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, 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);
}
/* Function: mdlSetDefaultPortDimensionInfo ====================================
* This routine is called when Simulink is not able to find dimension
* candidates for ports with unknown dimensions. This function must set the
* dimensions of all ports with unknown dimensions.
*/
static void mdlSetDefaultPortDimensionInfo(SimStruct *S)
{
char temp[3];
int i;
char* pp2=(char*)mxGetPr(ssGetSFcnParam(S,1));
int param_width2=mxGetNumberOfElements(ssGetSFcnParam(S,1));
char* pp3=(char*)mxGetPr(ssGetSFcnParam(S,2));
int param_width3=mxGetNumberOfElements(ssGetSFcnParam(S,2));
memset(temp, 0,3* sizeof(char));
for (i=0;i<param_width2;i++)
temp[i]=pp2[i*2];
if( atoi(temp)<=0)
{
if(!ssSetInputPortMatrixDimensions(S, 0, 1, 1)) return;
}
else
{
/*if(!ssSetInputPortMatrixDimensions(S, 0, 1, atoi(temp))) return;remove?*/
}
memset(temp, 0,3* sizeof(char));
for (i=0;i<param_width3;i++)
{
temp[i]=pp3[i*2];
printf("%c_",temp[i]);
}
if( atoi(temp)>0)
{
if(!ssSetOutputPortMatrixDimensions(S, 0, 1, atoi(temp))) return;
}
else
{
if(!ssSetOutputPortMatrixDimensions(S, 0, 1, 1)) return;
}
} /* end mdlSetDefaultPortDimensionInfo */
/* 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_DOUBLE);
ssSetInputPortComplexSignal(S, 0, INPUT_0_COMPLEX);
ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);
ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/
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_DOUBLE);
ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetSimulinkVersionGeneratedIn(S, "8.7");
/* 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));
}