sfun_rtai_log.c

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

/*
  COPYRIGHT (C) 2002  Lorenzo Dozio ([e-mail])
  Paolo Mantegazza ([e-mail])

  Modified 15.1.2003 Roberto Bucher [e-mail]

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/


#define S_FUNCTION_NAME		sfun_rtai_log
#define S_FUNCTION_LEVEL	2

#ifdef MATLAB_MEX_FILE
#include "mex.h"
#endif
#include "simstruc.h"

#define NUMBER_OF_PARAMS	(1)
#define SAMPLE_TIME_PARAM	ssGetSFcnParam(S,0)
#define SAMPLE_TIME		((real_T) mxGetPr(SAMPLE_TIME_PARAM)[0])

#ifndef MATLAB_MEX_FILE

#include <rtai_netrpc.h>
#include <rtai_msg.h>
#include <rtai_mbx.h>

#define MAX_RTAI_LOGS		1000
#define MBX_RTAI_LOG_SIZE	5000
extern SimStruct *rtaiLog[];
extern char *TargetLogMbxID;

#endif

static void mdlInitializeSizes(SimStruct *S)
{
	ssSetNumSFcnParams(S, NUMBER_OF_PARAMS);
	if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
		return;
	}
	ssSetNumInputPorts(S, 1);
	ssSetNumOutputPorts(S, 0);
	ssSetInputPortMatrixDimensions(S, 0, DYNAMICALLY_SIZED, DYNAMICALLY_SIZED);
	ssSetInputPortDirectFeedThrough(S, 0, 1);
	ssSetNumContStates(S, 0);
	ssSetNumDiscStates(S, 0);
	ssSetNumSampleTimes(S, 1);
	ssSetNumPWork(S, 1);
}

static void mdlInitializeSampleTimes(SimStruct *S)
{
	ssSetSampleTime(S, 0, SAMPLE_TIME);
	ssSetOffsetTime(S, 0, 0.0);
}

#define MDL_START 
static void mdlStart(SimStruct *S)
{
#ifndef MATLAB_MEX_FILE
	MBX *mbx;
	char name[7];
	int i;
	int_T *dim = ssGetInputPortDimensions(S,0);

	for (i = 0; i < MAX_RTAI_LOGS; i++) {
		sprintf(name, "%s%d", TargetLogMbxID, i);
		if (!rt_get_adr(nam2num(name))) break;
	}
	rtaiLog[i] = S;
	if (!(mbx = (MBX *)rt_mbx_init(nam2num(name), (MBX_RTAI_LOG_SIZE/(dim[0]*dim[1]*sizeof(float))*(dim[0]*dim[1]*sizeof(float)))))) {
		printf("Cannot init mailbox\n");
		exit(1);
	}
	ssGetPWork(S)[0] = (void *)mbx;
#endif
}

static void mdlOutputs(SimStruct *S, int_T tid)
{
	InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0);
	int_T *dim = ssGetInputPortDimensions(S,0);
	struct {
		float u[dim[0]*dim[1]];
	} data;
	int i;

#ifndef MATLAB_MEX_FILE
	MBX *mbx = (MBX *)ssGetPWork(S)[0];
	for (i = 0; i < (dim[0]*dim[1]); i++) {
		data.u[i] = (float)*uPtrs[i];
	}
	rt_mbx_send_if(mbx, &data, sizeof(data));
#endif
}

static void mdlTerminate(SimStruct *S)
{
#ifndef MATLAB_MEX_FILE
	MBX *mbx = (MBX *)ssGetPWork(S)[0];
	rt_mbx_delete(mbx);
#endif
}

#ifdef  MATLAB_MEX_FILE
#include "simulink.c"
#else
#include "cg_sfun.h"
#endif