visu_websocket.cc File Reference

#include "mbs_path.h"
#include "mbs_define.h"
#include "mbs_message.h"
#include "useful_functions.h"
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <string.h>
#include <iostream>
#include <string>
#include <sstream>
#include <chrono>
#include <thread>
#include <sys/time.h>
#include <ctime>
#include "visu_websocket.h"
#include <fcntl.h>
#include <ws.h>

Classes
struct	VisuIn
	input of the 3D window More...

Macros
#define	MSG_ERR   ">> REALTIME >> "
#define	MSG_PRE   " >> "

Functions
void	onopen (ws_cli_conn_t *c)
	This function is called whenever a new connection is opened. More...
void	onclose (ws_cli_conn_t *client)
	This function is called whenever a connection is closed. More...
void	onmessage (ws_cli_conn_t *client, const unsigned char *msg, uint64_t size, int type)
	Message events goes here. More...
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. More...
void	joints_update (Simu_realtime *realtime, int nb_models, int *nb_q, double **q_vec)
	update the joint values for visualization More...
void	pause_routine (Simu_realtime *realtime)
void	update_websocket (Simu_realtime *realtime)
void	update_plot (Simu_realtime *realtime, double tsim)
void	free_websocket (void *visu_class)
	close the socket connection More...

Variables
static uint8_t	key_states [KEYS_LEN]
static ws_cli_conn_t *	client
static bool	is_connected = false
static bool	is_updated = false
static Simu_realtime *	rt
bool	pause_sim = false
static char *	project_data
long	project_data_size
VisuIn *	visu_in
double	t_last_update = 0
	main update loop for the visualization More...
static double	t_last_plot = 0
	update the realtime plot data More...

Macro Definition Documentation

MSG_ERR

#define MSG_ERR   ">> REALTIME >> "

MSG_PRE

#define MSG_PRE   " >> "

Function Documentation

free_websocket()

void free_websocket

(

void *

visu_class

)

close the socket connection

Parameters

[in]

visu

data

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_file,
		int	start_viewpoint,
		int	init_break
	)

Initialize the communication with the webserver.

The simulation starts in pause or runing according to the option in MbsData::realtime::options::init_break.

Parameters

[in]	visu	The visualization structure, describing the project.
[in]	mbs_data	The multibody system, used to retrieve realtime options.
[in]	nb_models	The number of multibody system in the simulation.
[in]	nb_q	The number of joint in each multibody system.
[in]	q_vec	The initial joints value for each multibody system.
[in]	mbs_file	The multibody files to be loaded.
[in]	mbsz_path	The multibody project file at mbsz project.
[in]	start_viewpoint	The initia viewpoint index.
[in]	init_break	Initialize the simulation paused (!0) or running (1).

Returns

MBS_INFO_SUCCESS, MBS_INFO_WARNING (no mbsz file provided) or MBS_INFO_FAILURE (macro in "mbs_define.h").

joints_update()

void joints_update	(	Simu_realtime *	realtime,
		int	nb_models,
		int *	nb_q,
		double **	q_vec
	)

update the joint values for visualization

onclose()

void onclose

(

ws_cli_conn_t *

client

)

This function is called whenever a connection is closed.

Parameters

client

Client connection.

onmessage()

void onmessage	(	ws_cli_conn_t *	client,
		const unsigned char *	msg,
		uint64_t	size,
		int	type
	)

Message events goes here.

Parameters

client	Client connection.
msg	Message content.
size	Message size.
type	Message type.

onopen()

void onopen

(

ws_cli_conn_t *

c

)

This function is called whenever a new connection is opened.

Parameters

client

Client connection.

pause_routine()

void pause_routine

(

Simu_realtime *

realtime

)

update_plot()

void update_plot	(	Simu_realtime *	realtime,
		double	tsim
	)

update_websocket()

void update_websocket

(

Simu_realtime *

realtime

)

Variable Documentation

client

ws_cli_conn_t* client

static

is_connected

bool is_connected = false

static

is_updated

bool is_updated = false

static

key_states

uint8_t key_states[KEYS_LEN]

static

pause_sim

bool pause_sim = false

project_data

char* project_data

static

project_data_size

long project_data_size

rt

Simu_realtime* rt

static

t_last_plot

double t_last_plot = 0

static

update the realtime plot data

t_last_update

double t_last_update = 0

main update loop for the visualization

visu_in

VisuIn* visu_in