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从算法代码和数据中分离 Rate Transition 模块代码和数据

打开实时脚本

您可以指定代码生成器是将它为 Rate Transition 模块生成的代码和数据内联到模型代码中，还是将代码和数据放入模型代码调用的单独的函数中。您可以通过选择Rate Transition 模块代码参数对此进行控制。通过将 Rate Transition 模块代码及数据与算法代码及数据分离，您能够对 Rate Transition 模块代码和算法代码独立地进行分析、优化和测试。默认情况下，Rate Transition 模块代码设置为内联到算法代码和数据中。您可以将代码和数据分开，以便生成的代码包含 model_step 函数调用的单独 get 和 set 函数以及专用的状态数据结构体。生成的代码还包含 model_initialize 函数调用的单独 start 和 initialize 函数。

示例模型

打开示例模型 MultirateMultitaskingRateTransitions。这种多速率、多任务模型包含几个在不同模式下运行的 Rate Transition 模块。

model = 'MultirateMultitaskingRateTransitions';
open_system(model);

set_param(model,'SystemTargetFile','ert.tlc');
set_param(model,'GenerateComments', 'Off');

将 Rate Transition 模块的代码分离出来

在“配置参数”对话框中，Rate Transition 模块代码参数设置为 Function。为模型生成代码。代码位于文件 MultirateMultitaskingRateTransitions.c 和 MultirateMultitaskingRateTransitions.h 中。

slbuild(model);
### Starting build procedure for: MultirateMultitaskingRateTransitions
### Successful completion of build procedure for: MultirateMultitaskingRateTransitions

Build Summary

Top model targets:

Model                                 Build Reason                                         Status                        Build Duration
=======================================================================================================================================
MultirateMultitaskingRateTransitions  Information cache folder or artifacts were missing.  Code generated and compiled.  0h 0m 13.636s 

1 of 1 models built (0 models already up to date)
Build duration: 0h 0m 14.567s

currentDir = pwd;
hfile=fullfile(currentDir, 'MultirateMultitaskingRateTransitions_ert_rtw','MultirateMultitaskingRateTransitions.h');
coder.example.extractLines(hfile,'typedef struct {','} DW;', 1, 1);
typedef struct {
  real_T OutportBufferForOut3[20];
  real_T Integrator1_DSTATE[20];
  real_T Integrator2_DSTATE[20];
  real_T Integrator3_DSTATE[20];
  real_T Integrator1_PREV_U[20];
  real_T Integrator2_PREV_U[20];
  real_T Integrator3_PREV_U[20];
  uint32_T Algorithm_PREV_T;
  struct {
    uint_T Algorithm_RESET_ELAPS_T:1;
  } bitsForTID1;

  uint8_T Integrator1_SYSTEM_ENABLE;
  uint8_T Integrator2_SYSTEM_ENABLE;
  uint8_T Integrator3_SYSTEM_ENABLE;
} DW;

对于 Rate Transition 模块，状态数据不在全局状态结构体 DW_MultirateMultitaskingRateTransitions_T. 中。此数据在文件 MultirateMultitaskingRateTransitions_rtb.h 中它自己的结构体中。

以下代码包含在文件 MultirateMultitaskingRateTransitions.c 中。

cfile=fullfile(currentDir, 'MultirateMultitaskingRateTransitions_ert_rtw','MultirateMultitaskingRateTransitions.c');
coder.example.extractLines(cfile,'void MultirateMultitaskingRateTransitions_step0',...)
    'void MultirateMultitaskingRateTransitions_terminate(void)',1,0);
void MultirateMultitaskingRateTransitions_step0(void)
{
  (rtM->Timing.RateInteraction.TID0_1)++;
  if ((rtM->Timing.RateInteraction.TID0_1) > 1) {
    rtM->Timing.RateInteraction.TID0_1 = 0;
  }

  MultirateMul_DetAndIntegS2F_get(rtY.Out1);
  MultirateMulti_IntegOnlyS2F_get(rtY.Out2);
  memcpy(&rtY.Out3[0], &rtDW.OutportBufferForOut3[0], 20U * sizeof(real_T));
  MultirateMul_DetAndIntegF2S_set(rtU.In1);
  MultirateMulti_IntegOnlyF2S_set(rtU.In2);
}

void MultirateMultitaskingRateTransitions_step1(void)
{
  real_T rtb_DetAndIntegF2S[20];
  real_T rtb_IntegOnlyF2S[20];
  real_T Integrator3_DSTATE;
  real_T tmp;
  int32_T i;
  uint32_T Algorithm_ELAPS_T;
  MultirateMul_DetAndIntegF2S_get(rtb_DetAndIntegF2S);
  MultirateMulti_IntegOnlyF2S_get(rtb_IntegOnlyF2S);
  if (rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T) {
    Algorithm_ELAPS_T = 0U;
  } else {
    Algorithm_ELAPS_T = rtM->Timing.clockTick1 - rtDW.Algorithm_PREV_T;
  }

  rtDW.Algorithm_PREV_T = rtM->Timing.clockTick1;
  rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T = false;
  tmp = 0.001 * (real_T)Algorithm_ELAPS_T;
  for (i = 0; i < 20; i++) {
    if (rtDW.Integrator1_SYSTEM_ENABLE == 0) {
      rtDW.Integrator1_DSTATE[i] += tmp * rtDW.Integrator1_PREV_U[i];
    }

    if (rtDW.Integrator2_SYSTEM_ENABLE == 0) {
      rtDW.Integrator2_DSTATE[i] += tmp * rtDW.Integrator2_PREV_U[i];
    }

    Integrator3_DSTATE = rtDW.Integrator3_DSTATE[i];
    if (rtDW.Integrator3_SYSTEM_ENABLE == 0) {
      Integrator3_DSTATE += tmp * rtDW.Integrator3_PREV_U[i];
    }

    rtDW.Integrator3_DSTATE[i] = Integrator3_DSTATE;
    rtDW.OutportBufferForOut3[i] = Integrator3_DSTATE;
    rtDW.Integrator1_PREV_U[i] = rtb_DetAndIntegF2S[i];
    rtDW.Integrator2_PREV_U[i] = rtb_IntegOnlyF2S[i];
    rtDW.Integrator3_PREV_U[i] = rtU.In3[i];
  }

  rtDW.Integrator1_SYSTEM_ENABLE = 0U;
  rtDW.Integrator2_SYSTEM_ENABLE = 0U;
  rtDW.Integrator3_SYSTEM_ENABLE = 0U;
  MultirateMul_DetAndIntegS2F_set(rtDW.Integrator1_DSTATE);
  MultirateMulti_IntegOnlyS2F_set(rtDW.Integrator2_DSTATE);
  rtM->Timing.clockTick1++;
}

void MultirateMultitaskingRateTransitions_initialize(void)
{
  rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T = true;
  rtDW.Integrator1_SYSTEM_ENABLE = 1U;
  rtDW.Integrator2_SYSTEM_ENABLE = 1U;
  rtDW.Integrator3_SYSTEM_ENABLE = 1U;
}

MultirateMultitaskingRateTransitions_step0 和 MultirateMultitaskingRateTransitions_step1 函数包含对 get 和 set 函数的调用。这些函数包含 Rate Transition 模块代码。这些函数定义位于文件 MultirateMultitaskingRateTransitions_rtb.c 中。

为 Rate Transition 模块生成内联代码

在“配置参数”对话框中，将Rate Transition 模块代码参数设置为 Inline。为模型生成代码。代码位于文件 MultirateMultitaskingRateTransitions.c 和 MultirateMultitaskingRateTransitions.h 中。

set_param(model,'RateTransitionBlockCode','Inline');
slbuild(model)
### Starting build procedure for: MultirateMultitaskingRateTransitions
### Successful completion of build procedure for: MultirateMultitaskingRateTransitions

Build Summary

Top model targets:

Model                                 Build Reason                     Status                        Build Duration
===================================================================================================================
MultirateMultitaskingRateTransitions  Generated code was out of date.  Code generated and compiled.  0h 0m 11.116s 

1 of 1 models built (0 models already up to date)
Build duration: 0h 0m 11.927s

以下代码现在位于文件 MultirateMultitaskingRateTransitions.h 中。

hfile=fullfile(currentDir, 'MultirateMultitaskingRateTransitions_ert_rtw','MultirateMultitaskingRateTransitions.h');
coder.example.extractLines(hfile, 'typedef struct {', '} DW;', 1, 1);
typedef struct {
  real_T Integrator1_DSTATE[20];
  real_T Integrator2_DSTATE[20];
  real_T Integrator3_DSTATE[20];
  real_T DetAndIntegS2F_Buffer0[20];
  volatile real_T IntegOnlyS2F_Buffer[40];
  real_T DetAndIntegF2S_Buffer[20];
  volatile real_T IntegOnlyF2S_Buffer0[20];
  real_T Integrator1_PREV_U[20];
  real_T Integrator2_PREV_U[20];
  real_T Integrator3_PREV_U[20];
  uint32_T Algorithm_PREV_T;
  struct {
    uint_T Algorithm_RESET_ELAPS_T:1;
  } bitsForTID1;

  volatile int8_T IntegOnlyS2F_ActiveBufIdx;
  volatile int8_T IntegOnlyF2S_semaphoreTaken;
  uint8_T Integrator1_SYSTEM_ENABLE;
  uint8_T Integrator2_SYSTEM_ENABLE;
  uint8_T Integrator3_SYSTEM_ENABLE;
} DW;

对于 Rate Transition 模块，状态数据不在全局状态结构体 DW_MultirateMultitaskingRateTransitions_T 中。这些数据在文件 MultirateMultitaskingRateTransitions_rtb.h 内专门的结构体中。

以下代码现在位于文件 MultirateMultitaskingRateTransitions.c 中。

cfile=fullfile(currentDir, 'MultirateMultitaskingRateTransitions_ert_rtw','MultirateMultitaskingRateTransitions.c');
coder.example.extractLines(cfile,'void MultirateMultitaskingRateTransitions_step0','void MultirateMultitaskingRateTransitions_terminate(void)', 1, 0);
void MultirateMultitaskingRateTransitions_step0(void)
{
  int32_T i;
  int32_T i_0;
  boolean_T tmp;
  (rtM->Timing.RateInteraction.TID0_1)++;
  if ((rtM->Timing.RateInteraction.TID0_1) > 1) {
    rtM->Timing.RateInteraction.TID0_1 = 0;
  }

  tmp = (rtM->Timing.RateInteraction.TID0_1 == 1);
  if (tmp) {
    memcpy(&rtY.Out1[0], &rtDW.DetAndIntegS2F_Buffer0[0], 20U * sizeof(real_T));
  }

  i = rtDW.IntegOnlyS2F_ActiveBufIdx * 20;
  for (i_0 = 0; i_0 < 20; i_0++) {
    rtY.Out2[i_0] = rtDW.IntegOnlyS2F_Buffer[i_0 + i];
  }

  if (tmp) {
    memcpy(&rtDW.DetAndIntegF2S_Buffer[0], &rtU.In1[0], 20U * sizeof(real_T));
  }

  if (rtDW.IntegOnlyF2S_semaphoreTaken == 0) {
    for (i = 0; i < 20; i++) {
      rtDW.IntegOnlyF2S_Buffer0[i] = rtU.In2[i];
    }
  }
}

void MultirateMultitaskingRateTransitions_step1(void)
{
  real_T rtb_IntegOnlyF2S[20];
  real_T Integrator1_DSTATE;
  real_T Out3;
  real_T tmp;
  int32_T i;
  uint32_T Algorithm_ELAPS_T;
  rtDW.IntegOnlyF2S_semaphoreTaken = 1;
  for (i = 0; i < 20; i++) {
    rtb_IntegOnlyF2S[i] = rtDW.IntegOnlyF2S_Buffer0[i];
  }

  rtDW.IntegOnlyF2S_semaphoreTaken = 0;
  if (rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T) {
    Algorithm_ELAPS_T = 0U;
  } else {
    Algorithm_ELAPS_T = rtM->Timing.clockTick1 - rtDW.Algorithm_PREV_T;
  }

  rtDW.Algorithm_PREV_T = rtM->Timing.clockTick1;
  rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T = false;
  tmp = 0.001 * (real_T)Algorithm_ELAPS_T;
  for (i = 0; i < 20; i++) {
    Integrator1_DSTATE = rtDW.Integrator1_DSTATE[i];
    if (rtDW.Integrator1_SYSTEM_ENABLE == 0) {
      Integrator1_DSTATE += tmp * rtDW.Integrator1_PREV_U[i];
    }

    rtDW.Integrator1_DSTATE[i] = Integrator1_DSTATE;
    if (rtDW.Integrator2_SYSTEM_ENABLE == 0) {
      rtDW.Integrator2_DSTATE[i] += tmp * rtDW.Integrator2_PREV_U[i];
    }

    if (rtDW.Integrator3_SYSTEM_ENABLE != 0) {
      Out3 = rtDW.Integrator3_DSTATE[i];
    } else {
      Out3 = tmp * rtDW.Integrator3_PREV_U[i] + rtDW.Integrator3_DSTATE[i];
    }

    rtY.Out3[i] = Out3;
    rtDW.Integrator1_PREV_U[i] = rtDW.DetAndIntegF2S_Buffer[i];
    rtDW.Integrator2_PREV_U[i] = rtb_IntegOnlyF2S[i];
    rtDW.Integrator3_DSTATE[i] = Out3;
    rtDW.Integrator3_PREV_U[i] = rtU.In3[i];
    rtDW.DetAndIntegS2F_Buffer0[i] = Integrator1_DSTATE;
  }

  rtDW.Integrator1_SYSTEM_ENABLE = 0U;
  rtDW.Integrator2_SYSTEM_ENABLE = 0U;
  rtDW.Integrator3_SYSTEM_ENABLE = 0U;
  for (i = 0; i < 20; i++) {
    rtDW.IntegOnlyS2F_Buffer[i + (rtDW.IntegOnlyS2F_ActiveBufIdx == 0) * 20] =
      rtDW.Integrator2_DSTATE[i];
  }

  rtDW.IntegOnlyS2F_ActiveBufIdx = (int8_T)(rtDW.IntegOnlyS2F_ActiveBufIdx == 0);
  rtM->Timing.clockTick1++;
}

void MultirateMultitaskingRateTransitions_initialize(void)
{
  rtDW.bitsForTID1.Algorithm_RESET_ELAPS_T = true;
  rtDW.Integrator1_SYSTEM_ENABLE = 1U;
  rtDW.Integrator2_SYSTEM_ENABLE = 1U;
  rtDW.Integrator3_SYSTEM_ENABLE = 1U;
}

代码内联在函数 MultirateMultitaskingRateTransitions_step0 和 MultirateMultitaskingRateTransitions_step1 中。

关闭模型

bdclose(model);

限制

代码生成器不会将那些具有可变大小信号或位于 For Each Subsystem 模块内的 For Rate Transition 模块的代码和数据分离出来。

另请参阅