1 | #include <stdio.h> |
2 | #include <stdlib.h> |
3 | #include "VisionTest.h" |
4 | #include "VisionTest_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 | void *baseRateTask(void *arg) |
23 | { |
24 | runModel = (rtmGetErrorStatus(VisionTest_M) == (NULL)) && !rtmGetStopRequested |
25 | (VisionTest_M); |
26 | while (runModel) { |
27 | sem_wait(&baserateTaskSem); |
28 | |
29 | /* External mode */ |
30 | { |
31 | boolean_T rtmStopReq = false; |
32 | rtExtModePauseIfNeeded(VisionTest_M->extModeInfo, 1, &rtmStopReq); |
33 | if (rtmStopReq) { |
34 | rtmSetStopRequested(VisionTest_M, true); |
35 | } |
36 | |
37 | if (rtmGetStopRequested(VisionTest_M) == true) { |
38 | rtmSetErrorStatus(VisionTest_M, "Simulation finished"); |
39 | break; |
40 | } |
41 | } |
42 | |
43 | /* External mode */ |
44 | { |
45 | boolean_T rtmStopReq = false; |
46 | rtExtModeOneStep(VisionTest_M->extModeInfo, 1, &rtmStopReq); |
47 | if (rtmStopReq) { |
48 | rtmSetStopRequested(VisionTest_M, true); |
49 | } |
50 | } |
51 | |
52 | VisionTest_step(); |
53 | |
54 | /* Get model outputs here */ |
55 | rtExtModeCheckEndTrigger(); |
56 | runModel = (rtmGetErrorStatus(VisionTest_M) == (NULL)) && |
57 | !rtmGetStopRequested(VisionTest_M); |
58 | } |
59 | |
60 | runModel = 0; |
61 | terminateTask(arg); |
62 | pthread_exit((void *)0); |
63 | return NULL; |
64 | } |
65 | |
66 | void exitFcn(int sig) |
67 | { |
68 | UNUSED(sig); |
69 | rtmSetErrorStatus(VisionTest_M, "stopping the model"); |
70 | } |
71 | |
72 | void *terminateTask(void *arg) |
73 | { |
74 | UNUSED(arg); |
75 | terminatingmodel = 1; |
76 | printf("**terminating the model**\n"); |
77 | fflush(stdout); |
78 | |
79 | { |
80 | runModel = 0; |
81 | } |
82 | |
83 | rtExtModeShutdown(1); |
84 | |
85 | /* Disable rt_OneStep() here */ |
86 | |
87 | /* Terminate model */ |
88 | VisionTest_terminate(); |
89 | sem_post(&stopSem); |
90 | return NULL; |
91 | } |
92 | |
93 | int main(int argc, char **argv) |
94 | { |
95 | UNUSED(argc); |
96 | UNUSED(argv); |
97 | printf("**starting the model**\n"); |
98 | fflush(stdout); |
99 | rtmSetErrorStatus(VisionTest_M, 0); |
100 | rtExtModeParseArgs(argc, (const char_T **)argv, NULL); |
101 | |
102 | /* Initialize model */ |
103 | VisionTest_initialize(); |
104 | |
105 | /* External mode */ |
106 | rtSetTFinalForExtMode(&rtmGetTFinal(VisionTest_M)); |
107 | rtExtModeCheckInit(1); |
108 | |
109 | { |
110 | boolean_T rtmStopReq = false; |
111 | rtExtModeWaitForStartPkt(VisionTest_M->extModeInfo, 1, &rtmStopReq); |
112 | if (rtmStopReq) { |
113 | rtmSetStopRequested(VisionTest_M, true); |
114 | } |
115 | } |
116 | |
117 | rtERTExtModeStartMsg(); |
118 | |
119 | /* Call RTOS Initialization function */ |
120 | myRTOSInit(0.02, 0); |
121 | |
122 | /* Wait for stop semaphore */ |
123 | sem_wait(&stopSem); |
124 | return 0; |
125 | } |
126 | |