Problem with c code (joystick)

Hi all,

I'm trying to write a c code for s-function in matlab that captures the joystick position but i have the following errors:

posjoystick.c(70) : error C2065: 'prhs' : undeclared identifier 
posjoystick.c(70) : error C2109: subscript requires array or pointer type 
posjoystick.c(70) : error C2198: 'mxGetScalar' : too few arguments for call 
posjoystick.c(101) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(101) : error C2109: subscript requires array or pointer type 
posjoystick.c(102) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(102) : error C2109: subscript requires array or pointer type 
posjoystick.c(102) : error C2198: 'mxGetPr' : too few arguments for call 
posjoystick.c(105) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(105) : error C2109: subscript requires array or pointer type 
posjoystick.c(106) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(106) : error C2109: subscript requires array or pointer type 
posjoystick.c(106) : error C2198: 'mxGetPr' : too few arguments for call 
posjoystick.c(109) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(109) : error C2109: subscript requires array or pointer type 
posjoystick.c(110) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(110) : error C2109: subscript requires array or pointer type 
posjoystick.c(110) : error C2198: 'mxGetPr' : too few arguments for call 
posjoystick.c(113) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(113) : error C2109: subscript requires array or pointer type 
posjoystick.c(114) : error C2065: 'plhs' : undeclared identifier 
posjoystick.c(114) : error C2109: subscript requires array or pointer type 
posjoystick.c(114) : error C2198: 'mxGetPr' : too few arguments for call 
C:\Program Files\MATLAB\R2012a\simulink\include\simulink.c(2582) : error C2065: 'mdlCheckParameters' : undeclared identifier 
C:\Program Files\MATLAB\R2012a\simulink\include\simulink.c(2582) : warning C4047: '=' : 'mdlCheckParametersFcn' differs in levels of indirection from 'int' 
posjoystick.c(136) : fatal error C1070: mismatched #if/#endif pair in file 'c:\users\matlab-pc\desktop\hover\posjoystick.c' 

    C:\PROGRA~1\MATLAB\R2012A\BIN\MEX.PL: Error: Compile of 'posjoystick.c' failed.

Error using mex (line 206) Unable to complete successfully.

I'm using Matlab R2012a

Here is my code:

#define S_FUNCTION_LEVEL 2
#define S_FUNCTION_NAME  posjoystick

#define TIME_SCALE_FACTOR(S) ssGetSFcnParam(S,0)

/* Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions. */
#include <simstruc.h>

#if defined(_WIN64)  /// google what the win32 define is and add it here
/* Include the windows SDK header for handling time functions. */
#include <windows.h>
#include <math.h>
#define NUM_CHANNELS (2)
/* Function of the high performance counter (in seconds). */
#define NUM_PARAMS (3)
#define INPUT_RANGE_PARAM (ssGetSFcnParam(S,0))
#define INITIAL_OUTPUT_PARAM (ssGetSFcnParam(S,1))
#define SAMPLE_TIME_PARAM (ssGetSFcnParam(S,2))
#define INPUT_RANGE ((real_T*) mxGetPr(INPUT_RANGE_PARAM))
#define INITIAL_OUTPUT ((real_T*) mxGetPr(INITIAL_OUTPUT_PARAM))
#define SAMPLE_TIME ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[0])
#define MDL_CHECK_PARAMETERS /* Change to #undef to remove function */
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)

static void mdlInitializeSizes(SimStruct *S)
{
   ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */
   if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
    ssSetNumContStates(S, 0);
    ssSetNumDiscStates(S, 1);
   if (!ssSetNumInputPorts(S, 0)) return;
   if (!ssSetNumOutputPorts(S, 1)) return;
   ssSetOutputPortWidth(S, 0, 1);
   ssSetNumSampleTimes(S, 1);
   ssSetNumRWork(S, 1);
   ssSetNumIWork(S, 0);
   ssSetNumPWork(S, 0);
   ssSetNumModes(S, 0);
   ssSetNumNonsampledZCs(S, 0);
   ssSetOptions(S, 0);
}

#define MDL_INITIALIZE_SAMPLE_TIMES
static void mdlInitializeSampleTimes(SimStruct *S)
{
   ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
   ssSetOffsetTime(S, 0, 0.0);
}

#define MDL_START
static void mdlStart(SimStruct *S)
{
   ssSetRWorkValue(S,0,ssGetTStart(S));
}

static void mdlOutputs(SimStruct *S, int_T tid)
{

  JOYINFO joy;  // Struct into which joystick state is returned.
  MMRESULT rc;  // Return code of function.
  unsigned int cmd;
  double* out;
  
  // Get our name for output:
  const char* me = mexFunctionName();

  /* First argument must be the joystick id: */
  cmd = (unsigned int) mxGetScalar(prhs[0]);
  
  /* Call joystick function: */
  if ((rc = joyGetPos((UINT) cmd, &joy)) != JOYERR_NOERROR) {
    // Failed!
    mexPrintf("For failed joystick call with 'joystickId' = %i.\n", cmd);
    switch((int) rc) {
      case MMSYSERR_NODRIVER:
        mexErrMsgTxt("The joystick driver is not present or active on this system! [MMSYSERR_NODRIVER]");
      break;
      
      case JOYERR_NOCANDO:
        mexErrMsgTxt("Some system service for joystick support is not present or active on this system! [JOYERR_NOCANDO]");
      break;
      
      case MMSYSERR_INVALPARAM:
      case JOYERR_PARMS:
        mexErrMsgTxt("Invalid 'joystickId' passed! [MMSYSERR_INVALPARAM or JOYERR_PARMS]");
      break;

      case JOYERR_UNPLUGGED:
        mexErrMsgTxt("The specified joystick is not connected to the system! [JOYERR_UNPLUGGED]");
      break;

      default:
        mexPrintf("Return code of failed joystick call is %i.\n", rc);
        mexErrMsgTxt("Unknown error! See return code above.");
    }
  }

  // Return X pos:
  plhs[0] = mxCreateDoubleMatrix(1, 1, mxREAL);
  *(mxGetPr(plhs[0])) = (double) joy.wXpos;

  // Return Y pos:
  plhs[1] = mxCreateDoubleMatrix(1, 1, mxREAL);
  *(mxGetPr(plhs[1])) = (double) joy.wYpos;

  // Return Z pos:
  plhs[2] = mxCreateDoubleMatrix(1, 1, mxREAL);
  *(mxGetPr(plhs[2])) = (double) joy.wZpos;
  
  // Return 4-element button state vector:
  plhs[3] = mxCreateDoubleMatrix(1, 4, mxREAL);
  out = mxGetPr(plhs[3]);
  out[0] = (joy.wButtons & JOY_BUTTON1) ? 1 : 0;
  out[1] = (joy.wButtons & JOY_BUTTON2) ? 1 : 0;
  out[2] = (joy.wButtons & JOY_BUTTON3) ? 1 : 0;
  out[3] = (joy.wButtons & JOY_BUTTON4) ? 1 : 0;

  // Done.
  return;

}

static void mdlTerminate(SimStruct *S)
{
    UNUSED_ARG(S); /* unused input argument */
}

/* Required S-function trailer */
#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif

Answer 1

[Rajiv Ghosh-Roy]

At first glance, the two lines

#define MDL_CHECK_PARAMETERS /* Change to #undef to remove function */
#if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)

Cause an issue. For the first one, you are telling Simulink coder that you have an mdlCheckParameters function, which you don't. In the second line, you are starting a #if with no matching #endif. Perhaps you should try deleting/commenting both those lines out to see if there is any difference.

[aysha]

Thanks for your help. I modified the code as the following:

   #define S_FUNCTION_LEVEL 2
  #define S_FUNCTION_NAME  posjoystick

/* Need to include simstruc.h for the definition of the SimStruct and
 * its associated macro definitions. */
#include <tmwtypes.h>
#include <simstruc.h>

/* Include the windows SDK header for handling time functions. */
#include <windows.h>
#include <math.h>
#define NUM_CHANNELS (2)
/* Function of the high performance counter (in seconds). */
#define NUM_PARAMS (1)
#define INPUT_RANGE_PARAM (ssGetSFcnParam(S,0))
#define INITIAL_OUTPUT_PARAM (ssGetSFcnParam(S,1))
#define SAMPLE_TIME_PARAM (ssGetSFcnParam(S,2))
#define INPUT_RANGE ((real_T*) mxGetPr(INPUT_RANGE_PARAM))
#define INITIAL_OUTPUT ((real_T*) mxGetPr(INITIAL_OUTPUT_PARAM))
#define SAMPLE_TIME ((real_T) mxGetPr(SAMPLE_TIME_PARAM)[0])

static void mdlInitializeSizes(SimStruct *S)
{

     ssSetNumSFcnParams(S, NUM_PARAMS);  /* Number of expected parameters */
     if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
      ssSetNumContStates(S, 0);
      ssSetNumDiscStates(S, 1);

     if (!ssSetNumInputPorts(S, 0)) return;

     if (!ssSetNumOutputPorts(S, 4)) return;
     ssSetOutputPortWidth(S, 0, 1);
     ssSetOutputPortWidth(S, 1, 1);
     ssSetOutputPortWidth(S, 2, 1);
     ssSetOutputPortWidth(S, 3, 1);

     ssSetNumSampleTimes(S, 1);
     ssSetNumRWork(S, 1);
     ssSetNumIWork(S, 0);
     ssSetNumPWork(S, 0);
     ssSetNumModes(S, 0);
     ssSetNumNonsampledZCs(S, 0);
     ssSetOptions(S, 0);
  }

#define MDL_INITIALIZE_SAMPLE_TIMES
static void mdlInitializeSampleTimes(SimStruct *S)
{
   ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
   ssSetOffsetTime(S, 0, 0.0);
}
#define MDL_START
static void mdlStart(SimStruct *S)
{
   ssSetRWorkValue(S,0,ssGetTStart(S));
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
  JOYINFOEX joy;  // Struct into which joystick state is returned.
  MMRESULT rc;  // Return code of function.
  UINT joyId;
  // Outputs
  real_T  *x = ssGetOutputPortSignal(S,0);
    real_T  *y = ssGetOutputPortSignal(S,1);
    real_T  *z = ssGetOutputPortSignal(S,2);
    real_T  *r = ssGetOutputPortSignal(S,3);
  
  /* First argument must be the joystick id: */
  joyId = (UINT) mxGetScalar(ssGetSFcnParam(S,0));
  
  /* Call joystick function: */
  if ((rc = joyGetPosEx((UINT) joyId, &joy)) != JOYERR_NOERROR) {
    // Failed!
    mexPrintf("For failed joystick call with 'joystickId' = %i.\n", joyId);
    switch((int) rc) {
      case MMSYSERR_NODRIVER:
        mexErrMsgTxt("The joystick driver is not present or active on this system! [MMSYSERR_NODRIVER]");
      break;
      
      case JOYERR_NOCANDO:
        mexErrMsgTxt("Some system service for joystick support is not present or active on this system! [JOYERR_NOCANDO]");
      break;
      
      case MMSYSERR_INVALPARAM:
      case JOYERR_PARMS:
        mexErrMsgTxt("Invalid 'joystickId' passed! [MMSYSERR_INVALPARAM or JOYERR_PARMS]");
      break;
      case JOYERR_UNPLUGGED:
        mexErrMsgTxt("The specified joystick is not connected to the system! [JOYERR_UNPLUGGED]");
      break;
      default:
        mexPrintf("Return code of failed joystick call is %i.\n", rc);
        mexErrMsgTxt("Unknown error! See return code above.");
    }
  }
  // Return X pos:
  x[0] = (double) joy.dwXpos;
  // Return Y pos:
  y[0] = (double) joy.dwYpos;
  // Return Z pos:
  z[0] = (double) joy.dwZpos;
    // Return R pos:
  r[0] = (double) joy.dwRpos;
}
static void mdlTerminate(SimStruct *S)
{
    UNUSED_ARG(S); /* unused input argument */
}
/* Required S-function trailer */
#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
#include "simulink.c"      /* MEX-file interface mechanism */
#else
#include "cg_sfun.h"       /* Code generation registration function */
#endif

Now I have the following error in Simulink blocks:

invalid 'joystickid' passed! [mmsyerr_invalparam or joyerr_params]
while executing c mex s-function (mdloutputs), at time 0.0

[Rajiv Ghosh-Roy]

This looks like an application specific error, as this is coming from the Windows API call. Are you sure you are getting the correct id?

[aysha]

Hi How can i make sure that i get the correct id? am using EXTREME 3D PRO joystick.

Thanks a lot.