#include <stdint.h>

Include dependency graph for mbc.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	mbc_t
	Connection data structure (partially opaque) More...

struct	mbc_rigid_t
	Reference node (AKA "rigid") stuff (partially opaque). More...

struct	mbc_nodal_t
	Nodal stuff (partially opaque). More...

struct	mbc_modal_t
	nodal stuff (partially opaque). More...

Macros
#define	MBC_F(mbc) ((mbc)->mbcr.flags)

#define	MBC_F_GET(mbc, f) (MBC_F(mbc) & (f))

#define	MBC_F_SET(mbc, f) (MBC_F(mbc) \|= (f))

#define	MBC_F_RESET(mbc, f) (MBC_F(mbc) &= ~(f))

#define	MBC_F_REF_NODE(mbc) MBC_F_GET(mbc, MBC_REF_NODE)

#define	MBC_F_LABELS(mbc) MBC_F_GET(mbc, MBC_LABELS)

#define	MBC_F_ACCELS(mbc) MBC_F_GET(mbc, MBC_ACCELS)

#define	MBC_F_ROT(mbc) MBC_F_GET(mbc, MBC_ROT_MASK)

#define	MBC_F_ROT_THETA(mbc) MBC_F_GET(mbc, MBC_ROT_THETA)

#define	MBC_F_ROT_MAT(mbc) MBC_F_GET(mbc, MBC_ROT_MAT)

#define	MBC_F_ROT_EULER_123(mbc) MBC_F_GET(mbc, MBC_ROT_EULER_123)

#define	MBC_U_REF_NODE_ROT_2_ROT(u) (((u) & MBC_REF_NODE_ROT_MASK) >> 4)

#define	MBC_U_ROT_2_REF_NODE_ROT(u) (((u) & MBC_ROT_MASK) << 4)

#define	MBC_F_ROT_REF_NODE(mbc) MBC_U_REF_NODE_ROT_2_ROT(MBC_F_GET((mbc), MBC_REF_NODE_ROT_MASK))

#define	MBC_F_REF_NODE_ROT(mbc) MBC_F_GET(mbc, MBC_REF_NODE_ROT_MASK)

#define	MBC_F_SET_REF_NODE(mbc) MBC_F_SET(mbc, MBC_REF_NODE)

#define	MBC_F_SET_LABELS(mbc) MBC_F_SET(mbc, MBC_LABELS)

#define	MBC_F_SET_ACCELS(mbc) MBC_F_SET(mbc, MBC_ACCELS)

#define	MBC_F_SET_ROT_THETA(mbc) MBC_F_SET(mbc, MBC_ROT_THETA)

#define	MBC_F_SET_ROT_MAT(mbc) MBC_F_SET(mbc, MBC_ROT_MAT)

#define	MBC_F_SET_ROT_EULER_123(mbc) MBC_F_SET(mbc, MBC_ROT_EULER_123)

#define	MBC_R_PTR(mbc, type, off) ((off) < 0 ? NULL : ((type *)&((mbc)->mbcr.r_ptr.type ## _r_ptr[(off)])))

#define	MBC_R_K_LABEL(mbc) (MBC_R_PTR((mbc), uint32_t, (mbc)->mbcr.r_k_label)[0])

#define	MBC_R_X(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_x))

#define	MBC_R_THETA(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_theta))

#define	MBC_R_R(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_r))

#define	MBC_R_EULER_123(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_euler_123))

#define	MBC_R_XP(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_xp))

#define	MBC_R_OMEGA(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_omega))

#define	MBC_R_XPP(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_xpp))

#define	MBC_R_OMEGAP(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_omegap))

#define	MBC_R_D_LABEL(mbc) (MBC_R_PTR((mbc), uint32_t, (mbc)->mbcr.r_d_label)[0])

#define	MBC_R_F(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_d_f))

#define	MBC_R_M(mbc) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_d_m))

#define	MBC_R_KINEMATICS_SIZE(mbc) ((mbc)->mbcr.k_size)

#define	MBC_R_DYNAMICS_SIZE(mbc) ((mbc)->mbcr.d_size)

#define	MBC_R_SIZE(mbc) (MBC_R_KINEMATICS_SIZE(mbc) + MBC_R_DYNAMICS_SIZE(mbc))

#define	MBC_R_KINEMATICS(mbc) ((void *)(mbc)->mbcr.r_ptr.char_r_ptr)

#define	MBC_R_DYNAMICS(mbc) ((void *)(MBC_R_KINEMATICS(mbc) + MBC_R_KINEMATICS_SIZE(mbc)))

#define	MBC_N_K_LABELS(mbc) ((mbc)->n_k_labels)

#define	MBC_N_X(mbc) ((mbc)->n_k_x)

#define	MBC_N_THETA(mbc) ((mbc)->n_k_theta)

#define	MBC_N_R(mbc) ((mbc)->n_k_r)

#define	MBC_N_EULER_123(mbc) ((mbc)->n_k_euler_123)

#define	MBC_N_XP(mbc) ((mbc)->n_k_xp)

#define	MBC_N_OMEGA(mbc) ((mbc)->n_k_omega)

#define	MBC_N_XPP(mbc) ((mbc)->n_k_xpp)

#define	MBC_N_OMEGAP(mbc) ((mbc)->n_k_omegap)

#define	MBC_N_D_LABELS(mbc) ((mbc)->n_d_labels)

#define	MBC_N_F(mbc) ((mbc)->n_d_f)

#define	MBC_N_M(mbc) ((mbc)->n_d_m)

#define	MBC_N_KINEMATICS_SIZE(mbc) ((mbc)->k_size)

#define	MBC_N_DYNAMICS_SIZE(mbc) ((mbc)->d_size)

#define	MBC_N_KINEMATICS(mbc) ((void *)(mbc)->n_ptr)

#define	MBC_N_DYNAMICS(mbc) ((void *)(MBC_N_KINEMATICS(mbc) + MBC_N_KINEMATICS_SIZE(mbc)))

#define	MBC_N_SIZE(mbc) (MBC_N_KINEMATICS_SIZE(mbc) + MBC_N_DYNAMICS_SIZE(mbc))

#define	MBC_Q(mbc) (&(mbc)->m[0])

#define	MBC_QP(mbc) (&(mbc)->m[(mbc)->modes])

#define	MBC_P(mbc) (&(mbc)->m[2*(mbc)->modes])

#define	MBC_M_KINEMATICS(mbc) MBC_Q((mbc))

#define	MBC_M_DYNAMICS(mbc) MBC_P((mbc))

#define	MBC_M_KINEMATICS_SIZE(mbc) (2(mbc)->modessizeof(double))

#define	MBC_M_DYNAMICS_SIZE(mbc) ((mbc)->modes*sizeof(double))

#define	MBC_M_SIZE(mbc) (3(mbc)->modessizeof(double))

Enumerations
enum	ESCmd { ES_UNKNOWN = -1, ES_REGULAR_DATA = 2, ES_GOTO_NEXT_STEP = 4, ES_ABORT = 5, ES_REGULAR_DATA_AND_GOTO_NEXT_STEP = 6, ES_NEGOTIATION = 7, ES_OK = 8, ES_LAST }
	Legal commands. More...

enum	MBCType { MBC_MODAL = 0x0001U, MBC_NODAL = 0x0002U, MBC_MODAL_NODAL_MASK = (MBC_MODAL \| MBC_NODAL), MBC_REF_NODE = 0x0004U, MBC_ACCELS = 0x0008U, MBC_LABELS = 0x0010U, MBC_ROT_THETA = 0x0100U, MBC_ROT_MAT = 0x0200U, MBC_ROT_EULER_123 = 0x0400U, MBC_ROT_NONE = 0x0000U, MBC_ROT_MASK = (MBC_ROT_THETA \| MBC_ROT_MAT \| MBC_ROT_EULER_123), MBC_REF_NODE_ROT_THETA = (MBC_ROT_THETA << 4), MBC_REF_NODE_ROT_MAT = (MBC_ROT_MAT << 4), MBC_REF_NODE_ROT_EULER_123 = (MBC_ROT_EULER_123 << 4), MBC_REF_NODE_ROT_MASK = (MBC_ROT_MASK << 4), MBC_LAST }
	Parameters used to control the communication type and fields. More...

Functions
int	mbc_check_cmd (mbc_t *mbc)
	Opaque. More...

int	mbc_get_cmd (mbc_t *mbc)
	Opaque. More...

int	mbc_put_cmd (mbc_t *mbc)
	Opaque. More...

int	mbc_inet_init (mbc_t mbc, const char host, short unsigned port)
	Initialize communication using "inet" socket. More...

int	mbc_unix_init (mbc_t mbc, const char path)
	Initialize communication using "unix" socket. More...

int	mbc_nodal_init (mbc_nodal_t *mbc, unsigned refnode, unsigned nodes, unsigned labels, unsigned rot, unsigned accels)
	Initialize nodal data. More...

int	mbc_nodal_destroy (mbc_nodal_t *mbc)
	Destroy nodal data. More...

int	mbc_nodal_negotiate_request (mbc_nodal_t *mbc)
	Negotiate nodal data. More...

int	mbc_nodal_negotiate_response (mbc_nodal_t *mbc)
	Unused. More...

int	mbc_nodal_get_motion (mbc_nodal_t *mbc)
	Get nodal motion from peer. More...

int	mbc_nodal_put_forces (mbc_nodal_t *mbc, int last)
	Put forces to peer. More...

int	mbc_modal_init (mbc_modal_t *mbc, int refnode, unsigned modes)
	Initialize modal data. More...

int	mbc_modal_destroy (mbc_modal_t *mbc)
	Destroy modal data. More...

int	mbc_modal_negotiate_request (mbc_modal_t *mbc)
	Negotiate modal data. More...

int	mbc_modal_negotiate_response (mbc_modal_t *mbc)
	Unused. More...

int	mbc_modal_get_motion (mbc_modal_t *mbc)
	Get modal motion from peer. More...

int	mbc_modal_put_forces (mbc_modal_t *mbc, int last)
	Put forces to peer. More...

Macro Definition Documentation

#define MBC_F ( mbc ) ((mbc)->mbcr.flags)

Definition at line 235 of file mbc.h.

#define MBC_F_ACCELS ( mbc ) MBC_F_GET(mbc, MBC_ACCELS)

Definition at line 242 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), and tdata_().

#define MBC_F_GET	(	mbc,
		f
	)	(MBC_F(mbc) & (f))

Definition at line 236 of file mbc.h.

#define MBC_F_LABELS ( mbc ) MBC_F_GET(mbc, MBC_LABELS)

Definition at line 241 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), and tdata_().

#define MBC_F_REF_NODE ( mbc ) MBC_F_GET(mbc, MBC_REF_NODE)

Definition at line 240 of file mbc.h.

Referenced by mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), tdata_(), trecv_(), and tsend_().

#define MBC_F_REF_NODE_ROT ( mbc ) MBC_F_GET(mbc, MBC_REF_NODE_ROT_MASK)

Definition at line 250 of file mbc.h.

#define MBC_F_RESET	(	mbc,
		f
	)	(MBC_F(mbc) &= ~(f))

Definition at line 238 of file mbc.h.

#define MBC_F_ROT ( mbc ) MBC_F_GET(mbc, MBC_ROT_MASK)

Definition at line 243 of file mbc.h.

Referenced by main(), mbc_py_nodal_negotiate(), tdata_(), test_run(), and trecv_().

#define MBC_F_ROT_EULER_123 ( mbc ) MBC_F_GET(mbc, MBC_ROT_EULER_123)

Definition at line 246 of file mbc.h.

#define MBC_F_ROT_MAT ( mbc ) MBC_F_GET(mbc, MBC_ROT_MAT)

Definition at line 245 of file mbc.h.

#define MBC_F_ROT_REF_NODE ( mbc ) MBC_U_REF_NODE_ROT_2_ROT(MBC_F_GET((mbc), MBC_REF_NODE_ROT_MASK))

Definition at line 249 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_F_ROT_THETA ( mbc ) MBC_F_GET(mbc, MBC_ROT_THETA)

Definition at line 244 of file mbc.h.

#define MBC_F_SET	(	mbc,
		f
	)	(MBC_F(mbc) \|= (f))

Definition at line 237 of file mbc.h.

#define MBC_F_SET_ACCELS ( mbc ) MBC_F_SET(mbc, MBC_ACCELS)

Definition at line 254 of file mbc.h.

#define MBC_F_SET_LABELS ( mbc ) MBC_F_SET(mbc, MBC_LABELS)

Definition at line 253 of file mbc.h.

#define MBC_F_SET_REF_NODE ( mbc ) MBC_F_SET(mbc, MBC_REF_NODE)

Definition at line 252 of file mbc.h.

#define MBC_F_SET_ROT_EULER_123 ( mbc ) MBC_F_SET(mbc, MBC_ROT_EULER_123)

Definition at line 257 of file mbc.h.

#define MBC_F_SET_ROT_MAT ( mbc ) MBC_F_SET(mbc, MBC_ROT_MAT)

Definition at line 256 of file mbc.h.

#define MBC_F_SET_ROT_THETA ( mbc ) MBC_F_SET(mbc, MBC_ROT_THETA)

Definition at line 255 of file mbc.h.

#define MBC_M_DYNAMICS ( mbc ) MBC_P((mbc))

Definition at line 520 of file mbc.h.

#define MBC_M_DYNAMICS_SIZE ( mbc ) ((mbc)->modes*sizeof(double))

Definition at line 522 of file mbc.h.

#define MBC_M_KINEMATICS ( mbc ) MBC_Q((mbc))

Definition at line 519 of file mbc.h.

#define MBC_M_KINEMATICS_SIZE ( mbc ) (2*(mbc)->modes*sizeof(double))

Definition at line 521 of file mbc.h.

#define MBC_M_SIZE ( mbc ) (3*(mbc)->modes*sizeof(double))

Definition at line 523 of file mbc.h.

#define MBC_N_D_LABELS ( mbc ) ((mbc)->n_d_labels)

Definition at line 371 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), and test_run().

#define MBC_N_DYNAMICS ( mbc ) ((void *)(MBC_N_KINEMATICS(mbc) + MBC_N_KINEMATICS_SIZE(mbc)))

Definition at line 377 of file mbc.h.

#define MBC_N_DYNAMICS_SIZE ( mbc ) ((mbc)->d_size)

Definition at line 375 of file mbc.h.

#define MBC_N_EULER_123 ( mbc ) ((mbc)->n_k_euler_123)

Definition at line 366 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_F ( mbc ) ((mbc)->n_d_f)

Definition at line 372 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and tsend_().

#define MBC_N_K_LABELS ( mbc ) ((mbc)->n_k_labels)

Definition at line 362 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), and test_run().

#define MBC_N_KINEMATICS ( mbc ) ((void *)(mbc)->n_ptr)

Definition at line 376 of file mbc.h.

#define MBC_N_KINEMATICS_SIZE ( mbc ) ((mbc)->k_size)

Definition at line 374 of file mbc.h.

#define MBC_N_M ( mbc ) ((mbc)->n_d_m)

Definition at line 373 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and tsend_().

#define MBC_N_OMEGA ( mbc ) ((mbc)->n_k_omega)

Definition at line 368 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_OMEGAP ( mbc ) ((mbc)->n_k_omegap)

Definition at line 370 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_N_R ( mbc ) ((mbc)->n_k_r)

Definition at line 365 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_SIZE ( mbc ) (MBC_N_KINEMATICS_SIZE(mbc) + MBC_N_DYNAMICS_SIZE(mbc))

Definition at line 378 of file mbc.h.

#define MBC_N_THETA ( mbc ) ((mbc)->n_k_theta)

Definition at line 364 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_X ( mbc ) ((mbc)->n_k_x)

Definition at line 363 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_XP ( mbc ) ((mbc)->n_k_xp)

Definition at line 367 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_N_XPP ( mbc ) ((mbc)->n_k_xpp)

Definition at line 369 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_P ( mbc ) (&(mbc)->m[2*(mbc)->modes])

Definition at line 518 of file mbc.h.

Referenced by main(), and mbc_py_modal_negotiate().

#define MBC_Q ( mbc ) (&(mbc)->m[0])

Definition at line 516 of file mbc.h.

Referenced by main(), and mbc_py_modal_negotiate().

#define MBC_QP ( mbc ) (&(mbc)->m[(mbc)->modes])

Definition at line 517 of file mbc.h.

Referenced by main(), and mbc_py_modal_negotiate().

#define MBC_R_D_LABEL ( mbc ) (MBC_R_PTR((mbc), uint32_t, (mbc)->mbcr.r_d_label)[0])

Definition at line 291 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_R_DYNAMICS ( mbc ) ((void *)(MBC_R_KINEMATICS(mbc) + MBC_R_KINEMATICS_SIZE(mbc)))

Definition at line 298 of file mbc.h.

#define MBC_R_DYNAMICS_SIZE ( mbc ) ((mbc)->mbcr.d_size)

Definition at line 295 of file mbc.h.

#define MBC_R_EULER_123 ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_euler_123))

Definition at line 286 of file mbc.h.

Referenced by main(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_F ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_d_f))

Definition at line 292 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and tsend_().

#define MBC_R_K_LABEL ( mbc ) (MBC_R_PTR((mbc), uint32_t, (mbc)->mbcr.r_k_label)[0])

Definition at line 282 of file mbc.h.

Referenced by mbc_py_nodal_negotiate(), and test_run().

#define MBC_R_KINEMATICS ( mbc ) ((void *)(mbc)->mbcr.r_ptr.char_r_ptr)

Definition at line 297 of file mbc.h.

#define MBC_R_KINEMATICS_SIZE ( mbc ) ((mbc)->mbcr.k_size)

Definition at line 294 of file mbc.h.

#define MBC_R_M ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_d_m))

Definition at line 293 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and tsend_().

#define MBC_R_OMEGA ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_omega))

Definition at line 288 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_OMEGAP ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_omegap))

Definition at line 290 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_R_PTR	(	mbc,
		type,
		off
	)	((off) < 0 ? NULL : ((type *)&((mbc)->mbcr.r_ptr.type ## _r_ptr[(off)])))

Definition at line 281 of file mbc.h.

#define MBC_R_R ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_r))

Definition at line 285 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_SIZE ( mbc ) (MBC_R_KINEMATICS_SIZE(mbc) + MBC_R_DYNAMICS_SIZE(mbc))

Definition at line 296 of file mbc.h.

#define MBC_R_THETA ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_theta))

Definition at line 284 of file mbc.h.

Referenced by main(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_X ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_x))

Definition at line 283 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_XP ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_xp))

Definition at line 287 of file mbc.h.

Referenced by main(), mbc_py_modal_negotiate(), mbc_py_nodal_negotiate(), test_run(), and trecv_().

#define MBC_R_XPP ( mbc ) (MBC_R_PTR((mbc), double, (mbc)->mbcr.r_k_xpp))

Definition at line 289 of file mbc.h.

Referenced by mbc_py_nodal_negotiate().

#define MBC_U_REF_NODE_ROT_2_ROT ( u ) (((u) & MBC_REF_NODE_ROT_MASK) >> 4)

Definition at line 247 of file mbc.h.

#define MBC_U_ROT_2_REF_NODE_ROT ( u ) (((u) & MBC_ROT_MASK) << 4)

Definition at line 248 of file mbc.h.

Referenced by StructMappingExtForce::Prepare(), and test_init().

Enumeration Type Documentation

enum ESCmd

Legal commands.

The values of this enumeration appear as tags at the beginning of each communication.

Enumerator
ES_UNKNOWN
ES_REGULAR_DATA
ES_GOTO_NEXT_STEP
ES_ABORT
ES_REGULAR_DATA_AND_GOTO_NEXT_STEP
ES_NEGOTIATION
ES_OK
ES_LAST

Definition at line 49 of file mbc.h.

            {
         ES_UNKNOWN                              = -1,
         /* 1 intentionally unused */
         ES_REGULAR_DATA                         = 2,
         /* 3 intentionally unused */
         ES_GOTO_NEXT_STEP                       = 4,
         ES_ABORT                                = 5,
         ES_REGULAR_DATA_AND_GOTO_NEXT_STEP      = 6,
         ES_NEGOTIATION                          = 7,
         ES_OK                                   = 8,
 
         ES_LAST
 };

enum MBCType

Parameters used to control the communication type and fields.

Enumerator
MBC_MODAL
MBC_NODAL
MBC_MODAL_NODAL_MASK
MBC_REF_NODE
MBC_ACCELS
MBC_LABELS
MBC_ROT_THETA	Regular nodes orientation: orientation vector
MBC_ROT_MAT	Regular nodes orientation: orientation matrix
MBC_ROT_EULER_123	Regular nodes orientation: Euler angles (123 sequence)
MBC_ROT_NONE	Regular nodes orientation: suppress orientation (also suppresses angular velocities and moments)
MBC_ROT_MASK
MBC_REF_NODE_ROT_THETA	Reference node orientation: orientation vector
MBC_REF_NODE_ROT_MAT	Reference node orientation: orientation matrix
MBC_REF_NODE_ROT_EULER_123	Reference node orientation: Euler angles (123 sequence)
MBC_REF_NODE_ROT_MASK
MBC_LAST

Definition at line 64 of file mbc.h.

              {
         MBC_MODAL                               = 0x0001U,
         MBC_NODAL                               = 0x0002U,
         MBC_MODAL_NODAL_MASK                    = (MBC_MODAL | MBC_NODAL),
 
         MBC_REF_NODE                            = 0x0004U,
 
         MBC_ACCELS                              = 0x0008U,
 
         MBC_LABELS                              = 0x0010U,
 
         MBC_ROT_THETA                           = 0x0100U,
         MBC_ROT_MAT                             = 0x0200U,
         MBC_ROT_EULER_123                       = 0x0400U,
 
         /* add more? */
 
         MBC_ROT_NONE                            = 0x0000U,
 
         MBC_ROT_MASK                            = (MBC_ROT_THETA | MBC_ROT_MAT | MBC_ROT_EULER_123),
 
         MBC_REF_NODE_ROT_THETA                  = (MBC_ROT_THETA << 4),
         MBC_REF_NODE_ROT_MAT                    = (MBC_ROT_MAT << 4),
         MBC_REF_NODE_ROT_EULER_123              = (MBC_ROT_EULER_123 << 4),
 
         MBC_REF_NODE_ROT_MASK                   = (MBC_ROT_MASK << 4),
 
         MBC_LAST
 };

Function Documentation

int mbc_check_cmd ( mbc_t * mbc )

Opaque.

int mbc_get_cmd ( mbc_t * mbc )

Opaque.

int mbc_inet_init	(	mbc_t *	mbc,
		const char *	host,
		short unsigned	port
	)

Initialize communication using "inet" socket.

Parameters

[in,out]	mbc	a pointer to a valid mbc_t structure
[in]	host	hostname
[in]	port	port number

Connects to peer "inet" socket using hostname and port number; host and port must be defined. If peer is not listening, the behavior depends on mbc_t::timeout.

Returns: 0 on success, !0 on failure.

Referenced by main(), mbc_py_modal_initialize(), mbc_py_nodal_initialize(), and test_init().

int mbc_modal_destroy ( mbc_modal_t * mbc )

Destroy modal data.

Parameters

[in,out] mbc pointer to a valid mbc_modal_t structure

NOTE: does NOT free mbc.

Returns: 0 on success, !0 on failure.

Referenced by main(), and mbc_py_modal_destroy().

int mbc_modal_get_motion ( mbc_modal_t * mbc )

Get modal motion from peer.

Parameters

[in,out] pointer to a valid mbc_modal_t structure

After the call to this function succeeds:

if MBC_F_REF_NODE(mbc) is true, reference node motion can be accessed using macros MBC_R_X(mbc) and similar;
if mbc_modal_t::modes > 0, modal motion can be accessed using macros MBC_Q(mbc) and similar.

Returns: 0 on success, !0 on failure.

Referenced by main(), and mbc_py_modal_recv().

int mbc_modal_init	(	mbc_modal_t *	mbc,
		int	refnode,
		unsigned	modes
	)

Initialize modal data.

Parameters

[in,out]	mbc	pointer to a valid mbc_modal_t structure
[in]	refnode	non-zero if reference node is defined
[in]	modes	number of modes

Either reference node motion must be defined (refnode != 0), or modes must be > 0, or both.

if modes > 0, this function calls malloc(3) to alloc memory that needs to be freed by calling mbc_modal_destroy()

Returns: 0 on success, !0 on failure.

Referenced by main(), and mbc_py_modal_initialize().

int mbc_modal_negotiate_request ( mbc_modal_t * mbc )

Negotiate modal data.

Parameters

[in] mbc pointer to a valid mbc_modal_t structure

At least reference node motion must be defined (MBC_F_REF_NODE(mbc) must be true), or modes > 0

The socket must be initialized and connected.

This function sends a negotiation request to the master.

Returns: 0 on success, !0 on failure.

Referenced by main(), and mbc_py_modal_negotiate().

int mbc_modal_negotiate_response ( mbc_modal_t * mbc )

Unused.

companion of above, provided for completeness; not used

int mbc_modal_put_forces	(	mbc_modal_t *	mbc,
		int	last
	)

Put forces to peer.

Parameters

[in,out]	mbc	pointer to a valid mbc_modal_t structure
[in]	last	true when at convergence

if last is false, before calling this function:

if MBC_F_REF_NODE(mbc) is true, force and moment must be set in storage pointed to by macros MBC_R_F(mbc), MBC_R_M(mbc)
if mbc_modal_t::modes > 0, nodal forces must be set in storage pointed to by macro MBC_P(mbc)

if last is true and mbc_t::data_and_next is false, the output buffer is not sent; thus, there is no need to set generalized forces; otherwise, if mbc_t::data_and_next is true, the output buffer must be filled as described above.

Returns: 0 on success, !0 on failure.

Referenced by main(), and mbc_py_modal_send().

int mbc_nodal_destroy ( mbc_nodal_t * mbc )

Destroy nodal data.

Parameters

[in,out] mbc pointer to a valid mbc_nodal_t structure

NOTE: does NOT free mbc.

Returns: 0 on success, !0 on failure.

Referenced by mbc_py_nodal_destroy(), and test_run().

int mbc_nodal_get_motion ( mbc_nodal_t * mbc )

Get nodal motion from peer.

Parameters

[in,out] pointer to a valid mbc_nodal_t structure

After the call to this function succeeds:

if MBC_F_REF_NODE(mbc) is true, reference node motion can be accessed using macros MBC_R_X(mbc) and similar;
if mbc_nodal_t::nodes > 0, nodal motion can be accessed using macros MBC_N_X(mbc) and similar.

Returns: 0 on success, !0 on failure.

Referenced by mbc_py_nodal_recv(), test_run(), and trecv_().

int mbc_nodal_init	(	mbc_nodal_t *	mbc,
		unsigned	refnode,
		unsigned	nodes,
		unsigned	labels,
		unsigned	rot,
		unsigned	accels
	)

Initialize nodal data.

Parameters

[in,out]	mbc	pointer to a valid mbc_nodal_t structure
[in]	refnode	non-zero if reference node is defined
[in]	nodes	number of nodes
[in]	labels	true to enable labels
[in]	rot	orientation type
[in]	accels	true to enable accelerations

Either reference node motion must be defined (refnode != 0), or nodes must be > 0, or both.

if nodes > 0, this function calls malloc(3) to alloc memory that needs to be freed by calling mbc_nodal_destroy()

if labels != 0, labels are handled as well

rot must be one of MBCType MBC_ROT_*; if it is set to MBC_ROT_NONE, only positions and forces are handled.

if accels != 0, accelerations are handled as well.

Returns: 0 on success, !0 on failure.

Referenced by mbc_py_nodal_initialize(), and test_init().

int mbc_nodal_negotiate_request ( mbc_nodal_t * mbc )

Negotiate nodal data.

Parameters

[in] mbc pointer to a valid mbc_nodal_t structure

At least reference node motion must be defined (MBC_F_REF_NODE(mbc) must be true), or nodes > 0

The socket must be initialized and connected.

This function sends a negotiation request to the master.

Returns: 0 on success, !0 on failure.

Referenced by mbc_py_nodal_negotiate(), and test_init().

int mbc_nodal_negotiate_response ( mbc_nodal_t * mbc )

Unused.

int mbc_nodal_put_forces	(	mbc_nodal_t *	mbc,
		int	last
	)

Put forces to peer.

Parameters

[in,out]	pointer	to a valid mbc_nodal_t structure
[in]	last	true when at convergence

if last is false, before calling this function:

if MBC_F_REF_NODE(mbc) is true, force and moment must be set in storage pointed to by macros MBC_R_F(mbc), MBC_R_M(mbc)
if mbc_nodal_t::nodes > 0, nodal forces must be set in storage pointed to by macros MBC_N_F(mbc), MBC_N_M(mbc) (the latter only if MBC_F_ROT(mbc) != MBC_ROT_NONE).

if last is true and mbc_t::data_and_next is false, the output buffer is not sent; thus, there is no need to set forces and moments; otherwise, if mbc_t::data_and_next is true, the output buffer must be filled as described above.

Returns: 0 on success, !0 on failure.

Referenced by mbc_py_nodal_send(), test_run(), and tsend_().

int mbc_put_cmd ( mbc_t * mbc )

Opaque.

int mbc_unix_init	(	mbc_t *	mbc,
		const char *	path
	)

Initialize communication using "unix" socket.

Parameters

[in,out]	mbc	a pointer to a valid mbc_t structure
[in]	path	pathname

Connects to peer "unix" socket using pathname; path must be defined. If peer is not listening, the behavior depends on mbc::timeout.

Returns: 0 on success, !0 on failure.

Referenced by main(), mbc_py_modal_initialize(), mbc_py_nodal_initialize(), and test_init().

Classes

Macros

Enumerations

Functions

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation