S-Function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; }