This demo shows how to implement a communication channel for use with Real-Time Workshop® and your own custom target support package.
This communication channel enables the exchange of data between different processes. This supports capabilities such as processor-in-the-loop (PIL) simulation that require exchange of data between the Simulink® software environment (running on your host machine) and deployed code (running on target hardware).
You will learn about the rtIOStream interface and how it provides a generic communication channel that you can implement in the form of target connectivity drivers for a range of different connection types. This demo explains how to use the default implementation via TCP/IP.
You will learn how two entities, Station A and Station B, can use the rtIOStream interface to set up a communication channel and exchange data. For the purposes of this demo, both Station A and Station B are configured within the same process on your desktop computer.
You will learn how to use the target connectivity drivers to support an on-target PIL simulation. For on-target simulation, Station A and Station B represent the target and host computers that exchange data via the communication channel. On the host side, the target connectivity driver is implemented as a shared library that is loaded and called from within MATLAB®. On the target side, the driver must be source code or a library that is linked into the application that runs on the target.
Additionally, this demo explains the steps required to:
The file rtiostream_tcpip.c implements both client-side and server-side TCP/IP communication; a startup parameter is used to configure the driver to operate in either client or server mode. You may use this source file as a starting point for a custom implementation. Note that, in general, each side of the communication channel requires only one of the server or client implementations; if the client and server drivers will run on different architectures, it may be convenient to place the driver code for each architecture in a separate source file.
The header file rtiostream.h contains prototypes for the functions rtIOStreamOpen, rtIOStreamSend, rtIOStreamRecv, and rtIOStreamClose. It must always be included (using #include ) by any custom implementation.
You can execute the following commands to find and view the files:
% Location of TCP/IP driver source code rtiostreamtcpip_dir=fullfile(matlabroot,'rtw','c','src','rtiostream',... 'rtiostreamtcpip'); % View rtiostream_tcpip.c edit(fullfile(rtiostreamtcpip_dir,'rtiostream_tcpip.c')); % View rtiostream.h edit(fullfile(matlabroot,'rtw','c','src','rtiostream.h'));
To access the target connectivity drivers from MATLAB, they must be compiled to a shared library. The shared library must be located on your system path. A shared library for the default TCP/IP drivers is located in matlabroot/bin/$ARCH path (where $ARCH is your system architecture, e.g., win64)
You can execute the following commands to find the appropriate files:
% The shared library filename extension and location depends on your % operating system. sharedLibExt=system_dependent('GetSharedLibExt'); if ispc prefix = ''; else prefix='libmw'; end % Shared library for both Station A and Station B libTcpip = [prefix 'rtiostreamtcpip' sharedLibExt]; disp(['Shared library for both Station A and Station B is: ' libTcpip '.'])
Shared library for both Station A and Station B is: rtiostreamtcpip.dll.
If you are implementing a custom target connectivity driver, it is helpful to be able to test it from within MATLAB. The following example shows how to load the default TCP/IP target connectivity drivers and use them for data exchange between Station A and Station B.
To access the drivers you can use the MEX-file rtiostream_wrapper. This MEX-file allows you to load the shared library and access the rtIOStream functions to open and close an rtIOStream channel and send and receive data.
In the example code shown below, both Station A and Station B are running on the host computer. Station A is configured as a TCP/IP server and Station B as a TCP/IP client. For host to target communication, the host is typically configured as a TCP/IP client and the target as a TCP/IP server.
% Choose a port number for TCP if usejava('jvm') % Find a free port tempSocket = java.net.ServerSocket(0); port = num2str(tempSocket.getLocalPort); tempSocket.close; else % Resort to a hard-coded port port = '14646'; end % Open the Station A rtIOStream as a TCP/IP server stationA = rtiostream_wrapper(libTcpip,'open',... '-client', '0',... '-blocking', '0',... '-port',port); % If the communication channel was successfully opened, the return value is a % handle to the connection; a return value of -1 indicates an error. assert(stationA~=(-1)) % Test for expected return value % Open the Station B rtIOStream as a TCP/IP client stationB = rtiostream_wrapper(libTcpip,'open',... '-client','1',... '-blocking', '0',... '-port',port,... '-hostname','localhost'); % If the communication channel was successfully opened, the return value is a % handle to the connection; a return value of -1 indicates an error. assert(stationB~=(-1)) % Test for expected return value
The target connectivity drivers are designed to send a stream of data in 8-bit bytes. For processors that are not byte-addressable, the data is sent in the smallest addressable word size.
You can execute the following commands to send and receive the data:
% Send Some Data from Station B to Station A msgOut = uint8('Station A, this is Station B. Are you there? OVER'); [retVal sizeSent] = rtiostream_wrapper(libTcpip,... 'send',... stationB,... msgOut,... length(msgOut)); assert(retVal==0); % A return value of zero indicates success assert(sizeSent==length(msgOut)); % Check that all bytes in the message were sent % Allow time to ensure data transmission is complete pause(0.2) % Receive data on the Station A [retVal msgRecvd sizeRecvd] = rtiostream_wrapper(libTcpip,... 'recv',... stationA,... 100); assert(retVal==0); % A return value of zero indicates success assert(sizeRecvd==sizeSent); % Check that all bytes in the message were received % Display the received data disp(['The received data is:' char(msgRecvd)])
The received data is:Station A, this is Station B. Are you there? OVER
You can execute the following commnads to send a response back to Station B:
% Send data from Station A to Station B msgOut = uint8('Station B, this is Station A. Yes, I''m here! OVER.'); [retVal sizeSent] = rtiostream_wrapper(libTcpip,... 'send',... stationA,... msgOut,... length(msgOut)); % Allow time to ensure data transmission is complete pause(0.2) % Receive data on Station B [retVal msgRecvd sizeRecvd] = rtiostream_wrapper(libTcpip,... 'recv',... stationB,... 100); % Display the received data disp(char(msgRecvd))
Station B, this is Station A. Yes, I'm here! OVER.
Finally, you can execute the following commands to close the connection and unload the shared libraries:
% Close rtIOStream on the Station B retVal = rtiostream_wrapper(libTcpip,'close',stationB); assert(retVal==0); % A return value of zero indicates no error % Close rtIOStream on the Station A retVal = rtiostream_wrapper(libTcpip,'close',stationA); assert(retVal==0) % A return value of zero indicates no error % Unload the shared library rtiostream_wrapper(libTcpip, 'unloadlibrary');
You can use the supplied host-side driver for serial communications as an alternative to the drivers for TCP/IP. You can configure the serial driver using a similar approach to the TCP/IP driver. For example, to open a serial rtiostream channel, on COM8, enter the command:
stationA = rtiostream_wrapper('rtiostreamserial.dll','open','-port','COM8')
The syntax for the 'send', 'recv', 'close', and 'unload' operations is the same as for the TCP/IP driver. Note that the serial driver is only available on the Windows platform.
If your target has an Ethernet connection and you have a TCP/IP stack available, follow these steps:
Note that the default host-side driver used by PIL mode is configured as a TCP/IP client; this means that your target-side driver need only be configured to operate as a TCP/IP server.
If you need to use a communications channel that is not already supported on the host side, you will have to write drivers for both host and target. In this case you can still use the rtiostream_wrapper MEX-file for testing your rtIOStream drivers.
You can implement the target connectivity drivers using many different communication channels. For example, you may need to implement host-target communications via a special serial connection. In this case you must provide drivers for both the host and target.
On the host side, you can test the drivers using the rtiostream_wrapper MEX-file. Note that if your driver includes diagnostic output using the printf command, these must be replaced with the mexPrintf command if the shared library is being loaded by rtiostream_wrapper.
When you have a working host-side device driver, you must make it available within the Simulink software environment. For PIL simulation, you can do this by registering the shared host-side shared library via the sl_customization command.