Building S-Function model and deploy to Raspberry Pi

Hello Everyone,

I am working on a simulation by coupling two software (OpenFresco and Simulink) through TCP/IP communication. It works fine when using Simulink Desktop Real-Time in Normal or Accelerator modes. But, I have tried to use external mode in conjunction with a Raspberry Pi 4 Model B (RBP4B) as external hardware, and I am having trouble generating the standalone executable before running the code in real-time.

First, I’m using Matlab release 2021a, with Simulink version 10.3 and Simulink Support Package for Raspberry Pi Hardware version 21.1.1. The Simulink model includes an S-function block written in C++, as shown below. This code allows for TCP/IP communication with the OpenFresco software running as a server on the same local network.

As I show in the following screenshots, the source code is referenced in the “Code Generation” settings window. To compile the C++ code, I have used either Microsoft Visual Studio 2019 version 16.10.0 or MinGW-w64 version 21.1.0 compilers, both with the same bad results.

In the following lines, I’ll try to explain the error message. When trying to generate the executable, multiple syntax errors appear on the screen (in Spanish):

C:\...\matrix.h(194): error C2143: error de sintaxis: falta '{' delante de ':'

When modifying the indicated line of code, the error is modified and replaced by another:

C:\...\matrix.h(194): error C2433: 'Matrix': 'inline' no se permite en las declaraciones de datos

If I keep modifying the source code, the error continues changing. The problem with this is that the initial simulation that used to work with Simulink Desktop Real-Time and Normal/Accelerator modes doesn’t work anymore.

I appreciate your help in trying to figure this out and solve my issue. Thanks!

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The complete error message is shown below:

Top Model Building

### Starting build procedure for: AMB_NL_sim

### Generating code and artifacts to 'Model specific' folder structure

### Generating code into build folder: C:\Users\diego.mera\OneDriveUTFSM\Escritorio\Modelo_CG_hc\AMB\AMB_NL_sim_ert_rtw

Making simulation target "AMB_NL_sim_sfun", ...

Utilidad de mantenimiento de programas de Microsoft (R) versi≤n 14.28.29914.0

(C) Microsoft Corporation. Todos los derechos reservados.

### Compiling "AMB_NL_sim_sfun.c"

cl.exe /c /Zp8 /GR /W3 /EHs /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0 /DMX_COMPAT_64 /DMATLAB_MEXCMD_RELEASE=R2018a /DMATLAB_MEX_FILE /nologo /MD /I "C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\slprj\_sfprj\amb_nl_sim\_self\sfun\src" /I "C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB" /I "C:\Program Files\MATLAB\R2021a\extern\include" /I "C:\Program Files\MATLAB\R2021a\simulink\include" /I "C:\Program Files\MATLAB\R2021a\simulink\include\sf_runtime" /I "C:\Program Files\MATLAB\R2021a\stateflow\c\mex\include" /I "C:\Program Files\MATLAB\R2021a\rtw\c\src" /I "C:\Users\diego.mera\OneDriveUTFSM\Escritorio\Modelo_CG_hc\AMB\slprj\_sfprj\AMB_NL_sim\_self\sfun\src" "AMB_NL_sim_sfun.c"

AMB_NL_sim_sfun.c

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(42): error C2061: error de sintaxis: identificador 'Channel'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(42): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(43): error C2061: error de sintaxis: identificador 'FEM_ObjectBroker'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(43): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(44): error C2061: error de sintaxis: identificador 'Information'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(44): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(45): error C2061: error de sintaxis: identificador 'Parameter'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(45): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(47): error C2061: error de sintaxis: identificador 'MovableObject'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(47): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(48): error C2449: se encontró '{' en el ámbito de archivo (¿falta el encabezado de función?)

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\MovableObject.h(77): error C2059: error de sintaxis: '}'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(31): error C2061: error de sintaxis: identificador 'Vector'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(31): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(32): error C2061: error de sintaxis: identificador 'ID'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(32): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(34): error C2061: error de sintaxis: identificador 'OPS_Stream'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(34): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Stream.h(34): error C2059: error de sintaxis: ':'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(46): error C2143: error de sintaxis: falta ')' delante de '*'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(46): error C2143: error de sintaxis: falta '{' delante de '*'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(46): error C2059: error de sintaxis: ')'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(53): error C2143: error de sintaxis: falta '{' delante de 'enum [tag]'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(63): error C2061: error de sintaxis: identificador 'Domain'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(63): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(64): error C2061: error de sintaxis: identificador 'Element'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(64): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(70): error C2143: error de sintaxis: falta '{' delante de '*'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\OPS_Globals.h(71): error C2143: error de sintaxis: falta '{' delante de '*'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(42): error C2061: error de sintaxis: identificador 'Vector'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(42): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(43): error C2061: error de sintaxis: identificador 'ID'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(43): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(44): error C2061: error de sintaxis: identificador 'Message'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(44): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(48): error C2061: error de sintaxis: identificador 'Matrix'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(48): error C2059: error de sintaxis: ';'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(49): error C2449: se encontró '{' en el ámbito de archivo (¿falta el encabezado de función?)

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(183): error C2059: error de sintaxis: '}'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(194): error C2143: error de sintaxis: falta '{' delante de ':'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(194): error C2059: error de sintaxis: ':'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(200): error C2059: error de sintaxis: '&'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(217): error C2143: error de sintaxis: falta '{' delante de ':'

C:\Users\diego.mera\onedriveutfsm\escritorio\modelo_cg_hc\AMB\matrix.h(217): error C2059: error de sintaxis: ':'

C:\Users\diego.mera\OneDriveUTFSM\Escritorio\Modelo_CG_hc\AMB\slprj\_sfprj\AMB_NL_sim\_self\sfun\src\AMB_NL_sim_sfun.h(32): warning C4067: símbolos (token) inesperados después de la directiva del preprocesador; se esperaba una nueva línea

NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.28.29910\bin\HostX64\x64\cl.exe"' : c≤digo devuelto '0x2'

Stop.

Component: Make | Category: Make error

### Build procedure for AMB_NL_sim aborted due to an error.

Build Summary

Top model targets built:

Model Action Rebuild Reason

======================================================================

AMB_NL_sim Failed Code generation information file does not exist.

0 of 1 models built (0 models already up to date)

Build duration: 0h 0m 8.13s

Unable to create mex function 'AMB_NL_sim_sfun.mexw64' required for simulation.