1 | #include <stdio.h> |
2 | #include <stdlib.h> |
3 | #include "testFoil.h" |
4 | #include "testFoil_private.h" |
5 | #include "rtwtypes.h" |
6 | #include "limits.h" |
7 | #include "linuxinitialize.h" |
8 | #define UNUSED(x) x = x |
9 | |
10 | /* Function prototype declaration*/ |
11 | void exitFcn(int sig); |
12 | void *terminateTask(void *arg); |
13 | void *baseRateTask(void *arg); |
14 | void *subrateTask(void *arg); |
15 | volatile boolean_T runModel = true; |
16 | sem_t stopSem; |
17 | sem_t baserateTaskSem; |
18 | pthread_t schedulerThread; |
19 | pthread_t baseRateThread; |
20 | unsigned long threadJoinStatus[8]; |
21 | int terminatingmodel = 0; |
22 | pthread_mutex_t rateTaskFcnRunningMutex[1]; |
23 | void testForRateOverrun(int rateID); |
24 | void *baseRateTask(void *arg) |
25 | { |
26 | runModel = (rtmGetErrorStatus(testFoil_M) == (NULL)) && !rtmGetStopRequested |
27 | (testFoil_M); |
28 | while (runModel) { |
29 | sem_wait(&baserateTaskSem); |
30 | pthread_mutex_lock(&rateTaskFcnRunningMutex[0]); |
31 | |
32 | /* External mode */ |
33 | { |
34 | boolean_T rtmStopReq = false; |
35 | rtExtModePauseIfNeeded(testFoil_M->extModeInfo, 1, &rtmStopReq); |
36 | if (rtmStopReq) { |
37 | rtmSetStopRequested(testFoil_M, true); |
38 | } |
39 | |
40 | if (rtmGetStopRequested(testFoil_M) == true) { |
41 | rtmSetErrorStatus(testFoil_M, "Simulation finished"); |
42 | break; |
43 | } |
44 | } |
45 | |
46 | /* External mode */ |
47 | { |
48 | boolean_T rtmStopReq = false; |
49 | rtExtModeOneStep(testFoil_M->extModeInfo, 1, &rtmStopReq); |
50 | if (rtmStopReq) { |
51 | rtmSetStopRequested(testFoil_M, true); |
52 | } |
53 | } |
54 | |
55 | testFoil_step(); |
56 | |
57 | /* Get model outputs here */ |
58 | rtExtModeCheckEndTrigger(); |
59 | pthread_mutex_unlock(&rateTaskFcnRunningMutex[0]); |
60 | runModel = (rtmGetErrorStatus(testFoil_M) == (NULL)) && !rtmGetStopRequested |
61 | (testFoil_M); |
62 | } |
63 | |
64 | runModel = 0; |
65 | terminateTask(arg); |
66 | pthread_exit((void *)0); |
67 | return NULL; |
68 | } |
69 | |
70 | void exitFcn(int sig) |
71 | { |
72 | UNUSED(sig); |
73 | rtmSetErrorStatus(testFoil_M, "stopping the model"); |
74 | } |
75 | |
76 | void *terminateTask(void *arg) |
77 | { |
78 | UNUSED(arg); |
79 | terminatingmodel = 1; |
80 | printf("**terminating the model**\n"); |
81 | fflush(stdout); |
82 | |
83 | { |
84 | runModel = 0; |
85 | } |
86 | |
87 | rtExtModeShutdown(1); |
88 | |
89 | /* Disable rt_OneStep() here */ |
90 | |
91 | /* Terminate model */ |
92 | testFoil_terminate(); |
93 | sem_post(&stopSem); |
94 | return NULL; |
95 | } |
96 | |
97 | void testForRateOverrun(int rateID) |
98 | { |
99 | if (pthread_mutex_trylock(&rateTaskFcnRunningMutex[rateID]) == 0) { |
100 | pthread_mutex_unlock(&rateTaskFcnRunningMutex[rateID]); |
101 | } else { |
102 | reportOverrun(rateID); |
103 | } |
104 | } |
105 | |
106 | int main(int argc, char **argv) |
107 | { |
108 | UNUSED(argc); |
109 | UNUSED(argv); |
110 | printf("**starting the model**\n"); |
111 | fflush(stdout); |
112 | rtmSetErrorStatus(testFoil_M, 0); |
113 | rtExtModeParseArgs(argc, (const char_T **)argv, NULL); |
114 | |
115 | /* Initialize model */ |
116 | testFoil_initialize(); |
117 | |
118 | /* External mode */ |
119 | rtSetTFinalForExtMode(&rtmGetTFinal(testFoil_M)); |
120 | rtExtModeCheckInit(1); |
121 | |
122 | { |
123 | boolean_T rtmStopReq = false; |
124 | rtExtModeWaitForStartPkt(testFoil_M->extModeInfo, 1, &rtmStopReq); |
125 | if (rtmStopReq) { |
126 | rtmSetStopRequested(testFoil_M, true); |
127 | } |
128 | } |
129 | |
130 | rtERTExtModeStartMsg(); |
131 | |
132 | /* Call RTOS Initialization function */ |
133 | myRTOSInit(0.01, 0); |
134 | |
135 | /* Wait for stop semaphore */ |
136 | sem_wait(&stopSem); |
137 | |
138 | { |
139 | int idxMutex; |
140 | for (idxMutex=0; idxMutex<1; idxMutex++) |
141 | pthread_mutex_destroy(&rateTaskFcnRunningMutex[idxMutex]); |
142 | } |
143 | |
144 | return 0; |
145 | } |
146 | |