rtairos.tlc

%% SYSTLC: Linux RTAI Real-Time Target with ROS\
%%    TMF: rtairos.tmf MAKE: make_rtw EXTMODE: ext_comm  
%%
%% $RCSfile: rtai.tlc,v $
%%

%selectfile NULL_FILE

%assign MatFileLogging = 1
%assign ParameterTuning = 1
%assign BlockIOSignals = 1

%assign TargetType = "RT"
%assign Language   = "C"

%% Te, 25.8.2002 for R13
%assign GenRTModel = 1

%include "codegenentry.tlc"

%include "rtairos_genfiles.tlc"

%% The contents between 'BEGIN_RTW_OPTIONS' and 'END_RTW_OPTIONS' are strictly 
%% written by the standard format. We need to use this structure in RTW 
%% options GUI function rtwoptionsdlg.m file.
%%
/%
  BEGIN_RTW_OPTIONS

  rtwoptions(1).prompt         = 'RTAI-ROS Options';
  rtwoptions(1).type           = 'Category';
  rtwoptions(1).enable         = 'on';  
  rtwoptions(1).default        = 6;   % number of items under this category 
                                      % excluding this one.
  rtwoptions(1).popupstrings   = '';
  rtwoptions(1).tlcvariable    = '';
  rtwoptions(1).tooltip        = '';
  rtwoptions(1).callback       = '';
  rtwoptions(1).makevariable   = '';

  rtwoptions(2).prompt         = 'Node name: ';
  rtwoptions(2).type           = 'Edit';
  rtwoptions(2).default        = '';
  rtwoptions(2).tlcvariable    = 'nodeName';
  rtwoptions(2).makevariable   = '';
  rtwoptions(2).tooltip        = ['Node name (model name if empty)'];
  rtwoptions(2).callback       = '';

  rtwoptions(3).prompt         = 'Namespace:';
  rtwoptions(3).type           = 'Edit';
  rtwoptions(3).default        = '';
  rtwoptions(3).tlcvariable    = 'namespace';
  rtwoptions(3).makevariable   = '';
  rtwoptions(3).tooltip        = ['Namespace'];
  rtwoptions(3).callback       = '';

  rtwoptions(4).prompt         = 'Rate: ';
  rtwoptions(4).type           = 'Edit';
  rtwoptions(4).default        = '10';
  rtwoptions(4).tlcvariable    = 'rosRate';
  rtwoptions(4).makevariable   = '';
  rtwoptions(4).tooltip        = ['Rate of the ROS task (Hz)'];
  rtwoptions(4).callback       = '';

  rtwoptions(5).prompt         = 'Publisher queue size:   ';
  rtwoptions(5).type           = 'Edit';
  rtwoptions(5).default        = '1';
  rtwoptions(5).tlcvariable    = 'pubQueueSize';
  rtwoptions(5).tooltip        = ['Publisher queue size'];
  rtwoptions(5).makevariable   = '';
  rtwoptions(5).callback       = '';

  rtwoptions(6).prompt         = 'Subscriber queue size: ';
  rtwoptions(6).type           = 'Edit';
  rtwoptions(6).default        = '1';
  rtwoptions(6).tlcvariable    = 'subQueueSize';
  rtwoptions(6).makevariable   = '';
  rtwoptions(6).tooltip        = ['Subscriber queue size'];
  rtwoptions(6).callback       = '';

  rtwoptions(7).prompt         = 'Expose parameters:';
  rtwoptions(7).type           = 'Popup';
  rtwoptions(7).default        = 'no';
  rtwoptions(7).popupstrings   = 'no|read-only|writeable';
  rtwoptions(7).tlcvariable    = 'exposeParams';
  rtwoptions(7).tooltip        = ['Expose the block parameters to the parameter server'];
  rtwoptions(7).makevariable   = '';
  rtwoptions(7).callback       = '';

  %----------------------------------------%
  % Configure RTW code generation settings %
  %----------------------------------------%
  
  rtwgensettings.BuildDirSuffix = '_rtairos';
  
  END_RTW_OPTIONS 
 %/