void PhysXConnection::sendDataToPhysX()
{
//send data
char *toSend;
toSend = (char*)&send2physX;
HostMsg *motionMsg;
motionMsg = new HostMsg(*receiverHostAddress, toSend, PACKAGE_SIZE_COSIM_OUT);
motionMsg->setHostAddress(*receiverHostAddress);
this->outHostMsgQueue.push(motionMsg);
return;
}
void PhysXConnection::executeInputLoop()
{
this->udpdSPACESenderSocket.create();
this->initPhysXSocket();
int receivedByteCount = 0;
this->inputLoopRunning = true;
while(this->inputLoopRunning)
{
//receive data from nvidia
struct sockaddr_in other_sin;
int other_sin_size = (int)sizeof(other_sin);
receivedByteCount = recvfrom(this->dataFromPhysX, (char *)send2dSPACE, PACKAGE_SIZE_COSIM, 0, (struct sockaddr *)&other_sin, &other_sin_size);
//std::cout << "received Data for dspace dx: " << send2dSPACE->collisionFlag << std::endl;
//send message to dSPACE
HostMsg *coSimMsg;
coSimMsg = new HostMsg(*DSPACEHostAddress, (char *)send2dSPACE ,PACKAGE_SIZE_COSIM);
coSimMsg->setHostAddress(*DSPACEHostAddress);
this->outDSPACEMsgQueue.push(coSimMsg);
}
}
void PhysXConnection::executeOutputLoop()
{
this->udpPhysXSenderSocket.create();
this->initDSPACEsocket();
int receivedByteCount = 0;
this->outputLoopRunning = true;
while(outputLoopRunning)
{
//receive co-simulation data from dSPACE
struct sockaddr_in other_sin;
int other_sin_size = (int)sizeof(other_sin);
receivedByteCount = recvfrom(this->dataFromdSPACESocket, (char *)send2physX, PACKAGE_SIZE_COSIM_OUT, 0, (struct sockaddr *)&other_sin, &other_sin_size);
// cout << "Received package with size: " << receivedByteCount << " Data:" << send2physX->steerAngle[0] << endl;
//send message to physX
HostMsg *motionMsg;
motionMsg = new HostMsg(*receiverHostAddress, (char *) send2physX, PACKAGE_SIZE_COSIM_OUT);
motionMsg->setHostAddress(*receiverHostAddress);
this->outHostMsgQueue.push(motionMsg);
}
}
HostMsg * HostMsg::clone() const {
HostMsg * hostMsg = new HostMsg();
hostMsg->setHostAddress(this->hostAddress);
hostMsg->setData(this->data.first, this->data.second);
return hostMsg;
}