/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
int i;
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId u_busId = ssGetDataTypeId(S, "u_bus");
DTypeId x_busId = ssGetDataTypeId(S, "x_bus");
int_T *busInfo = (int_T *)malloc((ACADO_NX+ACADO_NU)*2*sizeof(int_T));
if(busInfo==NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
for( i = 0; i < ACADO_NX; i++ ) {
busInfo[2*i] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,i);
busInfo[2*i+1] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
}
for( i = 0; i < ACADO_NU; i++ ) {
busInfo[2*(ACADO_NX+i)] = dtaGetDataTypeElementOffset(dta, bpath,u_busId,i);
busInfo[2*(ACADO_NX+i)+1] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
}
ssSetUserData(S, busInfo);
}
/* 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);
}
static boolean_T isAcceptableDataType(SimStruct * S, DTypeId dataType) {
int_T canExDT = ssGetDataTypeId(S,SL_CAN_EXTENDED_FRAME_DTYPE_NAME );
int_T canStDT = ssGetDataTypeId(S,SL_CAN_STANDARD_FRAME_DTYPE_NAME );
boolean_T isAcceptable = (dataType == canExDT || dataType == canStDT );
return isAcceptable;
}
/* 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);
}
/* Function: mdlSetWorkWidths =============================================
* Abstract:
* The optional method, mdlSetWorkWidths is called after input port
* width, output port width, and sample times of the S-function have
* been determined to set any state and work vector sizes which are
* a function of the input, output, and/or sample times.
*
* Run-time parameters are registered in this method using methods
* ssSetNumRunTimeParams, ssSetRunTimeParamInfo, and related methods.
*/
static void mdlSetWorkWidths(SimStruct *S)
{
/* Set number of run-time parameters */
if (!ssSetNumRunTimeParams(S, 3))
return;
/*
* Register the run-time parameters
*/
ssRegDlgParamAsRunTimeParam(S, 0, 0, "baud", ssGetDataTypeId(S, "int32"));
ssRegDlgParamAsRunTimeParam(S, 1, 1, "uart", ssGetDataTypeId(S, "int32"));
ssRegDlgParamAsRunTimeParam(S, 2, 2, "SampleTime", ssGetDataTypeId(S, "double"));
}
/* Function: mdlSetWorkWidths =============================================
* Abstract:
* The optional method, mdlSetWorkWidths is called after input port
* width, output port width, and sample times of the S-function have
* been determined to set any state and work vector sizes which are
* a function of the input, output, and/or sample times.
*
* Run-time parameters are registered in this method using methods
* ssSetNumRunTimeParams, ssSetRunTimeParamInfo, and related methods.
*/
static void mdlSetWorkWidths(SimStruct *S)
{
/* Set number of run-time parameters */
if (!ssSetNumRunTimeParams(S, 1))
return;
/*
* Register the run-time parameters
*/
ssRegDlgParamAsRunTimeParam(S, 0, 0, "colnum", ssGetDataTypeId(S, "int32"));
}
static void mdlSetDefaultPortDataTypes(SimStruct *S) {
int_T canStDT = ssGetDataTypeId(S,SL_CAN_STANDARD_FRAME_DTYPE_NAME );
int dataPort;
if ( ssGetInputPortDataType(S,0) == DYNAMICALLY_TYPED ){
ssSetInputPortDataType( S, 0, canStDT );
}
if (P_SHOW_DATA ){
dataPort = 0;
if ( ssGetOutputPortDataType(S,dataPort)==DYNAMICALLY_TYPED){
ssSetOutputPortDataType(S,dataPort,SS_UINT8);
}
}
} /* mdlSetDefaultPortDataTypes */
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId u_busId = ssGetDataTypeId(S, "u_bus");
DTypeId x_busId = ssGetDataTypeId(S, "x_bus");
DTypeId xref_busId = ssGetDataTypeId(S, "xref_bus");
int_T *busInfo = (int_T *)malloc(36*sizeof(int_T));
if(busInfo==NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
busInfo[0] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,0);
busInfo[1] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[2] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,1);
busInfo[3] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[4] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,2);
busInfo[5] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[6] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,3);
busInfo[7] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[8] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,4);
busInfo[9] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[10] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,5);
busInfo[11] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[12] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,6);
busInfo[13] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[14] = dtaGetDataTypeElementOffset(dta, bpath,xref_busId,7);
busInfo[15] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[16] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,0);
busInfo[17] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[18] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,1);
busInfo[19] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[20] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,2);
busInfo[21] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[22] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,3);
busInfo[23] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[24] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,4);
busInfo[25] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[26] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,5);
busInfo[27] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[28] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,6);
busInfo[29] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[30] = dtaGetDataTypeElementOffset(dta, bpath,x_busId,7);
busInfo[31] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[32] = dtaGetDataTypeElementOffset(dta, bpath,u_busId,0);
busInfo[33] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[34] = dtaGetDataTypeElementOffset(dta, bpath,u_busId,1);
busInfo[35] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
ssSetUserData(S, busInfo);
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
//ROS stuff
int argc = 0;
char** argv = NULL;
ros::init(argc, argv, "MATLAB_ros_sub");
spinner = new ros::AsyncSpinner(2);
spinner->start();
ros::NodeHandle n;
sub = n.subscribe("/cmu/robot_pose", 1000, robotPoseCallback);
/* Bus Information */
slDataTypeAccess *dta = ssGetDataTypeAccess(S);
const char *bpath = ssGetPath(S);
DTypeId SL_Bus_cpg_optimized_geometry_msgs_PointId = ssGetDataTypeId(S, "SL_Bus_cpg_optimized_geometry_msgs_Point");
DTypeId SL_Bus_cpg_optimized_geometry_msgs_PoseId = ssGetDataTypeId(S, "SL_Bus_cpg_optimized_geometry_msgs_Pose");
DTypeId SL_Bus_cpg_optimized_geometry_msgs_QuaternionId = ssGetDataTypeId(S, "SL_Bus_cpg_optimized_geometry_msgs_Quaternion");
DTypeId SL_Bus_cpg_optimized_geometry_msgs_Vector3Id = ssGetDataTypeId(S, "SL_Bus_cpg_optimized_geometry_msgs_Vector3");
DTypeId SL_ROS_SUB_MSGId = ssGetDataTypeId(S, "SL_ROS_SUB_MSG");
int_T *busInfo = (int_T *)malloc(46 * sizeof(int_T));
if (busInfo == NULL) {
ssSetErrorStatus(S, "Memory allocation failure");
return;
}
/* Calculate offsets of all primitive elements of the bus */
busInfo[0] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 2);
busInfo[1] = 30 * dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[2] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 3);
busInfo[3] = 3 * dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[4] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 4);
busInfo[5] = 2 * dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[6] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 0);
busInfo[7] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[8] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 1);
busInfo[9] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[10] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 2);
busInfo[11] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[12] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 0);
busInfo[13] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[14] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 1);
busInfo[15] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[16] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 2);
busInfo[17] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[18] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 3);
busInfo[19] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[20] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 0);
busInfo[21] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[22] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 1);
busInfo[23] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[24] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 2);
busInfo[25] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[26] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 5) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 0);
busInfo[27] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[28] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 5) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 1);
busInfo[29] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[30] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 5) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_Vector3Id, 2);
busInfo[31] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[32] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 0);
busInfo[33] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[34] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 1);
busInfo[35] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[36] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 0) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PointId, 2);
busInfo[37] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[38] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 0);
busInfo[39] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[40] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 1);
busInfo[41] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[42] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 2);
busInfo[43] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
busInfo[44] = dtaGetDataTypeElementOffset(dta, bpath, SL_ROS_SUB_MSGId, 6) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_PoseId, 1) + dtaGetDataTypeElementOffset(dta, bpath, SL_Bus_cpg_optimized_geometry_msgs_QuaternionId, 3);
busInfo[45] = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "double"));
ssSetUserData(S, busInfo);
}
