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load capi

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This commit is contained in:
matt
2020-11-13 06:27:12 +08:00
parent bd73991059
commit 1d30e71492
3 changed files with 212 additions and 62 deletions
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mainwindow.cpp
+102 -1
View File
@@ -3,6 +3,104 @@
#include <QLibrary>
#include <QHostAddress>
void MainWindow::setup_param(const QVector<QString> &head, const QVector<double> &onecase)
{
const rtwCAPI_ModelMappingStaticInfo *sm = (*getmap_func)();
if (sm)
{
//unsigned int n = rtwCAPI_GetNumBlockParametersFromStaticMap(sm);
unsigned int m = rtwCAPI_GetNumModelParametersFromStaticMap(sm);
rtwCAPI_ModelParameters const *prm = rtwCAPI_GetModelParametersFromStaticMap(sm);
rtwCAPI_DataTypeMap const *dtm = rtwCAPI_GetDataTypeMapFromStaticMap(sm);
rtwCAPI_DimensionMap const *dmm = rtwCAPI_GetDimensionMapFromStaticMap(sm);
uint_T const *dam = rtwCAPI_GetDimensionArrayFromStaticMap(sm);
rtwCAPI_ModelMappingInfo *MMI = &(rtmGetDataMapInfo(this->m).mmi);
void **da = rtwCAPI_GetDataAddressMap(MMI);
for (unsigned int i = 0; i < m; ++i)
{
const char *name = rtwCAPI_GetModelParameterName(prm, i);
int idx = rtwCAPI_GetModelParameterAddrIdx(prm, i);
uint16_t dti = rtwCAPI_GetModelParameterDataTypeIdx(prm, i);
uint16_t dmi = rtwCAPI_GetModelParameterDimensionIdx(prm, i);
uint8_t ss = rtwCAPI_GetDataTypeSLId(dtm, dti);
uint16_t dai = rtwCAPI_GetDimArrayIndex(dmm, dmi);
uint8_t nd = rtwCAPI_GetNumDims(dmm, dmi);
uint16_t n = 1;
for (int j = 0; j < nd; ++j)
{
n *= dam[dai + j];
}
int j = 0;
for (auto i = head.begin(); i != head.end(); ++i, ++j)
{
if (i->contains(name))
{
int target_idx = 0;
double target_value = onecase[j];
QStringList s = i->split(QRegExp("[()]"));
if (s.size() >= 2)
{
target_idx = s.value(1).toInt() - 1;
}
switch (ss)
{
case SS_DOUBLE:
{
double *d = (double *)da[idx];
d[target_idx] = target_value;
}
break;
case SS_SINGLE:
{
float *s = (float *)da[idx];
s[target_idx] = target_value;
}
break;
case SS_INT8:
{
int8_T *c = (int8_T *)da[idx];
c[target_idx] = target_value;
}
break;
case SS_INT16:
{
int16_T *h = (int16_T *)da[idx];
h[target_idx] = target_value;
}
break;
case SS_INT32:
{
int32_T *I = (int32_T *)da[idx];
I[target_idx] = target_value;
}
break;
case SS_UINT8:
{
uint8_T *c = (uint8_T *)da[idx];
c[target_idx] = target_value;
}
break;
case SS_UINT16:
{
uint16_T *h = (uint16_T *)da[idx];
h[target_idx] = target_value;
}
break;
case SS_UINT32:
{
uint32_T *I = (uint32_T *)da[idx];
I[target_idx] = target_value;
}
break;
}
}
}
}
}
}
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent), ui(new Ui::MainWindow)
{
@@ -13,18 +111,21 @@ MainWindow::MainWindow(QWidget *parent)
{
init_func = static_cast<SIL_initialize_ptr>(mdl->resolve("SIL_initialize"));
step_func = static_cast<SIL_step_ptr>(mdl->resolve("SIL_step"));
getmap_func = (SIL_GetCAPIStaticMap_ptr)(mdl->resolve("SIL_GetCAPIStaticMap"));
u = (ExtU_SIL_T *)mdl->resolve("SIL_U");
y = (ExtY_SIL_T *)mdl->resolve("SIL_Y");
m = (RT_MODEL_SIL_T *)mdl->resolve("SIL_M_");
}
else
{
init_func = &SIL_initialize;
step_func = &SIL_step;
getmap_func = &SIL_GetCAPIStaticMap;
u = &SIL_U;
y = &SIL_Y;
}
if (init_func && step_func && u && y)
if (init_func && step_func && u && y && getmap_func)
{
qgc_sock = new QUdpSocket(this);
if (qgc_sock->bind(QHostAddress::LocalHost, 6061))
mainwindow.h
+5
View File
@@ -6,6 +6,7 @@ extern "C"
#include "SIL.h"
typedef void (*SIL_initialize_ptr)(void);
typedef void (*SIL_step_ptr)(void);
typedef const rtwCAPI_ModelMappingStaticInfo *(*SIL_GetCAPIStaticMap_ptr)(void);
}
#include <QMainWindow>
@@ -37,8 +38,12 @@ private:
SIL_initialize_ptr init_func;
SIL_step_ptr step_func;
SIL_GetCAPIStaticMap_ptr getmap_func;
ExtU_SIL_T *u;
ExtY_SIL_T *y;
RT_MODEL_SIL_T *m;
void setup_param(const QVector<QString> &head, const QVector<double> &onecase);
uint8_t seq;
mainwindow.ui
+105 -61
View File
@@ -1,65 +1,109 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>311</width>
<height>187</height>
</rect>
</property>
<property name="windowTitle">
<string>Proj41 HIL</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout" stretch="1,1">
<item>
<layout class="QFormLayout" name="formLayout">
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Latitude</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEditLat"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Longitude</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEditLon"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>altitude</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="lineEditAlt"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>heading</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="lineEditHdg"/>
</item>
</layout>
</item>
<item>
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>Start</string>
</property>
<property name="windowTitle">
<string>Proj41 HIL</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>100</x>
<y>100</y>
<width>200</width>
<height>100</height>
</rect>
</property>
<property name="text">
<string>Fire</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>800</width>
<height>21</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections>
<connection>
<sender>pushButton</sender>
<signal>pressed()</signal>
<receiver>MainWindow</receiver>
<slot>onFire()</slot>
<hints>
<hint type="sourcelabel">
<x>155</x>
<y>153</y>
</hint>
<hint type="destinationlabel">
<x>255</x>
<y>181</y>
</hint>
</hints>
</connection>
</connections>
<slots>
<slot>onFire()</slot>
</slots>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>311</width>
<height>22</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections>
<connection>
<sender>pushButton</sender>
<signal>pressed()</signal>
<receiver>MainWindow</receiver>
<slot>onFire()</slot>
<hints>
<hint type="sourcelabel">
<x>155</x>
<y>153</y>
</hint>
<hint type="destinationlabel">
<x>255</x>
<y>181</y>
</hint>
</hints>
</connection>
</connections>
<slots>
<slot>onFire()</slot>
</slots>
</ui>