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Merge pull request #3 from jwithelm/feature/add_simulink_library_block
Feature/add simulink library block
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‎CHANGELOG.md‎

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### 1.2.1 (Jan 12, 2023)
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* Added Simulink library for HebiJoystick
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### 1.2 (Jan 26, 2017)
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* Added support for keyboards
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* Changed project name from HebiJoystick to MatlabInput

‎pom.xml‎

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<modelVersion>4.0.0</modelVersion>
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<groupId>us.hebi.matlab</groupId>
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<version>1.3-SNAPSHOT</version>
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<artifactId>input</artifactId>
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<version>1.2.1</version>
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<name>matlab-input</name>
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<description>MATLAB library for joystick and keyboard input</description>
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</developer>
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</developers>
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<contributors>
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<contributor>
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<name>Jonas Withelm</name>
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</contributor>
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</contributors>
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<scm>
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<url>https://github.com/HebiRobotics/MatlabInput</url>
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<connection>scm:git:git://github.com/HebiRobotics/MatlabInput.git</connection>
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</plugins>
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</build>
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</project>
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</project>

‎src/main/assembly/release.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<assembly xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0"
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.0 http://maven.apache.org/xsd/assembly-1.1.0.xsd">
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<format>tar.gz</format>
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<format>dir</format>
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</formats>
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<includeBaseDirectory>false</includeBaseDirectory>
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<includeBaseDirectory>true</includeBaseDirectory>
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<fileSets>
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<!-- Copy Readme, License -->
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<fileSet>
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<directory>${project.basedir}/</directory>
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<includes>
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<include>README*</include>
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<include>LICENSE*</include>
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</includes>
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</fileSet>
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<!-- Copy backing MATLAB scripts -->
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<fileSet>
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<directory>${project.build.directory}/classes/matlab/</directory>
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<outputDirectory>hebi/</outputDirectory>
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<outputDirectory>matlab/</outputDirectory>
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<lineEnding>dos</lineEnding>
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</fileSet>
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<!-- Copy backing Simulink scripts -->
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<fileSet>
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<directory>${project.build.directory}/classes/simulink/</directory>
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<outputDirectory>simulink/</outputDirectory>
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</fileSet>
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<!-- Copy Java library (includes all Java dependencies) -->
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<fileSet>
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<directory>${project.build.directory}</directory>
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<outputDirectory>hebi/</outputDirectory>
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<directory>${project.build.directory}/</directory>
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<outputDirectory>matlab/</outputDirectory>
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<includes>
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<include>${releaseName}.jar</include>
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</includes>
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<dependencySets>
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<!-- Copy native binaries into lib directory -->
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<dependencySet>
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<outputDirectory>hebi/lib/</outputDirectory>
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<outputDirectory>matlab/lib/</outputDirectory>
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<useProjectArtifact>true</useProjectArtifact>
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<unpack>true</unpack>
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<scope>provided</scope>
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</dependencySet>
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</dependencySets>
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</assembly>
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‎src/main/resources/simulink/hebijoyinput.m‎

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function hebijoyinput(block)
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% hebijoyinput is a HebiJoystick implementation for Simulink
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%
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% hebijoyinput is an alternative to MathWorks's 'Joystick Input'
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% block from 'Simulink 3D Animation' toolbox. 'hebijoyinput' is based
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% on 'HebiJoystick'. 'Simulink 3D Animation' toolbox is not required
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% for usage!
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%
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% See also:
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% HebiJoystick (https://github.com/HebiRobotics/MatlabInput)
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% Level-2 MATLAB S-Function (msfuntmpl)
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% Copyright (c) 2023 Jonas Withelm
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% SPDX-License-Identifier: Apache-2.0
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setup(block);
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%endfunction
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function setup(block)
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%% Register number of dialog parameters
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block.NumDialogPrms = 3; % joyid
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block.DialogPrmsTunable = {'Nontunable','Nontunable','Nontunable'}; % not tunable during simulation
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%% Setup joystick
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joyid = block.DialogPrm(1).Data;
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forcefeed = block.DialogPrm(3).Data;
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% initialize joystick
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joy = HebiJoystick(joyid);
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% read capabilities of joystick
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caps = joy.caps();
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% store persistent data
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set_param(block.BlockHandle,'UserData',joy);
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%% Register number of output ports
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block.NumOutputPorts = 2;
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%% Register number of input ports
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if forcefeed && (caps.Forces > 0)
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block.NumInputPorts = 1;
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else
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block.NumInputPorts = 0;
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end
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%% Set up the port properties to be inherited or dynamic
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block.SetPreCompInpPortInfoToDynamic;
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block.SetPreCompOutPortInfoToDynamic;
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%% Set the output port properties
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block.OutputPort(1).DimensionsMode = 'Fixed';
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block.OutputPort(1).SamplingMode = 'sample';
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block.OutputPort(1).Dimensions = caps.Axes;
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block.OutputPort(1).DatatypeID = 0; % double
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block.OutputPort(1).Complexity = 'Real';
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block.OutputPort(2).DimensionsMode = 'Fixed';
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block.OutputPort(2).SamplingMode = 'sample';
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block.OutputPort(2).Dimensions = caps.Buttons;
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block.OutputPort(2).DatatypeID = 0; % double
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block.OutputPort(2).Complexity = 'Real';
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if forcefeed && (caps.Forces > 0)
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block.InputPort(1).DimensionsMode = 'Fixed';
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block.InputPort(1).SamplingMode = 'sample';
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block.InputPort(1).Dimensions = caps.Forces;
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block.InputPort(1).DatatypeID = 0; % double
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block.InputPort(1).Complexity = 'Real';
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block.InputPort(1).DirectFeedthrough = false;
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end
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%% Set up the continuous states
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block.NumContStates = 0;
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%% Set block sample time
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block.SampleTimes = [1/50 0]; % Discrete sample time (50 Hz)
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%% Set the block simStateCompliance to default (i.e., same as a built-in block)
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block.SimStateCompliance = 'DefaultSimState';
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%% Register methods
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block.RegBlockMethod('Outputs', @Outputs);
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block.RegBlockMethod('Terminate', @Terminate);
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%endfunction
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function Outputs(block)
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joy = get_param(block.BlockHandle,'UserData');
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caps = joy.caps();
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% read force feedback from block input and send to joystick
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forcefeed = block.DialogPrm(3).Data;
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if forcefeed && (caps.Forces > 0)
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for idx=1:caps.Forces
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joy.force(idx, block.InputPort(idx).Data);
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end
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end
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% read axes and buttons from joystick and write to block outputs
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[axes, buttons, ~] = joy.read();
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block.OutputPort(1).Data = axes;
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block.OutputPort(2).Data = buttons;
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%endfunction
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function Terminate(block)
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joy = get_param(block.BlockHandle,'UserData');
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joy.close();
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%endfunction

‎src/main/resources/simulink/matlabinput_lib.slx‎

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‎src/main/resources/simulink/slblocks.m‎

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function blkStruct = slblocks
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% This function specifies that the library 'matlabinput_lib'
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% should appear in the Library Browser with the
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% name 'MatlabInput'
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Browser.Library = 'matlabinput_lib';
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% 'matlabinput_lib' is the name of the library
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Browser.Name = 'MatlabInput';
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% 'MatlabInput' is the library name that appears
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% in the Library Browser
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blkStruct.Browser = Browser;

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