Comments (5)
jmpenn
commented on August 25, 2024
1
Wouldn't original functions(with void param) still make the calculations?
How would the function know what to update?
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Fjolnirr
commented on August 25, 2024
Well, I have managed to find a workaround that works for my case but I don't know if it is the best practice.
I have added wrappers functions to the models folder which I use it in S_define file.
- Here is my directory tree :
├── models
│ ├── WRAPPERS
│ │ ├── include
│ │ │ ├── CANNON_WRAPPER.h
│ │ └── src
│ │ ├── CANNON_WRAPPER.c
│ └── cannon
│ ├── include
│ │ ├── rtw_continuous.h
│ │ ├── rtw_solver.h
│ │ ├── rtwtypes.h
│ │ └── CANNON.h
│ └── src
│ ├── CANNON.c
│ └── CANNON_data.c
├── Modified_data
│ └── realtime.py
├── RUN_test
│ └── input.py
├── S_define
└── S_overrides.mk
- Here is my S_define ;
class cannonSimObject: public Trick::SimObject {
Ext_CANON CANNON_A;
public:
cannonSimObject(){
("initialization") cannon_initialize_wrapper(&CANNON_A);
(0.01, "scheduled") cannon_step_wrapper(&CANNON_A);
}
}
cannonSimObject cannonSO;
- And this is my CANNON_WRAPPER.c ;
#include "../include/CANNON_WRAPPER.h";
#include "../../cannon/include/CANNON.h"
void cannon_initialize_wrapper(Ext_CANON* cannon_a){
*cannon_a = CANNON_A ; /*CANNON_A which is already declared in CANNON.c and CANNON.h*/
cannon_initialize();
}
void cannon_step_wrapper(Ext_CANON* cannon_a){
*cannon_a = CANNON_A ; /*CANNON_A which is already declared in CANNON.c and CANNON.h*/
cannon_step();
}
What I am doing here is that passing the value of CANNON_A from model source file to the one from S_define. This solved my issue but my question still keeping on. I wonder if trick has another way around?
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jmpenn
commented on August 25, 2024
First off we don’t know anything about “Embedded Coder auto generated code.” That’s apparently a Simulink / Mathworks thing.
However, from what I can see, you're trying to update an external object (namely "Ext_CANON CANNON_A") from within a Trick sim object. I can show you how I would do that by way of a little example sim (below). Hope this helps.
S_define
/************************************************************
PURPOSE:
()
LIBRARY DEPENDENCIES:
((cannon/src/cannon.c))
*************************************************************/
#include "sim_objects/default_trick_sys.sm"
##include "cannon/include/cannon.h"
class CannonSimObject : public Trick::SimObject {
public:
CannonSimObject() {
("initialization") cannon_initialize( &CANNON_B) ;
(0.1, "scheduled") cannon_step( &CANNON_B) ;
}
};
CannonSimObject cannonSO;cannon.h
(put this in ./models/cannon/include/ )
/*************************************************************************
PURPOSE: (Example)
LIBRARY DEPENDENCIES:
((cannon/src/cannon.o))
**************************************************************************/
#ifndef _cannon_hh_
#define _cannon_hh_
typedef struct cannon {
double pos[2] ;
} Ext_CANON;
#ifdef __cplusplus
extern "C" {
#endif
int cannon_initialize(Ext_CANON* cannon);
int cannon_step(Ext_CANON* cannon);
#ifdef __cplusplus
}
#endif
extern Ext_CANON CANNON_A; // This is a "promise" that the objects are out there.
extern Ext_CANON CANNON_B;
#endifcannon.c
(put this in ./models/cannon/src/ )
/********************************* TRICK HEADER *******************************
PURPOSE: ( EXAMPLE )
LIBRARY DEPENDENCY:
((cannon.o))
*******************************************************************************/
#include "../include/cannon.h"
#include <math.h>
#include <stdio.h>
Ext_CANON CANNON_A = {0.1, 0.2}; // Here is where the objects are actually instanciated.
Ext_CANON CANNON_B = {0.3, 0.4};
int cannon_initialize(Ext_CANON* cannon) {
printf("INIT: pos = < %g, %g >\n", cannon->pos[0], cannon->pos[1]);
return (0);
}
int cannon_step(Ext_CANON* cannon) {
printf("STEP: pos = < %g, %g >\n", cannon->pos[0], cannon->pos[1]);
return(0);
}realtime.py
(put this in ./Modified_data/ )
trick.real_time_enable()
trick.exec_set_software_frame(0.1)
trick.itimer_enable()
input.py
(put this in ./RUN_test/ )
exec(open("Modified_data/realtime.py").read())
trick.stop(5);
S_overrides.mk
(Same dir as S_define)
TRICK_CFLAGS += -Imodels
TRICK_CXXFLAGS += -Imodels
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jmpenn
commented on August 25, 2024
I really don't think the wrapper functions are necessary.
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Fjolnirr
commented on August 25, 2024
Well, I thought about your answer already however, I avoid changes in source files because it is auto generated. Probably the best option to handle such a problem finding a way to create trick friendly source code. Wrappers might keep my works generic. Thank you.
I got a question about your answer. You didn't declare &CANNON_B in the S_define so it is reading from the cannon.h but why did you change the functions if the &CANNON_B is accesible from the S_define? Wouldn't original functions(with void param) still make the calculations?
I mean this :
/************************************************************
PURPOSE:
()
LIBRARY DEPENDENCIES:
((cannon/src/cannon.c))
*************************************************************/
#include "sim_objects/default_trick_sys.sm"
##include "cannon/include/cannon.h"
class CannonSimObject : public Trick::SimObject {
public:
CannonSimObject() {
("initialization") cannon_initialize( /* &CANNON_B*/ ) ;
(0.1, "scheduled") cannon_step( /* &CANNON_B*/ ) ;
}
};
CannonSimObject cannonSO;
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