CTCP.h

#ifndef CTCP_H
#define CTCP_H
 
#include <string>
#include <Eigen/Eigen>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <algorithm>
#include <vector>
#include <valarray>
 
#include "SimObject.h"
#include <CIntegratorOptions.h>
#include <CPrintDuringExec.h>
 
#include "sfh/text.h"
#include "sfh/math/math.h"
#include "sfh/sim/kinematics.h"
#include "sfh/constants.h"
 
#ifdef _WIN32 // Windows
#include <winsock2.h>
#include <ws2tcpip.h>
#include <windows.h>
#else // Linux
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <unistd.h>
#include <errno.h>
#define SOCKET int
#endif
 
 
namespace Interface {
 
class CTCP : public SimObject
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    // Constructor
    CTCP(std::string sSimObjectName, ISimObjectCreator* pCreator);
    virtual void FinalSetup(const double dT, const double* const adX, ISimObjectCreator* const pCreator);
    virtual void InitialConditionSetup(const double T, const double *const currentIC, double* updatedIC, ISimObjectCreator* creator);
    virtual ~CTCP();
 
    // Calculate the state derivatives.
    virtual void OdeFcn(const double dT, const double* const adX, double* const adXDot, const bool bIsMajorTimeStep);
 
    // Set up a tcp connection for a spesific IP address and port number
    bool SetupTCP(const std::string& IPString, const int& port);
 
    // Send a tcp message
    bool SendMsg(const double dT, const double* const adX);
 
    // Receive a tcp message
    bool ReceiveMsg();
 
    // Receive a tcp message in multiple rounds
    bool ReceiveMsgMR();
 
#ifdef FH_VISUALIZATION
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator) {};
 
    virtual void RenderUpdate(const double dT, const double* const adX) {};
#endif
 
protected:
    // FhSim logger
    CPrintDuringExec* m_Logger;
    
    // Input ports
    ISignalPort*    m_InSig;
    // Number of messages to send
    int                 m_InNum;
    // Input buffer
    double*             m_InMsg;
 
    // Output ports
    virtual const double* OutMsg(const double dT, const double* const adX); 
    // Number of messages to receive
    int                 m_OutNum;
    // Output buffer
    double*             m_OutMsg;
 
    // Buffer for sending and receiving messages
    char* m_MsgBuf;
    
    // Server information
    std::string     m_TCPName;
    std::string     m_IPString;
    int             m_PortNum;
    
    // Socket information
#ifdef _WIN32
    WSADATA         m_WsaData;
#endif
    SOCKET          m_ListenSocket;
    SOCKET          m_ClientSocket;
 
    // To check if sending and reveiving messages successfully 
    bool m_TCP; 
    
    // Number of Bytes sent and received
    int m_RecResult;
    int m_SendResult;
 
    // Options
    bool    m_RecMR;            // True to receive a tcp message in multiple rounds 
    bool    m_ShowTCPRst;       // True to show TCP results on the screen
    double  m_ComDT;            // Communication interval
    double  m_ComNT;            // Time for next communication
};
 
};
 
#endif