Artifact eed06738330547833105a3c711377b30fb29c128dfbafc376749a0100739b125:

• File mttroot/mtt/lib/rep/sfun_rep/sfun_interface.c.tmpl — part of check-in [0463689b2b] at 2002-05-27 14:48:34 on branch origin/master — Inclusion of sympar.h moved to top of file for consistency with other templates.

  states and outputs prepended with an underscore to prevent conflicts when
  inputs and outputs have the same names. (user: geraint@users.sourceforge.net, size: 5622) [annotate] [blame] [check-ins using] [more...]

/* -*-c-*-	Put emacs into c-mode
 * <mtt_model_name>_sfun_interface.c:
 * Matlab S-function to process inputs and outputs of <mtt_model_name>
 */


#define S_FUNCTION_NAME <mtt_model_name>_sfun_interface
#define S_FUNCTION_LEVEL 2

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include "simstruc.h"
#include "sfun_debug.h"
#include "<mtt_model_name>_def.h"
#include "<mtt_model_name>_sympar.h"

static double *mttu;		/* pointer to inputs */
static double *mttpar;		/* pointer to parameters */
static double *mttx;		/* pointer to states */
static double *mtty;		/* pointer to outputs */
static double  mttt;		/* time */

static double *controller_inputs;
static double *controller_outputs;

static unsigned int i;		/* loop counter */

/* Start EDIT */
/* Edit this block to define the number of controller inputs, outputs and parameters */
const int NumberOfControllerInputs	= 1; /* inputs TO controller */
const int NumberOfControllerOutputs	= 1; /* outputs FROM controller */
/* End EDIT */

static void
<mtt_model_name>_process_inputs (void)
{
  /* insert <mtt_model_name>_struc.c */

  /* Start EDIT */
  /* Edit this block to process the model inputs and outputs */
  
  /* Remove the following line */
  fprintf (stderr, "*** Error: <mtt_model_name>_sfun_interface.c has not been customised!\n"); return;

  /* simple example follows */

  /* Get total of all outputs and input to controller */
  controller_inputs[0] = 0.0;
  for (i = 0; i < MTTNY; i++) {
    controller_inputs[0] += mtty[i];
  }

  /* overwrite first model input with output from controller */
  mttu[0] = controller_outputs[0];

  /* End EDIT */
}


/******************************************************************************
 *                DO NOT EDIT ANYTHING BELOW THIS LINE                        *
 ******************************************************************************/

/* system equations */

static void
<mtt_model_name>_numpar (void)
{
#include "<mtt_model_name>_numpar.c"
  PRINT_LEAVE;
}

/* utility procedures */

static double *
array_of_double (size_t n)
{
  void *p = calloc (n, sizeof (double));
  if (! p) {
    fprintf (stderr, "*** Error: failed to allocate memory\n");
  }
  return (double *) p;
}

static void
initialise_arrays (void)
{
  PRINT_ENTER;

  mttpar	= array_of_double (MTTNPAR);
  mttu		= array_of_double (MTTNU + MTTNYZ);
  mttx		= array_of_double (MTTNX);
  mtty		= array_of_double (MTTNY);

  controller_inputs	= array_of_double (NumberOfControllerInputs);
  controller_outputs	= array_of_double (NumberOfControllerOutputs);

  PRINT_LEAVE;
}

static void
update_inputs_from_simulink (SimStruct *S)
{
  PRINT_ENTER;
  for (i = 0; i < MTTNU; i++) {
    mttu[i] = *ssGetInputPortRealSignalPtrs (S, 0)[i];
  }
  for (i = 0; i < MTTNX; i++) {
    mttx[i] = *ssGetInputPortRealSignalPtrs (S, 1)[i];
  }
  for (i = 0; i < MTTNY; i++) {
    mtty[i] = *ssGetInputPortRealSignalPtrs (S, 2)[i];
  }
  for (i = 0; i < NumberOfControllerOutputs; i++) {
    controller_outputs[i] = *ssGetInputPortRealSignalPtrs (S, 3)[i];
  }
  PRINT_LEAVE;
}

static void
update_simtime_from_simulink (SimStruct *S)
{
  PRINT_ENTER;
  mttt = ssGetT (S);
  PRINT_LEAVE;
}

/* S-function methods */

static void mdlInitializeSizes(SimStruct *S)
{
  PRINT_ENTER;

  ssSetNumSFcnParams(S, 0); 
  if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
    PRINT_LEAVE;
    return;
  }
  
  ssSetNumContStates(S, 0);
  ssSetNumDiscStates(S, 0);
  
  if (!ssSetNumInputPorts(S, 4)) return;
  ssSetInputPortWidth(S, 0, MTTNU);
  ssSetInputPortWidth(S, 1, MTTNX);
  ssSetInputPortWidth(S, 2, MTTNY);
  ssSetInputPortWidth(S, 3, NumberOfControllerOutputs);	/* inputs from controller */
  ssSetInputPortDirectFeedThrough(S, 0, 1);
  ssSetInputPortDirectFeedThrough(S, 1, 1);
  ssSetInputPortDirectFeedThrough(S, 2, 1);
  ssSetInputPortDirectFeedThrough(S, 3, 1);
    
  if (!ssSetNumOutputPorts(S, 2)) return;
  ssSetOutputPortWidth(S, 0, MTTNU); /* altered inputs */
  ssSetOutputPortWidth(S, 1, NumberOfControllerInputs); /* outputs to controller */
    
  ssSetNumSampleTimes(S, 1);
  ssSetNumRWork(S, 0);
  ssSetNumIWork(S, 0);
  ssSetNumPWork(S, 0);
  ssSetNumModes(S, 0);
  ssSetNumNonsampledZCs(S, 0);
  
  ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
  
  initialise_arrays ();

  PRINT_LEAVE;
}

static void mdlInitializeSampleTimes(SimStruct *S)
{
  PRINT_ENTER;
  ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
  ssSetOffsetTime(S, 0, 0.0);
  PRINT_LEAVE;
}

#define MDL_INITIALIZE_CONDITIONS
static void mdlInitializeConditions(SimStruct *S)
{
  PRINT_ENTER;
  <mtt_model_name>_numpar ();
  PRINT_LEAVE;
}

static void mdlOutputs(SimStruct *S, int_T tid)
{
  PRINT_ENTER;

  update_inputs_from_simulink (S);
  update_simtime_from_simulink (S);

  <mtt_model_name>_process_inputs ();

  UNUSED_ARG(tid); /* not used in single tasking mode */

  for (i = 0; i < MTTNU; i++) {
    ssGetOutputPortRealSignal (S, 0)[i] = mttu[i];
  }
  
  for (i = 0; i < NumberOfControllerInputs; i++) {
    ssGetOutputPortRealSignal (S, 1)[i] = controller_inputs[i];
  }

  PRINT_LEAVE;
}

#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  PRINT_ENTER;
  PRINT_LEAVE;
}

static void mdlTerminate(SimStruct *S)
{
  PRINT_ENTER;

  UNUSED_ARG(S);

  free (mttpar);
  free (mttu);
  free (mttx);
  free (mtty);

  free (controller_inputs);
  free (controller_outputs);

  PRINT_LEAVE;
}

#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif