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 "%<modelName>.h" /* Model's header file */
34 #include "rtwtypes.h" /* MathWorks types */
36 #include "ext_work.h" /* External mode header file */
44 # error Must specify a model name. Define MODEL=name.
46 /* create generic macros that work with any model */
47 # define EXPAND_CONCAT(name1,name2) name1 ## name2
48 # define CONCAT(name1,name2) EXPAND_CONCAT(name1,name2)
49 # define MODEL_INITIALIZE CONCAT(MODEL,_initialize)
50 # define MODEL_STEP CONCAT(MODEL,_step)
51 # define MODEL_TERMINATE CONCAT(MODEL,_terminate)
52 # define RT_MDL CONCAT(MODEL,_M)
56 #define STRINGIZE(num) #num
57 #define POS(line) __FILE__ ":" STRINGIZE(line)
58 #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);
59 #define CHECKE(expr) do { if ((expr) == -1) { perror(#expr " at " POS(__LINE__)); exit(1); } } while (0);
62 * Maximal priority used by base rate thread.
64 #define MAX_PRIO (sched_get_priority_min(SCHED_FIFO) + %<numSampleTimes>)
67 * Thread handle of the base rate thread.
68 * Fundamental sample time = %<fundamentalStepSize>s
70 pthread_t base_rate_thread;
73 * Thread handles of and semaphores for sub rate threads. The array
74 * is indexed by TID, i.e. the first one or two elements are unused.
75 %foreach i = numSampleTimes
76 %if i == 0 || i == 1 && tid01Eq
79 %assign s = sampleTime%<i>
80 %assign o = offset%<i>
81 * TID%<i>: sample time = %<s>s, offset = %<o>s
87 } sub_rate[%<numSampleTimes>];
90 * Flag if the simulation has been terminated.
92 int simulationFinished = 0;
95 /* Indication that the base rate thread has started */
100 %function printfunc() Output
101 /% printf("%s\n", __func__); %/
104 %function generateRtOneStep() Output
105 %foreach j = numSampleTimes - 1
107 %if i == 1 && tid01Eq
110 void *sub_rate%<i>(void *arg)
112 while(!simulationFinished) {
113 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 1 */
115 %<modelName>_step%<i>();
116 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 0 */
124 %% This function generates code of the main function function.
126 %function generateMain() Output
128 * This is the thread function of the base rate loop.
129 * Fundamental sample time = %<fundamentalStepSize>s
133 %assign sec = FEVAL("uint32", fundamentalStepSize)
134 %assign nsec = FEVAL("uint32", (fundamentalStepSize - FEVAL("floor", fundamentalStepSize))*1000000000)
135 struct timespec now, next;
136 struct timespec period = { %<sec>, %<nsec> }; /* %<fundamentalStepSize> seconds */
137 boolean_T eventFlags[%<numSampleTimes>]; /* Model has %<numSampleTimes> rates */
138 int_T taskCounter[%<numSampleTimes>] = %<FcnInitializeTaskCounter()>;
139 int_T OverrunFlags[%<numSampleTimes>];
144 %<SLibGenERTExtModeInit()>
145 CHECKE(sem_post(&ext_mode_ready));
148 clock_gettime(CLOCK_MONOTONIC, &next);
150 /* Main loop, running until all the threads are terminated */
151 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
153 /* Check subrate overrun, set rates that need to run this time step*/
154 %<LibCallSetEventForThisBaseStep("eventFlags")>\
156 /* Trigger sub-rate threads */
157 %foreach i = numSampleTimes
158 %if i == 0 || i == 1 && tid01Eq
161 %assign s = sampleTime%<i>
162 %assign o = offset%<i>
163 /* Sampling rate %<i>, sample time = %<s>, offset = %<o> */
164 if (eventFlags[%<i>]) {
165 eventFlags[%<i>] = FALSE;
166 sem_getvalue(&sub_rate[%<i>].sem, &step_sem_value);
167 if (step_sem_value) {
168 rtmSetErrorStatus(%<modelName>_M, "Overrun");
169 printf("Sub rate %<i> overrun, sample time=%<s>s, offset=%<o>s is too fast\n");
172 sem_post(&sub_rate[%<i>].sem);
173 sem_post(&sub_rate[%<i>].sem);
177 /* Execute base rate step */
178 %if solverMode == "SingleTasking"
181 %<modelName>_step0();
185 rtExtModeCheckEndTrigger();
189 next.tv_sec += period.tv_sec;
190 next.tv_nsec += period.tv_nsec;
191 if (next.tv_nsec >= 1000000000) {
193 next.tv_nsec -= 1000000000;
195 clock_gettime(CLOCK_MONOTONIC, &now);
196 if (now.tv_sec > next.tv_sec ||
197 (now.tv_sec == next.tv_sec && now.tv_nsec > next.tv_nsec)) {
198 uint32_T usec = (now.tv_sec - next.tv_sec) * 1000000 + (now.tv_nsec - next.tv_nsec)/1000;
199 fprintf(stderr, "Base rate (%<fundamentalStepSize>s) overrun by %d us\n", usec);
204 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
208 simulationFinished = 1;
210 for (i = %<1 + tid01Eq>; i < %<numSampleTimes>; i++) {
211 sem_post(&sub_rate[i].sem);
212 sem_post(&sub_rate[i].sem);
217 * This is the main function of the model.
218 * Multirate - Multitasking case main file
220 int_T main(int_T argc, const char_T *argv[])
222 const char_T *errStatus;
225 struct sched_param sched_param;
229 rtERTExtModeParseArgs(argc, argv);
230 CHECKE(sem_init(&ext_mode_ready, 0, 0));
236 /* Initialize model */
237 %<modelName>_initialize();
238 simulationFinished = 0;
240 /* Prepare task attributes */
241 CHECK0(pthread_attr_init(&attr));
242 CHECK0(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED));
243 CHECK0(pthread_attr_setschedpolicy(&attr, SCHED_FIFO));
245 %foreach i = numSampleTimes
246 %if i == 0 || i == 1 && tid01Eq
249 %assign s = sampleTime%<i>
250 %assign o = offset%<i>
252 /* Initializing the step semaphore of the loop %<i> */
253 CHECKE(sem_init(&sub_rate[%<i>].sem, 0, 0));
255 /* Starting loop %<i> thread for sample time = %<s>s, offset = %<o>s. */
256 sched_param.sched_priority = MAX_PRIO - %<i>;
257 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
258 CHECK0(pthread_create(&sub_rate[%<i>].thread, &attr, sub_rate%<i>, (void*)%<i>));
262 /* Starting the base rate thread */
263 sched_param.sched_priority = MAX_PRIO;
264 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
265 CHECK0(pthread_create(&base_rate_thread, &attr, base_rate, NULL));
266 CHECK0(pthread_attr_destroy(&attr));
270 CHECKE(sem_wait(&ext_mode_ready));
271 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
272 rtExtModeOneStep(rtmGetRTWExtModeInfo(RT_MDL), NUMST, (boolean_T *)&rtmGetStopRequested(RT_MDL));
273 usleep(%<FEVAL("uint32", fundamentalStepSize * 1000000)>);
277 /* Wait for threads to finish */
278 pthread_join(base_rate_thread, NULL);
279 %foreach i = numSampleTimes
280 %if i == 0 || i == 1 && tid01Eq
283 pthread_join(sub_rate[%<i>].thread, NULL);
287 rtExtModeShutdown(%<numSampleTimes>);
290 /* Terminate model */
291 %<modelName>_terminate();
293 errStatus = rtmGetErrorStatus(%<modelName>_M);
294 if(errStatus != NULL && strcmp(errStatus, "Simulation finished")) {
295 %%printf("%s\n", rtmGetErrorStatus(%<modelName>_M));
296 if(!strcmp(errStatus, "Overrun")) {
297 printf("ISR overrun - sampling rate too fast\n");
304 /* Local Variables: */
305 /* compile-command: "make -f %<modelName>.mk" */