int main()
{
uint8_t status = 0;
struct Protocol* obj = (struct Protocol*)malloc(sizeof(struct Protocol*));
uint8_t* buf = (uint8_t*)malloc(100);
uint8_t* response = (uint8_t*)malloc(100);
packetHdr hdr;
uint8_t packetId;
uint8_t type;
uint8_t typeAck;
uint8_t rta;
memset(&hdr, 0, sizeof(packetHdr));
SET_HEADER_TYPE_ACK(hdr.type, TEST_TYPE_ACK);
SET_HEADER_TYPE(hdr.type, TEST_HEADER_TYPE);
SET_TXINFO_PACKET_ID(hdr.txInfo, TEST_PACKET_ID);
SET_TXINFO_RTA(hdr.txInfo, TEST_RTA);
GET_HEADER_TYPE_ACK(hdr.type, typeAck);
GET_HEADER_TYPE(hdr.type, type);
GET_TXINFO_PACKET_ID(hdr.txInfo, packetId);
GET_TXINFO_RTA(hdr.txInfo, rta);
assert(typeAck == TEST_TYPE_ACK);
assert(type == TEST_HEADER_TYPE);
assert(packetId == TEST_PACKET_ID);
assert(rta == TEST_RTA);
Protocol_init(obj);
/*buf[0] = CMD_READ_REG; //CMD*/
/*buf[1] = 0x2; //size*/
/*buf[2] = 0x40; //payload*/
/*buf[3] = 0x40; //payload*/
/*buf[4] = 0 - (buf[0] + buf[1] + buf[2] + buf[3]);*/
/*Protocol_parse_packet(obj, buf, response);*/
return status;
}
void init_protocol(SimStruct *S)
{
/* Open file descriptors.
*
* NOTE: This must be done /after/ the fork, or there'll be issues with
* the forked process. Likely, these things are inherited.
*/
hs_input_fd = open(hs_input_fifo, O_WRONLY);
hs_output_fd = open(hs_output_fifo, O_RDONLY);
if (hs_input_fd < 0 || hs_output_fd < 0) {
ssSetErrorStatus(S, "Error opening file descriptor.");
return;
}
//-- Init protocol struct and call handshake procedure ----------------//
protocol = Protocol_init(hs_input_fd, hs_output_fd);
if (protocol == NULL) {
ssPrintf("Protocol_init returned NULL pointer.\n");
ssSetErrorStatus (S, "Protocol_init: PROTOCOL_MEM_ERROR");
return;
}
switch(Protocol_handshake(protocol)) {
case PROTOCOL_MEM_ERROR:
free(protocol);
ssSetErrorStatus(S, "Protocol_handshake: PROTOCOL_MEM_ERROR");
return;
case MEM_ERROR:
free(protocol);
ssSetErrorStatus(S, "Protocol_handshake: MEM_ERROR");
return;
case PROTOCOL_ERROR:
free(protocol);
ssSetErrorStatus(S, "Protocol_handshake: PROTOCOL_ERROR");
return;
case PROTOCOL_SUCCESS:
default: ;
}
/* Set mask port labels.
* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*
* XXX NOTE:
* Decided on a fixed command size of 256 until I figure this out. If
* a 256-byte string is used the null-termination imposed by calloc
* will fail and we'll get a segfault.
* XXX
*/
const char *block_label = ssGetPath(S);
#ifdef MATLAB_MEX_FILE
/* This code adds labels to the model and prevents
* generated C code from compiling */
for (uint8_t i = 0; i < protocol->p_input_labels; i++) {
char *cmd = calloc(256, sizeof(char));
sprintf(cmd, "setMaskLabel('%s', '%s', %u, '%s', %u);",
block_label, protocol->p_input_labels_str[i], i + 1,
"input", i == 0);
mexEvalString(cmd);
free(cmd);
}
for (uint8_t i = 0; i < protocol->p_output_labels; i++) {
char *cmd = calloc(256, sizeof(char));
sprintf(cmd, "setMaskLabel('%s', '%s', %u, '%s', %u);",
block_label, protocol->p_output_labels_str[i], i + 1,
"output", 0);
mexEvalString(cmd);
free(cmd);
}
#endif
/* - Set up some intermediate storage (MATLAB crux).
* - Run the simulator one step (need some outputs to be ready since
* Simulink updates the model in a backwards order).
*
* TODO: Error handling for calloc
*/
intermediate = calloc(protocol->p_input_width, sizeof(double));
Protocol_send_data(protocol, intermediate);
sim_running = true;
}
