test_modalext_socket.c

Go to the documentation of this file.

/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/utils/test_modalext_socket.c,v 1.16 2017/01/12 15:10:28 masarati Exp $ */
/* 
 * MBDyn (C) is a multibody analysis code. 
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <string.h>

/*
 * NOTE: this is all we use from MBDyn.  It was intentionally designed
 * to be configuration-independent.
 */
#include "mbc.h"

/* test tool specific stuff */
static volatile sig_atomic_t keep_going = 1;

static void
sh(int signum)
{
        keep_going = 0;
        signal(signum, SIG_DFL);
}

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

int
main(int argc, char *argv[])
{
        int sleeptime = 1;
        int iters = 1;
        int iters_random = 0;
        unsigned steps;

        char *path = NULL;
        char *host = NULL;
        unsigned short int port = -1;

        int refnode = 0;
        unsigned modes = 0;

        mbc_modal_t     mbcx = { { 0 } };
        mbc_modal_t     *mbc = &mbcx;

        double fx[6], *f0 = NULL;
        double *p0 = NULL;

        while (1) {
                int opt = getopt(argc, argv, "c:f:H:M:p:rs:vx");

                if (opt == EOF) {
                        break;
                }

                switch (opt) {
                case 'c':
                        if (strncasecmp(optarg, "random:", sizeof("random:") -1) == 0) {
                                iters_random = 1;
                                iters = atoi(&optarg[sizeof("random:") -1]);

                        } else {
                                iters = atoi(optarg);
                                printf("iterations: %d\n", iters);
                        }
                        if (iters < 1) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "invalid iterations %s\n",
                                        optarg);
                                usage();
                        }
                        break;

                case 'f': {
                        char *s;
                        int i;

                        if (f0 != NULL) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "-f already provided\n");
                                usage();
                        }

                        f0 = fx;

                        s = optarg;
                        for (i = 0; i < 6; i++) {
                                char *next;

                                f0[i] = strtod(s, &next);
                                if (next == s) {
                                        fprintf(stderr, "test_modalext_socket: "
                                                "unable to parse f[%d]\n", i);
                                        usage();
                                }

                                if (i < 5) {
                                        if (next[0] != ',') {
                                                fprintf(stderr, "test_modalext_socket: "
                                                        "unable to parse past f[%d]\n", i);
                                                usage();
                                        }

                                        s = &next[1];

                                } else {
                                        if (next[0] != '\0') {
                                                fprintf(stderr, "test_modalext_socket: "
                                                        "extra cruft past f[%d]\n", i);
                                                usage();
                                        }
                                }
                        }
                        } break;

                case 'H':
                        if (strncasecmp(optarg, "inet://", sizeof("inet://") - 1) == 0) {
                                char *ptr, *next;
                                long l;

                                host = optarg + sizeof("inet://") - 1;
                                ptr = strchr(host, ':');
                                if (ptr == NULL) {
                                        usage();
                                }
                                *ptr = '\0';
                                ptr++;
                                l = strtol(ptr, &next, 10);
                                if (next == ptr || next[0] != '\0') {
                                        usage();
                                }
                                if (l <= 0) {
                                        usage();
                                }
                                port = (unsigned short)l;

                        } else if (strncasecmp(optarg, "local://", sizeof("local://") - 1) == 0) {
                                path = optarg + sizeof("local://") - 1;
                                if (path[0] != '/') {
                                        usage();
                                }

                        } else {
                                usage();
                        }
                                
                        break;

                case 'M': {
                        int imodes;

                        if (p0 != NULL) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "-M cannot follow -p\n");
                                usage();
                        }

                        imodes = atoi(optarg);
                        if (imodes <= 0) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "invalid mode number %s\n",
                                        optarg);
                                usage();
                        }
                        modes = (unsigned)imodes;
                        } break;

                case 'p': {
                        char *s;
                        int i;

                        if (p0 != NULL) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "-p already provided\n");
                                usage();
                        }

                        if (modes == 0) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "-p requires -M\n");
                                usage();
                        }

                        p0 = (double *)calloc(sizeof(double), modes);
                        if (p0 == NULL) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "malloc for modal force values failed\n");
                                exit(EXIT_FAILURE);
                        }

                        s = optarg;
                        for (i = 0; i < modes; i++) {
                                char *next;

                                p0[i] = strtod(s, &next);
                                if (next == s) {
                                        fprintf(stderr, "test_modalext_socket: "
                                                "unable to parse p[%d]\n", i);
                                        usage();
                                }

                                if (i < modes - 1) {
                                        if (next[0] != ',') {
                                                fprintf(stderr, "test_modalext_socket: "
                                                        "unable to parse past p[%d]\n", i);
                                                usage();
                                        }

                                        s = &next[1];

                                } else {
                                        if (next[0] != '\0') {
                                                fprintf(stderr, "test_modalext_socket: "
                                                        "extra cruft past p[%d]\n", i);
                                                usage();
                                        }
                                }
                        }
                        } break;

                case 'r':
                        refnode = 1;
                        break;

                case 's':
                        sleeptime = atoi(optarg);
                        if (sleeptime < 0) {
                                fprintf(stderr, "test_modalext_socket: "
                                        "invalid iters %s\n",
                                        optarg);
                                usage();
                        }
                        break;

                case 'v':
                        mbc->mbc.verbose = 1;
                        break;

                case 'x':
                        mbc->mbc.data_and_next = 1;
                        break;

                default:
                        usage();
                }
        }

        if (path) {
                if (mbc_unix_init((mbc_t *)mbc, path)) {
                        exit(EXIT_FAILURE);
                }

        } else if (host) {
                if (mbc_inet_init((mbc_t *)mbc, host, port)) {
                        exit(EXIT_FAILURE);
                }

        } else {
                usage();
        }

        if (mbc_modal_init(mbc, refnode, modes)) {
                exit(EXIT_FAILURE);
        }

        if (mbc_modal_negotiate_request(mbc)) {
                exit(EXIT_FAILURE);
        }

        signal(SIGTERM, sh);
        signal(SIGINT, sh);

        for (steps = 0; keep_going > 0; steps++) {
                int iter;
                int niters;

                if (iters_random) {
                        niters = rand() % iters + 1;
                        printf("    iterations within this iter: %d\n", niters);

                } else {
                        niters = iters;
                }

                for (iter = 0; iter < niters; iter++) {
                        if (mbc_modal_get_motion(mbc)) {
                                goto done;
                        }

                        if (refnode && mbc->mbc.verbose) {
                                double *x = MBC_R_X(mbc);
                                double *r;
                                double *v = MBC_R_XP(mbc);
                                double *w = MBC_R_OMEGA(mbc);

                                fprintf(stdout, "x={%+16.8e,%+16.8e,%+16.8e}\n", x[0], x[1], x[2]);
                                switch (MBC_F_ROT(mbc)) {
                                case MBC_ROT_THETA:
                                        r = MBC_R_THETA(mbc);
                                        fprintf(stdout, "t={%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[1], r[2]);
                                        break;

                                case MBC_ROT_MAT:
                                        r = MBC_R_R(mbc);
                                        fprintf(stdout, "R={{%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[3], r[6]);
                                        fprintf(stdout, "   {%+16.8e,%+16.8e,%+16.8e};\n", r[1], r[4], r[7]);
                                        fprintf(stdout, "   {%+16.8e,%+16.8e,%+16.8e}};\n", r[2], r[5], r[8]);
                                        break;

                                case MBC_ROT_EULER_123:
                                        r = MBC_R_EULER_123(mbc);
                                        fprintf(stdout, "e={%+16.8e,%+16.8e,%+16.8e};\n", r[0], r[1], r[2]);
                                        break;
                                }
                                fprintf(stdout, "v={%+16.8e,%+16.8e,%+16.8e}\n", v[0], v[1], v[2]);
                                fprintf(stdout, "w={%+16.8e,%+16.8e,%+16.8e}\n", w[0], w[1], w[2]);
                        }

                        if (modes > 0 && mbc->mbc.verbose) {
                                double *q = MBC_Q(mbc);
                                double *qp = MBC_QP(mbc);
                                int m;

                                for (m = 0; m < modes; m++) {
                                        fprintf(stdout, "mode #%d: %+16.8e %+16.8e\n", m, q[m], qp[m]);
                                }
                        }

                        if (sleeptime) {
                                sleep(sleeptime);
                        }

                        /* set forces */
                        if (refnode) {
                                double *f = MBC_R_F(mbc);
                                double *m = MBC_R_M(mbc);

                                if (f0 != NULL) {
                                        f[0] = f0[0];
                                        f[1] = f0[1];
                                        f[2] = f0[2];

                                        m[0] = f0[3];
                                        m[1] = f0[4];
                                        m[2] = f0[5];

                                } else {
                                        f[0] = 1.;
                                        f[1] = 2.;
                                        f[2] = 3.;

                                        m[0] = 4.;
                                        m[1] = 5.;
                                        m[2] = 6.;
                                }
                        }

                        if (modes > 0) {
                                double *p = MBC_P(mbc);
                                int m;

                                if (p0) {
                                        for (m = 0; m < modes; m++) {
                                                p[m] = p0[m];
                                        }

                                } else {
                                        for (m = 0; m < modes; m++) {
                                                p[m] = (double)(m + 1);
                                        }
                                }
                        }

                        if (mbc_modal_put_forces(mbc, (iter == niters - 1))) {
                                goto done;
                        }
                }
        }

done:;
        mbc_modal_destroy(mbc);

        if (p0) {
                free(p0);
        }

        return 0;
}