前言

在之前的一篇文章中，介绍了Autosar S/R接口的自动创建及mapping,传送门：Simulink自动化-Matlab脚本自动生成Autosar RTE S/R接口及mapping

本文接着介绍在Autosar SWC中必不可少的一个定义，Runnable，即可运行实体，Runnable在生成的代码中实际就是函数。在Simulink中开发SWC时，需要将Function与Runnable进行Mapping。一般一个SWC会有一个Init函数和主函数，主函数需要设置对应的Cycle Time及Function的名称。和之前一样，我们采用Excel来管理SWC的Runnable及对应的调度周期，通过Matlab脚本实现Simulink模型的自动创建，Function函数生成，及Autosar Runnable的生成与mapping.

设计Excel模板

在配置Autosar接口时，Runnable有如下属性：

symbol对应的就是生成的函数名

通过配置EventType配置Runnable触发的属性,确定是初始化还是周期触发，还是通过C/S接口触发，这里目前我们只考虑初始化和周期触发。

由此，我们设计的Excel模板如下：

编写matlab脚本

自动添加Function到Simulink模型

之前我们在设计多个Runnable的时候，使用的Function-call Generator作为输入，但是这样的话在Runnable mapping时显示的是类似Periodic:D1，不方便脚本链接。所以我们使用In1模块，并设置Outputfunctioncall属性为on,这样在Runnable mapping时就会以Exported Function形式进行mapping

在创建Function时，需要区分是初始化函数还是周期函数，通过EventType区分。具体实现脚本如下所示：

        for j=2:RTERunnable_Parameterrow_num
            RTEInput_ParameterName = strcat(Model_Name,'/',RTERunnable_Parameter{j,RTERunnable_Parameter_column_num(1)});
            if strcmpi(RTERunnable_Parameter{j,RTERunnable_Parameter_column_num(3)},'InitEvent')
                handle = add_block('simulink/User-Defined Functions/Initialize Function',RTEInput_ParameterName);
                
                delete_line(find_system(Model_Name,'findall','on','Type','Line'));
                BlockPaths = find_system(RTEInput_ParameterName,'BlockType','Constant')
                for jj=1:length(BlockPaths)
                    delete_block(BlockPaths(jj));
                end
                BlockPaths = find_system(RTEInput_ParameterName,'BlockType','StateWriter')
                for jj=1:length(BlockPaths)
                    delete_block(BlockPaths(jj));
                end
            else
                handle = add_block('simulink/Sources/In1',RTEInput_ParameterName,'SampleTime',num2str(RTERunnable_Parameter{j,RTERunnable_Parameter_column_num(5)}),...
                    'Outputfunctioncall','on');
                add_block('simulink/Ports & Subsystems/Function-Call Subsystem',[RTEInput_ParameterName '_call']);
                BlockPaths = find_system([RTEInput_ParameterName '_call'],'BlockType','Inport')
                for jj=1:length(BlockPaths)
                    delete_block(BlockPaths(jj));
                end
                delete_line(find_system(Model_Name,'findall','on','Type','Line','Connected','off'));

                BlockPaths = find_system([RTEInput_ParameterName '_call'],'BlockType','Outport')
                for jj=1:length(BlockPaths)
                    delete_block(BlockPaths(jj));
                end
                RTERunnableName = RTERunnable_Parameter{j,RTERunnable_Parameter_column_num(1)};
                RunnableInp = get_param(RTEInput_ParameterName,'PortHandles')
                CallTrriger = get_param([RTEInput_ParameterName '_call'],'PortHandles')
                add_line(Model_Name,RunnableInp.Outport(1),CallTrriger.Trigger(1),'autorouting','on');
            end

        end

在创建完Init Function后，对Subsystem中的除初始化之外的模块进行删除。

对于周期性的Runnable,除了创建Inport模块之外，还创建了对应的Function call子系统，并将其与In模块（此处没有调整Function call位置，感觉意义不大）

实现效果如下：

自动mapping Function与Runnable

通过Simulink中集成的Autosar API函数实现自动mapping


open_system(Model_Name);
% Use AUTOSAR property functions
arProps = autosar.api.getAUTOSARProperties(Model_Name);

% Add AUTOSAR initialization and periodic runnables
swc = get(arProps,'XmlOptions','ComponentQualifiedName')
ib = get(arProps,swc,'Behavior')

% Generate Single Arxml file
set(arProps,'XmlOptions','ArxmlFilePackaging','SingleFile');

% Delete runnable
runnables = get(arProps,ib,'Runnables')
for ii=1:length(runnables)
     delete(arProps,runnables{ii})
end
%delete events
events = find(arProps,ib,'TimingEvent','PathType','FullyQualified')
for ii=1:length(events)
     delete(arProps,events{ii})
end
events = find(arProps,ib,'InitEvent','PathType','FullyQualified')
for ii=1:length(events)
     delete(arProps,events{ii})
end

在创建mapping之前，先删除之前的Runnable及Event(Event这个其实配置界面上看不出来，但是需要先删掉，否则会报重复定义)

通过对ArxmlFilePackaging属性的配置，实现生成Arxml时只生成一个。

for num = 2:RTERunnable_Parameterrow_num
    RunnableName = RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(1)};
    RunnableSymbol = RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(2)};
    %add runnable
    add(arProps,ib,'Runnables',RunnableName,'symbol',RunnableSymbol);
    % Add AUTOSAR timing event
    eventName = RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(4)};
    eventType = RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(3)};
    cycTime =  RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(5)};
    if strcmpi(RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(3)},'InitEvent')
        add(arProps,ib,'Events',eventName,'Category','InitEvent','StartOnEvent',[ib '/' RunnableName]);
    else
        add(arProps,ib,'Events',eventName,'Category','TimingEvent','Period',cycTime,...
         'StartOnEvent',[ib '/' RunnableName]);
    end
end


% Use AUTOSAR map functions
slMap=autosar.api.getSimulinkMapping(Model_Name)

% Map AUTOSAR runnables to Simulink initialize and step functions
for num = 2:RTERunnable_Parameterrow_num
RunnableName = RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(1)};
    if strcmpi(RTERunnable_Parameter{num,RTERunnable_Parameter_column_num(3)},'InitEvent')
        mapFunction(slMap,'Initialize',RunnableName);
    else
        mapFunction(slMap,RunnableName,RunnableName);
    end
end

先使用add函数在Autosar组件中增加Runnable及Event,然后使用mapFunction函数将Runnable与Function进行mapping.

实现效果：

生成的代码：