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Merge pull request #3 from jwithelm/feature/add_simulink_library_block
Feature/add simulink library block
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,121 @@ | ||
| function hebijoyinput(block) | ||
| % hebijoyinput is a HebiJoystick implementation for Simulink | ||
| % | ||
| % hebijoyinput is an alternative to MathWorks's 'Joystick Input' | ||
| % block from 'Simulink 3D Animation' toolbox. 'hebijoyinput' is based | ||
| % on 'HebiJoystick'. 'Simulink 3D Animation' toolbox is not required | ||
| % for usage! | ||
| % | ||
| % See also: | ||
| % HebiJoystick (https://github.com/HebiRobotics/MatlabInput) | ||
| % Level-2 MATLAB S-Function (msfuntmpl) | ||
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| % Copyright (c) 2023 Jonas Withelm | ||
| % SPDX-License-Identifier: Apache-2.0 | ||
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| setup(block); | ||
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| %endfunction | ||
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| function setup(block) | ||
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| %% Register number of dialog parameters | ||
| block.NumDialogPrms = 3; % joyid | ||
| block.DialogPrmsTunable = {'Nontunable','Nontunable','Nontunable'}; % not tunable during simulation | ||
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| %% Setup joystick | ||
| joyid = block.DialogPrm(1).Data; | ||
| forcefeed = block.DialogPrm(3).Data; | ||
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| % initialize joystick | ||
| joy = HebiJoystick(joyid); | ||
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| % read capabilities of joystick | ||
| caps = joy.caps(); | ||
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| % store persistent data | ||
| set_param(block.BlockHandle,'UserData',joy); | ||
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| %% Register number of output ports | ||
| block.NumOutputPorts = 2; | ||
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| %% Register number of input ports | ||
| if forcefeed && (caps.Forces > 0) | ||
| block.NumInputPorts = 1; | ||
| else | ||
| block.NumInputPorts = 0; | ||
| end | ||
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| %% Set up the port properties to be inherited or dynamic | ||
| block.SetPreCompInpPortInfoToDynamic; | ||
| block.SetPreCompOutPortInfoToDynamic; | ||
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| %% Set the output port properties | ||
| block.OutputPort(1).DimensionsMode = 'Fixed'; | ||
| block.OutputPort(1).SamplingMode = 'sample'; | ||
| block.OutputPort(1).Dimensions = caps.Axes; | ||
| block.OutputPort(1).DatatypeID = 0; % double | ||
| block.OutputPort(1).Complexity = 'Real'; | ||
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| block.OutputPort(2).DimensionsMode = 'Fixed'; | ||
| block.OutputPort(2).SamplingMode = 'sample'; | ||
| block.OutputPort(2).Dimensions = caps.Buttons; | ||
| block.OutputPort(2).DatatypeID = 0; % double | ||
| block.OutputPort(2).Complexity = 'Real'; | ||
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| if forcefeed && (caps.Forces > 0) | ||
| block.InputPort(1).DimensionsMode = 'Fixed'; | ||
| block.InputPort(1).SamplingMode = 'sample'; | ||
| block.InputPort(1).Dimensions = caps.Forces; | ||
| block.InputPort(1).DatatypeID = 0; % double | ||
| block.InputPort(1).Complexity = 'Real'; | ||
| block.InputPort(1).DirectFeedthrough = false; | ||
| end | ||
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| %% Set up the continuous states | ||
| block.NumContStates = 0; | ||
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| %% Set block sample time | ||
| block.SampleTimes = [1/50 0]; % Discrete sample time (50 Hz) | ||
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| %% Set the block simStateCompliance to default (i.e., same as a built-in block) | ||
| block.SimStateCompliance = 'DefaultSimState'; | ||
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| %% Register methods | ||
| block.RegBlockMethod('Outputs', @Outputs); | ||
| block.RegBlockMethod('Terminate', @Terminate); | ||
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| %endfunction | ||
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| function Outputs(block) | ||
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| joy = get_param(block.BlockHandle,'UserData'); | ||
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| caps = joy.caps(); | ||
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| % read force feedback from block input and send to joystick | ||
| forcefeed = block.DialogPrm(3).Data; | ||
| if forcefeed && (caps.Forces > 0) | ||
| for idx=1:caps.Forces | ||
| joy.force(idx, block.InputPort(idx).Data); | ||
| end | ||
| end | ||
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| % read axes and buttons from joystick and write to block outputs | ||
| [axes, buttons, ~] = joy.read(); | ||
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| block.OutputPort(1).Data = axes; | ||
| block.OutputPort(2).Data = buttons; | ||
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| %endfunction | ||
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| function Terminate(block) | ||
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| joy = get_param(block.BlockHandle,'UserData'); | ||
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| joy.close(); | ||
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| %endfunction |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,13 @@ | ||
| function blkStruct = slblocks | ||
| % This function specifies that the library 'matlabinput_lib' | ||
| % should appear in the Library Browser with the | ||
| % name 'MatlabInput' | ||
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| Browser.Library = 'matlabinput_lib'; | ||
| % 'matlabinput_lib' is the name of the library | ||
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| Browser.Name = 'MatlabInput'; | ||
| % 'MatlabInput' is the library name that appears | ||
| % in the Library Browser | ||
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| blkStruct.Browser = Browser; |