自学教程：C++ ssGetNumSFcnParams函数代码示例

/* Function: mdlInitializeSizes =============================================== * Abstract: *   Setup sizes of the various vectors. */static void mdlInitializeSizes(SimStruct *S){    DECL_AND_INIT_DIMSINFO(inputDimsInfo);    DECL_AND_INIT_DIMSINFO(outputDimsInfo);    ssSetNumSFcnParams(S, NPARAMS);     if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {	 return; /* Parameter mismatch will be reported by Simulink */     }    ssSetNumContStates(S, NUM_CONT_STATES);    ssSetNumDiscStates(S, NUM_DISC_STATES);    if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;    /*Input Port 0 */    ssSetInputPortWidth(S,  0, INPUT_0_WIDTH); /* */    ssSetInputPortDataType(S, 0, SS_UINT8);    ssSetInputPortComplexSignal(S,  0, INPUT_0_COMPLEX);    ssSetInputPortDirectFeedThrough(S, 0, INPUT_0_FEEDTHROUGH);    ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/    /*Input Port 1 */    ssSetInputPortWidth(S,  1, INPUT_1_WIDTH);    ssSetInputPortDataType(S, 1, SS_UINT8);    ssSetInputPortComplexSignal(S, 1, INPUT_1_COMPLEX);    ssSetInputPortDirectFeedThrough(S, 1, INPUT_1_FEEDTHROUGH);    ssSetInputPortRequiredContiguous(S, 1, 1); /*direct input signal access*/    /*Input Port 2 */    ssSetInputPortWidth(S,  2, INPUT_2_WIDTH); /* */    ssSetInputPortDataType(S, 2, SS_UINT8);    ssSetInputPortComplexSignal(S,  2, INPUT_2_COMPLEX);    ssSetInputPortDirectFeedThrough(S, 2, INPUT_2_FEEDTHROUGH);    ssSetInputPortRequiredContiguous(S, 2, 1); /*direct input signal access*/    if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;    /* Output Port 0 */    ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);    ssSetOutputPortDataType(S, 0, SS_DOUBLE);    ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);    /* Output Port 1 */    ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);    ssSetOutputPortDataType(S, 1, SS_DOUBLE);    ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    ssSetSimulinkVersionGeneratedIn(S, "8.4");    /* Take care when specifying exception free code - see sfuntmpl_doc.c */    ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |                     SS_OPTION_USE_TLC_WITH_ACCELERATOR | 		     SS_OPTION_WORKS_WITH_CODE_REUSE));}

/*=====================================* * Configuration and execution methods * *=====================================*/static void mdlInitializeSizes(SimStruct *S){#ifdef DEBUG	debug("mdlInitializeSizes entered./n");#endif    ssSetNumSFcnParams(S, NPAR);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {		mdlCheckParameters(S);        if (ssGetErrorStatus(S) != NULL) return;    }    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    if (!ssSetNumInputPorts(S, 1)) return;    ssSetInputPortWidth(S, 0, NI);    ssSetInputPortDirectFeedThrough(S, 0, 1);    if (!ssSetNumOutputPorts(S, 1)) return;    ssSetOutputPortWidth(S, 0, NO);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    /* Take care when specifying exception free code - see sfuntmpl_doc.c */    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);#ifdef DEBUG	debug("mdlInitializeSizes left./n");#endif} /* mdlInitializeSizes */

static void mdlInitializeSizes(SimStruct *S){  uint_T i;  ssSetNumSFcnParams(S, NUMBER_OF_PARAMS);#if defined(MATLAB_MEX_FILE)  if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {    mdlCheckParameters(S);    if (ssGetErrorStatus(S) != NULL) {      return;    }  } else {    return;  }#endif  for (i = 0; i < NUMBER_OF_PARAMS; i++) {    ssSetSFcnParamNotTunable(S, i);  }  ssSetNumInputPorts(S, 0);  ssSetNumOutputPorts(S, 1);  ssSetOutputPortWidth(S, 0, 1);  ssSetNumContStates(S, 0);  ssSetNumDiscStates(S, 0);  ssSetNumSampleTimes(S, 1);  ssSetNumPWork(S,1);  ssSetNumIWork(S,1);  ssSetNumRWork(S,2);}

static void mdlInitializeSizes(SimStruct *S) {	bool dataPort;	ssSetNumSFcnParams(S,3);	if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {		return; /* Parameter mismatch will be reported by Simulink */	}	dataPort = PARAM(2)[0];	if (dataPort) {		if (!ssSetNumInputPorts(S,2)) return;		ssSetInputPortWidth(S,1,DYNAMICALLY_SIZED);		ssSetInputPortDirectFeedThrough(S,1,1);	} else {		if (!ssSetNumInputPorts(S,1)) return;	}	ssSetInputPortWidth(S,0,1);	ssSetInputPortDirectFeedThrough(S,0,1);	ssSetNumContStates(S,0);	ssSetNumDiscStates(S,0);	if (!ssSetNumOutputPorts(S,0)) return;	ssSetInputPortDataType(S, 0, DYNAMICALLY_TYPED);	ssSetNumSampleTimes(S,1);	ssSetNumRWork(S,1);	ssSetNumIWork(S,1);	ssSetNumPWork(S,2);	ssSetNumModes(S,0);	ssSetNumNonsampledZCs(S,0);	ssSetOptions(S,0);}

/* 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) {        ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    //  printf("URG: 111/n");    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);        if (!ssSetNumInputPorts(S, 0)) return;        if (!ssSetNumOutputPorts(S, 1)) return;    ssSetOutputPortWidth(S, 0, 682);    ssSetOutputPortDataType(S, 0, SS_INT16);        ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);            /* Specify the sim state compliance to be same as a built-in block */    //  ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);        ssSetOptions(S, 0);        printf("URG: Inicializando driver URG-04LX.../n");}

/* 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){    ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    if (!ssSetNumInputPorts(S, 0)) return;    if (!ssSetNumOutputPorts(S, 1)) return;    ssSetOutputPortWidth(S, 0, 1);    ssSetOutputPortDataType(S, 0, SS_DOUBLE);  /* same as clock block */    ssSetOutputPortConstOutputExprInRTW(S, 0, 1);    ssSetNumSampleTimes(S, 1);    /* specify the sim state compliance to be same as a built-in block */    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);    ssSetOptions(S,                 SS_OPTION_WORKS_WITH_CODE_REUSE |                 SS_OPTION_USE_TLC_WITH_ACCELERATOR);}

static void mdlInitializeSizes(SimStruct *S){  ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */  if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {    return;  }  ssSetNumContStates(S, 2);  ssSetNumDiscStates(S, 0);  if (!ssSetNumInputPorts(S, 0)) return;  if (!ssSetNumOutputPorts(S, 1)) return;  ssSetOutputPortWidth(S, 0, 2);  ssSetNumSampleTimes(S, 1);  ssSetNumRWork(S, 0);  ssSetNumIWork(S, 0);  ssSetNumPWork(S, 0);  ssSetNumModes(S, 0);  ssSetNumNonsampledZCs(S, 1);  ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);  ssSetOptions(S, 0);}

/* 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){    /* See sfuntmpl_doc.c for more details on the macros below */    ssSetNumSFcnParams(S, NUM_PARAMS);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S))    {      mdlCheckParameters(S);      if (ssGetErrorStatus(S) != NULL)        /* Return if number of expected != number of actual parameters */        return;    }    else      return;    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    ssSetNumInputPorts(S, 0);    ssSetNumOutputPorts(S, 0);    ssSetNumSampleTimes(S, 1);    ssSetSFcnParamTunable(S, 0, 0);    ssSetSFcnParamTunable(S, 1, 0);    ssSetSFcnParamTunable(S, 2, 0);    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE | SS_OPTION_CAN_BE_CALLED_CONDITIONALLY);}

static void mdlInitializeSizes(SimStruct *S){    int i;    ssSetNumSFcnParams(S, NPARAMS);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    for (i = 0; i < NPARAMS; i++)        ssSetSFcnParamTunable(S, i, 0);    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    if (!ssSetNumInputPorts(S, 1)) return;    ssSetInputPortWidth(S, 0, 6);    ssSetInputPortRequiredContiguous(S, 0, true);    ssSetInputPortDirectFeedThrough(S, 0, 1);    if (!ssSetNumOutputPorts(S, 1)) return;    ssSetOutputPortWidth(S, 0, 6);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);}

/* Function: mdlInitializeSizes =============================================== * Abstract: *   Setup sizes of the various vectors. */static void mdlInitializeSizes(SimStruct *S){        DECL_AND_INIT_DIMSINFO(outputDimsInfo);    ssSetNumSFcnParams(S, NPARAMS);     if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {	 return; /* Parameter mismatch will be reported by Simulink */     }    ssSetNumContStates(S, NUM_CONT_STATES);    ssSetNumDiscStates(S, NUM_DISC_STATES);    if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;    if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;    ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);    ssSetOutputPortDataType(S, 0, SS_UINT8);    ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 3);    ssSetNumPWork(S, 2);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    /* Take care when specifying exception free code - see sfuntmpl_doc.c */        ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |		     SS_OPTION_WORKS_WITH_CODE_REUSE));}

static void mdlInitializeSizes( SimStruct *S )/* ======================================================================== */{	int_T port;	/* set number of expected parameters and check for a mismatch. */	ssSetNumSFcnParams( S, NUM_PARAMS );#if defined(MATLAB_MEX_FILE)	if ( ssGetNumSFcnParams( S ) == ssGetSFcnParamsCount( S ) )	{		mdlCheckParameters( S );		if ( ssGetErrorStatus( S ) != NULL )			return;	}else  {		return;	}#endif	/* sampling */	ssSetNumSampleTimes( S, PORT_BASED_SAMPLE_TIMES );	/* Set number of input ports and tunability */	ssSetSFcnParamTunable( S, DEVICE_INDEX, SS_PRM_NOT_TUNABLE );	/* set the resulting number of ports */	if ( !ssSetNumInputPorts( S, 1 ) )		return;	port = 0;	{		const Frame_T	inputsFrames	= ( (double) mxGetScalar( ssGetSFcnParam( S, USE_FRAMES ) ) > 0.0) ? FRAME_YES : FRAME_NO;		double		sample_time	= 1 / mxGetScalar( ssGetSFcnParam( S, SAMPLE_RATE ) );		const int_T	buf_length	= (int_T) (double) mxGetScalar( ssGetSFcnParam( S, FRAME_LENGTH ) );		const time_T	period		= (time_T) (sample_time * buf_length);		ssSetInputPortMatrixDimensions( S, port, buf_length, 1 );		ssSetInputPortComplexSignal( S, port, COMPLEX_YES );		ssSetInputPortDataType( S, port, SS_DOUBLE );		ssSetInputPortFrameData( S, port, inputsFrames );		ssSetInputPortDirectFeedThrough( S, port, 1 );		ssSetInputPortSampleTime( S, port, period );		ssSetInputPortOffsetTime( S, port, 0.0 );	}	/* Set number of output ports */	if ( !ssSetNumOutputPorts( S, 0 ) )		return;	/* data port properties */	/* Prepare work Vectors */	ssSetNumPWork( S, P_WORK_LENGTH );	ssSetNumIWork( S, I_WORK_LENGTH );	ssSetNumRWork( S, R_WORK_LENGTH );	ssSetNumModes( S, 0 );	ssSetNumNonsampledZCs( S, 0 );	/* Specify the sim state compliance to be same as a built-in block */	ssSetSimStateCompliance( S, USE_DEFAULT_SIM_STATE );	ssSetOptions( S, 0 );}

static void mdlInitializeSizes(SimStruct *S){  ssSetNumSFcnParams(S, 4);  /* B,x0,U,P Number of expected parameters */  if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S))    return;  else  {    if (CheckPar(S))      return;  }    ssSetNumContStates(S, (int) B(S,"CStates"));    ssSetNumDiscStates(S, (int) B(S,"DStates"));    if (!ssSetNumInputPorts(S, 1)) return;    ssSetInputPortWidth(S, 0, (int)  (U(S,"Number")+B(S,"Setpoints")));    ssSetInputPortDirectFeedThrough(S, 0, (int) B(S,"Direct"));    ssSetInputPortRequiredContiguous(S, 0, 1); /*direct input signal access*/    if (!ssSetNumOutputPorts(S,1)) return;    ssSetOutputPortWidth(S, 0, (int) (U(S,"Number")+B(S,"Measurements")) );    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);  /* Take care when specifying exception free code - see sfuntmpl_doc.c */    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE |                 SS_OPTION_USE_TLC_WITH_ACCELERATOR);   }

/* Function: mdlInitializeSizes */static void mdlInitializeSizes(SimStruct *S){    ssSetNumSFcnParams(S, 19);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        return; /* Parameter mismatch will be reported by Simulink */    }    ssSetNumContStates(S, 4); /* Number of continuous states*/    if (!ssSetNumInputPorts(S, 3)) return; /*Number of INPUTS*/    ssSetInputPortWidth(S, 0, 1);          /* In0.0: I */    ssSetInputPortWidth(S, 1, 1);          /* In1.0: x */    ssSetInputPortWidth(S, 2, 1);          /* In1.0: dx */    ssSetInputPortDirectFeedThrough(S, 0, 1);    ssSetInputPortDirectFeedThrough(S, 1, 1);    ssSetInputPortDirectFeedThrough(S, 2, 1);    if (!ssSetNumOutputPorts(S, 1)) return;/* Number of OUTPUTS */    ssSetOutputPortWidth(S, 0, 1);         /* Out0.0: deltaF */    ssSetNumSampleTimes(S, 1);    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);    ssSetOptions(S, 0);}

/* 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){    /* See sfuntmpl.doc for more details on the macros below */    ssSetNumSFcnParams(S, 0);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    ssSetNumContStates(S, 1);  /* how many continuous states? */    ssSetNumDiscStates(S, 0);    if (!ssSetNumInputPorts(S, 1)) return;    ssSetInputPortWidth(S, 0, 1);    /*     * Set direct feedthrough flag (1=yes, 0=no).     * A port has direct feedthrough if the input is used in either     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.     * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.     */    ssSetInputPortDirectFeedThrough(S, 0, 1);    if (!ssSetNumOutputPorts(S, 1)) return;    ssSetOutputPortWidth(S, 0, 1);    ssSetNumSampleTimes(S, 1);    /*      * If your Fortran code uses REAL for the state, input, and/or output      * datatypes, use these DWorks as work areas to downcast continuous      * states from double to REAL before calling your code.  You could     * also put the work vectors in hard-coded local (stack) variables.     *     * For fixed step code, keep a copy of the variables  to be output      * in a DWork vector so the mdlOutputs() function can provide output      * data when needed. You can use as many DWork vectors as you like      * for both input and output (or hard-code local variables).     */    if(!ssSetNumDWork(   S, 3)) return;    ssSetDWorkWidth(     S, 0, ssGetOutputPortWidth(S,0));    ssSetDWorkDataType(  S, 0, SS_SINGLE); /* use SS_DOUBLE if needed */    ssSetDWorkWidth(     S, 1, ssGetInputPortWidth(S,0));    ssSetDWorkDataType(  S, 1, SS_SINGLE);    ssSetDWorkWidth(     S, 2, ssGetNumContStates(S));    ssSetDWorkDataType(  S, 2, SS_SINGLE);    ssSetNumNonsampledZCs(S, 0);    /* Specify the sim state compliance to be same as a built-in block */    /* see sfun_simstate.c for example of other possible settings */    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);    ssSetOptions(S, 0);}

/* Function: mdlInitializeSizes =============================================== * Abstract: *   Setup sizes of the various vectors. */static void mdlInitializeSizes(SimStruct *S){    DECL_AND_INIT_DIMSINFO(outputDimsInfo);    ssSetNumSFcnParams(S, NPARAMS);     if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {	 return; /* Parameter mismatch will be reported by Simulink */     }    ssSetNumContStates(S, NUM_CONT_STATES);    ssSetNumDiscStates(S, NUM_DISC_STATES);    if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;    if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;    /* Output Port 0 */    ssSetOutputPortWidth(S, 0, OUTPUT_0_WIDTH);    ssSetOutputPortDataType(S, 0, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);    /* Output Port 1 */    ssSetOutputPortWidth(S, 1, OUTPUT_1_WIDTH);    ssSetOutputPortDataType(S, 1, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);    /* Output Port 2 */    ssSetOutputPortWidth(S, 2, OUTPUT_2_WIDTH);    ssSetOutputPortDataType(S, 2, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX);    /* Output Port 3 */    ssSetOutputPortWidth(S, 3, OUTPUT_3_WIDTH);    ssSetOutputPortDataType(S, 3, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 3, OUTPUT_3_COMPLEX);    /* Output Port 4 */    ssSetOutputPortWidth(S, 4, OUTPUT_4_WIDTH);    ssSetOutputPortDataType(S, 4, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 4, OUTPUT_4_COMPLEX);    /* Output Port 5 */    ssSetOutputPortWidth(S, 5, OUTPUT_5_WIDTH);    ssSetOutputPortDataType(S, 5, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 5, OUTPUT_5_COMPLEX);    /* Output Port 6 */    ssSetOutputPortWidth(S, 6, OUTPUT_6_WIDTH);    ssSetOutputPortDataType(S, 6, SS_SINGLE);    ssSetOutputPortComplexSignal(S, 6, OUTPUT_6_COMPLEX);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    ssSetSimulinkVersionGeneratedIn(S, "8.6");    /* Take care when specifying exception free code - see sfuntmpl_doc.c */    ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |                     SS_OPTION_USE_TLC_WITH_ACCELERATOR | 		     SS_OPTION_WORKS_WITH_CODE_REUSE));}

static void mdlInitializeSizes(SimStruct *S){    int i,nChannels;    static char msg[256];    ssSetNumSFcnParams(S, NUMBER_OF_ARGS);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        sprintf(msg,"Wrong Number of input arguments passed./n%d arguments are expected/n",NUMBER_OF_ARGS);        ssSetErrorStatus(S,msg);        return;    }    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);        ssSetNumInputPorts(S, 0);//there is no input     //if (!ssSetNumInputPorts(S, 1)) return;        nChannels=(uint_T)mxGetN(CHANNEL_ARG);       //if (!ssSetNumOutputPorts(S, 1)) return;    ssSetNumOutputPorts(S,nChannels);//set number of outputs ports    for(i=0;i<nChannels;i++)    {        ssSetOutputPortWidth(S, i, 1);//set width of each port to 1        }        ssSetInputPortWidth(S, 0, 1);    ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/    /*     * Set direct feedthrough flag (1=yes, 0=no).     * A port has direct feedthrough if the input is used in either     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.     */    ssSetInputPortDirectFeedThrough(S, 0, 1);       ssSetNumSampleTimes(S, 1);//set number of sample time to 1,which means all input ports share same Ts        ssSetNumRWork(S, NO_R_WORKS);//number of float in work vector    ssSetNumIWork(S, NO_I_WORKS);//number of int in work vector    ssSetNumPWork(S, 0);//number of pointer in work vector        ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);//no need for pass-zero check         ssSetSFcnParamNotTunable(S,0);    ssSetSFcnParamNotTunable(S,1);    ssSetSFcnParamNotTunable(S,2);    ssSetSFcnParamNotTunable(S,3);    ssSetSFcnParamNotTunable(S,4);        ssSetOptions(S,SS_OPTION_EXCEPTION_FREE_CODE|SS_OPTION_PLACE_ASAP);    /* Specify the sim state compliance to be same as a built-in block */    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);}

/* 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){        char host[] = "localhost";	int port = 9002;        trigger = 0;    /* See sfuntmpl_doc.c for more details on the macros below */    ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    /* This functions receives no inputs, but it could use inputs instead of hard-coded parameters (e.g. port and host) */    if (!ssSetNumInputPorts(S, 0)) return;    /*ssSetInputPortWidth(S, 0, 1);*/    /*ssSetInputPortRequiredContiguous(S, 0, true); /direct input signal access*/    /*     * Set direct feedthrough flag (1=yes, 0=no).     * A port has direct feedthrough if the input is used in either     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.     * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.     */    /*ssSetInputPortDirectFeedThrough(S, 0, 1);*/    if (!ssSetNumOutputPorts(S, 2)) return;    ssSetOutputPortWidth(S, 0, PAYLOAD_LEN/2);     ssSetOutputPortDataType(S, 0, SS_UINT16);    ssSetOutputPortWidth(S, 1, 1);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);            /* Connect to the SerialForwarder server using functions linked in sfsource.o */    fd = open_sf_source(host, port);            if (fd < 0){            ssSetErrorStatus(S,"SerialForwarder not running in the specified host and port");            return;        }}

static void mdlInitializeSizes(SimStruct *S){    const real_T  *P1  = mxGetData(PARAM_DEF3(S));    const real_T  *P2  = mxGetData(PARAM_DEF2(S));    DECL_AND_INIT_DIMSINFO(outputDimsInfo);    ssSetNumSFcnParams(S, NPARAMS);  /* Number of expected parameters */      #if defined(MATLAB_MEX_FILE)	if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {	  if (ssGetErrorStatus(S) != NULL) {	    return;	  }	 } else {	   return; /* Parameter mismatch will be reported by Simulink */	 }      #endif    ssSetNumContStates(S, NUM_CONT_STATES);    ssSetNumDiscStates(S, NUM_DISC_STATES);    if (!ssSetNumInputPorts(S, NUM_INPUTS)) return;    if (!ssSetNumOutputPorts(S, NUM_OUTPUTS)) return;    /* Output Port 0 */    outputDimsInfo.width = *P1;             ssSetOutputPortDimensionInfo(S, 0, &outputDimsInfo);    ssSetOutputPortMatrixDimensions( S ,0, *P1, *P2);    ssSetOutputPortFrameData(S, 0, OUT_0_FRAME_BASED);    ssSetOutputPortDataType(S, 0, SS_UINT8);    ssSetOutputPortComplexSignal(S, 0, OUTPUT_0_COMPLEX);    /* Output Port 1 */    outputDimsInfo.width = *P1;    ssSetOutputPortDimensionInfo(S, 1, &outputDimsInfo);    ssSetOutputPortMatrixDimensions( S ,1, *P1, *P2);    ssSetOutputPortFrameData(S, 1, OUT_1_FRAME_BASED);    ssSetOutputPortDataType(S, 1, SS_UINT8);    ssSetOutputPortComplexSignal(S, 1, OUTPUT_1_COMPLEX);    /* Output Port 2 */    outputDimsInfo.width = *P1;    ssSetOutputPortDimensionInfo(S, 2, &outputDimsInfo);    ssSetOutputPortMatrixDimensions( S ,2, *P1, *P2);    ssSetOutputPortFrameData(S, 2, OUT_2_FRAME_BASED);    ssSetOutputPortDataType(S, 2, SS_UINT8);    ssSetOutputPortComplexSignal(S, 2, OUTPUT_2_COMPLEX);    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    /* Take care when specifying exception free code - see sfuntmpl_doc.c */    ssSetOptions(S, (SS_OPTION_EXCEPTION_FREE_CODE |		     SS_OPTION_WORKS_WITH_CODE_REUSE));}

/* 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){    /* See sfuntmpl_doc.c for more details on the macros below */    ssSetNumSFcnParams(S, 5);  /* Number of expected parameters */#if defined(MATLAB_MEX_FILE)    if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {        mdlCheckParameters(S);        if (ssGetErrorStatus(S) != NULL) {            return;        }    } else {        return; /* Parameter mismatch will be reported by Simulink. */    }#endif    int_T nRobots = mxGetNumberOfElements(ssGetSFcnParam(S,2));    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    if (!ssSetNumInputPorts(S, 0)) return;    //ssSetInputPortWidth(S, 0, 1);    //ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/    /*     * Set direct feedthrough flag (1=yes, 0=no).     * A port has direct feedthrough if the input is used in either     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.     * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.     */    //ssSetInputPortDirectFeedThrough(S, 0, 1);    if (!ssSetNumOutputPorts(S, 4)) return;    const int_T nDofs = *((mxChar*)mxGetData(ssGetSFcnParam(S, 4)));    ssSetOutputPortMatrixDimensions(S, 0, nDofs, nRobots); // position    ssSetOutputPortMatrixDimensions(S, 1, nDofs, nRobots); // velocity    ssSetOutputPortMatrixDimensions(S, 2, nDofs, nRobots); // effort    ssSetOutputPortMatrixDimensions(S, 3, 1, nRobots); // SentTime in s;    ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 2); // nRobots, nDofs    ssSetNumPWork(S, nRobots + 1); //nRobots x GenericSub, AsyncSpinner    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    /* Specify the sim state compliance to be same as a built-in block */    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);    ssSetOptions(S, 0);}

static void mdlInitializeSizes(SimStruct *S){  const mxArray *arg;  ssSetNumSFcnParams(S, 3);  /* Number of expected parameters */  if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {    return; /* Parameter mismatch will be reported by Simulink */  }    if (!ssSetNumInputPorts(S, 0)) return;  if (!ssSetNumOutputPorts(S, 7)) return;  RMsys *rmsys = new RMsys;  rmsys->trigger = 0.0;  arg = ssGetSFcnParam(S, 0);  if (mxIsDoubleScalar(arg)) {    rmsys->networkNbr  = (int)*mxGetPr(arg);  }  arg = ssGetSFcnParam(S, 1);  if (mxIsDoubleScalar(arg)) {    rmsys->receiver  = (int)*mxGetPr(arg);  }  arg = ssGetSFcnParam(S, 2);  if (mxIsDoubleScalar(arg)) {    rmsys->outdim  = (int)*mxGetPr(arg);  }  /* Output Ports */  ssSetOutputPortWidth(S, 0, rmsys->outdim);  // data  ssSetOutputPortWidth(S, 1, 1);              // receiver  ssSetOutputPortWidth(S, 2, 1);              // length  ssSetOutputPortWidth(S, 3, 1);              // prio  ssSetOutputPortWidth(S, 4, 1);              // time stamp  ssSetOutputPortWidth(S, 5, 1);              // signal power (wireless only)  ssSetOutputPortWidth(S, 6, 1);              // message id  ssSetNumContStates(S, 0);  ssSetNumDiscStates(S, 0);    ssSetNumSampleTimes(S, 1);      ssSetNumRWork(S, 0);  ssSetNumIWork(S, 0);  ssSetNumPWork(S, 0);   ssSetNumModes(S, 0);  ssSetNumNonsampledZCs(S, 0);  ssSetUserData(S, rmsys);    ssSetOptions(S, SS_OPTION_CALL_TERMINATE_ON_EXIT); }

/* 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) {	/* See sfuntmpl_doc.c for more details on the macros below */	ssSetNumSFcnParams(S, 2); /* Number of expected parameters */#if defined(MATLAB_MEX_FILE)	if (ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {		mdlCheckParameters(S);		if (ssGetErrorStatus(S) != NULL) {			return;		}	} else {		return; /* Parameter mismatch will be reported by Simulink. */	}#endif	ssSetNumContStates(S, 0);	ssSetNumDiscStates(S, 0);	if (!ssSetNumInputPorts(S, 2))		return;	ssSetInputPortMatrixDimensions(S, 0, DYNAMICALLY_SIZED, DYNAMICALLY_SIZED); // triangles	ssSetInputPortDataType(S, 0, SS_UINT32);	ssSetInputPortMatrixDimensions(S, 1, DYNAMICALLY_SIZED, DYNAMICALLY_SIZED); // vertices	for (int_T i = 0; i < ssGetNumInputPorts(S); ++i) {		/*direct input signal access*/		ssSetInputPortRequiredContiguous(S, i, true);		/*		 * Set direct feedthrough flag (1=yes, 0=no).		 * A port has direct feedthrough if the input is used in either		 * the mdlOutputs or mdlGetTimeOfNextVarHit functions.		 * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.		 */		ssSetInputPortDirectFeedThrough(S, i, 1);	}	if (!ssSetNumOutputPorts(S, 0))		return;	ssSetNumSampleTimes(S, 1);	ssSetNumRWork(S, 0);	ssSetNumIWork(S, 0);	ssSetNumPWork(S, 2); //GenericPub and frame id	ssSetNumModes(S, 0);	ssSetNumNonsampledZCs(S, 0);	/* Specify the sim state compliance to be same as a built-in block */	ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);	ssSetOptions(S, 0);}

static void mdlInitializeSizes(SimStruct *S){    int_T   status;                                 // for new type definition    DTypeId COM_HANDLE_id;                          // for new type definition    HANDLE  handle_aux;                             // for new type definition//======================================================     new type definition    COM_HANDLE_id = ssRegisterDataType(S, "COM_HANDLE");    if(COM_HANDLE_id == INVALID_DTYPE_ID) return;    status = ssSetDataTypeSize(S, COM_HANDLE_id, sizeof(handle_aux));    if(status == 0) return;    status = ssSetDataTypeZero(S, COM_HANDLE_id, &handle_aux);    if(status == 0) return;//===============================================================     parameters    ssSetNumSFcnParams(S, 2);                           // 2 parameters:                                                        //      - COM port                                                        //      - baudrate    //Parameter mismatch will be reported by Simulink    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S))        return;//===================================================================     inputs   if (!ssSetNumInputPorts(S, 0)) return;               // 0 inputs//==================================================================     outputs    if (!ssSetNumOutputPorts(S, 1)) return;             // 1 outputs:                                                        //      - COM handle//////////////////////////////   com handle   //////////////////////////////    ssSetOutputPortWidth(S,0,1);                        // input 1 width    ssSetOutputPortDataType(S, 0, COM_HANDLE_id);       // input 1 datatype//=============================================================     sample times    ssSetNumSampleTimes(  S, 1);                // number of sample times//=============================================================     work vectors    ssSetNumRWork(S, 0);                        // 0 real work vector elements    ssSetNumIWork(S, 0);                        // 0 work vector elements    ssSetNumPWork(S, 1);                        // 1 pwork vector elements:                                                //      - COM handle    ssSetNumModes(S, 0);                        // 0  mode work vector elements    ssSetNumNonsampledZCs(S, 0);                // 0  nonsampled zero crossings    }

/* 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){    /* See sfuntmpl_doc.c for more details on the macros below */    ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */    if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {        /* Return if number of expected != number of actual parameters */        return;    }    ssSetNumContStates(S, 0);    ssSetNumDiscStates(S, 0);    if (!ssSetNumInputPorts(S, 3)) return;    ssSetInputPortWidth(S, 0, 1);    ssSetInputPortWidth(S, 1, 1);    ssSetInputPortWidth(S, 2, 1);    ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/    ssSetInputPortRequiredContiguous(S, 1, true); /*direct input signal access*/    ssSetInputPortRequiredContiguous(S, 2, true); /*direct input signal access*/    /*     * Set direct feedthrough flag (1=yes, 0=no).     * A port has direct feedthrough if the input is used in either     * the mdlOutputs or mdlGetTimeOfNextVarHit functions.     * See matlabroot/simulink/src/sfuntmpl_directfeed.txt.     */    ssSetInputPortDirectFeedThrough(S, 0, 1);    ssSetInputPortDirectFeedThrough(S, 1, 1);    ssSetInputPortDirectFeedThrough(S, 2, 1);    if (!ssSetNumOutputPorts(S, 5)) return;    ssSetOutputPortWidth(S, 0, 1);    ssSetOutputPortWidth(S, 1, 1);    ssSetOutputPortWidth(S, 2, 1);    ssSetOutputPortWidth(S, 3, 1);    ssSetOutputPortWidth(S, 4, 1);            ssSetNumSampleTimes(S, 1);    ssSetNumRWork(S, 0);    ssSetNumIWork(S, 0);    ssSetNumPWork(S, 0);    ssSetNumModes(S, 0);    ssSetNumNonsampledZCs(S, 0);    /* Specify the sim state compliance to be same as a built-in block */    ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);    ssSetOptions(S, 0);}