Project configuration

MBsysC provides real-time features to interact with the simulation while it is running. This includes the possibility to plot signals in real-time, to interact with the simulation using the keyboard or a joystick, and to visualize the simulation in 3D.

REMARK:

The realtime part of robotran is based on Websockets. This feature is not yet supported on windows. On windows you can look into the docker page (TODO)

By default the real-time features are not activated. To activate them, you need to set the options in the realtime files of the userfctR/realtime folder. If you do not have this folder, generate a new Full-C project.

The userfctR/realtime folder contains the following files:

• user_realtime_options.c : configuration of the real-time options

• user_realtime_events.c : configuration of the keyboard and joystick input devices

• user_realtime_plot.c : plot in real-time of any signal related to the simulation

• user_realtime_visu.c : modification of the default 3D visualization (for advanced users only)

In each of these four files, a manual is written to explain how to use them and it details all variables.

In particular, the features of user_realtime_plot.c can be used in any other file using the following lines:

#include "user_realtime.h"

set_plot(value, "label");

Options

The options are set in the user_realtime_options.c file. The following options are available:

void user_realtime_options(MbsData* mbs_data, Realtime_option *options)
{
    options->mbsz_file = <PATH/TO/THE/MBSZ>;
    options->init_break = 1;
}

• mbsz_file: path to the mbsz file that you want to use.

• init_break: boolean that allows you to pause the simulation at the beginning or not.