Overview
Comment:Rates and outputs now update correctly. Debugging print statements removed.
'mtt rc sfun mexglx' creates a valid S-function "rc_sfun.mexglx" which
runs correctly in Simulink.
Algebraic solver code has not yet been added.
Inertial switches still don't work.
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Timelines: family | ancestors | descendants | both | origin/master | trunk
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SHA3-256: ae9b9270dd1fd16710731466aa3b3d818243a4c115701965b5df1dd6177c6a65
User & Date: geraint@users.sourceforge.net on 2002-05-10 15:50:53
Other Links: branch diff | manifest | tags
Context
2002-05-11
00:53:27
reinstated dependency on libncurses5-dev - liboctinterp needs it. check-in: 405fd5839c user: geraint@users.sourceforge.net tags: origin/master, trunk
2002-05-10
15:50:53
Rates and outputs now update correctly. Debugging print statements removed.
'mtt rc sfun mexglx' creates a valid S-function "rc_sfun.mexglx" which
runs correctly in Simulink.
Algebraic solver code has not yet been added.
Inertial switches still don't work. check-in: ae9b9270dd user: geraint@users.sourceforge.net tags: origin/master, trunk
15:18:29
static mxArrays and void update_ functions replace mxArray* get_ functions.
Rates still don't update, but simulation doesn't crash now. check-in: a89801b8c5 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
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Modified mttroot/mtt/lib/rep/sfun_rep/sfun.cc.tmpl from [012442f825] to [f8062baaba]. 

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// -*-c++-*-
// <mtt_model_name>_sfun.cc:
// Matlab S-function simulation of <mtt_model_name>

#define S_FUNCTION_NAME <mtt_model_name>_sfun
#define S_FUNCTION_LEVEL 2

#include "simstruc.h"
#include <iostream>
#include <string>
#include "<mtt_model_name>_def.h"

static mxArray *dX		= mxCreateDoubleMatrix (MTTNX	, 1, mxREAL);
static mxArray *P		= mxCreateDoubleMatrix (MTTNPAR	, 1, mxREAL);
static mxArray *T		= mxCreateDoubleMatrix (1	, 1, mxREAL);
static mxArray *U		= mxCreateDoubleMatrix (MTTNU	, 1, mxREAL);
static mxArray *X		= mxCreateDoubleMatrix (MTTNX	, 1, mxREAL);
static mxArray *Y		= mxCreateDoubleMatrix (MTTNY	, 1, mxREAL);

static double *inputs		= mxGetPr (U);
static double *outputs		= mxGetPr (Y);
static double *parameters	= mxGetPr (P);
static double *rates		= mxGetPr (dX);
static double *states		= mxGetPr (X);
static double *simtime		= mxGetPr (T);

void
update_parameters_from_simulink (SimStruct *S)
{
  std::cerr << "Parameters:\t";
  for (int i = 0; i < MTTNPAR; i++) {
    parameters [i] = *mxGetPr (ssGetSFcnParam (S, i));
    std::cerr << parameters [i] << ' ';
  }
  std::cerr << std::endl;
}

void
update_states_from_simulink (SimStruct *S)
{
  static double *x;
  std::cerr << "States:\t\t";
  x = ssGetContStates (S);
  for (int i = 0; i < MTTNX; i++) {
    states [i] = x [i];
    std::cerr << states [i] << ' ';
  }
  std::cerr << std::endl;
}

void
update_inputs_from_simulink (SimStruct *S)
{
  std::cerr << "Inputs:\t\t";
  for (int i = 0; i < MTTNU; i++) {
    inputs [i] = *ssGetInputPortRealSignalPtrs (S, i)[0];
    std::cerr << inputs [i] << ' ';
  }
  std::cerr << std::endl;
}

void
update_simtime_from_simulink (SimStruct *S)
{
  simtime [0] = ssGetT (S);
  std::cerr << "Time:\t\t" << simtime [0] << std::endl;
}

// S-function methods

static void mdlInitializeSizes(SimStruct *S)
{
    ssSetNumSFcnParams(S, MTTNPAR);
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  update_parameters_from_simulink (S);

  plhs[0] = X;  
  prhs[0] = P;
  
  mexCallMATLAB (1, plhs, 1, prhs, "<mtt_model_name>_state");  

  std::cerr << "Initial states;\t";
  for (int i = 0; i < MTTNX; i++) {
    ssGetContStates (S)[i] = states [i];
    std::cerr << states [i] << ' ';
  }
  std::cerr << std::endl;
}

static void mdlOutputs(SimStruct *S, int_T tid)
{
  static mxArray *plhs[1];
  static mxArray *prhs[4];

  update_states_from_simulink (S);
  update_inputs_from_simulink (S);
  update_simtime_from_simulink (S);
  update_parameters_from_simulink (S);

  plhs[0] = Y;
  prhs[0] = X;
  prhs[1] = U;
  prhs[2] = T;
  prhs[3] = P;
 
  UNUSED_ARG(tid); // not used in single tasking mode

  mexCallMATLAB (1, plhs, 4, prhs, "<mtt_model_name>_odeo");
  double *outputs = mxGetPr (plhs[0]);

  std::cerr << "Outputs:\t";
  for (int i = 0; i < MTTNY; i++) {
      ssGetOutputPortRealSignal (S,i)[0] = outputs [i];
      std::cerr << outputs [i] << ' ';
  }
  std::cerr << std::endl;
}

#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  static mxArray *plhs[1];
  static mxArray *prhs[4];

  update_states_from_simulink (S);
  update_inputs_from_simulink (S);
  update_simtime_from_simulink (S);
  update_parameters_from_simulink (S);

  plhs[0] = dX;
  prhs[0] = X;
  prhs[1] = U;
  prhs[2] = T;
  prhs[3] = P;

  mexCallMATLAB (1, plhs, 4, prhs, "<mtt_model_name>_ode");
  double *rates= mxGetPr (plhs[0]);

  
  std::cerr << "Rates:\t\t";
  for (int i = 0; i < MTTNX; i++) {
    ssGetdX (S)[i] = rates [i];
    std::cerr << rates [i] << ' ';
  }
  std::cerr << std::endl;
}

static void mdlTerminate(SimStruct *S)
{
    UNUSED_ARG(S);
}

#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

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