acados · FreyJo · Oct 1, 2024 · Sep 30, 2024 · Sep 30, 2024 · Sep 30, 2024
diff --git a/.github/workflows/full_build.yml b/.github/workflows/full_build.yml
@@ -242,6 +242,7 @@ jobs:
       if: always()
       with:
           release: R2021a
+          products: Simulink Simulink_Test
           cache: true
 
     # just needed for blasfeo_target.h

diff --git a/examples/acados_matlab_octave/p_global_example/main.m b/examples/acados_matlab_octave/p_global_example/main.m
@@ -36,7 +36,6 @@
 function main()
 
     import casadi.*
-
     % Standard OCP
     state_trajectories_no_lut_ref = run_example_ocp(false, false);
     state_trajectories_no_lut = run_example_ocp(false, true);
@@ -66,6 +65,91 @@ function main()
     if ~all(abs(state_trajectories_with_lut_ref - state_trajectories_with_lut) < 1e-10)
         error("State trajectories with lut=true do not match.");
     end
+    %% Simulink test
+    if ~is_octave()
+        run_example_ocp_simulink_p_global();
+    end
+
+end
+
+
+
+function run_example_ocp_simulink_p_global()
+
+    import casadi.*
+    lut = true;
+    use_p_global = true;
+    fprintf('\n\nRunning example with lut=%d, use_p_global=%d\n', lut, use_p_global);
+
+    % Create p_global parameters
+    [p_global, m, l, C, p_global_values] = create_p_global(lut);
+
+    % OCP formulation
+    ocp = create_ocp_formulation_without_opts(p_global, m, l, C, lut, use_p_global, p_global_values);
+    ocp = set_solver_options(ocp);
+
+    % Simulink options
+    simulink_opts = get_acados_simulink_opts();
+    simulink_opts.inputs.p_global = 1;
+    possible_inputs = fieldnames(simulink_opts.inputs);
+    for i = 1:length(possible_inputs)
+        simulink_opts.inputs.(possible_inputs{i}) = 0;
+    end
+    simulink_opts.inputs.lbx_0 = 1;
+    simulink_opts.inputs.ubx_0 = 1;
+    simulink_opts.inputs.p_global = 1;
+
+    simulink_opts.outputs.xtraj = 1;
+    simulink_opts.outputs.utraj = 1;
+    simulink_opts.outputs.u0 = 0;
+    simulink_opts.outputs.x1 = 0;
+
+    ocp.simulink_opts = simulink_opts;
+
+    % OCP solver
+    ocp_solver = AcadosOcpSolver(ocp);
+
+    %% Matlab test solve
+    % test with ones such that update is necessary
+    p_global_values_test = ones(size(p_global_values));
+    if use_p_global
+        ocp_solver.set_p_global_and_precompute_dependencies(p_global_values_test);
+    end
+
+    ocp_solver.solve();
+    xtraj = ocp_solver.get('x');
+    xtraj = xtraj(:)';
+    utraj = ocp_solver.get('u');
+    utraj = utraj(:)';
+
+
+    %% build s funtion
+    cd c_generated_code;
+    make_sfun;
+    cd ..;
+
+    %% run simulink block
+    out_sim = sim('p_global_simulink_test_block', 'SaveOutput', 'on');
+    fprintf('\nSuccessfully ran simulink block');
+
+    %% Evaluation
+    fprintf('\nTest results on SIMULINK simulation.\n')
+
+    disp('checking KKT residual')
+    % kkt_signal = out_sim.logsout.getElement('KKT_residual');
+    xtraj_signal = out_sim.logsout.getElement('xtraj');
+    xtraj_val = xtraj_signal.Values.Data(1, :);
+    utraj_signal = out_sim.logsout.getElement('utraj');
+    utraj_val = utraj_signal.Values.Data(1, :);
+    if norm(xtraj_val - xtraj) > 1e-8
+        disp('error: xtraj values in SIMULINK and MATLAB should match.')
+        quit(1);
+    end
+    if norm(utraj_val - utraj) > 1e-8
+        disp('error: utraj values in SIMULINK and MATLAB should match.')
+        quit(1);
+    end
+    disp('Simulink p_global test: got matching trajectories in Matlab and Simulink!')
 end
 
 

diff --git a/examples/acados_matlab_octave/p_global_example/p_global_simulink_test_block.slx b/examples/acados_matlab_octave/p_global_example/p_global_simulink_test_block.slx
diff --git a/examples/acados_matlab_octave/test/create_ocp_qp_solver_formulation.m b/examples/acados_matlab_octave/test/create_ocp_qp_solver_formulation.m
@@ -67,7 +67,7 @@
 
 
 %% Simulink opts
-simulink_opts = get_acados_simulink_opts;
+simulink_opts = get_acados_simulink_opts();
 
 % inputs
 simulink_opts.inputs.y_ref = 0;

diff --git a/...acados_template/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/...acados_template/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
@@ -95,6 +95,9 @@ static void mdlInitializeSizes (SimStruct *S)
   {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
     {%- set n_inputs = n_inputs + 1 -%}
   {%- endif -%}
+  {%- if dims.np_global > 0 and simulink_opts.inputs.p_global -%}  {#- p_global #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
   {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%}  {#- y_ref_0 -#}
     {%- set n_inputs = n_inputs + 1 -%}
   {%- endif -%}
@@ -243,6 +246,12 @@ static void mdlInitializeSizes (SimStruct *S)
     ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
   {%- endif %}
 
+  {%- if dims.np_global > 0 and simulink_opts.inputs.p_global -%}  {#- p_global #}
+    {%- set i_input = i_input + 1 %}
+    // parameters
+    ssSetInputPortVectorDimension(S, {{ i_input }}, 1 + {{ dims.np_global }});
+  {%- endif %}
+
   {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
     {%- set i_input = i_input + 1 %}
     // y_ref_0
@@ -606,6 +615,9 @@ static void mdlOutputs(SimStruct *S, int_T tid)
   {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
     {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
   {%- endif %}
+  {%- if dims.np_global > 0 and simulink_opts.inputs.p_global %}  {#- p_global #}
+    {%- set buffer_sizes = buffer_sizes | concat(with=(dims.np_global)) %}
+  {%- endif %}
 
     // local buffer
     {%- set buffer_size = buffer_sizes | sort | last %}
@@ -634,6 +646,18 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
   {%- endif %}
 
+  {%- if dims.np_global > 0 and simulink_opts.inputs.p_global -%}  {#- p_global #}
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    buffer[0] = (double)(*in_sign[0]);
+    if (buffer[0] != 0)
+    {
+        for (int i = 0; i < {{ dims.np_global }}; i++)
+            buffer[i] = (double)(*in_sign[i+1]);
+        {{ name }}_acados_set_p_global_and_precompute_dependencies(capsule, buffer, {{ dims.np_global }});
+    }
+  {%- endif %}
+
   {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
     // parameters - stage-variant !!!
     {%- set i_input = i_input + 1 %}

diff --git a/interfaces/acados_template/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/interfaces/acados_template/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
@@ -105,6 +105,8 @@
     {% endif %}
 {%- endif %}
 
+COMPFLAGS = [COMPFLAGS ' {{ solver_options.ext_fun_compile_flags }}'];
+CFLAGS = [CFLAGS ' {{ solver_options.ext_fun_compile_flags }}'];
 
 try
     %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
@@ -152,6 +154,13 @@
 i_in = i_in + 1;
 {%- endif %}
 
+{%- if dims.np_global > 0 and simulink_opts.inputs.p_global -%}  {#- p_global #}
+input_note = strcat(input_note, num2str(i_in), ') global parameters - first value indicates if update should be performed (0 means no update)\n');
+input_note = strcat(input_note, '\tafterwards: new numerical values of p_global, size [1 + {{ dims.np_global }}]\n');
+sfun_input_names = [sfun_input_names; 'p_global [1 + {{ dims.np_global }}]'];
+i_in = i_in + 1;
+{%- endif %}
+
 {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
 input_note = strcat(input_note, num2str(i_in), ') y_ref_0 - size [{{ dims.ny_0 }}]\n ');
 sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];

diff --git a/interfaces/acados_template/acados_template/simulink_default_opts.json b/interfaces/acados_template/acados_template/simulink_default_opts.json
@@ -22,6 +22,7 @@
         "lbx_0": 1,
         "ubx_0": 1,
         "parameter_traj": 1,
+        "p_global": 0,
         "y_ref_0": 1,
         "y_ref": 1,
         "y_ref_e": 1,