%% Integrate External C Functions That Implement N-Dimensional Table Lookups
% Integrate legacy C functions that implement N-dimensional table lookups by  
% using the Legacy Code Tool.
% 
% With the Legacy Code Tool, you can:
%
% * Provide the legacy function specification.
% * Generate a C-MEX S-function that calls the legacy code during
% simulation.
% * Compile and build the generated S-function for simulation.
% * Generate a TLC block file and optional rtwmakecfg.m file that specifies
% how the generated code for a model calls the legacy code.


%   Copyright 1990-2015 The MathWorks, Inc.

%% Provide the Legacy Function Specification
% Legacy Code Tool functions take a specific data structure or array of
% structures as the argument. You can initialize the data structure by
% calling the function legacy_code() using 'initialize' as the first input.
% After initializing the structure, assign its properties to values
% corresponding to the legacy code being integrated. For detailed help on
% the properties, call <matlab:legacy_code('help') legacy_code('help')>.
% The prototype of the legacy functions being called in this example is:
%
% FLT directLookupTableND(const FLT *tableND, const UINT32 nbDims, const UINT32 *tableDims, const UINT32 *tableIdx)
%
% FLT is a typedef to float, and UINT32 is a typedef to unsigned int32.  
% The legacy source code is in the files
% <matlab:rtwdemo_lct_util('edit','rtwdemo_lct_src/your_types.h') your_types.h>, 
% <matlab:rtwdemo_lct_util('edit','rtwdemo_lct_src/lookupTable.h') lookupTable.h>, and
% <matlab:rtwdemo_lct_util('edit','rtwdemo_lct_src/directLookupTableND.c') directLookupTableND.c>.

defs = [];
evalin('base','load rtwdemo_lct_data.mat')

% rtwdemo_sfun_dlut3D
def = legacy_code('initialize');
def.SFunctionName = 'rtwdemo_sfun_dlut3D';
def.OutputFcnSpec = 'single y1 = DirectLookupTable3D(single p1[][][], uint32 p2[3], uint32 u1[3])';
def.HeaderFiles   = {'lookupTable.h'};
def.SourceFiles   = {'directLookupTableND.c'};
def.IncPaths      = {'rtwdemo_lct_src'}; 
def.SrcPaths      = {'rtwdemo_lct_src'}; 
defs = [defs; def];

% rtwdemo_sfun_dlut4D
def = legacy_code('initialize');
def.SFunctionName = 'rtwdemo_sfun_dlut4D';
def.OutputFcnSpec = 'single y1 = DirectLookupTable4D(single p1[][][][], uint32 p2[4], uint32 u1[4])';
def.HeaderFiles   = {'lookupTable.h'};
def.SourceFiles   = {'directLookupTableND.c'};
def.IncPaths      = {'rtwdemo_lct_src'}; 
def.SrcPaths      = {'rtwdemo_lct_src'}; 
defs = [defs; def];

%%  Generate S-Functions for Simulation
% To generate C-MEX S-functions according to the description provided by
% the input argument 'defs', call the function legacy_code() again. Set the
% first input to 'sfcn_cmex_generate'. The S-functions call the legacy
% functions during simulation. 
% The source code for the S-functions is in the files
% <matlab:rtwdemo_lct_util('edit','rtwdemo_sfun_dlut3D.c')
% rtwdemo_sfun_dlut3D.c> and
% <matlab:rtwdemo_lct_util('edit','rtwdemo_sfun_dlut4D.c')
% rtwdemo_sfun_dlut4D.c>.

legacy_code('sfcn_cmex_generate', defs);

%% Compile the Generated S-Functions for Simulation
% After you generate the C-MEX S-function source files, to compile the
% S-functions for simulation with Simulink(R), call the function
% legacy_code() again. Set the first input to 'compile'.

legacy_code('compile', defs);

%% Generate TLC Block Files for Code Generation
% After you compile the S-functions and use them in simulation, you can
% call the function legacy_code() again. Set the first input to
% 'sfcn_tlc_generate' to generate TLC block files. Block files specify how
% the generated code for a model calls the legacy code. If you do not
% generate TLC block files and you try to generate code for a model that
% includes the S-functions, code generation fails. The TLC block files for
% the S-functions are
% <matlab:rtwdemo_lct_util('edit','rtwdemo_sfun_dlut3D.tlc')
% rtwdemo_sfun_dlut3D.tlc> and
% <matlab:rtwdemo_lct_util('edit','rtwdemo_sfun_dlut4D.tlc')
% rtwdemo_sfun_dlut4D.tlc>.

legacy_code('sfcn_tlc_generate', defs);

%% Generate an rtwmakecfg.m File for Code Generation
% After you create the TLC block files, you can call the function
% legacy_code() again. Set the first input to 'rtwmakecfg_generate' to
% generate an rtwmakecfg.m file to support code generation. If the required
% source and header files for the S-functions are not in the same folder as
% the S-functions, and you want to add these dependencies in the makefile
% produced during code generation, generate the rtwmakecfg.m file.

legacy_code('rtwmakecfg_generate', defs);

%% Generate Masked S-Function Blocks for Calling the Generated S-Functions
% After you compile the C-MEX S-function source, you can call the function
% legacy_code() again. Set the first input to 'slblock_generate' to
% generate masked S-function blocks that call the S-functions.  The
% software places the blocks in a new model. You can copy the blocks
% to an existing model.

legacy_code('slblock_generate', defs);

%% Show the Generated Integration with Legacy Code
% The model <matlab:rtwdemo_lct_lut rtwdemo_lct_lut> shows integration of
% the model with the legacy code.  The subsystem TestFixpt serves as a
% harness for the call to the legacy C function, and the Display blocks
% compare the output of the function with the output of the built-in
% Simulink(R) lookup blocks. The results are identical.

open_system('rtwdemo_lct_lut')
open_system('rtwdemo_lct_lut/TestLut1')
sim('rtwdemo_lct_lut')