#include "realtime.h"
#include "time_functions.h"
#include "useful_functions.h"
#include "user_realtime.h"
#include "mbs_define.h"
#include "mbs_message.h"
#include "mbs_errors_names.h"
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "visu_websocket.h"
#include "auto_plot/set_plot.h"

Macros
#define	MSG_ERR ">> REALTIME>> "

#define	MSG_PRE " >> "

#define	USEC_TO_SEC 1.0e-6
	factor from us to s More...

#define	DEFAULT_DELTA_T_USEC (int) 1e5
	default time between 2 refresh moments (in us) More...

#define	NB_REAL_TIME_CONSTRAINTS 1
	number of real-time constraints More...

#define	REAL_TIME_SPEED_PERIOD_USEC 25e4
	real time speed factor computation time [s] More...

#define	DEFAULT_MAX_MODELS 20
	default maximal numbers of models to load More...

Functions
void	mbs_realtime_reset ()
	reset the realtime structures and flag. Useful in case we want to run several simulations in a row in the same process. More...

int	mbs_realtime_init (MbsData *mbs_data, double t0, double tf, double dt0, int init_break)
	initialize the real-time structures More...

void	mbs_realtime_update (Simu_realtime *realtime, double tsim)
	update save vectors for past investigations (graphs and Java visualization) More...

int	mbs_realtime_loop (Simu_realtime *realtime, double tsim)
	one loop iteration of the real-time process More...

int	mbs_realtime_finish (Simu_realtime *realtime)
	release memory used for the real-time related functions More...

Realtime_option *	init_Realtime_option (MbsData *mbs_data)
	generates a real-time options structures with the default values More...

void	free_Realtime_option (Realtime_option *options)
	release memory for the options structure More...

int	check_user_realtime_options (Realtime_option *options)
	check that the modifications performed by the user on the options are correct More...

void	compute_buffer_size (Realtime_option *options)
	automatically compute the buffer size More...

Realtime_constraint *	init_realtime_constraint (int delta_t_usec, int cur_t_usec, double tsim)
	initialize one real-time constraint More...

Simu_realtime *	init_realtime (MbsData mbs_data, Realtime_option options, int *err)
	initialize the real-time structure More...

Simu_realtime *	init_simu_realtime (MbsData mbs_data, Realtime_option options, int nb_constraints, double fqc_tab, int err)
	initialize the structure with all the real-time constraints More...

void	free_realtime_constraint (Realtime_constraint *constraint)
	free one real-time constraint More...

int	free_simu_realtime (Simu_realtime *realtime)
	free the structure of all the real-time constraints More...

void	update_realtime_constraint (Realtime_constraint *constraint, int simu_speed_flag)
	update one real-time constraint More...

void	update_simu_realtime (Simu_realtime *realtime)
	update the structure of all the constraints More...

double	get_simu_speed_factor (int simu_speed_flag)
	get simulation factor depending on the 'simu_speed_flag' flag More...

int	get_simu_speed_flag (double simu_speed_factor)
	get the 'simu_speed_flag' flag depending on simulation factor More...

void	update_realtime_constraints_break (Simu_realtime *realtime, int delta_break_u_sec)
	update the real-time constraints after a break More...

Macro Definition Documentation

◆ DEFAULT_DELTA_T_USEC

#define DEFAULT_DELTA_T_USEC (int) 1e5

default time between 2 refresh moments (in us)

◆ DEFAULT_MAX_MODELS

#define DEFAULT_MAX_MODELS 20

default maximal numbers of models to load

◆ MSG_ERR

#define MSG_ERR ">> REALTIME>> "

◆ MSG_PRE

#define MSG_PRE " >> "

◆ NB_REAL_TIME_CONSTRAINTS

#define NB_REAL_TIME_CONSTRAINTS 1

number of real-time constraints

◆ REAL_TIME_SPEED_PERIOD_USEC

#define REAL_TIME_SPEED_PERIOD_USEC 25e4

real time speed factor computation time [s]

◆ USEC_TO_SEC

#define USEC_TO_SEC 1.0e-6

factor from us to s

Function Documentation

◆ check_user_realtime_options()

int check_user_realtime_options ( Realtime_option * options )

check that the modifications performed by the user on the options are correct

Parameters

[in,out] options options structure

Returns: Error status, <0 in case of failure.

◆ compute_buffer_size()

void compute_buffer_size ( Realtime_option * options )

automatically compute the buffer size

Parameters

[in,out] options options structure

◆ free_realtime_constraint()

void free_realtime_constraint ( Realtime_constraint * constraint )

free one real-time constraint

Parameters

[out] constraint constraint to release memory

◆ free_Realtime_option()

void free_Realtime_option ( Realtime_option * options )

release memory for the options structure

Parameters

[out] options options structure

◆ free_simu_realtime()

int free_simu_realtime ( Simu_realtime * realtime )

free the structure of all the real-time constraints

Parameters

[out] realtime real-time structure to release memory

Returns: Error status, <0 in case of failure.

◆ get_simu_speed_factor()

double get_simu_speed_factor ( int simu_speed_flag )

get simulation factor depending on the 'simu_speed_flag' flag

Parameters

[in] simu_speed_flag index used to compute the speed factor

Returns: speed factor

◆ get_simu_speed_flag()

int get_simu_speed_flag ( double simu_speed_factor )

get the 'simu_speed_flag' flag depending on simulation factor

Parameters

[in] simu_speed_factor speed factor

Returns: index used to compute the speed factor

◆ init_realtime()

Simu_realtime* init_realtime	(	MbsData *	mbs_data,
		Realtime_option *	options,
		int *	err
	)

initialize the real-time structure

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	options	options structure
[in,out]	err	<0 if error occurs

Returns: real-time structure initialized

◆ init_realtime_constraint()

Realtime_constraint* init_realtime_constraint	(	int	delta_t_usec,
		int	cur_t_usec,
		double	tsim
	)

initialize one real-time constraint

Parameters

[in]	delta_t_usec	time step for this constraint [us]
[in]	cur_t_usec	current time (real-time) [us]
[in]	tsim	current simulation time [s]

◆ init_Realtime_option()

Realtime_option* init_Realtime_option ( MbsData * mbs_data )

generates a real-time options structures with the default values

Returns: requested real-time options structure

< initial simulation time [s]

< final simulation time [s]

< simulation time step [s]

< 1 to start with a break, 0 otherwise

< 1 to finish with a break, 0 otherwise

< size of the buffer for 3D visu and sdl

< initial speed factor

< 1 if SDL plots features activated, 0 otherwise

< maximum number of curves plotted

< 1 if Java visualization features activated, 0 otherwise

< number of models to load

< initial visu viewpoint ID

< frequence of the 3D visualization refreshment [Hz]

◆ init_simu_realtime()

Simu_realtime* init_simu_realtime	(	MbsData *	mbs_data,
		Realtime_option *	options,
		int	nb_constraints,
		double *	fqc_tab,
		int *	err
	)

initialize the structure with all the real-time constraints

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	options	options structure
[in]	nb_constraints	number of real-time constraints
[in]	fqc_tab	tabular with the constraints freqeuncies
[in,out]	err	<0 if error occurs

Returns: real-time structure initialized

◆ mbs_realtime_finish()

int mbs_realtime_finish ( Simu_realtime * realtime )

release memory used for the real-time related functions

Parameters

[out] realtime real-time structure to release memory

Returns: Error status, <0 in case of failure.

◆ mbs_realtime_init()

int mbs_realtime_init	(	MbsData *	mbs_data,
		double	t0,
		double	tf,
		double	dt0,
		int	init_break
	)

initialize the real-time structures

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	t0	initial time [s]
[in]	tf	final time [s]
[in]	dt0	intitial time step [s]
[in]	init_break	Flag to start realtime simulation paused (!0) or running (0).

Returns: Error status, <0 in case of failure.

◆ mbs_realtime_loop()

int mbs_realtime_loop	(	Simu_realtime *	realtime,
		double	tsim
	)

one loop iteration of the real-time process

Parameters

[in,out]	realtime	real-time structure
[in]	tsim	current simulation time [s]

Returns: Error status, <0 in case of failure.

◆ mbs_realtime_reset()

void mbs_realtime_reset ( )

reset the realtime structures and flag. Useful in case we want to run several simulations in a row in the same process.

◆ mbs_realtime_update()

void mbs_realtime_update	(	Simu_realtime *	realtime,
		double	tsim
	)

update save vectors for past investigations (graphs and Java visualization)

Parameters

[in,out]	realtime	real-time structure
[in]	tsim	current simulation time [s]

◆ update_realtime_constraint()

void update_realtime_constraint	(	Realtime_constraint *	constraint,
		int	simu_speed_flag
	)

update one real-time constraint

Parameters

[in]	constraint	real-time constraint
[in]	simu_speed_flag	index used to compute the speed factor

◆ update_realtime_constraints_break()

void update_realtime_constraints_break	(	Simu_realtime *	realtime,
		int	delta_break_u_sec
	)

update the real-time constraints after a break

Parameters

[in,out]	realtime	real-time structure
[in]	delta_break_u_sec	delta of time for next gate [us]

◆ update_simu_realtime()

void update_simu_realtime ( Simu_realtime * realtime )

update the structure of all the constraints

Parameters

[in,out] realtime real-time structure

Macros

Functions

Macro Definition Documentation

◆ DEFAULT_DELTA_T_USEC

◆ DEFAULT_MAX_MODELS

◆ MSG_ERR

◆ MSG_PRE

◆ NB_REAL_TIME_CONSTRAINTS

◆ REAL_TIME_SPEED_PERIOD_USEC

◆ USEC_TO_SEC

Function Documentation

◆ check_user_realtime_options()

◆ compute_buffer_size()

◆ free_realtime_constraint()

◆ free_Realtime_option()

◆ free_simu_realtime()

◆ get_simu_speed_factor()

◆ get_simu_speed_flag()

◆ init_realtime()

◆ init_realtime_constraint()

◆ init_Realtime_option()

◆ init_simu_realtime()

◆ mbs_realtime_finish()

◆ mbs_realtime_init()

◆ mbs_realtime_loop()

◆ mbs_realtime_reset()

◆ mbs_realtime_update()

◆ update_realtime_constraint()

◆ update_realtime_constraints_break()

◆ update_simu_realtime()