#include "user_realtime.h"
#include "time_functions.h"
#include "realtime_functions.h"
#include "realtime_ext.h"
#include "realtime.h"
#include "json.h"

Macros
#define	KEYS_LEN 256

#define	PORT 9002

#define	START_VIEWPOINT 0
	default initial viewpoint More...

#define	FRAMERATE 18.0

Functions
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. More...

void	joints_update (Simu_realtime realtime, int nb_models, int nb_q, double **q_vec)
	update the joint values for visualization More...

void	process_msg (Simu_realtime *realtime)

void	update_websocket (Simu_realtime *realtime)

void	free_websocket (void *visu_class)
	close the socket connection More...

void	update_plot (Simu_realtime *realtime, double tsim)

Macro Definition Documentation

◆ FRAMERATE

#define FRAMERATE 18.0

◆ KEYS_LEN

#define KEYS_LEN 256

◆ PORT

#define PORT 9002

◆ START_VIEWPOINT

#define START_VIEWPOINT 0

default initial viewpoint

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

◆ process_msg()

void process_msg ( Simu_realtime * realtime )

◆ update_plot()

void update_plot	(	Simu_realtime *	realtime,
		double	tsim
	)

◆ update_websocket()

void update_websocket ( Simu_realtime * realtime )

Macros

Functions