diff --git a/adaptors/matlab/analogout.c b/adaptors/matlab/analogout.c
index e545ab93cd860c48a222857451a2f43e588c972f..a8ea2a01d4d393da65d563328150bbe040c38dce 100644
--- a/adaptors/matlab/analogout.c
+++ b/adaptors/matlab/analogout.c
@@ -33,13 +33,24 @@
1 moberg_analog_out pointer[1]
...
- */
+ RWork: 0 exit_value[0] (optional)
+ 1 exit_value[1] (optional)
+ ...
+
+*/
#define MDL_CHECK_PARAMETERS
static void mdlCheckParameters(SimStruct *S)
{
+ int number_of_params = ssGetSFcnParamsCount(S);
+
+ if (number_of_params < 2 || 3 < number_of_params) {
+ ssSetErrorStatus(S, "block accepts 2 or 3 parameters");
+ return;
+ }
+
/* 1st parameter: sampling interval */
- {
+ if (number_of_params >= 1) {
if (!mxIsDouble(ssGetSFcnParam(S,0)) ||
mxGetNumberOfElements(ssGetSFcnParam(S,0)) != 1) {
ssSetErrorStatus(S, "sampling time must be a scalar");
@@ -47,8 +58,8 @@ static void mdlCheckParameters(SimStruct *S)
}
}
- /* 2nd parameter: input channels */
- {
+ /* 2nd parameter: output channels */
+ if (number_of_params >= 2) {
int number_of_dims = mxGetNumberOfDimensions(ssGetSFcnParam(S,1));
if (!mxIsDouble(ssGetSFcnParam(S,1)) ||
@@ -57,19 +68,36 @@ static void mdlCheckParameters(SimStruct *S)
return;
}
}
+
+ /* 3nd parameter: (optional) exit output values */
+ if (number_of_params >= 3) {
+ int number_of_dims = mxGetNumberOfDimensions(ssGetSFcnParam(S,2));
+
+ if (!mxIsDouble(ssGetSFcnParam(S,2)) ||
+ number_of_dims != 2 || mxGetM(ssGetSFcnParam(S,2)) != 1) {
+ ssSetErrorStatus(S, "exit output values must be a scalar or a vector");
+ return;
+ }
+
+ if (mxGetN(ssGetSFcnParam(S,1)) != mxGetN(ssGetSFcnParam(S,2))) {
+ ssSetErrorStatus(S, "exit output values must same size as channels");
+ return;
+ }
+ }
}
static void mdlInitializeSizes(SimStruct *S)
{
int channelCount;
+ int number_of_params = ssGetSFcnParamsCount(S);
- ssSetNumSFcnParams(S, 2);
- if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
- mdlCheckParameters(S);
- if (ssGetErrorStatus(S) != NULL) { return; }
- } else {
+ if (number_of_params < 2 || 3 < number_of_params) {
+ ssSetErrorStatus(S, "block accepts 2 or 3 parameters");
return;
}
+ ssSetNumSFcnParams(S, number_of_params);
+ mdlCheckParameters(S);
+ if (ssGetErrorStatus(S) != NULL) { return; }
channelCount = mxGetN(ssGetSFcnParam(S,1));
@@ -87,9 +115,15 @@ static void mdlInitializeSizes(SimStruct *S)
ssSetNumSampleTimes(S, 1);
ssSetNumPWork(S, channelCount); /* 0: moberg_analog_out pointer[0]
- 1: moberg_analog_out pointer[1]
- ...
- */
+ * 1: moberg_analog_out pointer[1]
+ * ...
+ */
+ if (number_of_params == 3) {
+ ssSetNumRWork(S, channelCount); /* 0: exit_value[0]
+ * 1: exit_value[1]
+ * ...
+ */
+ }
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
@@ -106,24 +140,30 @@ static void mdlInitializeSampleTimes(SimStruct *S)
static void mdlInitializeConditions(SimStruct *S)
{
void **pwork = ssGetPWork(S);
+ real_T *rwork = ssGetRWork(S);
double *channel = mxGetPr(ssGetSFcnParam(S,1));
- int channel_count = mxGetN(ssGetSFcnParam(S,1));
int i;
- for (i = 0 ; i < channel_count ; i++) {
+ if (rwork) {
+ real_T *exit_value = mxGetPr(ssGetSFcnParam(S,2));
+ for (i = 0 ; i < ssGetNumRWork(S) ; i++) {
+ rwork[i] = exit_value[i];
+ }
+ }
+
+ for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
pwork[i] = moberg4simulink_analog_out_open(channel[i]);
if (! pwork[i]) {
static char error[256];
sprintf(error, "Failed to open analogout #%d", (int)channel[i]);
ssSetErrorStatus(S, error);
+ return;
}
}
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
- void **pwork = ssGetPWork(S);
-
{
/* Propagate the dummy sorting signal */
InputRealPtrsType up = ssGetInputPortRealSignalPtrs(S,0);
@@ -133,6 +173,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
{
int i;
InputRealPtrsType up = ssGetInputPortRealSignalPtrs(S,1);
+ void **pwork = ssGetPWork(S);
for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
struct moberg_analog_out *aout = (struct moberg_analog_out*)pwork[i];
@@ -150,10 +191,21 @@ static void mdlTerminate(SimStruct *S)
{
int i;
void **pwork = ssGetPWork(S);
+ real_T *rwork = ssGetRWork(S);
double *channel = mxGetPr(ssGetSFcnParam(S,1));
- int channel_count = mxGetN(ssGetSFcnParam(S,1));
- for (i = 0 ; i < channel_count ; i++) {
+ for (i = 0 ; i < ssGetNumPWork(S) && i < ssGetNumRWork(S) ; i++) {
+ struct moberg_analog_out *aout = (struct moberg_analog_out*)pwork[i];
+ if (aout == NULL) continue;
+ if (! moberg_OK(aout->write(aout->context, rwork[i], NULL))) {
+ static char error[256];
+ double *channel = mxGetPr(ssGetSFcnParam(S,1));
+ sprintf(error, "Failed to write analogout #%d", (int)channel[i]);
+ ssSetErrorStatus(S, error);
+ }
+ }
+
+ for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
if (pwork[i]) {
struct moberg_analog_out *aout = (struct moberg_analog_out*)pwork[i];
moberg4simulink_analog_out_close(channel[i], aout);
diff --git a/adaptors/matlab/digitalout.c b/adaptors/matlab/digitalout.c
index be8d48e9e85e3e9d786797d4b73f7a705519cd81..b12903f2b51c8ea41066aa7e352905e29fae84a9 100644
--- a/adaptors/matlab/digitalout.c
+++ b/adaptors/matlab/digitalout.c
@@ -33,13 +33,24 @@
1 moberg_digital_out pointer[1]
...
- */
+ RWork: 0 exit_value[0] (optional)
+ 1 exit_value[1] (optional)
+ ...
+
+*/
#define MDL_CHECK_PARAMETERS
static void mdlCheckParameters(SimStruct *S)
{
+ int number_of_params = ssGetSFcnParamsCount(S);
+
+ if (number_of_params < 2 || 3 < number_of_params) {
+ ssSetErrorStatus(S, "block accepts 2 or 3 parameters");
+ return;
+ }
+
/* 1st parameter: sampling interval */
- {
+ if (number_of_params >= 1) {
if (!mxIsDouble(ssGetSFcnParam(S,0)) ||
mxGetNumberOfElements(ssGetSFcnParam(S,0)) != 1) {
ssSetErrorStatus(S, "sampling time must be a scalar");
@@ -47,8 +58,8 @@ static void mdlCheckParameters(SimStruct *S)
}
}
- /* 2nd parameter: input channels */
- {
+ /* 2nd parameter: output channels */
+ if (number_of_params >= 2) {
int number_of_dims = mxGetNumberOfDimensions(ssGetSFcnParam(S,1));
if (!mxIsDouble(ssGetSFcnParam(S,1)) ||
@@ -57,20 +68,37 @@ static void mdlCheckParameters(SimStruct *S)
return;
}
}
+
+ /* 3nd parameter: (optional) exit output values */
+ if (number_of_params >= 3) {
+ int number_of_dims = mxGetNumberOfDimensions(ssGetSFcnParam(S,2));
+
+ if (!mxIsDouble(ssGetSFcnParam(S,2)) ||
+ number_of_dims != 2 || mxGetM(ssGetSFcnParam(S,2)) != 1) {
+ ssSetErrorStatus(S, "exit output values must be a scalar or a vector");
+ return;
+ }
+
+ if (mxGetN(ssGetSFcnParam(S,1)) != mxGetN(ssGetSFcnParam(S,2))) {
+ ssSetErrorStatus(S, "exit output values must same size as channels");
+ return;
+ }
+ }
}
static void mdlInitializeSizes(SimStruct *S)
{
int channelCount;
+ int number_of_params = ssGetSFcnParamsCount(S);
- ssSetNumSFcnParams(S, 2);
- if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
- mdlCheckParameters(S);
- if (ssGetErrorStatus(S) != NULL) { return; }
- } else {
+ if (number_of_params < 2 || 3 < number_of_params) {
+ ssSetErrorStatus(S, "block accepts 2 or 3 parameters");
return;
}
-
+ ssSetNumSFcnParams(S, number_of_params);
+ mdlCheckParameters(S);
+ if (ssGetErrorStatus(S) != NULL) { return; }
+
channelCount = mxGetN(ssGetSFcnParam(S,1));
ssSetNumContStates(S, 0);
@@ -87,9 +115,15 @@ static void mdlInitializeSizes(SimStruct *S)
ssSetNumSampleTimes(S, 1);
ssSetNumPWork(S, channelCount); /* 0: moberg_digital_out pointer[0]
- 1: moberg_digital_out pointer[1]
- ...
- */
+ * 1: moberg_digital_out pointer[1]
+ * ...
+ */
+ if (number_of_params == 3) {
+ ssSetNumRWork(S, channelCount); /* 0: exit_value[0]
+ * 1: exit_value[1]
+ * ...
+ */
+ }
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
@@ -106,24 +140,30 @@ static void mdlInitializeSampleTimes(SimStruct *S)
static void mdlInitializeConditions(SimStruct *S)
{
void **pwork = ssGetPWork(S);
+ real_T *rwork = ssGetRWork(S);
double *channel = mxGetPr(ssGetSFcnParam(S,1));
- int channel_count = mxGetN(ssGetSFcnParam(S,1));
int i;
- for (i = 0 ; i < channel_count ; i++) {
+ if (rwork) {
+ real_T *exit_value = mxGetPr(ssGetSFcnParam(S,2));
+ for (i = 0 ; i < ssGetNumRWork(S) ; i++) {
+ rwork[i] = exit_value[i];
+ }
+ }
+
+ for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
pwork[i] = moberg4simulink_digital_out_open(channel[i]);
if (! pwork[i]) {
static char error[256];
sprintf(error, "Failed to open digitalout #%d", (int)channel[i]);
ssSetErrorStatus(S, error);
+ return;
}
}
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
- void **pwork = ssGetPWork(S);
-
{
/* Propagate the dummy sorting signal */
InputRealPtrsType up = ssGetInputPortRealSignalPtrs(S,0);
@@ -133,6 +173,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
{
int i;
InputRealPtrsType up = ssGetInputPortRealSignalPtrs(S,1);
+ void **pwork = ssGetPWork(S);
for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
struct moberg_digital_out *dout = (struct moberg_digital_out*)pwork[i];
@@ -150,10 +191,21 @@ static void mdlTerminate(SimStruct *S)
{
int i;
void **pwork = ssGetPWork(S);
+ real_T *rwork = ssGetRWork(S);
double *channel = mxGetPr(ssGetSFcnParam(S,1));
- int channel_count = mxGetN(ssGetSFcnParam(S,1));
- for (i = 0 ; i < channel_count ; i++) {
+ for (i = 0 ; i < ssGetNumPWork(S) && i < ssGetNumRWork(S) ; i++) {
+ struct moberg_digital_out *dout = (struct moberg_digital_out*)pwork[i];
+ if (dout == NULL) continue;
+ if (! moberg_OK(dout->write(dout->context, rwork[i], NULL))) {
+ static char error[256];
+ double *channel = mxGetPr(ssGetSFcnParam(S,1));
+ sprintf(error, "Failed to write analogout #%d", (int)channel[i]);
+ ssSetErrorStatus(S, error);
+ }
+ }
+
+ for (i = 0 ; i < ssGetNumPWork(S) ; i++) {
if (pwork[i]) {
struct moberg_digital_out *dout = (struct moberg_digital_out*)pwork[i];
moberg4simulink_digital_out_close(channel[i], dout);