grt.h

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//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef ROSRTW_GRT_COMMON_H
#define ROSRTW_GRT_COMMON_H

/*
 * Copyright 1994-2011 The MathWorks, Inc.
 *
 * File    : grt_main.c
 *
 * Abstract:
 *      A Generic "Real-Time (single tasking or pseudo-multitasking,
 *      statically allocated data)" main that runs under most
 *      operating systems.
 *
 *      This file may be a useful starting point when targeting a new
 *      processor or microcontroller.
 *
 *
 * Compiler specified defines:
 *      RT              - Required.
 *      MODEL=modelname - Required.
 *      NUMST=#         - Required. Number of sample times.
 *      NCSTATES=#      - Required. Number of continuous states.
 *      TID01EQ=1 or 0  - Optional. Only define to 1 if sample time task
 *                        id's 0 and 1 have equal rates.
 *      MULTITASKING    - Optional. (use MT for a synonym).
 *      SAVEFILE        - Optional (non-quoted) name of .mat file to create.
 *                        Default is <MODEL>.mat
 */

#include <float.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "rtwtypes.h"
#include "rtmodel.h"
#include "rt_sim.h"
#include "rt_logging.h"
#ifdef UseMMIDataLogging
#include "rt_logging_mmi.h"
#endif

#include "ext_work.h"

/*=========*
 * Defines *
 *=========*/

#ifndef TRUE
#define FALSE (0)
#define TRUE  (1)
#endif

#ifndef EXIT_FAILURE
#define EXIT_FAILURE  1
#endif
#ifndef EXIT_SUCCESS
#define EXIT_SUCCESS  0
#endif

#define QUOTE1(name) #name
#define QUOTE(name) QUOTE1(name)    /* need to expand name    */

#ifndef RT
# error "must define RT"
#endif

#ifndef MODEL
# error "must define MODEL"
#endif

#ifndef NUMST
# error "must define number of sample times, NUMST"
#endif

#ifndef NCSTATES
# error "must define NCSTATES"
#endif

#ifndef SAVEFILE
# define MATFILE2(file) #file ".mat"
# define MATFILE1(file) MATFILE2(file)
# define MATFILE MATFILE1(MODEL)
#else
# define MATFILE QUOTE(SAVEFILE)
#endif

#define RUN_FOREVER -1.0

#define EXPAND_CONCAT(name1,name2) name1 ## name2
#define CONCAT(name1,name2) EXPAND_CONCAT(name1,name2)
#define RT_MODEL            CONCAT(MODEL,_rtModel)

/*==================================================*
 * External functions for Simplified Call Interface *
 *==================================================*/
# define MODEL_INITIALIZE    CONCAT(MODEL,_initialize)
#if ONESTEPFCN == 1
# define MODEL_STEP          CONCAT(MODEL,_step)
# define MODEL_OUTPUT        MODEL_STEP
#else
# define MODEL_OUTPUT        CONCAT(MODEL,_output)
# define MODEL_UPDATE        CONCAT(MODEL,_update)
#endif

# define MODEL_TERMINATE     CONCAT(MODEL,_terminate)
# define RT_MDL              CONCAT(MODEL,_M)

extern void MODEL_INITIALIZE(void);
extern void MODEL_TERMINATE(void);

#if !defined(MULTITASKING)
#if ONESTEPFCN == 1
# define MODEL_UPDATE()              /* No op */
extern void MODEL_STEP(void);        /* single rate step function */
#else
extern void MODEL_OUTPUT(void);      /* single rate output function */
extern void MODEL_UPDATE(void);      /* single rate update function */
#endif
#else
#if ONESTEPFCN == 1
# define MODEL_UPDATE(S)             /* No op */
extern void MODEL_STEP(int_T tid);   /* multirate step function */
#else
extern void MODEL_OUTPUT(int_T tid); /* multirate output function */
extern void MODEL_UPDATE(int_T tid); /* multirate update function */
#endif
#endif  /* !defined(MULTITASKING) */

#endif // ROSRTW_GRT_COMMON_H