mbsysc/MBsysC/realtime_8h_source.html

#ifdef REAL_TIME


#ifndef _REAL_TIME_H_

#define _REAL_TIME_H_


#include "realtime_ext.h"

#include "color_sdl.h"

#include "mbs_data.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]


// -- Structures -- //


typedef struct Realtime_extern

{

    #ifdef SDL

    Realtime_sdl *sdl;

    #endif


    #ifdef VISU_3D

    Realtime_visu *visu;

    #endif


    MbsData* mbs_data;


} Realtime_extern;


struct Realtime_option

{

    // simulation

    double t0;

    double tf;

    double dt0;


    // general

    int init_break;

    int final_break;


    int buffer_size;


    double init_speed_factor;


    // SDL plots and interactions

    int flag_plot;


    int curve_width;

    int screen_width;

    int screen_height;


    int max_nb_curves;

    int max_nb_legends;


    double y_min_init;

    double y_max_init;


    int color_tab[NB_COLORS_SDL];


    double fqc_screen;


    // Java visualization

    int flag_visu;


    int nb_models;

    int *nb_q;

    char **mbs_file;


    int start_viewpoint;


    double fqc_visu;


};


typedef struct Realtime_constraint

{

    int delta_t_usec;

    int next_t_usec;

    double next_tsim;


} Realtime_constraint;


struct Simu_realtime

{

    // flags

    int simu_quit;

    int simu_break;

    int last_break;

    int simu_speed_flag;

    int no_additional_constraint;


    // speed factors

    double real_simu_speed_factor;

    double last_real_simu_speed_factor;


    // time

    double last_tsim;

    double tsim;


    double t0;

    double tf;


    int buffer_size;


    // initial time

    int init_t_sec;

    int init_t_usec;


    // last time

    int    speed_last_t_usec;

    double speed_last_tsim;


    // constraints

    int nb_constraints;


    // gates

    int next_t_usec_gate;

    double next_tsim_gate;


    int flag_plot;

    int flag_visu;


    int first_break;


    Realtime_constraint **constraints;


    Realtime_extern *ext;


    Realtime_option *options;


};


// -- 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 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

#endif