#include <rtai_in_drive.h>

Inheritance diagram for RTMBDynInDrive:

Collaboration diagram for RTMBDynInDrive:

Public Member Functions
	RTMBDynInDrive (unsigned int uL, const DriveHandler pDH, const std::string &sFileName, const std::string &host, integer nd, const std::vector< doublereal > &v0, StreamDrive::Modifier pMod, bool c, unsigned longn, bool bNonBlocking)

virtual	~RTMBDynInDrive (void)

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

virtual void	ServePending (const doublereal &t)

Public Member Functions inherited from StreamDrive
	StreamDrive (unsigned int uL, const DriveHandler pDH, const std::string &sFileName, integer nd, const std::vector< doublereal > &v0, bool c, StreamDrive::Modifier pmod)

virtual	~StreamDrive (void)

void	SetModifier (const Modifier *p)

const StreamDrive::Modifier *	pGetModifier (void) const

Public Member Functions inherited from FileDrive
	FileDrive (unsigned int uL, const DriveHandler *pDH, const std::string &s, integer nd, const std::vector< doublereal > &v0)

virtual	~FileDrive (void)

virtual Drive::Type	GetDriveType (void) const

virtual integer	iGetNumDrives (void) const

virtual doublereal	dGet (const doublereal &t, int i=1) const

Public Member Functions inherited from Drive
	Drive (unsigned int uL, const DriveHandler *pDH)

virtual	~Drive (void)

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

Protected Attributes
std::string	host

unsigned long	node

int	port

bool	bNonBlocking

void *	mbx

int(*	f_receive )(unsigned long node, int port, void mbx, void msg, int msg_size)

Protected Attributes inherited from StreamDrive
int	size

std::vector< char >	buf

bool	create

const Modifier *	pMod

Protected Attributes inherited from FileDrive
std::string	sFileName

integer	iNumDrives

doublereal *	pdVal

Protected Attributes inherited from Drive
const DriveHandler *	pDrvHdl

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Additional Inherited Members
Public Types inherited from Drive
enum	Type { UNKNOWN = -1, FILEDRIVE = 0, LASTDRIVETYPE }

enum	Bailout { BO_NONE = 0x0, BO_UPPER = 0x1, BO_LOWER = 0x2, BO_ANY = (BO_UPPER \| BO_LOWER) }

Static Protected Attributes inherited from Drive
static doublereal	dReturnValue = 0.

Detailed Description

Definition at line 43 of file rtai_in_drive.h.

Constructor & Destructor Documentation

RTMBDynInDrive::RTMBDynInDrive	(	unsigned int	uL,
		const DriveHandler *	pDH,
		const std::string &	sFileName,
		const std::string &	host,
		integer	nd,
		const std::vector< doublereal > &	v0,
		StreamDrive::Modifier *	pMod,
		bool	c,
		unsigned long	n,
		bool	bNonBlocking
	)

Definition at line 40 of file rtai_in_drive.cc.

References ASSERT, StreamDrive::create, f_receive, MBDYN_EXCEPT_ARGS, mbx, node, port, and StreamDrive::size.

 : StreamDrive(uL, pDH, sFileName, nd, v0, c, pMod),
 host(host), node(n), port(-1), bNonBlocking(bNonBlocking),
 mbx(NULL)
 {
         ASSERT(!sFileName.empty());
 
         if (create) {
                 ASSERT(node == 0);
 
                 if (rtmbdyn_rt_mbx_init(sFileName.c_str(), size, &mbx)) {
                         silent_cerr("RTMBDyn mailbox(" << sFileName << ") "
                                 "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, sFileName.c_str(), &mbx)) {
                         silent_cerr("RTMBDyn mailbox(" << sFileName << ") "
                                 "get_adr failed" << std::endl);
                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                 }
         }
 
         if (bNonBlocking) {
                 f_receive = rtmbdyn_RT_mbx_receive_if;
 
         } else {
                 f_receive = rtmbdyn_RT_mbx_receive;
         }
 }

RTMBDynInDrive::~RTMBDynInDrive ( void )

virtual

Definition at line 85 of file rtai_in_drive.cc.

References mbx.

 {
         /*
          * destroy mailbox and so on
          */
         if (mbx) {
                 rtmbdyn_rt_mbx_delete(&mbx);
         }
 }

Member Function Documentation

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

virtual

Implements FileDrive.

Definition at line 116 of file rtai_in_drive.cc.

 {
         return out << "0. /* RTMBDynInDrive not implemented yet */" << std::endl;
 }

void RTMBDynInDrive::ServePending ( const doublereal & t )

virtual

Implements Drive.

Definition at line 96 of file rtai_in_drive.cc.

References StreamDrive::buf, f_receive, FileDrive::iNumDrives, mbx, node, FileDrive::pdVal, port, and StreamDrive::size.

 {
         /*
          * store in pdVal the values of all the channels
          * served by the mailbox
          */
         int rc = f_receive(node, port, mbx, (void *)&buf[0], size);
         if (!rc) {
                 doublereal *rbuf = (doublereal *)&buf[0] - 1;
                 for (int i = 1; i <= iNumDrives; i++) {
                         pdVal[i] = rbuf[i];
                 }       
 
         } else {
                 /* FIXME: error */
         }
 }

Member Data Documentation

bool RTMBDynInDrive::bNonBlocking

protected

Definition at line 50 of file rtai_in_drive.h.

int(* RTMBDynInDrive::f_receive)(unsigned long node, int port, void *mbx, void *msg, int msg_size)

protected

Definition at line 54 of file rtai_in_drive.h.

Referenced by RTMBDynInDrive(), and ServePending().

std::string RTMBDynInDrive::host

protected

Definition at line 47 of file rtai_in_drive.h.

void* RTMBDynInDrive::mbx

protected

Definition at line 52 of file rtai_in_drive.h.

Referenced by RTMBDynInDrive(), ServePending(), and ~RTMBDynInDrive().

unsigned long RTMBDynInDrive::node

protected

Definition at line 48 of file rtai_in_drive.h.

Referenced by RTMBDynInDrive(), and ServePending().

int RTMBDynInDrive::port

protected

Definition at line 49 of file rtai_in_drive.h.

Referenced by RTMBDynInDrive(), and ServePending().

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