if true
#define S_FUNCTION_NAME sfun_c_test
#define S_FUNCTION_LEVEL 2
#include "simstruc.h"
//
#ifdef WIN32
# pragma warning( disable : 4996 )
# define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers
#endif
#include <cstring> // For memset.
#include <windows.h>
#include <winsock.h>
#include "resource.h"
#include <tchar.h>
// NatNet SDK 2.7
#include "NatNetTypes.h" // NatNet data & Rigid Body DataDiscription
#include "NatNetClient.h" // Initialize Client
#include "natutils.h" // Convert quaternion to Euler angles
#pragma comment(lib, "NatNetLib")
NatNetClient* theClient = new NatNetClient;
/*====================*
* S-function methods *
*====================*/
static void mdlInitializeSizes(SimStruct *S)
{
int_T nInputPorts = 0; /* number of input ports */
int_T nOutputPorts = 1; /* number of output ports */
int_T needsInput = 0; /* direct feed through */
int_T inputPortIdx = 0;
int_T outputPortIdx = 0;
ssSetNumSFcnParams(S, 0); /* Number of expected parameters */
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
/* Return if number of expected != number of actual parameters */
return;
}
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);
// Output
if (!ssSetNumOutputPorts(S, nOutputPorts)) return;
if(!ssSetOutputPortDimensionInfo(S,outputPortIdx,DYNAMIC_DIMENSION)) return;
ssSetOutputPortWidth(S, 0, 1);
// Sample Time
ssSetNumSampleTimes(S, 1);
// Work vectors
ssSetNumRWork( S, 0); /* real work vector elements */
ssSetNumIWork( S, 0); /* integer work vector elements*/
ssSetNumPWork( S, 0); /* pointer work vector elements*/
ssSetNumModes( S, 0); /* mode work vector elements */
ssSetNumNonsampledZCs( S, 0); /* nonsampled zero crossings */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S, 0);
} /* end mdlInitializeSizes */
//
static void mdlInitializeSampleTimes(SimStruct *S)
{
double sampleTime = 0.01;
ssSetSampleTime(S, 0, sampleTime);
ssSetOffsetTime(S, 0, 0.0);
} /* end mdlInitializeSampleTimes */
//
#define MDL_START
#if defined(MDL_START)
static void mdlStart(SimStruct *S)
{
// NatNet server IP address.
char szIPAddress[30] = {127,0,0,1};
char szServerIPAddress[30] = {127,0,0,1};
theClient->Initialize(szIPAddress, szServerIPAddress);
}
#endif /* MDL_START */
//
static void mdlOutputs(SimStruct *S, int_T tid)
{
real_T *y = ssGetOutputPortRealSignal(S,0);
sFrameOfMocapData* pData = theClient->GetLastFrameOfData();
y[0] = pData->iFrame;
}
//
static void mdlTerminate(SimStruct *S)
{
theClient->Uninitialize();
}
/*=============================*
* Required S-function trailer *
*=============================*/
#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
#include "simulink.c" /* MEX-file interface mechanism */
#else
#include "cg_sfun.h" /* Code generation registration function */
#endif
end
