#define S_FUNCTION_NAME casadi_fun
#define S_FUNCTION_LEVEL 2
#include <casadi/casadi_c.h>
#include "simstruc.h"
static int id = -1;
static int ret = -1;
static casadi_int n_in, n_out;
static casadi_int sz_arg, sz_res, sz_iw, sz_w;
static int mem;
void cleanup() {
if (ret==0) {
casadi_c_pop();
ret = -1;
}
}
static void mdlInitializeSizes(SimStruct *S)
{
int_T i;
const casadi_int* sp;
const char *file_name;
const char *function_name;
ssSetNumSFcnParams(S, 2);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
return; /* Parameter mismatch will be reported by Simulink */
}
file_name = "f.casadi";
function_name = "f";
// Simulink does not provide a cleanup-hook when parameters are changed
cleanup();
// Load file
ret = casadi_c_push_file(file_name);
// Load function
id = casadi_c_id(function_name);
if (id<0) {
casadi_c_pop();
}
/* Read in CasADi function dimensions */
n_in = casadi_c_n_in_id(id);
n_out = casadi_c_n_out_id(id);
casadi_c_work_id(id, &sz_arg, &sz_res, &sz_iw, &sz_w);
/* Set up simulink input/output ports */
if (!ssSetNumInputPorts(S, n_in)) return;
for (i=0;i<n_in;++i) {
sp = casadi_c_sparsity_in_id(id, i);
/* Dense inputs assumed here */
ssSetInputPortDirectFeedThrough(S, i, 1);
casadi_int nnz = sp[2+sp[1]];
if (nnz!=sp[0]*sp[1]) {
casadi_c_pop();
}
ssSetInputPortMatrixDimensions(S, i, sp[0], sp[1]);
}
if (!ssSetNumOutputPorts(S, n_out)) return;
for (i=0;i<n_out;++i) {
sp = casadi_c_sparsity_out_id(id, i);
casadi_int nnz = sp[2+sp[1]];
/* Dense outputs assumed here */
if (nnz!=sp[0]*sp[1]) {
casadi_c_pop();
}
ssSetOutputPortMatrixDimensions(S, i, sp[0], sp[1]);
}
ssSetNumSampleTimes(S, 1);
/* Set up CasADi function work vector sizes */
ssSetNumRWork(S, sz_w);
ssSetNumIWork(S, sz_iw*sizeof(casadi_int)/sizeof(int_T));
ssSetNumPWork(S, sz_arg+sz_res);
ssSetNumNonsampledZCs(S, 0);
/* specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
// Make sure mdlTerminate is called on error
ssSetOptions(S,
SS_OPTION_WORKS_WITH_CODE_REUSE |
SS_OPTION_EXCEPTION_FREE_CODE |
SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}
/* Function: mdlInitializeSampleTimes =========================================
* Abstract:
* Specifiy that we inherit our sample time from the driving block.
*/
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
ssSetOffsetTime(S, 0, 0.0);
ssSetModelReferenceSampleTimeDefaultInheritance(S);
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
void** p;
const real_T** arg;
double* w;
casadi_int* iw;
int_T i;
/* Set up CasADi function work vectors */
p = ssGetPWork(S);
arg = (const real_T**) p;
p += sz_arg;
real_T** res = (real_T**) p;
w = ssGetRWork(S);
iw = (casadi_int*) ssGetIWork(S);
/* Point to input and output buffers */
for (i=0; i<n_in;++i) {
arg[i] = *ssGetInputPortRealSignalPtrs(S,i);
}
for (i=0; i<n_out;++i) {
res[i] = ssGetOutputPortRealSignal(S,i);
}
/* Run the CasADi function */
if (casadi_c_eval_id(id, arg, res, iw, w, mem)) {
ssPrintf("Failed to evaluate\n");
}
}
static void mdlStart(SimStruct *S)
{
// Allocate memory (thread-safe)
casadi_c_incref_id(id);
// Checkout thread-local memory (not thread-safe)
mem = casadi_c_checkout_id(id);
}
static void mdlTerminate(SimStruct *S) {
/* Free memory (thread-safe) */
casadi_c_decref_id(id);
// Release thread-local (not thread-safe)
casadi_c_release_id(id, mem);
cleanup();
}
#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
