4 %% This TLC script generates ert_main.c
7 %% authors: Michal Sojka <sojkam1@fel.cvut.cz>
8 %% Lukas Hamacek <hamacl1@fel.cvut.cz>
10 %% Department of Control Engineering
11 %% Faculty of Electrical Engineering
12 %% Czech Technical University in Prague
15 %% GENERATEDECLARATIONS
16 %% This function generates main function declarations.
19 %assign ::tid01Eq = LibGetTID01EQ()
21 %function generateDeclarations() Output
23 /* Multirate - Multitasking case main file */
24 #define _BSD_SOURCE /* For usleep() */
25 #define _POSIX_C_SOURCE 200112L /* For clock_gettime() & clock_nanosleep() */
26 #include <stdio.h> /* This ert_main.c example uses printf/fflush */
27 #include <pthread.h> /* Thread library header file */
28 #include <sched.h> /* OS scheduler header file */
29 #include <semaphore.h> /* Semaphores library header file */
33 #include <sys/mman.h> /* For mlockall() */
34 #include "%<modelName>.h" /* Model's header file */
35 #include "rtwtypes.h" /* MathWorks types */
37 #include "ext_work.h" /* External mode header file */
45 # error Must specify a model name. Define MODEL=name.
47 /* create generic macros that work with any model */
48 # define EXPAND_CONCAT(name1,name2) name1 ## name2
49 # define CONCAT(name1,name2) EXPAND_CONCAT(name1,name2)
50 # define MODEL_INITIALIZE CONCAT(MODEL,_initialize)
51 # define MODEL_STEP CONCAT(MODEL,_step)
52 # define MODEL_TERMINATE CONCAT(MODEL,_terminate)
53 # define RT_MDL CONCAT(MODEL,_M)
57 #define STRINGIZE(num) #num
58 #define POS(line) __FILE__ ":" STRINGIZE(line)
59 #define CHECK0(expr) do { int __err = (expr); if (__err) { fprintf(stderr, "Error: %s returned '%s' at " POS(__LINE__) "\n", #expr, strerror(__err)); exit(1); } } while (0);
60 #define CHECKE(expr) do { if ((expr) == -1) { perror(#expr " at " POS(__LINE__)); exit(1); } } while (0);
63 * Maximal priority used by base rate thread.
65 #define MAX_PRIO (sched_get_priority_min(SCHED_FIFO) + %<numSampleTimes>)
68 * Thread handle of the base rate thread.
69 * Fundamental sample time = %<fundamentalStepSize>s
71 pthread_t base_rate_thread;
74 * Thread handles of and semaphores for sub rate threads. The array
75 * is indexed by TID, i.e. the first one or two elements are unused.
76 %foreach i = numSampleTimes
77 %if i == 0 || i == 1 && tid01Eq
80 %assign s = sampleTime%<i>
81 %assign o = offset%<i>
82 * TID%<i>: sample time = %<s>s, offset = %<o>s
88 } sub_rate[%<numSampleTimes>];
91 * Flag if the simulation has been terminated.
93 int simulationFinished = 0;
96 /* Indication that the base rate thread has started */
101 %function printfunc() Output
102 /% printf("%s\n", __func__); %/
105 %function generateRtOneStep() Output
106 %foreach j = numSampleTimes - 1
108 %if i == 1 && tid01Eq
111 void *sub_rate%<i>(void *arg)
113 while(!simulationFinished) {
114 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 1 */
116 %<modelName>_step%<i>();
117 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 0 */
125 %% This function generates code of the main function function.
127 %function generateMain() Output
129 * This is the thread function of the base rate loop.
130 * Fundamental sample time = %<fundamentalStepSize>s
134 %assign sec = FEVAL("uint32", fundamentalStepSize)
135 %assign nsec = FEVAL("uint32", (fundamentalStepSize - FEVAL("floor", fundamentalStepSize))*1000000000)
136 struct timespec now, next;
137 struct timespec period = { %<sec>, %<nsec> }; /* %<fundamentalStepSize> seconds */
138 boolean_T eventFlags[%<numSampleTimes>]; /* Model has %<numSampleTimes> rates */
139 int_T taskCounter[%<numSampleTimes>] = %<FcnInitializeTaskCounter()>;
140 int_T OverrunFlags[%<numSampleTimes>];
145 %<SLibGenERTExtModeInit()>
146 CHECKE(sem_post(&ext_mode_ready));
149 clock_gettime(CLOCK_MONOTONIC, &next);
151 /* Main loop, running until all the threads are terminated */
152 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
154 /* Check subrate overrun, set rates that need to run this time step*/
155 %<LibCallSetEventForThisBaseStep("eventFlags")>\
157 /* Trigger sub-rate threads */
158 %foreach i = numSampleTimes
159 %if i == 0 || i == 1 && tid01Eq
162 %assign s = sampleTime%<i>
163 %assign o = offset%<i>
164 /* Sampling rate %<i>, sample time = %<s>, offset = %<o> */
165 if (eventFlags[%<i>]) {
166 eventFlags[%<i>] = FALSE;
167 sem_getvalue(&sub_rate[%<i>].sem, &step_sem_value);
168 if (step_sem_value) {
169 rtmSetErrorStatus(%<modelName>_M, "Overrun");
170 printf("Sub rate %<i> overrun, sample time=%<s>s, offset=%<o>s is too fast\n");
173 sem_post(&sub_rate[%<i>].sem);
174 sem_post(&sub_rate[%<i>].sem);
178 /* Execute base rate step */
179 %if solverMode == "SingleTasking"
182 %<modelName>_step0();
186 rtExtModeCheckEndTrigger();
190 next.tv_sec += period.tv_sec;
191 next.tv_nsec += period.tv_nsec;
192 if (next.tv_nsec >= 1000000000) {
194 next.tv_nsec -= 1000000000;
196 clock_gettime(CLOCK_MONOTONIC, &now);
197 if (now.tv_sec > next.tv_sec ||
198 (now.tv_sec == next.tv_sec && now.tv_nsec > next.tv_nsec)) {
199 uint32_T usec = (now.tv_sec - next.tv_sec) * 1000000 + (now.tv_nsec - next.tv_nsec)/1000;
200 fprintf(stderr, "Base rate (%<fundamentalStepSize>s) overrun by %d us\n", usec);
205 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
209 simulationFinished = 1;
211 for (i = %<1 + tid01Eq>; i < %<numSampleTimes>; i++) {
212 sem_post(&sub_rate[i].sem);
213 sem_post(&sub_rate[i].sem);
218 * This is the main function of the model.
219 * Multirate - Multitasking case main file
221 int_T main(int_T argc, const char_T *argv[])
223 const char_T *errStatus;
226 struct sched_param sched_param;
230 /* rtERTExtModeParseArgs(argc, argv); */
231 rtExtModeParseArgs(argc, argv, NULL);
232 CHECKE(sem_init(&ext_mode_ready, 0, 0));
238 CHECKE(mlockall(MCL_FUTURE));
240 /* Initialize model */
241 %<modelName>_initialize();
242 simulationFinished = 0;
244 /* Prepare task attributes */
245 CHECK0(pthread_attr_init(&attr));
246 CHECK0(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED));
247 CHECK0(pthread_attr_setschedpolicy(&attr, SCHED_FIFO));
249 %foreach i = numSampleTimes
250 %if i == 0 || i == 1 && tid01Eq
253 %assign s = sampleTime%<i>
254 %assign o = offset%<i>
256 /* Initializing the step semaphore of the loop %<i> */
257 CHECKE(sem_init(&sub_rate[%<i>].sem, 0, 0));
259 /* Starting loop %<i> thread for sample time = %<s>s, offset = %<o>s. */
260 sched_param.sched_priority = MAX_PRIO - %<i>;
261 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
262 CHECK0(pthread_create(&sub_rate[%<i>].thread, &attr, sub_rate%<i>, (void*)%<i>));
266 /* Starting the base rate thread */
267 sched_param.sched_priority = MAX_PRIO;
268 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
269 CHECK0(pthread_create(&base_rate_thread, &attr, base_rate, NULL));
270 CHECK0(pthread_attr_destroy(&attr));
274 CHECKE(sem_wait(&ext_mode_ready));
275 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
276 rtExtModeOneStep(rtmGetRTWExtModeInfo(RT_MDL), NUMST, (boolean_T *)&rtmGetStopRequested(RT_MDL));
277 usleep(%<FEVAL("uint32", fundamentalStepSize * 1000000)>);
281 /* Wait for threads to finish */
282 pthread_join(base_rate_thread, NULL);
283 %foreach i = numSampleTimes
284 %if i == 0 || i == 1 && tid01Eq
287 pthread_join(sub_rate[%<i>].thread, NULL);
291 rtExtModeShutdown(%<numSampleTimes>);
294 /* Terminate model */
295 %<modelName>_terminate();
297 errStatus = rtmGetErrorStatus(%<modelName>_M);
298 if(errStatus != NULL && strcmp(errStatus, "Simulation finished")) {
299 %%printf("%s\n", rtmGetErrorStatus(%<modelName>_M));
300 if(!strcmp(errStatus, "Overrun")) {
301 printf("ISR overrun - sampling rate too fast\n");
308 /* Local Variables: */
309 /* compile-command: "make -f %<modelName>.mk" */