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  • SFunction实现simulink仿真与VC通信

    在使用simulink仿真和其他语言编写的仿真模块合作时,总存在两种语言模块的数据交互的问题,本文考虑使用S-Function构建一个单独的通信模块,将该模块添加到simulink模型中,实现仿真数据的交互。

    Matlab的simulink仿真有提供一个用户自定义模块,该模块可以用多种编程语言来实现,本文介绍:使用C++的Socket通信来编写代码,实现和Vc的交互。

    1. VC++用户自定义模块的实现方法

    a. 在模型中添加S-Function, 编写模块对应的函数代码

    b、编译C++代码,在matlab中编译,需要先通过matlab命令行设置matlab的mex编译器,方法如下:

    选择VS2005编译器,然后使用mex 命令来编译代码,命令格式:mex cppfile(模块对应的代码的文件名),编译成功会有相应的提示

    c. 编译成功会产生一个后缀为mexw32的mex程序,有了这个程序,用户自定义模块就可以工作了

    2. 例子

    Demo说明:两个正弦输入信号经过mux模块集束成一个输入数组,经过自定义模块,最后到达Scope模块显示。在自定义模块(UseFunc)中,通过Socket采用UDP将输入数据发送到某个端口。

    2.1 Simulink模型

    S-Function代码:

    UseFunc.h

    /* Copyright 2003-2004 The MathWorks, Inc. */
    
    #ifndef _SFUN_CPP_USER_DEFINE_CPP_
    #define _SFUN_CPP_USER_DEFINE_CPP_
    
    // Define a generic template that can accumulate
    // values of any numeric data type
    template <class DataType> class GenericAdder {
    private:
        DataType Peak;
    public:
        GenericAdder() {
            Peak = 0;
        }
        DataType AddTo(DataType Val) {
            Peak += Val;
            return Peak;
        }
        DataType GetPeak() {
            return Peak;
        }
    };
    
    // Specialize the generic adder to a 'double'
    // data type adder
    class DoubleAdder : public GenericAdder<double> {};
    
    #endif

    UseFunc.cpp

    /* Copyright 2003-2004 The MathWorks, Inc. */
    
    // *******************************************************************
    // **** To build this mex function use: mex sfun_cppcount_cpp.cpp ****
    // *******************************************************************
    
    
    #include "UseFunc.h"
    
    #define S_FUNCTION_LEVEL 2
    #define S_FUNCTION_NAME  UseFunc
    
    // Need to include simstruc.h for the definition of the SimStruct and
    // its associated macro definitions.
    #include "simstruc.h"
    #include "mex.h" 
    
    
    #ifndef WIN32_LEAN_AND_MEAN
    #define WIN32_LEAN_AND_MEAN
    #endif
    
    #include <winsock2.h>
    #include <Ws2tcpip.h>
    #include <stdio.h>
    
    // Link with ws2_32.lib
    #pragma comment(lib, "Ws2_32.lib")
    
    void UseFun_StartSock(SimStruct *S);
    void UseFun_SentData(SimStruct *S, const real_T *data, int DataNum);
    void UseFun_CloseSock(SimStruct *S);
    
    
    #define IS_PARAM_DOUBLE(pVal) (mxIsNumeric(pVal) && !mxIsLogical(pVal) &&\
    !mxIsEmpty(pVal) && !mxIsSparse(pVal) && !mxIsComplex(pVal) && mxIsDouble(pVal))
    
    // Function: mdlInitializeSizes ===============================================
    // Abstract:
    //    The sizes information is used by Simulink to determine the S-function
    //    block's characteristics (number of inputs, outputs, states, etc.).
    static void mdlInitializeSizes(SimStruct *S)
    {
        // No expected parameters
        ssSetNumSFcnParams(S, 0);
    
        // Parameter mismatch will be reported by Simulink
        if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {
            return;
        }
    
        // Specify I/O
        if (!ssSetNumInputPorts(S, 1)) return;
        ssSetInputPortWidth(S, 0, DYNAMICALLY_SIZED);
        ssSetInputPortDirectFeedThrough(S, 0, 1);
        if (!ssSetNumOutputPorts(S,1)) return;
        ssSetOutputPortWidth(S, 0, DYNAMICALLY_SIZED);
    
        ssSetNumSampleTimes(S, 1);
    
        // Reserve place for C++ object
        ssSetNumPWork(S, 3);
    
        ssSetOptions(S,
                     SS_OPTION_WORKS_WITH_CODE_REUSE |
                     SS_OPTION_EXCEPTION_FREE_CODE);
    
    }
    
    
    // Function: mdlInitializeSampleTimes =========================================
    // Abstract:
    //   This function is used to specify the sample time(s) for your
    //   S-function. You must register the same number of sample times as
    //   specified in ssSetNumSampleTimes.
    static void mdlInitializeSampleTimes(SimStruct *S)
    {
        ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
        ssSetOffsetTime(S, 0, 0.0);
        ssSetModelReferenceSampleTimeDefaultInheritance(S); 
    }
    
    // Function: mdlStart =======================================================
    // Abstract:
    //   This function is called once at start of model execution. If you
    //   have states that should be initialized once, this is the place
    //   to do it.
    #define MDL_START
    static void mdlStart(SimStruct *S)
    {
        // Store new C++ object in the pointers vector
        DoubleAdder *da  = new DoubleAdder();
        ssGetPWork(S)[0] = da;
    
        UseFun_StartSock(S);
    }
    
    // Function: mdlOutputs =======================================================
    // Abstract:
    //   In this function, you compute the outputs of your S-function
    //   block.
    static void mdlOutputs(SimStruct *S, int_T tid)
    {
        // Retrieve C++ object from the pointers vector
        DoubleAdder *da = static_cast<DoubleAdder *>(ssGetPWork(S)[0]);
        
        // Get data addresses of I/O
        InputRealPtrsType  u = ssGetInputPortRealSignalPtrs(S,0);
                   real_T *y = ssGetOutputPortRealSignal(S, 0);
    
        int InputNum = ssGetInputPortWidth(S, 0);
        for(int i=0;i<InputNum;i++)
        {
    
            y[i] = *u[i];
        }
    
        UseFun_SentData(S, y, InputNum);
    }
    
    // Function: mdlTerminate =====================================================
    // Abstract:
    //   In this function, you should perform any actions that are necessary
    //   at the termination of a simulation.  For example, if memory was
    //   allocated in mdlStart, this is the place to free it.
    static void mdlTerminate(SimStruct *S)
    {
        // Retrieve and destroy C++ object
        DoubleAdder *da = static_cast<DoubleAdder *>(ssGetPWork(S)[0]);
        delete da;
    
        UseFun_CloseSock(S);
    }
    
    void UseFun_StartSock(SimStruct *S)
    {
        int iResult;
        WSADATA wsaData;
    
        SOCKET *pSendSocket = new SOCKET;
        *pSendSocket = INVALID_SOCKET;
    
        sockaddr_in *pRecvAddr = new sockaddr_in;
    
        unsigned short Port = 27015;
        
        printf("Start socket communication, please wait...\n");
    
        //----------------------
        // Initialize Winsock
        iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
        if (iResult != NO_ERROR) {
            printf("WSAStartup failed with error: %d\n", iResult);
            return ;
        }
    
        //---------------------------------------------
        // Create a socket for sending data
        *pSendSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
        if (*pSendSocket == INVALID_SOCKET) {
            printf("socket failed with error: %ld\n", WSAGetLastError());
            WSACleanup();
            return ;
        }
    
        //---------------------------------------------
        // Set up the RecvAddr structure with the IP address of
        // the receiver (in this example case "192.168.1.1")
        // and the specified port number.
        pRecvAddr->sin_family = AF_INET;
        pRecvAddr->sin_port = htons(Port);
        pRecvAddr->sin_addr.s_addr = inet_addr("127.0.0.1");
    
        ssGetPWork(S)[1] = pSendSocket;
        ssGetPWork(S)[2] = pRecvAddr;
    }
    
    void UseFun_SentData(SimStruct *S, const real_T *data, int DataNum)
    {
        int iResult;
    
        char SendBuf[1024]={'\0'};
        int BufLen = 1024;
    
        SOCKET *pSendSocket    = static_cast<SOCKET *>(ssGetPWork(S)[1]);
        sockaddr_in *pRecvAddr = static_cast<sockaddr_in *>(ssGetPWork(S)[2]);
    
        if (*pSendSocket == SOCKET_ERROR) {
            printf("SOCKET_ERROR error: %d\n", WSAGetLastError());
            closesocket(*pSendSocket);
            WSACleanup();
            return ;
        }
    
        //---------------------------------------------
        // Send a datagram to the receiver
        //printf("Sending a datagram to the receiver...\n");
        int ValidateBufLen = 0;
        for(int i=0;i<DataNum;i++)
        {
            ValidateBufLen = strlen(SendBuf);
            sprintf(SendBuf+ValidateBufLen, "%g;", data[i]);
        }
    
        iResult = sendto(*pSendSocket,
            SendBuf, BufLen, 0, (SOCKADDR *)pRecvAddr, sizeof(sockaddr_in));
    }
    
    void UseFun_CloseSock(SimStruct *S)
    {
        SOCKET *pSendSocket    = static_cast<SOCKET *>(ssGetPWork(S)[1]);
        sockaddr_in *pRecvAddr = static_cast<sockaddr_in *>(ssGetPWork(S)[2]);
    
        //---------------------------------------------
        // When the application is finished sending, close the socket.
        printf("Finished socket communication, Closing socket.\n");
    
        if (closesocket(*pSendSocket) == SOCKET_ERROR)
        {
            printf("closesocket failed with error: %d\n", WSAGetLastError());
        }
        //---------------------------------------------
        // Clean up and quit.
    
        WSACleanup();
    
        delete pSendSocket;
        pSendSocket = NULL;
    
        delete pRecvAddr;
        pRecvAddr = NULL;
    }
    
    // Required S-function trailer
    #ifdef  MATLAB_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

    运行效果图:

    2.2  数据接收

    通过辅助程序,收到上面自定义模型发出来的数据如下

    说明:分号前为第一个正弦输入信号的数据,分号后为第二个正弦输入信号的数据。

    VC2005 控制台程序代码如下:

    SocketServer.cpp

    // SocketServer.cpp : 定义控制台应用程序的入口点。
    //
    
    #include "stdafx.h"
    
    #ifndef UNICODE
    #define UNICODE
    #endif
    
    #define WIN32_LEAN_AND_MEAN
    
    #include <winsock2.h>
    #include <stdio.h>
    
    
    // Link with ws2_32.lib
    #pragma comment(lib, "Ws2_32.lib")
    
    
    int _tmain(int argc, _TCHAR* argv[])
    {
        int iResult = 0;
    
        WSADATA wsaData;
    
        SOCKET RecvSocket;
        sockaddr_in RecvAddr;
    
        unsigned short Port = 27015;
    
        char RecvBuf[1024];
        int BufLen = 1024;
    
        sockaddr_in SenderAddr;
        int SenderAddrSize = sizeof (SenderAddr);
    
        //-----------------------------------------------
        // Initialize Winsock
        iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
        if (iResult != NO_ERROR) {
            wprintf(L"WSAStartup failed with error %d\n", iResult);
            return 1;
        }
        //-----------------------------------------------
        // Create a receiver socket to receive datagrams
        RecvSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
        if (RecvSocket == INVALID_SOCKET) {
            wprintf(L"socket failed with error %d\n", WSAGetLastError());
            return 1;
        }
        //-----------------------------------------------
        // Bind the socket to any address and the specified port.
        RecvAddr.sin_family = AF_INET;
        RecvAddr.sin_port = htons(Port);
        RecvAddr.sin_addr.s_addr = htonl(INADDR_ANY);
    
        iResult = bind(RecvSocket, (SOCKADDR *) & RecvAddr, sizeof (RecvAddr));
        if (iResult != 0) {
            wprintf(L"bind failed with error %d\n", WSAGetLastError());
            return 1;
        }
        //-----------------------------------------------
        // Call the recvfrom function to receive datagrams
        // on the bound socket.
        wprintf(L"Receiving datagrams...\n");
        iResult = 0;
        int RecvNum = 0;
        while(RecvNum < 100)
        {
            memset(RecvBuf,0,BufLen);
            iResult = recvfrom(RecvSocket,
                RecvBuf, BufLen, 0, (SOCKADDR *) & SenderAddr, &SenderAddrSize);
    
            if (iResult == SOCKET_ERROR)
            {
                wprintf(L"recvfrom failed with error %d\n", WSAGetLastError());
                break;
            }
            printf("recv dada: %s \n", RecvBuf);
            RecvNum++;
        }
    
        //-----------------------------------------------
        // Close the socket when finished receiving datagrams
        wprintf(L"Finished receiving. Closing socket.\n");
        iResult = closesocket(RecvSocket);
        if (iResult == SOCKET_ERROR) {
            wprintf(L"closesocket failed with error %d\n", WSAGetLastError());
            return 1;
        }
    
        //-----------------------------------------------
        // Clean up and exit.
        wprintf(L"Exiting.\n");
        WSACleanup();
    
        return 0;
    }
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  • 原文地址:https://www.cnblogs.com/xpvincent/p/2892978.html
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