export_simulink_interface.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#include <acado/code_generation/export_simulink_interface.hpp>
#include <acado/code_generation/templates/templates.hpp>

#include <sstream>

using namespace std;

BEGIN_NAMESPACE_ACADO


ExportSimulinkInterface::ExportSimulinkInterface(       const std::string& _makefileName,
                                                                                                        const std::string& _wrapperHeaderFileName,
                                                                                                        const std::string& _wrapperSourceFileName,
                                                                                                        const std::string& _moduleName,
                                                    const std::string& _modulePrefix,
                                                                                                        const std::string& _commonHeaderName,
                                                                                                        const std::string& _realString,
                                                                                                        const std::string& _intString,
                                                                                                        int _precision,
                                                                                                        const std::string& _commentString
                                                                                                        )
        : makefile(MAKEFILE_SFUN_QPOASES, _makefileName, "", _realString, _intString, _precision, "%"),
          wrapperSource(SOLVER_SFUN_SOURCE, _wrapperSourceFileName, _commonHeaderName, _realString, _intString, _precision, _commentString),
          wrapperHeader(SOLVER_SFUN_HEADER, _wrapperHeaderFileName, _commonHeaderName, _realString, _intString, _precision, _commentString),
          moduleName( _moduleName ),
      modulePrefix( _modulePrefix )
{}


returnValue ExportSimulinkInterface::configure( unsigned N,
                                                                                                unsigned NX,
                                                                                                unsigned NDX,
                                                                                                unsigned NXA,
                                                                                                unsigned NU,
                                                                                                unsigned NOD,
                                                                                                unsigned NY,
                                                                                                unsigned NYN,
                                                                                                bool _initialStateFixed,
                                                                                                unsigned _wMatrixType,
                                                                                                bool _hardcodedConstraints,
                                                                                                bool _useArrivalCost,
                                                                                                bool _compCovMatrix,
                                                                                                std::string _qpSolver
                                                                                                )
{
        //
        // Source file configuration
        //

        wrapperSource.dictionary[ "@MODULE_NAME@" ] = moduleName;
    wrapperSource.dictionary[ "@MODULE_PREFIX@" ] = modulePrefix;

        wrapperSource.fillTemplate();

        //
        // Header file configuration
        //
        wrapperHeader.dictionary[ "@MODULE_NAME@" ] = moduleName;
    wrapperHeader.dictionary[ "@MODULE_PREFIX@" ] = modulePrefix;

        wrapperHeader.fillTemplate();

        //
        // Makefile configuration
        //

        makefile.dictionary[ "@MODULE_NAME@" ] = moduleName;
    makefile.dictionary[ "@MODULE_PREFIX@" ] = modulePrefix;
    
        makefile.dictionary[ "@REAL_TYPE@" ] = makefile.realString;

        makefile.dictionary[ "@N@" ] = toString( N );
        makefile.dictionary[ "@NX@" ] = toString( NX );
        makefile.dictionary[ "@NXA@" ] = toString( NXA );
        makefile.dictionary[ "@NDX@" ] = toString( NDX );
        makefile.dictionary[ "@NU@" ] = toString( NU );
        makefile.dictionary[ "@NOD@" ] = toString( NOD );
        makefile.dictionary[ "@NY@" ] = toString( NY );
        makefile.dictionary[ "@NYN@" ] = toString( NYN );

        makefile.dictionary[ "@INIT_STATE_FIXED@" ] = _initialStateFixed == true ? "1" : "0";

        makefile.dictionary[ "@WEIGHT_MATRIX_TYPE@" ] = toString( _wMatrixType );

        makefile.dictionary[ "@HARCODED_CONSTRAINTS@" ] = _hardcodedConstraints == true ? "1" : "0";

        makefile.dictionary[ "@ARRIVAL_COST@" ] = _useArrivalCost == true ? "1" : "0";

        makefile.dictionary[ "@COV_MATRIX@" ] = _compCovMatrix == true ? "1" : "0";

        makefile.dictionary[ "@QP_SOLVER@" ] = _qpSolver;

        makefile.fillTemplate();

        return SUCCESSFUL_RETURN;
}

returnValue ExportSimulinkInterface::exportCode()
{
        makefile.exportCode();
        wrapperSource.exportCode();
        wrapperHeader.exportCode();

        return SUCCESSFUL_RETURN;
}


CLOSE_NAMESPACE_ACADO