robot_2link_sfun_registry.c

Serial 2 bar robot PD control in simulink

#include "robot_2link_sfun.h"
#include "sfcdebug.h"
#define PROCESS_MEX_SFUNCTION_CMD_LINE_CALL
unsigned int sf_process_check_sum_call( int nlhs, mxArray * plhs[], int nrhs,
 const mxArray * prhs[] )
{
  extern unsigned int sf_robot_2link_process_check_sum_call( int nlhs, mxArray *
   plhs[], int nrhs, const mxArray * prhs[] );

  if(sf_robot_2link_process_check_sum_call(nlhs,plhs,nrhs,prhs)) return 1;
  return 0;
}
unsigned int sf_process_autoinheritence_call( int nlhs, mxArray * plhs[], int
 nrhs, const mxArray * prhs[] )
{
  extern unsigned int sf_robot_2link_autoinheritance_info( int nlhs, mxArray *
   plhs[], int nrhs, const mxArray * prhs[] );
  if(sf_robot_2link_autoinheritance_info(nlhs,plhs,nrhs,prhs)) return 1;
  return 0;
}
unsigned int sf_mex_unlock_call( int nlhs, mxArray * plhs[], int nrhs, const
 mxArray * prhs[] )
{
  char commandName[20];
  if (nrhs<1 || !mxIsChar(prhs[0]) ) return 0;
  /* Possible call to get the checksum */
  mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
  commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
  if(strcmp(commandName,"sf_mex_unlock")) return 0;
  while(mexIsLocked()) {
    mexUnlock();
  }
  return(1);
}
extern unsigned int sf_debug_api( int nlhs, mxArray * plhs[], int nrhs, const
 mxArray * prhs[] );
static unsigned int ProcessMexSfunctionCmdLineCall(int nlhs, mxArray * plhs[],
 int nrhs, const mxArray * prhs[])
{
  if(sf_debug_api(nlhs,plhs,nrhs,prhs)) return 1;
  if(sf_process_check_sum_call(nlhs,plhs,nrhs,prhs)) return 1;
  if(sf_mex_unlock_call(nlhs,plhs,nrhs,prhs)) return 1;
  if(sf_process_autoinheritence_call(nlhs,plhs,nrhs,prhs)) return 1;
  return 0;
}
static unsigned int sfMachineGlobalTerminatorCallable = 0;
static unsigned int sfMachineGlobalInitializerCallable = 1;
extern unsigned int sf_robot_2link_method_dispatcher(SimStruct *S, const char
 *chartName, int_T method, void *data);
unsigned int sf_machine_global_method_dispatcher(SimStruct *simstructPtr, const
 char *chartName, int_T method, void *data)
{
  if(sf_robot_2link_method_dispatcher(simstructPtr,chartName,method,data))
  return 1;
  return 0;
}
extern void robot_2link_terminator(void);
void sf_machine_global_terminator(void)
{
  if(sfMachineGlobalTerminatorCallable) {
    sfMachineGlobalTerminatorCallable = 0;
    sfMachineGlobalInitializerCallable = 1;
    robot_2link_terminator();
    sf_debug_terminate();
  }
  return;
}
extern void robot_2link_initializer(void);
extern void robot_2link_debug_initialize(void);
void sf_machine_global_initializer(void)
{
  if(sfMachineGlobalInitializerCallable) {
    sfMachineGlobalInitializerCallable = 0;
    sfMachineGlobalTerminatorCallable =1;
    robot_2link_debug_initialize();
    robot_2link_initializer();
  }
  return;
}

#define PROCESS_MEX_SFUNCTION_EVERY_CALL

unsigned int ProcessMexSfunctionEveryCall(int_T nlhs, mxArray *plhs[], int_T
 nrhs, const mxArray *prhs[]);

#include "simulink.c"                   /* MEX-file interface mechanism */

static void sf_machine_load_sfunction_ptrs(SimStruct *S)
{
  ssSetmdlInitializeSampleTimes(S,__mdlInitializeSampleTimes);
  ssSetmdlInitializeConditions(S,__mdlInitializeConditions);
  ssSetmdlOutputs(S,__mdlOutputs);
  ssSetmdlTerminate(S,__mdlTerminate);
  ssSetmdlRTW(S,__mdlRTW);
  ssSetmdlSetWorkWidths(S,__mdlSetWorkWidths);

#if defined(MDL_HASSIMULATIONCONTEXTIO)
  ssSetmdlSimulationContextIO(S,__mdlSimulationContextIO);
#endif

#if defined(MDL_START)
  ssSetmdlStart(S,__mdlStart);
#endif

#if defined(RTW_GENERATED_ENABLE)
  ssSetRTWGeneratedEnable(S,__mdlEnable);
#endif

#if defined(RTW_GENERATED_DISABLE)
  ssSetRTWGeneratedDisable(S,__mdlDisable);
#endif

#if defined(MDL_ENABLE)
  ssSetmdlEnable(S,__mdlEnable);
#endif

#if defined(MDL_DISABLE)
  ssSetmdlDisable(S,__mdlDisable);
#endif

#if defined(MDL_SIM_STATUS_CHANGE)
  ssSetmdlSimStatusChange(S,__mdlSimStatusChange);
#endif

#if defined(MDL_EXT_MODE_EXEC)
  ssSetmdlExtModeExec(S,__mdlExtModeExec);
#endif

#if defined(MDL_UPDATE)
  ssSetmdlUpdate(S,__mdlUpdate);
#endif
}

unsigned int ProcessMexSfunctionEveryCall(int_T nlhs, mxArray *plhs[], int_T
 nrhs, const mxArray *prhs[])
{
  if (nlhs < 0) {
    SimStruct *S = (SimStruct *)plhs[_LHS_SS];
    int_T flag = (int_T)(*(real_T*)mxGetPr(prhs[_RHS_FLAG]));
    if (flag == SS_CALL_MDL_SET_WORK_WIDTHS) {
      sf_machine_load_sfunction_ptrs(S);
    }
  }
  return 0;
}