diff --git a/CHANGELOG.rst b/CHANGELOG.rst new file mode 100644 index 00000000..c7bc27f2 --- /dev/null +++ b/CHANGELOG.rst @@ -0,0 +1,100 @@ +Changelog +--------- + +v.1.2: +------ + +- **major-change** Switched from PySide to PyQt and upgraded to use Qt5 + (also switched to develop branch of pyqtgraph) +- **minor-change** GUI: Removed buttons, added toolbar, icons to distinguish between Events and Blocks. +- **plugin**: Added a new visual plugin: RehaStimGUI: Used to describe + channel attributes for different states +- **plugin**: Added a new pcplugin: Textfield +- **plugin**: Changed Slider event to 'Change' (previous 'SliderBlock') +- **plugin**: Changed Button event to 'Click' (previous 'Click_event') +- **plugin**: A visual plugin can now open maximized. +- **plugin**: Added a new visual plugin: Console. Mainly used to control scilab in connection with ORTD. +- **feature**: Added a simulink block which enables the communication + between PaPI and simulink +- **feature**: Added commandline options +- **feature**: Added ability to stop PaPI in the right manner by use of CTRL+C +- **feature**: Added DEvent as a new object to provide the ability to change parameters. +- **feature**: A single tab can be opened in an extra window. +- **feature**: Added 'help' button in the create plugin menu which opens the documentation for this plugin. +- **doc**: Added support for plugin documentation based on + ReStructuredText. +- **doc**: Moved from github-wiki to ReStructedText +- **doc**: Improved documentation. +- **fix**: Fixed change of yRange by context menu (#38) +- **fix**: An error occurred if the slider was changed without controlling a parameter (#43) + +v.1.1: LAST RELEASE WITH PYSIDE +------------------------------- + +- **fix**: Core will check plugin state before routing, so data to + paused plugins will not be routed (#19) +- **fix**: Obsolete parameter in send\_parameter\_change was removed + (#21) +- **fix**: Clean up of DParameter (#18) +- **fix**: Renamed some variables of ownProcess\_base to be private +- **fix**: Fixed memory leak of gui event processing timer loop (#25) +- **fix**: Fixed memory leak due to recall of the plugin manager + collection function +- **fix**: Tab position and active tab will now be saved to xml +- **improvement**: Changed the demux function to in improve performance +- **improvement**: Improved core performance while processing new data + (see #20) +- **improvement**: Huge changes in the plotting plugin with performance + benefits +- **improvement**: Shifted some control logic from gui to core to + increase speed when changing cfgs incl. subscriptions +- **improvement**: ORTD can now receive its configuration via udp in + multiple packages +- **feature**: Modified PaPI gui to have tabs. User can organise visual + plugins in tabs, remove tabs, rename tabs. +- **feature**: PaPI now supports Mac OS X based on Darwin. +- **plugin**: Added a new visual plugin: ProgressBar +- **plugin**: Minor changes in LCDDisplay and Slider +- **plugin**: Added a new pcp plugin: Radiobutton + +v.1.0 +----- + +v.0.9 +----- + +- Plot Plugin: Speedup by use of downsampling, more useable parameter, + more dynamic legend, new ContextMenu +- Signals are now stored and managed as object +- Support of configuration types (file) +- Unsubscription of single signals became possible +- Use of pyqtgraph 0.9.10 -> removed dependency for scipy +- Sorting in the overview menu is enabled +- First pictures for plugins +- Error Dialogs pops up if a plugin error occurs -> Whole GUI wont die + anymore +- **fix** in configloader due to invalid xml messages +- **fix** minor bug fixes in general + +v.0.8.1 +------- + +- New minor feature: PaPI will save a cfg on close. One is able to load + this cfg after startup using 'ReloadConfig' +- Big bugfix: signal and signal name relation had an order bug. There + is now a new back end structure handling signals +- Signal unsubscribe is now possible using the gui +- Signals, parameter and plugins in overview are sorted now + +v.0.8 +----- + +- Use plugin as wizards for configurations +- Use ESC and RETURN for window interaction +- New file dialog to avoid performance issues +- **fix** signal names instead of id in overview +- Run/Edit mode +- Set/load background and save it to config +- **fix** When plugin in gui crashs, gui stays alive and plugin will be + stopped + diff --git a/CHANGENLOG.md b/CHANGENLOG.md deleted file mode 100644 index 15b0306e..00000000 --- a/CHANGENLOG.md +++ /dev/null @@ -1,58 +0,0 @@ -Changelog ------- - -v.1.1: LAST RELEASE WITH PYSIDE ---- - * [fix]: Core will check plugin state before routing, so data to paused plugins will not be routed (#19) - * [fix]: Oboslete parameter in send_parameter_change was removed (#21) - * [fix]: Clean up of DParameter (#18) - * [fix]: Renamed some variables of ownProcess_base to be private - * [fix]: Fixed memory leak of gui event processing timer loop (#25) - * [fix]: Fixed memory leak due to recall of the plugin manager collection function - * [fix]: Tab position and active tab will now be saved to xml - * [improvement]: Changed the demux function to in improve performance - * [improvement]: Improved core performance while processing new data (see #20) - * [improvement]: Huge changes in the plotting plugin with performance benefits - * [improvement]: Shifted some control logic from gui to core to increase speed when changing cfgs incl. subscriptions - * [improvement]: ORTD can now receive its configuration via udp in multiple packages - * [feature]: Modified PaPI gui to have tabs. User can organise visual plugins in tabs, remove tabs, rename tabs. - * [feature]: PaPI now supports Mac OS X based on Darwin. - * [plugin]: Added a new visual plugin: ProgressBar - * [plugin]: Minor changes in LCDDisplay and Slider - * [plugin]: Added a new pcp plugin: Radiobutton - -v.1.0 ---- - -v.0.9 ---- - * Plot Plugin: Speedup by use of downsampling, more useable parameter, more dynamic legend, new ContextMenu - * Signals are now stored and managed as object - * Support of configuration types [file, ] - * Unsubscription of single signals became possible - * Use of pyqtgraph 0.9.10 -> removed dependency for scipy - * Sorting in the overview menu is enabled - * First pictures for plugins - * Error Dialogs pops up if a plugin error occurs -> Whole GUI wont die anymore - * [fix] in configloader due to invalid xml messages - * [fix] minor bug fixes in general - -v.0.8.1 ---- - * New minor feature: PaPI will save a cfg on close. One is able to load this cfg after startup using 'ReloadConfig' - * Big bugfix: signal and signal name relation had an order bug. There is now a new back end structure handling signals - * Signal unsubscribe is now possible using the gui - * Signals, parameter and plugins in overview are sorted now - -v.0.8 ---- - -* Use plugin as wizards for configurations -* Use ESC and RETURN for window interaction -* New file dialog to avoid performance issues -* [fix] signal names instead of id in overview -* Run/Edit mode -* Set/load background and save it to config -* [fix] When plugin in gui crashs, gui stays alive and plugin will be stopped - - diff --git a/LICENSE b/LICENSE index bde60ceb..a3997e67 100644 --- a/LICENSE +++ b/LICENSE @@ -1,165 +1,619 @@ -GNU LESSER GENERAL PUBLIC LICENSE + GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007 Copyright (C) 2007 Free Software Foundation, Inc. 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Disclaimer of Warranty. + + THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY +APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT +HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY +OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, +THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR +PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM +IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF +ALL NECESSARY SERVICING, REPAIR OR CORRECTION. + + 16. Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. \ No newline at end of file diff --git a/Makefile b/Makefile index 1b4b15a6..93befae3 100644 --- a/Makefile +++ b/Makefile @@ -1,26 +1,39 @@ -UIPY = pyside-uic +UIPY = pyuic5 SRC_DIR = ./ui/ DES_DIR = ./papi/ -#UI_FILES = "$(shell find $(SRC) -regex ".*\.\(ui\)")" - UI_FILES = quitter.ui -UI_FILES_FOUND = $(shell find $(SRC_DIR) -name '*.ui') -UI_FILES = $(UI_FILES_FOUND:./%=%) -PY_FILES = $(addprefix $(DES_DIR),$(UI_FILES:.ui=.py)) +RST_SRC_DIR := papi +RST_DES_DIR := docs + +RST_STATIC_FOLDER_SRC := _static +RST_STATIC_FOLDER_DES := $(RST_DES_DIR)/_static + +UI_FILES_FOUND := $(shell find $(SRC_DIR) -name '*.ui') +UI_FILES := $(UI_FILES_FOUND:./%=%) +PY_FILES := $(addprefix $(DES_DIR),$(UI_FILES:.ui=.py)) + +README_RST := README.rst +CHANGELOG_RST := CHANGELOG.rst +#Find all rst files +RST_FILES_SRC = $(shell find $(RST_SRC_DIR) -name '*.rst') + +#Create target names +RST_FILES_TAR_TMP := $(subst /,., $(RST_FILES_SRC)) +RST_FILES_TAR_TMP2 := $(subst ..,./, $(RST_FILES_TAR_TMP)) +RST_FILES_TAR := $(RST_FILES_TAR_TMP2:.rst=.rst) +RST_TAR := $(addprefix $(RST_DES_DIR)/,$(RST_FILES_TAR)) MKDIR_P = mkdir -p AUTHOR = $(shell whoami) -#all: $(UI_FILES) - -all: +.PHONY: rst_files create_rst create_ui clean create_ui: $(PY_FILES) @@ -36,11 +49,52 @@ $(UI_FILES): else echo "__author__ = '$(AUTHOR)'" > $(DES_DIR)$(dir $@)__init__.py ; \ fi -create_rst: +rst_files: $(RST_TAR) + +$(RST_DES_DIR)/%.rst: $(RST_FILES_SRC) + + @if [ ! -d $(RST_STATIC_FOLDER_DES) ] ; then \ + $(MKDIR_P) $(RST_STATIC_FOLDER_DES) ; \ + fi +# Copy rst files + $(eval rst_name:= $(subst $(RST_DES_DIR),.,$(subst /rst,.rst,$(subst .,/, $@)))) + @echo "Creating file" $@ +# $(eval arr:= $(shell echo $(subst $(RST_DES_DIR)/,,$(@:.rst=)) | tr "." "\n")) +# @echo "Creating file" $@ "<-" $(rst_name) + @cp $(rst_name) $@ +# Copy _static files + $(eval static_folder_src:= $(dir $(rst_name))$(RST_STATIC_FOLDER_SRC)/) + + $(eval dir_rst_tmp:=$(dir $(rst_name))) + $(eval dir_rst:=$(dir_rst_tmp:/=)) + $(eval unique_name:= $(notdir $(dir_rst))) + +# $(eval files_to_cp := $(shell find $(static_folder_src) -type f -printf "%f\n")) + +# @echo "Copy static files from" $(static_folder_src) "to" $(RST_STATIC_FOLDER_DES)/ + @if [ -d $(static_folder_src) ] ; then \ + sed -i s,$(RST_STATIC_FOLDER_SRC),$(RST_STATIC_FOLDER_SRC)/$(unique_name),g $@ ; \ + $(MKDIR_P) $(RST_STATIC_FOLDER_DES)/$(unique_name) ; \ + cp -Rp $(static_folder_src)* $(RST_STATIC_FOLDER_DES)/$(unique_name)/ ; \ + fi + +create_rst: $(RST_TAR) sphinx-apidoc -f -o docs papi ./papi/pyqtgraph/ ./papi/yapsy/ docs: create_rst + cp $(README_RST) $(RST_DES_DIR)/$(README_RST) + cp $(CHANGELOG_RST) $(RST_DES_DIR)/$(CHANGELOG_RST) make -C docs html -html: +html: create_rst + cp $(README_RST) $(RST_DES_DIR)/$(README_RST) + cp $(CHANGELOG_RST) $(RST_DES_DIR)/$(CHANGELOG_RST) make -C docs html + +clean: + @rm $(RST_DES_DIR)/papi*rst + @rm $(RST_DES_DIR)/modules.rst + @rm $(RST_DES_DIR)/$(README_RST) + @rm $(RST_DES_DIR)/$(CHANGELOG_RST) + @rm -R $(RST_STATIC_FOLDER_DES) + make -C docs clean diff --git a/README.md b/README.md deleted file mode 100644 index 34b2f028..00000000 --- a/README.md +++ /dev/null @@ -1,57 +0,0 @@ -PaPI v. 1.1.0 -================== - -Plugin based Process Interaction - -NOTE: This will be the last release which uses PySide as a Qt integration and therfore the last release under LGPL. - -Introduction ------- -PaPI is a tool to interact with data generating processes. It can be used to get data stream of experiments or devices -like oscilloscopes. - -PaPI is based on a strong plugin architecture. Therefore it is easy to expand to new environments. - -PaPi will make heavily use of multi-core systems. - -Installation ------- -Basic installation on Ubuntu 14.04 64Bit, using python 3.4 - -`sudo apt-get install python3.4 git python3-pyside python3-numpy python3-pip` - -`sudo pip3 install tornado` - -`git clone https://github.com/TUB-Control/PaPI.git PaPI` - -`cd PaPI` - -`python3.4 main.py` - -Tip: -If python3.4 interpreter cannot find or locate the installed packages (pyside or numpy), please make sure that the right -python interpreter is called (in case there are multiple installed). - -Contribution ------- - -To get started, sign the Contributor License Agreement. - -Documentation ------- - -Sphinx doc on GitHub: https://tub-control.github.io/PaPI/ - -PaPI wiki on GitHub: https://github.com/TUB-Control/PaPI/wiki - -Embedded Packages ------- - -Yapsy 1.10.423 published under BSD-License, http://yapsy.sourceforge.net/#license - -pyqtgraph-0.9.10 published under MIT-License - -Used icon-set ------- - -fatcow-hosting-icons-3.9.2, License: http://creativecommons.org/licenses/by/3.0/us/, Provided by: http://www.fatcow.com/ diff --git a/README.rst b/README.rst new file mode 100644 index 00000000..a7018c22 --- /dev/null +++ b/README.rst @@ -0,0 +1,91 @@ +PaPI v. 1.x +=========== + +Plugin based Process Interaction + +Introduction +------------ + +PaPI is a tool to interact with real-time targets or sources for +measured data. It provides a plugin-based framework that allows to +read streaming data form targets and allows to set parameters. +Several plugins for data visualization (plots, bars, meters, html-animations ...) +as well as GUI-elements for entering parameters (textfields, sliders, ...). +User customized plugins can be easily created using a given Python-API. + +Opening and closing of all GUI-elements can be controlled by real-time target +programs and hence it is possible to implement GUI-logic using state-machines +inside the target programs. Have a look at https://youtu.be/9B2BISXaPdo +to get an impression of what is currently possible. + +PaPI spans across several processes to benefit form multi-core systems. + +Installation +------------ + +Basic installation on Ubuntu 14.04 64Bit, using python 3.4 + +``sudo apt-get install git`` + +``sudo apt-get install python3.4 python3-numpy python3-pip`` + +``sudo apt-get install python3-pyqt5`` + +``sudo apt-get install python3-pyqt5.qtwebkit`` (just needed for the +HTMLViewer plugin) [optional] + +``sudo apt-get installl python3-pyqt5.qtsvg`` (just needed for the +export feature of the Plot plugin) [optional] + +``sudo pip3 install socketio_client`` (required for ORTD_UDP) + +``sudo pip3 install tornado`` (just needed for the Human plugin) +[optional] + +``git clone https://github.com/TUB-Control/PaPI.git PaPI`` + +``cd PaPI`` + +``python3.4 main.py`` + +Tip: If python3.4 interpreter cannot find or locate the installed +packages (PyQt5 or numpy), please make sure that the right python +interpreter is called (in case there are multiple installed). + +Real-time target systems currently supported +-------------------------------------------- + + * OpenRTDynamics.sf.net + * Simulink + +Examples for both Frameworks are contained within: https://github.com/TUB-Control/PaPI/tree/development/data_sources + +A demo video that shows how graphical interfaces you create using PaPI may look like: https://youtu.be/9B2BISXaPdo + + +Contribution +------------ + +To get started, sign the Contributor License Agreement. + +Documentation +------------- + +Sphinx doc on GitHub: https://tub-control.github.io/PaPI/ + +PaPI wiki on GitHub: https://github.com/TUB-Control/PaPI/wiki + +Embedded Packages +----------------- + +Yapsy 1.10.423 published under BSD-License, +http://yapsy.sourceforge.net/#license + +pyqtgraph-0.9.11 [unreleased] published under MIT-License + +Used icon-set +------------- + +fatcow-hosting-icons-3.9.2, License: +http://creativecommons.org/licenses/by/3.0/us/, Provided by: +http://www.fatcow.com/ diff --git a/cfg_collection/cpu_load_example.xml b/cfg_collection/cpu_load_example.xml index 91b9abfe..137800e3 100644 --- a/cfg_collection/cpu_load_example.xml +++ b/cfg_collection/cpu_load_example.xml @@ -54,7 +54,7 @@ y: range - [0,1] + [0.0 100.0] (\d+\.\d+) 1 diff --git a/cfg_collection/progress_bar_example.xml b/cfg_collection/progress_bar_example.xml index 076eec49..e1dda7bb 100644 --- a/cfg_collection/progress_bar_example.xml +++ b/cfg_collection/progress_bar_example.xml @@ -63,10 +63,7 @@ - - - Parameter - + @@ -156,7 +153,7 @@ ButtonX3 - + trigger @@ -226,10 +223,7 @@ - - - Parameter - + @@ -264,19 +258,19 @@ ButtonReset - + Choose ButtonX5 - + Choose ButtonX6 - + Choose @@ -331,10 +325,7 @@ - - - Parameter - + @@ -388,10 +379,7 @@ - - - Parameter - + @@ -445,10 +433,7 @@ - - - Parameter - + @@ -553,7 +538,7 @@ Button - + trigger @@ -608,10 +593,7 @@ - - - Parameter - + @@ -716,7 +698,7 @@ ButtonX2 - + trigger diff --git a/cfg_collection/sinus_ortd_button_fourier_cpu_example.xml b/cfg_collection/sinus_ortd_button_fourier_cpu_example.xml index b2651b9e..be43427f 100644 --- a/cfg_collection/sinus_ortd_button_fourier_cpu_example.xml +++ b/cfg_collection/sinus_ortd_button_fourier_cpu_example.xml @@ -696,7 +696,7 @@ Button - + Oscillator input @@ -821,10 +821,7 @@ - - - Parameter - + diff --git a/config.xml b/config.xml new file mode 100644 index 00000000..e14497cc --- /dev/null +++ b/config.xml @@ -0,0 +1,170 @@ + + + + + Nach oben + + + Nach links + + + Nach rechts + + + Biceps + + + + + 48 + + + 67 + + + 44 + + + trapez + + + + + + + 39 + + + 70 + + + 56 + + + ramp + + + + + + + 50 + + + 67 + + + 35 + + + ramp + + + + + Triceps + + + + + 39 + + + 67 + + + 43 + + + trapez + + + + + + + 54 + + + 57 + + + 43 + + + ramp + + + + + + + 50 + + + 70 + + + 67 + + + ramp + + + + + Ch3 + + + + + 70 + + + 61 + + + 67 + + + trapez + + + + + + + 57 + + + 50 + + + 30 + + + ramp + + + + + + + 0 + + + 0 + + + 0 + + + trapez + + + + + diff --git a/data_sources/ORTD/DataSourceChangingAutoConfigExample/AutoConfigDemo_ReplaceableSimulation.ipar b/data_sources/ORTD/DataSourceChangingAutoConfigExample/AutoConfigDemo_ReplaceableSimulation.ipar index afac5c56..8a2b601b 100644 --- a/data_sources/ORTD/DataSourceChangingAutoConfigExample/AutoConfigDemo_ReplaceableSimulation.ipar +++ b/data_sources/ORTD/DataSourceChangingAutoConfigExample/AutoConfigDemo_ReplaceableSimulation.ipar @@ -40,8 +40,8 @@ 10 54 0 - 7309 - 41 + 6307 + 55 1 1 2 @@ -56,19 +56,19 @@ -1 -1 -1 - 1427808470 + 1438001053 -1 -1 2015 - 3 - 14 - 90 - 3 + 7 31 - 15 + 208 + 2 27 - 50 - 517 + 14 + 44 + 13 + 410 26 79 82 @@ -97,7 +97,7 @@ 105 99 1 - 33 + 59 202 100 0 @@ -126,175 +126,331 @@ 100 167 3 + 32 + 0 + 210 + 100 + 199 + 3 6 1 - 211 + 212 100 - 173 + 205 4 49 0 - 213 + 214 100 - 222 + 254 4 6 1 - 215 + 216 100 - 228 + 260 5 49 0 - 217 + 218 100 - 277 + 309 5 - 49 - 2 - 218 + 25 + 0 + 219 100 - 326 - 7 + 334 + 5 6 1 220 100 - 332 + 340 + 6 + 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-1.0000000000000000000000000 -2.0000000000000000000000000 diff --git a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.ipar b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.ipar index 5a08eb5b..72821a86 100644 --- a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.ipar +++ b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.ipar @@ -4,8 +4,8 @@ 10 0 0 - 18246 - 27 + 18430 + 28 1 3 201 @@ -18,12 +18,12 @@ 100 6 0 - 18208 - 27 + 18392 + 28 100 101 - 18214 - 27 + 18398 + 28 12 0 60023 @@ -34,8 +34,8 @@ 0 15011 203 - 18202 - 27 + 18386 + 28 1 0 1 @@ -80,14 +80,14 @@ 4 12 0 - 18139 + 18323 0 21 1 - 18151 + 18335 0 1 - 27 + 28 1 1 1 @@ -100,7 +100,7 @@ 1 1 1 - 18138 + 18322 1 7 10 @@ -143,8 +143,8 @@ 10 27 0 - 18067 - 27 + 18251 + 28 0 0 0 @@ -202,18 +202,18 @@ 100 121 3 - 17851 - 24 + 18035 + 25 212 100 - 17972 - 27 + 18156 + 28 15 0 100 101 - 17987 - 27 + 18171 + 28 36 0 40 @@ -339,8 +339,8 @@ 121 15002 208 - 17845 - 24 + 18029 + 25 1 0 1 @@ -391,12 +391,12 @@ 10 376 11 - 17351 - 11 + 17535 + 12 902 10 - 17727 - 22 + 17911 + 23 62 2 2 @@ -787,84 +787,84 @@ 100 6 0 - 17020 - 4 + 17204 + 5 208 100 - 17026 - 4 + 17210 + 5 6 0 210 100 - 17032 - 4 + 17216 + 5 7 0 212 100 - 17039 - 4 + 17223 + 5 8 0 215 100 - 17047 - 4 + 17231 + 5 6 0 217 100 - 17053 - 4 + 17237 + 5 6 1 219 100 - 17059 - 5 + 17243 + 6 24 0 220 100 - 17083 - 5 + 17267 + 6 6 1 222 100 - 17089 - 6 + 17273 + 7 6 1 224 100 - 17095 - 7 + 17279 + 8 6 1 226 100 - 17101 - 8 + 17285 + 9 6 1 228 100 - 17107 - 9 + 17291 + 10 6 1 230 100 - 17113 - 10 + 17297 + 11 6 1 100 101 - 17119 - 11 + 17303 + 12 140 0 60023 @@ -875,8 +875,8 @@ 0 15011 205 - 17014 - 4 + 17198 + 5 1 0 1 @@ -921,14 +921,14 @@ 4 14 0 - 16949 + 17133 0 21 1 - 16963 + 17147 0 1 - 4 + 5 1 1 2 @@ -943,7 +943,7 @@ 1 1 1 - 16948 + 17132 1 7 10 @@ -986,8 +986,8 @@ 10 22 0 - 16882 - 4 + 17066 + 5 0 1 1 @@ -1011,7 +1011,7 @@ 0 -1 1 - 10 + 12 201 100 0 @@ -1022,55 +1022,67 @@ 100 6 1 - 37 + 130 0 205 100 - 43 - 1 - 16537 - 0 - 207 - 100 - 16580 + 136 1 6 1 + 207 + 100 + 142 + 2 + 37 + 0 209 100 - 16586 + 179 + 2 + 16557 + 0 + 211 + 100 + 16736 2 6 1 - 211 + 213 100 - 16592 + 16742 3 + 6 + 1 + 215 + 100 + 16748 + 4 8 0 - 213 + 217 100 - 16600 - 3 + 16756 + 4 8 0 - 215 + 219 100 - 16608 - 3 + 16764 + 4 6 1 - 217 + 221 100 - 16614 - 4 + 16770 + 5 130 0 100 101 - 16744 - 4 - 76 + 16900 + 5 + 92 0 40 201 @@ -1078,8 +1090,144 @@ 1 1 0 - 15007 + 15003 203 + 124 + 0 + 1 + 0 + 0 + 0 + 0 + 41 + 41 + 36 + 65 + 117 + 116 + 111 + 67 + 111 + 110 + 102 + 105 + 103 + 68 + 101 + 109 + 111 + 95 + 82 + 101 + 112 + 108 + 97 + 99 + 101 + 97 + 98 + 108 + 101 + 83 + 105 + 109 + 117 + 108 + 97 + 116 + 105 + 111 + 110 + 46 + 105 + 112 + 97 + 114 + 65 + 117 + 116 + 111 + 67 + 111 + 110 + 102 + 105 + 103 + 68 + 101 + 109 + 111 + 95 + 82 + 101 + 112 + 108 + 97 + 99 + 101 + 97 + 98 + 108 + 101 + 83 + 105 + 109 + 117 + 108 + 97 + 116 + 105 + 111 + 110 + 46 + 114 + 112 + 97 + 114 + 65 + 117 + 116 + 111 + 67 + 111 + 110 + 102 + 105 + 103 + 68 + 101 + 109 + 111 + 95 + 82 + 101 + 112 + 108 + 97 + 99 + 101 + 97 + 98 + 108 + 101 + 83 + 105 + 109 + 117 + 108 + 97 + 116 + 105 + 111 + 110 + 40 + 205 + 0 + 1 + 1 + 0 + 15007 + 207 31 0 1 @@ -1116,8 +1264,8 @@ 114 121 22000 - 205 - 16531 + 209 + 16551 0 1 0 @@ -1132,7 +1280,7 @@ 0 0 0 - 16304 + 16324 105 94 12 @@ -1931,6 +2079,24 @@ 32 32 32 + 47 + 47 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 112 114 105 @@ -1938,7 +2104,7 @@ 116 102 40 - 39 + 34 80 97 114 @@ -1990,7 +2156,7 @@ 58 92 110 - 39 + 34 41 59 10 @@ -1998,6 +2164,24 @@ 32 32 32 + 47 + 47 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 100 105 115 @@ -2013,9 +2197,10 @@ 10 32 32 - 10 32 32 + 47 + 47 10 32 32 @@ -2661,53 +2846,6 @@ 10 32 32 - 32 - 32 - 112 - 114 - 105 - 110 - 116 - 102 - 40 - 39 - 95 - 95 - 32 - 117 - 115 - 101 - 114 - 100 - 97 - 116 - 97 - 32 - 105 - 115 - 92 - 110 - 39 - 41 - 59 - 100 - 105 - 115 - 112 - 40 - 117 - 115 - 101 - 114 - 100 - 97 - 116 - 97 - 41 - 59 - 10 - 32 - 32 10 32 32 @@ -3152,6 +3290,24 @@ 32 32 32 + 47 + 47 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 112 114 105 @@ -3159,7 +3315,7 @@ 116 102 40 - 39 + 34 95 95 32 @@ -3180,9 +3336,10 @@ 115 92 110 - 39 + 34 41 59 + 32 100 105 115 @@ -3753,6 +3910,7 @@ 101 99 46 + 32 92 110 39 @@ -4757,6 +4915,16 @@ 10 32 32 + 47 + 47 + 32 + 32 + 32 + 32 + 32 + 32 + 32 + 32 112 114 105 @@ -4764,7 +4932,7 @@ 116 102 40 - 39 + 34 67 111 109 @@ -4793,7 +4961,7 @@ 100 92 110 - 39 + 34 44 32 99 @@ -17653,19 +17821,19 @@ 72 0 40 - 207 + 211 0 1 1 0 40 - 209 + 213 0 1 1 0 60009 - 211 + 215 2 0 1 @@ -17673,7 +17841,7 @@ 20 257 60009 - 213 + 217 2 0 1 @@ -17681,13 +17849,13 @@ 20 257 40 - 215 + 219 0 1 1 0 15003 - 217 + 221 124 0 1 @@ -17817,7 +17985,7 @@ 111 110 0 - 9 + 11 8 4 0 @@ -17829,70 +17997,86 @@ 203 0 0 - 203 - 203 - 0 + 201 + 201 0 - 205 - 205 0 + 203 + 203 + 1 0 205 205 0 0 - 211 - 211 + 207 + 207 0 0 207 207 0 0 - 211 - 211 - 1 + 209 + 209 0 - 205 - 205 0 + 209 + 209 0 - 213 - 213 + 0 + 215 + 215 + 0 + 0 + 211 + 211 0 0 + 215 + 215 + 1 + 0 209 209 0 0 + 217 + 217 + 0 + 0 213 213 - 1 - 0 - 211 - 211 0 0 217 217 - 0 + 1 0 215 215 0 0 - 217 - 217 + 221 + 221 + 0 + 0 + 219 + 219 + 0 + 0 + 221 + 221 1 0 - 213 - 213 + 217 + 217 0 1 0 0 0 - 4 + 5 60032 208 0 @@ -18239,7 +18423,7 @@ 212 212 0 - 27 + 28 0 1 8 diff --git a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.rpar b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.rpar index 5dfb8615..3d0652f9 100644 --- a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.rpar +++ b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.rpar @@ -12,6 +12,7 @@ 1.0000000000000000000000000 0.0000000000000000000000000 2.0000000000000000000000000 +2.0000000000000000000000000 1.0000000000000000000000000 1.0000000000000000000000000 2.0000000000000000000000000 diff --git a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.sce b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.sce index 6b075604..16e7d6da 100644 --- a/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.sce +++ b/data_sources/ORTD/DataSourceChangingAutoConfigExample/SwitchingPaPiConfig.sce @@ -314,9 +314,10 @@ function [sim, outlist] = AutoConfigExample(sim, Signal) // Please note ident_str must be unique. userdata = []; - [sim, finished, outlist, userdata] = ld_AutoOnlineExch_dev(sim, 0, inlist=list(Signal), ... + param.scilab_path = "BUILDIN_PATH"; + [sim, finished, outlist, userdata] = ld_AutoOnlineExch_dev2(sim, 0, inlist=list(Signal), ... insizes, outsizes, intypes, outtypes, ... - ThreadPrioStruct, CallbackFns, ident_str="AutoConfigDemo", userdata); + ThreadPrioStruct, CallbackFns, ident_str="AutoConfigDemo", userdata, param); PacketFramework = userdata(1); // [sim] = ld_printf(sim, 0, finished, "State ", 1); diff --git a/data_sources/ORTD/DataSourceExample/ProtocollConfig.json b/data_sources/ORTD/DataSourceExample/ProtocollConfig.json index 3a9f0339..c181b060 100644 --- a/data_sources/ORTD/DataSourceExample/ProtocollConfig.json +++ b/data_sources/ORTD/DataSourceExample/ProtocollConfig.json @@ -1,9 +1 @@ - { -"SourcesConfig" : { - "0" : { "SourceName" : "X" , "NValues_send" : "1", "datatype" : "257" } , - "1" : { "SourceName" : "V" , "NValues_send" : "1", "datatype" : "257" } } , -"ParametersConfig" : { - "0" : { "ParameterName" : "Oscillator input" , "NValues" : "1", "datatype" : "257" } , - "1" : { "ParameterName" : "A vectorial parameter" , "NValues" : "10", "datatype" : "257" } , - "2" : { "ParameterName" : "Test" , "NValues" : "2", "datatype" : "257" } } -} \ No newline at end of file + {"SourcesConfig" : { "0" : { "SourceName" : "X" , "NValues_send" : "1", "datatype" : "257" } , "1" : { "SourceName" : "V" , "NValues_send" : "1", "datatype" : "257" } } , "ParametersConfig" : { "0" : { "ParameterName" : "Oscillator input" , "NValues" : "1", "datatype" : "257", "initial_value" : 0 } , "1" : { "ParameterName" : "A vectorial parameter" , "NValues" : "10", "datatype" : "257", "initial_value" : [0,0,0,0,0,0,0,0,0,0] } , "2" : { "ParameterName" : "Test" , "NValues" : "2", "datatype" : "257", "initial_value" : [0,0] } }, "PaPIConfig" : {"ToCreate":{"Plugin1":{"identifier":{"value":"Slider"},"config":{"name":{"value":"Slider Example"},"size":{"value":"(500,75)"},"position":{"value":"(50,50)"},"tab":{"value":"PaPI-Tab"},"step_count":{"value":"101"},"lower_bound":{"value":"0.0"},"upper_bound":{"value":"1.0"}}},"Plugin2":{"identifier":{"value":"Plot"},"config":{"name":{"value":"Plot XV"},"size":{"value":"(500,500)"},"position":{"value":"(0,0)"},"tab":{"value":"PaPI-Tab"},"yRange":{"value":"[-10.0 10.0]"}}}},"ToControl":{"Plugin1":{"block":"SliderBlock","parameter":"Oscillator input"}},"ToSub":{"Plugin2":{"signals":["X","V"],"block":"SourceGroup0"}}}} \ No newline at end of file diff --git a/data_sources/ORTD/DataSourceExample/UDPio.ipar b/data_sources/ORTD/DataSourceExample/UDPio.ipar index d12f3e60..a74b8837 100644 --- a/data_sources/ORTD/DataSourceExample/UDPio.ipar +++ b/data_sources/ORTD/DataSourceExample/UDPio.ipar @@ -4,8 +4,8 @@ 10 0 0 - 3198 - 40 + 6475 + 62 1 3 201 @@ -18,12 +18,12 @@ 100 6 0 - 3160 - 40 + 6437 + 62 100 101 - 3166 - 40 + 6443 + 62 12 0 60023 @@ -34,8 +34,8 @@ 0 15011 203 - 3154 - 40 + 6431 + 62 1 0 1 @@ -80,14 +80,14 @@ 4 12 0 - 3091 + 6368 0 21 1 - 3103 + 6380 0 1 - 40 + 62 1 1 1 @@ -100,7 +100,7 @@ 1 1 1 - 3090 + 6367 1 7 10 @@ -143,8 +143,8 @@ 10 27 0 - 3019 - 40 + 6296 + 62 0 0 0 @@ -173,7 +173,7 @@ 0 -1 1 - 55 + 59 201 100 0 @@ -190,217 +190,217 @@ 100 78 1 + 154 + 0 + 206 + 100 + 232 + 1 6 1 - 207 + 208 100 - 84 + 238 2 54 0 - 209 + 210 100 - 138 + 292 2 6 1 - 211 + 212 100 - 144 + 298 3 54 0 - 213 + 214 100 - 198 + 352 3 6 1 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b/data_sources/ORTD/DataSourceExample/UDPio.rpar index c2491c9a..91706bbb 100644 --- a/data_sources/ORTD/DataSourceExample/UDPio.rpar +++ b/data_sources/ORTD/DataSourceExample/UDPio.rpar @@ -35,6 +35,28 @@ 0.0000000000000000000000000 1.0000000000000000000000000 1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +2.0000000000000000000000000 +3.0000000000000000000000000 +9999.0000000000000000000000000 +9999.0000000000000000000000000 +-4.0000000000000000000000000 +1.0000000000000000000000000 +1295793.0000000000000000000000000 +1.0000000000000000000000000 +9999.0000000000000000000000000 +1.0000000000000000000000000 -1.0000000000000000000000000 0.0000000000000000000000000 1295793.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +999.0000000000000000000000000 +999.0000000000000000000000000 +1.0000000000000000000000000 +-2.0000000000000000000000000 +0.0000000000000000000000000 +1295793.0000000000000000000000000 diff --git a/data_sources/ORTD/DataSourceExample/UDPio.sce b/data_sources/ORTD/DataSourceExample/UDPio.sce index 8b494060..b9482a8a 100644 --- a/data_sources/ORTD/DataSourceExample/UDPio.sce +++ b/data_sources/ORTD/DataSourceExample/UDPio.sce @@ -79,7 +79,12 @@ function [sim, outlist, userdata] = Thread_MainRT(sim, inlist, userdata) [sim, PacketFramework] = ld_PF_InitInstance(sim, InstanceName="TrockenofenRemoteControl", Configuration) // Add a parameter for controlling the oscillator - [sim, PacketFramework, Input]=ld_PF_Parameter(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="Oscillator input"); +// [sim, PacketFramework, Input]=ld_PF_Parameter(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="Oscillator input"); +// + // Add a slider + [PacketFramework, Slider] = ld_PF_addpluginAdvanced(PacketFramework, "Slider", "Slider Example", "(500,75)", "(50,50)", "PaPI-Tab", list(["step_count","101"], ["lower_bound","0.0"], ["upper_bound","1.0"])); + [sim, PacketFramework, Input]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="Oscillator input", Slider, 'SliderBlock'); + // some some more parameters [sim, PacketFramework, AParVector]=ld_PF_Parameter(sim, PacketFramework, NValues=10, datatype=ORTD.DATATYPE_FLOAT, ParameterName="A vectorial parameter"); @@ -96,8 +101,14 @@ function [sim, outlist, userdata] = Thread_MainRT(sim, inlist, userdata) T_a = 0.1; [sim, x,v] = damped_oscillator(sim, Input); // Stream the data of the oscillator - [sim, PacketFramework]=ld_SendPacket(sim, PacketFramework, Signal=x, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="X") - [sim, PacketFramework]=ld_SendPacket(sim, PacketFramework, Signal=v, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="V") +// [sim, PacketFramework]=ld_SendPacket(sim, PacketFramework, Signal=x, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="X") +// [sim, PacketFramework]=ld_SendPacket(sim, PacketFramework, Signal=v, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="V") +// + + // Stream the data of the oscillator + [PacketFramework, PlotXY] = ld_PF_addpluginAdvanced(PacketFramework, "Plot", "Plot XV", "(500,500)", "(0,0)", "PaPI-Tab", list(["yRange","[-10.0 10.0]"])); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=x, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="X", PlotXY, 'SourceGroup0'); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=v, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="V", PlotXY, 'SourceGroup0'); // finalise the communication interface [sim,PacketFramework] = ld_PF_Finalise(sim,PacketFramework); @@ -149,11 +160,6 @@ cd(thispath); z = poly(0,'z'); -// The following code is integrated into ORTD since rev 494. -// Thus the following line is commented. - -exec('webinterface/PacketFramework.sce'); - // defile ev diff --git a/data_sources/ORTD/ORTD_UDP_RELAY/Relay.js b/data_sources/ORTD/ORTD_UDP_RELAY/Relay.js new file mode 100755 index 00000000..0ce4d2bd --- /dev/null +++ b/data_sources/ORTD/ORTD_UDP_RELAY/Relay.js @@ -0,0 +1,47 @@ +// Commandline Args: + +// 1: Port FROM ORTD +// 2: Port TO ORTD +// 3: Port TO Recv + + + + +var dgram = require('dgram'); + +var PORT_toORTD = parseInt(process.argv[3],10);//20001; +var PORT_fromORTD = parseInt(process.argv[2],10);//20000; + +var PORT_toRecv = parseInt(process.argv[4],10);//21000; + + +var RecvAddress = 0; +var ORTDAddress = 'localhost'; + +var clientORTD = dgram.createSocket('udp4'); +clientORTD.bind(PORT_fromORTD); + +var clientRecv = dgram.createSocket('udp4'); +clientRecv.bind(PORT_toRecv); + +var packetCount = 0; + +clientORTD.on('message', function(message) { + if (packetCount != 0) { + clientORTD.send(message,0,message.length, PORT_toRecv, RecvAddress); + } +}); + + + +clientRecv.on('message', function(message, rinfo) { + if (packetCount == 0) { + RecvAddress = rinfo.address; + packetCount =1; + console.log('Relay to address: ', RecvAddress); + } + clientRecv.send(message,0,message.length, PORT_toORTD, ORTDAddress); + +}); + + diff --git a/data_sources/ORTD/ORTD_UDP_RELAY/ToRelay.sh b/data_sources/ORTD/ORTD_UDP_RELAY/ToRelay.sh new file mode 100755 index 00000000..a66f966e --- /dev/null +++ b/data_sources/ORTD/ORTD_UDP_RELAY/ToRelay.sh @@ -0,0 +1,13 @@ +#!/bin/sh + +# Commandline Args: + +# 1: Port FROM ORTD +# 2: Port TO ORTD + +# 3: Port TO Recv + + + +node Relay.js 20000 20001 21000 + diff --git a/data_sources/ORTD/RTTargetControlProtocol/AutoConfigDemo_ReplaceableSimulation.ipar b/data_sources/ORTD/RTTargetControlProtocol/AutoConfigDemo_ReplaceableSimulation.ipar new file mode 100644 index 00000000..f59cf46f --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/AutoConfigDemo_ReplaceableSimulation.ipar @@ -0,0 +1,5041 @@ + 1 + 7 + 10 + 4 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b/data_sources/ORTD/RTTargetControlProtocol/AutoConfigDemo_ReplaceableSimulation.rpar new file mode 100644 index 00000000..bb646cca --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/AutoConfigDemo_ReplaceableSimulation.rpar @@ -0,0 +1,36 @@ +0.0000000000000000000000000 +0.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +2.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +2.0000000000000000000000000 +3.0000000000000000000000000 +9999.0000000000000000000000000 +9999.0000000000000000000000000 +-4.0000000000000000000000000 +1.0000000000000000000000000 +1295793.0000000000000000000000000 +1.0000000000000000000000000 +9999.0000000000000000000000000 +1.0000000000000000000000000 +-1.0000000000000000000000000 +0.0000000000000000000000000 +1295793.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +1.0000000000000000000000000 +999.0000000000000000000000000 +999.0000000000000000000000000 +1.0000000000000000000000000 +-2.0000000000000000000000000 +0.0000000000000000000000000 +1295793.0000000000000000000000000 +1.0000000000000000000000000 +2.0000000000000000000000000 diff --git a/data_sources/ORTD/RTTargetControlProtocol/ORTDScilabForward.js b/data_sources/ORTD/RTTargetControlProtocol/ORTDScilabForward.js new file mode 100755 index 00000000..2c7d556e --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/ORTDScilabForward.js @@ -0,0 +1,107 @@ +#!/usr/bin/env node + + + +var ipc=require('node-ipc'); + +/***************************************\ + * + * You should start both hello and world + * then you will see them communicating. + * + * *************************************/ + +ipc.config.id = 'hello'; +ipc.config.retry = 1000; +ipc.config.silent = true; + +ipc.connectTo( + 'world', + function(){ + ipc.of.world.on( + 'connect', + function(){ + ipc.log('## connected to world ##'.rainbow, ipc.config.delay); + ipc.of.world.emit( + 'app.message', + { + id : ipc.config.id, + message : 'StartScilab' + } + ) + } + ); + ipc.of.world.on( + 'disconnect', + function(){ + ipc.log('disconnected from world'.notice); + } + ); + ipc.of.world.on( + 'app.message', + function(data){ + ipc.log('got a message from remote Scilab : \n'.debug, data.message); + process.stdout.write(data.message); + } + ); + } +); + + + + + +process.stdin.resume(); +process.stdin.setEncoding('utf8'); + + +process.stdin.on('data', function(chunk) { + + //console.log("Got someting"); + //console.log(chunk); + + ipc.of.world.emit( + 'app.message', + { + id : ipc.config.id, + message : 'ScilabCommand', + command : chunk + } + ) + + + +}); + +process.stdin.on('end', function() { + console.log('HUP'); + + ipc.of.world.emit( + 'app.message', + { + id : ipc.config.id, + message : 'StopScilab' + } + ) +}); + + + +process.on('beforeExit', function(code) { + console.log('About to exit with code:', code); + + ipc.of.world.emit( + 'app.message', + { + id : ipc.config.id, + message : 'StopScilab' + } + ); + +}); + + + + + + diff --git a/data_sources/ORTD/RTTargetControlProtocol/ORTDTargetServer.js b/data_sources/ORTD/RTTargetControlProtocol/ORTDTargetServer.js new file mode 100644 index 00000000..3dfa9d4a --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/ORTDTargetServer.js @@ -0,0 +1,331 @@ +#!/usr/bin/env node + +// http://localhost:8091/index.html + +var ipc=require('node-ipc'); +var cldprocess = require('child_process'); + + + + +http = require('http'); +url = require("url"), +path = require("path"), +fs = require("fs") + +var fs = require('fs'); + + +// +// Webinterface +// + +// http-server config +var HTTPPORT = 8091; + + + +// http-server + +// got from stackoverflow: +// http://stackoverflow.com/questions/6084360/node-js-as-a-simple-web-server +var httpserver = http.createServer(function(request, response) { + + var uri = url.parse(request.url).pathname + , filename = path.join(process.cwd(), 'html', uri); + + fs.stat(filename, function(err, stat) { + if(err != null) { + //if(!exists) { + response.writeHead(404, {"Content-Type": "text/plain"}); + response.write("404 Not Found\n"); + response.end(); + return; + } + + if (fs.statSync(filename).isDirectory()) filename += '/index.html'; + + fs.readFile(filename, "binary", function(err, file) { + if(err) { + response.writeHead(500, {"Content-Type": "text/plain"}); + response.write(err + "\n"); + response.end(); + return; + } + + console.log(filename); + if (filename.split('.').pop() == 'js') { + console.log('sending javascipt'); + response.writeHead(200, {"Content-Type": "text/javascript"}); +// response.writeHead(200); + } else { + response.writeHead(200); + } + response.write(file, "binary"); + response.end(); + }); + }); +}).listen(HTTPPORT); + +// set-up socket.io +var io = require('socket.io').listen(httpserver); +io.set('log level', 1); // reduce logging + + +// try { io.sockets.emit('SCISTOUT', { "Data" : line } ); } catch(err) { } + + + + + + +/***************************************\ + * + * You should start both hello and world + * then you will see them communicating. + * + * *************************************/ + +ipc.config.id = 'world'; +ipc.config.retry= 1500; +ipc.config.silent = true; + +var ScilabProc; + + +ipc.serve( + function(){ + ipc.server.on( + 'app.disconnected', + function(data,socket){ + console.log('**************************'); + + }); + + + + ipc.server.on( + 'app.message', + function(data,socket){ + + ipc.log('got a message from'.debug, (data.id).variable, (data.message)); + + if (data.message == 'ScilabCommand') { + ScilabProc.stdin.write( data.command ); + process.stdout.write('TO S> ' + data.command); + } + + if (data.message == 'StopScilab') { + console.log('About to stop scilab'); + //ScilabProc.disconnect(); + ScilabProc.kill(); + } + + if (data.message == 'StartScilab') { + console.log('Starting Scilab'); + + try { + ScilabProc.kill(); + console.log('A previously active Scilab Process has been killed'); + } catch (err) { + + } + + //try { + // ScilabProc = cldprocess.spawn('/Applications/scilab-5.5.1.app/Contents/MacOS/bin/scilab', [ '-nwni' ], { cwd : '.' } ); + //} catch(e) { + + + + ScilabProc = cldprocess.spawn('scilab551', [ '-nwni' ], { cwd : '.' } ); + //} + + + console.log( ScilabProc.pid ); + + // ScilabProc.stdin.write('a=111111111\n'); + // ScilabProc.stdin.write('disp(a)\n'); + + + ScilabProc.stdout.on('data', function (data) { +// console.log('stdout: ' + data); + process.stdout.write('FROM S> ' + data); + + //try { + io.sockets.emit('SCISTOUT', { ConsoleId : 1 , Data : ''+data } ); + //} catch(err) { } + + + ipc.server.emit( + socket, + 'app.message', + { + id : ipc.config.id, + message : '' + data + } + ); + + }); + + ScilabProc.stderr.on('data', function (data) { + console.log('stderr: ' + data); + }); + + + ScilabProc.on('close', function (code) { + console.log('child process exited with code ' + code); + ipc.server.emit( + socket, + 'app.message', + { + id : ipc.config.id, + message : 'ScilabExited' + } + ); + + }); + + + } + + + // ipc.server.emit( + // socket, + // 'app.message', + // { + // id : ipc.config.id, + // message : data.message+' world!' + // } + // ); + } + ); + } +); + +ipc.server.define.listen['app.message']='This event type listens for message strings as value of data key.'; + +ipc.server.start(); + +//console.log(ipc.server.define.listen); + + + +/* UDP PaPi Packets forwarding */ + + + + +var dgram = require('dgram'); + +// var PORT_toORTD = parseInt(process.argv[3],10);//20001; +// var PORT_fromORTD = parseInt(process.argv[2],10);//20000; + +// var PORT_toRecv = parseInt(process.argv[4],10);//21000; + +var PORT_toORTD = 20001; +var PORT_fromORTD = 20000; + +var PORT_toRecv = 21000; + + +var RecvAddress = 0; +var RecvPort = 0; + +var ORTDAddress = 'localhost'; + +var clientORTD = dgram.createSocket('udp4'); +clientORTD.bind(PORT_fromORTD); + +var clientRecv = dgram.createSocket('udp4'); +clientRecv.bind(PORT_toRecv); + +var packetCount = 0; + +clientORTD.on('message', function(message) { + if (packetCount != 0) { + clientORTD.send(message,0,message.length, PORT_toRecv, RecvAddress); + } +}); + + + +clientRecv.on('message', function(message, rinfo) { + if (packetCount == 0) { + RecvAddress = rinfo.address; + RecvPort = rinfo.port; + packetCount =1; + console.log('Relay to: ', RecvAddress+':'+RecvPort); + } + clientRecv.send(message,0,message.length, PORT_toORTD, ORTDAddress); + +}); + + + + +// +// Socket io +// +io.on('connection', function(socket){ + + // forwards commands comming from Web/PaPi to Scilab + socket.on('ConsoleCommand', function(msg){ + console.log(msg); + ScilabProc.stdin.write( msg.Data + '\n' ); + }); +}); + + + + + + + + + + var prompt = require('prompt'); + + // + // Start the prompt + // + + // + // Get two properties from the user: username and email + // + + prompt.start(); + + +function initScilabPrompt() { + prompt.get(['Scilab'], function (err, result) { + + +// try { + ScilabProc.stdin.write( result.Scilab + '\n' ); +// } catch (err) { +// process.stderr.write('Scilab not stated\n'); +// } + + initScilabPrompt(); + }); +} + +initScilabPrompt(); + + +// // input from Stdin +// var readline = require('readline'); + +// readline.createInterface({ +// input : ls.stderr, +// terminal : false +// }).on('line', function(line) { + +// console.log('LINE:' + line); + + + +// }).on('close', function() { + +// }); + diff --git a/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.ipar b/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.ipar new file mode 100644 index 00000000..5ae3c811 --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.ipar @@ -0,0 +1,18264 @@ + 1 + 1 + 901 + 10 + 0 + 0 + 18256 + 27 + 1 + 3 + 201 + 100 + 0 + 0 + 6 + 0 + 203 + 100 + 6 + 0 + 18218 + 27 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+1.0000000000000000000000000 +2.0000000000000000000000000 +2.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 +1.0000000000000000000000000 +3.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 +0.0000000000000000000000000 diff --git a/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.sce b/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.sce new file mode 100644 index 00000000..feb4cd30 --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/SwitchingPaPiConfig.sce @@ -0,0 +1,408 @@ +// +// Copyright (C) 2011, 2012, 2013, 2014, 2015 Christian Klauer +// +// This file is part of OpenRTDynamics, the Real-Time Dynamics Framework +// +// OpenRTDynamics is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// OpenRTDynamics 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with OpenRTDynamics. If not, see . +// + + + +// +// +// Example for a changing PaPI-configuration, which is given by the ORTD-program. +// The ORTD-program has several states, one to choose between two experiments, +// one which evaluates the selection and two states with the different experiments. +// In the first experiment an oscillator-system is given with a button to disturb it. +// The second experiment shows a slider and the adjusted value is sent to the ORTD and +// from there sent back to a LCD and a progress bar in PaPI. There is an additional +// finish-state, which is normally not possible to be used. +// +// Rev 1 +// + + +funcprot(0); +// The name of the program +ProgramName = 'SwitchingPaPiConfig'; // must be the filename without .sce + + +function [sim, outlist] = AutoConfigExample(sim, Signal) + + function [sim, finished, outlist, userdata] = ExperimentCntrl(sim, ev, inlist, userdata, CalledOnline) + + // Define parameters. They must be defined once again at this place, because this will also be called at + // runtime. + NSamples=300; + + if CalledOnline == %t then + // The contents of this part will be compiled on-line, while the control + // system is running. The aim is to generate a new compiled schematic for + // the experiment. + // Please note: Since this code is only executed on-line, most potential errors + // occuring in this part become only visible during runtime. + + printf("Compiling a new control system\n"); + + funcprot(0); + z = poly(0,'z'); + // And example-system that is controlled via UDP and one step further with the Web-gui + // Superblock: A more complex oscillator with damping + function [sim, x,v] = damped_oscillator(sim, u, T_a) + // create feedback signals + [sim,x_feedback] = libdyn_new_feedback(sim); + + [sim,v_feedback] = libdyn_new_feedback(sim); + + // use this as a normal signal + [sim,a] = ld_add(sim, ev, list(u, x_feedback), [1, -1]); + [sim,a] = ld_add(sim, ev, list(a, v_feedback), [1, -1]); + + [sim,v] = ld_ztf(sim, ev, a, 1/(z-1) * T_a ); // Integrator approximation + + // feedback gain + [sim,v_gain] = ld_gain(sim, ev, v, 0.1); + + // close loop v_gain = v_feedback + [sim] = libdyn_close_loop(sim, v_gain, v_feedback); + + + [sim,x] = ld_ztf(sim, ev, v, 1/(z-1) * T_a ); // Integrator approximation + + // feedback gain + [sim,x_gain] = ld_gain(sim, ev, x, 0.6); + + // close loop x_gain = x_feedback + [sim] = libdyn_close_loop(sim, x_gain, x_feedback); + endfunction + + if userdata.isInitialised == %f then + // + // State variables can be initialise at this place + // + userdata.Acounter = 0; + userdata.State = "chooseExp"; + + userdata.isInitialised = %t; // prevent from initialising the variables once again + end + + // + // Example for a state update: increase the counter + // + userdata.Acounter = userdata.Acounter + 1; + + // Build an info-string + SchematicInfo = "On-line compiled in iteration #" + string(userdata.Acounter); + + // + // Define a new experiment controller schematic depending on the currently active state + // + + // initalise the PaPi UDP Socket + Configuration.UnderlyingProtocoll = "UDP"; + Configuration.DestHost = "127.0.0.1"; + Configuration.DestPort = 20000; + Configuration.LocalSocketHost = "127.0.0.1"; + Configuration.LocalSocketPort = 20001; + PacketFramework.Configuration.debugmode = %t; + [sim, PacketFramework] = ld_PF_InitInstance(sim, InstanceName="SwitchingAutoConfig", Configuration); + + [sim, zero] = ld_const(sim, ev, 0); + [sim, one] = ld_const(sim, 0, 1); + + // default output (dummy) + outlist=list(zero); + + // + // Here a state-machine is implemented that may be used to implement some automation + // logic that is executed during runtime using the embedded Scilab interpreter. + // In this example, a calibration run succeeded by the design/compilation/execution + // of a control-system is implemented. The schematics defined in each state are loaded + // at runtime. + // + select userdata.State + case "chooseExp" + // Add some parameters to choose the next state + [PacketFramework, OscillatorButton] = ld_PF_addpluginAdvanced(PacketFramework, "Button", "Oscillator", "(250,100)", "(250,100)", "PaPI-Tab", list(["state1_text","Go to"], ["state2_text","Leaving to"])); + [sim, PacketFramework, GoToOscillator]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="Osci", OscillatorButton, 'Click_Event'); + + [PacketFramework, SliderLCDprogressbarButton] = ld_PF_addpluginAdvanced(PacketFramework, "Button", "Slider LCD ProgressBar", "(250,100)", "(250,250)", "PaPI-Tab", list(["state1_text","Go to"], ["state2_text","Leaving to"])); + [sim, PacketFramework, GoToSliderLCDProgress]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="SliderLCDProgress", SliderLCDprogressbarButton, 'Click_Event'); + + // finalise the communication interface + [sim,PacketFramework] = ld_PF_Finalise(sim,PacketFramework); + + // finish if next state is chosen + [sim, expState] = ld_add(sim, ev, list(GoToOscillator, GoToSliderLCDProgress), [1,2]); + // write the next state on the first position of the global memory + [sim] = ld_write_global_memory(sim, ev, data=expState, index=one, ... + ident_str="NextStateData", datatype=ORTD.DATATYPE_FLOAT, ... + ElementsToWrite=1); + + [sim, finished] = ld_and(sim, ev, list(expState, one)); + + outlist=list(expState); + [sim] = ld_printf(sim, ev, expState, "Case choose experiment active. Next Experiment is (0 means no change):", 1); + // chose the next state to enter when the demo experiment has finished + userdata.State = "choosedExp"; + + case "choosedExp" + printf("Got the following chosen experiment for iteration %d:\n", userdata.Acounter); disp(userdata.InputData(1)); + [sim, nextExp] = ld_const(sim, ev, userdata.InputData(1)); + + // finalise the communication interface + [sim,PacketFramework] = ld_PF_Finalise(sim,PacketFramework); + + finished = one; // finish directly + + // chose the next state to enter when the demo experiment has finished + select userdata.InputData(1) + case 1 + userdata.State = "oscillator"; + case 2 + userdata.State = "sliderLCDprogressbar"; + else + userdata.State = "finished"; + end + + outlist=list(nextExp); + [sim] = ld_printf(sim, ev, nextExp, "Case choosed experiment active. Next Experiment is "+ userdata.State, 1); + + case "oscillator" // define an experiment to perform an oscillator experiment + in1 = inlist(1); + [sim] = ld_printf(sim, 0, in1, "Case oscillator active: ", 1); + + // Add a parameter for controlling the oscillator + [PacketFramework, DisturbanceButton] = ld_PF_addpluginAdvanced(PacketFramework, "Button", "Disturbancegrgrgrrgrgrgrgrggegerggeregeg", "(150,50)", "(600,100)", "PaPI-Tab", list(["state1_text","Disturb"], ["state2_text","Disturbing"])); + [sim, PacketFramework, Input]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="Oscillator input", DisturbanceButton, 'Click_Event'); + + // Add a button parameter to go to the experiment selection dialog + [PacketFramework, OkButton] = ld_PF_addpluginAdvanced(PacketFramework, "Button", "Leaveergergergergerggegrggregegrgeegg", "(150,50)", "(600,325)", "PaPI-Tab", list(["state1_text","Ok"], ["state2_text","Leaving"])); + [sim, PacketFramework, GoToChoose]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="ok", OkButton, 'Click_Event'); + + // printf the parameter + [sim] = ld_printf(sim, ev, Input, "Oscillator input ", 1); + + // The system to control + [sim, Input] = ld_add_ofs(sim, 0, Input, 0.2); + T_a = 0.1; [sim, x,v] = damped_oscillator(sim, Input, T_a); + + // Stream the data of the oscillator + [PacketFramework, PlotXY] = ld_PF_addpluginAdvanced(PacketFramework, "Plot", "Plot XV", "(500,500)", "(0,0)", "PaPI-Tab", list(["yRange","[-10.0 10.0]"])); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=x, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="X", PlotXY, 'SourceGroup0'); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=v, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="V", PlotXY, 'SourceGroup0'); + + // finalise the communication interface + [sim,PacketFramework] = ld_PF_Finalise(sim,PacketFramework); + + outlist=list(x); + + finished = GoToChoose; + + // chose the next state to enter when the demo experiment has finished + userdata.State = "chooseExp"; + + case "sliderLCDprogressbar" // design a constant signal to send to PaPi + in1 = inlist(1); + [sim] = ld_printf(sim, 0, in1, "Case sliderLCDprogressbar active: ", 1); + + // Add a button parameter to go to the experiment selection dialog + [PacketFramework, OkButton] = ld_PF_addpluginAdvanced(PacketFramework, "Button", "Leave", "(150,50)", "(600,225)", "PaPI-Tab", list(["state1_text","Ok"], ["state2_text","Leaving"])); + [sim, PacketFramework, GoToChoose]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="ok", OkButton, 'Click_Event'); + + // Add a slider + [PacketFramework, Slider] = ld_PF_addpluginAdvanced(PacketFramework, "Slider", "Slider Example", "(500,75)", "(50,50)", "PaPI-Tab", list(["step_count","101"], ["lower_bound","0.0"], ["upper_bound","1.0"])); + [sim, PacketFramework, sliderValue]=ld_PF_ParameterInclControl(sim, PacketFramework, NValues=1, datatype=ORTD.DATATYPE_FLOAT, ParameterName="sliderVal", Slider, 'SliderBlock'); + + // show the slider value on a progress bar + [sim, percSliderValue] = ld_gain(sim, ev, sliderValue, 100); + [PacketFramework, Pbar] = ld_PF_addpluginAdvanced(PacketFramework, "ProgressBar", "ProgressBar Example", "(500,75)", "(50,250)", "PaPI-Tab", list()); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=percSliderValue, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="percent", Pbar, 'SourceGroup0'); + + // show the slider value on a lcd display + [PacketFramework, LCD] = ld_PF_addpluginAdvanced(PacketFramework, "LCDDisplay", "LCD Example", "(210,120)", "(195,450)", "PaPI-Tab", list(["updateFrequency","50"])); + [sim, PacketFramework]=ld_SendPacketInclSub(sim, PacketFramework, Signal=sliderValue, NValues_send=1, datatype=ORTD.DATATYPE_FLOAT, SourceName="LCDVal", LCD, 'SourceGroup0'); + + // finalise the communication interface + [sim,PacketFramework] = ld_PF_Finalise(sim, PacketFramework); + + outlist=list(sliderValue); + + finished = GoToChoose; + + // chose the next state to enter when the demo experiment has finished + userdata.State = "chooseExp"; + + case "finished" // experiment finished - nothing to do + in1 = inlist(1); + [sim] = ld_printf(sim, ev, in1, "Case finished active" , 1); + [sim, finished] = ld_const(sim, ev, 0); // never finish + [sim, out] = ld_const(sim, 0, 5); + outlist=list(out); + + end + end // CalledOnline == %t + + // When RTmain.sce is executed, this part will be run. It may be used to define an initial experiment in advance to + // the execution of the whole control system. + if CalledOnline == %f then + SchematicInfo = "Off-line compiled"; + + // default output (dummy) + [sim, out] = ld_const(sim, 0, 0); + outlist=list(out); + [sim, finished] = ld_steps2(sim, 0, activation_simsteps=10, values=[0,1] ); + end + + endfunction + + + + + function [sim, outlist, HoldState, userdata] = whileComputing_example(sim, ev, inlist, CalibrationReturnVal, computation_finished, par); + + [sim, HoldState] = ld_const(sim, 0, 0); + + [sim] = ld_printf(sim, 0, HoldState, "calculating ... " , 1); + + // While the computation is running this is called regularly + [sim, out] = ld_const(sim, ev, 0); + outlist=list(out); + endfunction + + + function [sim, ToScilab, userdata] = PreScilabRun(sim, ev, par) + userdata = par.userdata; + + // get the stored sensor data + [sim, readI] = ld_const(sim, 0, 1); // start at index 1 + [sim, ToScilab] = ld_read_global_memory(sim, 0, index=readI, ident_str="NextStateData", ... + datatype=ORTD.DATATYPE_FLOAT, ... + ElementsToRead=1); + //[sim, ToScilab] = ld_const(sim, ev, 0); + endfunction + + + // initialise a global memory for storing the next state + [sim] = ld_global_memory(sim, ev, ident_str="NextStateData", ... + datatype=ORTD.DATATYPE_FLOAT, len=1, ... + initial_data=[zeros(1,1)], ... + visibility='global', useMutex=1); + + // Start the experiment + ThreadPrioStruct.prio1=ORTD.ORTD_RT_NORMALTASK; + ThreadPrioStruct.prio2=0, ThreadPrioStruct.cpu = -1; + + insizes=[1]; outsizes=[1]; + intypes=[ORTD.DATATYPE_FLOAT]; outtypes=[ORTD.DATATYPE_FLOAT]; + + + CallbackFns.experiment = ExperimentCntrl; + CallbackFns.whileComputing = whileComputing_example; + CallbackFns.PreScilabRun = PreScilabRun; + + // Please note ident_str must be unique. + userdata = []; + param.scilab_path = "./ORTDScilabForward.js"; + [sim, finished, outlist, userdata] = ld_AutoOnlineExch_dev2(sim, 0, inlist=list(Signal), ... + insizes, outsizes, intypes, outtypes, ... + ThreadPrioStruct, CallbackFns, ident_str="AutoConfigDemo", userdata, param); + + PacketFramework = userdata(1); +// [sim] = ld_printf(sim, 0, finished, "State ", 1); + +endfunction + + +// The main real-time thread +function [sim, outlist, userdata] = Thread_MainRT(sim, inlist, userdata) + // This will run in a thread + [sim, Tpause] = ld_const(sim, ev, 1/20); // The sampling time that is constant at 20 Hz in this example + [sim, out] = ld_ClockSync(sim, ev, in=Tpause); // synchronise this simulation + + // + // Add you own control system here + // + + // some dummy input to the state machine + [sim,Signal] = ld_const(sim, 0, 0.4321); + + [sim, outlist] = AutoConfigExample(sim, Signal); + + [sim] = ld_printf(sim, 0, outlist(1) , "output ", 1); + + + outlist = list(); +endfunction + +// This is the main top level schematic +function [sim, outlist] = schematic_fn(sim, inlist) + +// +// Create a thread that runs the control system +// + + ThreadPrioStruct.prio1=ORTD.ORTD_RT_NORMALTASK; // or ORTD.ORTD_RT_REALTIMETASK + ThreadPrioStruct.prio2=0; // for ORTD.ORTD_RT_REALTIMETASK: 1-99 as described in man sched_setscheduler + // for ORTD.ORTD_RT_NORMALTASK this is the nice-value (higher value means less priority) + ThreadPrioStruct.cpu = -1; // The CPU on which the thread will run; -1 dynamically assigns to a CPU, + // counting of the CPUs starts at 0 + + [sim, StartThread] = ld_initimpuls(sim, ev); // triggers your computation only once + [sim, outlist, computation_finished] = ld_async_simulation(sim, ev, ... + inlist=list(), ... + insizes=[], outsizes=[], ... + intypes=[], outtypes=[], ... + nested_fn = Thread_MainRT, ... + TriggerSignal=StartThread, name="MainRealtimeThread", ... + ThreadPrioStruct, userdata=list() ); + + + // output of schematic (empty) + outlist = list(); +endfunction + + + + + + + + + + +// +// Set-up (no detailed understanding necessary) +// + +thispath = get_absolute_file_path(ProgramName+'.sce'); +cd(thispath); +z = poly(0,'z'); + +// defile ev +ev = [0]; // main event + +// set-up schematic by calling the user defined function "schematic_fn" +insizes = []; outsizes=[]; +[sim_container_irpar, sim]=libdyn_setup_schematic(schematic_fn, insizes, outsizes); + +// pack the simulation into a irpar container +parlist = new_irparam_set(); +parlist = new_irparam_container(parlist, sim_container_irpar, 901); // pack simulations into irpar container with id = 901 +par = combine_irparam(parlist); // complete irparam set +save_irparam(par, ProgramName+'.ipar', ProgramName+'.rpar'); // Save the schematic to disk + +// clear +par.ipar = []; par.rpar = []; + diff --git a/data_sources/ORTD/RTTargetControlProtocol/html/index.html b/data_sources/ORTD/RTTargetControlProtocol/html/index.html new file mode 100644 index 00000000..7bca4574 --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/html/index.html @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + GUI-interface to ORTD-simulation + +

+ + + Displays:
0
+ + + +
    +
    + +
    + + + + + + + + + + \ No newline at end of file diff --git a/data_sources/ORTD/RTTargetControlProtocol/html/lib/jquery-1.11.3.min.js b/data_sources/ORTD/RTTargetControlProtocol/html/lib/jquery-1.11.3.min.js new file mode 100644 index 00000000..0f60b7bd --- /dev/null +++ b/data_sources/ORTD/RTTargetControlProtocol/html/lib/jquery-1.11.3.min.js @@ -0,0 +1,5 @@ +/*! jQuery v1.11.3 | (c) 2005, 2015 jQuery Foundation, Inc. | jquery.org/license */ +!function(a,b){"object"==typeof module&&"object"==typeof module.exports?module.exports=a.document?b(a,!0):function(a){if(!a.document)throw new Error("jQuery requires a window with a document");return b(a)}:b(a)}("undefined"!=typeof window?window:this,function(a,b){var c=[],d=c.slice,e=c.concat,f=c.push,g=c.indexOf,h={},i=h.toString,j=h.hasOwnProperty,k={},l="1.11.3",m=function(a,b){return new m.fn.init(a,b)},n=/^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g,o=/^-ms-/,p=/-([\da-z])/gi,q=function(a,b){return 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