Programmatically Configure AUTOSAR Mode-Switch Communication

This example uses example models mAutosarMsConfig and mAutosarMsConfigAfter to demonstrate the use of the autosar.api.getAUTOSARProperties and autosar.api.getSimulinkMapping object functions to configure Mode-Switch interfaces and ports with Simulink.

The supporting file mdgModes.m declares AUTOSAR mode declaration group mdgModes for use with the mode switch interface.

The mode declaration group enumerated mode values are:

• STARTUP(0)

• RUN(1)

• SHUTDOWN(2)

Open example model mAutosarMsConfig and create the autosar.api.getAUTOSARProperties object.

hModel = 'mAutosarMsConfig';
open_system(hModel);
arProps = autosar.api.getAUTOSARProperties(hModel);

Add Mode-Switch Interface and Ports

Add an AUTOSAR Mode-Switch interface myMsIf. Set the ModeGroup property of myMsIf to mdgModes, and the IsService property of myMsIf to true. For information regarding properties see AUTOSAR Element Properties.

ifName = 'myMsIf';
modeGroup = 'mdgModes';
ifPkg = get(arProps,"XmlOptions","InterfacePackage");
addPackageableElement(arProps,"ModeSwitchInterface",ifPkg,ifName,"IsService",true);
add(arProps,[ifPkg '/' ifName],"ModeGroup",modeGroup)
ifPaths=find(arProps,[],"ModeSwitchInterface","PathType","FullyQualified")

ifPaths = 1x1 cell array
    {'/pkg/if/myMsIf'}

Add an AUTOSAR mode-receiver port to interface myMsIf.

mrPortName = 'myMRPort';
aswcPath = find(arProps,[],"AtomicComponent","PathType","FullyQualified");
add(arProps,aswcPath{1},"ModeReceiverPorts",mrPortName,"Interface",ifName);

Configure Mode-Switch Events

Add and define an AUTOSAR event to runnable Runnable1. Set the Category of the event to ModeSwitchEvent.

msRunnable = 'Runnable1';
msEventName = 'myMSEvent';
swc = get(arProps,"XmlOptions","ComponentQualifiedName");
ib = get(arProps,swc,"Behavior");
runnables = get(arProps,ib,"Runnables")'

runnables = 4x1 cell
    {'ASWC/Behavior/Runnable_Init'}
    {'ASWC/Behavior/Runnable1'    }
    {'ASWC/Behavior/Runnable2'    }
    {'ASWC/Behavior/Runnable3'    }

add(arProps,ib,"Events",msEventName,"Category","ModeSwitchEvent",...
    "Activation","OnTransition", ...
    "StartOnEvent", [ib '/' msRunnable]);

Declare AUTOSAR Mode Declaration Group

Apply the data type mdgModes to Simulink inport MRPort.

set_param([hModel,'/MRPort'],"OutDataTypeStr","Enum: mdgModes")
get_param([hModel,'/MRPort'],"OutDataTypeStr");

Apply data type mdgModes and value STARTUP to '/Runnable1_subsystem/Enumerated Constant'.

set_param([hModel,'/Runnable1_subsystem/Enumerated Constant'],"OutDataTypeStr","Enum: mdgModes")
set_param([hModel,'/Runnable1_subsystem/Enumerated Constant'],"Value","mdgModes.STARTUP")

Configure ModeSwitchEvent Port and Trigger

To pass validation, remove any redundant timing events in the AUTOSAR configuration.

events = get(arProps,ib,'Events');
delete(arProps,[ib,'/Event_t_1tic_A'])
events = get(arProps,ib,'Events')'

events = 3x1 cell
    {'ASWC/Behavior/Event_t_1tic_B'}
    {'ASWC/Behavior/Event_t_10tic' }
    {'ASWC/Behavior/myMSEvent'     }

Export the mode declaration group to an AUTOSAR data type package in XML.

mdgPkg = get(arProps,"XmlOptions","DataTypePackage");
mdgPath = [mdgPkg '/' modeGroup];
initMode = [mdgPath '/STARTUP'];
addPackageableElement(arProps,"ModeDeclarationGroup",mdgPkg,modeGroup,"OnTransitionValue",100)

Add modes to the mode declaration group and specify the InitialMode.

add(arProps,mdgPath,'Mode','STARTUP','Value',0)
add(arProps,mdgPath,'Mode','RUN','Value',1)
add(arProps,mdgPath,'Mode','SHUTDOWN','Value',2)
set(arProps,mdgPath,'InitialMode',initMode)

Set the ModeGroup property for the M-S interface. For information regarding AUTOSAR Properties, see AUTOSAR Element Properties.

set(arProps,[ifPkg '/' ifName '/' modeGroup],'ModeGroup',mdgPath)

Set the port and trigger for AUTOSAR property ModeSwitchEvent.

expTrigger = {[mrPortName '.STARTUP'], [mrPortName '.SHUTDOWN']};
set(arProps,[ib '/' msEventName],'Trigger',expTrigger);

Map Mode-Switch Ports to Simulink Inports

Create the autosar.api.getSimulinkMapping object.

slMap=autosar.api.getSimulinkMapping(hModel);

Map the Simulink inport, MRPort, to the AUTOSAR mode receiver port, myMRPort.

[arPortName,arDataElementName,arDataAccessMode] = getInport(slMap,'MRPort');
mapInport(slMap,'MRPort',mrPortName,modeGroup,"ModeReceive");
[arPortName,arDataElementName,arDataAccessMode] = getInport(slMap,'MRPort')

arPortName = 
'myMRPort'

arDataElementName = 
'mdgModes'

arDataAccessMode = 
'ModeReceive'

To pass validation, ensure inport Runnable1 inherits (set to -1) sample time.

set_param([hModel,'/Runnable1'],'SampleTime','-1')

Map Mode Receiver Ports

Using model mAutosarMsConfigAfter find AUTOSAR mode receiver ports, loop through the ports and list the associated mode-switch interfaces. Modify the Interface property for the port MsIf2.

Open model mAutosarMsConfigAfter and create an autosar.api.getAUTOSARProperties object.

hModel = "mAutosarMsConfigAfter";
open_system(hModel);
afterProps = autosar.api.getAUTOSARProperties(hModel);

Find the AUTOSAR mode receiver ports.

arPortType = "ModeReceiverPort";
aswcPath = find(afterProps,[],"AtomicComponent","PathType","FullyQualified");
mrPorts = find(afterProps,aswcPath{1},arPortType,"PathType","FullyQualified")'

mrPorts = 1x1 cell array
    {'/pkg/swc/ASWC/myMRPort'}

Loop through the ports and list the associated interfaces.

for ii=1:length(mrPorts)
    mrPort = mrPorts{ii};
    portIf = get(afterProps,mrPort,"Interface");
    fprintf("Port %s has M-S interface %s\n",mrPort,portIf);
end

Port /pkg/swc/ASWC/myMRPort has M-S interface myMsIf

Set the Interface property for AUTOSAR port MsIf2. For more information regarding AUTOSAR properties, see AUTOSAR Element Properties.

set(afterProps,mrPorts{1},"Interface","MsIf2")
portIf = get(afterProps,mrPort,"Interface");
fprintf("Port %s has M-S interface %s\n",mrPorts{1},portIf);

Port /pkg/swc/ASWC/myMRPort has M-S interface MsIf2

Create the relevant autosar.api.getSimulinkMapping object.

slMap = autosar.api.getSimulinkMapping(hModel);
[arPortName, arDataElementName, arDataAccessMode] = getInport(slMap,"MRPort");

Use the autosar.api.getSimulinkMapping object to map the Simulink inport, MRPort, to AUTOSAR port, myMRPort.

mapInport(slMap,"MRPort","myMRPort","mdgModes","ModeReceive")
[arPortName,arDataElementName,arDataAccessMode] = getInport(slMap,"MRPort")

arPortName = 
'myMRPort'

arDataElementName = 
'mdgModes'

arDataAccessMode = 
'ModeReceive'