sf_posreg.cc

#include <math.h>
#include <trgen.h>
#include <balet.h>

#ifdef __cplusplus
extern "C" { // use the C fcn-call standard for all functions  
#endif       // defined within this scope                     

#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME  sf_posreg

/*
 * Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions.
 */
#include "simstruc.h"



#define INPUT_REF_POS 0
#define INPUT_EST_POS 1

#define DP_K_IDX 0
#define K_PARAM(S) (ssGetSFcnParam(S,DP_K_IDX))

/*====================*
 * S-function methods *
 *====================*/

#define MDL_CHECK_PARAMETERS
#if defined(MDL_CHECK_PARAMETERS)  && defined(MATLAB_MEX_FILE)
/*
 * Check to make sure that each parameter is 1-d and positive
 */
static void mdlCheckParameters(SimStruct *S)
{
    const mxArray *k = K_PARAM(S);

    if (mxGetM(k) * mxGetN(k) != 3) {
        ssSetErrorStatus(S, "Parameter must bu 3 element vector");
        return;
    }
}
#endif


/* Function: mdlInitializeSizes ===============================================
 * Abstract:
 *    The sizes information is used by Simulink to determine the S-function
 *    block's characteristics (number of inputs, outputs, states, etc.).
 */
static void mdlInitializeSizes(SimStruct *S)
{
    /* See sfuntmpl.doc for more details on the macros below */
    ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */

#if defined(MATLAB_MEX_FILE)
    if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
        mdlCheckParameters(S);
        if (ssGetErrorStatus(S) != NULL) {
            return;
        }
    } else {
        return; /* Parameter mismatch will be reported by Simulink */
    }
#endif

    ssSetSFcnParamTunable(S, DP_K_IDX, 1);

    ssSetNumContStates(S, 0);
    ssSetNumDiscStates(S, 0);

    if (!ssSetNumInputPorts(S, 2)) return;

    ssSetInputPortWidth(S, INPUT_REF_POS, 5);
    ssSetInputPortDirectFeedThrough(S, INPUT_REF_POS, 1);
    ssSetInputPortRequiredContiguous(S, INPUT_REF_POS, 1);

    ssSetInputPortWidth(S, INPUT_EST_POS, 3);
    ssSetInputPortDirectFeedThrough(S, INPUT_EST_POS, 1);
    ssSetInputPortRequiredContiguous(S, INPUT_EST_POS, 1);
    
    if (!ssSetNumOutputPorts(S, 1)) return;
    ssSetOutputPortWidth(S, 0, 2);


    ssSetNumSampleTimes(S, 1);
    ssSetNumRWork(S, 0);
    ssSetNumIWork(S, 0);
    ssSetNumPWork(S, 0); // reserve element in the pointers vector
    ssSetNumModes(S, 0); // to store a C++ object
    ssSetNumNonsampledZCs(S, 0);

    ssSetOptions(S, 0);
}



/* Function: mdlInitializeSampleTimes =========================================
 * Abstract:
 *    This function is used to specify the sample time(s) for your
 *    S-function. You must register the same number of sample times as
 *    specified in ssSetNumSampleTimes.
 */
static void mdlInitializeSampleTimes(SimStruct *S)
{
    ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
    ssSetOffsetTime(S, 0, 0.0);
    ssSetModelReferenceSampleTimeDefaultInheritance(S);
}

//#define MDL_START  /* Change to #undef to remove function */
#if defined(MDL_START) 
  /* Function: mdlStart =======================================================
   * Abstract:
   *    This function is called once at start of model execution. If you
   *    have states that should be initialized once, this is the place
   *    to do it.
   */
  static void mdlStart(SimStruct *S)
  {
  }
#endif /*  MDL_START */

/* Function: mdlOutputs =======================================================
 * Abstract:
 *    In this function, you compute the outputs of your S-function
 *    block. Generally outputs are placed in the output vector, ssGetY(S).
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{
    const real_T  *y = ssGetInputPortRealSignal(S,INPUT_EST_POS); 
    const real_T  *r = ssGetInputPortRealSignal(S,INPUT_REF_POS); 
    double *u = ssGetOutputPortRealSignal(S,0);
    const double *k = mxGetPr(K_PARAM(S));
    Pos rp;
    rp.x = r[0];
    rp.y = r[1];
    rp.phi = r[2];
    rp.v = r[3];
    rp.omega = r[4];

    balet(rp, y, u, k);

    UNUSED_ARG(tid);
}                                                

/* Function: mdlTerminate =====================================================
 * Abstract:
 *    In this function, you should perform any actions that are necessary
 *    at the termination of a simulation.  For example, if memory was
 *    allocated in mdlStart, this is the place to free it.
 */
static void mdlTerminate(SimStruct *S)
{
}                                              // function
/*======================================================*
 * See sfuntmpl.doc for the optional S-function methods *
 *======================================================*/

/*=============================*
 * Required S-function trailer *
 *=============================*/

#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

#ifdef __cplusplus
} // end of extern "C" scope
#endif

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