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-some changes during intialization of linear algloops
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-some changes in default settings for vxworks
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@RuedKamp
RuedKamp committed Sep 15, 2015
1 parent 0ea0def commit e71411d
Showing 1 changed file with 37 additions and 52 deletions.
89 changes: 37 additions & 52 deletions Compiler/Template/CodegenCpp.tpl
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Expand Up @@ -1807,7 +1807,7 @@ int _tmain(int argc, const _TCHAR* argv[])
<%defineOutputVars(simCode)%>

LogSettings logsetting;
SimSettings settings = {"RTEuler","","kinsol", 0.0, 100.0, 0.005, 0.0025, 10.0, 0.0001, "<%lastIdentOfPath(modelInfo.name)%>",0,OPT_NONE, logsetting};
SimSettings settings = {"RTEuler","","newton", 0.0, 100.0, 0.004, 0.0025, 10.0, 0.0001, "<%lastIdentOfPath(modelInfo.name)%>",0,OPT_NONE, logsetting};
// Solver, nonlinearsolver starttime endtime stepsize lower limit upper limit tolerance


Expand Down Expand Up @@ -1938,7 +1938,7 @@ extern "C" void debugSimulation(void)
double cycletime;
getMotionCycle(cycletime);

initSimulation(simController, simData, 0.005);
initSimulation(simController, simData, 0.004);
while(true)
{
try
Expand Down Expand Up @@ -2037,7 +2037,7 @@ extern "C" int initSimulation(ISimController* &controller, ISimData* &data, dou
<%defineOutputVars(simCode)%>

LogSettings logsetting;
SimSettings settings = {"RTRK","","kinsol", 0.0, 100.0, cycletime, 0.0025, 10.0, 0.0001, "<%lastIdentOfPath(modelInfo.name)%>",0,OPT_NONE, logsetting};
SimSettings settings = {"RTEuler","","kinsol", 0.0, 100.0, cycletime, 0.0025, 10.0, 0.0001, "<%lastIdentOfPath(modelInfo.name)%>",0,OPT_NONE, logsetting};
// Solver, nonlinearsolver starttime endtime stepsize lower limit upper limit tolerance
try
{
Expand Down Expand Up @@ -2083,9 +2083,9 @@ extern "C" int motionTriggered(ISimController* &controller, ISimData* &data)
}


WCHAR16* application = L"Application";
MlpiApplicationState state = MLPI_STATE_NONE;
result = mlpiLogicGetStateOfApplication(connection, application, &state);
//WCHAR16* application = L"Application";
//MlpiApplicationState state = MLPI_STATE_NONE;
//result = mlpiLogicGetStateOfApplication(connection, application, &state);

// Set Priority of Task
result = mlpiTaskSetCurrentPriority(connection, MLPI_PRIORITY_HIGH_MAX);
Expand All @@ -2102,7 +2102,7 @@ extern "C" int motionTriggered(ISimController* &controller, ISimData* &data)
// Wait for motion interrupt
result = mlpiTaskWaitForEvent(connection, MLPI_TASKEVENT_MOTION_CYCLE, MLPI_INFINITE);

MLPIRESULT result = mlpiLogicGetStateOfApplication(connection, application, &state);
//MLPIRESULT result = mlpiLogicGetStateOfApplication(connection, application, &state);

if (MLPI_FAILED(result))
{
Expand All @@ -2116,13 +2116,13 @@ extern "C" int motionTriggered(ISimController* &controller, ISimData* &data)
printf("\ncall of MLPI function failed with 0x%08x!", (unsigned)result);
return result;
}
if(state == MLPI_STATE_STOP)
{
break;
}
//if(state == MLPI_STATE_STOP)
//{
// break;
//}

if(mode == MLPI_SYSTEMMODE_BB) //
{
//if(mode == MLPI_SYSTEMMODE_BB) //
//{
//Write input
/* do something with the inputs!*/
/*
Expand Down Expand Up @@ -2150,7 +2150,7 @@ extern "C" int motionTriggered(ISimController* &controller, ISimData* &data)
}
//Write output
<%getOutputVars(simCode)%>
}
//}
}

result = mlpiApiDisconnect(&connection);
Expand Down Expand Up @@ -2251,6 +2251,7 @@ BUNDLE_INFO_END(com_boschrexroth_<%modelname%>)

BUNDLE_EXPORT int com_boschrexroth_<%modelname%>_create(int param1, int param2, int param3)
{
/*
MLPIHANDLE connection = MLPI_INVALIDHANDLE;

// connect to API
Expand Down Expand Up @@ -2283,7 +2284,7 @@ BUNDLE_EXPORT int com_boschrexroth_<%modelname%>_create(int param1, int param2,
result = mlpiLogicPouExtensionRegister(connection, name, function);
}
mlpiApiDisconnect(&connection);

*/
printf("\n###################################################################");
printf("\n## onCreate #######################################################");
printf("\n###################################################################");
Expand All @@ -2292,7 +2293,7 @@ return 0;

BUNDLE_EXPORT int com_boschrexroth_<%modelname%>_start(int param1, int param2, int param3)
{

spawnTask();
printf("\n###################################################################");
printf("\n## onStart ########################################################");
printf("\n###################################################################");
Expand Down Expand Up @@ -3857,6 +3858,7 @@ match eq
else
<<
_AData = new double[<%listLength(ls.simJac)%>];
_bInitialized = false;
_indexValue = new int[<%listLength(ls.simJac)%>];
sortIndex();
>>
Expand Down Expand Up @@ -4100,17 +4102,24 @@ match simCode
let bname = 'b<%uid%>'
let &varDecls = buffer "" /*BUFD*/

let &help = buffer ""
let Amatrix=
(ls.simJac |> (row, col, eq as SES_RESIDUAL(__)) hasindex i0 fromindex 0=>
let &preExp = buffer "" /*BUFD*/
let expPart = daeExp(eq.exp, context, &preExp, &varDecls, simCode, &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
let expPart = daeExp(eq.exp, context, &preExp, &varDecls, simCode, &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
match eq.exp
case e as RCONST(__) then match type case "sparse" then
let &help +=
<<
<%preExp%>
<%preExp%>
/*comment out again!*///__A(<%row%>,<%col%>)=<%expPart%>;
_AData[_indexValue[<%i0%>]] = <%expPart%>;
>>
<<
<%preExp%>
/*comment out again!*///__A(<%row%>,<%col%>)=<%expPart%>;
//_AData[_indexValue[<%i0%>]] = <%expPart%>;
>>
else
<<
<%preExp%>
Expand All @@ -4137,7 +4146,11 @@ match simCode
let &preExp = buffer "" /*BUFD*/
let expPart = daeExp(exp, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
match exp
case e as RCONST(__) then '/*comment out again!*/<%preExp%>__b(<%i0%>)=<%expPart%>;'
case e as RCONST(__) then
let &help += '/*comment out again!*/<%preExp%>__b(<%i0%>)=<%expPart%>; <%\n%>'
<<
//<%preExp%>__b(<%i0%>)=<%expPart%>;
>>
else

'<%preExp%>__b(<%i0%>)=<%expPart%>;'
Expand All @@ -4150,6 +4163,11 @@ match simCode
<%Amatrix%>
//memcpy(Ax,_AData,sizeof(double)* <%listLength(ls.simJac)%> );
<%bvector%>
if (_bInitialized == false)
{
<%&help%>
_bInitialized = true;
}
}
>>
end updateAlgloop;
Expand Down Expand Up @@ -11647,39 +11665,6 @@ end testDaeDimensionExp;



template daeExp(Exp exp, Context context, Text &preExp /*BUFP*/, Text &varDecls /*BUFP*/,SimCode simCode ,Text& extraFuncs,Text& extraFuncsDecl,Text extraFuncsNamespace, Text stateDerVectorName /*=__zDot*/, Boolean useFlatArrayNotation)
"Generates code for an expression."
::=
match exp

case e as ICONST(__) then '<%integer%>' /* Yes, we need to cast int to long on 64-bit arch... */
case e as RCONST(__) then real
case e as BCONST(__) then if bool then "true" else "false"
case e as ENUM_LITERAL(__) then index
case e as CREF(__) then daeExpCrefRhs(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as CAST(__) then daeExpCast(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as CONS(__) then "Cons not supported yet"
case e as SCONST(__) then daeExpSconst(string, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as UNARY(__) then daeExpUnary(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as LBINARY(__) then daeExpLbinary(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as LUNARY(__) then daeExpLunary(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as BINARY(__) then daeExpBinary(operator, exp1, exp2, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as IFEXP(__) then daeExpIf(expCond, expThen, expElse, context, &preExp, &varDecls, simCode , &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as RELATION(__) then daeExpRelation(e, context, &preExp, &varDecls,simCode , &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as CALL(__) then daeExpCall(e, context, &preExp /*BUFC*/, &varDecls /*BUFD*/,simCode , &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as RECORD(__) then daeExpRecord(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as ASUB(__) then '<%daeExpAsub(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)%>'
case e as MATRIX(__) then daeExpMatrix(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as RANGE(__) then '<%daeExpRange(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)%>'
case e as TSUB(__) then '<%daeExpTsub(e, context, &preExp, &varDecls, simCode , &extraFuncs , &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation )%>'
case e as REDUCTION(__) then daeExpReduction(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as ARRAY(__) then '<%daeExpArray(e, context, &preExp, &varDecls, simCode, &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)%>'
case e as SIZE(__) then daeExpSize(e, context, &preExp, &varDecls, simCode , &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)
case e as SHARED_LITERAL(__) then daeExpSharedLiteral(e, context, &preExp /*BUFC*/, &varDecls /*BUFD*/, useFlatArrayNotation)
case e as SUM(__) then daeExpSum(e, context, &preExp, &varDecls, simCode , &extraFuncs, &extraFuncsDecl, extraFuncsNamespace, stateDerVectorName, useFlatArrayNotation)

else error(sourceInfo(), 'Unknown exp:<%printExpStr(exp)%>')
end daeExp;


template daeExpRange(Exp exp, Context context, Text &preExp, Text &varDecls, SimCode simCode, Text& extraFuncs, Text& extraFuncsDecl,
Expand Down

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