MATLAB: Is there an example available on how to initialize the states in a C-MEX S-function via input signals

c - mexfrominitializeinputs-functionsignalsimulinkstates

I would like an example on how to initialize the states in a C-MEX S-function via input signals.

Best Answer

Following is an example showing how to initialize the states in a C-MEX S-function via input signals in Simulink.

In this example the Van der Pol equations are used. To initialize the two states x1 and x2 in the equations via input signals the mdlInitializeConditions has been used. If you open up the S-function source file, you will notice the following lines in mdlInitializeConditions:

real_T *x = ssGetContStates(S);
InputRealPtrsType uPtrs0       = ssGetInputPortRealSignalPtrs(S,0);
InputRealPtrsType uPtrs1       = ssGetInputPortRealSignalPtrs(S,1);
/*  init x1 */
x[0] = *uPtrs0[0];
/*  init x2 */
x[1] = *uPtrs1[0];

Here at the beginning of simulation the input signals *uPtrs0 and *uPtrs1 are assigned to the states x1 and x2.

Related Solutions

MATLAB: Block eror

The error message tells you "The derivative of [...] is infinite".

The place in your s-function where you specify the derivative of states is where you use "ssGetdX".

I recommend using downloading visual studio, mexing your s-function in debug mode (-g flag) and stepping through your code line by line. You should be able to easily identify what part of your mdlDerivative sets the state derivative to INF or NAN.

MATLAB: Can I create a C++ MEX-file S-function

We officially support C++ MEX-file S-functions as of Simulink 4.0 (R12).

To view an example of how to do this, please type:

sfundemos

at the MATLAB Command Prompt. This will open sfundemos.mdl. This demo that ships with SIMULINK provides examples of how to write different types of S-Functions and includes a C++ example.

You can also take a look at chapter 4 of the "Writing S-function" manual which has a good description on writing C++ MEX-file S-functions.

When writing the S-function, declare the MEX Function as extern "C". The rest of the code that you write can all be in C++. For example:

 extern "C" 
 {
 void mexFunction(
     int nlhs_,
     mxArray *plhs_[],
     int nrhs_,
     const mxArray *prhs_[])
 {
   /* Body can use all C++ language features and file can be compiled with a
      C++ compiler
    */
 }
 }

Below is the 'Timestwo' example written as a C++ file. You can compile the file using the MEX command. Note that if you are using the Watcom compiler, you need to add the -DNO_BUILT_IN_SUPPORT_FOR_BOOL flag to your COMPFLAGS option in your options file.

If you are using MSVC 5.0, you do not need to add this flag. The C compiler will automatically know to compile it as C++ code using the mex command.

 /*
* TIMESTWO An example C-file S-function for multiplying an input by 2
*      
*      y  = 2*x
*   
*   See sfuntmpl.c for a general S-function template.
*
*   See also VSFUNC, DSFUNC, SFUNTMPL.
* 
*   Copyright (c) 1990-96 by MathWorks, Inc.
*   All Rights Reserved
*   $Revision: 1.1 $
*/
 #ifdef __cplusplus
     extern "C" {
 #endif
 #define S_FUNCTION_NAME timestwo_level1_cpp
 /* The following three lines are necessary for the WATCOM compiler
* only. You need to remove these lines for the MSVC compiler.
*/
 #ifndef COMPILER_SUPPORTS_BOOL
 typedef int bool;
 #endif
 #include "simstruc.h"
 /*
* mdlInitializeSizes - initialize the sizes array
*/
 static void mdlInitializeSizes(SimStruct *S)
 {
     ssSetNumContStates(    S, 0);   /* number of continuous states */
     ssSetNumDiscStates(    S, 0);   /* number of discrete states */
     ssSetNumInputs(        S, DYNAMICALLY_SIZED);   /* number of inputs */
     ssSetNumOutputs(       S, DYNAMICALLY_SIZED);   /* number of outputs */
     ssSetDirectFeedThrough(S, 1);   /* direct feedthrough flag */
     ssSetNumSampleTimes(   S, 1);   /* number of sample times */
     ssSetNumSFcnParams(    S, 0);   /* number of input arguments */
     ssSetNumRWork(         S, 0);   /* number of real work vector elements */
     ssSetNumIWork(         S, 0);   /* number of integer work vector elements */
     ssSetNumPWork(         S, 0);   /* number of pointer work vector elements */
 }
 /*
* mdlInitializeSampleTimes - initialize the sample times array
*/
 static void mdlInitializeSampleTimes(SimStruct *S)
 {
     ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
     ssSetOffsetTime(S, 0, 0.0);
 }
 /*
* mdlInitializeConditions - initialize the states
*/
 static void mdlInitializeConditions(double *x0, SimStruct *S)
 {
 }
 /*
* mdlOutputs - compute the outputs
*/
 static void mdlOutputs(double *y, double *x, double *u, SimStruct *S, int tid)
 {
     class mul2 {
         double            *u;
         double            *y;
         int                width;
     public:
         mul2(double *u_i, double *y_i, int width_i) 
         {
             u = u_i;
             y = y_i;
             width = width_i;
         }
         void output(void) 
         {
             for (int i=0;i<width;i++)
             { 
                 *y++=2.0*(*u++); 
             }
         }
     };
     class mul2 m(u,y,ssGetNumOutputs(S));
     m.output();
 }
 /*
* mdlUpdate - perform action at major integration time step
*/
 static void mdlUpdate(double *x, double *u, SimStruct *S, int tid)
 {
 }
 /*
* mdlDerivatives - compute the derivatives
*/
 static void mdlDerivatives(double *dx, double *x, 
                            double *u, SimStruct *S, int tid)
 {
 }
 /*
* mdlTerminate - called when the simulation is terminated.
*/
 static void mdlTerminate(SimStruct *S)
 {
 }
 #ifdefMATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
 #include "simulink.c"      /* MEX-file interface mechanism */
 #else
 #include "cg_sfun.h"       /* Code generation registration function */
 #endif
 #ifdef __cplusplus
     }
 #endif

Best Answer

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