mbc_py.h File Reference

#include "mbc.h"
#include "mbc_py_global.h"

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Functions
int	mbc_py_nodal_initialize (const char *const path, const char *const host, unsigned port, int timeout, unsigned verbose, unsigned data_and_next, unsigned refnode, unsigned nodes, unsigned labels, unsigned rot, unsigned accels)
int	mbc_py_nodal_negotiate (unsigned id)
int	mbc_py_nodal_send (unsigned id, int last)
int	mbc_py_nodal_recv (unsigned id)
int	mbc_py_nodal_destroy (unsigned id)
int	mbc_py_modal_initialize (const char *const path, const char *const host, unsigned port, int timeout, unsigned verbose, unsigned data_and_next, unsigned refnode, unsigned modes)
int	mbc_py_modal_negotiate (unsigned id)
int	mbc_py_modal_send (unsigned id, int last)
int	mbc_py_modal_recv (unsigned id)
int	mbc_py_modal_destroy (unsigned id)

Function Documentation

int mbc_py_modal_destroy

(

unsigned

id

)

Definition at line 426 of file mbc_py.cc.

References m_mbc, and mbc_modal_destroy().

{
        if (id >= m_mbc.size()) {
                return -1;
        }

        mbc_modal_destroy(&m_mbc[id]);

        return 0;
}

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int mbc_py_modal_initialize	(	const char *const	path,
		const char *const	host,
		unsigned	port,
		int	timeout,
		unsigned	verbose,
		unsigned	data_and_next,
		unsigned	refnode,
		unsigned	modes
	)

Definition at line 312 of file mbc_py.cc.

References data_and_next, mbc_t::data_and_next, m_mbc, mbc, mbc_modal_t::mbc, mbc_inet_init(), mbc_modal_init(), mbc_unix_init(), timeout, mbc_t::timeout, verbose, and mbc_t::verbose.

{
        mbc_modal_t mbc;
        std::memset(&mbc, 0, sizeof(mbc_modal_t));

        mbc.mbc.data_and_next = data_and_next;
        mbc.mbc.verbose = verbose;
        mbc.mbc.timeout = timeout;

        if (mbc.mbc.verbose) {
                if (path && path[0]) {
                        std::cout << "connecting to path=" << path << std::endl;
                } else {
                        std::cout << "connecting to host=" << host << ":" << port << std::endl;
                }

                if (mbc.mbc.timeout < 0) {
                        std::cout << "timeout=forever" << std::endl;
                } else {
                        std::cout << "timeout=" << mbc.mbc.timeout << std::endl;
                }
        }

        if (path && path[0]) {
                if (mbc_unix_init((mbc_t *)&mbc, path)) {
                        return -1;
                }

        } else if (host && host[0]) {
                if (mbc_inet_init((mbc_t *)&mbc, host, port)) {
                        return -1;
                }

        } else {
                return -1;
        }

        if (mbc_modal_init(&mbc, refnode, modes)) {
                return -1;
        }

        int id = m_mbc.size();
        m_mbc.push_back(mbc);

        return id;
}

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int mbc_py_modal_negotiate

(

unsigned

id

)

Definition at line 363 of file mbc_py.cc.

References m_mbc, MBC_F_REF_NODE, mbc_m_p, mbc_m_p_size, mbc_m_q, mbc_m_q_size, mbc_m_qp, mbc_m_qp_size, mbc_modal_negotiate_request(), MBC_P, MBC_Q, MBC_QP, mbc_r_f, MBC_R_F, mbc_r_f_size, mbc_r_m, MBC_R_M, mbc_r_m_size, mbc_r_omega, MBC_R_OMEGA, mbc_r_omega_size, mbc_r_r, MBC_R_R, mbc_r_r_size, mbc_r_x, MBC_R_X, mbc_r_x_size, mbc_r_xp, MBC_R_XP, mbc_r_xp_size, and mbc_modal_t::modes.

{
        if (id >= m_mbc.size()) {
                return -1;
        }

        mbc_modal_t *mbcp = &::m_mbc[id];

        if (mbc_modal_negotiate_request(mbcp)) {
                return -1;
        }

        if (MBC_F_REF_NODE(mbcp)) {
                mbc_r_x = MBC_R_X(mbcp);
                mbc_r_x_size = 3;
                mbc_r_r = MBC_R_R(mbcp);
                mbc_r_r_size = 9;

                mbc_r_xp = MBC_R_XP(mbcp);
                mbc_r_xp_size = 3;
                mbc_r_omega = MBC_R_OMEGA(mbcp);
                mbc_r_omega_size = 3;

                mbc_r_f = MBC_R_F(mbcp);
                mbc_r_f_size = 3;
                mbc_r_m = MBC_R_M(mbcp);
                mbc_r_m_size = 3;
        }

        if (mbcp->modes > 0) {
                mbc_m_q = MBC_Q(mbcp);
                mbc_m_q_size = mbcp->modes;
                mbc_m_qp = MBC_QP(mbcp);
                mbc_m_qp_size = mbcp->modes;

                mbc_m_p = MBC_P(mbcp);
                mbc_m_p_size = mbcp->modes;
        }

        return id;
}

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int mbc_py_modal_recv

(

unsigned

id

)

Definition at line 416 of file mbc_py.cc.

References m_mbc, and mbc_modal_get_motion().

{
        if (id >= m_mbc.size()) {
                return -1;
        }

        return mbc_modal_get_motion(&m_mbc[id]);
}

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int mbc_py_modal_send	(	unsigned	id,
		int	last
	)

Definition at line 406 of file mbc_py.cc.

References m_mbc, and mbc_modal_put_forces().

{
        if (id >= m_mbc.size()) {
                return -1;
        }

        return mbc_modal_put_forces(&m_mbc[id], last);
}

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int mbc_py_nodal_destroy

(

unsigned

id

)

Definition at line 288 of file mbc_py.cc.

References mbc_nodal_destroy(), and n_mbc.

{
        if (id >= n_mbc.size()) {
                return -1;
        }

        mbc_nodal_destroy(&::n_mbc[id]);

        return 0;
}

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int mbc_py_nodal_initialize	(	const char *const	path,
		const char *const	host,
		unsigned	port,
		int	timeout,
		unsigned	verbose,
		unsigned	data_and_next,
		unsigned	refnode,
		unsigned	nodes,
		unsigned	labels,
		unsigned	rot,
		unsigned	accels
	)

Definition at line 97 of file mbc_py.cc.

References data_and_next, mbc_t::data_and_next, mbc, mbc_nodal_t::mbc, mbc_inet_init(), mbc_nodal_init(), mbc_unix_init(), n_mbc, timeout, mbc_t::timeout, verbose, and mbc_t::verbose.

{
        mbc_nodal_t mbc;
        std::memset(&mbc, 0, sizeof(mbc_nodal_t));

        mbc.mbc.data_and_next = data_and_next;
        mbc.mbc.verbose = verbose;
        mbc.mbc.timeout = timeout;

        if (mbc.mbc.verbose) {
                if (path && path[0]) {
                        std::cout << "connecting to path=" << path << std::endl;
                } else {
                        std::cout << "connecting to host=" << host << ":" << port << std::endl;
                }

                if (mbc.mbc.timeout < 0) {
                        std::cout << "timeout=forever" << std::endl;
                } else {
                        std::cout << "timeout=" << mbc.mbc.timeout << std::endl;
                }
        }

        if (path && path[0]) {
                if (mbc_unix_init((mbc_t *)&mbc, path)) {
                        return -1;
                }

        } else if (host && host[0]) {
                if (mbc_inet_init((mbc_t *)&mbc, host, port)) {
                        return -1;
                }

        } else {
                return -1;
        }

        if (mbc_nodal_init(&mbc, refnode, nodes, labels, rot, accels)) {
                return -1;
        }

        int id = ::n_mbc.size();
        ::n_mbc.push_back(mbc);

        return id;
}

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int mbc_py_nodal_negotiate

(

unsigned

id

)

Definition at line 149 of file mbc_py.cc.

References MBC_F_ACCELS, MBC_F_LABELS, MBC_F_REF_NODE, MBC_F_ROT, MBC_F_ROT_REF_NODE, mbc_n_d_labels, MBC_N_D_LABELS, mbc_n_d_labels_size, mbc_n_euler_123, MBC_N_EULER_123, mbc_n_euler_123_size, mbc_n_f, MBC_N_F, mbc_n_f_size, mbc_n_k_labels, MBC_N_K_LABELS, mbc_n_k_labels_size, mbc_n_m, MBC_N_M, mbc_n_m_size, mbc_n_omega, MBC_N_OMEGA, mbc_n_omega_size, mbc_n_omegap, MBC_N_OMEGAP, mbc_n_omegap_size, mbc_n_r, MBC_N_R, mbc_n_r_size, mbc_n_theta, MBC_N_THETA, mbc_n_theta_size, mbc_n_x, MBC_N_X, mbc_n_x_size, mbc_n_xp, MBC_N_XP, mbc_n_xp_size, mbc_n_xpp, MBC_N_XPP, mbc_n_xpp_size, mbc_nodal_negotiate_request(), mbc_r_d_label, MBC_R_D_LABEL, mbc_r_d_label_size, mbc_r_euler_123, MBC_R_EULER_123, mbc_r_euler_123_size, mbc_r_f, MBC_R_F, mbc_r_f_size, mbc_r_k_label, MBC_R_K_LABEL, mbc_r_k_label_size, mbc_r_m, MBC_R_M, mbc_r_m_size, mbc_r_omega, MBC_R_OMEGA, mbc_r_omega_size, mbc_r_omegap, MBC_R_OMEGAP, mbc_r_omegap_size, mbc_r_r, MBC_R_R, mbc_r_r_size, mbc_r_theta, MBC_R_THETA, mbc_r_theta_size, mbc_r_x, MBC_R_X, mbc_r_x_size, mbc_r_xp, MBC_R_XP, mbc_r_xp_size, mbc_r_xpp, MBC_R_XPP, mbc_r_xpp_size, MBC_ROT_EULER_123, MBC_ROT_MAT, MBC_ROT_NONE, MBC_ROT_THETA, n_mbc, and mbc_nodal_t::nodes.

{
        if (id >= n_mbc.size()) {
                return -1;
        }

        mbc_nodal_t *mbcp = &::n_mbc[id];

        if (mbc_nodal_negotiate_request(mbcp)) {
                return -1;
        }

        if (MBC_F_REF_NODE(mbcp)) {
                if (MBC_F_LABELS(mbcp)) {
                        mbc_r_k_label = &MBC_R_K_LABEL(mbcp);
                        mbc_r_k_label_size = 1;

                        mbc_r_d_label = &MBC_R_D_LABEL(mbcp);
                        mbc_r_d_label_size = 1;
                }

                mbc_r_x = MBC_R_X(mbcp);
                mbc_r_x_size = 3;

                switch (MBC_F_ROT_REF_NODE(mbcp)) {
                case MBC_ROT_THETA:
                        mbc_r_theta = MBC_R_THETA(mbcp);
                        mbc_r_theta_size = 3;
                        break;

                case MBC_ROT_MAT:
                        mbc_r_r = MBC_R_R(mbcp);
                        mbc_r_r_size = 9;
                        break;

                case MBC_ROT_EULER_123:
                        mbc_r_euler_123 = MBC_R_EULER_123(mbcp);
                        mbc_r_euler_123_size = 3;
                        break;

                default:
                        std::cerr << "mbc_py_nodal_negotiate: unknown reference node orientation" << std::endl;
                        return -1;
                }

                mbc_r_xp = MBC_R_XP(mbcp);
                mbc_r_xp_size = 3;
                mbc_r_omega = MBC_R_OMEGA(mbcp);
                mbc_r_omega_size = 3;

                if (MBC_F_ACCELS(mbcp)) {
                        mbc_r_xpp = MBC_R_XPP(mbcp);
                        mbc_r_xpp_size = 3;
                        mbc_r_omegap = MBC_R_OMEGAP(mbcp);
                        mbc_r_omegap_size = 3;
                }

                mbc_r_f = MBC_R_F(mbcp);
                mbc_r_f_size = 3;
                mbc_r_m = MBC_R_M(mbcp);
                mbc_r_m_size = 3;
        }

        if (mbcp->nodes > 0) {
                if (MBC_F_LABELS(mbcp)) {
                        mbc_n_k_labels = MBC_N_K_LABELS(mbcp);
                        mbc_n_k_labels_size = mbcp->nodes;
                        mbc_n_d_labels = MBC_N_D_LABELS(mbcp);
                        mbc_n_d_labels_size = mbcp->nodes;
                }

                mbc_n_x = MBC_N_X(mbcp);
                mbc_n_x_size = 3*mbcp->nodes;

                switch (MBC_F_ROT(mbcp)) {
                case MBC_ROT_THETA:
                        mbc_n_theta = MBC_N_THETA(mbcp);
                        mbc_n_theta_size = 3*mbcp->nodes;
                        break;

                case MBC_ROT_MAT:
                        mbc_n_r = MBC_N_R(mbcp);
                        mbc_n_r_size = 9*mbcp->nodes;
                        break;

                case MBC_ROT_EULER_123:
                        mbc_n_euler_123 = MBC_N_EULER_123(mbcp);
                        mbc_n_euler_123_size = 3*mbcp->nodes;

                case MBC_ROT_NONE:
                        break;

                default:
                        std::cerr << "mbc_py_nodal_negotiate: unknown node orientation " << MBC_F_ROT(mbcp) << std::endl;
                        return -1;
                }

                mbc_n_xp = MBC_N_XP(mbcp);
                mbc_n_xp_size = 3*mbcp->nodes;
                mbc_n_omega = MBC_N_OMEGA(mbcp);
                mbc_n_omega_size = 3*mbcp->nodes;

                if (MBC_F_ACCELS(mbcp)) {
                        mbc_n_xpp = MBC_N_XPP(mbcp);
                        mbc_n_xpp_size = 3*mbcp->nodes;
                        mbc_n_omegap = MBC_N_OMEGAP(mbcp);
                        mbc_n_omegap_size = 3*mbcp->nodes;
                }

                mbc_n_f = MBC_N_F(mbcp);
                mbc_n_f_size = 3*mbcp->nodes;
                mbc_n_m = MBC_N_M(mbcp);
                mbc_n_m_size = 3*mbcp->nodes;
        }

        return id;
}

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int mbc_py_nodal_recv

(

unsigned

id

)

Definition at line 278 of file mbc_py.cc.

References mbc_nodal_get_motion(), and n_mbc.

{
        if (id >= n_mbc.size()) {
                return -1;
        }

        return mbc_nodal_get_motion(&::n_mbc[id]);
}

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int mbc_py_nodal_send	(	unsigned	id,
		int	last
	)

Definition at line 268 of file mbc_py.cc.

References mbc_nodal_put_forces(), and n_mbc.

{
        if (id >= n_mbc.size()) {
                return -1;
        }

        return mbc_nodal_put_forces(&::n_mbc[id], last);
}

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