rtaicodegen_.sci

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

		    " int *clkptr, int *ordptr, int *ordclk, int *nordcl, double *"+...
		    " rpar, int *ipar, int *funptr, int *funtyp, double"+...
		    " *outtb, int * urg, int *iwa, int *kiwa)  ;',70);	
	' ';
	cformatline('int '+rdnom+'_initi(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+'_endi(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+'_outtb(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 C2F(putevs)(double *tevts, int *evtspt, int * nevts, int"+...
		    " *pointi, double *told, int *i2, int *ierr);',70);
	'/* ---- block simulation functions -------*/'
	' '];

endfunction

function Code=make_decl_standalone()
//generates  procedure declarations
//Copyright INRIA
//Author : Rachid Djenidi
//Modified for RTAI by Paolo Mantegazza ([e-mail])
//and Roberto Bucher ([e-mail])

  Code=['/* Code prototype for standalone use  */';
	'/*     Generated by Code_Generation toolbox of Scicos with '+ ..
	getversion()+' */';
	'/*     date : '+date(getdate())+' */';
	''
	cformatline('void '+rdnom+'main1(double *z, double *t, '+..
		    'double * rpar, integer *nrpar,integer *ipar,integer *nipar);',70);
	'';
	cformatline('void '+rdnom+'main2(double *z, double *t, '+..
		    'double * rpar, integer *nrpar,integer *ipar,integer *nipar) ;',70);
	'';
	cformatline('void '+rdnom+'_init(double *z, double *t, '+..
		    'double * rpar, integer *nrpar,integer *ipar,integer *nipar) ;',70);
	'';
	cformatline('void '+rdnom+'_end(double *z, double *t, '+..
		    'double * rpar, integer *nrpar,integer *ipar,integer *"+...
		    " nipar) ;',70);
	''
	cformatline('void '+rdnom+'_const_update(double *z, double *t, '+..
		    'double * rpar, integer *nrpar,integer *ipar,integer *"+...
		    " nipar) ;',70);
	''
	'void set_nevprt(int nevprt);']
endfunction

function Code=make_end()
//Copyright INRIA
//Author : Rachid Djenidi
  nordcl=size(ordclk,1);
  Code=['/*'+part('-',ones(1,40))+' end */ ';
	'void '
	cformatline(rdnom+'_end(double *z, double *t, double * rpar, '+..
		    'integer *nrpar,integer *ipar,integer *nipar)',70);
	'{'];
  
  if size(pointi,1) <> 0 then
    Code($+1)='  integer pointi[ ]={'+strcat(string(pointi),",")+'};'; 
  else
    Code($+1)='  integer pointi[1];';
  end

  Code=[Code
	'integer nordcl = '+string(nordcl)+';';
	''
	cformatline('  '+rdnom+'_endi(z, zptr, t, tevts, evtspt, nevts, pointi, '+..
		    'outptr, clkptr, ordptr, ordclk, &nordcl, rpar, ipar, '+..
		    'rdfunptr, funtyp, &(z['+string(size(z,1))+']), '+..
		    '(int *)(z+'+string(size(z,1)+size(outtb,1))+'));',70);	
	'} '];
  
endfunction
function Code=make_init()
//Copyright INRIA
//Author : Rachid Djenidi
  nordcl=size(ordclk,1);
  Code=['/*'+part('-',ones(1,40))+' init */ ';
	'void '
	cformatline(rdnom+'_init(double *z, double *t, double * rpar, '+..
		    'integer *nrpar,integer *ipar,integer *nipar)',70);
	'{'];
  if size(pointi,1) <> 0 then
    Code($+1)='  integer pointi[ ]={'+strcat(string(pointi),",")+'};'; 
  else
    Code($+1)='  integer pointi[1];';
  end

  Code=[Code;
	'integer nordcl = '+string(nordcl)+';';
	'  /*Block initializations*/'
	cformatline('  '+rdnom+'_initi(z, zptr, t, tevts, evtspt, nevts, '+..
		    'pointi, outptr, clkptr, ordptr, ordclk, &nordcl, rpar, ipar, '+..
		    'rdfunptr,funtyp, &(z['+string(size(z,1))+']), '+..
		    '(int *)(z+'+string(size(z,1)+size(outtb,1))+'));',70);
	'  /*Constants propagation*/'
	cformatline('  '+rdnom+'_outtb(z, zptr, t, tevts, evtspt, nevts, '+..
		    'pointi, outptr, clkptr, ordptr, ordclk, &nordcl, rpar, ipar, '+..
		    'rdfunptr,funtyp, &(z['+string(size(z,1))+']), '+..
		    '(int *)(z+'+string(size(z,1)+size(outtb,1))+'));',70);
       '} '];
  
endfunction
function Code=make_main1()
//generate code for flag=1 case  
//Copyright INRIA
//Author : Rachid Djenidi
  nordcl=size(ordclk,1);
  Code=['/*'+part('-',ones(1,40))+' main1 */ ';
	'void '
	cformatline(rdnom+'main1(double *z, double *t, double * rpar, '+..
		    'integer *nrpar,integer *ipar,integer *nipar)',70);
	'{'];
  
  if size(pointi,1) <> 0 then
    Code($+1)='  integer pointi[ ]={'+strcat(string(pointi),",")+'};'; 
  else
    Code($+1)='  integer pointi[1];';
  end
  
  Code=[Code;
	'integer nordcl = '+string(nordcl)+';';
	''
	cformatline('  '+rdnom+'ddoit1(z, zptr, t, tevts, evtspt, nevts, '+..
		    'pointi, outptr, clkptr, ordptr, ordclk, &nordcl, rpar, ipar, '+..
		    'rdfunptr, funtyp, &(z['+string(size(z,1))+']), '+..
		    '(int *)(z+'+string(size(z,1)+size(outtb,1))+'));',70);
	'} '];
endfunction
function Code=make_main2()
//generate code for flag=2 case
//Copyright INRIA
//Author : Rachid Djenidi
  nordcl=size(ordclk,1);
  Code=['/*'+part('-',ones(1,40))+' main2 */ ';
	'void '
	cformatline(rdnom+'main2(double *z, double *t, double * rpar, '+..
		    'integer *nrpar,integer *ipar,integer *nipar)',70);
	'{'];
  
  if size(pointi,1) <> 0 then
    Code($+1)='  integer pointi[ ]={'+strcat(string(pointi),",")+'};'; 
  else
    Code($+1)='  integer pointi[1];';
  end
  Code=[Code;
	'integer nordcl = '+string(nordcl)+';';
	''
	cformatline('  '+rdnom+'ddoit2(z, zptr, t, tevts, evtspt, nevts, '+..
		    'pointi, outptr, clkptr, ordptr, ordclk, &nordcl, rpar, '+..
		    'ipar, rdfunptr, funtyp, &(z['+string(size(z,1))+']), '+..
		    '(int *)(z+'+string(size(z,1)+size(outtb,1))+'));',70);	
	'} ']; 
endfunction
function Code=make_outevents()
//generates skeleton of external world events handling function
  z='0'
  if szclkIN==[] then
    newszclkIN=0;
  else
    newszclkIN=szclkIN;
  end 

  Code=[ '/*'+part('-',ones(1,40))+'  External events handling function */ ';
	 'void '
	 rdnom+'_events(int *nevprt,double *t)';
	 '{'
	 '/*  set next event time and associated events ports  '
	 ' *  nevprt has binary expression b1..b'+string(newszclkIN)+' where bi is a bit '
	 ' *  bi is set to 1 if an activation is received by port i. Note that'
	 ' *  more than one activation can be received simultaneously '
	 ' *  Caution: at least one bi should be equal to one */'
	 ''
	 '    int i,p,b[]={'+strcat(z(ones(1,newszclkIN)),',')+'};'
	 ''
	 '/* this is an example for the activation of events ports */'
	 '    b[0]=1;']
  if newszclkIN>1 then
    for bb=2:newszclkIN
      Code($+1)='    b['+string(bb-1)+']=1;'
    end
  end
  Code=[Code;' '
	'/* definition of the step time  */'
	'    *t = *t + 0.1;'
	' '
	'/* External events handling process */'
	'    *nevprt=0;p=1;'
	'    for (i=0;i<'+string(newszclkIN)+';i++) {'
	'      *nevprt=*nevprt+b[i]*p;'
	'      p=p*2;}'
	'}']
endfunction
function Code=make_sensor(standalone)
// Generating the routine for sensors interfacing
//Copyright INRIA
//Author : Rachid Djenidi
//Modified for RTAI by Roberto Bucher ([e-mail])
  
Call=['/*'+part('-',ones(1,40))+' Sensor */ ';
      'void ';
      rdnom+'_sensor(flag,nport,nevprt,t,y,ny)']
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'
	  '      * y     : the vector outputs value'
	  '      * ny    : the output  vector size'
	  '      */']
dcl=['     integer *flag,*nevprt,*nport;'
     '     integer *ny;'
     ''
     '     double  *t, y[];'
     '{'
     '  int k;'];

if standalone then
  a_sensor=['  switch (*flag) {'
            '  case 1 : /* set the ouput value */'
            '    /* sens_1_input */'
            '    break;'
            '  case 2 : /* Update internal discrete state if any */'
            '    /* sens_1_update */'
            '    break;'
            '  case 4 : /* sensor initialisation */'
            '    /* sens_1_init */'
            '    break;'
            '  case 5 : /* sensor ending */'
            '    /* sens_1_end */'
            '    break;'
            '  }']
else
  a_sensor=[]
end

nc=size(cap,'*')
Code=[]
if nc==1|~standalone then
  Code=[Code;
	Call
	comments
	dcl
	a_sensor
	'}'];
elseif nc>1 then
  S='  switch (*nport) {'
  str1='sens_1'
  for k=1:nc
    str2='sens_'+string(k)
    a_sensor=strsubst(a_sensor,str1,str2)
    str1=str2
    S=[S;
       '  case '+string(k)+' : /* Port number '+string(k)+' ----------*/'
       '  '+a_sensor
       '  break;']
  end
    S=[S;'  }']  
    Code=[Code
	  Call
	  comments
	  dcl
	  S
	  '}']
end
endfunction

function Code=make_standalone()
//generates code of the standalone simulation procedure
//Copyright INRIA
//Author : Rachid Djenidi
//Modified for RTAI by Paolo Mantegazza ([e-mail])
//and Roberto Bucher ([e-mail])

//Generates simulation routine for standalone simulation
  iwa=zeros(clkptr($),1),Z=[z;outtb;iwa]';
Code=[ ''
       cformatline('static double z[]={'+strcat(string(Z),',')+'};',70)
       '']
       ''
  Code=[Code;
        '/*'+part('-',ones(1,40))+'  Lapack messag function */ ';
        'void'
        'C2F(xerbla)(SRNAME,INFO,L)'
        'char *SRNAME;'
        'int *INFO;'
        'long int L;'
        '{'
          'printf(""** On entry to %s, parameter number %d had an illegal value\n"",SRNAME,*INFO);'
        '}'
        ''
        '#include ""'+rdnom+'_io.c""']

endfunction

function Code=make_static()
//generates  static table definitions
//Copyright INRIA
//Author : Rachid Djenidi
  
  z=cpr.state.z;
  tevts=cpr.state.tevts;evtspt=cpr.state.evtspt;
  nevts=size(evtspt,1);
  zptr=cpr.sim.zptr;
  outptr=cpr.sim.outptr;
  funtyp=cpr.sim.funtyp;
  clkptr=cpr.sim.clkptr;ordptr=cpr.sim.ordptr;
  ordclk=cpr.sim.ordclk;nordcl=size(ordclk,1);

  funs=cpr.sim.funs;
  
  Code= ['/* Table of constant values */ ';
	 ' ';
	 'static integer totalnevprt; '];
  
  if size(evtspt,1) <> 0 then
    Code=[Code;cformatline('static integer evtspt[ ]={'+..
			   strcat(string(evtspt),",")+'};',70)] 
  else
    Code($+1)='static integer evtspt[1];';
  end
  
  if size(nevts,1) <> 0 then
    Code=[Code;cformatline('static integer nevts[ ]={'+..
			   strcat(string(nevts),",")+'};',70)] 
  else
    Code($+1)='static integer nevts[1];';
  end
  Code($+1)='static double x[1];';
  
  
  if size(zptr,1) <> 0 then
    Code=[Code;cformatline('static integer zptr[ ]={'+..
			   strcat(string(zptr),",")+'};',70)] 
  else
    Code($+1)='static integer zptr[1];';
  end
  
  if size(clkptr,1) <> 0 then
    Code=[Code;cformatline('static integer clkptr[ ]={'+..
			   strcat(string(clkptr),",")+'};',70)] 
  else
    Code($+1)='static integer clkptr[1];';
  end

  if size(ordptr,1) <> 0 then
    Code=[Code;cformatline('static integer ordptr[ ]={'+..
			   strcat(string(ordptr),",")+'};',70)] 
  else
    Code($+1)='static integer ordptr[1];';
  end
  

  if size(ordclk,1) <> 0 then
    Code=[Code;cformatline('static integer ordclk[ ]={'+..
			   strcat(string(ordclk),",")+'};',70)] 
  else
    Code($+1)='static integer ordclk [1];';
  end
  
  if size(outptr,1) <> 0 then
    Code=[Code;cformatline('static integer outptr[ ]={'+..
			   strcat(string(outptr),",")+'};',70)] 
  else
    Code($+1)='static integer outptr[1];';
  end
  
  if size(tevts,1) <> 0 then
    Code=[Code;cformatline('static double tevts[ ] = {'+..
			   strcat(string(tevts),",")+'};',70)]     
  else
    Code($+1)='static double tevts[1];';
  end

  if length(funs) <> 0 then
    Code=[Code;cformatline('static integer rdfunptr[ ]={'+..
			   strcat(string(1:length(funs)),",")+'};',70)] 
  else
    Code($+1)='static integer rdfunptr[1];';
  end
	  
	  
  if size(funtyp,1) <> 0 then
    Code=[Code;cformatline('static integer funtyp[ ]={'+..
			   strcat(string(funtyp),",")+'};',70)] 
  else
    Code($+1)='static integer funtyp[1];';
  end
  Code($+1)='static double w[1];'
  Code=[Code;
	'void set_nevprt(int nevprt)'
	'{'
	'  totalnevprt=nevprt;'
	'}']
endfunction

function Code=make_static_standalone()
//generates  static table definitions
//Copyright INRIA
//Author : Rachid Djenidi
// Modified for RTAI by Roberto Bucher ([e-mail])

  rpar=cpr.sim.rpar;ipar=cpr.sim.ipar;
  nrpar=size(rpar,1);nipar=size(ipar,1);

  RCode=[];nbrpa=0;strRCode='';lenRCode=[];ntot_r=0;
  if size(rpar,1) <> 0 then

    RCode=[RCode;'static double RPAR1[ ] = {'];		
    par_len = length(rpptr)-1;    
    for i=1:par_len 

      if rpptr(i+1)-rpptr(i)>0  then
	if size(corinv(i),'*')==1 then
	  OO=scs_m.objs(corinv(i));
	else
	  path=list('objs');
	  for l=cpr.corinv(i)(1:$-1),path($+1)=l;path($+1)='model';path($+1)='rpar';path($+1)='objs';end
	  path($+1)=cpr.corinv(i)($);
	  OO=scs_m(path);
	end
	aaa=OO.gui;bbb=emptystr(3,1);
	if and(aaa+bbb~= ['INPUTPORTEVTS'; ...
			  'OUTPUTPORTEVTS';'EVTGEN_f']) then
	  nbrpa=nbrpa+1;
	  ntot_r = ntot_r + (rpptr(i+1)-rpptr(i));
	  RCode($+1)='/* Routine name of block: '+strcat(string(cpr.sim.funs(i)));
	  RCode($+1)='   Gui name of block: '+strcat(string(OO.gui));
	  if stripblanks(OO.model.label)~=