Code Generation for S-function - Matlab Interface

FreyJo · April 15, 2020, 1:18pm

I am glad you like the S-function.

I think that the whole x trajectory in the OCP solver is not often needed, so I wont implement that.
However, please feel free to edit the template that is used for the S-function:

github.com

acados/acados/blob/d4eda65cc2671ca53adcc459c66fcd70702b806b/interfaces/acados_template/acados_template/c_templates_tera/acados_solver_sfun.in.c

/*
 * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
 * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
 * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
 *
 * This file is part of acados.
 *
 * The 2-Clause BSD License
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *

This file has been truncated. show original

In particular, you would have to edit these sections:

github.com

acados/acados/blob/d4eda65cc2671ca53adcc459c66fcd70702b806b/interfaces/acados_template/acados_template/c_templates_tera/acados_solver_sfun.in.c#L149




{%- if dims.nh > 0 %}
{%- set i_input = i_input + 1 %}
// lh
ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
{%- set i_input = i_input + 1 %}
// uh
ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
{%- endif %}


// specify dimension information for the output ports
ssSetOutputPortVectorDimension(S, 0, {{ dims.nu }} ); // optimal input
ssSetOutputPortVectorDimension(S, 1, 1 ); // solver status
ssSetOutputPortVectorDimension(S, 2, 1 ); // KKT residuals
ssSetOutputPortVectorDimension(S, 3, {{ dims.nx }} ); // first state
ssSetOutputPortVectorDimension(S, 4, 1); // computation times
ssSetOutputPortVectorDimension(S, 5, 1 ); // sqp iter


// specify the direct feedthrough status
// should be set to 1 for all inputs used in mdlOutputs
{%- for i in range(end=n_inputs) %}

github.com

acados/acados/blob/d4eda65cc2671ca53adcc459c66fcd70702b806b/interfaces/acados_template/acados_template/c_templates_tera/acados_solver_sfun.in.c#L353


    for (int ii = 0; ii < {{ dims.N }}; ii++)
        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
{%- endif %}


    /* call solver */
    int rti_phase = 0;
    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
    int acados_status = acados_solve();




    /* set outputs */
    // assign pointers to output signals
    real_t *out_u0, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time;
    int tmp_int;


    out_u0          = ssGetOutputPortRealSignal(S, 0);
    out_status      = ssGetOutputPortRealSignal(S, 1);
    out_KKT_res     = ssGetOutputPortRealSignal(S, 2);
    out_x1          = ssGetOutputPortRealSignal(S, 3);
    out_cpu_time    = ssGetOutputPortRealSignal(S, 4);
    out_sqp_iter    = ssGetOutputPortRealSignal(S, 5);

Moreover, you will have to edit the Simulink block to adjust for the new outputs.

I hope that helps and isnt too involved…

Best,
Jonathan