'rtwinext': undefined symbol "__imp__Z1​3TT_Initia​lizev" Error loading real-time executable Error occurred while executing External Mode MEX-file motive 1.5 API C-MEX S-Function

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Or Hirshfeld
Or Hirshfeld 2015-5-13
评论： Christine 2015-6-10
I wrote custom C-mex s-function to get data from external software using API Library. the s-function is working well in Normal mode but when i switch to external mode using Real-Time Windows Target it show the following error.
also i"m using C++ compiler because the API Library is written in C++.
Error occurred while executing External Mode MEX-file 'rtwinext': Error loading real-time executable: undefined symbol "__imp__Z13TT_Initializev"
I'm trying to get position data from Natural-Point's optitrack cameras using Motive 1.5 API and to control a quad-copter in real-time Simulink
my project is avilable in GitHub: https://github.com/orhirshfeld/Motive-S-function.git
my s-function is the following:
#define S_FUNCTION_NAME Get_Data_From_Motive_API_v2_realtime #define S_FUNCTION_LEVEL 2
#include "simstruc.h" //for s-function building
//#include "mex.h" //for mexing
//#include stdio.h //for printf function //#include windows.h //for sleep function //#include math.h //for isnan function
#include "NPTrackingTools.h" //for motive API
/*================* * Build checking ================*/
/* Function: mdlInitializeSizes =============================================== * Abstract: * Setup sizes of the various vectors. / static void mdlInitializeSizes(SimStruct *S) { ssSetNumSFcnParams(S, 0); if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) { return; / Parameter mismatch will be reported by Simulink */ }
if (!ssSetNumInputPorts(S, 1)) return;
ssSetInputPortWidth(S, 0, 1);
ssSetInputPortDataType(S, 0, DYNAMICALLY_TYPED );
ssSetInputPortDirectFeedThrough(S, 0, 1);
if (!ssSetNumOutputPorts(S,8)) return; // insert here to change number of output ports
ssSetOutputPortWidth(S, 0, 1);
ssSetOutputPortDataType(S, 0, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 1, 1);
ssSetOutputPortDataType(S, 1, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 2, 1);
ssSetOutputPortDataType(S, 2, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 3, 1);
ssSetOutputPortDataType(S, 3, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 4, 1);
ssSetOutputPortDataType(S, 4, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 5, 1);
ssSetOutputPortDataType(S, 5, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 6, 1);
ssSetOutputPortDataType(S, 6, DYNAMICALLY_TYPED );
ssSetOutputPortWidth(S, 7, 1);
ssSetOutputPortDataType(S, 7, DYNAMICALLY_TYPED );
ssSetNumSampleTimes(S, 1);
/* specify the sim state compliance to be same as a built-in block */
ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);
ssSetOptions(S,
SS_OPTION_CALL_TERMINATE_ON_EXIT |
SS_OPTION_EXCEPTION_FREE_CODE);
// SS_OPTION_WORKS_WITH_CODE_REUSE and SS_OPTION_USE_TLC_WITH_ACCELERATOR were romoved
// set inner value for old_timestamp to messure delta time btween ithreations
ssSetNumDWork(S, 1);
ssSetDWorkWidth(S, 0, 1);
ssSetDWorkDataType(S, 0, SS_DOUBLE);
}
/* 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); }
#define MDL_START void mdlStart(SimStruct S) { int ret1; const char project_file_name[130] = "c:\\Users\\sasson\\onedrive\\work control lab aero summer 2014 technion\\C_code\\Motive-S-function\\MOTIVE15.ttp"; double *TimeStamp_old = (double) ssGetDWork(S,0);
TimeStamp_old[0]=0;
ret1=TT_Initialize();
//Sleep(100); not avilable in real-time
ret1=TT_LoadProject(project_file_name);
//Sleep(1000); notavilable in real-time
}
/* Function: mdlOutputs ======================================================= / static void mdlOutputs(SimStruct *S, int_T tid) { InputRealPtrsType uPtrs = ssGetInputPortRealSignalPtrs(S,0); real_T *X = ssGetOutputPortRealSignal(S,0); real_T *Y = ssGetOutputPortRealSignal(S,1); real_T *Z = ssGetOutputPortRealSignal(S,2); real_T *Yaw = ssGetOutputPortRealSignal(S,3); real_T *Pitch = ssGetOutputPortRealSignal(S,4); real_T *Roll = ssGetOutputPortRealSignal(S,5); real_T *TimeStamp = ssGetOutputPortRealSignal(S,6); real_T *DeltaTime = ssGetOutputPortRealSignal(S,7); double *TimeStamp_old = (double) ssGetDWork(S,0);
float x1=999, y1=999, z1=999, qx1=999, qy1=999, qz1=999, qw1=999, yaw1=999, pitch1=999, roll1=999;
double TimeStamp1=0;
double DeltaTime1=0;
int_T width = ssGetOutputPortWidth(S,0);
int ret2;
int ID_num;
ID_num=(int) *uPtrs[0]; //obtain input
ret2=TT_UpdateSingleFrame();
TT_TrackableLocation(ID_num, &x1, &y1, &z1, &qx1, &qy1, &qz1, &qw1, &yaw1, &pitch1, &roll1);
TimeStamp1=TT_FrameTimeStamp();
DeltaTime1=TimeStamp1-TimeStamp_old[0];
TimeStamp_old[0]=TimeStamp1;
*X=(real_T) x1;
*Y=(real_T) y1;
*Z=(real_T) z1;
*Yaw=(real_T) yaw1;
*Pitch=(real_T) pitch1;
*Roll=(real_T) roll1;
*TimeStamp=(real_T) TimeStamp1;
*DeltaTime=(real_T) DeltaTime1;
// Sleep(100); not avilable in real-time
}
/* Function: mdlTerminate ===================================================== * Abstract: * No termination needed, but we are required to have this routine. */ static void mdlTerminate(SimStruct *S) { int_T ret3;
// ret4=TT_FinalCleanup(); //create error ret3=TT_Shutdown();
}
#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
Thank you Or Hirshfeld אור הירשפלד

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采纳的回答

Or Hirshfeld
Or Hirshfeld 2015-5-28
编辑：Or Hirshfeld 2015-5-28
I got the following answer from Matlab support:
Or Hirshfeld אור הירשפלד
  2 个评论
David St-Onge
David St-Onge 2015-5-29
ok, but what if you use #pragma comment with static .lib library? In my understanding it should work, but I'm having the same issue as you....
Christine
Christine 2015-6-10
I'm facing a similar issue. Could you please report the answer from MATLAB support. It isn't quite legible. Thank you.

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更多回答（1 个）

Anthony Poulin
Anthony Poulin 2015-5-21
Hello,
I think that I have encountered a similar problem and it comes from "mex.h" (which is a Matlab API and if you simulate in external mode it can occur troubleshot).
Can you try to suppress the inclusion of mex.h (and relevant functions) on your code?
  3 个评论
显示 1更早的评论
Anthony Poulin
Anthony Poulin 2015-5-22
Can you tell me when did you get this error?
When trying to compile your s-function in a mex file? Or you succeed to do it but it happens when you launch your simulation?
Or Hirshfeld
Or Hirshfeld 2015-5-28
编辑：Or Hirshfeld 2015-5-28
I get the error while trying to run it (press play button)
when i compile is all fine and it working when i run it in normal mode
The answer that i got from matlab support is:
but i have Lib file as well as dll file, I don't know if it consider source code or binary file becuse i know lib file is cross-platfrom
also i saw something in the header file about some option to load the library as dynamic or static.
//== DLL EXPORT/IMPORT PREPROCESSOR DEFINES ==========================================-----
#ifdef NPTRACKINGTOOLS_EXPORTS
#define TTAPI __declspec(dllexport)
#else
#ifndef STATIC_TT_LINK
#define TTAPI __declspec(dllimport)
#else
#define TTAPI
#endif
#endif
i attached the dll/lib header file as txt file
another thing to note is that my API connect to software, not hardware

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