/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(inputDimsInfo);
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
/*Input Port 0 */
ssSetInputPortWidth(S, 0, INPUT_0_WIDTH); /* */
ssSetInputPortDataType(S, 0, SS_UINT8);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
/*Input Port 1 */
ssSetInputPortWidth(S, 1, INPUT_1_WIDTH);
ssSetInputPortDataType(S, 1, SS_UINT8);
ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/
/*Input Port 2 */
ssSetInputPortWidth(S, 2, INPUT_2_WIDTH); /* */
ssSetInputPortDataType(S, 2, SS_UINT8);
ssSetInputPortComplexSignal(S, 2, INPUT_2_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 2, INPUT_2_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 2, 1); /*direct input signal access*/
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_DOUBLE);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
/* Output Port 1 */
ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);
ssSetOutputPortDataType(S, 1, SS_DOUBLE);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "8.4");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
// loop counter
int idx;
ssSetNumSFcnParams(S, P_NPARMS); /* Number of expected parameters */
// No parameters will be tunable
for(idx=0; idx<P_NPARMS; idx++){
ssSetSFcnParamNotTunable(S,idx);
}
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
// Setup all the CAN datatypes
CAN_Common_MdlInitSizes(S);
// Extended frame
int_T canExDT = ssGetDataTypeId(S,SL_CAN_EXTENDED_FRAME_DTYPE_NAME );
// Standard frame
int_T canStDT = ssGetDataTypeId(S,SL_CAN_STANDARD_FRAME_DTYPE_NAME );
// Setup input port
ssSetNumInputPorts(S,1);
ssSetInputPortWidth(S,0,1);
ssSetInputPortDirectFeedThrough(S,0,true);
ssSetInputPortDataType(S,0,DYNAMICALLY_TYPED);
// Setup output ports
ssSetNumOutputPorts(S,4);
ssSetOutputPortWidth(S,0,1); /* ID */
ssSetOutputPortDataType(S,0, SS_DOUBLE);
ssSetOutputPortWidth(S,1,1); /* Length */
ssSetOutputPortDataType(S,1, SS_DOUBLE);
ssSetOutputPortWidth(S,2,1); /* Type */
ssSetOutputPortDataType(S,2, SS_DOUBLE);
ssSetOutputPortWidth(S,3,1); /* Data */
ssSetOutputPortDataType(S,3, SS_DOUBLE);
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* use generated code in Accelerator Mode */
ssSetOptions(S, SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}
/*=====================================*
* Configuration and execution methods *
*=====================================*/
static void mdlInitializeSizes(SimStruct *S)
{
#ifdef DEBUG
debug("mdlInitializeSizes entered.\n");
#endif
ssSetNumSFcnParams(S, NPAR); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, NI);
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, NO);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
#ifdef DEBUG
debug("mdlInitializeSizes left.\n");
#endif
} /* mdlInitializeSizes */
static void mdlInitializeSizes(SimStruct *S) {
bool dataPort;
ssSetNumSFcnParams(S,3);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
dataPort = PARAM(2)[0];
if (dataPort) {
if (!ssSetNumInputPorts(S,2)) return;
ssSetInputPortWidth(S,1,DYNAMICALLY_SIZED);
ssSetInputPortDirectFeedThrough(S,1,1);
} else {
if (!ssSetNumInputPorts(S,1)) return;
}
ssSetInputPortWidth(S,0,1);
ssSetInputPortDirectFeedThrough(S,0,1);
ssSetNumContStates(S,0);
ssSetNumDiscStates(S,0);
if (!ssSetNumOutputPorts(S,0)) return;
ssSetInputPortDataType(S, 0, DYNAMICALLY_TYPED);
ssSetNumSampleTimes(S,1);
ssSetNumRWork(S,1);
ssSetNumIWork(S,1);
ssSetNumPWork(S,2);
ssSetNumModes(S,0);
ssSetNumNonsampledZCs(S,0);
ssSetOptions(S,0);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S) {
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
// printf("URG: 111\n");
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 0)) return;
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 682);
ssSetOutputPortDataType(S, 0, SS_INT16);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Specify the sim state compliance to be same as a built-in block */
// ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
printf("URG: Inicializando driver URG-04LX...\n");
}
static void mdlInitializeSizes(SimStruct *S) {
int_T msgType;
int_T initValLen;
ssSetNumSFcnParams(S,5);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S,0);
ssSetNumDiscStates(S,0);
if (!ssSetNumInputPorts(S,0)) return;
msgType = (int_T)*mxGetPr(ssGetSFcnParam(S,0));
switch (msgType) {
case SUBSCRIBER_TWIST_STAMPED:
case PUBLISHER_POINT_STAMPED:
if (!ssSetNumOutputPorts(S,2)) return;
ssSetOutputPortWidth(S,1,2);
break;
default:
if (!ssSetNumOutputPorts(S,1)) return;
}
switch (msgType) {
case SUBSCRIBER_FLOAT64:
case SUBSCRIBER_INT32:
case SUBSCRIBER_BOOL:
case SUBSCRIBER_TIME:
ssSetOutputPortWidth(S,0,1);
break;
case SUBSCRIBER_FLOAT64ARRAY:
ssSetOutputPortWidth(S,0,DYNAMICALLY_SIZED);
break;
case SUBSCRIBER_TWIST:
case SUBSCRIBER_TWIST_STAMPED:
ssSetOutputPortWidth(S,0,6);
break;
case PUBLISHER_POINT:
case PUBLISHER_POINT_STAMPED:
case PUBLISHER_POSE2D:
ssSetOutputPortWidth(S,0,3);
break;
default:
ssSetErrorStatus(S, "Unknown message type!");
return;
}
initValLen = mxGetNumberOfElements(ssGetSFcnParam(S,2));
if (initValLen > 1) {
ssSetOutputPortWidth(S,0,initValLen);
}
ssSetNumSampleTimes(S,1);
ssSetNumRWork(S,0);
ssSetNumIWork(S,1);
ssSetNumPWork(S,2);
ssSetNumModes(S,0);
ssSetNumNonsampledZCs(S,0);
ssSetOptions(S,0);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_INT32);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
static void mdlInitializeSizes( SimStruct *S )
/* ======================================================================== */
{
int_T port;
/* set number of expected parameters and check for a mismatch. */
ssSetNumSFcnParams( S, NUM_PARAMS );
#if defined(MATLAB_MEX_FILE)
if ( ssGetNumSFcnParams( S ) == ssGetSFcnParamsCount( S ) )
{
mdlCheckParameters( S );
if ( ssGetErrorStatus( S ) != NULL )
return;
}else {
return;
}
#endif
/* sampling */
ssSetNumSampleTimes( S, PORT_BASED_SAMPLE_TIMES );
/* Set number of input ports and tunability */
ssSetSFcnParamTunable( S, DEVICE_INDEX, SS_PRM_NOT_TUNABLE );
/* set the resulting number of ports */
if ( !ssSetNumInputPorts( S, 1 ) )
return;
port = 0;
{
const Frame_T inputsFrames = ( (double) mxGetScalar( ssGetSFcnParam( S, USE_FRAMES ) ) > 0.0) ? FRAME_YES : FRAME_NO;
double sample_time = 1 / mxGetScalar( ssGetSFcnParam( S, SAMPLE_RATE ) );
const int_T buf_length = (int_T) (double) mxGetScalar( ssGetSFcnParam( S, FRAME_LENGTH ) );
const time_T period = (time_T) (sample_time * buf_length);
ssSetInputPortMatrixDimensions( S, port, buf_length, 1 );
ssSetInputPortComplexSignal( S, port, COMPLEX_YES );
ssSetInputPortDataType( S, port, SS_DOUBLE );
ssSetInputPortFrameData( S, port, inputsFrames );
ssSetInputPortDirectFeedThrough( S, port, 1 );
ssSetInputPortSampleTime( S, port, period );
ssSetInputPortOffsetTime( S, port, 0.0 );
}
/* Set number of output ports */
if ( !ssSetNumOutputPorts( S, 0 ) )
return;
/* data port properties */
/* Prepare work Vectors */
ssSetNumPWork( S, P_WORK_LENGTH );
ssSetNumIWork( S, I_WORK_LENGTH );
ssSetNumRWork( S, R_WORK_LENGTH );
ssSetNumModes( S, 0 );
ssSetNumNonsampledZCs( S, 0 );
/* Specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance( S, USE_DEFAULT_SIM_STATE );
ssSetOptions( S, 0 );
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 2);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 2);
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 2);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
}
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, N_PARAMS); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, N_STATES);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, N_INPUTS);
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, N_OUTPUTS);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetOptions(S, 0);
}
static void mdlInitializeSizes(SimStruct *S)
{
int i;
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
for (i = 0; i < NPARAMS; i++)
ssSetSFcnParamTunable(S, i, 0);
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 3);
ssSetInputPortRequiredContiguous(S, 0, true);
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 7);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 2);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
}
void mdlInitializeSizes(SimStruct *S)
/* ======================================================================== */
{
/* parameters */
ssSetNumSFcnParams(S, NUM_PARAMS);
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) return;
} else
return;
#endif
ssSetSFcnParamTunable(S, FREQUENCY, SS_PRM_SIM_ONLY_TUNABLE);
ssSetSFcnParamTunable(S, BANDWIDTH, SS_PRM_NOT_TUNABLE);
ssSetSFcnParamTunable(S, TXVGA_GAIN, SS_PRM_SIM_ONLY_TUNABLE);
/* ports */
ssSetNumSampleTimes(S, 1);
if (!ssSetNumOutputPorts(S, 0) || !ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
ssSetInputPortComplexSignal(S, 0, COMPLEX_YES);
ssSetInputPortDataType(S, 0, SS_INT8);
ssSetInputPortDirectFeedThrough(S, 0, true);
ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
/* work Vectors */
ssSetNumPWork(S, P_WORK_LENGTH);
ssSetNumIWork(S, 0);
ssSetNumRWork(S, NUM_PARAMS);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return;
}
ssSetNumContStates(S, 2);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 0)) return;
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 2);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 1);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, 4); /* B,x0,U,P Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S))
return;
else
{
if (CheckPar(S))
return;
}
ssSetNumContStates(S, (int) B(S,"CStates"));
ssSetNumDiscStates(S, (int) B(S,"DStates"));
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, (int) (U(S,"Number")*B(S,"WaterIn")+B(S,"Setpoints")));
ssSetInputPortDirectFeedThrough(S, 0, (int) B(S,"Direct"));
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
if (!ssSetNumOutputPorts(S,1)) return;
ssSetOutputPortWidth(S, 0, (int) (U(S,"Number")*B(S,"WaterOut")+B(S,"Measurements")) );
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);
ssSetOutputPortDataType(S, 0, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
/* Output Port 1 */
ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);
ssSetOutputPortDataType(S, 1, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
/* Output Port 2 */
ssSetOutputPortWidth(S, 2, OUTPUT_2_WIDTH);
ssSetOutputPortDataType(S, 2, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX);
/* Output Port 3 */
ssSetOutputPortWidth(S, 3, OUTPUT_3_WIDTH);
ssSetOutputPortDataType(S, 3, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 3, OUTPUT_3_COMPLEX);
/* Output Port 4 */
ssSetOutputPortWidth(S, 4, OUTPUT_4_WIDTH);
ssSetOutputPortDataType(S, 4, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 4, OUTPUT_4_COMPLEX);
/* Output Port 5 */
ssSetOutputPortWidth(S, 5, OUTPUT_5_WIDTH);
ssSetOutputPortDataType(S, 5, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 5, OUTPUT_5_COMPLEX);
/* Output Port 6 */
ssSetOutputPortWidth(S, 6, OUTPUT_6_WIDTH);
ssSetOutputPortDataType(S, 6, SS_SINGLE);
ssSetOutputPortComplexSignal(S, 6, OUTPUT_6_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "8.6");
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
/* See sfuntmpl.doc for more details on the macros below */
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, 1); /* how many continuous states? */
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 1);
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortWidth(S, 0, 1);
ssSetNumSampleTimes(S, 1);
/*
* If your Fortran code uses REAL for the state, input, and/or output
* datatypes, use these DWorks as work areas to downcast continuous
* states from double to REAL before calling your code. You could
* also put the work vectors in hard-coded local (stack) variables.
*
* For fixed step code, keep a copy of the variables to be output
* in a DWork vector so the mdlOutputs() function can provide output
* data when needed. You can use as many DWork vectors as you like
* for both input and output (or hard-code local variables).
*/
if(!ssSetNumDWork( S, 3)) return;
ssSetDWorkWidth( S, 0, ssGetOutputPortWidth(S,0));
ssSetDWorkDataType( S, 0, SS_SINGLE); /* use SS_DOUBLE if needed */
ssSetDWorkWidth( S, 1, ssGetInputPortWidth(S,0));
ssSetDWorkDataType( S, 1, SS_SINGLE);
ssSetDWorkWidth( S, 2, ssGetNumContStates(S));
ssSetDWorkDataType( S, 2, SS_SINGLE);
ssSetNumNonsampledZCs(S, 0);
/* Specify the sim state compliance to be same as a built-in block */
/* see sfun_simstate.c for example of other possible settings */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
int udtId;
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
/* Obtain an integer datatype ID for the udt (user-defined type) "Data" */
udtId = ssRegisterDataType(S, "Data");
if ( udtId == INVALID_DTYPE_ID ) return;
/* Register the size of the udt */
if (!ssSetDataTypeSize(S, udtId, sizeof(Data))) return;
/* Register the zero of the udt */
if (!ssSetDataTypeZero(S, udtId, &zero)) return;
/* Register the convert-between datatype function defined above */
if (!dtaSetConvertBetweenFcn(dta, ssGetPath(S), udtId, &DataCnvBtw)) return;
/* Register the is-positive datatype function defined above*/
if (!dtaSetIsPositiveFcn(dta, ssGetPath(S), udtId, &DataIsPos)) return;
/* Set input-port properties */
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortDataType(S, 0, SS_DOUBLE);
ssSetInputPortDirectFeedThrough(S, 0, 1);
/* Set output port properties */
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortDataType(S, 0, udtId);
ssSetOutputPortWidth(S, 0, 1);
/* Set miscellaneous properties */
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S,
SS_OPTION_WORKS_WITH_CODE_REUSE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR |
SS_OPTION_DISALLOW_CONSTANT_SAMPLE_TIME |
SS_OPTION_SFUNCTION_INLINED_FOR_RTW);
}
static void mdlInitializeSizes(SimStruct *S)
{
int i,nChannels;
static char msg[256];
ssSetNumSFcnParams(S, NUMBER_OF_ARGS); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
sprintf(msg,"Wrong Number of input arguments passed.\n%d arguments are expected\n",NUMBER_OF_ARGS);
ssSetErrorStatus(S,msg);
return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumInputPorts(S, 0);//there is no input
//if (!ssSetNumInputPorts(S, 1)) return;
nChannels=(uint_T)mxGetN(CHANNEL_ARG);
//if (!ssSetNumOutputPorts(S, 1)) return;
ssSetNumOutputPorts(S,nChannels);//set number of outputs ports
for(i=0;i<nChannels;i++)
{
ssSetOutputPortWidth(S, i, 1);//set width of each port to 1
}
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
*/
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetNumSampleTimes(S, 1);//set number of sample time to 1,which means all input ports share same Ts
ssSetNumRWork(S, NO_R_WORKS);//number of float in work vector
ssSetNumIWork(S, NO_I_WORKS);//number of int in work vector
ssSetNumPWork(S, 0);//number of pointer in work vector
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);//no need for pass-zero check
ssSetSFcnParamNotTunable(S,0);
ssSetSFcnParamNotTunable(S,1);
ssSetSFcnParamNotTunable(S,2);
ssSetSFcnParamNotTunable(S,3);
ssSetSFcnParamNotTunable(S,4);
ssSetOptions(S,SS_OPTION_EXCEPTION_FREE_CODE|SS_OPTION_PLACE_ASAP);
/* Specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
char host[] = "localhost";
int port = 9002;
trigger = 0;
/* See sfuntmpl_doc.c for more details on the macros below */
ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
/* This functions receives no inputs, but it could use inputs instead of hard-coded parameters (e.g. port and host) */
if (!ssSetNumInputPorts(S, 0)) return;
/*ssSetInputPortWidth(S, 0, 1);*/
/*ssSetInputPortRequiredContiguous(S, 0, true); /direct input signal access*/
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
/*ssSetInputPortDirectFeedThrough(S, 0, 1);*/
if (!ssSetNumOutputPorts(S, 2)) return;
ssSetOutputPortWidth(S, 0, PAYLOAD_LEN/2);
ssSetOutputPortDataType(S, 0, SS_UINT16);
ssSetOutputPortWidth(S, 1, 1);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
/* Connect to the SerialForwarder server using functions linked in sfsource.o */
fd = open_sf_source(host, port);
if (fd < 0){
ssSetErrorStatus(S,"SerialForwarder not running in the specified host and port");
return;
}
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
int idx;
int_T canExDT; // Extended extended frame
int_T canStDT; // Standard frame
/* See sfuntmpl_doc.c for more details on the macros below */
ssSetNumSFcnParams(S, P_NPARMS); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
// No parameters will be tunable
for(idx=0; idx<P_NPARMS; idx++){
ssSetSFcnParamNotTunable(S,idx);
}
// Setup all the CAN datatypes
CAN_Common_MdlInitSizes(S);
canExDT = ssGetDataTypeId(S,SL_CAN_EXTENDED_FRAME_DTYPE_NAME );
canStDT = ssGetDataTypeId(S,SL_CAN_STANDARD_FRAME_DTYPE_NAME );
// One vectorized output port may contain several CAN
// messages, one frame per signal element
ssSetNumOutputPorts(S,1);
ssSetOutputPortWidth(S,0,1);
if( P_TYPE == CAN_MESSAGE_STANDARD){
ssSetOutputPortDataType(S,0,canStDT);
}else if ( P_TYPE == CAN_MESSAGE_EXTENDED ){
ssSetOutputPortDataType(S,0,canExDT);
}
// Multiple input ports. Each input port represents
// a CAN data frame. These will be vectorized
// uint8 inputs. The width corressponds to the
// number of data bytes in the frame
setInputPorts(S);
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* use generated code in Accelerator Mode */
ssSetOptions(S, SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}
static void mdlInitializeSizes(SimStruct *S)
{
const real_T *P1 = mxGetData(PARAM_DEF3(S));
const real_T *P2 = mxGetData(PARAM_DEF2(S));
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink */
}
#endif
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
outputDimsInfo.width = *P1;
ssSetOutputPortDimensionInfo(S, 0, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,0, *P1, *P2);
ssSetOutputPortFrameData(S, 0, OUT_0_FRAME_BASED);
ssSetOutputPortDataType(S, 0, SS_UINT8);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
/* Output Port 1 */
outputDimsInfo.width = *P1;
ssSetOutputPortDimensionInfo(S, 1, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,1, *P1, *P2);
ssSetOutputPortFrameData(S, 1, OUT_1_FRAME_BASED);
ssSetOutputPortDataType(S, 1, SS_UINT8);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
/* Output Port 2 */
outputDimsInfo.width = *P1;
ssSetOutputPortDimensionInfo(S, 2, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,2, *P1, *P2);
ssSetOutputPortFrameData(S, 2, OUT_2_FRAME_BASED);
ssSetOutputPortDataType(S, 2, SS_UINT8);
ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
/* Output Port 0 */
outputDimsInfo.width = OUTPUT_0_WIDTH;
ssSetOutputPortDimensionInfo(S, 0, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,0, OUTPUT_0_WIDTH, OUTPUT_DIMS_0_COL);
ssSetOutputPortFrameData(S, 0, OUT_0_FRAME_BASED);
ssSetOutputPortDataType(S, 0, SS_UINT8);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
/* Output Port 1 */
outputDimsInfo.width = OUTPUT_1_WIDTH;
ssSetOutputPortDimensionInfo(S, 1, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,1, OUTPUT_1_WIDTH, OUTPUT_DIMS_1_COL);
ssSetOutputPortFrameData(S, 1, OUT_1_FRAME_BASED);
ssSetOutputPortDataType(S, 1, SS_UINT8);
ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);
/* Output Port 2 */
outputDimsInfo.width = OUTPUT_2_WIDTH;
ssSetOutputPortDimensionInfo(S, 2, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,2, OUTPUT_2_WIDTH, OUTPUT_DIMS_2_COL);
ssSetOutputPortFrameData(S, 2, OUT_2_FRAME_BASED);
ssSetOutputPortDataType(S, 2, SS_UINT8);
ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX);
/* Output Port 3 */
outputDimsInfo.width = OUTPUT_3_WIDTH;
ssSetOutputPortDimensionInfo(S, 3, &outputDimsInfo);
ssSetOutputPortMatrixDimensions( S ,3, OUTPUT_3_WIDTH, OUTPUT_DIMS_3_COL);
ssSetOutputPortFrameData(S, 3, OUT_3_FRAME_BASED);
ssSetOutputPortDataType(S, 3, SS_UINT16);
ssSetOutputPortComplexSignal(S, 3, OUTPUT_3_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S) {
/* See sfuntmpl_doc.c for more details on the macros below */
ssSetNumSFcnParams(S, 2); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink. */
}
#endif
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 2))
return;
ssSetInputPortMatrixDimensions(S, 0, DYNAMICALLY_SIZED, DYNAMICALLY_SIZED); // triangles
ssSetInputPortDataType(S, 0, SS_UINT32);
ssSetInputPortMatrixDimensions(S, 1, DYNAMICALLY_SIZED, DYNAMICALLY_SIZED); // vertices
for (int_T i = 0; i < ssGetNumInputPorts(S); ++i) {
/*direct input signal access*/
ssSetInputPortRequiredContiguous(S, i, true);
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
ssSetInputPortDirectFeedThrough(S, i, 1);
}
if (!ssSetNumOutputPorts(S, 0))
return;
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 2); //GenericPub and frame id
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
/* See sfuntmpl_doc.c for more details on the macros below */
ssSetNumSFcnParams(S, 5); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink. */
}
#endif
int_T nRobots = mxGetNumberOfElements(ssGetSFcnParam(S,2));
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 0)) return;
//ssSetInputPortWidth(S, 0, 1);
//ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
//ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S, 4)) return;
const int_T nDofs = *((mxChar*)mxGetData(ssGetSFcnParam(S, 4)));
ssSetOutputPortMatrixDimensions(S, 0, nDofs, nRobots); // position
ssSetOutputPortMatrixDimensions(S, 1, nDofs, nRobots); // velocity
ssSetOutputPortMatrixDimensions(S, 2, nDofs, nRobots); // effort
ssSetOutputPortMatrixDimensions(S, 3, 1, nRobots); // SentTime in s;
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 2); // nRobots, nDofs
ssSetNumPWork(S, nRobots + 1); //nRobots x GenericSub, AsyncSpinner
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
static void mdlInitializeSizes(SimStruct *S)
{
const mxArray *arg;
ssSetNumSFcnParams(S, 3); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
if (!ssSetNumInputPorts(S, 0)) return;
if (!ssSetNumOutputPorts(S, 7)) return;
RMsys *rmsys = new RMsys;
rmsys->trigger = 0.0;
arg = ssGetSFcnParam(S, 0);
if (mxIsDoubleScalar(arg)) {
rmsys->networkNbr = (int)*mxGetPr(arg);
}
arg = ssGetSFcnParam(S, 1);
if (mxIsDoubleScalar(arg)) {
rmsys->receiver = (int)*mxGetPr(arg);
}
arg = ssGetSFcnParam(S, 2);
if (mxIsDoubleScalar(arg)) {
rmsys->outdim = (int)*mxGetPr(arg);
}
/* Output Ports */
ssSetOutputPortWidth(S, 0, rmsys->outdim); // data
ssSetOutputPortWidth(S, 1, 1); // receiver
ssSetOutputPortWidth(S, 2, 1); // length
ssSetOutputPortWidth(S, 3, 1); // prio
ssSetOutputPortWidth(S, 4, 1); // time stamp
ssSetOutputPortWidth(S, 5, 1); // signal power (wireless only)
ssSetOutputPortWidth(S, 6, 1); // message id
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetUserData(S, rmsys);
ssSetOptions(S, SS_OPTION_CALL_TERMINATE_ON_EXIT);
}
static void mdlInitializeSizes(SimStruct *S)
{
int_T status; // for new type definition
DTypeId COM_HANDLE_id; // for new type definition
HANDLE handle_aux; // for new type definition
//====================================================== new type definition
COM_HANDLE_id = ssRegisterDataType(S, "COM_HANDLE");
if(COM_HANDLE_id == INVALID_DTYPE_ID) return;
status = ssSetDataTypeSize(S, COM_HANDLE_id, sizeof(handle_aux));
if(status == 0) return;
status = ssSetDataTypeZero(S, COM_HANDLE_id, &handle_aux);
if(status == 0) return;
//=============================================================== parameters
ssSetNumSFcnParams(S, 2); // 2 parameters:
// - COM port
// - baudrate
//Parameter mismatch will be reported by Simulink
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S))
return;
//=================================================================== inputs
if (!ssSetNumInputPorts(S, 0)) return; // 0 inputs
//================================================================== outputs
if (!ssSetNumOutputPorts(S, 1)) return; // 1 outputs:
// - COM handle
////////////////////////////// com handle //////////////////////////////
ssSetOutputPortWidth(S,0,1); // input 1 width
ssSetOutputPortDataType(S, 0, COM_HANDLE_id); // input 1 datatype
//============================================================= sample times
ssSetNumSampleTimes( S, 1); // number of sample times
//============================================================= work vectors
ssSetNumRWork(S, 0); // 0 real work vector elements
ssSetNumIWork(S, 0); // 0 work vector elements
ssSetNumPWork(S, 1); // 1 pwork vector elements:
// - COM handle
ssSetNumModes(S, 0); // 0 mode work vector elements
ssSetNumNonsampledZCs(S, 0); // 0 nonsampled zero crossings
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
ssSetNumSFcnParams(S, NPARAMS); /* Number of expected parameters */
#if defined(MATLAB_MEX_FILE)
if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
mdlCheckParameters(S);
if (ssGetErrorStatus(S) != NULL) {
return;
}
} else {
return; /* Parameter mismatch will be reported by Simulink */
}
#endif
{
int iParam = 0;
int nParam = ssGetNumSFcnParams(S);
for ( iParam = 0; iParam < nParam; iParam++ )
{
ssSetSFcnParamTunable( S, iParam, SS_PRM_SIM_ONLY_TUNABLE );
}
}
ssSetNumContStates(S, NSTATES);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, NINPUTS)) return;
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 0, TRUE);
ssSetInputPortWidth(S, 1, 1);
ssSetInputPortDirectFeedThrough(S, 1, TRUE);
ssSetInputPortWidth(S, 2, 1);
ssSetInputPortDirectFeedThrough(S, 2, TRUE);
if (!ssSetNumOutputPorts(S, NOUTPUTS)) return;
//ssSetOutputPortWidth(S, 0, NOUTPUTS);
{
ssSetOutputPortWidth(S, 0, 1);
}
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* The sizes information is used by Simulink to determine the S-function
* block's characteristics (number of inputs, outputs, states, etc.).
*/
static void mdlInitializeSizes(SimStruct *S)
{
/* See sfuntmpl_doc.c for more details on the macros below */
ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 3)) return;
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortWidth(S, 1, 1);
ssSetInputPortWidth(S, 2, 1);
ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/
ssSetInputPortRequiredContiguous(S, 1, true); /*direct input signal access*/
ssSetInputPortRequiredContiguous(S, 2, true); /*direct input signal access*/
/*
* Set direct feedthrough flag (1=yes, 0=no).
* A port has direct feedthrough if the input is used in either
* the mdlOutputs or mdlGetTimeOfNextVarHit functions.
* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.
*/
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 1, 1);
ssSetInputPortDirectFeedThrough(S, 2, 1);
if (!ssSetNumOutputPorts(S, 5)) return;
ssSetOutputPortWidth(S, 0, 1);
ssSetOutputPortWidth(S, 1, 1);
ssSetOutputPortWidth(S, 2, 1);
ssSetOutputPortWidth(S, 3, 1);
ssSetOutputPortWidth(S, 4, 1);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
DECL_AND_INIT_DIMSINFO(inputDimsInfo);
DECL_AND_INIT_DIMSINFO(outputDimsInfo);
ssSetNumSFcnParams(S, NPARAMS);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
ssSetNumContStates(S, NUM_CONT_STATES);
ssSetNumDiscStates(S, NUM_DISC_STATES);
if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;
/*Input Port 0 */
inputDimsInfo.width = INPUT_0_WIDTH;
ssSetInputPortDimensionInfo(S, 0, &inputDimsInfo);
ssSetInputPortMatrixDimensions( S , 0, INPUT_0_WIDTH, INPUT_DIMS_0_COL);
ssSetInputPortFrameData(S, 0, IN_0_FRAME_BASED);
ssSetInputPortDataType(S, 0, SS_SINGLE);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
/*Input Port 1 */
inputDimsInfo.width = INPUT_1_WIDTH;
ssSetInputPortDimensionInfo(S, 1, &inputDimsInfo);
ssSetInputPortMatrixDimensions( S , 1, INPUT_1_WIDTH, INPUT_DIMS_1_COL);
ssSetInputPortFrameData(S, 1, IN_1_FRAME_BASED);
ssSetInputPortDataType(S, 1, SS_INT32);
ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/
if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* Take care when specifying exception free code - see sfuntmpl_doc.c */
ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_WORKS_WITH_CODE_REUSE));
}
/* Function: mdlInitializeSizes ===============================================
* Abstract:
* Setup sizes of the various vectors.
*/
static void mdlInitializeSizes(SimStruct *S)
{
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
int udtId;
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
/* Obtain an integer datatype ID for the udt (user-defined type) "Data" */
udtId = ssRegisterDataType(S, "Data");
if ( udtId == INVALID_DTYPE_ID ) return;
/* Register the size of the udt */
if (!ssSetDataTypeSize(S, udtId, sizeof(Data))) return;
/* Register the zero of the udt */
if (!ssSetDataTypeZero(S, udtId, &zero)) return;
/* Set input-port properties */
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortDataType(S, 0, SS_DOUBLE);
ssSetInputPortDirectFeedThrough(S, 0, 1);
/* Set output port properties */
if (!ssSetNumOutputPorts(S, 1)) return;
ssSetOutputPortDataType(S, 0, udtId);
ssSetOutputPortWidth(S, 0, 1);
/* Set miscellaneous properties */
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
/* specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S,
SS_OPTION_WORKS_WITH_CODE_REUSE);
}
