Custum level-2 MATLAB S-function problem with desktop real-time simulink

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Julien ROSSATO
Julien ROSSATO 2023-7-10
评论： Julien ROSSATO 2023-8-1
Hi,
I try to develop a real-time simulink model to stream data to workspace of MATLAB from delsys trigno EMG system. I made a model that works perfectly when I simulate the model by using a custum level-2 MATLAB S-function to communicate with delsys Trigo and get the data. But as I need the model to run in real-time, I build the model using Simulink desktop real-time. The time steps of my custum level-2 MATLAB S-function is set up to 0.05s and I use a Unbuffer blocks to obtain the original frequency sampling at 2000Hz, (or 0.0005s time steps).
When I run in real-time my model, I do not receive any error message but EMG data are replace by 0 values. After adding some disp to my code, I notice that the model do not use anymore the function 'Outputs' of my custum level-2 MATLAB S-function. Then, the model do not ask anymore for EMG data but simply return 0 value instead.
Here my custum level-2 MATLAB S-function :
function DelsysTrignoSamplerBuffer(block)
% The function that implements the
% Sampling block in simulink. This functions is a Matlab Level 2 S-function.
tcpipCommand = NaN;
tcpipEMG = NaN;
is_started = false;
rateAdjustedEmgBytesToRead = 0;
buffer = [];
at_frame_buffer = 1;
parameters = struct();
setup(block);
function setup(block)
% Register the number of ports.
block.NumInputPorts = 0;
block.NumOutputPorts = 1;
block.NumContStates = 0;
block.NumDworks = 0;
% Set output ports
block.SetPreCompOutPortInfoToDynamic();
block.OutputPort(1).Dimensions = [100 16];
block.OutputPort(1).SamplingMode = 'Frame';
% Number of parameters
block.NumDialogPrms = 1;
% Block time steps
block.SampleTimes = [0.05 0];
% run block in interpreted mode even w/ Acceleration
block.SetAccelRunOnTLC(false);
block.SimStateCompliance = 'DefaultSimState';
block.RegBlockMethod('CheckParameters', @checkParameters);
block.RegBlockMethod('Start', @Start);
block.RegBlockMethod('Outputs', @Outputs);
block.RegBlockMethod('Terminate', @Terminate);
end
function checkParameters(block)
parameters.ipAddress = block.DialogPrm(1).Data;
end
%
function Start(block)
% This function is called once, when the simulation is started.
% Création d'une connexion TCP/IP
tcpipCommand = tcpclient(parameters.ipAddress, 50040);
tcpipEMG = tcpclient(parameters.ipAddress, 50041);
%Setup interface object to read chunks of data
rateAdjustedEmgBytesToRead=100*16;
writeline(tcpipCommand,sprintf('START\r\n\r'))
is_started = true;
bytesReady = tcpipEMG.NumBytesAvailable;
bytesReady = bytesReady - mod(bytesReady, rateAdjustedEmgBytesToRead);
while bytesReady == 0
bytesReady = tcpipEMG.NumBytesAvailable;
bytesReady = bytesReady - mod(bytesReady, rateAdjustedEmgBytesToRead);
end
data = read(tcpipEMG,bytesReady,'single');
buffer = double(reshape(data,16,[])');
at_frame_buffer = 1;
disp('okstart')
end
function Outputs(block)
disp('okoutput')
if size(buffer, 2) < at_frame_buffer
bytesReady = tcpipEMG.NumBytesAvailable;
bytesReady = bytesReady - mod(bytesReady, rateAdjustedEmgBytesToRead);
while bytesReady == 0
bytesReady = tcpipEMG.NumBytesAvailable;
bytesReady = bytesReady - mod(bytesReady, rateAdjustedEmgBytesToRead);
end
data = read(tcpipEMG,bytesReady,'single');
buffer = double(reshape(data,16,[])');
at_frame_buffer = 1;
end
block.OutputPort(1).Data = buffer(at_frame_buffer:at_frame_buffer+99,:);
at_frame_buffer = at_frame_buffer + 100;
end
function Terminate(block)
% Cleans up the TMSi library.
writeline(tcpipCommand,sprintf('STOP\r\n\r'))
flush(tcpipEMG)
is_started = false;
end
end
How can I resolve this and have the function Outputs block works even with desktop real-time ?

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采纳的回答

Jan Houska
Jan Houska 2023-7-29
Hi Julien,
Level-2 MATLAB S-functions do not generate C code, and therefore cannot be used by Simulink Desktop Real-Time in Run In Kernel mode. You have two options. Either you can run the model in Connected IO mode, where the S-function will be run as-is without compilation. There's a good chance it will work if you sample rate is 20 Hz. Or, you can re-implement the TCP/IP communication using the Packet Input and Packet Output blocks and the TCP/IP protocol driver. This way, C code will be generated and you will be able to run in Run In Kernel mode.
Good Luck, Jan

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