/* Registration function */ RT_MODEL_RA4_student_T *RA4_student(void) { /* Registration code */ /* initialize non-finites */ rt_InitInfAndNaN(sizeof(real_T)); /* initialize real-time model */ (void) memset((void *)RA4_student_M, 0, sizeof(RT_MODEL_RA4_student_T)); { /* Setup solver object */ rtsiSetSimTimeStepPtr(&RA4_student_M->solverInfo, &RA4_student_M->Timing.simTimeStep); rtsiSetTPtr(&RA4_student_M->solverInfo, &rtmGetTPtr(RA4_student_M)); rtsiSetStepSizePtr(&RA4_student_M->solverInfo, &RA4_student_M->Timing.stepSize0); rtsiSetErrorStatusPtr(&RA4_student_M->solverInfo, (&rtmGetErrorStatus (RA4_student_M))); rtsiSetRTModelPtr(&RA4_student_M->solverInfo, RA4_student_M); } rtsiSetSimTimeStep(&RA4_student_M->solverInfo, MAJOR_TIME_STEP); rtsiSetSolverName(&RA4_student_M->solverInfo,"FixedStepDiscrete"); RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo); /* Initialize timing info */ { int_T *mdlTsMap = RA4_student_M->Timing.sampleTimeTaskIDArray; mdlTsMap[0] = 0; mdlTsMap[1] = 1; RA4_student_M->Timing.sampleTimeTaskIDPtr = (&mdlTsMap[0]); RA4_student_M->Timing.sampleTimes = (&RA4_student_M-> Timing.sampleTimesArray[0]); RA4_student_M->Timing.offsetTimes = (&RA4_student_M-> Timing.offsetTimesArray[0]); /* task periods */ RA4_student_M->Timing.sampleTimes[0] = (0.0); RA4_student_M->Timing.sampleTimes[1] = (0.000244140625); /* task offsets */ RA4_student_M->Timing.offsetTimes[0] = (0.0); RA4_student_M->Timing.offsetTimes[1] = (0.0); } rtmSetTPtr(RA4_student_M, &RA4_student_M->Timing.tArray[0]); { int_T *mdlSampleHits = RA4_student_M->Timing.sampleHitArray; mdlSampleHits[0] = 1; mdlSampleHits[1] = 1; RA4_student_M->Timing.sampleHits = (&mdlSampleHits[0]); } rtmSetTFinal(RA4_student_M, 1000.0); RA4_student_M->Timing.stepSize0 = 0.000244140625; RA4_student_M->Timing.stepSize1 = 0.000244140625; /* Setup for data logging */ { static RTWLogInfo rt_DataLoggingInfo; rt_DataLoggingInfo.loggingInterval = NULL; RA4_student_M->rtwLogInfo = &rt_DataLoggingInfo; } /* Setup for data logging */ { rtliSetLogXSignalInfo(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogXSignalPtrs(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogT(RA4_student_M->rtwLogInfo, "tout"); rtliSetLogX(RA4_student_M->rtwLogInfo, ""); rtliSetLogXFinal(RA4_student_M->rtwLogInfo, ""); rtliSetLogVarNameModifier(RA4_student_M->rtwLogInfo, "rt_"); rtliSetLogFormat(RA4_student_M->rtwLogInfo, 0); rtliSetLogMaxRows(RA4_student_M->rtwLogInfo, 0); rtliSetLogDecimation(RA4_student_M->rtwLogInfo, 1); rtliSetLogY(RA4_student_M->rtwLogInfo, ""); rtliSetLogYSignalInfo(RA4_student_M->rtwLogInfo, (NULL)); rtliSetLogYSignalPtrs(RA4_student_M->rtwLogInfo, (NULL)); } /* External mode info */ RA4_student_M->Sizes.checksums[0] = (2785597085U); RA4_student_M->Sizes.checksums[1] = (79388889U); RA4_student_M->Sizes.checksums[2] = (3150282079U); RA4_student_M->Sizes.checksums[3] = (1201550713U); { static const sysRanDType rtAlwaysEnabled = SUBSYS_RAN_BC_ENABLE; static RTWExtModeInfo rt_ExtModeInfo; static const sysRanDType *systemRan[2]; RA4_student_M->extModeInfo = (&rt_ExtModeInfo); rteiSetSubSystemActiveVectorAddresses(&rt_ExtModeInfo, systemRan); systemRan[0] = &rtAlwaysEnabled; systemRan[1] = (sysRanDType *)&RA4_student_DW.Controller_SubsysRanBC; rteiSetModelMappingInfoPtr(RA4_student_M->extModeInfo, &RA4_student_M->SpecialInfo.mappingInfo); rteiSetChecksumsPtr(RA4_student_M->extModeInfo, RA4_student_M->Sizes.checksums); rteiSetTPtr(RA4_student_M->extModeInfo, rtmGetTPtr(RA4_student_M)); } RA4_student_M->solverInfoPtr = (&RA4_student_M->solverInfo); RA4_student_M->Timing.stepSize = (0.000244140625); rtsiSetFixedStepSize(&RA4_student_M->solverInfo, 0.000244140625); rtsiSetSolverMode(&RA4_student_M->solverInfo, SOLVER_MODE_SINGLETASKING); /* block I/O */ RA4_student_M->ModelData.blockIO = ((void *) &RA4_student_B); (void) memset(((void *) &RA4_student_B), 0, sizeof(B_RA4_student_T)); { RA4_student_B.UnitDelay2[0] = 0.0; RA4_student_B.UnitDelay2[1] = 0.0; RA4_student_B.UnitDelay2[2] = 0.0; RA4_student_B.UnitDelay1 = 0.0; RA4_student_B.RobotArm_sfcn_o1 = 0.0; RA4_student_B.RobotArm_sfcn_o2[0] = 0.0; RA4_student_B.RobotArm_sfcn_o2[1] = 0.0; RA4_student_B.RobotArm_sfcn_o2[2] = 0.0; RA4_student_B.RobotArm_sfcn_o4 = 0.0; RA4_student_B.Sum4 = 0.0; RA4_student_B.Sum5 = 0.0; RA4_student_B.Sum6 = 0.0; RA4_student_B.ReferenceSolenoid = 0.0; RA4_student_B.SFunction[0] = 0.0; RA4_student_B.SFunction[1] = 0.0; RA4_student_B.SFunction[2] = 0.0; RA4_student_B.SFunction[3] = 0.0; } /* parameters */ RA4_student_M->ModelData.defaultParam = ((real_T *)&RA4_student_P); /* states (dwork) */ RA4_student_M->ModelData.dwork = ((void *) &RA4_student_DW); (void) memset((void *)&RA4_student_DW, 0, sizeof(DW_RA4_student_T)); RA4_student_DW.UnitDelay2_DSTATE[0] = 0.0; RA4_student_DW.UnitDelay2_DSTATE[1] = 0.0; RA4_student_DW.UnitDelay2_DSTATE[2] = 0.0; RA4_student_DW.UnitDelay1_DSTATE = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK0 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK1 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK2 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK3 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK4 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK5 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK6 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK7 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK8 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK9 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK10 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK11 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK12 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK13 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK14 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK15 = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK16[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK16[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK17[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK17[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK18[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK19[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK20[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK20[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK21[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK22[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK23[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK23[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK24[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK24[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK25[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK26[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK27[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK27[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK28[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK29[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK30[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK30[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK31[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK31[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK32[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK33[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK34[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK34[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK35[3] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[0] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[1] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[2] = 0.0; RA4_student_DW.RobotArm_sfcn_DWORK36[3] = 0.0; /* data type transition information */ { static DataTypeTransInfo dtInfo; (void) memset((char_T *) &dtInfo, 0, sizeof(dtInfo)); RA4_student_M->SpecialInfo.mappingInfo = (&dtInfo); dtInfo.numDataTypes = 14; dtInfo.dataTypeSizes = &rtDataTypeSizes[0]; dtInfo.dataTypeNames = &rtDataTypeNames[0]; /* Block I/O transition table */ dtInfo.B = &rtBTransTable; /* Parameters transition table */ dtInfo.P = &rtPTransTable; } /* child S-Function registration */ { RTWSfcnInfo *sfcnInfo = &RA4_student_M->NonInlinedSFcns.sfcnInfo; RA4_student_M->sfcnInfo = (sfcnInfo); rtssSetErrorStatusPtr(sfcnInfo, (&rtmGetErrorStatus(RA4_student_M))); rtssSetNumRootSampTimesPtr(sfcnInfo, &RA4_student_M->Sizes.numSampTimes); RA4_student_M->NonInlinedSFcns.taskTimePtrs[0] = &(rtmGetTPtr(RA4_student_M) [0]); RA4_student_M->NonInlinedSFcns.taskTimePtrs[1] = &(rtmGetTPtr(RA4_student_M) [1]); rtssSetTPtrPtr(sfcnInfo,RA4_student_M->NonInlinedSFcns.taskTimePtrs); rtssSetTStartPtr(sfcnInfo, &rtmGetTStart(RA4_student_M)); rtssSetTFinalPtr(sfcnInfo, &rtmGetTFinal(RA4_student_M)); rtssSetTimeOfLastOutputPtr(sfcnInfo, &rtmGetTimeOfLastOutput(RA4_student_M)); rtssSetStepSizePtr(sfcnInfo, &RA4_student_M->Timing.stepSize); rtssSetStopRequestedPtr(sfcnInfo, &rtmGetStopRequested(RA4_student_M)); rtssSetDerivCacheNeedsResetPtr(sfcnInfo, &RA4_student_M->ModelData.derivCacheNeedsReset); rtssSetZCCacheNeedsResetPtr(sfcnInfo, &RA4_student_M->ModelData.zCCacheNeedsReset); rtssSetBlkStateChangePtr(sfcnInfo, &RA4_student_M->ModelData.blkStateChange); rtssSetSampleHitsPtr(sfcnInfo, &RA4_student_M->Timing.sampleHits); rtssSetPerTaskSampleHitsPtr(sfcnInfo, &RA4_student_M->Timing.perTaskSampleHits); rtssSetSimModePtr(sfcnInfo, &RA4_student_M->simMode); rtssSetSolverInfoPtr(sfcnInfo, &RA4_student_M->solverInfoPtr); } RA4_student_M->Sizes.numSFcns = (2); /* register each child */ { (void) memset((void *)&RA4_student_M->NonInlinedSFcns.childSFunctions[0], 0, 2*sizeof(SimStruct)); RA4_student_M->childSfunctions = (&RA4_student_M->NonInlinedSFcns.childSFunctionPtrs[0]); RA4_student_M->childSfunctions[0] = (&RA4_student_M->NonInlinedSFcns.childSFunctions[0]); RA4_student_M->childSfunctions[1] = (&RA4_student_M->NonInlinedSFcns.childSFunctions[1]); /* Level2 S-Function Block: RA4_student/<S6>/S-Function (sf_rt_scope) */ { SimStruct *rts = RA4_student_M->childSfunctions[0]; /* timing info */ time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnPeriod; time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnOffset; int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn0.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*1); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*1); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[0]); } ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[0]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[0]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[0]); ssSetPeriodicStatesInfo(rts, &RA4_student_M->NonInlinedSFcns.periodicStatesInfo[0]); } /* inputs */ { _ssSetNumInputPorts(rts, 1); ssSetPortInfoForInputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn0.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn0.UPtrs0; sfcnUPtrs[0] = (real_T*)&RA4_student_RGND; sfcnUPtrs[1] = (real_T*)&RA4_student_RGND; sfcnUPtrs[2] = (real_T*)&RA4_student_RGND; sfcnUPtrs[3] = (real_T*)&RA4_student_RGND; sfcnUPtrs[4] = (real_T*)&RA4_student_RGND; sfcnUPtrs[5] = (real_T*)&RA4_student_RGND; sfcnUPtrs[6] = (real_T*)&RA4_student_RGND; sfcnUPtrs[7] = (real_T*)&RA4_student_RGND; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 8); } } /* outputs */ { ssSetPortInfoForOutputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn0.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 1); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 4); ssSetOutputPortSignal(rts, 0, ((real_T *) RA4_student_B.SFunction)); } } /* path info */ ssSetModelName(rts, "S-Function"); ssSetPath(rts, "RA4_student/Controller/RTScope/S-Function"); ssSetRTModel(rts,RA4_student_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* parameters */ { mxArray **sfcnParams = (mxArray **) &RA4_student_M->NonInlinedSFcns.Sfcn0.params; ssSetSFcnParamsCount(rts, 1); ssSetSFcnParamsPtr(rts, &sfcnParams[0]); ssSetSFcnParam(rts, 0, (mxArray*)RA4_student_P.SFunction_P1_Size); } /* registration */ sf_rt_scope(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.0); ssSetOffsetTime(rts, 0, 0.0); sfcnTsMap[0] = 0; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); } /* RTW Generated Level2 S-Function Block: RA4_student/<S2>/Robot Arm_sfcn (Robot_sf) */ { SimStruct *rts = RA4_student_M->childSfunctions[1]; /* timing info */ time_T *sfcnPeriod = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnPeriod; time_T *sfcnOffset = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnOffset; int_T *sfcnTsMap = RA4_student_M->NonInlinedSFcns.Sfcn1.sfcnTsMap; (void) memset((void*)sfcnPeriod, 0, sizeof(time_T)*2); (void) memset((void*)sfcnOffset, 0, sizeof(time_T)*2); ssSetSampleTimePtr(rts, &sfcnPeriod[0]); ssSetOffsetTimePtr(rts, &sfcnOffset[0]); ssSetSampleTimeTaskIDPtr(rts, sfcnTsMap); /* Set up the mdlInfo pointer */ { ssSetBlkInfo2Ptr(rts, &RA4_student_M->NonInlinedSFcns.blkInfo2[1]); } ssSetRTWSfcnInfo(rts, RA4_student_M->sfcnInfo); /* Allocate memory of model methods 2 */ { ssSetModelMethods2(rts, &RA4_student_M->NonInlinedSFcns.methods2[1]); } /* Allocate memory of model methods 3 */ { ssSetModelMethods3(rts, &RA4_student_M->NonInlinedSFcns.methods3[1]); } /* Allocate memory for states auxilliary information */ { ssSetStatesInfo2(rts, &RA4_student_M->NonInlinedSFcns.statesInfo2[1]); ssSetPeriodicStatesInfo(rts, &RA4_student_M->NonInlinedSFcns.periodicStatesInfo[1]); } /* inputs */ { _ssSetNumInputPorts(rts, 2); ssSetPortInfoForInputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn1.inputPortInfo[0]); /* port 0 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs0; sfcnUPtrs[0] = RA4_student_B.UnitDelay2; sfcnUPtrs[1] = &RA4_student_B.UnitDelay2[1]; sfcnUPtrs[2] = &RA4_student_B.UnitDelay2[2]; ssSetInputPortSignalPtrs(rts, 0, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 0, 1); ssSetInputPortWidth(rts, 0, 3); } /* port 1 */ { real_T const **sfcnUPtrs = (real_T const **) &RA4_student_M->NonInlinedSFcns.Sfcn1.UPtrs1; sfcnUPtrs[0] = &RA4_student_B.UnitDelay1; ssSetInputPortSignalPtrs(rts, 1, (InputPtrsType)&sfcnUPtrs[0]); _ssSetInputPortNumDimensions(rts, 1, 1); ssSetInputPortWidth(rts, 1, 1); } } /* outputs */ { ssSetPortInfoForOutputs(rts, &RA4_student_M->NonInlinedSFcns.Sfcn1.outputPortInfo[0]); _ssSetNumOutputPorts(rts, 4); /* port 0 */ { _ssSetOutputPortNumDimensions(rts, 0, 1); ssSetOutputPortWidth(rts, 0, 1); ssSetOutputPortSignal(rts, 0, ((real_T *) &RA4_student_B.RobotArm_sfcn_o1)); } /* port 1 */ { _ssSetOutputPortNumDimensions(rts, 1, 1); ssSetOutputPortWidth(rts, 1, 3); ssSetOutputPortSignal(rts, 1, ((real_T *) RA4_student_B.RobotArm_sfcn_o2)); } /* port 2 */ { _ssSetOutputPortNumDimensions(rts, 2, 1); ssSetOutputPortWidth(rts, 2, 3); ssSetOutputPortSignal(rts, 2, ((boolean_T *) RA4_student_B.RobotArm_sfcn_o3)); } /* port 3 */ { _ssSetOutputPortNumDimensions(rts, 3, 1); ssSetOutputPortWidth(rts, 3, 1); ssSetOutputPortSignal(rts, 3, ((real_T *) &RA4_student_B.RobotArm_sfcn_o4)); } } /* path info */ ssSetModelName(rts, "Robot Arm_sfcn"); ssSetPath(rts, "RA4_student/Robot Arm1/Robot Arm_sfcn"); ssSetRTModel(rts,RA4_student_M); ssSetParentSS(rts, (NULL)); ssSetRootSS(rts, rts); ssSetVersion(rts, SIMSTRUCT_VERSION_LEVEL2); /* work vectors */ { struct _ssDWorkRecord *dWorkRecord = (struct _ssDWorkRecord *) &RA4_student_M->NonInlinedSFcns.Sfcn1.dWork; struct _ssDWorkAuxRecord *dWorkAuxRecord = (struct _ssDWorkAuxRecord *) &RA4_student_M->NonInlinedSFcns.Sfcn1.dWorkAux; ssSetSFcnDWork(rts, dWorkRecord); ssSetSFcnDWorkAux(rts, dWorkAuxRecord); _ssSetNumDWork(rts, 47); /* DWORK0 */ ssSetDWorkWidth(rts, 0, 1); ssSetDWorkDataType(rts, 0,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 0, 0); ssSetDWorkUsedAsDState(rts, 0, 1); ssSetDWork(rts, 0, &RA4_student_DW.RobotArm_sfcn_DWORK0); /* DWORK1 */ ssSetDWorkWidth(rts, 1, 1); ssSetDWorkDataType(rts, 1,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 1, 0); ssSetDWorkUsedAsDState(rts, 1, 1); ssSetDWork(rts, 1, &RA4_student_DW.RobotArm_sfcn_DWORK1); /* DWORK2 */ ssSetDWorkWidth(rts, 2, 1); ssSetDWorkDataType(rts, 2,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 2, 0); ssSetDWorkUsedAsDState(rts, 2, 1); ssSetDWork(rts, 2, &RA4_student_DW.RobotArm_sfcn_DWORK2); /* DWORK3 */ ssSetDWorkWidth(rts, 3, 1); ssSetDWorkDataType(rts, 3,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 3, 0); ssSetDWorkUsedAsDState(rts, 3, 1); ssSetDWork(rts, 3, &RA4_student_DW.RobotArm_sfcn_DWORK3); /* DWORK4 */ ssSetDWorkWidth(rts, 4, 1); ssSetDWorkDataType(rts, 4,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 4, 0); ssSetDWorkUsedAsDState(rts, 4, 1); ssSetDWork(rts, 4, &RA4_student_DW.RobotArm_sfcn_DWORK4); /* DWORK5 */ ssSetDWorkWidth(rts, 5, 1); ssSetDWorkDataType(rts, 5,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 5, 0); ssSetDWorkUsedAsDState(rts, 5, 1); ssSetDWork(rts, 5, &RA4_student_DW.RobotArm_sfcn_DWORK5); /* DWORK6 */ ssSetDWorkWidth(rts, 6, 1); ssSetDWorkDataType(rts, 6,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 6, 0); ssSetDWorkUsedAsDState(rts, 6, 1); ssSetDWork(rts, 6, &RA4_student_DW.RobotArm_sfcn_DWORK6); /* DWORK7 */ ssSetDWorkWidth(rts, 7, 1); ssSetDWorkDataType(rts, 7,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 7, 0); ssSetDWorkUsedAsDState(rts, 7, 1); ssSetDWork(rts, 7, &RA4_student_DW.RobotArm_sfcn_DWORK7); /* DWORK8 */ ssSetDWorkWidth(rts, 8, 1); ssSetDWorkDataType(rts, 8,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 8, 0); ssSetDWorkUsedAsDState(rts, 8, 1); ssSetDWork(rts, 8, &RA4_student_DW.RobotArm_sfcn_DWORK8); /* DWORK9 */ ssSetDWorkWidth(rts, 9, 1); ssSetDWorkDataType(rts, 9,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 9, 0); ssSetDWorkUsedAsDState(rts, 9, 1); ssSetDWork(rts, 9, &RA4_student_DW.RobotArm_sfcn_DWORK9); /* DWORK10 */ ssSetDWorkWidth(rts, 10, 1); ssSetDWorkDataType(rts, 10,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 10, 0); ssSetDWork(rts, 10, &RA4_student_DW.RobotArm_sfcn_DWORK10); /* DWORK11 */ ssSetDWorkWidth(rts, 11, 1); ssSetDWorkDataType(rts, 11,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 11, 0); ssSetDWork(rts, 11, &RA4_student_DW.RobotArm_sfcn_DWORK11); /* DWORK12 */ ssSetDWorkWidth(rts, 12, 1); ssSetDWorkDataType(rts, 12,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 12, 0); ssSetDWork(rts, 12, &RA4_student_DW.RobotArm_sfcn_DWORK12); /* DWORK13 */ ssSetDWorkWidth(rts, 13, 1); ssSetDWorkDataType(rts, 13,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 13, 0); ssSetDWork(rts, 13, &RA4_student_DW.RobotArm_sfcn_DWORK13); /* DWORK14 */ ssSetDWorkWidth(rts, 14, 1); ssSetDWorkDataType(rts, 14,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 14, 0); ssSetDWork(rts, 14, &RA4_student_DW.RobotArm_sfcn_DWORK14); /* DWORK15 */ ssSetDWorkWidth(rts, 15, 1); ssSetDWorkDataType(rts, 15,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 15, 0); ssSetDWork(rts, 15, &RA4_student_DW.RobotArm_sfcn_DWORK15); /* DWORK16 */ ssSetDWorkWidth(rts, 16, 2); ssSetDWorkDataType(rts, 16,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 16, 0); ssSetDWork(rts, 16, &RA4_student_DW.RobotArm_sfcn_DWORK16[0]); /* DWORK17 */ ssSetDWorkWidth(rts, 17, 2); ssSetDWorkDataType(rts, 17,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 17, 0); ssSetDWork(rts, 17, &RA4_student_DW.RobotArm_sfcn_DWORK17[0]); /* DWORK18 */ ssSetDWorkWidth(rts, 18, 4); ssSetDWorkDataType(rts, 18,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 18, 0); ssSetDWork(rts, 18, &RA4_student_DW.RobotArm_sfcn_DWORK18[0]); /* DWORK19 */ ssSetDWorkWidth(rts, 19, 4); ssSetDWorkDataType(rts, 19,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 19, 0); ssSetDWork(rts, 19, &RA4_student_DW.RobotArm_sfcn_DWORK19[0]); /* DWORK20 */ ssSetDWorkWidth(rts, 20, 2); ssSetDWorkDataType(rts, 20,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 20, 0); ssSetDWork(rts, 20, &RA4_student_DW.RobotArm_sfcn_DWORK20[0]); /* DWORK21 */ ssSetDWorkWidth(rts, 21, 4); ssSetDWorkDataType(rts, 21,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 21, 0); ssSetDWork(rts, 21, &RA4_student_DW.RobotArm_sfcn_DWORK21[0]); /* DWORK22 */ ssSetDWorkWidth(rts, 22, 4); ssSetDWorkDataType(rts, 22,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 22, 0); ssSetDWork(rts, 22, &RA4_student_DW.RobotArm_sfcn_DWORK22[0]); /* DWORK23 */ ssSetDWorkWidth(rts, 23, 2); ssSetDWorkDataType(rts, 23,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 23, 0); ssSetDWork(rts, 23, &RA4_student_DW.RobotArm_sfcn_DWORK23[0]); /* DWORK24 */ ssSetDWorkWidth(rts, 24, 2); ssSetDWorkDataType(rts, 24,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 24, 0); ssSetDWork(rts, 24, &RA4_student_DW.RobotArm_sfcn_DWORK24[0]); /* DWORK25 */ ssSetDWorkWidth(rts, 25, 4); ssSetDWorkDataType(rts, 25,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 25, 0); ssSetDWork(rts, 25, &RA4_student_DW.RobotArm_sfcn_DWORK25[0]); /* DWORK26 */ ssSetDWorkWidth(rts, 26, 4); ssSetDWorkDataType(rts, 26,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 26, 0); ssSetDWork(rts, 26, &RA4_student_DW.RobotArm_sfcn_DWORK26[0]); /* DWORK27 */ ssSetDWorkWidth(rts, 27, 2); ssSetDWorkDataType(rts, 27,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 27, 0); ssSetDWork(rts, 27, &RA4_student_DW.RobotArm_sfcn_DWORK27[0]); /* DWORK28 */ ssSetDWorkWidth(rts, 28, 4); ssSetDWorkDataType(rts, 28,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 28, 0); ssSetDWork(rts, 28, &RA4_student_DW.RobotArm_sfcn_DWORK28[0]); /* DWORK29 */ ssSetDWorkWidth(rts, 29, 4); ssSetDWorkDataType(rts, 29,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 29, 0); ssSetDWork(rts, 29, &RA4_student_DW.RobotArm_sfcn_DWORK29[0]); /* DWORK30 */ ssSetDWorkWidth(rts, 30, 2); ssSetDWorkDataType(rts, 30,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 30, 0); ssSetDWork(rts, 30, &RA4_student_DW.RobotArm_sfcn_DWORK30[0]); /* DWORK31 */ ssSetDWorkWidth(rts, 31, 2); ssSetDWorkDataType(rts, 31,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 31, 0); ssSetDWork(rts, 31, &RA4_student_DW.RobotArm_sfcn_DWORK31[0]); /* DWORK32 */ ssSetDWorkWidth(rts, 32, 4); ssSetDWorkDataType(rts, 32,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 32, 0); ssSetDWork(rts, 32, &RA4_student_DW.RobotArm_sfcn_DWORK32[0]); /* DWORK33 */ ssSetDWorkWidth(rts, 33, 4); ssSetDWorkDataType(rts, 33,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 33, 0); ssSetDWork(rts, 33, &RA4_student_DW.RobotArm_sfcn_DWORK33[0]); /* DWORK34 */ ssSetDWorkWidth(rts, 34, 2); ssSetDWorkDataType(rts, 34,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 34, 0); ssSetDWork(rts, 34, &RA4_student_DW.RobotArm_sfcn_DWORK34[0]); /* DWORK35 */ ssSetDWorkWidth(rts, 35, 4); ssSetDWorkDataType(rts, 35,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 35, 0); ssSetDWork(rts, 35, &RA4_student_DW.RobotArm_sfcn_DWORK35[0]); /* DWORK36 */ ssSetDWorkWidth(rts, 36, 4); ssSetDWorkDataType(rts, 36,SS_DOUBLE); ssSetDWorkComplexSignal(rts, 36, 0); ssSetDWork(rts, 36, &RA4_student_DW.RobotArm_sfcn_DWORK36[0]); /* DWORK37 */ ssSetDWorkWidth(rts, 37, 1); ssSetDWorkDataType(rts, 37,SS_INT32); ssSetDWorkComplexSignal(rts, 37, 0); ssSetDWork(rts, 37, &RA4_student_DW.RobotArm_sfcn_DWORK37); /* DWORK38 */ ssSetDWorkWidth(rts, 38, 1); ssSetDWorkDataType(rts, 38,SS_UINT16); ssSetDWorkComplexSignal(rts, 38, 0); ssSetDWork(rts, 38, &RA4_student_DW.RobotArm_sfcn_DWORK38); /* DWORK39 */ ssSetDWorkWidth(rts, 39, 1); ssSetDWorkDataType(rts, 39,SS_UINT16); ssSetDWorkComplexSignal(rts, 39, 0); ssSetDWork(rts, 39, &RA4_student_DW.RobotArm_sfcn_DWORK39); /* DWORK40 */ ssSetDWorkWidth(rts, 40, 1); ssSetDWorkDataType(rts, 40,SS_UINT16); ssSetDWorkComplexSignal(rts, 40, 0); ssSetDWork(rts, 40, &RA4_student_DW.RobotArm_sfcn_DWORK40); /* DWORK41 */ ssSetDWorkWidth(rts, 41, 1); ssSetDWorkDataType(rts, 41,SS_UINT8); ssSetDWorkComplexSignal(rts, 41, 0); ssSetDWork(rts, 41, &RA4_student_DW.RobotArm_sfcn_DWORK41); /* DWORK42 */ ssSetDWorkWidth(rts, 42, 1); ssSetDWorkDataType(rts, 42,SS_UINT8); ssSetDWorkComplexSignal(rts, 42, 0); ssSetDWork(rts, 42, &RA4_student_DW.RobotArm_sfcn_DWORK42); /* DWORK43 */ ssSetDWorkWidth(rts, 43, 1); ssSetDWorkDataType(rts, 43,SS_UINT8); ssSetDWorkComplexSignal(rts, 43, 0); ssSetDWork(rts, 43, &RA4_student_DW.RobotArm_sfcn_DWORK43); /* DWORK44 */ ssSetDWorkWidth(rts, 44, 1); ssSetDWorkDataType(rts, 44,SS_UINT8); ssSetDWorkComplexSignal(rts, 44, 0); ssSetDWork(rts, 44, &RA4_student_DW.RobotArm_sfcn_DWORK44); /* DWORK45 */ ssSetDWorkWidth(rts, 45, 1); ssSetDWorkDataType(rts, 45,SS_UINT8); ssSetDWorkComplexSignal(rts, 45, 0); ssSetDWork(rts, 45, &RA4_student_DW.RobotArm_sfcn_DWORK45); /* DWORK46 */ ssSetDWorkWidth(rts, 46, 1); ssSetDWorkDataType(rts, 46,SS_UINT8); ssSetDWorkComplexSignal(rts, 46, 0); ssSetDWork(rts, 46, &RA4_student_DW.RobotArm_sfcn_DWORK46); } /* registration */ Robot_sf(rts); sfcnInitializeSizes(rts); sfcnInitializeSampleTimes(rts); /* adjust sample time */ ssSetSampleTime(rts, 0, 0.0); ssSetOffsetTime(rts, 0, 0.0); ssSetSampleTime(rts, 1, 0.000244140625); ssSetOffsetTime(rts, 1, 0.0); sfcnTsMap[0] = 0; sfcnTsMap[1] = 1; /* set compiled values of dynamic vector attributes */ ssSetNumNonsampledZCs(rts, 0); /* Update connectivity flags for each port */ _ssSetInputPortConnected(rts, 0, 1); _ssSetInputPortConnected(rts, 1, 1); _ssSetOutputPortConnected(rts, 0, 1); _ssSetOutputPortConnected(rts, 1, 1); _ssSetOutputPortConnected(rts, 2, 1); _ssSetOutputPortConnected(rts, 3, 1); _ssSetOutputPortBeingMerged(rts, 0, 0); _ssSetOutputPortBeingMerged(rts, 1, 0); _ssSetOutputPortBeingMerged(rts, 2, 0); _ssSetOutputPortBeingMerged(rts, 3, 0); /* Update the BufferDstPort flags for each input port */ ssSetInputPortBufferDstPort(rts, 0, -1); ssSetInputPortBufferDstPort(rts, 1, -1); /* Instance data for generated S-Function: Robot */ #include "Robot_sfcn_rtw/Robot_sid.h" } } /* Initialize Sizes */ RA4_student_M->Sizes.numContStates = (0);/* Number of continuous states */ RA4_student_M->Sizes.numY = (0); /* Number of model outputs */ RA4_student_M->Sizes.numU = (0); /* Number of model inputs */ RA4_student_M->Sizes.sysDirFeedThru = (0);/* The model is not direct feedthrough */ RA4_student_M->Sizes.numSampTimes = (2);/* Number of sample times */ RA4_student_M->Sizes.numBlocks = (24);/* Number of blocks */ RA4_student_M->Sizes.numBlockIO = (11);/* Number of block outputs */ RA4_student_M->Sizes.numBlockPrms = (16);/* Sum of parameter "widths" */ return RA4_student_M; }
/* Function to initialize sizes. */ static void mdlInitializeSizes(SimStruct *S) { ssSetNumSampleTimes(S, 1); /* Number of sample times */ ssSetNumContStates(S, 0); /* Number of continuous states */ ssSetNumNonsampledZCs(S, 0); /* Number of nonsampled ZCs */ /* Number of output ports */ if (!ssSetNumOutputPorts(S, 1)) return; /* outport number: 0 */ if (!ssSetOutputPortVectorDimension(S, 0, 1)) return; if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetOutputPortDataType(S, 0, SS_DOUBLE); } ssSetOutputPortSampleTime(S, 0, 0.06); ssSetOutputPortOffsetTime(S, 0, 0.0); ssSetOutputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL); /* Number of input ports */ if (!ssSetNumInputPorts(S, 1)) return; /* inport number: 0 */ { if (!ssSetInputPortVectorDimension(S, 0, 1)) return; if (ssGetSimMode(S) != SS_SIMMODE_SIZES_CALL_ONLY) { ssSetInputPortDataType(S, 0, SS_DOUBLE); } ssSetInputPortDirectFeedThrough(S, 0, 1); ssSetInputPortSampleTime(S, 0, 0.06); ssSetInputPortOffsetTime(S, 0, 0.0); ssSetInputPortOverWritable(S, 0, 0); ssSetInputPortOptimOpts(S, 0, SS_NOT_REUSABLE_AND_GLOBAL); } ssSetRTWGeneratedSFcn(S, 1); /* Generated S-function */ /* DWork */ if (!ssSetNumDWork(S, 1)) { return; } /* '<S1>/LinearModel': DSTATE */ ssSetDWorkName(S, 0, "DWORK0"); ssSetDWorkWidth(S, 0, 1); ssSetDWorkUsedAsDState(S, 0, 1); /* Tunable Parameters */ ssSetNumSFcnParams(S, 0); /* Number of expected parameters */ #if defined(MATLAB_MEX_FILE) if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) { #if defined(MDL_CHECK_PARAMETERS) mdlCheckParameters(S); #endif /* MDL_CHECK_PARAMETERS */ if (ssGetErrorStatus(S) != (NULL) ) { return; } } else { return; /* Parameter mismatch will be reported by Simulink */ } #endif /* MATLAB_MEX_FILE */ /* Options */ ssSetOptions(S, (SS_OPTION_RUNTIME_EXCEPTION_FREE_CODE | SS_OPTION_PORT_SAMPLE_TIMES_ASSIGNED )); #if SS_SFCN_FOR_SIM { ssSupportsMultipleExecInstances(S, false); ssRegisterMsgForNotSupportingMultiExecInst(S, "<diag_root><diag id=\"Simulink:blocks:BlockDoesNotSupportMultiExecInstances\"><arguments><arg type=\"encoded\">SABhAG0AbQBlAHIAcwB0AGUAaQBuAC8ASABhAG0AbQBlAHIAcwB0AGUAaQBuAC0AVwBpAGUAbgBlAHIAIABNAG8AZABlAGwAMQAvAFAAdwBsAGkAbgBlAGEAcgAxAAAA</arg><arg type=\"encoded\">PABfAF8AaQBpAFMAUwBfAF8APgA8AC8AXwBfAGkAaQBTAFMAXwBfAD4AAAA=</arg><arg type=\"encoded\">PABfAF8AaQB0AGUAcgBCAGwAawBfAF8APgA8AC8AXwBfAGkAdABlAHIAQgBsAGsAXwBfAD4AAAA=</arg></arguments></diag>\n</diag_root>"); ssHasStateInsideForEachSS(S, false); } #endif }