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#include <memory.h>
#include "scicos_block.h"
#include "../os_specific/sci_mem_alloc.h" /* malloc */
#include "../machine.h"
extern int C2F(dmmul)();
extern int C2F(dmmul1)();
void dsslti4(scicos_block *block,int flag)
{
/* Copyright INRIA
Scicos block simulator
discrete state space linear system simulator
rpar(1:nx*nx)=A
rpar(nx*nx+1:nx*nx+nx*nu)=B
rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C */
int un=1,lb,lc,ld;
int nz=block->nz;
double* z=block->z;
double* rpar=block->rpar;
double* y=block->outptr[0];
double* u=block->inptr[0];
int* outsz=block->outsz;
int* insz=block->insz;
double *w;
lb=nz*nz;
if (flag ==1 || flag ==6){
/* y=c*x+d*u */
lc=lb+nz*insz[0];
ld=lc+nz*outsz[0];
C2F(dmmul)(&rpar[lc],outsz,z,&nz,y,outsz,outsz,&nz,&un);
C2F(dmmul1)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un);
}
else if (flag ==2){
/* x+=a*x+b*u */
if ((w=(double*)MALLOC(sizeof(double)*nz)) == NULL) return;
memcpy(w,z,nz*sizeof(double));
C2F(dmmul)(&rpar[0],&nz,w,&nz,z,&nz,&nz,&nz,&un);
C2F(dmmul1)(&rpar[lb],&nz,u,insz,z,&nz,&nz,insz,&un);
FREE(w);
}
}
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