mbsysc/MBsysC/realtime_8h_source.html

#ifndef _REAL_TIME_H_

#define _REAL_TIME_H_


#include "realtime_ext.h"

#include "mbs_data.h"

#include "auto_plot.h"


#include "mbs_project_fct_ptr.h"


// back in visualization period

#define PERIOD_BACK_IN_VISU 0.03    // [s]

#define INTERRUPT_BACK_IN_VISU 0.25 // [s]


// -- Functions prototypes -- //


#ifdef __cplusplus

extern "C" {

#endif

    void mbs_realtime_reset();

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

                          int init_break);

    int mbs_realtime_loop(Simu_realtime *realtime, double tsim);

    void mbs_realtime_update(Simu_realtime *realtime, double tsim);

    int mbs_realtime_finish(Simu_realtime *realtime);

#ifdef __cplusplus

}

#endif


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

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

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

void free_realtime_constraint(Realtime_constraint* constraint);

int free_simu_realtime(Simu_realtime *realtime);

void update_simu_realtime(Simu_realtime *realtime);

void update_realtime_constraint(Realtime_constraint *constraint, int simu_speed_flag);

void update_realtime_constraints_break(Simu_realtime *realtime, int delta_break_u_sec);

double get_simu_speed_factor(int simu_speed_flag);

int get_simu_speed_flag(double simu_speed_factor);


Realtime_option* init_Realtime_option(MbsData *mbs_data);

void free_Realtime_option(Realtime_option *option);

int check_user_realtime_options(Realtime_option *options);

void compute_buffer_size(Realtime_option *option);


#ifdef __cplusplus

extern "C" {

#endif

    void user_call_realtime_options(MbsData* mbs_data, Realtime_option *options);

#ifdef __cplusplus

}

#endif


#endif