetInputPortSignal(chartInstance->S, 1);
c1_d_x = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
c1_b_y_g = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
c1_b_x_g = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 0U, chartInstance->c1_sfEvent);
_SFD_DATA_RANGE_CHECK(*c1_b_x_g, 0U);
_SFD_DATA_RANGE_CHECK(*c1_b_y_g, 1U);
_SFD_DATA_RANGE_CHECK(*c1_d_x, 2U);
_SFD_DATA_RANGE_CHECK(*c1_b_y, 3U);
for (c1_i0 = 0; c1_i0 < 170; c1_i0++) {
_SFD_DATA_RANGE_CHECK((*c1_b_fpath)[c1_i0], 4U);
}
_SFD_DATA_RANGE_CHECK(*c1_b_stop, 5U);
chartInstance->c1_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent);
c1_hoistedGlobal = *c1_d_x;
c1_b_hoistedGlobal = *c1_b_y;
c1_x = c1_hoistedGlobal;
c1_y = c1_b_hoistedGlobal;
for (c1_i1 = 0; c1_i1 < 170; c1_i1++) {
c1_fpath[c1_i1] = (*c1_b_fpath)[c1_i1];
}
sf_debug_symbol_scope_push_eml(0U, 13U, 13U, c1_debug_family_names,
c1_debug_family_var_map);
sf_debug_symbol_scope_add_eml_importable(&c1_dmin, 0U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(c1_xx, 1U, c1_d_sf_marshallOut,
c1_c_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(c1_yy, 2U, c1_d_sf_marshallOut,
c1_c_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c1_d, 3U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c1_nargin, 4U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c1_nargout, 5U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml(&c1_x, 6U, c1_b_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c1_y, 7U, c1_b_sf_marshallOut);
sf_debug_symbol_scope_add_eml(c1_fpath, 8U, c1_c_sf_marshallOut);
sf_debug_symbol_scope_add_eml_importable(&c1_x_g, 9U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c1_y_g, 10U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c1_stop, 11U, c1_b_sf_marshallOut,
c1_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&chartInstance->c1_i, 12U,
c1_sf_marshallOut, c1_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 6);
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 7);
if (CV_EML_IF(0, 1, 0, !chartInstance->c1_i_not_empty)) {
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 8);
chartInstance->c1_i = 1.0;
chartInstance->c1_i_not_empty = TRUE;
}
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 12);
c1_stop = 0.0;
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 13);
c1_dmin = 0.1;
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 26);
for (c1_i2 = 0; c1_i2 < 85; c1_i2++) {
c1_xx[c1_i2] = c1_fpath[c1_i2];
}
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 27);
for (c1_i3 = 0; c1_i3 < 85; c1_i3++) {
c1_yy[c1_i3] = c1_fpath[c1_i3 + 85];
}
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 29);
c1_c_hoistedGlobal = chartInstance->c1_i;
c1_d_hoistedGlobal = chartInstance->c1_i;
c1_b_x = c1_mpower(chartInstance, c1_x - c1_xx[_SFD_EML_ARRAY_BOUNDS_CHECK(
"xx", (int32_T)_SFD_INTEGER_CHECK("i", c1_c_hoistedGlobal), 1, 85, 1, 0) - 1])
+ c1_mpower(chartInstance, c1_y - c1_yy[_SFD_EML_ARRAY_BOUNDS_CHECK("yy",
(int32_T)_SFD_INTEGER_CHECK("i", c1_d_hoistedGlobal), 1, 85, 1, 0) - 1]);
c1_d = c1_b_x;
if (c1_d < 0.0) {
c1_eml_error(chartInstance);
}
c1_c_x = c1_d;
c1_d = c1_c_x;
c1_d = muDoubleScalarSqrt(c1_d);
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 31);
guard2 = FALSE;
if (CV_EML_COND(0, 1, 0, c1_d < c1_dmin)) {
if (CV_EML_COND(0, 1, 1, chartInstance->c1_i < 85.0)) {
CV_EML_MCDC(0, 1, 0, TRUE);
CV_EML_IF(0, 1, 1, TRUE);
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 32);
chartInstance->c1_i++;
} else {
guard2 = TRUE;
}
} else {
guard2 = TRUE;
}
if (guard2 == TRUE) {
CV_EML_MCDC(0, 1, 0, FALSE);
CV_EML_IF(0, 1, 1, FALSE);
}
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 36);
c1_x_g = c1_xx[_SFD_EML_ARRAY_BOUNDS_CHECK("xx", (int32_T)_SFD_INTEGER_CHECK(
"i", chartInstance->c1_i), 1, 85, 1, 0) - 1];
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 37);
c1_y_g = c1_yy[_SFD_EML_ARRAY_BOUNDS_CHECK("yy", (int32_T)_SFD_INTEGER_CHECK(
"i", chartInstance->c1_i), 1, 85, 1, 0) - 1];
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 40);
guard1 = FALSE;
if (CV_EML_COND(0, 1, 2, c1_d < c1_dmin)) {
if (CV_EML_COND(0, 1, 3, chartInstance->c1_i == 85.0)) {
CV_EML_MCDC(0, 1, 1, TRUE);
CV_EML_IF(0, 1, 2, TRUE);
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 41);
c1_stop = 1.0;
} else {
guard1 = TRUE;
}
} else {
guard1 = TRUE;
}
if (guard1 == TRUE) {
CV_EML_MCDC(0, 1, 1, FALSE);
CV_EML_IF(0, 1, 2, FALSE);
}
_SFD_EML_CALL(0U, chartInstance->c1_sfEvent, -41);
sf_debug_symbol_scope_pop();
*c1_b_x_g = c1_x_g;
*c1_b_y_g = c1_y_g;
*c1_b_stop = c1_stop;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent);
sf_debug_check_for_state_inconsistency(_my_demo_refMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
static void sf_c9_testing_control_with_estimate
(SFc9_testing_control_with_estimateInstanceStruct *chartInstance)
{
real_T c9_hoistedGlobal;
real_T c9_b_hoistedGlobal;
real_T c9_c_hoistedGlobal;
real_T c9_d_hoistedGlobal;
real_T c9_s1;
real_T c9_dc1;
real_T c9_s2;
real_T c9_dc2;
uint32_T c9_debug_family_var_map[10];
real_T c9_dc[3];
real_T c9_nargin = 4.0;
real_T c9_nargout = 3.0;
real_T c9_Va;
real_T c9_Vb;
real_T c9_Vc;
int32_T c9_i0;
int32_T c9_i1;
real_T c9_u[3];
const mxArray *c9_y = NULL;
int32_T c9_i2;
real_T c9_b_u[3];
const mxArray *c9_b_y = NULL;
real_T c9_a;
real_T c9_b_a;
real_T c9_c_a;
real_T *c9_b_s1;
real_T *c9_b_Va;
real_T *c9_b_dc1;
real_T *c9_b_s2;
real_T *c9_b_dc2;
real_T *c9_b_Vb;
real_T *c9_b_Vc;
c9_b_Vc = (real_T *)ssGetOutputPortSignal(chartInstance->S, 3);
c9_b_Vb = (real_T *)ssGetOutputPortSignal(chartInstance->S, 2);
c9_b_dc2 = (real_T *)ssGetInputPortSignal(chartInstance->S, 3);
c9_b_s2 = (real_T *)ssGetInputPortSignal(chartInstance->S, 2);
c9_b_dc1 = (real_T *)ssGetInputPortSignal(chartInstance->S, 1);
c9_b_Va = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
c9_b_s1 = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 5U, chartInstance->c9_sfEvent);
_SFD_DATA_RANGE_CHECK(*c9_b_s1, 0U);
_SFD_DATA_RANGE_CHECK(*c9_b_Va, 1U);
_SFD_DATA_RANGE_CHECK(*c9_b_dc1, 2U);
_SFD_DATA_RANGE_CHECK(*c9_b_s2, 3U);
_SFD_DATA_RANGE_CHECK(*c9_b_dc2, 4U);
_SFD_DATA_RANGE_CHECK(*c9_b_Vb, 5U);
_SFD_DATA_RANGE_CHECK(*c9_b_Vc, 6U);
chartInstance->c9_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 5U, chartInstance->c9_sfEvent);
c9_hoistedGlobal = *c9_b_s1;
c9_b_hoistedGlobal = *c9_b_dc1;
c9_c_hoistedGlobal = *c9_b_s2;
c9_d_hoistedGlobal = *c9_b_dc2;
c9_s1 = c9_hoistedGlobal;
c9_dc1 = c9_b_hoistedGlobal;
c9_s2 = c9_c_hoistedGlobal;
c9_dc2 = c9_d_hoistedGlobal;
sf_debug_symbol_scope_push_eml(0U, 10U, 10U, c9_debug_family_names,
c9_debug_family_var_map);
sf_debug_symbol_scope_add_eml_importable(c9_dc, 0U, c9_b_sf_marshallOut,
c9_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c9_nargin, 1U, c9_sf_marshallOut,
c9_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c9_nargout, 2U, c9_sf_marshallOut,
c9_sf_marshallIn);
sf_debug_symbol_scope_add_eml(&c9_s1, 3U, c9_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c9_dc1, 4U, c9_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c9_s2, 5U, c9_sf_marshallOut);
sf_debug_symbol_scope_add_eml(&c9_dc2, 6U, c9_sf_marshallOut);
sf_debug_symbol_scope_add_eml_importable(&c9_Va, 7U, c9_sf_marshallOut,
c9_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c9_Vb, 8U, c9_sf_marshallOut,
c9_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c9_Vc, 9U, c9_sf_marshallOut,
c9_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 10);
for (c9_i0 = 0; c9_i0 < 3; c9_i0++) {
c9_dc[c9_i0] = 0.0;
}
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 12);
switch ((int32_T)_SFD_INTEGER_CHECK("s1", c9_s1)) {
case 1:
CV_EML_SWITCH(0, 1, 0, 1);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 15);
if (CV_EML_IF(0, 1, 0, c9_s2 == 2.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 16);
c9_dc[0] = c9_dc1 + c9_dc2;
c9_dc[1] = c9_dc2;
c9_dc[2] = 0.0;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 18);
c9_dc[0] = c9_dc1 + c9_dc2;
c9_dc[1] = 0.0;
c9_dc[2] = c9_dc2;
}
break;
case 2:
CV_EML_SWITCH(0, 1, 0, 2);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 21);
if (CV_EML_IF(0, 1, 1, c9_s2 == 3.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 22);
c9_dc[0] = c9_dc1;
c9_dc[1] = c9_dc1 + c9_dc2;
c9_dc[2] = 0.0;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 24);
c9_dc[0] = c9_dc1 + c9_dc2;
c9_dc[1] = c9_dc1;
c9_dc[2] = 0.0;
}
break;
case 3:
CV_EML_SWITCH(0, 1, 0, 3);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 27);
if (CV_EML_IF(0, 1, 2, c9_s2 == 4.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 28);
c9_dc[0] = 0.0;
c9_dc[1] = c9_dc1 + c9_dc2;
c9_dc[2] = c9_dc2;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 30);
c9_dc[0] = c9_dc2;
c9_dc[1] = c9_dc1 + c9_dc2;
c9_dc[2] = 0.0;
}
break;
case 4:
CV_EML_SWITCH(0, 1, 0, 4);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 33);
if (CV_EML_IF(0, 1, 3, c9_s2 == 5.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 34);
c9_dc[0] = 0.0;
c9_dc[1] = c9_dc1;
c9_dc[2] = c9_dc1 + c9_dc2;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 36);
c9_dc[0] = 0.0;
c9_dc[1] = c9_dc1 + c9_dc2;
c9_dc[2] = c9_dc1;
sf_mex_printf("%s =\\n", "dc");
for (c9_i1 = 0; c9_i1 < 3; c9_i1++) {
c9_u[c9_i1] = c9_dc[c9_i1];
}
c9_y = NULL;
sf_mex_assign(&c9_y, sf_mex_create("y", c9_u, 0, 0U, 1U, 0U, 2, 1, 3),
FALSE);
sf_mex_call_debug("disp", 0U, 1U, 14, c9_y);
}
break;
case 5:
CV_EML_SWITCH(0, 1, 0, 5);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 39);
if (CV_EML_IF(0, 1, 4, c9_s2 == 6.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 40);
c9_dc[0] = c9_dc2;
c9_dc[1] = 0.0;
c9_dc[2] = c9_dc1 + c9_dc2;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 42);
c9_dc[0] = 0.0;
c9_dc[1] = c9_dc2;
c9_dc[2] = c9_dc1 + c9_dc2;
}
break;
case 6:
CV_EML_SWITCH(0, 1, 0, 6);
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 46);
if (CV_EML_IF(0, 1, 5, c9_s2 == 1.0)) {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 47);
c9_dc[0] = c9_dc1 + c9_dc2;
c9_dc[1] = 0.0;
c9_dc[2] = c9_dc1;
} else {
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 49);
c9_dc[0] = c9_dc1;
c9_dc[1] = 0.0;
c9_dc[2] = c9_dc1 + c9_dc2;
sf_mex_printf("%s =\\n", "dc");
for (c9_i2 = 0; c9_i2 < 3; c9_i2++) {
c9_b_u[c9_i2] = c9_dc[c9_i2];
}
c9_b_y = NULL;
sf_mex_assign(&c9_b_y, sf_mex_create("y", c9_b_u, 0, 0U, 1U, 0U, 2, 1, 3),
FALSE);
sf_mex_call_debug("disp", 0U, 1U, 14, c9_b_y);
}
break;
default:
CV_EML_SWITCH(0, 1, 0, 0);
break;
}
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 54);
c9_a = c9_dc[0];
c9_Va = c9_a * 12.0;
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 55);
c9_b_a = c9_dc[1];
c9_Vb = c9_b_a * 12.0;
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, 56);
c9_c_a = c9_dc[2];
c9_Vc = c9_c_a * 12.0;
_SFD_EML_CALL(0U, chartInstance->c9_sfEvent, -56);
sf_debug_symbol_scope_pop();
*c9_b_Va = c9_Va;
*c9_b_Vb = c9_Vb;
*c9_b_Vc = c9_Vc;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 5U, chartInstance->c9_sfEvent);
sf_debug_check_for_state_inconsistency
(_testing_control_with_estimateMachineNumber_, chartInstance->chartNumber,
chartInstance->instanceNumber);
}
static real_T c2_atan2(real_T c2_Y, real_T c2_X)
{
real_T c2_k;
real_T c2_b_k;
real_T c2_b_x;
real_T c2_xk;
real_T c2_yk;
real_T c2_c_x;
real_T c2_b_xk;
real_T c2_c_xk;
real_T c2_b_y;
real_T c2_d_x;
real_T c2_e_x;
boolean_T c2_b;
real_T c2_f_x;
boolean_T c2_b_b;
real_T c2_g_x;
real_T c2_r;
real_T c2_c_y;
real_T c2_b_r;
real_T c2_h_x;
boolean_T c2_c_b;
real_T c2_i_x;
boolean_T c2_d_b;
real_T c2_j_x;
real_T c2_c_r;
real_T c2_k_x;
real_T c2_d_r;
real_T c2_l_x;
real_T c2_e_r;
real_T c2_m_x;
real_T c2_f_r;
c2_k = 1.0;
c2_b_k = c2_k;
c2_b_x = c2_Y;
c2_xk = c2_b_x;
c2_yk = c2_xk;
c2_c_x = c2_X;
c2_b_xk = c2_c_x;
c2_c_xk = c2_b_xk;
_SFD_EML_ARRAY_BOUNDS_CHECK("R", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1,
1, 1);
c2_b_y = c2_yk;
c2_d_x = c2_c_xk;
c2_e_x = c2_d_x;
c2_b = rtIsNaN(c2_e_x);
if(c2_b) {
goto label_1;
} else {
c2_f_x = c2_b_y;
c2_b_b = rtIsNaN(c2_f_x);
if(c2_b_b) {
goto label_1;
} else {
c2_h_x = c2_b_y;
c2_c_b = rtIsInf(c2_h_x);
if(c2_c_b) {
c2_i_x = c2_d_x;
c2_d_b = rtIsInf(c2_i_x);
if(c2_d_b) {
c2_j_x = atan2(c2_sign(c2_b_y), c2_sign(c2_d_x));
c2_c_r = c2_j_x;
c2_b_r = c2_c_r;
goto label_2;
}
}
}
}
if(c2_d_x == 0.0) {
if(c2_b_y > 0.0) {
c2_k_x = 1.5707963267948966E+000;
c2_d_r = c2_k_x;
c2_b_r = c2_d_r;
} else if(c2_b_y < 0.0) {
c2_l_x = -1.5707963267948966E+000;
c2_e_r = c2_l_x;
c2_b_r = c2_e_r;
} else {
c2_b_r = 0.0;
}
} else {
c2_m_x = atan2(c2_b_y, c2_d_x);
c2_f_r = c2_m_x;
c2_b_r = c2_f_r;
}
goto label_2;
label_1:;
c2_g_x = rtNaN;
c2_r = c2_g_x;
c2_c_y = c2_r;
c2_b_r = c2_c_y;
label_2:;
return c2_b_r;
}
static void sf_c2_object_tracker_intensity(void)
{
int32_T c2_em_i0;
int32_T c2_em_i1;
int32_T c2_em_i2;
int32_T c2_em_i3;
int32_T c2_em_i4;
int32_T c2_em_i5;
uint8_T c2_previousEvent;
int32_T c2_em_i6;
int32_T c2_em_i7;
uint16_T c2_b_CentroidArray[10][2];
real_T c2_b_booleof;
int32_T c2_em_i8;
uint16_T c2_b_StartCoords[2];
uint16_T c2_b_VidSize[2];
uint16_T c2_centroid[2];
real_T c2_i;
uint16_T c2_m;
uint16_T c2_myvector[10][1];
uint16_T c2_ally[10][1];
uint16_T c2_allx[10][1];
uint16_T c2_z[2];
uint16_T c2_b_CentroidCol;
uint16_T c2_b_LineVector[4][1];
uint16_T c2_b_CentroidCoords[2];
boolean_T c2_r;
int32_T c2_em_i9;
int32_T c2_em_i10;
int32_T c2_em_i11;
uint16_T c2_c_CentroidArray[10][1];
uint16_T c2_b_z;
int32_T c2_em_i12;
uint32_T c2_em_u0;
uint32_T c2_em_u1;
uint32_T c2_em_u2;
uint16_T c2_em_u3;
int32_T c2_em_i13;
uint16_T c2_d_CentroidArray[10][1];
uint16_T c2_c_z;
int32_T c2_em_i14;
uint32_T c2_em_u4;
uint32_T c2_em_u5;
uint32_T c2_em_u6;
uint16_T c2_em_u7;
int32_T c2_em_i15;
uint16_T c2_b_allx[10][1];
uint16_T c2_em_uv0[10][1];
int32_T c2_em_i16;
uint16_T c2_b_ally[10][1];
uint16_T c2_em_uv1[10][1];
int32_T c2_em_i17;
uint32_T c2_em_u8;
uint16_T c2_em_u9;
int32_T c2_em_i18;
uint16_T c2_x[10][1];
uint16_T c2_b_x[10][1];
real_T c2_jstart;
uint16_T c2_minval;
real_T c2_indx;
real_T c2_j1;
real_T c2_b_j1;
uint16_T c2_a;
uint16_T c2_b;
boolean_T c2_p;
uint16_T c2_b_minval;
real_T c2_b_indx;
int32_T c2_em_i19;
static int32_T c2_em_iv0[2][1] = { { 0 }, { 1 } };
int32_T c2_em_i20;
int32_T c2_em_i21;
int32_T c2_em_i22;
uint16_T c2_A;
real_T c2_B;
uint16_T c2_c_x;
real_T c2_y;
uint16_T c2_d_x;
real_T c2_b_y;
real_T c2_k;
real_T c2_b_k;
uint16_T c2_e_x;
real_T c2_c_y;
real_T c2_c_k;
real_T c2_d_k;
uint16_T c2_f_x;
uint16_T c2_xk;
real_T c2_b_xk;
real_T c2_g_x;
real_T c2_c_xk;
real_T c2_yk;
real_T c2_zk;
real_T c2_em_d0;
real_T c2_em_d1;
uint16_T c2_d_z;
uint16_T c2_e_z;
uint16_T c2_f_z;
uint16_T c2_d_y;
int32_T c2_em_i23;
int32_T c2_em_i24;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
for(c2_em_i0 = 0; c2_em_i0 < 2; c2_em_i0 = c2_em_i0 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_CentroidCoords()[c2_em_i0], 1U);
}
for(c2_em_i1 = 0; c2_em_i1 < 10; c2_em_i1 = c2_em_i1 + 1) {
for(c2_em_i2 = 0; c2_em_i2 < 2; c2_em_i2 = c2_em_i2 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_CentroidArray()[(c2_em_i1 << 1) +
c2_em_i2], 5U);
}
}
for(c2_em_i3 = 0; c2_em_i3 < 4; c2_em_i3 = c2_em_i3 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_LineVector()[c2_em_i3], 2U);
}
_SFD_DATA_RANGE_CHECK(*c2_booleof(), 3U);
for(c2_em_i4 = 0; c2_em_i4 < 2; c2_em_i4 = c2_em_i4 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_StartCoords()[c2_em_i4], 6U);
}
for(c2_em_i5 = 0; c2_em_i5 < 2; c2_em_i5 = c2_em_i5 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_VidSize()[c2_em_i5], 0U);
}
_SFD_DATA_RANGE_CHECK((real_T)*c2_CentroidCol(), 4U);
c2_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,1);
for(c2_em_i6 = 0; c2_em_i6 < 10; c2_em_i6 = c2_em_i6 + 1) {
for(c2_em_i7 = 0; c2_em_i7 < 2; c2_em_i7 = c2_em_i7 + 1) {
c2_b_CentroidArray[c2_em_i6][c2_em_i7] = c2_CentroidArray()[(c2_em_i6 <<
1) + c2_em_i7];
}
}
c2_b_booleof = *c2_booleof();
for(c2_em_i8 = 0; c2_em_i8 < 2; c2_em_i8 = c2_em_i8 + 1) {
c2_b_StartCoords[c2_em_i8] = c2_StartCoords()[c2_em_i8];
c2_b_VidSize[c2_em_i8] = c2_VidSize()[c2_em_i8];
}
sf_debug_push_symbol_scope(15U, 0U);
sf_debug_symbol_scope_add_symbol("LastCentroid", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &chartInstance.c2_LastCentroid, 0);
sf_debug_symbol_scope_add_symbol("centroid", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_centroid, 0);
sf_debug_symbol_scope_add_symbol("i", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_i, 0);
sf_debug_symbol_scope_add_symbol("m", 5, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_m, 0);
sf_debug_symbol_scope_add_symbol("myvector", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_myvector, 0);
sf_debug_symbol_scope_add_symbol("ally", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 1, &c2_ally, 0);
sf_debug_symbol_scope_add_symbol("allx", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 1, &c2_allx, 0);
sf_debug_symbol_scope_add_symbol("z", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c2_z, 0);
sf_debug_symbol_scope_add_symbol("CentroidCol", 5, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_b_CentroidCol, 0);
sf_debug_symbol_scope_add_symbol("LineVector", 5, 2U, 1U, 4U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_b_LineVector, 0);
sf_debug_symbol_scope_add_symbol("CentroidCoords", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_CentroidCoords, 0);
sf_debug_symbol_scope_add_symbol("VidSize", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_b_VidSize, 0);
sf_debug_symbol_scope_add_symbol("StartCoords", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_StartCoords, 0);
sf_debug_symbol_scope_add_symbol("booleof", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_b_booleof, 0);
sf_debug_symbol_scope_add_symbol("CentroidArray", 5, 2U, 2U, 10U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_CentroidArray, 0);
CV_EML_FCN(0, 0);
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
if(CV_EML_COND(0, 0, !chartInstance.c2_LastCentroid_not_empty)) {
} else {
c2_r = true;
if(CV_EML_COND(0, 1, c2_b_booleof == (real_T)c2_r)) {
} else {
CV_EML_MCDC(0, 0, false);
CV_EML_IF(0, 0, false);
goto label_1;
}
}
CV_EML_MCDC(0, 0, true);
CV_EML_IF(0, 0, true);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
for(c2_em_i9 = 0; c2_em_i9 < 2; c2_em_i9 = c2_em_i9 + 1) {
chartInstance.c2_LastCentroid[c2_em_i9] = c2_b_StartCoords[c2_em_i9];
}
chartInstance.c2_LastCentroid_not_empty = true;
label_1:;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,10);
for(c2_em_i10 = 0; c2_em_i10 < 2; c2_em_i10 = c2_em_i10 + 1) {
c2_z[c2_em_i10] = chartInstance.c2_LastCentroid[c2_em_i10];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
for(c2_em_i11 = 0; c2_em_i11 < 10; c2_em_i11 = c2_em_i11 + 1) {
c2_c_CentroidArray[c2_em_i11][0] = c2_b_CentroidArray[c2_em_i11][0];
}
c2_b_z = c2_z[0];
for(c2_em_i12 = 0; c2_em_i12 < 10; c2_em_i12 = c2_em_i12 + 1) {
c2_em_u0 = (uint32_T)c2_c_CentroidArray[c2_em_i12][0];
c2_em_u1 = c2_em_u0 - (uint32_T)c2_b_z;
if(c2_em_u1 > c2_em_u0) {
c2_em_u1 = 0U;
}
c2_em_u2 = c2_em_u1;
if(c2_em_u2 > 65535U) {
c2_em_u3 = MAX_uint16_T;
} else {
c2_em_u3 = (uint16_T)c2_em_u2;
}
c2_allx[c2_em_i12][0] = c2_em_u3;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
for(c2_em_i13 = 0; c2_em_i13 < 10; c2_em_i13 = c2_em_i13 + 1) {
c2_d_CentroidArray[c2_em_i13][0] = c2_b_CentroidArray[c2_em_i13][1];
}
c2_c_z = c2_z[1];
for(c2_em_i14 = 0; c2_em_i14 < 10; c2_em_i14 = c2_em_i14 + 1) {
c2_em_u4 = (uint32_T)c2_d_CentroidArray[c2_em_i14][0];
c2_em_u5 = c2_em_u4 - (uint32_T)c2_c_z;
if(c2_em_u5 > c2_em_u4) {
c2_em_u5 = 0U;
}
c2_em_u6 = c2_em_u5;
if(c2_em_u6 > 65535U) {
c2_em_u7 = MAX_uint16_T;
} else {
c2_em_u7 = (uint16_T)c2_em_u6;
}
c2_ally[c2_em_i14][0] = c2_em_u7;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
for(c2_em_i15 = 0; c2_em_i15 < 10; c2_em_i15 = c2_em_i15 + 1) {
c2_b_allx[c2_em_i15][0] = c2_allx[c2_em_i15][0];
}
c2_power((uint16_T *)c2_b_allx, 2.0, (uint16_T *)c2_em_uv0);
for(c2_em_i16 = 0; c2_em_i16 < 10; c2_em_i16 = c2_em_i16 + 1) {
c2_b_ally[c2_em_i16][0] = c2_ally[c2_em_i16][0];
}
c2_power((uint16_T *)c2_b_ally, 2.0, (uint16_T *)c2_em_uv1);
for(c2_em_i17 = 0; c2_em_i17 < 10; c2_em_i17 = c2_em_i17 + 1) {
c2_em_u8 = (uint32_T)c2_em_uv0[c2_em_i17][0] +
(uint32_T)c2_em_uv1[c2_em_i17][0];
if(c2_em_u8 > 65535U) {
c2_em_u9 = MAX_uint16_T;
} else {
c2_em_u9 = (uint16_T)c2_em_u8;
}
c2_myvector[c2_em_i17][0] = c2_em_u9;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
for(c2_em_i18 = 0; c2_em_i18 < 10; c2_em_i18 = c2_em_i18 + 1) {
c2_x[c2_em_i18][0] = c2_myvector[c2_em_i18][0];
c2_b_x[c2_em_i18][0] = c2_x[c2_em_i18][0];
}
c2_jstart = 1.0;
c2_minval = (*(uint16_T (*)[10])&c2_b_x)[0];
c2_indx = c2_jstart;
c2_j1 = 2.0;
while(c2_j1 <= 10.0) {
c2_b_j1 = c2_j1;
c2_a = (*(uint16_T
(*)[10])&c2_b_x)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
(int32_T)_SFD_INTEGER_CHECK("j1", c2_b_j1), 1, 10, 1)
- 1];
c2_b = c2_minval;
c2_p = (c2_a < c2_b);
if(c2_p) {
c2_minval = (*(uint16_T
(*)[10])&c2_b_x)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
(int32_T)_SFD_INTEGER_CHECK("j1", c2_b_j1), 1, 10
, 1) - 1];
c2_indx = c2_b_j1;
}
c2_j1 = c2_j1 + 1.0;
sf_mex_listen_for_ctrl_c(chartInstance.S);
}
c2_b_minval = c2_minval;
c2_b_indx = c2_indx;
c2_m = c2_b_minval;
c2_i = c2_b_indx;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,16);
for(c2_em_i19 = 0; c2_em_i19 < 2; c2_em_i19 = c2_em_i19 + 1) {
c2_centroid[c2_em_i19] =
c2_b_CentroidArray[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("CentroidArray",
(int32_T)_SFD_INTEGER_CHECK("i",
c2_i), 1, 10, 2) - 1][c2_em_iv0[c2_em_i19][0]];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
if(CV_EML_COND(0, 2, (real_T)(*(uint16_T
(*)[10])&c2_myvector)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("myvector",
(int32_T)
_SFD_INTEGER_CHECK("i", c2_i), 1, 10, 1) - 1] < 10000.0) && CV_EML_COND(0,
3, (real_T)c2_centroid[0] > 0.0) && CV_EML_COND(0, 4, (
real_T)c2_centroid[1] > 10.0)) {
CV_EML_MCDC(0, 1, true);
CV_EML_IF(0, 1, true);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,19);
for(c2_em_i20 = 0; c2_em_i20 < 2; c2_em_i20 = c2_em_i20 + 1) {
chartInstance.c2_LastCentroid[c2_em_i20] = c2_centroid[c2_em_i20];
}
chartInstance.c2_LastCentroid_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,20);
for(c2_em_i21 = 0; c2_em_i21 < 2; c2_em_i21 = c2_em_i21 + 1) {
c2_b_CentroidCoords[c2_em_i21] = c2_centroid[c2_em_i21];
}
} else {
CV_EML_MCDC(0, 1, false);
CV_EML_IF(0, 1, false);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,22);
for(c2_em_i22 = 0; c2_em_i22 < 2; c2_em_i22 = c2_em_i22 + 1) {
c2_b_CentroidCoords[c2_em_i22] = c2_z[c2_em_i22];
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,25);
c2_A = c2_b_VidSize[1];
c2_B = 2.0;
c2_c_x = c2_A;
c2_y = c2_B;
c2_d_x = c2_c_x;
c2_b_y = c2_y;
c2_k = 1.0;
c2_b_k = c2_k;
_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1,
1, 1);
if(c2_b_y == 0.0) {
sf_mex_call("warning", 0U, 1U, 15, "Divide by zero.");
}
c2_e_x = c2_d_x;
c2_c_y = c2_b_y;
c2_c_k = 1.0;
c2_d_k = c2_c_k;
c2_f_x = c2_e_x;
c2_xk = c2_f_x;
c2_b_xk = (real_T)c2_xk;
c2_g_x = c2_c_y;
c2_c_xk = c2_g_x;
c2_yk = c2_c_xk;
c2_zk = c2_b_xk / c2_yk;
_SFD_EML_ARRAY_BOUNDS_CHECK("z", (int32_T)_SFD_INTEGER_CHECK("k", c2_d_k), 1,
1, 1);
c2_em_d0 = c2_zk;
c2_em_d1 = c2_em_d0 < 0.0 ? ceil(c2_em_d0 - 0.5) : floor(c2_em_d0 + 0.5);
c2_d_z = (uint16_T)(c2_em_d1 <= 65535.0 ? c2_em_d1 >= 0.0 ? c2_em_d1 : 0.0 :
65535.0);
c2_e_z = c2_d_z;
c2_f_z = c2_e_z;
c2_d_y = c2_f_z;
c2_b_LineVector[0][0] = c2_b_VidSize[0];
c2_b_LineVector[1][0] = c2_d_y;
c2_b_LineVector[2][0] = c2_b_CentroidCoords[0];
c2_b_LineVector[3][0] = c2_b_CentroidCoords[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,26);
c2_b_CentroidCol = c2_b_CentroidCoords[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-26);
sf_debug_pop_symbol_scope();
for(c2_em_i23 = 0; c2_em_i23 < 2; c2_em_i23 = c2_em_i23 + 1) {
c2_CentroidCoords()[c2_em_i23] = c2_b_CentroidCoords[c2_em_i23];
}
for(c2_em_i24 = 0; c2_em_i24 < 4; c2_em_i24 = c2_em_i24 + 1) {
c2_LineVector()[c2_em_i24] = c2_b_LineVector[c2_em_i24][0];
}
*c2_CentroidCol() = c2_b_CentroidCol;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,1);
_sfEvent_ = c2_previousEvent;
sf_debug_check_for_state_inconsistency(_object_tracker_intensityMachineNumber_,
chartInstance.chartNumber, chartInstance.
instanceNumber);
}
static void sf_c12_ekffedepre(SFc12_ekffedepreInstanceStruct *chartInstance)
{
int32_T c12_i2;
int32_T c12_i3;
int32_T c12_i4;
real_T c12_Q_bias[3];
uint32_T c12_debug_family_var_map[4];
real_T c12_nargin = 1.0;
real_T c12_nargout = 1.0;
real_T c12_y[9];
int32_T c12_i5;
real_T c12_v[3];
int32_T c12_i6;
int32_T c12_j;
int32_T c12_b_j;
int32_T c12_a;
int32_T c12_c;
int32_T c12_i7;
real_T (*c12_b_y)[9];
real_T (*c12_b_Q_bias)[3];
c12_b_y = (real_T (*)[9])ssGetOutputPortSignal(chartInstance->S, 1);
c12_b_Q_bias = (real_T (*)[3])ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
for (c12_i2 = 0; c12_i2 < 3; c12_i2++) {
_SFD_DATA_RANGE_CHECK((*c12_b_Q_bias)[c12_i2], 0U);
}
for (c12_i3 = 0; c12_i3 < 9; c12_i3++) {
_SFD_DATA_RANGE_CHECK((*c12_b_y)[c12_i3], 1U);
}
chartInstance->c12_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
for (c12_i4 = 0; c12_i4 < 3; c12_i4++) {
c12_Q_bias[c12_i4] = (*c12_b_Q_bias)[c12_i4];
}
sf_debug_symbol_scope_push_eml(0U, 4U, 4U, c12_debug_family_names,
c12_debug_family_var_map);
sf_debug_symbol_scope_add_eml_importable(&c12_nargin, 0U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c12_nargout, 1U,
c12_c_sf_marshallOut, c12_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml(c12_Q_bias, 2U, c12_b_sf_marshallOut);
sf_debug_symbol_scope_add_eml_importable(c12_y, 3U, c12_sf_marshallOut,
c12_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 4);
for (c12_i5 = 0; c12_i5 < 3; c12_i5++) {
c12_v[c12_i5] = c12_Q_bias[c12_i5];
}
for (c12_i6 = 0; c12_i6 < 9; c12_i6++) {
c12_y[c12_i6] = 0.0;
}
for (c12_j = 1; c12_j < 4; c12_j++) {
c12_b_j = c12_j;
c12_a = c12_b_j;
c12_c = c12_a;
c12_y[(_SFD_EML_ARRAY_BOUNDS_CHECK("", (int32_T)_SFD_INTEGER_CHECK("",
(real_T)c12_b_j), 1, 3, 1, 0) + 3 * (_SFD_EML_ARRAY_BOUNDS_CHECK("",
(int32_T)_SFD_INTEGER_CHECK("", (real_T)c12_c), 1, 3, 2, 0) - 1)) -
1] = c12_v[_SFD_EML_ARRAY_BOUNDS_CHECK("", (int32_T)_SFD_INTEGER_CHECK("",
(real_T)c12_b_j), 1, 3, 1, 0) - 1];
}
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, -4);
sf_debug_symbol_scope_pop();
for (c12_i7 = 0; c12_i7 < 9; c12_i7++) {
(*c12_b_y)[c12_i7] = c12_y[c12_i7];
}
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
sf_debug_check_for_state_inconsistency(_ekffedepreMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
static void sf_c3_Puncture_Through_Wall(void)
{
int32_T c3_i0;
int32_T c3_i1;
uint8_T c3_previousEvent;
int32_T c3_i2;
real_T c3_u[3];
real_T c3_total;
real_T c3_MAX_CURRENT;
real_T c3_y[3];
int32_T c3_i3;
int32_T c3_i4;
real_T c3_x[3];
int32_T c3_i5;
real_T c3_b_x[3];
real_T c3_d0;
real_T c3_k;
real_T c3_b_k;
int32_T c3_i6;
real_T c3_c_x[3];
real_T c3_d_x;
int32_T c3_i7;
int32_T c3_c_k;
int32_T c3_d_k;
real_T c3_e_x;
real_T c3_r;
real_T c3_A;
real_T c3_B;
real_T c3_f_x;
real_T c3_b_y;
real_T c3_c_y;
int32_T c3_i8;
int32_T c3_i9;
int32_T c3_i10;
real_T (*c3_d_y)[3];
real_T (*c3_b_u)[3];
c3_d_y = (real_T (*)[3])ssGetOutputPortSignal(chartInstance.S, 1);
c3_b_u = (real_T (*)[3])ssGetInputPortSignal(chartInstance.S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance.S);
for(c3_i0 = 0; c3_i0 < 3; c3_i0 = c3_i0 + 1) {
_SFD_DATA_RANGE_CHECK((*c3_b_u)[c3_i0], 1U);
}
for(c3_i1 = 0; c3_i1 < 3; c3_i1 = c3_i1 + 1) {
_SFD_DATA_RANGE_CHECK((*c3_d_y)[c3_i1], 0U);
}
c3_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,1);
for(c3_i2 = 0; c3_i2 < 3; c3_i2 = c3_i2 + 1) {
c3_u[c3_i2] = (*c3_b_u)[c3_i2];
}
sf_debug_symbol_scope_push(4U, 0U);
sf_debug_symbol_scope_add("total", &c3_total, c3_d_sf_marshall);
sf_debug_symbol_scope_add("MAX_CURRENT", &c3_MAX_CURRENT, c3_c_sf_marshall);
sf_debug_symbol_scope_add("y", &c3_y, c3_b_sf_marshall);
sf_debug_symbol_scope_add("u", &c3_u, c3_sf_marshall);
CV_EML_FCN(0, 0);
/* Smart Saturation: allows channels to go up to 1.6A */
/* unless the total exceeds 2.2A in which case all channels */
/* are scaled so that the cumulative current is equal to 2.2A. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
for(c3_i3 = 0; c3_i3 < 3; c3_i3 = c3_i3 + 1) {
c3_y[c3_i3] = 0.0;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
c3_MAX_CURRENT = 2.2;
/* Define the maximum cumulative current here */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,9);
for(c3_i4 = 0; c3_i4 < 3; c3_i4 = c3_i4 + 1) {
c3_x[c3_i4] = c3_u[c3_i4];
}
for(c3_i5 = 0; c3_i5 < 3; c3_i5 = c3_i5 + 1) {
c3_b_x[c3_i5] = 0.0;
}
c3_d0 = 1.0;
for(c3_k = c3_d0; c3_k <= 3.0; c3_k = c3_k + 1.0) {
c3_b_k = c3_k;
c3_b_x[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("y",
(int32_T)_SFD_INTEGER_CHECK("k", c3_b_k), 1, 3, 1, 0) - 1] =
fabs(c3_x[(int32_T)
_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)_SFD_INTEGER_CHECK("k", c3_b_k),
1, 3, 1, 0) - 1]);
}
for(c3_i6 = 0; c3_i6 < 3; c3_i6 = c3_i6 + 1) {
c3_c_x[c3_i6] = c3_b_x[c3_i6];
}
c3_d_x = c3_c_x[0];
c3_total = c3_d_x;
c3_i7 = 2;
for(c3_c_k = c3_i7; c3_c_k < 4; c3_c_k = c3_c_k + 1) {
c3_d_k = c3_c_k;
c3_e_x = c3_c_x[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
_SFD_INTEGER_CHECK("k", (real_T)c3_d_k), 1, 3, 1, 0) - 1];
c3_r = c3_e_x;
c3_total = c3_total + c3_r;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,10);
if(CV_EML_IF(0, 0, c3_total > c3_MAX_CURRENT)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,11);
c3_A = 2.2;
c3_B = c3_total;
c3_f_x = c3_A;
c3_b_y = c3_B;
c3_c_y = c3_f_x / c3_b_y;
for(c3_i8 = 0; c3_i8 < 3; c3_i8 = c3_i8 + 1) {
c3_y[c3_i8] = c3_c_y * c3_u[c3_i8];
}
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
for(c3_i9 = 0; c3_i9 < 3; c3_i9 = c3_i9 + 1) {
c3_y[c3_i9] = c3_u[c3_i9];
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-13);
sf_debug_symbol_scope_pop();
for(c3_i10 = 0; c3_i10 < 3; c3_i10 = c3_i10 + 1) {
(*c3_d_y)[c3_i10] = c3_y[c3_i10];
}
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,1);
_sfEvent_ = c3_previousEvent;
sf_debug_check_for_state_inconsistency(_Puncture_Through_WallMachineNumber_,
chartInstance.chartNumber, chartInstance.instanceNumber
);
}
static void sf_c12_CusakisME4901arcs(SFc12_CusakisME4901arcsInstanceStruct
*chartInstance)
{
int32_T c12_i2;
int32_T c12_i3;
int32_T c12_i4;
real_T c12_M[16];
uint32_T c12_debug_family_var_map[11];
real_T c12_m;
real_T c12_n;
real_T c12_a[16];
real_T c12_MM[16];
real_T c12_i;
real_T c12_mm;
real_T c12_j;
real_T c12_nargin = 1.0;
real_T c12_nargout = 1.0;
real_T c12_DD[16];
int32_T c12_i5;
int32_T c12_i6;
int32_T c12_b_mm;
int32_T c12_b_j;
int32_T c12_i7;
int32_T c12_i8;
real_T (*c12_b_DD)[16];
real_T (*c12_b_M)[16];
c12_b_DD = (real_T (*)[16])ssGetOutputPortSignal(chartInstance->S, 1);
c12_b_M = (real_T (*)[16])ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
for (c12_i2 = 0; c12_i2 < 16; c12_i2++) {
_SFD_DATA_RANGE_CHECK((*c12_b_M)[c12_i2], 0U);
}
for (c12_i3 = 0; c12_i3 < 16; c12_i3++) {
_SFD_DATA_RANGE_CHECK((*c12_b_DD)[c12_i3], 1U);
}
chartInstance->c12_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
for (c12_i4 = 0; c12_i4 < 16; c12_i4++) {
c12_M[c12_i4] = (*c12_b_M)[c12_i4];
}
_SFD_SYMBOL_SCOPE_PUSH_EML(0U, 11U, 11U, c12_debug_family_names,
c12_debug_family_var_map);
_SFD_SYMBOL_SCOPE_ADD_EML(&c12_m, 0U, c12_c_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML(&c12_n, 1U, c12_c_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c12_a, 2U, c12_sf_marshallOut,
c12_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c12_MM, 3U, c12_sf_marshallOut,
c12_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c12_i, 4U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c12_mm, 5U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c12_j, 6U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c12_nargin, 7U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c12_nargout, 8U, c12_c_sf_marshallOut,
c12_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML(c12_M, 9U, c12_b_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c12_DD, 10U, c12_sf_marshallOut,
c12_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 3);
c12_m = 2.0;
c12_n = 8.0;
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 4);
for (c12_i5 = 0; c12_i5 < 16; c12_i5++) {
c12_a[c12_i5] = 0.0;
}
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 5);
for (c12_i6 = 0; c12_i6 < 16; c12_i6++) {
c12_MM[c12_i6] = 0.0;
}
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 6);
c12_i = 1.0;
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 7);
c12_mm = 0.0;
c12_b_mm = 0;
while (c12_b_mm < 8) {
c12_mm = (real_T)c12_b_mm * 2.0;
CV_EML_FOR(0, 1, 0, 1);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 8);
c12_j = 1.0;
c12_b_j = 0;
while (c12_b_j < 2) {
c12_j = 1.0 + (real_T)c12_b_j;
CV_EML_FOR(0, 1, 1, 1);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 9);
c12_a[(int32_T)(real_T)_SFD_EML_ARRAY_BOUNDS_CHECK("a", (int32_T)
_SFD_INTEGER_CHECK("j+mm", c12_j + c12_mm), 1, 16, 1, 0) - 1] = c12_M
[((int32_T)(real_T)_SFD_EML_ARRAY_BOUNDS_CHECK("M", (int32_T)
_SFD_INTEGER_CHECK("j", c12_j), 1, 2, 1, 0) + (((int32_T)(real_T)
_SFD_EML_ARRAY_BOUNDS_CHECK("M", (int32_T)_SFD_INTEGER_CHECK("i",
c12_i), 1, 8, 2, 0) - 1) << 1)) - 1];
c12_b_j++;
_SF_MEX_LISTEN_FOR_CTRL_C(chartInstance->S);
}
CV_EML_FOR(0, 1, 1, 0);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 11);
c12_i++;
c12_b_mm++;
_SF_MEX_LISTEN_FOR_CTRL_C(chartInstance->S);
}
CV_EML_FOR(0, 1, 0, 0);
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, 13);
for (c12_i7 = 0; c12_i7 < 16; c12_i7++) {
c12_DD[c12_i7] = c12_a[c12_i7];
}
_SFD_EML_CALL(0U, chartInstance->c12_sfEvent, -13);
_SFD_SYMBOL_SCOPE_POP();
for (c12_i8 = 0; c12_i8 < 16; c12_i8++) {
(*c12_b_DD)[c12_i8] = c12_DD[c12_i8];
}
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 11U, chartInstance->c12_sfEvent);
_SFD_CHECK_FOR_STATE_INCONSISTENCY(_CusakisME4901arcsMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
static void c2_c2_MPC_framework(void)
{
real_T c2_b_x;
real_T c2_b_y;
real_T c2_b_al1_c;
real_T c2_b_al2_c;
real_T c2_b_a1;
real_T c2_b_a2;
real_T c2_al2_2;
real_T c2_al1_al2_2;
real_T c2_sin_al1_al2_2;
real_T c2_cos_al1_al2_2;
real_T c2_al2_1;
real_T c2_al1_al2_1;
real_T c2_sin_al1_al2_1;
real_T c2_cos_al1_al2_1;
real_T c2_al2_n;
real_T c2_al2_p;
real_T c2_al1_2;
real_T c2_al1_1;
real_T c2_cos_al1_n;
real_T c2_cos_al1_p;
real_T c2_sin_al1_n;
real_T c2_sin_al1_p;
real_T c2_D;
real_T c2_cos_al2;
real_T c2_d;
uint8_T c2_b_error;
real_T c2_b_al2;
real_T c2_b_al1;
real_T c2_c_x;
real_T c2_c_y;
boolean_T c2_em_b0;
boolean_T c2_em_b1;
real_T c2_A;
real_T c2_B;
real_T c2_d_x;
real_T c2_d_y;
real_T c2_z;
real_T c2_e_y;
real_T c2_e_x;
real_T c2_f_y;
real_T c2_b_A;
real_T c2_b_B;
real_T c2_f_x;
real_T c2_g_y;
real_T c2_b_z;
real_T c2_h_y;
real_T c2_g_x;
real_T c2_i_y;
real_T c2_c_A;
real_T c2_c_B;
real_T c2_h_x;
real_T c2_j_y;
real_T c2_c_z;
real_T c2_k_y;
real_T c2_i_x;
real_T c2_l_y;
real_T c2_d_A;
real_T c2_d_B;
real_T c2_j_x;
real_T c2_m_y;
real_T c2_d_z;
real_T c2_n_y;
real_T c2_k_x;
real_T c2_o_y;
real_T c2_e_A;
real_T c2_e_B;
real_T c2_l_x;
real_T c2_p_y;
real_T c2_e_z;
real_T c2_q_y;
real_T c2_m_x;
real_T c2_k;
real_T c2_b_k;
real_T c2_r_y;
real_T c2_n_x;
real_T c2_s_y;
real_T c2_f_A;
real_T c2_f_B;
real_T c2_o_x;
real_T c2_t_y;
real_T c2_f_z;
real_T c2_u_y;
real_T c2_p_x;
real_T c2_v_y;
real_T c2_g_A;
real_T c2_g_B;
real_T c2_q_x;
real_T c2_w_y;
real_T c2_g_z;
real_T c2_x_y;
real_T c2_r_x;
real_T c2_y_y;
real_T c2_h_A;
real_T c2_h_B;
real_T c2_s_x;
real_T c2_ab_y;
real_T c2_h_z;
real_T c2_bb_y;
real_T c2_t_x;
real_T c2_cb_y;
real_T c2_i_A;
real_T c2_i_B;
real_T c2_u_x;
real_T c2_db_y;
real_T c2_i_z;
real_T c2_eb_y;
real_T c2_v_x;
real_T c2_fb_y;
real_T c2_w_x;
real_T c2_gb_y;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,1);
c2_b_x = *c2_x();
c2_b_y = *c2_y();
c2_b_al1_c = *c2_al1_c();
c2_b_al2_c = *c2_al2_c();
c2_b_a1 = *c2_a1();
c2_b_a2 = *c2_a2();
sf_debug_push_symbol_scope(28U, 0U);
sf_debug_symbol_scope_add_symbol("al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_2, 0);
sf_debug_symbol_scope_add_symbol("al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_sin_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_cos_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_1, 0);
sf_debug_symbol_scope_add_symbol("al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_sin_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_cos_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("al2_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_n, 0);
sf_debug_symbol_scope_add_symbol("al2_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_p, 0);
sf_debug_symbol_scope_add_symbol("al1_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al1_2, 0);
sf_debug_symbol_scope_add_symbol("al1_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al1_1, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al1_n, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al1_p, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_sin_al1_n, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_sin_al1_p, 0);
sf_debug_symbol_scope_add_symbol("D", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_D, 0);
sf_debug_symbol_scope_add_symbol("cos_al2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al2, 0);
sf_debug_symbol_scope_add_symbol("d", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_d, 0);
sf_debug_symbol_scope_add_symbol("error", 3, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_error, 0);
sf_debug_symbol_scope_add_symbol("al2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_al2, 0);
sf_debug_symbol_scope_add_symbol("al1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_al1, 0);
sf_debug_symbol_scope_add_symbol("a2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_a2, 0);
sf_debug_symbol_scope_add_symbol("a1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_a1, 0);
sf_debug_symbol_scope_add_symbol("al2_c", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_al2_c, 0);
sf_debug_symbol_scope_add_symbol("al1_c", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_al1_c, 0);
sf_debug_symbol_scope_add_symbol("y", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_y, 0);
sf_debug_symbol_scope_add_symbol("x", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_x, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,3);
c2_c_x = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_c_y = sqrt(c2_c_x);
c2_d = c2_c_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
c2_em_b0 = (c2_mpower(c2_d) > c2_mpower(c2_b_a1) + c2_mpower(c2_b_a2));
c2_em_b1 = (c2_d < c2_b_a1 - c2_b_a2);
if(CV_EML_IF(0, 0, c2_em_b0 || c2_em_b1)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c2_b_al1 = c2_b_al1_c;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
c2_b_al2 = c2_b_al2_c;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
c2_b_error = 1U;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,11);
c2_A = ((c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_b_a1)) -
c2_mpower(c2_b_a2);
c2_B = 2.0 * c2_b_a1 * c2_b_a2;
c2_d_x = c2_A;
c2_d_y = c2_B;
c2_z = c2_d_x / c2_d_y;
c2_e_y = c2_z;
c2_cos_al2 = c2_e_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
c2_D = c2_b_a1 + c2_b_a2 * c2_cos_al2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
c2_e_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_f_y = sqrt(c2_e_x);
c2_b_A = c2_D * c2_b_y + c2_b_x * c2_f_y;
c2_b_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_f_x = c2_b_A;
c2_g_y = c2_b_B;
c2_b_z = c2_f_x / c2_g_y;
c2_h_y = c2_b_z;
c2_sin_al1_p = c2_h_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
c2_g_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_i_y = sqrt(c2_g_x);
c2_c_A = c2_D * c2_b_y - c2_b_x * c2_i_y;
c2_c_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_h_x = c2_c_A;
c2_j_y = c2_c_B;
c2_c_z = c2_h_x / c2_j_y;
c2_k_y = c2_c_z;
c2_sin_al1_n = c2_k_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,17);
c2_i_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_l_y = sqrt(c2_i_x);
c2_d_A = c2_D * c2_b_x + c2_b_y * c2_l_y;
c2_d_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_j_x = c2_d_A;
c2_m_y = c2_d_B;
c2_d_z = c2_j_x / c2_m_y;
c2_n_y = c2_d_z;
c2_cos_al1_p = c2_n_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
c2_k_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_o_y = sqrt(c2_k_x);
c2_e_A = c2_D * c2_b_x - c2_b_y * c2_o_y;
c2_e_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_l_x = c2_e_A;
c2_p_y = c2_e_B;
c2_e_z = c2_l_x / c2_p_y;
c2_q_y = c2_e_z;
c2_cos_al1_n = c2_q_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,20);
c2_al1_1 = c2_atan2(c2_sin_al1_p, c2_cos_al1_n);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,22);
c2_al1_2 = c2_atan2(c2_sin_al1_n, c2_cos_al1_p);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,24);
c2_m_x = c2_cos_al2;
c2_k = 1.0;
c2_b_k = c2_k;
_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
if(c2_m_x < -1.0) {
} else {
_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
if(c2_m_x > 1.0) {
} else {
goto label_1;
}
}
sf_mex_call("error", 0U, 1U, 15,
"Domain error. To compute complex results from real x, use \'acos(complex(x))\'.");
label_1:;
c2_r_y = acos(c2_m_x);
c2_al2_p = c2_r_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,25);
c2_al2_n = -c2_al2_p;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,27);
c2_n_x = c2_al1_1;
c2_s_y = cos(c2_n_x);
c2_f_A = c2_b_x - c2_b_a1 * c2_s_y;
c2_f_B = c2_b_a2;
c2_o_x = c2_f_A;
c2_t_y = c2_f_B;
c2_f_z = c2_o_x / c2_t_y;
c2_u_y = c2_f_z;
c2_cos_al1_al2_1 = c2_u_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,28);
c2_p_x = c2_al1_1;
c2_v_y = sin(c2_p_x);
c2_g_A = c2_b_y - c2_b_a1 * c2_v_y;
c2_g_B = c2_b_a2;
c2_q_x = c2_g_A;
c2_w_y = c2_g_B;
c2_g_z = c2_q_x / c2_w_y;
c2_x_y = c2_g_z;
c2_sin_al1_al2_1 = c2_x_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,29);
c2_al1_al2_1 = c2_atan2(c2_sin_al1_al2_1, c2_cos_al1_al2_1);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,30);
c2_al2_1 = c2_al1_al2_1 - c2_al1_1;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,32);
c2_r_x = c2_al1_2;
c2_y_y = cos(c2_r_x);
c2_h_A = c2_b_x - c2_b_a1 * c2_y_y;
c2_h_B = c2_b_a2;
c2_s_x = c2_h_A;
c2_ab_y = c2_h_B;
c2_h_z = c2_s_x / c2_ab_y;
c2_bb_y = c2_h_z;
c2_cos_al1_al2_2 = c2_bb_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,33);
c2_t_x = c2_al1_2;
c2_cb_y = sin(c2_t_x);
c2_i_A = c2_b_y - c2_b_a1 * c2_cb_y;
c2_i_B = c2_b_a2;
c2_u_x = c2_i_A;
c2_db_y = c2_i_B;
c2_i_z = c2_u_x / c2_db_y;
c2_eb_y = c2_i_z;
c2_sin_al1_al2_2 = c2_eb_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,34);
c2_al1_al2_2 = c2_atan2(c2_sin_al1_al2_2, c2_cos_al1_al2_2);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,35);
c2_al2_2 = c2_al1_al2_2 - c2_al1_2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,37);
c2_v_x = c2_b_al1_c - c2_al1_1;
c2_fb_y = fabs(c2_v_x);
c2_w_x = c2_b_al1_c - c2_al1_2;
c2_gb_y = fabs(c2_w_x);
if(CV_EML_IF(0, 1, c2_fb_y < c2_gb_y)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,38);
c2_b_al1 = c2_al1_1;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,39);
c2_b_al2 = c2_al2_1;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,41);
c2_b_al1 = c2_al1_2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,42);
c2_b_al2 = c2_al2_2;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,45);
c2_b_error = 0U;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-45);
sf_debug_pop_symbol_scope();
*c2_al1() = c2_b_al1;
*c2_al2() = c2_b_al2;
*c2_error() = c2_b_error;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,1);
}
static void sf_gateway_c10_experiment_lib2(SFc10_experiment_lib2InstanceStruct
*chartInstance)
{
int32_T c10_i2;
real_T c10_hoistedGlobal;
real_T c10_b_hoistedGlobal;
int32_T c10_i3;
real_T c10_V[4];
real_T c10_val;
real_T c10_b_a;
uint32_T c10_debug_family_var_map[6];
real_T c10_nargin = 3.0;
real_T c10_nargout = 1.0;
real_T c10_out[4];
int32_T c10_i4;
int32_T c10_i5;
int32_T c10_i6;
real_T *c10_b_val;
real_T (*c10_b_out)[4];
real_T (*c10_b_V)[4];
c10_b_val = (real_T *)ssGetInputPortSignal(chartInstance->S, 1);
c10_b_out = (real_T (*)[4])ssGetOutputPortSignal(chartInstance->S, 1);
c10_b_V = (real_T (*)[4])ssGetInputPortSignal(chartInstance->S, 0);
_SFD_SYMBOL_SCOPE_PUSH(0U, 0U);
_sfTime_ = sf_get_time(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 3U, chartInstance->c10_sfEvent);
for (c10_i2 = 0; c10_i2 < 4; c10_i2++) {
_SFD_DATA_RANGE_CHECK((*c10_b_V)[c10_i2], 0U);
}
chartInstance->c10_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 3U, chartInstance->c10_sfEvent);
c10_hoistedGlobal = *c10_b_val;
c10_b_hoistedGlobal = chartInstance->c10_a;
for (c10_i3 = 0; c10_i3 < 4; c10_i3++) {
c10_V[c10_i3] = (*c10_b_V)[c10_i3];
}
c10_val = c10_hoistedGlobal;
c10_b_a = c10_b_hoistedGlobal;
_SFD_SYMBOL_SCOPE_PUSH_EML(0U, 6U, 6U, c10_debug_family_names,
c10_debug_family_var_map);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c10_nargin, 0U, c10_b_sf_marshallOut,
c10_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c10_nargout, 1U, c10_b_sf_marshallOut,
c10_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML(c10_V, 2U, c10_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML(&c10_val, 3U, c10_b_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c10_b_a, 4U, c10_b_sf_marshallOut,
c10_b_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c10_out, 5U, c10_sf_marshallOut,
c10_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c10_sfEvent, 2);
for (c10_i4 = 0; c10_i4 < 4; c10_i4++) {
c10_out[c10_i4] = c10_V[c10_i4];
}
_SFD_EML_CALL(0U, chartInstance->c10_sfEvent, 3);
c10_out[_SFD_EML_ARRAY_BOUNDS_CHECK("out", (int32_T)_SFD_INTEGER_CHECK("a",
c10_b_a), 1, 4, 1, 0) - 1] = c10_val;
_SFD_EML_CALL(0U, chartInstance->c10_sfEvent, -3);
_SFD_SYMBOL_SCOPE_POP();
for (c10_i5 = 0; c10_i5 < 4; c10_i5++) {
(*c10_b_out)[c10_i5] = c10_out[c10_i5];
}
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 3U, chartInstance->c10_sfEvent);
_SFD_SYMBOL_SCOPE_POP();
_SFD_CHECK_FOR_STATE_INCONSISTENCY(_experiment_lib2MachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
for (c10_i6 = 0; c10_i6 < 4; c10_i6++) {
_SFD_DATA_RANGE_CHECK((*c10_b_out)[c10_i6], 1U);
}
_SFD_DATA_RANGE_CHECK(*c10_b_val, 2U);
_SFD_DATA_RANGE_CHECK(chartInstance->c10_a, 3U);
}
static void sf_c2_Leda(SFc2_LedaInstanceStruct *chartInstance)
{
real_T c2_hoistedGlobal;
real_T c2_nota;
uint32_T c2_debug_family_var_map[4];
real_T c2_nargin = 1.0;
real_T c2_nargout = 0.0;
int32_T c2_i2;
int32_T c2_i;
real_T c2_b_i;
real_T c2_u;
const mxArray *c2_y = NULL;
int32_T c2_i3;
static char_T c2_cv0[4] = { '.', 'j', 'p', 'g' };
char_T c2_b_u[4];
const mxArray *c2_b_y = NULL;
static real_T c2_dv1[435483];
int32_T c2_c_i;
int32_T c2_i4;
int32_T c2_i5;
int32_T c2_i6;
int32_T c2_i7;
static real_T c2_b_hoistedGlobal[33096708];
int32_T c2_b_nota;
int32_T c2_i8;
int32_T c2_i9;
int32_T c2_i10;
static real_T c2_c_u[435483];
const mxArray *c2_c_y = NULL;
real_T *c2_c_nota;
c2_c_nota = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 1U, chartInstance->c2_sfEvent);
_SFD_DATA_RANGE_CHECK(*c2_c_nota, 0U);
chartInstance->c2_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 1U, chartInstance->c2_sfEvent);
c2_hoistedGlobal = *c2_c_nota;
c2_nota = c2_hoistedGlobal;
sf_debug_symbol_scope_push_eml(0U, 4U, 4U, c2_debug_family_names,
c2_debug_family_var_map);
sf_debug_symbol_scope_add_eml_importable(&c2_nargin, 0U, c2_b_sf_marshallOut,
c2_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml_importable(&c2_nargout, 1U, c2_b_sf_marshallOut,
c2_b_sf_marshallIn);
sf_debug_symbol_scope_add_eml(&c2_nota, 2U, c2_b_sf_marshallOut);
sf_debug_symbol_scope_add_eml_importable(chartInstance->c2_pent, 3U,
c2_sf_marshallOut, c2_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 3);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 4);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 9);
if (CV_EML_IF(0, 1, 0, !chartInstance->c2_pent_not_empty)) {
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 10);
for (c2_i2 = 0; c2_i2 < 33096708; c2_i2++) {
chartInstance->c2_pent[c2_i2] = 0.0;
}
chartInstance->c2_pent_not_empty = TRUE;
c2_i = 0;
while (c2_i < 73) {
c2_b_i = 4.0 + (real_T)c2_i;
CV_EML_FOR(0, 1, 0, 1);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 13);
c2_u = c2_b_i;
c2_y = NULL;
sf_mex_assign(&c2_y, sf_mex_create("y", &c2_u, 0, 0U, 0U, 0U, 0), FALSE);
for (c2_i3 = 0; c2_i3 < 4; c2_i3++) {
c2_b_u[c2_i3] = c2_cv0[c2_i3];
}
c2_b_y = NULL;
sf_mex_assign(&c2_b_y, sf_mex_create("y", c2_b_u, 10, 0U, 1U, 0U, 2, 1, 4),
FALSE);
c2_d_emlrt_marshallIn(chartInstance, sf_mex_call_debug("imread", 1U, 1U,
14, sf_mex_call_debug("horzcat", 1U, 2U, 14, sf_mex_call_debug("num2str",
1U, 1U, 14, c2_y), 14, c2_b_y)), "imread", c2_dv1);
c2_c_i = _SFD_EML_ARRAY_BOUNDS_CHECK("pent", (int32_T)_SFD_INTEGER_CHECK(
"i", c2_b_i), 1, 76, 4, 0) - 1;
for (c2_i4 = 0; c2_i4 < 3; c2_i4++) {
for (c2_i5 = 0; c2_i5 < 381; c2_i5++) {
for (c2_i6 = 0; c2_i6 < 381; c2_i6++) {
chartInstance->c2_pent[((c2_i6 + 381 * c2_i5) + 145161 * c2_i4) +
435483 * c2_c_i] = c2_dv1[(c2_i6 + 381 * c2_i5) + 145161 * c2_i4];
}
}
}
c2_i++;
sf_mex_listen_for_ctrl_c(chartInstance->S);
}
CV_EML_FOR(0, 1, 0, 0);
}
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 19);
if (CV_EML_IF(0, 1, 1, c2_nota < 4.0)) {
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 20);
c2_nota = 4.0;
}
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 22);
if (CV_EML_IF(0, 1, 2, c2_nota > 76.0)) {
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 23);
c2_nota = 76.0;
}
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 26);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, 32);
for (c2_i7 = 0; c2_i7 < 33096708; c2_i7++) {
c2_b_hoistedGlobal[c2_i7] = chartInstance->c2_pent[c2_i7];
}
c2_b_nota = _SFD_EML_ARRAY_BOUNDS_CHECK("pent", (int32_T)_SFD_INTEGER_CHECK(
"nota", c2_nota), 1, 76, 4, 0) - 1;
for (c2_i8 = 0; c2_i8 < 3; c2_i8++) {
for (c2_i9 = 0; c2_i9 < 381; c2_i9++) {
for (c2_i10 = 0; c2_i10 < 381; c2_i10++) {
c2_c_u[(c2_i10 + 381 * c2_i9) + 145161 * c2_i8] = c2_b_hoistedGlobal
[((c2_i10 + 381 * c2_i9) + 145161 * c2_i8) + 435483 * c2_b_nota];
}
}
}
c2_c_y = NULL;
sf_mex_assign(&c2_c_y, sf_mex_create("y", c2_c_u, 0, 0U, 1U, 0U, 3, 381, 381,
3), FALSE);
sf_mex_call_debug("imshow", 0U, 1U, 14, c2_c_y);
_SFD_EML_CALL(0U, chartInstance->c2_sfEvent, -32);
sf_debug_symbol_scope_pop();
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 1U, chartInstance->c2_sfEvent);
sf_debug_check_for_state_inconsistency(_LedaMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
