基于S-Function的Joystick Input

Simulink S-Function

S-Function是system-function的缩写。S-Function就是用MATLAB所提供的模块不能完全满足用户，而提供给用户自己编写程序来满足自己要求模型的接口，这样提供了扩充和灵活性。
S-Function可以用M、C/C++、Ada、Fortran 语言以MEX(Matlab Executable，MATLAB可执行文件，在Windows系统中就是其为DLL)文件的形式编写。

通过S-Function，用户可以将自己的模块加入Simulink模型中。从而可以实现用户自定义的算法或者与硬件设备交互等。

本文将使用C Mex的S-Function进行Joystick的输入解析。

Windows平台的S-Function

Windows平台的S-Function在MathWorks官网上有几个版本：
1.Per Hillerborg (2022). sfun_joystick.zip (https://www.mathworks.com/matlabcentral/fileexchange/47141-sfun_joystick-zip), MATLAB Central File Exchange
2.Johannes Soikkeli (2022). S-Function for reading joystick values on Simulink (https://www.mathworks.com/matlabcentral/fileexchange/111265-s-function-for-reading-joystick-values-on-simulink), MATLAB Central File Exchange.
其中2参考了1，函数很简单，读者可参考链接。
本文要在这个S-Function上适配Linux平台，为什么呢？因为项目要在linux平台上用。

代码

有了Windows源码，Linux部分更简单了。
直接上代码吧，这里略去一部分。

#include "simstruc.h"
#include <stdio.h>
#ifdef _WIN32
#include <Windows.h>
#elif __linux__
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/joystick.h>
#include <sys/types.h>
#include <fcntl.h>
#include <string.h>
#endif

#ifdef _WIN32
JOYINFOEX joy;	// Struct into which joystick state is returned.
MMRESULT rc;	// Return code of function.
#e/lif __linux__
int joystick_fd;
//int *axis = NULL;
//char *button = NULL;
#endif

/* Error handling
 * --------------
 *
 * You should use the following technique to report errors encountered within
 * an S-function:
 *
 *       ssSetErrorStatus(S,"Error encountered due to ...");
 *       return;
 *
 * Note that the 2nd argument to ssSetErrorStatus must be persistent memory.
 * It cannot be a local variable. For example the following will cause
 * unpredictable errors:
 *
 *      mdlOutputs()
 *      {
 *         char msg[256];         {ILLEGAL: to fix use "static char msg[256];"}
 *         sprintf(msg,"Error due to %s", string);
 *         ssSetErrorStatus(S,msg);
 *         return;
 *      }
 *
 */

/*====================*
 * S-function methods *
 *====================*/

/* 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)
{
 ...

}



/* 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)
{
...     
}

#undef MDL_INITIALIZE_CONDITIONS   /* Change to #undef to remove function */
#if defined(MDL_INITIALIZE_CONDITIONS)
  /* Function: mdlInitializeConditions ========================================
   * Abstract:
   *    In this function, you should initialize the continuous and discrete
   *    states for your S-function block.  The initial states are placed
   *    in the state vector, ssGetContStates(S) or ssGetRealDiscStates(S).
   *    You can also perform any other initialization activities that your
   *    S-function may require. Note, this routine will be called at the
   *    start of simulation and if it is present in an enabled subsystem
   *    configured to reset states, it will be call when the enabled subsystem
   *    restarts execution to reset the states.
   */
  static void mdlInitializeConditions(SimStruct *S)
  {
  }
#endif /* MDL_INITIALIZE_CONDITIONS */



#define MDL_START  /* Change to #undef to remove function */
#if defined(MDL_START) 
  /* 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.
   */
  static void mdlStart(SimStruct *S)
  {
    #ifdef _WIN32
    joy.dwSize = sizeof(joy);
    joy.dwFlags = JOY_RETURNALL;
    #elif __linux__
    {
        const real_T *u = ssGetInputPortRealSignal(S,0);
        int stick_id = (int)*u;
        
        char joystick_name[20] = "/dev/input/js";
        char id_char[5];
        sprintf(id_char,"%d",stick_id +1);
        strcat(joystick_name,id_char);
        
        joystick_fd = open(joystick_name,O_RDONLY);
        if(joystick_fd==-1)
        {
            ssWarning(S,"Joystick failed!");
            return;
        }
        fcntl(joystick_fd,F_SETFL,O_NONBLOCK);
//         int Nm_axis = 0, Nm_btn = 0;
//         ioctl(joystick_fd,JSIOCGAXES,&Nm_axis);
//         ioctl(joystick_fd,JSIOCGBUTTONS,&Nm_btn);
//         
//         axis = (int *)calloc(Nm_axis,sizeof(int));
//         button = (char *)calloc(Nm_btn,sizeof(char));

        
    }
    #endif
  }
#endif /*  MDL_START */



/* Function: mdlOutputs =======================================================
 * Abstract:
 *    In this function, you compute the outputs of your S-function
 *    block.
 */
static void mdlOutputs(SimStruct *S, int_T tid)
{
}

#define MDL_UPDATE  /* Change to #undef to remove function */
#if defined(MDL_UPDATE)
  /* Function: mdlUpdate ======================================================
   * Abstract:
   *    This function is called once for every major integration time step.
   *    Discrete states are typically updated here, but this function is useful
   *    for performing any tasks that should only take place once per
   *    integration step.
   */
  static void mdlUpdate(SimStruct *S, int_T tid)
  {
    const real_T *u = ssGetInputPortRealSignal(S,0);
    real_T       *y = ssGetOutputPortSignal(S,0);

    

    UNUSED_ARG(tid); /* not used in single tasking mode */
    #ifdef _WIN32
   ...
    #elif __linux__
	if(joystick_fd!=-1)
	{
		struct js_event js;

		while(read(joystick_fd,&js,sizeof(struct js_event))>0)

//			if(js.type&JS_EVENT_INIT == JS_EVENT_INIT)
				switch(js.type& ~JS_EVENT_INIT)
					{   
						case JS_EVENT_AXIS:
//							axis[js.number] = js.value;
							if(js.number<4)
								y[js.number] = js.value;
							break;
						case JS_EVENT_BUTTON:
//							button[js.number] = js.value;
							if(js.number<12)
								y[js.number+4] = js.value;
							break;
						default:
							break;
					}   

	}
    #endif
  }
#endif /* MDL_UPDATE */



#undef MDL_DERIVATIVES  /* Change to #undef to remove function */
#if defined(MDL_DERIVATIVES)
  /* Function: mdlDerivatives =================================================
   * Abstract:
   *    In this function, you compute the S-function block's derivatives.
   *    The derivatives are placed in the derivative vector, ssGetdX(S).
   */
  static void mdlDerivatives(SimStruct *S)
  {
  }
#endif /* MDL_DERIVATIVES */

/* 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)
{
    #ifdef __linux__

//  free(axis);
//  free(button);
		
    close(joystick_fd);
    #endif
}


/*=============================*
 * 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

引用

感谢二位给的源码。

[1]:Per Hillerborg (2022). sfun_joystick.zip (https://www.mathworks.com/matlabcentral/fileexchange/47141-sfun_joystick-zip), MATLAB Central File Exchange
[2]: Johannes Soikkeli (2022). S-Function for reading joystick values on Simulink (https://www.mathworks.com/matlabcentral/fileexchange/111265-s-function-for-reading-joystick-values-on-simulink), MATLAB Central File Exchange.