/*
* Main function used to plot save vectors
*/
int main(int argc, char const *argv[])
{
// variables declaration
int i, j;
int nb_curves;
int size_vector, cur_size_vector;
int init_t_sec, init_t_usec;
double last_tsim;
double cur_value, cur_min, cur_max;
double y_min_init, y_max_init;
char *generic_vec_file;
char **vec_names;
char t_file[PATH_MAX_LENGTH];
char cur_vec_file[PATH_MAX_LENGTH];
double *vec_t;
double **vec_out;
double *y_tab_min, *y_tab_max;
Screen_sdl *screen_sdl;
Simu_real_time *real_time;
// vectors to plot
vec_names = get_vec_names(&nb_curves);
// vectors initialization
generic_vec_file = CUR_PROJECT_ABS_PATH"/vectors";
sprintf (t_file, "%s/vectors/%s", CUR_PROJECT_ABS_PATH, vec_names[0]);
vec_t = read_vector(t_file, &size_vector);
vec_out = (double**) malloc (nb_curves*sizeof(double*));
for (i=0; i<nb_curves; i++)
{
sprintf (cur_vec_file, "%s/%s", generic_vec_file, vec_names[i+1]);
vec_out[i] = read_vector(cur_vec_file, &cur_size_vector);
if (cur_size_vector != size_vector)
{
printf("Problem: all vectors do not have the same size !\n");
printf("Time vector size: %d\n", size_vector);
printf("Vector %s size: %d\n", cur_vec_file, cur_size_vector);
exit(1);
}
}
// max and min tabulars
y_tab_min = (double*) malloc(nb_curves*sizeof(double));
y_tab_max = (double*) malloc(nb_curves*sizeof(double));
// compute minimal and maximal values
cur_value = vec_out[0][0];
y_min_init = cur_value;
y_max_init = cur_value;
for (i=0; i<nb_curves; i++)
{
cur_value = vec_out[i][0];
cur_min = cur_value;
cur_max = cur_value;
for (j=1; j<size_vector; j++)
{
cur_value = vec_out[i][j];
if (cur_value < cur_min)
{
cur_min = cur_value;
}
if (cur_value > cur_max)
{
cur_max = cur_value;
}
}
y_tab_min[i] = cur_min;
y_tab_max[i] = cur_max;
if (cur_min < y_min_init)
{
y_min_init = cur_min;
}
if (cur_max > y_max_init)
{
y_max_init = cur_max;
}
}
// absolute time before starting loop
time_get(&init_t_sec, &init_t_usec);
// real time structure initialization
real_time = init_real_time(init_t_sec, init_t_usec);
// init screen SDL
screen_sdl = configure_screen_sdl_plot_save(init_t_sec, init_t_usec, y_min_init, y_max_init, size_vector, nb_curves);
// fill screen SDL
for (i=0; i<nb_curves; i++)
{
for (j=1; j<size_vector; j++)
{
screen_sdl->y_vectors[i][j] = vec_out[i][j];
}
}
for (i=0; i<size_vector; i++)
{
screen_sdl->tsim_vec[i] = vec_t[i];
}
for (i=0; i<nb_curves; i++)
{
screen_sdl->y_tab_min[i] = y_tab_min[i];
screen_sdl->y_tab_max[i] = y_tab_max[i];
}
// special values
real_time->simu_break = 1;
screen_sdl->index_simu = size_vector-1;
last_tsim = vec_t[size_vector-1];
// plot main loop
break_gestion_plot_save(screen_sdl, real_time, init_t_sec, init_t_usec, last_tsim);
// release memory
for (i=0; i<nb_curves; i++)
{
free(vec_out[i]);
}
free(vec_out);
free(vec_t);
free(y_tab_min);
free(y_tab_max);
free_screen_sdl(screen_sdl);
free_simu_real_time(real_time);
free_char_tab(vec_names);
return 0;
}
/*
* End of the simulation
*/
void finish_simulation(Loop_inputs *loop_inputs)
{
// -- Variables declaration -- //
#ifdef PRINT_REPORT
double total_t_sec;
#endif
MBSdataStruct *MBSdata = NULL;
// -- Simulation end -- //
// for the anim file
#ifdef WRITE_FILES
#ifdef REAL_TIME
const char *fileout_anim = PROJECT_ABS_PATH"/../animationR/Model_real_time.anim";
#else
const char *fileout_anim = PROJECT_ABS_PATH"/../animationR/Model_standalone.anim";
#endif
const char generic_fileout[PATH_MAX_LENGTH] = PROJECT_ABS_PATH"/src/other/outVectors/output_vector";
#endif
// MBSdata
MBSdata = loop_inputs->MBSdata;
#ifdef PRINT_REPORT
// total real-time needed for the simulation
total_t_sec = t_usec(loop_inputs->init_t_sec, loop_inputs->init_t_usec) / 1.0e6;
// Printing simulation report
printf("... Done\n\n");
printf("-------------------------------\n");
printf("nb steps:\t%d\n", NB_SIMU_STEPS);
printf("time step:\t%.3f\t[ms]\n", DELTA_TSIM * 1000);
printf("-------------------------------\n");
printf("t_start:\t%.3f\t[s]\n", TSIM_INIT);
printf("t_end:\t\t%.3f\t[s]\n", TSIM_END);
printf("-------------------------------\n");
printf("Final time:\t%.3f\t[s]\n", MBSdata->tsim);
printf("Executed in:\t%.3f\t[s]\n", total_t_sec);
printf("-------------------------------\n\n");
#endif
// writing the .anim file
#ifdef WRITE_FILES
loop_inputs->write_files->kount = loop_inputs->write_files->kount - 1; //last increment doesn't correspond to a writting
if(write_anim_file(loop_inputs->write_files, MBSdata->njoint, fileout_anim))
{
printf("error: cannot write the anim file\n");
}
#ifdef PRINT_REPORT
else
{
printf("File '%s' successfully written\n", fileout_anim);
}
#endif
if (write_out_files(loop_inputs->write_files, generic_fileout))
{
printf("error: cannot write the output vectors files\n");
}
#ifdef PRINT_REPORT
else
{
printf("Output Files '%s' successfully written\n", generic_fileout);
}
#endif
#endif
// -- Closing operations -- //
// .anim files
#ifdef WRITE_FILES
free_write_files(loop_inputs->write_files, MBSdata->njoint);
#endif
// JNI visualization
#if defined(JNI) & defined (REAL_TIME)
free_jni(loop_inputs->jni_struct);
#endif
// Real-time constraints
#ifdef REAL_TIME
free_simu_real_time(loop_inputs->real_time);
#endif
// SDL window
#if defined(SDL) & defined(REAL_TIME)
free_screen_sdl(loop_inputs->screen_sdl);
#endif
// LocalDataStruct
#if !defined ACCELRED
freeLocalDataStruct(loop_inputs->lds,MBSdata);
#endif
#ifdef YARP
yarp_finish(loop_inputs->RobotranYarp_interface);
#endif
// MBSdata_xml
freeMBSdata_xml(MBSdata);
// simulation loop inputs
free(loop_inputs);
}
