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Ignore whitespace Rev 1417 → Rev 1418

/demos/trunk/rtw/rtw.h
0,0 → 1,10
#ifndef __RTW_H__
#define __RTW_H__
 
#define NINPUTCAB 10
#define NOUTPUTCAB 10
 
void activate_sensors();
void activate_actuators();
 
#endif
/demos/trunk/rtw/makefile
35,3 → 35,8
rtw:
make -f $(SUBMAKE) OTHERLIBS=$(DEFINE_RTWLIB) OTHERINCL=$(RTW_CFG) APP=rtw INIT= OTHEROBJS="initfile.o sensors.o actuators.o rt_sim_shark.o $(RTW_OBJS)" SHARKOPT="__OLDCHAR__"
 
clean_total:
rm -rf *.o
rm -rf $(PROGS)
rm -rf $(RTW_OBJS)
 
/demos/trunk/rtw/rtw.c
8,7 → 8,10
#include "rt_nonfinite.h"
 
#include "kernel/kern.h"
#include "modules/cabs.h"
 
#include "rtw.h"
 
/*=========*
* Defines *
*=========*/
47,6 → 50,9
real_T rtMinusInf;
real_T rtNaN;
 
CAB input_cid[NINPUTCAB];
CAB output_cid[NOUTPUTCAB];
 
#ifdef EXT_MODE
# define rtExtModeSingleTaskUpload(S) \
{ \
389,20 → 395,26
 
}
 
TASK INPUT_body(void *arg) {
TASK INPUT_body(void *input_port) {
 
int input_ports = rtmGetNumU(S);
real_T *input;
real_T *input, *p;
int in = (int)(input_port);
 
cprintf("Number of Inputs = %d\n",input_ports);
if (in >= NINPUTCAB) return NULL;
 
input = (real_T *)rtmGetU(S);
 
while(1) {
 
input[0] = 1000.0;
input[1] = 1000.0;
/* Get CAB message */
p = (real_T *)cab_getmes(input_cid[in]);
 
/* Set INPUT port */
input[in] = *p;
 
/* Release CAB message */
cab_unget(input_cid[in], p);
 
task_endcycle();
 
}
411,22 → 423,29
 
}
 
TASK OUTPUT_body(void *arg) {
TASK OUTPUT_body(void *output_port) {
 
real_T *output, *p;
int out = (int)(output_port);
char cname[20];
 
if (out >= NOUTPUTCAB) return NULL;
sprintf(cname,"OUTPUT%d",out);
output_cid[out] = cab_create(cname, sizeof(real_T), 2);
int output_ports = rtmGetNumY(S),i;
real_T *output;
cprintf("Number of Outputs = %d\n",output_ports);
output = (real_T *)rtmGetY(S);
while(1) {
/* Reserve a message */
p = (real_T *)cab_reserve(output_cid[out]);
 
cprintf("T=%6lf ",rtmGetT(S));
for (i=0;i<output_ports;i++)
cprintf("O[%d]=%6lf ",i,output[i]);
cprintf("\n");
/* Save data */
*p = output[out];
 
/* Put CAB message */
cab_putmes(output_cid[out], p);
task_endcycle();
441,6 → 460,8
HARD_TASK_MODEL RTW_task,INPUT_task,OUTPUT_task;
PID RTW_pid,INPUT_pid,OUTPUT_pid;
 
int i;
 
int RTW_period;
int RTW_wcet;
 
452,14 → 473,17
 
Init_RealTime_Workshop();
 
for (i=0;i<NINPUTCAB;i++) input_cid[i] = -1;
for (i=0;i<NOUTPUTCAB;i++) output_cid[i] = -1;
 
RTW_period =(int)(rtmGetStepSize(S) * 1000000.0);
RTW_wcet = (int)(rtmGetStepSize(S) * 1000000.0 * 0.45);
 
INPUT_period = (int)(10000.0);
INPUT_wcet = (int)(10000.0 * 0.20);
INPUT_wcet = (int)(10000.0 * 0.10);
 
OUTPUT_period = (int)(20000.0);
OUTPUT_wcet = (int)(20000.0 * 0.25);
OUTPUT_period = (int)(10000.0);
OUTPUT_wcet = (int)(10000.0 * 0.10);
 
cprintf("Task Setup\n");
cprintf("RTW (P %8d W %8d)\n",RTW_period,RTW_wcet);
481,12 → 505,14
hard_task_default_model(INPUT_task);
hard_task_def_mit(INPUT_task,INPUT_period);
hard_task_def_wcet(INPUT_task,INPUT_wcet);
/* Set input port number */
hard_task_def_arg(INPUT_task,(void *)(0));
hard_task_def_usemath(INPUT_task);
hard_task_def_ctrl_jet(INPUT_task);
INPUT_pid = task_create("INPUT",INPUT_body,&INPUT_task,NULL);
INPUT_pid = task_create("INPUT0",INPUT_body,&INPUT_task,NULL);
if (INPUT_pid == NIL) {
cprintf("Error: Cannot create RealTime Workshop [INPUT] Task\n");
cprintf("Error: Cannot create RealTime Workshop [INPUT0] Task\n");
sys_end();
}
 
493,12 → 519,14
hard_task_default_model(OUTPUT_task);
hard_task_def_mit(OUTPUT_task,OUTPUT_period);
hard_task_def_wcet(OUTPUT_task,OUTPUT_wcet);
/* Set output port number */
hard_task_def_arg(OUTPUT_task,(void *)(0));
hard_task_def_usemath(OUTPUT_task);
hard_task_def_ctrl_jet(OUTPUT_task);
OUTPUT_pid = task_create("OUTPUT",OUTPUT_body,&OUTPUT_task,NULL);
OUTPUT_pid = task_create("OUTPUT0",OUTPUT_body,&OUTPUT_task,NULL);
if (OUTPUT_pid == NIL) {
cprintf("Error: Cannot create RealTime Workshop [OUTPUT] Task\n");
cprintf("Error: Cannot create RealTime Workshop [OUTPUT0] Task\n");
sys_end();
}
 
506,6 → 534,9
task_activate(RTW_pid);
task_activate(OUTPUT_pid);
 
activate_sensors();
activate_actuators();
 
while(simulation_run);
Close_RealTime_Workshop();
/demos/trunk/rtw/sensors.c
0,0 → 1,64
#include "kernel/kern.h"
#include "modules/cabs.h"
 
#include "tmwtypes.h"
 
#include "rtw.h"
 
extern CAB input_cid[NINPUTCAB];
 
TASK SENSOR_body(void *input_port) {
 
real_T *p;
int in = (int)(input_port);
char cname[20];
if (in >= NINPUTCAB) return NULL;
sprintf(cname,"INPUT%d",in);
input_cid[in] = cab_create(cname, sizeof(real_T), 2);
while(1) {
/* Reserve a message */
p = (real_T *)cab_reserve(input_cid[in]);
/* Save data */
*p = 1000.0;
/* Put CAB message */
cab_putmes(input_cid[in], p);
task_endcycle();
}
return NULL;
 
}
 
void activate_sensors() {
 
HARD_TASK_MODEL SENSOR_task;
PID SENSOR_pid;
 
hard_task_default_model(SENSOR_task);
hard_task_def_mit(SENSOR_task,10000);
hard_task_def_wcet(SENSOR_task,1000);
/* Set sensor port number */
hard_task_def_arg(SENSOR_task,(void *)(0));
hard_task_def_usemath(SENSOR_task);
hard_task_def_ctrl_jet(SENSOR_task);
SENSOR_pid = task_create("SENSOR0",SENSOR_body,&SENSOR_task,NULL);
if (SENSOR_pid == NIL) {
cprintf("Error: Cannot create RealTime Workshop [SENSOR0] Task\n");
sys_end();
}
 
task_activate(SENSOR_pid);
 
}