function [sys,x0,str,ts]=moteanimation(t,x,u,flag,params,xInit,yInit);%ANIMATION S-function for animating the motion of the motes.switch flag, case 0,  [sys,x0,str,ts] = mdlInitializeSizes(params,xInit,yInit); case 2,  sys = mdlUpdate(t,x,u); case 3,  sys = mdlOutputs(t,x,u); case 9,  sys = mdlTerminate(t,x,u); otherwise  error(['Unhandled flag = ',num2str(flag)]);end%=============================================================================% mdlInitializeSizes%=============================================================================function [sys,x0,str,ts]=mdlInitializeSizes(params,xInit,yInit)% Global variables used for the renderingglobal transmitPower receiverThreshold pathloss motehdl transrad motetext visitPoints vpoint% Read parametersnumMotes = params(1);ts = params(2);xmax = params(3);ymax = params(4);% Initialize the figure for use with this simulationfigure(1),clf;tit=title('Coordination example');set(tit,'FontSize', 10);set(gcf,'Renderer','OpenGL');set(gcf,'Position',[20 350 700 700])%grid onset(gca,'Xlim',[-xmax xmax],'Ylim',[-ymax ymax],'nextplot','add');set(gca,'XTickLabel',[]);set(gca,'YTickLabel',[]);set(gca, 'XTick', -xmax:1:xmax,'XColor', [0 0 0]);set(gca, 'YTick', -ymax:1:ymax,'YColor', [0 0 0]);moteradius = 0.3;powlin = 0.001*10^(transmitPower/10);       %dbm->Wattthreslin = 0.001*10^(receiverThreshold/10); %dbm->Watt%how far does the signal reachreach = (powlin/threslin)^(1/pathloss) - 1;grad = 0:10:360;% x and y coordinates to paint a moteX = moteradius*cos(grad*pi/180); Y = moteradius*sin(grad*pi/180); for k = 1:numMotes  moteX = X'+xInit(k);  moteY = Y'+yInit(k);  moteColour = [1 1 0];  %the mote  motehdl(k) = patch(moteX, moteY, moteColour);  %the transmission radius  radiusColor = [0 0.6 0.7];  transrad(k) = patch(reach*(1/moteradius)*X'+xInit(k),reach*(1/moteradius)*Y'+yInit(k), radiusColor);  set(transrad(k),'FaceAlpha', 0.5); % genomskinlig  motetext(k) = text(xInit(k)-1.8*moteradius, yInit(k)+1.8*moteradius, num2str(k));end%Paint the visit pointsfor k = 1:size(visitPoints,2)  shapeX = visitPoints(1, k) + [-1  -1   -0.1 -0.1 0.1 0.1 1   1 ];  shapeY = visitPoints(2, k) + [-0.1 0.1  0.1  1   1   0.1 0.1 -0.1];  vpoint(k) = patch(shapeX, shapeY, [1 0 0]);endsizes = simsizes;sizes.NumContStates  = 0;sizes.NumDiscStates  = 0;          sizes.NumOutputs     = 0;sizes.NumInputs      = 2*numMotes; % x and y plus cart velocity sizes.DirFeedthrough = 0;sizes.NumSampleTimes = 1;   sys = simsizes(sizes);x0  = [];str = [];ts  = [ts 0]; % Hybrid block%=============================================================================% mdlOutputs%=============================================================================function [sys]=mdlOutputs(t,x,u)sys = [];%=============================================================================% mdlUpdate%=============================================================================function [sys]=mdlUpdate(t,x,u)global transmitPower receiverThreshold pathloss motehdl transrad motetextpersistent first_time;numMotes = length(motehdl);moteradius = 0.3;grad = 0:10:360;X = moteradius*cos(grad*pi/180); Y = moteradius*sin(grad*pi/180); powlin = 0.001*10^(transmitPower/10);threslin = 0.001*10^(receiverThreshold/10);reach = (powlin/threslin)^(1/pathloss) - 1;%update graphicsfor k=1:numMotes  moteX = X'+u(k);  moteY = Y'+u(k+numMotes);  radX = (1/moteradius)*reach*X' + u(k);  radY = (1/moteradius)*reach*Y' + u(k+numMotes);  %transmission radius  set(transrad(k),'XData', radX, 'YData', radY);  %the mote  set(motehdl(k),'XData', moteX, 'YData', moteY);  %text  set(motetext(k), 'Position', [u(k)-1.8*moteradius u(k+numMotes)+1.8*moteradius]);end% Try to synchronize the animation with the computer timeif isempty(first_time),  first_time = clock;endwhile etime(clock, first_time)*2<t,  %disp('waiting')end%disp(t)drawnow;sys=[];%=============================================================================% mdlTerminate% Perform any end of simulation tasks.%=============================================================================function sys=mdlTerminate(t,x,u)sys = [];