EPOS4 Maxon Group and beaglebone programmed from Simulink

I am trying to integrate EposCommandLibrary(shared library for linux applications) from MaxonGroup with simulink environment. My main goal is to put some c++ code in s-function builder block with some functions of EPOSCommandLibrary, and then this code is going to be deployed in my beaglebone black board with Embedded Coder. But i am getting some errors because my simulink model is not recognizing EPOSCommandLibrary and its functions. When you compile from linux terminal(beaglebone) you need to use gcc main.cpp -lEposCmd. As you can see, i need this parameter in the gcc compile command. I was wondering if i can compile my c++ code in simulink with gcc and put manually this flag.

Thank you for reading this!

Answer 1

[Aghamarsh Varanasi]

Hi,

You can add compile time flags to your build environment of Embedded Coder using the 'addCompileFlags' function.

For Example,

myModelBuildInfo = RTW.BuildInfo;
addCompileFlags(myModelBuildInfo,'-lEposCmd');

Hope this helps.

[PEDRO HENRIQUE Ulhoa]

Hi! Thank you for you answer. I will try that and come back here if it works :)

[PEDRO HENRIQUE Ulhoa]

I tried that, but i got this error when i press run/build:

 Command "codertarget.arm_cortex_a.internal.addCompilerPath();" threw an error: The path 'bin' does not exist.

any ideia on this?

[Aghamarsh Varanasi]

Can you give the complete output from the 'diagnostic viewer' when you get this error ?

[PEDRO HENRIQUE Ulhoa]

I've just find out this error and now i am trying to do what you said:

myModelBuildInfo = RTW.BuildInfo;
addCompileFlags(myModelBuildInfo,'-lEposCmd');

However, the problem is:

EposCmd.lib needs to be instaled before in windows or linux environment, depending on which one you will use. I am creating my model and compiling it in a windows environment and the code generated will be deployed in beaglebone black, which is a linux embedded one. Is this going to be a problem?

[PEDRO HENRIQUE Ulhoa]

Is there a way to implement my code and not worry about compiling in my windows pc? EposCmdLibrary is already installed in my beaglebone, so i just need the code to be copiled there.

[PEDRO HENRIQUE Ulhoa]

For windows, i have the EposCmd.dll (Dynamic Link Library). I am trying to think a way to make this works with all the resources i've said.

[Aghamarsh Varanasi]

Hi,

You can add '.dll' files to the build environment by using the 'addNonBuildFiles' function.

Syntax:

addNonBuildFiles(buildinfo,filenames,paths,groups)

Here, groups is an optional argument.

Example:

myModelBuildInfo = RTW.BuildInfo;
addNonBuildFiles(myModelBuildInfo, ... 
   {'myutility1.dll' 'myutility2.dll'}, ...
   '/proj/dlls');

You can customise the build process by using the Build Process Customisation.

[PEDRO HENRIQUE Ulhoa]

i tried hat and still it's not working... The diagnostic:

"mycode.c:(.text+0x200): undefined reference to 'VCS_opendevice' "

I am using S-function to call some C files that uses EposCmd library. When i build, this "undefined reference" error appears. It's not recognizing the library.