rtaicodegen_.sci

rtai-3.1-test3的源代码(Real-Time Application Interface )

	make_end();
	make_const_update();
	c_make_doit1();
	c_make_doit2();
	c_make_outtb();
	c_make_initi();
	c_make_endi()]
  
	
  ierr=execstr('mputl(Code,rpat+''/''+rdnom+''.c'')','errcatch')
  if ierr<>0 then
    message(lasterror())
    ok=%f
    return
  end
  if FCode<>[] then
    ierr=execstr('mputl(FCode,rpat+''/''+rdnom+''f.f'')','errcatch')
    if ierr<>0 then
      message(lasterror())
      ok=%f
      return
    end
  end
  Code=['#include '"'+SCI+'/routines/machine.h'"';
	make_actuator(%t);
	make_sensor(%t);
        make_upar_update()]
  ierr=execstr('mputl(Code,rpat+''/''+rdnom+''_void_io.c'')','errcatch')
  if ierr<>0 then
    message(lasterror())
    ok=%f
    return
  end
 
  
  Code=['#include '"'+SCI+'/routines/machine.h'"';
	make_decl_standalone()
	make_static_standalone()
        make_standalone()]
  ierr=execstr('mputl(Code,rpat+''/''+rdnom+''_standalone.c'')','errcatch')
  if ierr<>0 then
    message(lasterror())
    ok=%f
    return
  end  
endfunction

function ok=gen_gui();
//creates the Scicos GUI function associated with the new block
//Copyright INRIA
//Author : Rachid Djenidi
  clkinput=ones(clkIN)';
  Code=['function [x,y,typ]='+rdnom+'_c(job,arg1,arg2)';
	'// Copyright INRIA';
	'x=[];y=[];typ=[];';
	'select job';
	'case ''plot'' then';
	'  standard_draw(arg1)';
	'case ''getinputs'' then';
	'  [x,y,typ]=standard_inputs(arg1)';
	'case ''getoutputs'' then';
	'  [x,y,typ]=standard_outputs(arg1)';
	'case ''getorigin'' then';
	'  [x,y]=standard_origin(arg1)';
	'case ''set'' then';
	'  x=arg1;';
	'  graphics=arg1.graphics;label=graphics.exprs';
	'  model=arg1.model;';
	'case ''define'' then'
	'  '+sci2exp(capt(:,3),'in',70); //input ports sizes
	'  '+sci2exp(actt(:,3),'out',70); //output ports sizes
	'  '+sci2exp(z,'z',70); //initial state
	'  '+sci2exp(outtb,'outtb',70); //initial link values
	'  iwa=zeros('+string(clkptr($))+',1)';
	'  Z=[z;outtb;iwa]';
        '  '+sci2exp(cpr.sim.rpar,'rpar',70); //real parameters
        '  '+sci2exp(cpr.sim.ipar,'ipar',70);//integer parameters
	'  '+sci2exp(clkinput,'clkinput',70);
	'  model=scicos_model(sim=list('''+rdnom+''',1),in=in,out=out,..'
	'          evtin=clkinput,dstate=Z,rpar=rpar,ipar=ipar,..'
	'          blocktype=''c'',dep_ut=[%t %f])'
	'  label=string(in)';
	'  gr_i=''xstringb(orig(1),orig(2),'''''+rdnom+''''',sz(1),..'
	'         sz(2),''''fill'''')''';
	'  x=standard_define([2 2],model,label,gr_i)';
	'end'
        'endfunction'];
  //Create file
  ierr=execstr('mputl(Code,rpat+''/''+rdnom+''_c.sci'')','errcatch')
  if ierr<>0 then
    message(lasterror())
    ok=%f
  end
endfunction
function ok=gen_loader()
//generates the Scilab script for defining the newly created block
//into Scilab.
 
  SCode=['//exec file used to load the ""compiled"" block into Scilab'
	 'rdnom='+sci2exp(rdnom);
	 '// get the absolute path of this loader file' 
	 'DIR=get_absolute_file_path(rdnom+''_loader.sce'')'
	 'Makename = DIR+rdnom+''_Makefile'';'
	 'select COMPILER'
	 'case ''VC++''   then '
	 '  Makename = strsubst(Makename,''/'',''\'')+''.mak'';'
	 'case ''ABSOFT'' then '
	 '  Makename = strsubst(Makename,''/'',''\'')+''.amk'';'
	 'end'
	 '//unlink if necessary'
	 '[a,b]=c_link(rdnom); while a ;ulink(b);[a,b]=c_link(rdnom);end';
	 'libn=ilib_compile('+sci2exp('lib'+rdnom)+',Makename)';
	 'if MSDOS then'
	 '  fileso=strsubst(libn,''/'',''\'')';
	 'else'
	 '  fileso=strsubst(libn,''\'',''/'')';
	 'end';
	 'link(fileso,rdnom,''c'')';
	 '//load the gui function';
	 'getf(DIR+''/''+rdnom+''_c.sci'');']
  ierr=execstr('mputl(SCode,rpat+''/''+rdnom+''_loader.sce'')','errcatch')
  if ierr<>0 then
    message(lasterror())
    ok=%f
    return
  end
endfunction

function Makename=gen_make(name,files,libs,Makename)
//Modified for RTAI by Roberto Bucher ([e-mail])

  if getenv('WIN32','NO')=='OK' then
    Makename=gen_make_win32(name,files,libs)
  else
    Makename=gen_make_unix(name,files,libs)
  end
endfunction

function Makename=gen_make_unix(name,files,libs,Makename)
  //   "OBJSSTAN="+strcat(strsubst(files,'_void_io','_standalone')+'.o',' ...
  //		')+' '+rdnom+'_act_sens_events.o'
  T=["# generated by builder.sce: Please do not edit this file"
     "# ------------------------------------------------------"
     ""
     "RTAIDIR = $(shell rtai-config --prefix)"
     "SCIDIR = "+SCI
     ""
     "MODEL = "+name
     "OBJS = "+strcat(files+'.o',' ')      
     "OBJSSTAN = "+strcat(strsubst(files,name+'_void_io','rtmain')+'.o',' ')
     ""
     "SCILIBS = $(SCIDIR)/libs/scicos.a $(SCIDIR)/libs/lapack.a "+..
     "$(SCIDIR)/libs/poly.a $(SCIDIR)/libs/calelm.a "+..
     "$(SCIDIR)/libs/blas.a $(SCIDIR)/libs/lapack.a"
     "LIBRARY = lib$(MODEL)"
     "OTHERLIBS = "+libs
     "ULIBRARY = $(RTAIDIR)/lib/libsciblk.a $(RTAIDIR)/lib/liblxrt.a"
     ""
     "include $(SCIDIR)/Makefile.incl";
     "CFLAGS = $(CC_OPTIONS) -O2 -I$(SCIDIR)/routines -I$(RTAIDIR)/include -I$(RTAIDIR)/include/scicos -DMODEL=$(MODEL)"
     "FFLAGS = $(FC_OPTIONS) -I$(SCIDIR)/routines/" 
     "include $(SCIDIR)/config/Makeso.incl"
     ""
     "rtmain.c: $(RTAIDIR)/share/rtai/scicos/rtmain.c $(MODEL).c $(MODEL)_io.c"
     ascii(9)+"cp $< ."
     ""
     name+"_standalone: $(OBJSSTAN) $(ULIBRARY)"
      ascii(9)+"gcc -static -o $@  $(OBJSSTAN) $(SCILIBS) $(ULIBRARY) -lpthread -lm"];
  mputl(T,Makename)
endfunction
//     "OBJSSTAN="+strcat(strsubst(files,'_void_io','_standalone')+'.o',' ') 

function Makename=gen_make_win32(name,files,libs,Makename)
WSCI=strsubst(SCI,'/','\') 
//  "OBJSSTAN="+strcat(strsubst(files,'_void_io','_standalone')+'.obj',' ')+' '+rdnom+'_act_sens_events.obj'
  T=["# generated by builder.sce: Please do not edit this file"
     "# ------------------------------------------------------"
     "SHELL = /bin/sh"
     "SCIDIR = "+SCI
     "SCIDIR1 = "+WSCI
     "SCILIBS = """+WSCI+"\bin\LibScilab.lib"""
     "LIBRARY = lib"+name
     "OBJS = "+strcat(files+'.obj',' ')
     "OBJSSTAN="+rdnom+'.obj '+rdnom+'_standalone.obj '+rdnom+'_act_sens_events.obj'
     "OTHERLIBS = "+libs
     ""
     "DUMPEXTS="""+WSCI+"\bin\dumpexts"""
     "SCIIMPLIB="""+WSCI+"\bin\LibScilab.lib"""
     ""
     "all::"
     "CC=cl"
     "LINKER=link"
     "LINKER_FLAGS=/NOLOGO /machine:ix86"
     "INCLUDES=-I"""+WSCI+"\routines\f2c""" 
     "CC_COMMON=-D__MSC__ -DWIN32 -c -DSTRICT -nologo $(INCLUDES)" 
     "CC_OPTIONS = $(CC_COMMON) -Od  -GB -Gd -W3"
     "CC_LDFLAGS = "
     "CFLAGS = $(CC_OPTIONS) -DFORDLL -I"""+WSCI+"\routines"""
     "FFLAGS = $(FC_OPTIONS) -DFORDLL -I"""+WSCI+"\routines"""
     ""
     "all :: $(LIBRARY).dll"
     " "
     "$(LIBRARY).dll: $(OBJS)"
     ascii(9)+"@echo Creation of dll $(LIBRARY).dll and import lib from ..."
     ascii(9)+"@echo $(OBJS)"
     ascii(9)+"@$(DUMPEXTS) -o ""$*.def"" ""$*.dll"" $**"
     ascii(9)+"@$(LINKER) $(LINKER_FLAGS) $(OBJS) $(SCIIMPLIB) $(XLIBSBIN) $(TERMCAPLIB) /nologo /dll /out:""$*.dll"" /implib:""$*.ilib"" /def:""$*.def""" 
     ".c.obj:"
     ascii(9)+"@echo ------------- Compile file $< --------------"
     ascii(9)+"$(CC) $(CFLAGS) $< "
     ".f.obj:"
     ascii(9)+"@echo ----------- Compile file $*.f (using f2c) -------------"
     ascii(9)+"@"""+WSCI+"\bin\f2c.exe"" $(FFLAGS) $*.f "
     ascii(9)+"@$(CC) $(CFLAGS) $*.c "
     ascii(9)+"@del $*.c "
     "clean::"
     ascii(9)+"@del *.CKP "
     ascii(9)+"@del *.ln "
     ascii(9)+"@del *.BAK "
     ascii(9)+"@del *.bak "
     ascii(9)+"@del *.def"
     ascii(9)+"@del *.dll"
     ascii(9)+"@del *.exp"
     ascii(9)+"@del *.ilib"
     ascii(9)+"@del errs" 
     ascii(9)+"@del *~ "
     ascii(9)+"@del *.obj"
     ascii(9)+"@del .emacs_* "
     ascii(9)+"@del tags "
     ascii(9)+"@del tags "
     ascii(9)+"@del TAGS "
     ascii(9)+"@del make.log "
     ""
     "distclean:: clean "
     " "
     "standalone: $(OBJSSTAN) $(OTHERLIBS) "
      ascii(9)+"$(LINKER) $(LINKER_FLAGS)  $(OBJSSTAN) $(OTHERLIBS) $(SCILIBS)  /out:standalone.exe "]

  select COMPILER;
    case 'VC++'   then 
    makename = strsubst(Makename,'/','\')+'.mak'
    case 'ABSOFT' then 
    makename = strsubst(Makename,'/','\')+'.amk'
  end
  mputl(T,makename)   
endfunction

function Code=make_actuator(standalone)
// Generating the routine for actuators interfacing
//Copyright INRIA
//Author : Rachid Djenidi
//Modified for RTAI by Roberto Bucher ([e-mail])
  
Call=['/*'+part('-',ones(1,40))+' Actuators */ ';
      'void ';
      rdnom+'_actuator(flag,nport,nevprt,t,u,nu)']
comments=['     /*'
	  '      * To be customized for standalone execution';
	  '      * flag  : specifies the action to be done'
	  '      * nport : specifies the  index of the Super Bloc '
	  '      *         regular input (The input ports are numbered '
	  '      *         from the top to the bottom ) '
	  '      * nevprt: indicates if an activation had been received'
	  '      *         0 = no activation'
	  '      *         1 = activation'
	  '      * t     : the current time value'
	  '      * u     : the vector inputs value'
	  '      * nu    : the input  vector size'
	  '      */']

dcl=['     integer *flag,*nevprt,*nport;'
     '     integer *nu;'
     ''
     '     double  *t, u[];'
     '{'
     '  int k;'];

if standalone then
  a_actuator=['  /* skeleton to be customized */'
              '  switch (*flag) {'
              '  case 2 : '
              '    if(*nevprt>0) {/* get the input value */'
              '       /* att_1_output */'
              '    } '
              '    break;'
              '  case 4 : /* actuator initialisation */'
              '    /* att_1_init */'
              '    break;'
              '  case 5 : /* actuator ending */'
              '    /* att_1_end */'
              '    break;'
              '  }']
else
 a_actuator=[]
end
nc=size(act,'*')
Code=[]
if nc==1|~standalone then
  Code=[Call
	comments
	dcl
	a_actuator
	'}']
elseif nc>1 then
  S='  switch (*nport) {'
  str1='att_1'
  for k=1:nc
    str2='att_'+string(k)
    a_actuator=strsubst(a_actuator,str1,str2)
    str1=str2
    S=[S;
       '  case '+string(k)+' :/* Port number '+string(k)+' ----------*/'
       '  '+a_actuator
       '  break;']
  end
  S=[S;'  }']  
  Code=[Code
	Call
	comments
	dcl
	S
	'}']
end
endfunction

function Code=make_computational()
//generates the scicos computational function associated with the block
//Copyright INRIA
//Author : Rachid Djenidi


nin=size(capt,1);
if nin>0 then In='u'+string(1:nin);else In=[];end

nout= size(actt,1);
if nout then Out='y'+string(1:nout);else Out=[];end

//function arg list
Args=['flag','nevprt','t','xd','x','nx','z','nz','tvec','ntvec','rpar',..
      'nrpar','ipar','nipar']
if In<>[]  then Args=[Args matrix([In ;'n'+In ],1,-1)],end
if Out<>[] then Args=[Args matrix([Out;'n'+Out],1,-1)],end

//integer arguments
Iargs='*'+[Args([1 2 6 8 10 12:14])];
if In<>[]  then Iargs=[Iargs '*n'+In] ,end
if Out<>[] then Iargs=[Iargs '*n'+Out],end

//double precision arguments
Dargs='*'+[Args([3 4 5 7 9 11]),In,Out];

Code=['/*'+part('-',ones(1,40))+' Block Computational function */ ';
      'int ';
      cformatline(rdnom+'('+strcat(Args,' ,')+')',70)
      ''
      cformatline('  integer '+strcat(Iargs,' ,')+';',70)
      cformatline('  double  '+strcat(Dargs,' ,')+';' ,70)
      ''
      '{'
      '  /*  block_outtb is catenated at the end of z*/'
      '  double* block_outtb = z+'+string(nztotal)+';'
      ''];
     
//copy inputs
Code=[Code;
      '  /*Copy inputs in the block outtb */'];
for i=1:size(capt,1)
   ni=capt(i,3) // dimension of ith input
  Code=[Code;
        '  block_outtb['+string(capt(i,2)-1+(0:ni-1)')+'] = u'+..
	              string(capt(i,4))+'['+string(0:ni-1)'+'];';]
end

Code=[Code;
      '   set_nevprt(*nevprt);';
      ' '
      '  if (*flag == 1) { /* update outputs */';
      '    '+rdnom+'main1(z,t,rpar,nrpar,ipar,nipar);';
      '  } ';
      '  else if (*flag == 2) { /* update discrete states */';
      '    '+rdnom+'main2(z,t,rpar,nrpar,ipar,nipar);';
      '  } ';
      '  else if (*flag == 4) { /* initialisation */';
      '    '+rdnom+'_init(z,t,rpar,nrpar,ipar,nipar);';
      '  } ';
      '  else if (*flag == 5) { /* ending */';
      '    '+rdnom+'_end(z,t,rpar,nrpar,ipar,nipar);';
      '  } '];

	                    
//copy outputs
for i=1:size(actt,1)
  ni=actt(i,3) // dimension of ith output
  Code=[Code;
	'  y'+string(actt(i,4))+'['+string(0:ni-1)'+'] =  block_outtb['+..
                            string(actt(i,2)-1+(0:ni-1)')+'];']
end

//Assemble the code
Code=[Code;
      '  return 0;'
      ''
      '} /* '+rdnom+' */']

endfunction
function Code=make_decl()
//generates  procedure declarations
//Copyright INRIA
//Author : Rachid Djenidi

  Code=['/* SCILAB Computational function  */';
	'/*     Copyright INRIA */';
	'/*     Generated by Code_Generation toolbox of Scicos with '+ ..
	getversion()+' */';
	'/*     date : '+date(getdate())+' */';
	''
	'#include <stdio.h>';
	'#include <string.h>';
	'#include '"'+SCI+'/routines/machine.h'"';
	'#include '"'+SCI+'/routines/sun/link.h'"';
	'#include '"'+SCI+'/routines/scicos/scicos.h'"';
	' ';
	cformatline('void '+rdnom+'main1(double *z, double *t, '+..
		    'double * rpar, int *nrpar, int *ipar, int *nipar);',70);
	' ';
	cformatline('void '+rdnom+'main2(double *z, double *t, '+..
		    'double * rpar, int *nrpar, int *ipar, int *nipar) ;',70);
	' ';
	cformatline('void '+rdnom+'_init(double *z, double *t, '+..
		    'double * rpar, int *nrpar, int *ipar, int *nipar) ;',70);
	' ';
	cformatline('void '+rdnom+'_end(double *z, double *t, '+..
		    'double * rpar, int *nrpar, int *ipar, int *nipar) ;',70);
	' ';
	'int '+rdnom+'()  ;';
	' ';
	cformatline('int '+rdnom+'ddoit1(double *z, int * zptr, double *t, double"+...
		    " *tevts, int *evtspt, int * nevts, int *pointi, int * outptr,"+...
		    " int *clkptr, int *ordptr, int *ordclk, int *nordcl, double *"+...
		    " rpar, int *ipar, int *funptr, int *funtyp, double *outtb, int"+...
		    " *iwa)  ;',70);
	' ';
	cformatline('int '+rdnom+'ddoit2(double *z, int * zptr, double *t, double"+...
		    " *tevts, int *evtspt, int * nevts, int *pointi, int * outptr,"+...
		    " int *clkptr, int *ordptr, int *ordclk, int *nordcl, double *"+...
		    " rpar, int *ipar, int *funptr, int *funtyp, double *outtb, int"+...
		    " *iwa)  ;',70);
	' ';
	cformatline('int '+rdnom+'edoit1(double *z, int * zptr, double *t, double"+...
		    " *tevts, int *evtspt, int * nevts, int *pointi, int * outptr,"+...