#include <rtai_out_elem.h>

Inheritance diagram for RTMBDynOutElem:

Collaboration diagram for RTMBDynOutElem:

Public Member Functions
	RTMBDynOutElem (unsigned int uL, const std::string &m, const std::string &host, unsigned long n, bool c, StreamContent *pSC, bool bNonBlocking)

virtual	~RTMBDynOutElem (void)

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

Public Member Functions inherited from StreamOutElem
	StreamOutElem (unsigned int uL, const std::string &name, unsigned int oe)

virtual	~StreamOutElem (void)

virtual Elem::Type	GetElemType (void) const

virtual void	WorkSpaceDim (integer piRows, integer piCols) const

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &X, const VectorHandler &XP)

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &X, const VectorHandler &XP)

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual unsigned int	iGetNumDof (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints h=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Protected Attributes
std::string	host

unsigned long	node

bool	create

int	port

bool	bNonBlocking

StreamContent *	pSC

void *	mbx

int(*	f_send )(unsigned long node, int port, void v_mbx, void msg, int msg_size)

Protected Attributes inherited from StreamOutElem
std::string	name

unsigned int	OutputEvery

unsigned int	OutputCounter

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Additional Inherited Members
Public Types inherited from StreamOutElem
enum	Type { UNDEFINED = -1, RTAI, SOCKETSTREAM, BUFFERSTREAM }

Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Detailed Description

Definition at line 43 of file rtai_out_elem.h.

Constructor & Destructor Documentation

RTMBDynOutElem::RTMBDynOutElem	(	unsigned int	uL,
		const std::string &	m,
		const std::string &	host,
		unsigned long	n,
		bool	c,
		StreamContent *	pSC,
		bool	bNonBlocking
	)

Definition at line 49 of file rtai_out_elem.cc.

References ASSERT, create, f_send, StreamContent::GetOutSize(), MBDYN_EXCEPT_ARGS, mbx, StreamOutElem::name, node, and port.

 : Elem(uL, flag(0)),
 StreamOutElem(uL, m, 1),
 host(host), node(n), create(c), port(-1),
 bNonBlocking(bNonBlocking),
 pSC(pSC),
 mbx(0),
 f_send(0)
 {
         /* RATIONALE:
          *
          * if host/node is present, the mailbox is "remote";
          * if it not, we may need to create it
          */
 
         if (create) {
                 ASSERT(node == 0);
 
                 if (rtmbdyn_rt_mbx_init(name.c_str(), pSC->GetOutSize(), &mbx)) {
                         silent_cerr("RTMBDyn mailbox(" << name << ") "
                                 "init failed" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
 
         } else {
                 if (node) {
                         /* get port ... */
                         port = rtmbdyn_rt_request_port(node);
                         /* FIXME: what in case of failure? */
                 }
 
                 if (rtmbdyn_RT_get_adr(node, port, name.c_str(), &mbx)) {
                         silent_cerr("RTMBDyn mailbox(" << name << ") "
                                 "get_adr failed" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
         }
 
         if (bNonBlocking) {
                 f_send = rtmbdyn_RT_mbx_send_if;
 
         } else {
                 f_send = rtmbdyn_RT_mbx_send;
         }
 }

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RTMBDynOutElem::~RTMBDynOutElem ( void )

virtual

Definition at line 97 of file rtai_out_elem.cc.

References mbx, pSC, and SAFEDELETE.

 {
         if (mbx) {
                 rtmbdyn_rt_mbx_delete(&mbx);
         }
 
         if (pSC) {
                 SAFEDELETE(pSC);
         }
 }

Member Function Documentation

void RTMBDynOutElem::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 116 of file rtai_out_elem.cc.

References f_send, StreamContent::GetOutBuf(), StreamContent::GetOutSize(), mbx, node, port, StreamContent::Prepare(), and pSC.

Referenced by AfterConvergence().

 {
         pSC->Prepare();
 
         int rc = f_send(node, -port, mbx, (void *)pSC->GetOutBuf(), pSC->GetOutSize());
         if (rc != pSC->GetOutSize()) {
                 /* FIXME: error */
         }
 }

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void RTMBDynOutElem::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP,
		const VectorHandler &	XPP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 128 of file rtai_out_elem.cc.

References AfterConvergence().

 {
         AfterConvergence(X, XP);
 }

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std::ostream & RTMBDynOutElem::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 109 of file rtai_out_elem.cc.

References WithLabel::GetLabel().

 {
         return out << "# RTMBDynOutElem(" << GetLabel() << ") "
                 "not implemented yet" << std::endl;
 }

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Member Data Documentation

bool RTMBDynOutElem::bNonBlocking

protected

Definition at line 50 of file rtai_out_elem.h.

bool RTMBDynOutElem::create

protected

Definition at line 48 of file rtai_out_elem.h.

Referenced by RTMBDynOutElem().

int(* RTMBDynOutElem::f_send)(unsigned long node, int port, void *v_mbx, void *msg, int msg_size)

protected

Definition at line 55 of file rtai_out_elem.h.

Referenced by AfterConvergence(), and RTMBDynOutElem().

std::string RTMBDynOutElem::host

protected

Definition at line 46 of file rtai_out_elem.h.

void* RTMBDynOutElem::mbx

protected

Definition at line 54 of file rtai_out_elem.h.

Referenced by AfterConvergence(), RTMBDynOutElem(), and ~RTMBDynOutElem().

unsigned long RTMBDynOutElem::node

protected

Definition at line 47 of file rtai_out_elem.h.

Referenced by AfterConvergence(), and RTMBDynOutElem().

int RTMBDynOutElem::port

protected

Definition at line 49 of file rtai_out_elem.h.

Referenced by AfterConvergence(), and RTMBDynOutElem().

StreamContent* RTMBDynOutElem::pSC

protected

Definition at line 52 of file rtai_out_elem.h.

Referenced by AfterConvergence(), and ~RTMBDynOutElem().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation