rtai_out_elem.h

Go to the documentation of this file.

/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/base/rtai_out_elem.h,v 1.31 2017/01/12 14:46:10 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
 */

/* socket driver */

#ifndef RTAI_OUT_ELEM_H
#define RTAI_OUT_ELEM_H

/* include del programma */

#include <streamoutelem.h>

/* RTMBDynOutElem - begin */

class RTMBDynOutElem : public StreamOutElem, virtual public Elem {
protected:
        /* FIXME: store restart info as well */
        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);
   
public:
        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);

        /* Inverse Dynamics: */
        virtual void AfterConvergence(const VectorHandler& X, 
                        const VectorHandler& XP,
                        const VectorHandler& XPP);
};

#endif /* RTAI_OUT_ELEM_H */