int main(int argn, char** argv){
init_xenomai();
// rt_printf("initialized.\n");
// rt_printf("starting up...\n");
startup();
rt_printf("waiting Ctrl+C\n");
wait_for_ctrl_c();
rt_printf("closing...\n");
cleanup();
return 0;
}
int main(int argc, char* argv[])
{
// code to set things to run xenomai
init_xenomai();
//startup code
startup();
printf("pause\n");
pause();
}
int main(int argc, char* argv[])
{
printf("\nType CTRL-C to end this program\n\n" );
// code to set things to run xenomai
init_xenomai();
//startup code
startup();
pause();
}
int main(int argc, char* argv[])
{
printf("\n Press Ctrl+c to quit\n\n");
init_xenomai();
startup();
wait_for_ctrl_c();
cleanup();
printf("\n Ending program!\n\n");
}
int main(int argc, char* argv[])
{
printf("\nType CTRL-C to end this program\n\n" );
// code to set things to run xenomai
init_xenomai();
setupLPT1();
//startup code
startup();
// wait for CTRL-c is typed to end the program
pause();
tearDownLPT1();
}
int main(int argc, char* argv[])
{
printf("\n Press Ctrl+c to quit\n\n");
double timeD;
time_t begin, end;
init_xenomai();
startup();
begin = time(NULL);
while(timeD < 3){
end = time(NULL);
timeD = (end - begin);
}
//wait_for_ctrl_c();
flagStop = 1;
cleanup();
printf("\n Ending program!\n\n");
}
/**
* This function is called when the control program is loaded to zenom.
* Use this function to register control parameters, to register log variables
* and to initialize control parameters.
*
* @return Return non-zero to indicate an error.
*/
int ZenomMatlab::initialize()
{
int paramIdx, sigIdx;
int nBlockParams, nSignals;
const char* status;
// İsmi gözükmeyen parametrelerin sayısını tutar.
unknown_param_counter = 0;
/* Here is where Q8 dirver is loaded to kernel space */
//system(STR(sudo insmod DQ8));
fd = rt_dev_open(DEV_NAME, O_RDWR);
if(fd < 0)
fprintf(stderr, "target:Q8 device open error!\n");
init_xenomai();
rtM = MODEL();
if (rtmGetErrorStatus(rtM) != NULL) {
(void)fprintf(stderr,"Error during model registration: %s\n",
rtmGetErrorStatus(rtM));
exit(EXIT_FAILURE);
}
MdlInitializeSizes();
MdlInitializeSampleTimes();
status = rt_SimInitTimingEngine(rtmGetNumSampleTimes(rtM),
rtmGetStepSize(rtM),
rtmGetSampleTimePtr(rtM),
rtmGetOffsetTimePtr(rtM),
rtmGetSampleHitPtr(rtM),
rtmGetSampleTimeTaskIDPtr(rtM),
rtmGetTStart(rtM),
&rtmGetSimTimeStep(rtM),
&rtmGetTimingData(rtM));
if (status != NULL) {
(void)fprintf(stderr, "Failed to initialize sample time engine: %s\n", status);
exit(EXIT_FAILURE);
}
rt_CreateIntegrationData(rtM);
mmi = &(rtmGetDataMapInfo(rtM).mmi);
if (mmi!=NULL){
//exception here
}
bp = rtwCAPI_GetBlockParameters(mmi);
sig = rtwCAPI_GetSignals(mmi);
nBlockParams = rtwCAPI_GetNumBlockParameters(mmi);
nSignals = rtwCAPI_GetNumSignals(mmi);
xrtpi = new XrtTargetParamInfo[nBlockParams];
xtsi = new XrtTargetSignalInfo[nSignals];
/** Get parameter and register */
Xrt_GetParameterInfo(mmi);
Xrt_GetSignalInfo(mmi);
/**************** ZENOM PART ***************/
for(paramIdx = 0; paramIdx < rtwCAPI_GetNumBlockParameters(mmi); paramIdx++){
std::string paramName(xrtpi[paramIdx].paramName);
std::string blockName(xrtpi[paramIdx].blockName);
if(paramName.empty()){
paramName = std::string("unknownBlock");
}
for (std::size_t found = paramName.find_first_of(" ");
found != std::string::npos ;
found = paramName.find_first_of(" "))
{
paramName.erase (found);
}
for (std::size_t found = blockName.find_first_of(" ");
found != std::string::npos ;
found = blockName.find_first_of(" "))
{
blockName.erase (found);
}
paramName = blockName + "-" + paramName;
registerControlVariable( xrtpi[paramIdx].dataValue,
paramName,
xrtpi[paramIdx].numRows,
xrtpi[paramIdx].numColumns );
}
for (sigIdx = 0; sigIdx < rtwCAPI_GetNumSignals(mmi); ++sigIdx){
std::string sigName(xtsi[sigIdx].signalName);
if(sigName.empty()){
sigName = std::string("unknownSignal");
sigName += unknown_param_counter;
}
for (std::size_t found = sigName.find_first_of(" ");
found != std::string::npos ;
found = sigName.find_first_of(" "))
{
sigName.erase (found);
}
registerLogVariable(xtsi[sigIdx].dataValue,
sigName,
xtsi[sigIdx].numRows,
xtsi[sigIdx].numColumns);
}
setFrequency( (double)rtmGetStepSize(rtM) );
setDuration ( (double)rtmGetTFinal(rtM) );
fprintf(stderr, "init done!");
return 0;
}
