Struct as output of a Matlab System

Question

Michael Silvanus 2016-5-21

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/285288-struct-as-output-of-a-matlab-system

编辑： Michael Silvanus 2016-5-21

Hello,

I'm trying to develop a UART read and send driver block for a Raspberry Pi. To access the write and read commands writen in c, I use the Matlab System. The sending is working fine ( I write the inputs into a struct within matlab and pass a pointer to that struct to my external c function) and also the right values are recieved.

The Problem is that I can't get the output of the block working. The readfunction gives back a buffer (as struct). So I try create a struct in my Matlab System and write the buffer in it. Then I want to set my ouput of the block to that struct or pass the different values to my output variables.

Here is the Matlab System file: (The most important part is the Recieve Data Part (watch comments), where I call the pidata_parse function)

classdef UART_read_send < matlab.System ...
      & coder.ExternalDependency ...
      & matlab.system.mixin.Propagates ...
      & matlab.system.mixin.CustomIcon
  %
  % System object template for a sink block.
  % 
  % This template includes most, but not all, possible properties,
  % attributes, and methods that you can implement for a System object in
  % Simulink.
  %
  % NOTE: When renaming the class name Sink, the file name and
  % constructor name must be updated to use the class name.
  %
    % Copyright 2014 The MathWorks, Inc.
    %#codegen
    %#ok<*EMCA>
    properties
        % Public, tunable properties.
    end
    properties (Hidden)
        fd;
        size;
        packetID = 17;        
    end
    properties (Nontunable)
        % Public, non-tunable properties.
        UART_init_Baudrate = 'B9600';
    end
    properties (Constant, Hidden)
        AvailableBrate = ['B1200' 'B2400' 'B4800' 'B9600' 'B19200' 'B38400' 'B57600' 'B115200' 'B230400' 'B460800' 'B500000' 'B576000' 'B921600' 'B1000000' 'B1152000' 'B1500000' 'B2000000' 'B2500000' 'B3000000' 'B3500000' 'B4000000'];
    end
    properties (Access = private)
        % Pre-computed constants.
    end
    methods
        % Constructor
        function obj = UART_read_send(varargin)
            coder.allowpcode('plain');
            % Support name-value pair arguments when constructing the object.
            setProperties(obj,nargin,varargin{:});
        end
  end
    methods (Access=protected)
        function setupImpl(obj, u1, u2) 
            if coder.target('Rtw')
                % Call C-function implementing device initialization
                % coder.cinclude('sink.h');
                % coder.ceval('sink_init');               
                coder.cinclude('uart.h');
                obj.fd = -1;
                obj.fd = coder.ceval('uart_init');
            else
                % Place simulation setup code here
            end
        end
        function [out1, out2] = stepImpl(obj,u1,u2)  
            if coder.target('Rtw')
                % Call C-function implementing device output
                %Schreiben der Eingänge in den Sendestrukt
                %Zum ändern von Eingängen muss ebenfalls das entsprechende Strukt in der pidata.h angepasst werden
                send_struct = struct('velocity',u1,'heading',u2); 
                %Berechnen der Bytegröße der Eingänge
                size_u1 = -1;
                size_u2 = -1;
                size_u1 = coder.ceval('sizeof', u1);   
                size_u2 = coder.ceval('sizeof', u2);
                obj.size = size_u1 + size_u2;
                %Include der Struct Definition im C-Code und abgleichen der Namen
                coder.cinclude('piData.h');
                coder.cstructname(send_struct, 'piData_toFluco_t', 'extern');
                %Senden des struct
                coder.ceval('pidata_send', obj.fd, obj.packetID, coder.ref(send_struct), obj.size);
                %Recieve Data
                rcv_struct = struct('velocity_RCV',single ([0;0;0]),'heading_RCV',single([0;0;0;0;0]));
                coder.cstructname(rcv_struct, 'piData_fromFluco', 'extern');
                rcv_struct = coder.ceval('pidata_parse', obj.fd);
                out1 = rcv_struct.velocity_RCV;
                out2 = rcv_struct.heading_RCV;
                %out1 = rcv_struct;
                %y2 = rcv_struct.heading_RCV;
            else
                % Place simulation output code here
            end
        end
        function releaseImpl(obj)
            if coder.target('Rtw')
                % Call C-function implementing device termination
                coder.ceval('uart_close', obj.fd);
            else
                % Place simulation termination code here
            end
        end
    end
    methods (Access=protected)

%Define input properties function num = getNumInputsImpl(~) num = 2; end

         function flag = isInputSizeLockedImpl(~,~)
           flag = true;
         end
        function varargout = isInputFixedSizeImpl(~,~)
            varargout{1} = true;
            varargout{2} = true;
        end
        function flag = isInputComplexityLockedImpl(~,~)
            flag = true;
        end
        function varargout = isInputComplexImpl(~)
            varargout{1} = false;
            varargout{2} = false;
        end
        % Define output properties
        function num = getNumOutputsImpl(~)
            num = 2;
        end        
         function [out1, out2] = outputImpl(obj, ~)
             out1 = obj.PreviousInput(end);
             out2 = obj.PreviousInput(end);
         end
         function flag = isOutputSizeLockedImpl(~,~)
             flag = true;
         end
        function varargout = isOutputFixedSizeImpl(~,~)
             varargout{1} = true;
             varargout{2} = true;
         end
        function flag = isOutputComplexityLockedImpl(~,~)
            flag = true;
        end
        function varargout = isOutputComplexImpl(~)
            varargout{1} = false;
            varargout{2} = false;
        end
        function varargout = getOutputSizeImpl(~)
%            varargout{1} = propagatedInputSize(obj, 1);
             varargout{1} = [3,1];
             varargout{2} = [5,1];
         end
        function varargout = getOutputDataTypeImpl(~)
            varargout{1} = 'single';
            varargout{2} = 'single';
        end
        function icon = getIconImpl(~)
%         Define a string as the icon for the System block in Simulink.
            icon = 'Rpi_UART_read_send';
        end
    end
    methods (Static, Access=protected)
        function simMode = getSimulateUsingImpl(~)
            simMode = 'Interpreted execution';
        end
        function isVisible = showSimulateUsingImpl
            isVisible = false;
        end
    end
    methods (Static)
        function name = getDescriptiveName()
            name = 'UART_read_send';
        end
        function b = isSupportedContext(context)
            b = context.isCodeGenTarget('rtw');
        end
        function updateBuildInfo(buildInfo, context)
            if context.isCodeGenTarget('rtw')
                % Update buildInfo
                rootDir = fullfile(fileparts(mfilename('fullpath')),'src');
                buildInfo.addIncludePaths(rootDir);
                % Use the following API's to add include files, sources and
                % linker flags
                addIncludeFiles(buildInfo,'piData.h','uart.h');
                addSourceFiles(buildInfo,'piData.c',rootDir);
                addSourceFiles(buildInfo,'uart.c',rootDir);
                %addLinkFlags(buildInfo,{'-llibSink'});
            end
        end
    end
  end

The piData.h:

/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/* 
* File:   piData.h
* Author: Michael
*
* Created on 19. Mai 2016, 16:04
*/
#ifndef PIDATA_H
#define PIDATA_H
#include <stdint.h>
#pragma once
// Einstellen, dass die Paket-Structs dicht (ohne Byte-Lücken) gepackt sind
#pragma pack(push, 1)
// ######################
// # Paket-Definitionen #
// ######################
typedef struct {
    float velocity [3];
    float heading [5];
} piData_toFluco_t;
typedef struct {
    float velocity_RCV[3];
    float heading_RCV[5];
} piData_fromFluco_t;
piData_toFluco_t piData_toFluco;
piData_fromFluco_t piData_fromFluco;
// Ende von >>#pragma pack(push, 1)<< siehe Oben.
#pragma pack(pop)
// Liest die über den auxiliary Datalink eingehenden Pakete ein
piData_fromFluco_t pidata_parse(int uartsocket);
// Sendet die auxiliary Datalink-Pakete
void pidata_send(int uartsocket, uint8_t packet_id, piData_toFluco_t* packet_ptr, uint8_t size);
#endif /* PIDATA_H */

When I try to run the simulation like this (Input is just 2 constant, one is 3x1 and one is 5x1) I get the following error message:

The build process will terminate as a result.
Error executing SSH command: make: Entering directory '/home/pi/Test_rtt'
"gcc" -I"./"            -O3 -D"MODEL=Test" -D"NUMST=1" -D"NCSTATES=0" -D"HAVESTDIO=" -D"ON_TARGET_WAIT_FOR_START=1" -D"ONESTEPFCN=0" -D"EXT_MODE=1" -D"TERMFCN=1" -D"MAT_FILE=0" -D"MULTI_INSTANCE_CODE=0" -D"INTEGER_CODE=0" -D"MT=0" -D"CLASSIC_INTERFACE=0" -D"ALLOCATIONFCN=0" -D"TID01EQ=0" -D"_USE_TARGET_UDP_=" -D"_RUNONTARGETHARDWARE_BUILD_=" -D"EXIT_FAILURE=1" -D"EXTMODE_DISABLETESTING=" -c ./linuxUDP.c ./ext_svr.c ./ext_work.c ./rtiostream_interface.c ./updown.c ./rtiostream_tcpip.c ./rtiostream_utils.c ./Test.c ./Test_data.c ./ert_main.c ./piData.c ./uart.c
./Test.c: In function â€˜Test_outputâ€&trade;:
./Test.c:43:20: error: expected â€˜;â€&trade; before â€˜expl_tempâ€&trade;
./Test.c:73:3: error: â€˜expl_tempâ€&trade; undeclared (first use in this function)
./Test.c:73:3: note: each undeclared identifier is reported only once for each function it appears in
_Test.mk:125: recipe for target 'linuxUDP.o' failed
make: *** [linuxUDP.o] Error 1
make: Leaving directory '/home/pi/Test_rtt'

In the end I just need to get the recieved files into the output of my System. Does anyone has an idea how I could do that.

Edit: If I don't include the out1 = rcv_struct.velocity_RCV; and out2 = rcv_struct.heading_RCV; call, the simulation runs without any errors on the pi, but also without any outputs of the System block.

Cheers Michael