Overview
Comment:Code for Simulink S-function target written direct to sfun.cc instead of
calling .mexglx files. This eliminates the sfun dependency on Octave
ColumnVectors. sys_sfun.cc should build directly on a MS Windows machine
(can't test this yet).

added sfun.zip target to create source code to export.

Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: d60ad9b171d62145110c8baf3fb9ec79617e47bd9037c1c6d416e53dc2482247
User & Date: geraint@users.sourceforge.net on 2002-05-15 14:22:26
Other Links: branch diff | manifest | tags
Context
2002-05-15
16:32:35
Now notices changes in numpar state input and simpar check-in: 117a204ebb user: gawthrop@users.sourceforge.net tags: origin/master, trunk
14:22:26
Code for Simulink S-function target written direct to sfun.cc instead of
calling .mexglx files. This eliminates the sfun dependency on Octave
ColumnVectors. sys_sfun.cc should build directly on a MS Windows machine
(can't test this yet).

added sfun.zip target to create source code to export. check-in: d60ad9b171 user: geraint@users.sourceforge.net tags: origin/master, trunk

11:01:24
New PI controller component check-in: d2e6dc7890 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Side-by-Side Diffs Ignore Whitespace Patch

Modified mttroot/mtt/bin/mtt from [2e04af1961] to [af644c2eee].

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# Copyright (C) 2001 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
## Revision 1.344  2002/05/11 01:14:17  geraint
## Fix for [ 553218 ] simpar.oct and simpar.m different.
## Translation added between ColumnVector in base .cc and Octave_map in .oct.
##
## Revision 1.343  2002/05/10 14:07:16  geraint
## Preserve .cc files.
##
## Revision 1.342  2002/05/10 13:24:58  geraint
## Added initial support for building Simulink S-functions.
## Rates do not update properly yet.
## Inertial switches do not work yet.
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	${MTT_MATLAB_FLAGS} -DCODEGENTARGET=MATLABMEX \
	${MTT_CXXINCS} ${MTT_CXXLIBS} ${MTT_CXXFLAGS} mtt_kpathsea.cc mtt_matlab_octave.cc

## .cc files
.PRECIOUS: %.cc # Don't let mtt delete them
.PRECIOUS: $1_%.cc # Don't let mtt delete them
$1_%.cc:  $1_%.m
	mtt_m2cc.sh  $1 \$* cat 
	mtt_m2cc.sh  $1 \$* cc cat 

mtt_%.cc: ${MTT_LIB}/cc/mtt_%.cc
	cp ${MTT_LIB}/cc/mtt_\$*.cc mtt_\$*.cc

mtt_%.hh: ${MTT_LIB}/cc/mtt_%.hh
	cp ${MTT_LIB}/cc/mtt_\$*.hh mtt_\$*.hh
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Modified mttroot/mtt/bin/trans/mtt_header from [83d0d37bdc] to [c5cc8a3a52].

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# Copyright (C) 2000 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.49  2002/05/11 01:14:17  geraint
## Fix for [ 553218 ] simpar.oct and simpar.m different.
## Translation added between ColumnVector in base .cc and Octave_map in .oct.
##
## Revision 1.48  2002/05/08 14:51:03  geraint
## Moved matlab/octave data type conversion functions to a separate file.
##
## Revision 1.47  2002/05/07 23:50:34  geraint
## Preliminary support for Matlab dynamically linked shared objects:
## invoke with: mtt -cc sys rep mexglx
## ode2odes support is not yet included.
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        declarestates=no
        declareinputs=no
	declareswitches=no
	;;
    oct)
	modeline="// -*-c++-*- Put Emacs into c++-mode";
	Lc='//';
	Lb='(';
	Rb=')';
	oct_header=yes;
        constant_declaration="const double "
        var_declaration="double "
	minusone="-1"
	map="_map"
        declaredummies=yes
	;;
    sfun)
	modeline="// -*-c++-*- Put Emacs into c++-mode";
	Lc='//'
	Rc=''
	Lb='['
	Rb=']'
	start="## BEGIN Code"
	finish="## END Code"
	constant_declaration="const double "
	var_declaration="double "
	minusone="-1"
	;;
    *)
	echo Language $language not supported - sorry; exit 1
esac

if [ "$rep" = "simpar" ]; then
   output=${output}${map}    # Output is simpar_map in this case
fi
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{
# Parameters
if [ "$parameters" = "yes" ]; then
cat <<EOF

$Lc Parameters $Rc
EOF
sympar2par_txt2m ${system} ""  "$var_declaration" "$minusone"
sympar2par_txt2m ${system} ""  "$var_declaration" "$minusone" "$Lb" "$Rb"
fi

# States
if [ "$states" = "yes" ]; then
cat <<EOF

$Lc States $Rc
EOF
N=`n2m 1 $Nx`
for i in $N; do
    echo $constant_declaration 'mttx'$i' = mttx('$i$minusone');'
    echo $constant_declaration 'mttx'$i' = mttx'$Lb$i$minusone$Rb ';'
done
fi

if [ "$declarestates" = "yes" ]; then
  declare_vars state
fi

# Inputs
if [ "$inputs" = "yes" ]; then
cat <<EOF

$Lc Inputs $Rc
EOF

N=`n2m 1 $Nu`
for i in $N; do
  echo $constant_declaration 'mttu'$i' = mttu('$i$minusone');'
  echo $constant_declaration 'mttu'$i' = mttu'$Lb$i$minusone$Rb';'
done
cat <<EOF

$Lc Unknown Inputs $Rc
EOF

Ni=`n2m 1 $Nyz`
for i in $Ni; do
  echo $constant_declaration 'mttui'$i' = mttu('$Nu+$i$minusone');'
  echo $constant_declaration 'mttui'$i' = mttu'$Lb$Nu+$i$minusone$Rb';'
done
fi

if [ "$declareinputs" = "yes" ]; then
  declare_vars input
fi
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Modified mttroot/mtt/bin/trans/sympar2par_txt2m from [c3e5676656] to [ea07b68f51]. 

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#! /bin/sh

     ###################################### 
     ##### Model Transformation Tools #####
     ######################################

# Bourne shell script: sympar2par_txt2m

# Symbolic parameters parameter conversion
# Used in lang_header
# Copyright (C) 2000 by Peter J. Gawthrop

Lb=${5:-'('}
Rb=${6:-')'}

case $2 in
    zero)
	  strip_comments <$1_sympar.txt  |\
          gawk '{
          i++; printf("  %s %s = 0.0;\n",  tolower($1));
          }' 
	;;
    set)
	  strip_comments <$1_sympar.txt  |\
         gawk '{
           i++; printf("  %s mttpar(%i) \t= %s;\n", i, tolower($1));
         }' 
        ;;
    *)
         strip_comments <$1_sympar.txt  |\
         gawk '{
           i++; printf("  %s %s \t= mttpar(%i%s);\n", decl, tolower($1), i, minusone);
         }' decl="$3" minusone="$4"
           i++; printf("  %s %s \t= mttpar%c%i%s%c;\n", decl, tolower($1), Lb, i, minusone, Rb);
         }' decl="$3" minusone="$4" Lb=$Lb Rb=$Rb
	;;
esac

Modified mttroot/mtt/cc/def_m2h.sh from [78c95b87eb] to [8879414d17]. 

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#! /bin/sh
# $Id$
# $Log$
# Revision 1.2  2002/04/28 18:58:06  geraint
# Fixed [ 549658 ] awk should be gawk.
# Replaced calls to awk with call to gawk.
#
# Revision 1.1  2000/12/28 09:46:05  peterg
# put under RCS
#
# Revision 1.3  2000/12/05 12:13:52  peterg
# Changed function name to name()
#
# Revision 1.2  2000/12/04 12:04:46  peterg
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get_array_size ()
{
vec=$1
gawk -v vec=${vec} '($1 == vec && $2 == "=") { print $3 }' | sed s/\;//
}

 echo "// ${SYS}_def.h, generated by MTT on `date`"			>  ${OUT}
 echo "/* ${SYS}_def.h, generated by MTT on `date` */"			>  ${OUT}
 echo ""								>> ${OUT}
 echo "const int MTTNU   = `cat ${IN} | get_array_size nu`;"		>> ${OUT}
 echo "const int MTTNX   = `cat ${IN} | get_array_size nx`;"		>> ${OUT}
 echo "const int MTTNY   = `cat ${IN} | get_array_size ny`;"		>> ${OUT}
 echo "const int MTTNZ   = `cat ${IN} | get_array_size nz`;"		>> ${OUT}
 echo "const int MTTNYZ  = `cat ${IN} | get_array_size nyz`;"		>> ${OUT}
 echo "const int MTTNPAR = `wc -l ${SYM} | gawk '{ print $1 }'`;"      	>> ${OUT}

cat <<EOF >> ${OUT}

// typedefs won't work because it is illegal to initialise ColumnVector in typedef
// use "ColumnVector mttx (MTTNX);" until the proper classes are ready


#if 0 // NB: These classes are not ready for use yet!
class InputVector : public ColumnVector
{
public:
  InputVector (void) : ColumnVector (MTTNU) { ; }
};
class StateVector : public ColumnVector
{
public:
  StateVector (void) : ColumnVector (MTTNX) { ; }
};
class OutputVector : public ColumnVector
{
public:
  OutputVector (void) : ColumnVector (MTTNY) { ; }
};
class ParameterVector : public ColumnVector
{
public:
  ParameterVector (void) : ColumnVector (MTTNPAR) { ; }
};
class StateMatrix : public Matrix
{
public:
  StateMatrix (void) : Matrix (MTTNX, MTTNX) { ; }
};
#endif

EOF

Modified mttroot/mtt/cc/mtt_m2cc.sh from [d5b350ce6a] to [7e5ae6afba]. 

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#! /bin/sh

SYS=$1
REP=$2
TARGET=${3:-cc}
PARSER=${3:-indent}
PARSER=${4:-indent}

IN=${SYS}_${REP}.m
OUT=${SYS}_${REP}.cc
OUT=${SYS}_${REP}.${TARGET}
TMP=${SYS}_${REP}_m2cc.tmp

rep_declarations ()
{
(case ${REP} in
    simpar)
	cat <<EOF
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};

decrement_indices ()
{    
    # first section appends '-1' to container indices
    # to convert from FORTRAN-type numbering to C-type numbering
    sed 's/mtta(\([0-9][0-9]*\),\([0-9][0-9]*\))/mtta(\1-1,\2-1)/g'	|\
    sed 's/mttax(\([0-9][0-9]*\))/mttax(\1-1)/g'			|\
    sed 's/mttdx(\([0-9][0-9]*\))/mttdx(\1-1)/g'			|\
    sed 's/mttedx(\([0-9][0-9]*\))/mttedx(\1-1)/g'			|\
    sed 's/mttpar(\([0-9][0-9]*\))/mttpar(\1-1)/g'			|\
    sed 's/mttu(\([0-9][0-9]*\))/mttu(\1-1)/g'				|\
    sed 's/mttx(\([0-9][0-9]*\))/mttx(\1-1)/g'				|\
    sed 's/mtty(\([0-9][0-9]*\))/mtty(\1-1)/g'				|\
    sed 's/mttyz(\([0-9][0-9]*\))/mttyz(\1-1)/g'			|\
    sed 's/mttz(\([0-9][0-9]*\))/mttz(\1-1)/g'				|\
    sed 's/mttopen(\([0-9][0-9]*\))/mttopen(\1-1)/g'				|\
    sed 's/mtta(\([0-9][0-9]*\),\([0-9][0-9]*\))/mtta[\1-1,\2-1]/g'	|\
    sed 's/mttax(\([0-9][0-9]*\))/mttax[\1-1]/g'			|\
    sed 's/mttdx(\([0-9][0-9]*\))/mttdx[\1-1]/g'			|\
    sed 's/mttedx(\([0-9][0-9]*\))/mttedx[\1-1]/g'			|\
    sed 's/mttpar(\([0-9][0-9]*\))/mttpar[\1-1]/g'			|\
    sed 's/mttu(\([0-9][0-9]*\))/mttu[\1-1]/g'				|\
    sed 's/mttx(\([0-9][0-9]*\))/mttx[\1-1]/g'				|\
    sed 's/mtty(\([0-9][0-9]*\))/mtty[\1-1]/g'				|\
    sed 's/mttyz(\([0-9][0-9]*\))/mttyz[\1-1]/g'			|\
    sed 's/mttz(\([0-9][0-9]*\))/mttz[\1-1]/g'				|\
    sed 's/mttopen(\([0-9][0-9]*\))/mttopen[\1-1]/g'				|\
									 \
    # next sections tidy the code up a bit, but are not necessary
    sed 's/1\-1\([\,\)]\)/0\1/g'       			       		|\
    sed 's/2\-1\([\,\)]\)/1\1/g'       			       		|\
    sed 's/3\-1\([\,\)]\)/2\1/g'       			       		|\
    sed 's/4\-1\([\,\)]\)/3\1/g'       			       		|\
    sed 's/5\-1\([\,\)]\)/4\1/g'       			       		|\
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    sed 's/600\-1\([\,\)]\)/599\1/g'			       		|\
    sed 's/700\-1\([\,\)]\)/699\1/g'			       	       	|\
    sed 's/800\-1\([\,\)]\)/799\1/g'			       		|\
    sed 's/900\-1\([\,\)]\)/899\1/g'			       		|\
    sed 's/\([(,]\)0\([0-9]\)/\1\2/g'
};

fortran_to_c_paren ()
{
    # converts [i] to (i)
    sed 's/\[\([^[]*\)\]/(\1)/g'
}
	
fix_pow ()
{
    # matches number^number where number is one or more digits and one or zero decimal points
    # converts to pow (number, number)
    sed 's/\([0-9]*\)\(\.\)\{0,1\}\([0-9]*\)\^\([0-9]*\)\(\.\)\{0,1\}\([0-9]*\)/pow \(\1\2\3,\4\5\6\)/g'
};


echo Creating ${OUT}

case ${TARGET} in
    sfun)
	mtt_header ${SYS} ${REP} "sfun"	>  ${TMP}
	echo "## END Code"		>> ${TMP}
	find_code ${TMP} head		>  ${OUT}
	find_code ${IN} body		|\
	    decrement_indices		|\
	    fix_comment_delimiter	|\
	    fix_pow			|\
	    strip_junk			|\
	    ${PARSER}			>> ${OUT}
	find_code ${TMP} foot		>> ${OUT}
	rm ${TMP}
	;;
    cc | *)
mtt_header ${SYS} ${REP} "oct"	>  ${TMP}
find_code ${TMP} head		>  ${OUT}
rep_declarations		>> ${OUT}
find_code ${IN} body   		|\
        decrement_indices	|\
	fix_comment_delimiter	|\
	fix_pow			|\
	strip_junk		|\
	${PARSER}      		>> ${OUT}
rep_footer			>> ${OUT}
find_code ${TMP} foot		>> ${OUT}
rm ${TMP}
	mtt_header ${SYS} ${REP} "oct"	>  ${TMP}
	find_code ${TMP} head		>  ${OUT}
	rep_declarations		>> ${OUT}
	find_code ${IN} body   		|\
	    decrement_indices		|\
	    fortran_to_c_paren		|\
	    fix_comment_delimiter	|\
	    fix_pow			|\
	    strip_junk			|\
	    ${PARSER}			>> ${OUT}
	rep_footer			>> ${OUT}
	find_code ${TMP} foot		>> ${OUT}
	rm ${TMP}
	;;
esac

Modified mttroot/mtt/lib/rep/sfun_rep/Makefile from [0703d3d39e] to [f2177a72f4]. 

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#! /usr/bin/make -f

$(SYS)_sfun.mexglx: $(SYS)_sfun.cc $(SYS)_def.h $(SYS)_state.mexglx $(SYS)_ode.mexglx $(SYS)_odeo.mexglx
	cp -a $(SYS)_ode.mexglx ..
	cp -a $(SYS)_odeo.mexglx ..
	cp -a $(SYS)_state.mexglx ..
SRC = $(SYS)_sfun.cc $(SYS)_def.h $(SYS)_ae.sfun $(SYS)_ode.sfun $(SYS)_odeo.sfun $(SYS)_state.sfun

all: $(SYS)_sfun.mexglx

$(SYS)_sfun.mexglx: $(SRC)
	mex $(SYS)_sfun.cc

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

$(SYS)_sfun.zip: $(SRC)
	zip $@ $^

$(SYS)_ae.sfun: $(SYS)_ae.m
	${MTT_CC}/mtt_m2cc.sh $(SYS) ae sfun cat 

$(SYS)_ode.sfun: $(SYS)_ode.m
	${MTT_CC}/mtt_m2cc.sh $(SYS) ode sfun cat

$(SYS)_odeo.sfun: $(SYS)_odeo.m
	${MTT_CC}/mtt_m2cc.sh $(SYS) odeo sfun cat

$(SYS)_state.sfun: $(SYS)_state.m
	${MTT_CC}/mtt_m2cc.sh $(SYS) state sfun cat

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

Modified mttroot/mtt/lib/rep/sfun_rep/sfun.cc.tmpl from [3d56d803b8] to [cc87f430f2]. 

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// -*-c++-*-
// <mtt_model_name>_sfun.cc:
// <mtt_model_name>_sfun.c:
// 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 <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 mxArray *YZ		= mxCreateDoubleMatrix (MTTNYZ	, 1, mxREAL);

static double *inputs		= mxGetPr (U);
static double *parameters	= mxGetPr (P);
static double *states		= mxGetPr (X);
static double *simtime		= mxGetPr (T);
static double *mttdx		= mxGetPr (dX);
static double *mttu		= mxGetPr (U);
static double *mttpar		= mxGetPr (P);
static double *mttx		= mxGetPr (X);
static double *mtty		= mxGetPr (Y);
static double *mttyz		= mxGetPr (YZ);
static double *mtttp		= mxGetPr (T);

void
update_parameters_from_simulink (SimStruct *S)
{
  for (int i = 0; i < MTTNPAR; i++) {
    parameters [i] = *mxGetPr (ssGetSFcnParam (S, i));
    mttpar [i] = *mxGetPr (ssGetSFcnParam (S, i));
  }
}

void
update_states_from_simulink (SimStruct *S)
{
  static double *x;
  x = ssGetContStates (S);
  for (int i = 0; i < MTTNX; i++) {
    states [i] = x [i];
    mttx [i] = x [i];
  }
}

void
update_inputs_from_simulink (SimStruct *S)
{
  for (int i = 0; i < MTTNU; i++) {
    inputs [i] = *ssGetInputPortRealSignalPtrs (S, i)[0];
    mttu [i] = *ssGetInputPortRealSignalPtrs (S, i)[0];
  }
}

void
update_simtime_from_simulink (SimStruct *S)
{
  simtime [0] = ssGetT (S);
  mtttp [0] = ssGetT (S);
}

// S-function methods

static void mdlInitializeSizes(SimStruct *S)
{
    ssSetNumSFcnParams(S, MTTNPAR);
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    ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);
}

#define MDL_INITIALIZE_CONDITIONS
static void mdlInitializeConditions(SimStruct *S)
{
  static mxArray *plhs[1];
  static mxArray *prhs[1];

  update_parameters_from_simulink (S);

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

  for (int i = 0; i < MTTNX; i++) {
    ssGetContStates (S)[i] = states [i];
    ssGetContStates (S)[i] = mttx [i];
  }

}
  mxDestroyArray (plhs[0]);
}

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


static void mdlOutputs(SimStruct *S, int_T tid)
{
  update_states_from_simulink (S);
  update_inputs_from_simulink (S);
  update_simtime_from_simulink (S);
  update_parameters_from_simulink (S);

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

#include "<mtt_model_name>_odeo.sfun"

  for (int i = 0; i < MTTNY; i++) {
      ssGetOutputPortRealSignal (S,i)[0] = mtty [i];
  }
}

#define MDL_DERIVATIVES
static void mdlDerivatives(SimStruct *S)
{
  update_states_from_simulink (S);
  update_inputs_from_simulink (S);
  update_simtime_from_simulink (S);
  update_parameters_from_simulink (S);

  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]);

  for (int i = 0; i < MTTNY; i++) {
      ssGetOutputPortRealSignal (S,i)[0] = outputs [i];
  }

  mxDestroyArray (plhs[0]);
}

#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);

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

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

  for (int i = 0; i < MTTNX; i++) {
    ssGetdX (S)[i] = rates [i];
    ssGetdX (S)[i] = mttdx [i];
  }

  mxDestroyArray (plhs[0]);
}

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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