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realtime_ext.h
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1 
8 #ifndef _REAL_TIME_EXT_
9 #define _REAL_TIME_EXT_
10 
11 #include "mbs_realtime_struct.h"
12 
13 
14 #define SAFETY_TIME 0.001
15 
16 
17 
18 // -- Functions prototypes -- //
19 
20 
21 Realtime_visu* init_realtime_visu(void *realtime_options, MbsData* mbs_data, int *err);
23 
24 #endif
Realtime_visu::visu_past_flag
int visu_past_flag
1 to view what happened before, 0 otherwise
Definition: mbs_realtime_struct.h:29
init_realtime_visu
Realtime_visu * init_realtime_visu(void *realtime_options, MbsData *mbs_data, int *err)
initialize 3D real-time variables
Definition: realtime_ext.c:26
Realtime_visu::nb_models
int nb_models
number of models to load
Definition: mbs_realtime_struct.h:24
mbs_msg
void mbs_msg(const char *msg,...)
Send a message.
Definition: mbs_message.c:87
Realtime_option
user real-time option
Definition: mbs_realtime_struct.h:86
Realtime_option::mbsz_file
char * mbsz_file
Filepath to the mbsz project to be send at the socket initialization.
Definition: mbs_realtime_struct.h:113
Functions::user_realtime_visu
user_realtime_visu_ptr user_realtime_visu
Definition: mbs_data.h:189
Realtime_visu::past_q
double ** past_q
requested past joints positions vector (for each model)
Definition: mbs_realtime_struct.h:48
Realtime_visu::visu_class
void * visu_class
main class or structure for visualization
Definition: mbs_realtime_struct.h:51
Realtime_visu::min_tsim_index
int min_tsim_index
index correspondinf to minimal simulation time
Definition: mbs_realtime_struct.h:41
Realtime_visu::tsim_save
double * tsim_save
vector saving the simulation time [s]
Definition: mbs_realtime_struct.h:38
MbsData::njoint
int njoint
Number of joints in the system.
Definition: mbs_data.h:260
mbs_project_interface.h
Declaration of functions that are project dependent.
Realtime_visu::last_past_q_flag
int last_past_q_flag
1 if last visu was with past_q, 0 otherwise
Definition: mbs_realtime_struct.h:34
MSG_PRE
#define MSG_PRE
Definition: realtime_ext.c:19
mbs_realtime_struct.h
Realtime_visu::flag_t_last_past
int flag_t_last_past
1 if 't_last_past' initialized, 0 otherwise
Definition: mbs_realtime_struct.h:30
realtime_ext.h
Real-time constraints header for external modules.
Realtime_visu::q_save
double *** q_save
tabular saving the joints positions, according to tsim_save (for each model)
Definition: mbs_realtime_struct.h:39
SAFETY_TIME
#define SAFETY_TIME
safety time: difference between min and max time in case of problems [s]
Definition: realtime_ext.h:14
Functions::user
struct Functions::@4 user
Realtime_visu::anim_q
double ** anim_q
joints position for .anim file (for each model)
Definition: mbs_realtime_struct.h:49
init_realtime_visu
Realtime_visu * init_realtime_visu(void *realtime_options, MbsData *mbs_data, int *err)
initialize 3D real-time variables
Definition: realtime_ext.c:26
Realtime_visu::flag_buffer_round
int flag_buffer_round
1 if buffer already filled, 0 otherwise
Definition: mbs_realtime_struct.h:33
Realtime_visu::mbs_file
char ** mbs_file
path and file name fot the .mbs file used for Java visualization (for each model)
Definition: mbs_realtime_struct.h:37
Realtime_option::nb_models
int nb_models
number of models to load
Definition: mbs_realtime_struct.h:108
time_functions.h
functions used to get the time expressed in us (micro seconds)
MbsData::q
double * q
Array with the current values of the generalized coordinates.
Definition: mbs_data.h:285
Realtime_visu::cur_tsim
double cur_tsim
current simulation time [s]
Definition: mbs_realtime_struct.h:46
Realtime_visu::nb_q
int * nb_q
number of joints in the .mbs used for visualization (for each model)
Definition: mbs_realtime_struct.h:36
Realtime_visu::max_tsim
double max_tsim
maximal simulation time [s]
Definition: mbs_realtime_struct.h:44
Realtime_visu::min_tsim
double min_tsim
minimal simulation time [s]
Definition: mbs_realtime_struct.h:43
MbsData::fct
Functions fct
Structure to store the pointer to the project-specific functions.
Definition: mbs_data.h:426
free_realtime_visu
int free_realtime_visu(Realtime_visu *visu)
free 3D real-time structure
Definition: realtime_ext.c:285
visu_websocket.h
Realtime_visu::cur_viewpoint
int cur_viewpoint
current viewpoint in simulation
Definition: mbs_realtime_struct.h:27
mbs_message.h
Realtime_option::mbs_file
char ** mbs_file
path and file name for the .mbs file used for Java visualization (for each model)
Definition: mbs_realtime_struct.h:110
Realtime_visu::buffer_size
int buffer_size
size of the buffer to save past visualization
Definition: mbs_realtime_struct.h:25
Realtime_option::init_break
int init_break
1 to start with a break, 0 otherwise
Definition: mbs_realtime_struct.h:94
Realtime_option::buffer_size
int buffer_size
size of the buffer for 3D and sdl
Definition: mbs_realtime_struct.h:97
MbsData
Definition: mbs_data.h:247
realtime.h
Real-time constraints main header.
init_websocket
int init_websocket(Realtime_visu *visu, MbsData *mbs_data, int nb_models, int *nb_q, double **q_vec, char **mbs_file, char *mbsz_path, int start_viewpoint, int init_break)
Initialize the communication with the webserver.
Definition: visu_websocket.cc:192
Realtime_option::nb_q
int * nb_q
number of joints in the .mbs used for visualization (for each model)
Definition: mbs_realtime_struct.h:109
Realtime_visu
Visualization variables and stuctures.
Definition: mbs_realtime_struct.h:22
Realtime_option::t0
double t0
initial simulation time [s]
Definition: mbs_realtime_struct.h:89
Realtime_visu::change_viewpoint
int change_viewpoint
1 to change the viewpoint in simulation, 0 otherwise
Definition: mbs_realtime_struct.h:26
Realtime_visu::cur_q
double ** cur_q
current joints positions vector (for each model)
Definition: mbs_realtime_struct.h:47
free_websocket
void free_websocket(void *visu_class)
close the socket connection
Definition: visu_websocket.cc:529
free_realtime_visu
int free_realtime_visu(Realtime_visu *visu)
free 3D real-time structure
Definition: realtime_ext.c:285
Realtime_visu::max_tsim_index
int max_tsim_index
index correspondinf to maximal simulation time
Definition: mbs_realtime_struct.h:42
user_realtime.h
MSG_ERR
#define MSG_ERR
Definition: realtime_ext.c:18
Realtime_option::start_viewpoint
int start_viewpoint
initial visu viewpoint ID
Definition: mbs_realtime_struct.h:115