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;
96 %function printfunc() Output
97 /% printf("%s\n", __func__); %/
100 %function generateRtOneStep() Output
101 %foreach j = numSampleTimes - 1
103 %if i == 1 && tid01Eq
106 void *sub_rate%<i>(void *arg)
108 while(!simulationFinished) {
109 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 1 */
111 %<modelName>_step%<i>();
112 sem_wait(&sub_rate[%<i>].sem); /* sem_val = 0 */
120 %% This function generates code of the main function function.
122 %function generateMain() Output
124 * This is the thread function of the base rate loop.
125 * Fundamental sample time = %<fundamentalStepSize>s
129 %assign sec = FEVAL("uint32", fundamentalStepSize)
130 %assign nsec = FEVAL("uint32", (fundamentalStepSize - FEVAL("floor", fundamentalStepSize))*1000000000)
131 struct timespec now, next;
132 struct timespec period = { %<sec>, %<nsec> }; /* %<fundamentalStepSize> seconds */
133 boolean_T eventFlags[%<numSampleTimes>]; /* Model has %<numSampleTimes> rates */
134 int_T taskCounter[%<numSampleTimes>] = %<FcnInitializeTaskCounter()>;
135 int_T OverrunFlags[%<numSampleTimes>];
140 %<SLibGenERTExtModeInit()>
143 clock_gettime(CLOCK_MONOTONIC, &next);
145 /* Main loop, running until all the threads are terminated */
146 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
148 /* Check subrate overrun, set rates that need to run this time step*/
149 %<LibCallSetEventForThisBaseStep("eventFlags")>\
151 /* Trigger sub-rate threads */
152 %foreach i = numSampleTimes
153 %if i == 0 || i == 1 && tid01Eq
156 %assign s = sampleTime%<i>
157 %assign o = offset%<i>
158 /* Sampling rate %<i>, sample time = %<s>, offset = %<o> */
159 if (eventFlags[%<i>]) {
160 eventFlags[%<i>] = FALSE;
161 sem_getvalue(&sub_rate[%<i>].sem, &step_sem_value);
162 if (step_sem_value) {
163 rtmSetErrorStatus(%<modelName>_M, "Overrun");
164 printf("Sub rate %<i> overrun, sample time=%<s>s, offset=%<o>s is too fast\n");
167 sem_post(&sub_rate[%<i>].sem);
168 sem_post(&sub_rate[%<i>].sem);
172 /* Execute base rate step */
173 %if solverMode == "SingleTasking"
176 %<modelName>_step0();
180 rtExtModeCheckEndTrigger();
184 next.tv_sec += period.tv_sec;
185 next.tv_nsec += period.tv_nsec;
186 if (next.tv_nsec >= 1000000000) {
188 next.tv_nsec -= 1000000000;
190 clock_gettime(CLOCK_MONOTONIC, &now);
191 if (now.tv_sec > next.tv_sec ||
192 (now.tv_sec == next.tv_sec && now.tv_nsec > next.tv_nsec)) {
193 uint32_T usec = (now.tv_sec - next.tv_sec) * 1000000 + (now.tv_nsec - next.tv_nsec)/1000;
194 fprintf(stderr, "Base rate (%<fundamentalStepSize>s) overrun by %d us\n", usec);
199 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next, NULL);
203 simulationFinished = 1;
205 for (i = %<1 + tid01Eq>; i < %<numSampleTimes>; i++) {
206 sem_post(&sub_rate[i].sem);
207 sem_post(&sub_rate[i].sem);
212 * This is the main function of the model.
213 * Multirate - Multitasking case main file
215 int_T main(int_T argc, const char_T *argv[])
217 const char_T *errStatus;
220 struct sched_param sched_param;
224 rtERTExtModeParseArgs(argc, argv);
230 /* Initialize model */
231 %<modelName>_initialize();
232 simulationFinished = 0;
234 /* Prepare task attributes */
235 CHECK0(pthread_attr_init(&attr));
236 CHECK0(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED));
237 CHECK0(pthread_attr_setschedpolicy(&attr, SCHED_FIFO));
239 %foreach i = numSampleTimes
240 %if i == 0 || i == 1 && tid01Eq
243 %assign s = sampleTime%<i>
244 %assign o = offset%<i>
246 /* Initializing the step semaphore of the loop %<i> */
247 CHECKE(sem_init(&sub_rate[%<i>].sem, 0, 0));
249 /* Starting loop %<i> thread for sample time = %<s>s, offset = %<o>s. */
250 sched_param.sched_priority = MAX_PRIO - %<i>;
251 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
252 CHECK0(pthread_create(&sub_rate[%<i>].thread, &attr, sub_rate%<i>, (void*)%<i>));
256 /* Starting the base rate thread */
257 sched_param.sched_priority = MAX_PRIO;
258 CHECK0(pthread_attr_setschedparam(&attr, &sched_param));
259 CHECK0(pthread_create(&base_rate_thread, &attr, base_rate, NULL));
260 CHECK0(pthread_attr_destroy(&attr));
264 while(rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
265 rtExtModeOneStep(rtmGetRTWExtModeInfo(RT_MDL), NUMST, (boolean_T *)&rtmGetStopRequested(RT_MDL));
266 usleep(%<FEVAL("uint32", fundamentalStepSize * 1000000)>);
270 /* Wait for threads to finish */
271 pthread_join(base_rate_thread, NULL);
272 %foreach i = numSampleTimes
273 %if i == 0 || i == 1 && tid01Eq
276 pthread_join(sub_rate[%<i>].thread, NULL);
280 rtExtModeShutdown(%<numSampleTimes>);
283 /* Terminate model */
284 %<modelName>_terminate();
286 errStatus = rtmGetErrorStatus(%<modelName>_M);
287 if(errStatus != NULL && strcmp(errStatus, "Simulation finished")) {
288 %%printf("%s\n", rtmGetErrorStatus(%<modelName>_M));
289 if(!strcmp(errStatus, "Overrun")) {
290 printf("ISR overrun - sampling rate too fast\n");
297 /* Local Variables: */
298 /* compile-command: "make -f %<modelName>.mk" */