ttcreateperiodictask.cpp

一个很棒的网络控制系统仿真软件

#define KERNEL_MATLAB
#include "../ttkernel.h" 

RTsys *rtsys;

#include "../createpertask.cpp"
#include "getrtsys.cpp"

void mexFunction( int nlhs, mxArray *plhs[],
                  int nrhs, const mxArray *prhs[] )
{
  rtsys = getrtsys() ; // Get pointer to rtsys 

  // Check number and type of arguments. 
  if (nrhs < 5 || nrhs > 6) {
    mexErrMsgTxt("ttCreatePeriodicTask: Wrong number of input arguments! \nUsage: ttCreatePeriodicTask(name, release, period, priority, codefcn)\n       ttCreatePeriodicTask(name, release, period, priority, codefcn, data)");
  }

  if (mxIsChar(prhs[0]) != 1) {
    mexErrMsgTxt("ttCreatePeriodicTask: name must be a string");
  }
  if (!mxIsDoubleScalar(prhs[1])) {
    mexErrMsgTxt("ttCreatePeriodicTask: release must be a double scalar");
  }
  if (!mxIsDoubleScalar(prhs[2])) {
    mexErrMsgTxt("ttCreatePeriodicTask: period must be a double scalar");
  }
  if (!mxIsDoubleScalar(prhs[3])) {
    mexWarnMsgTxt("ttCreatePeriodicTask: priority must be a double scalar");
  }
  if (mxIsChar(prhs[4]) != 1 || mxGetM(prhs[4]) != 1) {
    mexErrMsgTxt("ttCreatePeriodicTask: codeFcn must be a non-empty string");
  }
  
  char name[100];
  mxGetString(prhs[0], name, 100);

  double release = *mxGetPr(prhs[1]);
  if (release < -EPS) {
    release = 0.0;
    mexWarnMsgTxt("ttCreatePeriodicTask: negative release changed to zero");
  }
  
  double period = *mxGetPr(prhs[2]);

  double priority = *mxGetPr(prhs[3]);

  char codeFcn[100];
  mxGetString(prhs[4], codeFcn, 100);

  // Make sure that the code function exists in Matlab path
  mxArray *lhs[1];
  mxArray *rhs[1];
  rhs[0] = mxDuplicateArray(prhs[4]);
  mexCallMATLAB(1, lhs, 1, rhs, "exist");
  int number = (int) *mxGetPr(lhs[0]);
  if (number == 0) {
    char buf[200];
    sprintf(buf, "ttCreatePeriodicTask: codeFcn '%s' not in path!", codeFcn);
    mexErrMsgTxt(buf);
  }

  if (ttCreatePeriodicTask(name, release, period, priority, NULL)) {
    
    // Add name of code function (m-file) and data variable
    TaskNode *n = (TaskNode*) rtsys->taskList->getLast();
    
    n->getTask()->codeFcnMATLAB = new char[strlen(codeFcn)+1];
    strcpy(n->getTask()->codeFcnMATLAB, codeFcn);
    
    char dataname[100];
    char blockhandle[16];

    if (nrhs == 6) { // data specified
      // Create globally unique name for data: gcbh + taskname + "_task_"
      mexCallMATLAB(1, lhs, 0, NULL, "gcbh"); // Get block handle
      sprintf(blockhandle, "%f", *(mxGetPr(lhs[0])));
      strcpy(dataname, blockhandle);
      strcat(dataname, name);
      strcat(dataname, "_task_");
      
      // Write data structure to global workspace
      mxArray* data = mxDuplicateArray(prhs[5]);
      mexPutVariable("global", dataname, data);
      mxDestroyArray(data);
      
      n->getTask()->dataMATLAB = new char[strlen(dataname)+1];
      strcpy(n->getTask()->dataMATLAB, dataname);
    }
  }
}