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;
}

/article/4890484.html