void seissol::writer::ReceiverWriter::addPoints( std::vector<glm::dvec3> const& points,
MeshReader const& mesh,
seissol::initializers::Lut const& ltsLut,
seissol::initializers::LTS const& lts,
GlobalData const* global ) {
int rank = seissol::MPI::mpi.rank();
unsigned numberOfPoints = points.size();
std::vector<short> contained(numberOfPoints);
std::vector<unsigned> meshIds(numberOfPoints);
/// \todo Find a nicer solution that is not so hard-coded.
std::vector<unsigned> quantities{0, 1, 2, 3, 4, 5, 6, 7, 8};
logInfo(rank) << "Finding meshIds for receivers...";
initializers::findMeshIds(points.data(), mesh, numberOfPoints, contained.data(), meshIds.data());
#ifdef USE_MPI
logInfo(rank) << "Cleaning possible double occurring receivers for MPI...";
initializers::cleanDoubles(contained.data(), numberOfPoints);
#endif
logInfo(rank) << "Mapping receivers to LTS cells...";
for (unsigned point = 0; point < numberOfPoints; ++point) {
if (contained[point] == 1) {
unsigned meshId = meshIds[point];
unsigned cluster = ltsLut.cluster(meshId);
for (unsigned c = m_receiverClusters.size(); c <= cluster; ++c) {
m_receiverClusters.emplace_back(global, quantities, m_samplingInterval, syncInterval());
}
writeHeader(point, points[point]);
m_receiverClusters[cluster].addReceiver(meshId, point, points[point], mesh, ltsLut, lts);
}
}
}
int main(int argc, char *argv[]) {
if (argc != 4) {
std::cout
<< "Arguments:" << std::endl
<< "(1) CAN deviceID" << std::endl
<< "(2) SYNC interval in milliseconds" << std::endl
<< "(3) positive (right) or negative (left) speed factor" << std::endl
<< "Example: ./interactiveHoming 12 10 1" << std::endl;
return -1;
}
uint16_t deviceID = std::stoi(std::string(argv[1]));
std::chrono::milliseconds syncInterval(std::stoi(std::string(argv[2])));
int speedFactor = std::stoi(std::string(argv[3]));
// initialize CAN device driver:
if (!canopen::openConnection("/dev/pcan32")) {
std::cout << "Cannot open CAN device; aborting." << std::endl;
return -1;
}
canopen::initListenerThread();
canopen::initNMT();
canopen::setSyncInterval(deviceID, syncInterval);
canopen::setMotorState(deviceID, "operation_enable");
canopen::interactiveHoming(deviceID, speedFactor, syncInterval);
return 0;
}
int main(int argc, char *argv[]) {
if (argc != 4) {
std::cout
<< "Arguments:"
<< "(1) CAN deviceID" << std::endl
<< "(2) SYNC interval in milliseconds" << std::endl
<< "(3) positive (right) or negative (left) speed factor" << std::endl
<< "Example: ./move_single_device 12 10 1" << std::endl;
return -1;
}
uint16_t deviceID = std::stoi(std::string(argv[1]));
std::chrono::milliseconds syncInterval(std::stoi(std::string(argv[2])));
int speedFactor = std::stoi(std::string(argv[3]));
// initialize CAN device driver:
if (!canopen::openConnection("/dev/pcan32")) {
std::cout << "Cannot open CAN device; aborting." << std::endl;
return -1;
}
canopen::initListenerThread();
canopen::initNMT();
canopen::setSyncInterval(deviceID, syncInterval);
canopen::setMotorState(deviceID, "operation_enable");
std::cout << "Drive referenced? " << canopen::getStatus(deviceID, "drive_referenced") << std::endl;
double pos = fmod(canopen::getPos(deviceID), M_PI);
std::cout << "Current position: " << pos << std::endl;
bool ended = false;
std::thread keyThread([&]() {
std::string tt;
while (!ended) {
std::getline(std::cin, tt);
if (tt=="q")
ended = true;
else if (tt=="+") {
speedFactor += 1;
std::cout << "Speed factor: " << speedFactor << std::endl;
} else if (tt=="-") {
speedFactor -= 1;
std::cout << "Speed factor: " << speedFactor << std::endl;
}
}
});
keyThread.detach();
canopen::driveMode(deviceID, "interpolated_position_mode");
while (!ended) {
canopen::sendSync(syncInterval);
if (speedFactor != 0) {
canopen::sendPos(deviceID, pos);
pos += (0.05 * M_PI / 3600.0) * ((double) speedFactor);
}
}
canopen::setMotorState(deviceID, "ready_to_switch_on");
canopen::closeConnection();
return 0;
}
