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test_modalext_socket.c File Reference
#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <string.h>
#include "mbc.h"
Include dependency graph for test_modalext_socket.c:

Go to the source code of this file.

Functions

static void sh (int signum)
 
void usage (void)
 
int main (int argc, char *argv[])
 

Variables

static volatile sig_atomic_t keep_going = 1
 

Function Documentation

int main ( int  argc,
char *  argv[] 
)

Definition at line 73 of file test_modalext_socket.c.

References mbc_t::data_and_next, done, f0, fx, getopt(), host, iters, iters_random, mbc, mbc_modal_t::mbc, MBC_F_ROT, mbc_inet_init(), mbc_modal_destroy(), mbc_modal_get_motion(), mbc_modal_init(), mbc_modal_negotiate_request(), mbc_modal_put_forces(), MBC_P, MBC_Q, MBC_QP, MBC_R_EULER_123, MBC_R_F, MBC_R_M, MBC_R_OMEGA, MBC_R_R, MBC_R_THETA, MBC_R_X, MBC_R_XP, MBC_ROT_EULER_123, MBC_ROT_MAT, MBC_ROT_THETA, mbc_unix_init(), mbcx, optarg, p0, path, port, refnode, sh(), sleeptime, steps, usage(), and mbc_t::verbose.

74 {
75  int sleeptime = 1;
76  int iters = 1;
77  int iters_random = 0;
78  unsigned steps;
79 
80  char *path = NULL;
81  char *host = NULL;
82  unsigned short int port = -1;
83 
84  int refnode = 0;
85  unsigned modes = 0;
86 
87  mbc_modal_t mbcx = { { 0 } };
88  mbc_modal_t *mbc = &mbcx;
89 
90  double fx[6], *f0 = NULL;
91  double *p0 = NULL;
92 
93  while (1) {
94  int opt = getopt(argc, argv, "c:f:H:M:p:rs:vx");
95 
96  if (opt == EOF) {
97  break;
98  }
99 
100  switch (opt) {
101  case 'c':
102  if (strncasecmp(optarg, "random:", sizeof("random:") -1) == 0) {
103  iters_random = 1;
104  iters = atoi(&optarg[sizeof("random:") -1]);
105 
106  } else {
107  iters = atoi(optarg);
108  printf("iterations: %d\n", iters);
109  }
110  if (iters < 1) {
111  fprintf(stderr, "test_modalext_socket: "
112  "invalid iterations %s\n",
113  optarg);
114  usage();
115  }
116  break;
117 
118  case 'f': {
119  char *s;
120  int i;
121 
122  if (f0 != NULL) {
123  fprintf(stderr, "test_modalext_socket: "
124  "-f already provided\n");
125  usage();
126  }
127 
128  f0 = fx;
129 
130  s = optarg;
131  for (i = 0; i < 6; i++) {
132  char *next;
133 
134  f0[i] = strtod(s, &next);
135  if (next == s) {
136  fprintf(stderr, "test_modalext_socket: "
137  "unable to parse f[%d]\n", i);
138  usage();
139  }
140 
141  if (i < 5) {
142  if (next[0] != ',') {
143  fprintf(stderr, "test_modalext_socket: "
144  "unable to parse past f[%d]\n", i);
145  usage();
146  }
147 
148  s = &next[1];
149 
150  } else {
151  if (next[0] != '\0') {
152  fprintf(stderr, "test_modalext_socket: "
153  "extra cruft past f[%d]\n", i);
154  usage();
155  }
156  }
157  }
158  } break;
159 
160  case 'H':
161  if (strncasecmp(optarg, "inet://", sizeof("inet://") - 1) == 0) {
162  char *ptr, *next;
163  long l;
164 
165  host = optarg + sizeof("inet://") - 1;
166  ptr = strchr(host, ':');
167  if (ptr == NULL) {
168  usage();
169  }
170  *ptr = '\0';
171  ptr++;
172  l = strtol(ptr, &next, 10);
173  if (next == ptr || next[0] != '\0') {
174  usage();
175  }
176  if (l <= 0) {
177  usage();
178  }
179  port = (unsigned short)l;
180 
181  } else if (strncasecmp(optarg, "local://", sizeof("local://") - 1) == 0) {
182  path = optarg + sizeof("local://") - 1;
183  if (path[0] != '/') {
184  usage();
185  }
186 
187  } else {
188  usage();
189  }
190 
191  break;
192 
193  case 'M': {
194  int imodes;
195 
196  if (p0 != NULL) {
197  fprintf(stderr, "test_modalext_socket: "
198  "-M cannot follow -p\n");
199  usage();
200  }
201 
202  imodes = atoi(optarg);
203  if (imodes <= 0) {
204  fprintf(stderr, "test_modalext_socket: "
205  "invalid mode number %s\n",
206  optarg);
207  usage();
208  }
209  modes = (unsigned)imodes;
210  } break;
211 
212  case 'p': {
213  char *s;
214  int i;
215 
216  if (p0 != NULL) {
217  fprintf(stderr, "test_modalext_socket: "
218  "-p already provided\n");
219  usage();
220  }
221 
222  if (modes == 0) {
223  fprintf(stderr, "test_modalext_socket: "
224  "-p requires -M\n");
225  usage();
226  }
227 
228  p0 = (double *)calloc(sizeof(double), modes);
229  if (p0 == NULL) {
230  fprintf(stderr, "test_modalext_socket: "
231  "malloc for modal force values failed\n");
232  exit(EXIT_FAILURE);
233  }
234 
235  s = optarg;
236  for (i = 0; i < modes; i++) {
237  char *next;
238 
239  p0[i] = strtod(s, &next);
240  if (next == s) {
241  fprintf(stderr, "test_modalext_socket: "
242  "unable to parse p[%d]\n", i);
243  usage();
244  }
245 
246  if (i < modes - 1) {
247  if (next[0] != ',') {
248  fprintf(stderr, "test_modalext_socket: "
249  "unable to parse past p[%d]\n", i);
250  usage();
251  }
252 
253  s = &next[1];
254 
255  } else {
256  if (next[0] != '\0') {
257  fprintf(stderr, "test_modalext_socket: "
258  "extra cruft past p[%d]\n", i);
259  usage();
260  }
261  }
262  }
263  } break;
264 
265  case 'r':
266  refnode = 1;
267  break;
268 
269  case 's':
270  sleeptime = atoi(optarg);
271  if (sleeptime < 0) {
272  fprintf(stderr, "test_modalext_socket: "
273  "invalid iters %s\n",
274  optarg);
275  usage();
276  }
277  break;
278 
279  case 'v':
280  mbc->mbc.verbose = 1;
281  break;
282 
283  case 'x':
284  mbc->mbc.data_and_next = 1;
285  break;
286 
287  default:
288  usage();
289  }
290  }
291 
292  if (path) {
293  if (mbc_unix_init((mbc_t *)mbc, path)) {
294  exit(EXIT_FAILURE);
295  }
296 
297  } else if (host) {
298  if (mbc_inet_init((mbc_t *)mbc, host, port)) {
299  exit(EXIT_FAILURE);
300  }
301 
302  } else {
303  usage();
304  }
305 
306  if (mbc_modal_init(mbc, refnode, modes)) {
307  exit(EXIT_FAILURE);
308  }
309 
310  if (mbc_modal_negotiate_request(mbc)) {
311  exit(EXIT_FAILURE);
312  }
313 
314  signal(SIGTERM, sh);
315  signal(SIGINT, sh);
316 
317  for (steps = 0; keep_going > 0; steps++) {
318  int iter;
319  int niters;
320 
321  if (iters_random) {
322  niters = rand() % iters + 1;
323  printf(" iterations within this iter: %d\n", niters);
324 
325  } else {
326  niters = iters;
327  }
328 
329  for (iter = 0; iter < niters; iter++) {
330  if (mbc_modal_get_motion(mbc)) {
331  goto done;
332  }
333 
334  if (refnode && mbc->mbc.verbose) {
335  double *x = MBC_R_X(mbc);
336  double *r;
337  double *v = MBC_R_XP(mbc);
338  double *w = MBC_R_OMEGA(mbc);
339 
340  fprintf(stdout, "x={%+16.8e,%+16.8e,%+16.8e}\n", x[0], x[1], x[2]);
341  switch (MBC_F_ROT(mbc)) {
342  case MBC_ROT_THETA:
343  r = MBC_R_THETA(mbc);
344  fprintf(stdout, "t={%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[1], r[2]);
345  break;
346 
347  case MBC_ROT_MAT:
348  r = MBC_R_R(mbc);
349  fprintf(stdout, "R={{%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[3], r[6]);
350  fprintf(stdout, " {%+16.8e,%+16.8e,%+16.8e};\n", r[1], r[4], r[7]);
351  fprintf(stdout, " {%+16.8e,%+16.8e,%+16.8e}};\n", r[2], r[5], r[8]);
352  break;
353 
354  case MBC_ROT_EULER_123:
355  r = MBC_R_EULER_123(mbc);
356  fprintf(stdout, "e={%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[1], r[2]);
357  break;
358  }
359  fprintf(stdout, "v={%+16.8e,%+16.8e,%+16.8e}\n", v[0], v[1], v[2]);
360  fprintf(stdout, "w={%+16.8e,%+16.8e,%+16.8e}\n", w[0], w[1], w[2]);
361  }
362 
363  if (modes > 0 && mbc->mbc.verbose) {
364  double *q = MBC_Q(mbc);
365  double *qp = MBC_QP(mbc);
366  int m;
367 
368  for (m = 0; m < modes; m++) {
369  fprintf(stdout, "mode #%d: %+16.8e %+16.8e\n", m, q[m], qp[m]);
370  }
371  }
372 
373  if (sleeptime) {
374  sleep(sleeptime);
375  }
376 
377  /* set forces */
378  if (refnode) {
379  double *f = MBC_R_F(mbc);
380  double *m = MBC_R_M(mbc);
381 
382  if (f0 != NULL) {
383  f[0] = f0[0];
384  f[1] = f0[1];
385  f[2] = f0[2];
386 
387  m[0] = f0[3];
388  m[1] = f0[4];
389  m[2] = f0[5];
390 
391  } else {
392  f[0] = 1.;
393  f[1] = 2.;
394  f[2] = 3.;
395 
396  m[0] = 4.;
397  m[1] = 5.;
398  m[2] = 6.;
399  }
400  }
401 
402  if (modes > 0) {
403  double *p = MBC_P(mbc);
404  int m;
405 
406  if (p0) {
407  for (m = 0; m < modes; m++) {
408  p[m] = p0[m];
409  }
410 
411  } else {
412  for (m = 0; m < modes; m++) {
413  p[m] = (double)(m + 1);
414  }
415  }
416  }
417 
418  if (mbc_modal_put_forces(mbc, (iter == niters - 1))) {
419  goto done;
420  }
421  }
422  }
423 
424 done:;
425  mbc_modal_destroy(mbc);
426 
427  if (p0) {
428  free(p0);
429  }
430 
431  return 0;
432 }
mbc_modal_t
nodal stuff (partially opaque).
Definition: mbc.h:509
iters
static int iters
Definition: test_strext_socket_lib.c:81
MBC_P
#define MBC_P(mbc)
Definition: mbc.h:518
mbc_modal_destroy
int mbc_modal_destroy(mbc_modal_t *mbc)
Destroy modal data.
f0
static double * f0
Definition: test_strext_socket_lib.c:99
mbc_t::verbose
int verbose
Definition: mbc.h:128
MBC_R_OMEGA
#define MBC_R_OMEGA(mbc)
Definition: mbc.h:288
p0
static double * p0
Definition: test_strext_socket_lib.c:100
MBC_QP
#define MBC_QP(mbc)
Definition: mbc.h:517
iters_random
static int iters_random
Definition: test_strext_socket_lib.c:82
mbc_t::data_and_next
char data_and_next
Definition: mbc.h:125
MBC_R_M
#define MBC_R_M(mbc)
Definition: mbc.h:293
MBC_R_XP
#define MBC_R_XP(mbc)
Definition: mbc.h:287
MBC_Q
#define MBC_Q(mbc)
Definition: mbc.h:516
mbc_modal_negotiate_request
int mbc_modal_negotiate_request(mbc_modal_t *mbc)
Negotiate modal data.
host
const char * host
Definition: autopilot.c:142
fx
static double fx[6]
Definition: test_strext_socket_lib.c:99
mbc_modal_init
int mbc_modal_init(mbc_modal_t *mbc, int refnode, unsigned modes)
Initialize modal data.
MBC_F_ROT
#define MBC_F_ROT(mbc)
Definition: mbc.h:243
mbc_t
Connection data structure (partially opaque)
Definition: mbc.h:103
keep_going
static volatile sig_atomic_t keep_going
Definition: test_modalext_socket.c:46
mbc
static mbc_nodal_t * mbc
Definition: test_strext_socket_lib.c:97
MBC_R_R
#define MBC_R_R(mbc)
Definition: mbc.h:285
getopt
int getopt(int argc, char *const argv[], const char *opts)
Definition: getopt.c:93
mbc_unix_init
int mbc_unix_init(mbc_t *mbc, const char *path)
Initialize communication using "unix" socket.
MBC_R_F
#define MBC_R_F(mbc)
Definition: mbc.h:292
sleeptime
int sleeptime
Definition: test_modalext_edge.c:45
mbcx
static mbc_nodal_t mbcx
Definition: test_strext_socket_lib.c:96
done
static unsigned done
Definition: gust.cc:209
steps
static unsigned steps
Definition: test_strext_socket_lib.c:83
mbc_inet_init
int mbc_inet_init(mbc_t *mbc, const char *host, short unsigned port)
Initialize communication using "inet" socket.
mbc_modal_get_motion
int mbc_modal_get_motion(mbc_modal_t *mbc)
Get modal motion from peer.
MBC_R_X
#define MBC_R_X(mbc)
Definition: mbc.h:283
optarg
char * optarg
Definition: getopt.c:74
MBC_R_EULER_123
#define MBC_R_EULER_123(mbc)
Definition: mbc.h:286
port
unsigned short int port
Definition: autopilot.c:143
usage
void usage(void)
Definition: test_modalext_socket.c:56
MBC_R_THETA
#define MBC_R_THETA(mbc)
Definition: mbc.h:284
sh
static void sh(int signum)
Definition: test_modalext_socket.c:49
s2s_t::next
struct s2s_t * next
Definition: s2s.h:86
mbc_modal_t::mbc
mbc_t mbc
Definition: mbc.h:510
refnode
static int refnode
Definition: test_strext_socket_lib.c:86
path
const char * path
Definition: autopilot.c:141
mbc_modal_put_forces
int mbc_modal_put_forces(mbc_modal_t *mbc, int last)
Put forces to peer.

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static void sh ( int  signum)
static

Definition at line 49 of file test_modalext_socket.c.

Referenced by main().

50 {
51  keep_going = 0;
52  signal(signum, SIG_DFL);
53 }
keep_going
static volatile sig_atomic_t keep_going
Definition: test_modalext_socket.c:46
void usage ( void  )

Definition at line 56 of file test_modalext_socket.c.

Referenced by main().

57 {
58  fprintf(stderr,
59  "usage: testsocket [options]\n"
60  "\t-c [random:]<c>\tnumber of iterations\n"
61  "\t-f {fx,fy,fz,mx,my,mz} reference node force/moment\n"
62  "\t-H <url>\tURL (local://path | inet://host:port)\n"
63  "\t-M <modes>\tmodes number\n"
64  "\t-p {p1,...,pM}\tmodal forces (need -M first)\n"
65  "\t-r\t\tuse reference node data\n"
66  "\t-s <sleeptime>\tsleep time between tries\n"
67  "\t-v\t\tverbose\n"
68  "\t-x\t\tdata_and_next\n");
69  exit(EXIT_FAILURE);
70 }

Variable Documentation

volatile sig_atomic_t keep_going = 1
static

Definition at line 46 of file test_modalext_socket.c.