1#include <stdio.h>



2#include <stdlib.h>



3#include "RaspberryForceTest.h"



4#include "RaspberryForceTest_private.h"



5#include "rtwtypes.h"



6#include "limits.h"



7#include "rt_nonfinite.h"



8#include "linuxinitialize.h"



9#define UNUSED(x)                      x = x



10



11/* Function prototype declaration*/



12void exitFcn(int sig);



13void *terminateTask(void *arg);



14void *baseRateTask(void *arg);



15void *subrateTask(void *arg);



16volatile boolean_T runModel = true;



17sem_t stopSem;



18sem_t baserateTaskSem;



19pthread_t schedulerThread;



20pthread_t baseRateThread;



21unsigned long threadJoinStatus[8];



22int terminatingmodel = 0;



23void *baseRateTask(void *arg)



24{



25  runModel = (rtmGetErrorStatus(RaspberryForceTest_M) == (NULL)) &&



26    !rtmGetStopRequested(RaspberryForceTest_M);



27  while (runModel) {



28    sem_wait(&baserateTaskSem);



29



30    /* External mode */



31    {



32      boolean_T rtmStopReq = false;



33      rtExtModePauseIfNeeded(RaspberryForceTest_M->extModeInfo, 1, &rtmStopReq);



34      if (rtmStopReq) {



35        rtmSetStopRequested(RaspberryForceTest_M, true);



36      }



37



38      if (rtmGetStopRequested(RaspberryForceTest_M) == true) {



39        rtmSetErrorStatus(RaspberryForceTest_M, "Simulation finished");



40        break;



41      }



42    }



43



44    /* External mode */



45    {



46      boolean_T rtmStopReq = false;



47      rtExtModeOneStep(RaspberryForceTest_M->extModeInfo, 1, &rtmStopReq);



48      if (rtmStopReq) {



49        rtmSetStopRequested(RaspberryForceTest_M, true);



50      }



51    }



52



53    RaspberryForceTest_step();



54



55    /* Get model outputs here */



56    rtExtModeCheckEndTrigger();



57    runModel = (rtmGetErrorStatus(RaspberryForceTest_M) == (NULL)) &&



58      !rtmGetStopRequested(RaspberryForceTest_M);



59  }



60



61  runModel = 0;



62  terminateTask(arg);



63  pthread_exit((void *)0);



64  return NULL;



65}



66



67void exitFcn(int sig)



68{



69  UNUSED(sig);



70  rtmSetErrorStatus(RaspberryForceTest_M, "stopping the model");



71}



72



73void *terminateTask(void *arg)



74{



75  UNUSED(arg);



76  terminatingmodel = 1;



77  printf("**terminating the model**\n");



78  fflush(stdout);



79



80  {



81    runModel = 0;



82  }



83



84  rtExtModeShutdown(1);



85



86  /* Disable rt_OneStep() here */



87



88  /* Terminate model */



89  RaspberryForceTest_terminate();



90  sem_post(&stopSem);



91  return NULL;



92}



93



94int main(int argc, char **argv)



95{



96  UNUSED(argc);



97  UNUSED(argv);



98  printf("**starting the model**\n");



99  fflush(stdout);



100  rtmSetErrorStatus(RaspberryForceTest_M, 0);



101  rtExtModeParseArgs(argc, (const char_T **)argv, NULL);



102



103  /* Initialize model */



104  RaspberryForceTest_initialize();



105



106  /* External mode */



107  rtSetTFinalForExtMode(&rtmGetTFinal(RaspberryForceTest_M));



108  rtExtModeCheckInit(1);



109



110  {



111    boolean_T rtmStopReq = false;



112    rtExtModeWaitForStartPkt(RaspberryForceTest_M->extModeInfo, 1, &rtmStopReq);



113    if (rtmStopReq) {



114      rtmSetStopRequested(RaspberryForceTest_M, true);



115    }



116  }



117



118  rtERTExtModeStartMsg();



119



120  /* Call RTOS Initialization function */



121  myRTOSInit(0.02, 0);



122



123  /* Wait for stop semaphore */



124  sem_wait(&stopSem);



125  return 0;



126}



127