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/*
* MOVEINT A SIMULINK moving integration
*
* Syntax: [sys, x0] = sbuffer(t, x, u, flag, In_length, Time_window, Sample_time, Method)
*
* In-length: the vector length of the input vector.
* Time_window: int_t^(t+T) f(x) dx, the scale T, window size of the integration.
* Sample_time: sampling time of the integration. This is a discrete-time block.
* Method: integration method. Could be choose from: forward, backward, first_order.
*
* Wes Wang Dec. 8, 1994
* Copyright (c) 1994-96 by The MathWorks, Inc.
* All Rights Reserved
* $Revision: 1.1 $ $Date: 1996/04/01 19:03:36 $
*/
#define S_FUNCTION_NAME moveint
#ifdef MATLAB_MEX_FILE
#include /* needed for declaration of sprintf */
#include "mex.h" /* needed for declaration of mexErrMsgTxt */
#endif
/*
* need to include simstruc.h for the definition of the SimStruct and
* its associated macro definitions.
*/
#include "simstruc.h"
/*
* Defines for easy access of the input parameters
*/
#define NUM_ARGS 4
#define IN_LENGTH ssGetArg(S,0)
#define TIME_WINDOW ssGetArg(S,1)
#define SAMPLE_TIME ssGetArg(S,2)
#define METHOD ssGetArg(S,3)
/*
* mdlInitializeSizes - called to initialize the sizes array stored in
* the SimStruct. The sizes array defines the
* characteristics (number of inputs, outputs,
* states, etc.) of the S-Function.
*/
static void mdlInitializeSizes(S)
SimStruct *S;
{
/*
* Set-up size information.
*/
if (ssGetNumArgs(S) == NUM_ARGS) {
int in_length, num_points;
char method[2];
/* char err_msg[256];
*/
if ((mxGetN(IN_LENGTH) != 1) || (mxGetM(IN_LENGTH) != 1)) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("The inout vector length must be a scalar");
#endif
}
if ((mxGetN(TIME_WINDOW) != 1) || (mxGetM(TIME_WINDOW) != 1)) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("The integration time window must be a scalar");
#endif
}
if ((mxGetN(SAMPLE_TIME)*mxGetM(SAMPLE_TIME) != 1) &&
(mxGetN(SAMPLE_TIME)*mxGetM(SAMPLE_TIME) != 2)) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("The sample time must be a scalar or a vector of length 2");
#endif
}
if (mxGetM(METHOD) != 1) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("Integration method must be a string");
#endif
}
in_length = mxGetPr(IN_LENGTH)[0];
num_points = (int)(mxGetPr(TIME_WINDOW)[0] / mxGetPr(SAMPLE_TIME)[0] + 0.49) + 1;
if (num_points <= 2) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("The integration time window must be greater than sample time.");
#endif
} else if (in_length < 1) {
#ifdef MATLAB_MEX_FILE
mexErrMsgTxt("The input vector length must be a positive number.");
#endif
}
method[0] = (char)mxGetPr(METHOD)[0];
method[1] = (char)mxGetPr(METHOD)[1];
ssSetNumContStates( S, 0);
ssSetNumDiscStates( S, 0);
ssSetNumInputs( S, in_length);
ssSetNumOutputs( S, in_length);
if ((method[0] == 'f') && (method[1] == 'o'))
ssSetDirectFeedThrough(S, 0);
else
ssSetDirectFeedThrough(S, 1);
ssSetNumInputArgs( S, NUM_ARGS);
ssSetNumSampleTimes( S, 1);
ssSetNumRWork( S, in_length*(num_points + 1) + 1);
/* storage: t, points, last_integration_value */
ssSetNumIWork( S, 2);
/* Total_points=num_points, current points */
ssSetNumPWork( S, 0);
/* sprintf(err_msg, "Initialization num_points = %i, in_length = %i\n",num_points, in_length);
mexPrintf(err_msg);
*/
} else {
#ifdef MATLAB_MEX_FILE
char err_msg[256];
sprintf(err_msg, "Wrong number of input arguments passed to S-function MEX-file.\n"
"%d input arguments were passed in when expecting %d input arguments.\n", ssGetNumArgs(S) + 4, NUM_ARGS + 4);
mexErrMsgTxt(err_msg);
#endif
}
}
/*
* mdlInitializeSampleTimes - initializes the array of sample times stored in
* the SimStruct associated with this S-Function.
*/
static void mdlInitializeSampleTimes(S)
SimStruct *S;
{
double sampleTime, offsetTime;
/*
* Note, blocks that are continuous in nature should have a single
* sample time of 0.0.
*/
sampleTime = mxGetPr(SAMPLE_TIME)[0];
if ((mxGetN(SAMPLE_TIME) * mxGetM(SAMPLE_TIME)) == 2)
offsetTime = mxGetPr(SAMPLE_TIME)[1];
else
offsetTime = 0.;
ssSetSampleTimeEvent(S, 0, sampleTime);
ssSetOffsetTimeEvent(S, 0, offsetTime);
}
/*
* mdlInitializeConditions - initializes the states for the S-Function
*/
static void mdlInitializeConditions(x0, S)
double *x0;
SimStruct *S;
{
int in_length = mxGetPr(IN_LENGTH)[0];
int num_points = (int)(mxGetPr(TIME_WINDOW)[0] / mxGetPr(SAMPLE_TIME)[0] + 0.49) + 1;
double *last_time = ssGetRWork(S);
double *storage_point = ssGetRWork(S) + 1;
double *integ_value = ssGetRWork(S) + in_length * num_points + 1;
int *cur_point = ssGetIWork(S);
int i;
/*
* Initialize all storage and integration values
*/
for (i = 0; i < in_length * (num_points + 1); i++)
*storage_point++ = 0.;
*last_time = -1;
/*
* IWork
*/
*cur_point++ = num_points;
*cur_point = 0;
}
/*
* mdlOutputs - computes the outputs of the S-Function
*/
static void mdlOutputs(y, x, u, S, tid)
double *y, *x, *u;
SimStruct *S;
int tid;
{
int *num_points = ssGetIWork(S);
int *cur_point = ssGetIWork(S)+1;
int in_length = mxGetPr(IN_LENGTH)[0];
double *last_time = ssGetRWork(S);
double *storage_point = ssGetRWork(S) + 1;
double *integ_value = ssGetRWork(S) + (in_length * (*num_points) + 1);
double sample_time = mxGetPr(SAMPLE_TIME)[0];
double current_time;
int i;
char method[2];
current_time = ssGetT(S);
method[0] = (char)mxGetPr(METHOD)[0];
method[1] = (char)mxGetPr(METHOD)[1];
if (*num_points > 0) {
if ((current_time - *last_time) > sample_time/1000000.) {
/* char err_msg[256]; */
int increament, point_before, point_after;
point_before = (*num_points + *cur_point - 1) % (*num_points);
point_after = (*cur_point + 1) % (*num_points);
/* sprintf(err_msg, "Output: num_points = %i, in_length = %i\n",*num_points, in_length);
mexPrintf(err_msg);
*/
for (i=0; i