user_realtime.h File Reference

#include "mbs_data.h"
#include "realtime.h"
#include "user_realtime_visu.h"
#include "mbs_project_interface.h"
#include <stdint.h>

Go to the source code of this file.

Functions
void	user_realtime_plot (MbsData *mbs_data)
	assign values for the SDL functions More...
void	user_keyboard (MbsData *mbs_data, Simu_realtime *realtime, int cur_t_usec, const uint8_t *keystates)
	handle inputs comming from the keyboard More...
void	user_joystick_axes (MbsData *mbs_data, Simu_realtime *realtime, int nb_joysticks)
	handle inputs comming from joysticks axes More...
void	user_joystick_buttons (MbsData *mbs_data, int buttonID)
	handle inputs comming from joysticks buttons More...
void	wait_key (Simu_realtime *realtime, int cur_t_usec, double tsim)
void	set_plot (double value, char *label)
	function called by the user to plot a curve More...

Function Documentation

set_plot()

void set_plot	(	double	value,
		char *	label
	)

function called by the user to plot a curve

Parameters

[in]	value	current value of the curve
[in]	label	label of the curve

user_joystick_axes()

void user_joystick_axes	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	nb_joysticks
	)

handle inputs comming from joysticks axes

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	realtime	real-time structure
[in]	nb_joysticks	number of joysticks detected

Use get_Joystick_axis(int joystickID, int axisID, Simu_realtime *realtime) to return the value associated with the joystick number joystickID

joystickID: ID of the joystick (starting at 0) axisID: ID of the axis (starting at 0)

get_Joystick_axis returns a value in [-1 ; 1] or -10 if this joystickID is not available

plugged joysticks are automatically detected at launch (see nb_joysticks)

example: joystick_val = get_Joystick_axis(0, 0, realtime); mbs_data->user_IO->my_variable = joystick_val * scaling_factor;

user_joystick_buttons()

void user_joystick_buttons	(	MbsData *	mbs_data,
		int	buttonID
	)

handle inputs comming from joysticks buttons

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	buttonID	ID of the joystick button

buttonID takes a value (usually starting at 0) when a joystick button is pressed

Use printf to detect which 'buttonID' is used for the different buttons.

example: if (buttonID == 2) { mbs_data->user_IO->my_command++; }

user_keyboard()

void user_keyboard	(	MbsData *	mbs_data,
		Simu_realtime *	realtime,
		int	cur_t_usec,
		const Uint8 *	keystates
	)

handle inputs comming from the keyboard

Parameters

[in,out]	mbs_data	Robotran main structure
[in]	realtime	real-time structure
[in]	cur_t_usec	curent time [us]
[in]	keystates	state of the keys (from the keyboard)

Use keystates'key code' to detect when the corresponding key is pressed and add your own functions according to the key pressed.

Call 'wait_key(realtime, cur_t_usec, time);' in the statement where you replace 'time' by a time in seconds if you want to wait before detecting a new user command. Pay attention, when you call 'wait_key', the program is automatically kept awake for a few seconds. Consequently, the process can not be realeased after a few seconds during a break in case 'wait_key' is always called.

example: if (keystates[SDL_SCANCODE_UP]) { mbs_data->user_IO->my_command++; wait_key(realtime, cur_t_usec, 0.1); } else if (keystates[SDL_SCANCODE_DOWN]) { mbs_data->user_IO->my_command–; wait_key(realtime, cur_t_usec, 0.1); }

user_realtime_plot()

void user_realtime_plot

(

MbsData *

mbs_data

)

assign values for the SDL functions

Parameters

[in]

mbs_data

Robotran main structure

To plot a curve, use 'set_plot(value, label)' where 'value' is the value you want to plot and 'label' is a string corresponding to the curve label. You can use the 'set_plot' function in the following function ('user_realtime_plot') or anywhere in your code, provided you add the include '#include "user_realtime.h"' in the corresponding file. Using 'user_realtime_plot' is still useful to structure the code, avoiding to put the 'set_plot' function everywhere in the code. However, using 'set_plot' in other files can be faster and is especially relevant fot C++ code where some internal variables are private and cannot be used outside the corresponding class. To plot different curves, you must use different labels (otherwise, some curves won't be plotted).

example: set_plot(mbs_data->q[4], "q4 [rad]");

wait_key()

void wait_key	(	Simu_realtime *	realtime,
		int	cur_t_usec,
		double	tsim
	)