# Copyright (C) 2001 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
## Revision 1.350  2002/05/21 08:45:36  gawthrop
## DIY reps: no longer skips rep if file exists already.
## Avoids problems in rep.txt when options change
##
## Revision 1.349  2002/05/20 10:29:59  gawthrop
## -oct now forces an m target language to be oct
## (if the rep is an the list: "ae input logic numpar simpar state")
##
## Revision 1.348  2002/05/20 08:50:12  geraint
## Cleans _sfun_ae.mexglx.
##

  rm -f *_*_write.r *_simpar.m *_simpar.p
  rm -f *_cseo.oct *_input.oct *_simpar.oct *_smxax.oct
  rm -f *_csex.oct *_numpar.oct *_smxa.oct *_state.oct 
  rm -f *_ode.oct *_odeo.oct
  rm -f *_cseo.mexglx *_input.mexglx *_simpar.mexglx *_smxax.mexglx
  rm -f *_csex.mexglx *_numpar.mexglx *_smxa.mexglx *_state.mexglx 
  rm -f *_ode.mexglx *_odeo.mexglx
  rm -f *_sfun.mexglx *_sfun_ae.mexglx
  rm -f *_sfun.mexglx *_sfun_*.mexglx
  rm -f *_cseo.cc *_input.cc *_simpar.cc *_smxax.cc
  rm -f *_csex.cc *_numpar.cc *_smxa.cc *_state.cc 
  rm -f *_ode.cc *_odeo.cc
  rm -f *_logic.m *_logic.cc *_logic.oct
  rm -f *_state.m *_state.cc *_state.oct
  rm -f *_ode2odes.* *.dat2 MTT.core
  rm -f *_modpar.txt *_modpar.r

  rm -f $1_*_write.r $1_simpar.m $1_simpar.p
  rm -f $1_cseo.oct $1_input.oct $1_simpar.oct $1_smxax.oct
  rm -f $1_csex.oct $1_numpar.oct $1_smxa.oct $1_state.oct 
  rm -f $1_ode.oct $1_odeo.oct
  rm -f $1_cseo.mexglx $1_input.mexglx $1_simpar.mexglx $1_smxax.mexglx
  rm -f $1_csex.mexglx $1_numpar.mexglx $1_smxa.mexglx $1_state.mexglx 
  rm -f $1_ode.mexglx $1_odeo.mexglx
  rm -f $1_sfun.mexglx $1_sfun_ae.mexglx
  rm -f $1_sfun.mexglx $1_sfun_*.mexglx
  rm -f $1_cseo.cc $1_input.cc $1_simpar.cc $1_smxax.cc
  rm -f $1_csex.cc $1_numpar.cc $1_smxa.cc $1_state.cc 
  rm -f $1_ode.cc $1_odeo.cc
  rm -f $1_logic.m $1_logic.cc $1_logic.oct 
  rm -f $1_state.m $1_state.cc $1_state.oct
  rm -f $1_ode2odes.* $1.dat2
  rm -f $1_modpar.txt $1_modpar.r

#! /usr/bin/make -f

all: $(SYS)_sfun.mexglx

$(SYS)_sfun.mexglx: $(SYS)_sfun.c sfun_debug.h $(SYS)_def.h $(SYS)_sympar.h $(SYS)_numpar.c $(SYS)_ode.c $(SYS)_odeo.c $(SYS)_state.c $(SYS)_sfun_ae.mexglx $(SYS)_sfun_input.mexglx
$(SYS)_sfun.mexglx: $(SYS)_sfun.c sfun_debug.h $(SYS)_def.h $(SYS)_sympar.h $(SYS)_numpar.c $(SYS)_ode.c $(SYS)_odeo.c $(SYS)_state.c $(SYS)_sfun_ae.mexglx $(SYS)_sfun_input.mexglx $(SYS)_sfun_interface.mexglx
	echo Creating $@
	mex $(SYS)_sfun.c
	cp *_sfun*mexglx ..

$(SYS)_sfun.c:: ${MTT_REP}/sfun_rep/sfun.c.tmpl
	echo Creating $@
	cat $^ | sed 's/<mtt_model_name>/$(SYS)/g' > $@

	echo Creating $@
	mex $(SYS)_sfun_input.c

$(SYS)_sfun_input.c:: ${MTT_REP}/sfun_rep/sfun_input.c.tmpl
	echo Creating $@
	cat $^ | sed 's/<mtt_model_name>/$(SYS)/g' > $@

$(SYS)_sfun_interface.mexglx: $(SYS)_sfun_interface.c sfun_debug.h $(SYS)_def.h $(SYS)_sympar.h $(SYS)_numpar.c
	echo Creating $@
	mex $(SYS)_sfun_interface.c

$(SYS)_sfun_interface.c: ${MTT_REP}/sfun_rep/sfun_interface.c.tmpl $(SYS)_struc.c
	echo Creating $@
	cat ${MTT_REP}/sfun_rep/sfun_interface.c.tmpl	|\
	 sed 's/<mtt_model_name>/$(SYS)/g'		|\
	 ${MTT_REP}/sfun_rep/insert_file.sh > $@

$(SYS)_sfun.zip: $(SYS)_sfun.c sfun_debug.h $(SYS)_sfun_ae.c $(SYS)_sfun_input.c $(SYS)_def.h $(SYS)_sympar.h $(SYS)_ae.c $(SYS)_input.c $(SYS)_numpar.c $(SYS)_ode.c $(SYS)_odeo.c $(SYS)_state.c $(SYS).mdl README
$(SYS)_sfun.zip: $(SYS)_sfun.c sfun_debug.h $(SYS)_sfun_ae.c $(SYS)_sfun_input.c $(SYS)_sfun_interface.c \
	 $(SYS)_def.h $(SYS)_sympar.h \
	 $(SYS)_ae.c $(SYS)_input.c $(SYS)_numpar.c $(SYS)_ode.c $(SYS)_odeo.c $(SYS)_state.c \
	 $(SYS).mdl README
	echo Creating $@
	zip $@ $^

$(SYS).mdl: ${MTT_REP}/sfun_rep/mdl.tmpl
	echo Creating $@
	cat $^ | sed 's/<mtt_model_name>/$(SYS)/g' > $@

$(SYS)_odeo.c: $(SYS)_odeo.m
	echo Creating $@
	${MTT_CC}/mtt_m2cc.sh $(SYS) odeo c cat

$(SYS)_state.c: $(SYS)_state.m
	echo Creating $@
	${MTT_CC}/mtt_m2cc.sh $(SYS) state c cat

$(SYS)_struc.c: $(SYS)_struc.txt
	echo Creating $@
	gawk '\
($$1 == "input")  { printf "         double *%s\t= &(mttu[%d]);\t/* input and output */\n", $$4, $$2-1 }\
($$1 == "state")  { printf "   const double *%s\t= &(mttx[%d]);\t/* input */\n", $$4, $$2-1 }\
($$1 == "output") { printf "   const double *%s\t= &(mtty[%d]);\t/* input */\n", $$4, $$2-1 }\
($$1 != "input" && $$1 != "state" && $$1 != "output") { }\
	' $^ > $@

sfun_debug.h:: ${MTT_REP}/sfun_rep/sfun_debug.h
	echo Copying $@
	cp $^ $@

%::
	mtt -q $(OPTS) `echo $* | sed 's/\(.*\)_\(.*\)\.\(.*\)/\1 \2 \3/'`

To build a Simulink funtion of the <mtt_model_name> model without using MTT:

mex <mtt_model_name>_sfun.c

The input block can be created with:

mex <mtt_model_name>_sfun_input.c

If numerical solution of algebraic equations is also required:

mex <mtt_model_name>_sfun_ae.c

The interface block can be created with

mex <mtt_model_name>_sfun_interface.c

#! /usr/bin/gawk -f
# script to replace the line: "/* insert filename */" with the contents of file "filename"
($1 != "/*" || $2 != "insert" || $4 != "*/") { print }
($1 == "/*" && $2 == "insert" && $4 == "*/") { cmd = "cat " $3 ; system(cmd) }

Model {
  Name			  "generic"
  Name			  "<mtt_model_name>"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  LibraryLinkDisplay	  "all"
  WideLines		  off
  ShowLineDimensions	  off
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"

  BrowserLookUnderMasks	  off
  Created		  "Mon May 20 13:21:21 2002"
  Creator		  "geraint"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "geraint"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon May 20 15:53:00 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:4>"
  LastModifiedDate	  "Thu May 23 16:35:42 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:13>"
  ConfigurationManager	  "None"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"

  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "generic"
    Location		    [40, 379, 681, 493]
    Name		    "<mtt_model_name>"
    Location		    [51, 441, 346, 574]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      "S-Function"
      Name		      "MTT Model Inputs"
      BlockType		      Inport
      Name		      "In1"
      Position		      [25, 43, 55, 57]
      Port		      "1"
      LatchInput	      off
      DataType		      "double"
      SignalType	      "real"
      Interpolate	      on
    }
    Block {
      BlockType		      SubSystem
      Name		      "MTT Model\n<mtt_model_name>"
      Ports		      [1, 1]
      Position		      [30, 39, 205, 71]
      Position		      [100, 20, 140, 80]
      ForegroundColor	      "blue"
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      FunctionName	      "<mtt_model_name>_sfun_input"
      PortCounts	      "[]"
      SFunctionModules	      "''"
      Port {
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      System {
	PortNumber		1
	Name			"MTT  Model Inputs: MTTU"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
	Name			"MTT Model\n<mtt_model_name>"
	Location		[45, 448, 1008, 720]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
      }
    }
    Block {
      BlockType		      "S-Function"
      Name		      "MTT Plant Model"
	Block {
	  BlockType		  Inport
	  Name			  "In1"
      Ports		      [1, 2]
      Position		      [320, 36, 465, 74]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      FunctionName	      "<mtt_model_name>_sfun"
      PortCounts	      "[]"
      SFunctionModules	      "''"
      Port {
	PortNumber		1
	Name			"MTT Model States: MTTX"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		2
	Name			"MTT Model Outputs: MTTY"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [595, 49, 625, 81]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      Floating		      off
	  Position		  [590, 203, 620, 217]
	  Port			  "1"
	  LatchInput		  off
	  DataType		  "double"
	  SignalType		  "real"
	  Interpolate		  on
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "MTT Model Inputs"
	  Ports			  [1, 1]
	  Position		  [390, 59, 565, 91]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  FunctionName		  "<mtt_model_name>_sfun_input"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	  Port {
	    PortNumber		    1
	    Name		    "MTT  Model Inputs: MTTU"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "MTT Plant Model"
	  Ports			  [1, 2]
	  Position		  [65, 61, 250, 199]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  FunctionName		  "<mtt_model_name>_sfun"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	  Port {
	    PortNumber		    1
	    Name		    "MTT Model States: MTTX"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	  }
	  Port {
	    PortNumber		    2
	    Name		    "MTT Model Outputs: MTTY"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  Ports			  [4, 2]
	  Position		  [710, 47, 840, 238]
	  BackgroundColor	  "lightBlue"
	  DropShadow		  on
	  FunctionName		  "<mtt_model_name>_sfun_interface"
      Location		      [604, 136, 1156, 874]
      Open		      on
      NumInputPorts	      "1"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      List {
	ListType		SelectedSignals
	axes1			""
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "0"
      YMax		      "1"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Line {
      Name		      "MTT  Model Inputs: MTTU"
      Labels		      [0, 0]
      SrcBlock		      "MTT Model Inputs"
      SrcPort		      1
      DstBlock		      "MTT Plant Model"
      DstPort		      1
    }
    Line {
      Name		      "MTT Model States: MTTX"
      Labels		      [2, 0]
      SrcBlock		      "MTT Plant Model"
	}
	Block {
	  BlockType		  Outport
	  Name			  "Out1"
	  Position		  [905, 183, 935, 197]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  Name			  "MTT Model States: MTTX"
	  Labels		  [2, 0]
	  SrcBlock		  "MTT Plant Model"
	  SrcPort		  1
	  Points		  [0, 0; 105, 0]
	  Branch {
	    Points		    [0, -20]
	    DstBlock		    "MTT Model Inputs"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 25]
	    DstBlock		    "S-Function"
	    DstPort		    2
	  }
	}
	Line {
	  Name			  "MTT Model Outputs: MTTY"
	  Labels		  [1, 0]
	  SrcBlock		  "MTT Plant Model"
	  SrcPort		  2
	  DstBlock		  "S-Function"
	  DstPort		  3
	}
	Line {
	  Name			  "MTT  Model Inputs: MTTU"
	  Labels		  [1, 0]
	  SrcBlock		  "MTT Model Inputs"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [30, 0; 0, -70; -850, 0; 0, 105]
	  DstBlock		  "MTT Plant Model"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "In1"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "S-Function"
	  SrcPort		  2
	  DstBlock		  "Out1"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      Outport
      Name		      "Out1"
      Position		      [185, 43, 215, 57]
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Line {
      SrcBlock		      "MTT Model\n<mtt_model_name>"
      SrcPort		      1
      Points		      [0, -30; -455, 0]
      DstBlock		      "MTT Model Inputs"
      DstBlock		      "Out1"
      DstPort		      1
    }
    Line {
      Name		      "MTT Model Outputs: MTTY"
      Labels		      [-1, 0]
      SrcBlock		      "MTT Plant Model"
      SrcPort		      2
      DstBlock		      "Scope"
      SrcBlock		      "In1"
      SrcPort		      1
      DstBlock		      "MTT Model\n<mtt_model_name>"
      DstPort		      1
    }
  }
}

/* -*-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 <stdio.h>
#include <stdlib.h>
#include "simstruc.h"
#include "sfun_debug.h"
#include "<mtt_model_name>_def.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>_sympar.h"
#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