Improved how dynamic-sized parameters are handled

- The Coder implementation should get the real size from the RTW
- The Simulink implementation should get the real size from the parameter parsed from the mask (this value actually is what is written to the RTW file later in the pipeline)

Author: diegoferigo

toolbox/src/base/CoderBlockInformation.cpp

@@ -205,17 +205,31 @@ bool CoderBlockInformation::parseParameters(wbt::Parameters& parameters)
         return false;
     }
 
-    for (wbt::ParameterMetadata md : pImpl->paramsMetadata) {
+    for (wbt::ParameterMetadata& md : pImpl->paramsMetadata) {
         // Check that all the parameters that are parsed have already been stored from the coder
         if (!pImpl->parametersFromRTW.existName(md.name)) {
             wbtError << "Trying to get a parameter value for " << md.name
                      << ", but its value has never been stored.";
             return false;
         }
-        // Check if the parameters are not dynamically sized
-        if (!(md.rows == -1 || md.cols == -1)
-            && md != pImpl->parametersFromRTW.getParameterMetadata(md.name)) {
-            wbtError << "Dynamically sized parameters are not supported.";
+
+        // Handle the case of dynamically sized columns. In this case the metadata passed
+        // from the Block (containing DynamicSize) is modified with the length of the
+        // vector that is going to be stored.
+        if (md.cols == ParameterMetadata::DynamicSize) {
+            const auto colsFromRTW = pImpl->parametersFromRTW.getParameterMetadata(md.name).cols;
+            if (colsFromRTW == ParameterMetadata::DynamicSize) {
+                wbtError << "Trying to store the cols of a dynamically sized parameters, but the "
+                         << "metadata does not specify a valid size. Probably the block didn't "
+                         << "updat the size in its initialization phase.";
+                return false;
+            }
+            md.cols = colsFromRTW;
+        }
+
+        if (md != pImpl->parametersFromRTW.getParameterMetadata(md.name)) {
+            wbtError << "Trying to parse a parameter which metadata differs from the metadata "
+                     << "stored by Simulink Coder.";
             return false;
         }
     }

toolbox/src/base/SimulinkBlockInformation.cpp

@@ -489,7 +489,19 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
         // Handle the case of dynamically sized columns. In this case the metadata passed
         // from the Block (containing DynamicSize) is modified with the length of the
         // vector that is going to be stored.
+        // This is necessary in the pipeline for storing the metadata in the RTW file, which should
+        // not have any dynamic size.
         const bool hasDynSizeColumns = (paramMD.cols == ParameterMetadata::DynamicSize);
+        auto handleDynSizeColumns = [](int& sizeToUpdate, const int& realSize) -> const bool {
+            if (realSize == ParameterMetadata::DynamicSize) {
+                wbtError << "Trying to store the cols of a dynamically sized parameters, but the "
+                         << "metadata does not specify a valid size. Probably the block didn't "
+                         << "updat the size in its initialization phase.";
+                return false;
+            }
+            sizeToUpdate = realSize;
+            return true;
+        };
 
         switch (paramMD.type) {
             // SCALAR / VECTOR PARAMETERS
@@ -523,7 +535,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                         return false;
                     }
                     if (hasDynSizeColumns) {
-                        paramMD.cols = paramVector.size();
+                        if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                            return false;
+                        }
                     }
                     ok = parameters.storeParameter<double>(paramVector, paramMD);
                 }
@@ -566,7 +580,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                     paramVector.push_back(value);
                 }
                 if (hasDynSizeColumns) {
-                    paramMD.cols = paramVector.size();
+                    if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                        return false;
+                    }
                 }
                 ok = parameters.storeParameter<double>(paramVector, paramMD);
                 break;
@@ -588,7 +604,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                     paramVector.push_back(value);
                 }
                 if (hasDynSizeColumns) {
-                    paramMD.cols = paramVector.size();
+                    if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                        return false;
+                    }
                 }
                 ok = parameters.storeParameter<std::string>(paramVector, paramMD);
                 break;
@@ -615,7 +633,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                         return false;
                     }
                     if (hasDynSizeColumns) {
-                        paramMD.cols = paramVector.size();
+                        if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                            return false;
+                        }
                     }
                     ok = parameters.storeParameter<double>(paramVector, paramMD);
                 }
@@ -658,7 +678,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                     paramVector.push_back(value);
                 }
                 if (hasDynSizeColumns) {
-                    paramMD.cols = paramVector.size();
+                    if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                        return false;
+                    }
                 }
                 ok = parameters.storeParameter<double>(paramVector, paramMD);
                 break;
@@ -682,7 +704,9 @@ bool SimulinkBlockInformation::parseParameters(wbt::Parameters& parameters)
                     paramVector.push_back(value);
                 }
                 if (hasDynSizeColumns) {
-                    paramMD.cols = paramVector.size();
+                    if (!handleDynSizeColumns(paramMD.cols, paramVector.size())) {
+                        return false;
+                    }
                 }
                 ok = parameters.storeParameter<std::string>(paramVector, paramMD);
                 break;