This directory contains the Orocos Toolbox for Simulink

Copy the contents of this directory ('orocos/*') into your
'MATLAB_ROOT/rtw/c/orocos' directory or unpack the 
simulink4orocos-1.0.tar.gz file in your MATLAB_ROOT directory.

You should then have the following layout:

 MATLAB_ROOT
 `-rtw
   `-c
     `-orocos
        |`orocos.tlc
        |`...
        `-taskcontext
            |`orocos_taskcontext.mdl
            |`...
            `-slbocks.m


Next, from within Matlab, run 'cd rtw/c/orocos; install.m' script, which will
configure your mex compiler and generate the files needed by
Simulink. Once this is done, An Orocos4Simulink has appeared in your
library browser and you can start creating Orocos models and generate
Orocos components.

In case you need to set the paths again, you can use 'setpath.m' which
only adds the required paths to your global paths environment.

NOTES:

* We only support single threaded models.
  This is because an Orocos component can execute only one thread.
  In case you need multiple threads, create multiple models and
  generate a component from each model. Multiple rates are supported.

* In some Matlab versions we have issues with wrong code generation.
  It is yet unclear if we can influence it with a flag in
  orocos.tlc... Typically, the compiler complains about a statement like
  (in the file 'test1_orocos/test1.c' from model 'test1.m'):
  
    Parameters_test1 *((Parameters_test1 *) test1_rtM->ModelData.defaultParam) =
      (Parameters_test1 *) test1_rtM->ModelData.defaultParam;

  The solution is to remove these two lines. This will not change the
  behaviour of your model. You need to do this each time code is
  generated.

* Extended mode support is currently not enabled in orocos.tlc.  
  Because extended mode is supported under Linux by Simulink, it
  should not be hard to enable it and set the correct options in
  orocos.tlc. See Matlab's grt.tlc for an example of setting the external 
  mode options. The RTWComponent class has the proper hooks in place
  to support extended mode, but this has not yet been tested.