Description

Class for socket communication interface.

Typically, a Chrono program can instance an object from this class and use it to communicate with a 3rd party simulation tool at each time step. The communication is based on TCP sockets, where vectors of scalar values are exchanged back and forth. In this case, Chrono will work as a server, waiting for a client to talk with.

#include <ChSocketCommunication.h>

Public Member Functions
	ChSocketCommunication (utils::ChSocketFramework &framework, int n_in_values, int n_out_values)
	Create a co-simulation interface. More...

bool	WaitConnection (int port)
	Wait for a client to connect to the interface, on a given port, and wait until not connected. More...

bool	SendData (double time, ChVectorConstRef out_data)
	Exchange data with the client, by sending a vector of floating point values over TCP socket connection. More...

bool	ReceiveData (double &time, ChVectorRef in_data)
	Exchange data with the client, by receiving a vector of floating point values over TCP socket connection (values are double precision, little endian, 4 bytes each) External time is also received as first value.

Constructor & Destructor Documentation

◆ ChSocketCommunication()

chrono::utils::ChSocketCommunication::ChSocketCommunication	(	utils::ChSocketFramework &	framework,
		int	n_in_values,
		int	n_out_values
	)

Create a co-simulation interface.

Parameters

framework	socket framework
n_in_values	number of scalar variables to receive each timestep
n_out_values	number of scalar variables to send each timestep

Member Function Documentation

◆ SendData()

bool chrono::utils::ChSocketCommunication::SendData	(	double	time,
		ChVectorConstRef	out_data
	)

Exchange data with the client, by sending a vector of floating point values over TCP socket connection.

Values are double precision, little endian, 4 bytes each. The simulator time is passed as first argument.

◆ WaitConnection()

bool chrono::utils::ChSocketCommunication::WaitConnection ( int port )

Wait for a client to connect to the interface, on a given port, and wait until not connected.

The argument 'port' is a free port number, for example 50009.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/utils/ChSocketCommunication.h
/builds/uwsbel/chrono/src/chrono/utils/ChSocketCommunication.cpp