www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/simulink/sfun3d.m
function [sys, x0, str, ts] = sfun3d(~,~,u,flag,ax,varargin)
%SFUN3D S-function that acts as an X-Y-Z scope using MATLAB plotting functions.
% This M-file is designed to be used in a Simulink S-function block.
% It draws a line from the previous input point and the current point.
%
% NOTE: this is a new version of sfunxyz. It has more natural inputs
% that is (x1,y1,z1, x2,y2,z2 ... instead of x1,x2, y1,y2, z1,z2 ...)
% and has the LineStyle and Marker properties as additional parameters,
% so for versions 2014b and later users should try to use this one
% instead of the older sfunxyz.
%
% See also sfunxy, sfunxys.
% Copyright 2017 The MathWorks, Inc.
% Based on original work by Andy Grace (May-91), Wes Wang (Apr-93, Aug-93,
% Dec-93), Craig Santos (Oct-96), and Giampiero Campa (Apr-04, Nov-15,
% Jan-17, Nov-17).
switch flag
case 0 % [sys,x0,str,ts]=mdlInitializeSizes (ax,varargin) -------------
% Returns the sizes, initial conditions, and sample times
% Here is used also to set callbacks, and initialize the figure objects
% version check
vrs=version;
if str2double(vrs(1:3))<8.4
error('This S-Function (sfun3d.m) works only within MATLAB versions 2014b and later. For older versions, please delete any existing version of 3Dscope, (re)install it with this MATLAB version, and use the legacy S-Function ''sfunxyz.m''.');
end
% build callback strings (to be called when the user performs some actions on the block)
callbacks={
'CopyFcn', 'if exist(''sfun3d'',''file''), sfun3d([],[],[],''CopyBlock''); end';
'DeleteFcn', 'if exist(''sfun3d'',''file''), sfun3d([],[],[],''DeleteBlock''); end';
'LoadFcn', 'if exist(''sfun3d'',''file''), sfun3d([],[],[],''LoadBlock''); end';
'NameChangeFcn', 'if exist(''sfun3d'',''file''), sfun3d([],[],[],''NameChange''); end';
'StartFcn', '';
'StopFcn', '';
};
% set callbacks as block properties (for these, flag is a string)
for i=1:length(callbacks)
if ~strcmp(get_param(gcbh,callbacks{i,1}),callbacks{i,2})
set_param(gcbh,callbacks{i,1},callbacks{i,2})
end
end
% ax was there in sfunxy, for everything else there's varargin
if length(ax)~=6, error('Axes limits must be defined.'); end
% get number of moving points (i.e. number of lines) to be plotted
if nargin>6, nmax=fix(varargin{2}); else nmax=1; end
sizes=simsizes; % this initializes size vector to zero
sizes.NumInputs = 3*nmax; % input vector size at runtime
sizes.NumSampleTimes = 1; % fill number of sample times
% get sample time
if nargin>5, ts=[varargin{1} 0]; else ts=[0.01 0]; end
% return initialization values to simulink as function outputs
sys=simsizes(sizes);x0=[];str=[];
% get the active figure parameter (toolbar and menubar)
if nargin>13 && varargin{9}, tb='figure'; else tb='none'; end
% do the figure initialization
FigHandle=get_param(gcbh,'UserData');
if isempty(FigHandle) || ~ishandle(FigHandle)
% the figure doesn't exist, create one
FigHandle = figure(...
'Units', 'pixel',...
'Position', [100 100 400 300],...
'Name', get_param(gcbh,'Name'),...
'Tag', 'SIMULINK_3DGRAPH_FIGURE',...
'NumberTitle', 'off',...
'IntegerHandle', 'off',...
'Toolbar', tb,...
'Menubar', tb);
else
% otherwise clear it
clf(FigHandle);
end
% get number of moving points, camera position, and grid switch
if nargin>7, CPos=varargin{3}; else CPos=[3 2 1]*100; end
if nargin>8 && varargin{4}, GdSw='On'; else GdSw='Off'; end
% Note: the structure pd contains all the plot data and will be
% later stored in the figure's userdata!
% create axes
pd.XYZAxes = axes('Parent',FigHandle);
cord=get(pd.XYZAxes,'ColorOrder');
set(pd.XYZAxes,'Visible','on','Xlim', ax(1:2),'Ylim', ax(3:4),'Zlim', ax(5:6),'CameraPosition',CPos,'XGrid',GdSw,'YGrid',GdSw,'ZGrid',GdSw);
% get LineStyle string, Marker string, and max num of line points
if nargin>9, ls=varargin{5}; else ls='-'; end
if nargin>10, mk=varargin{6}; else mk='none'; end
if nargin>11, mx=varargin{7}; else mx=1e5; end
% create a vector of animatedline objects
pd.XYZLine = [];
for n=1:nmax
pd.XYZLine = [pd.XYZLine animatedline('Parent',pd.XYZAxes,'LineStyle',ls,'Marker',mk,'MaximumNumPoints',mx,'Color',cord(1+mod(n-1,size(cord,1)),:))];
end
% create a vector of line object that will represent the current point position
if nargin>12 && varargin{8}
pd.XYZHead = [];
mrks={'o';'square';'diamond';'v';'+';'*';'x';'^';'>';'<';'pentagram';'hexagram'};
for n=1:nmax
pd.XYZHead = [pd.XYZHead line('Parent',pd.XYZAxes,'Marker',mrks{1+mod(n-1,size(mrks,1))},'Color',cord(1+mod(n-1,size(cord,1)),:))];
end
end
% create axis labels
xlabel('X Axis');ylabel('Y Axis');zlabel('Z Axis');
% create plot title
pd.XYZTitle = get(pd.XYZAxes,'Title');
set(pd.XYZTitle,'String','X Y Z Plot');
% Store pd so it can be later retrieved at runtime
set(FigHandle,'UserData',pd); % store pd in figure's userdata
set_param(gcbh,'UserData',FigHandle); % store figure handle in block's UserData
case 2 % sys=mdlUpdate(~,~,u,~) ---------------------------------------
% Handle discrete state updates, sample time hits, and major time step stuff
% Here is used only to add another point to the lines
% always return empty, as there are no states
sys = [];
% Locate the figure window associated with this block. If it's not a valid
% handle (it may have been closed by the user), then return.
FigHandle=get_param(gcbh,'UserData');
if isempty(FigHandle) || ~ishandle(FigHandle), return, end
% get plot data structure
pd = get(FigHandle,'UserData');
% add points to each line
nmax=length(pd.XYZLine);
for i=1:nmax
addpoints(pd.XYZLine(i),u(3*(i-1)+1),u(3*(i-1)+2),u(3*(i-1)+3));
end
% update head position
if nargin>12 && varargin{8}
for i=1:nmax
set(pd.XYZHead(i),'xdata',u(3*(i-1)+1),'ydata',u(3*(i-1)+2),'zdata',u(3*(i-1)+3));
end
end
% Note: the following four callbacks were set by "case 0" above
case 'NameChange' % ---------------------------------------------------
% get the figure associated with this block, if it's valid, change
% the name of the figure
FigHandle=get_param(gcbh,'UserData');
if ishandle(FigHandle)
set(FigHandle,'Name',get_param(gcbh,'Name'));
end
case {'CopyBlock', 'LoadBlock'} % -------------------------------------
% Initialize the block's UserData such that a figure is not associated with the block
set_param(gcbh,'UserData',-1);
case 'DeleteBlock' % --------------------------------------------------
% Get the figure handle associated with the block, if it exists, delete it
FigHandle=get_param(gcbh,'UserData');
if ishandle(FigHandle)
delete(FigHandle);
set_param(gcbh,'UserData',-1);
end
case {3,9} % ----------------------------------------------------------
sys=[];
otherwise % -----------------------------------------------------------
if ischar(flag)
errmsg=sprintf('Unhandled flag: ''%s''', flag);
else
errmsg=sprintf('Unhandled flag: %d', flag);
end
error(errmsg);
end
% end sfun3d