examples/org.eclipse.epsilon.emc.simulink.examples/create/createFeedbackController.eol

"starting".println;

var reference = new `simulink/Sources/Step`;
assert(Step.all.size() = 1);  

var sum = new `simulink/Math Operations/Sum`;
assert(Sum.all.size() = 1);  

var controller = new `simulink/Ports & Subsystems/Subsystem`;
assert(SubSystem.all.size() = 1);  

var plant = new `simulink/Ports & Subsystems/Subsystem`;
assert(SubSystem.all.size() = 2);  

var pidController = new `simulink/Continuous/PID Controller`; // Controller subsystem
assert(SubSystem.all.size() = 3);  

var transferFcn = new `simulink/Continuous/Transfer Fcn`; // Plant subsystem
assert(TransferFcn.all.size() = 1);  

reference.name = "Reference";
assert(reference.name = "Reference");

controller.name = "Controller";
assert(controller.name = "Controller");

plant.name = "Plant";
assert(plant.name = "Plant");

pidController.name = "PID Controller";
assert(pidController.name = "PID Controller");

// Position them on the diagram
reference.position = "[100 100 130 130]";
assert(reference.position.at(0) = 100);
assert(reference.position.at(1) = 100);
assert(reference.position.at(2) = 130);
assert(reference.position.at(3) = 130);

sum.position = "[200 100 230 130]";
assert(sum.position.at(0) = 200);
assert(sum.position.at(1) = 100);
assert(sum.position.at(2) = 230);
assert(sum.position.at(3) = 130);

controller.position = "[300 100 400 130]";
assert(controller.position.at(0) = 300);
assert(controller.position.at(1) = 100);
assert(controller.position.at(2) = 400);
assert(controller.position.at(3) = 130);

plant.position = "[500 100 600 130]";
assert(plant.position.at(0) = 500);
assert(plant.position.at(1) = 100);
assert(plant.position.at(2) = 600);
assert(plant.position.at(3) = 130);

pidController.parent = controller;  // Parent is read only
"PID 1dof block (mask) parameter 'Parent' is read-only".println;

transferFcn.parent = plant; // Parent is read only
"TransferFcn block parameter 'Parent' is read-only".println;

var inports = Inport.all;
assert(inports.size() = 2);

var errorInport = inports.selectOne(ip|ip.parent = controller and ip.name="In1");

errorInport.name = "Error";
assert(errorInport.name = "Error");

var outports = Outport.all;
assert(outports.size() = 2);

var controlOutport = outports.selectOne(op|op.parent = controller and op.name="Out1"); 

controlOutport.name = "Control";
assert(controlOutport.name = "Control");

var plantInport = inports.selectOne(ip|ip.parent = plant);
var plantOutport = outports.selectOne(op|op.parent = plant);

"LINKING STARTS".println;

errorInport.unlink(controlOutport);
errorInport.link(pidController);
pidController.link(controlOutport);

plantInport.unlink(plantOutport);
plantInport.link(transferFcn);
transferFcn.link(plantOutport);

reference.link(sum); 
sum.link(controller); 
controller.link(plant); 
plant.linkTo(sum, 2);


"finished".println;