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rtt
extras
SimulationThread.hpp
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/***************************************************************************
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tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 SimulationThread.hpp
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SimulationThread.hpp - description
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-------------------
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begin : Tue December 21 2004
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copyright : (C) 2004 Peter Soetens
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email : peter.soetens@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU General Public *
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* License as published by the Free Software Foundation; *
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* version 2 of the License. *
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* *
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* As a special exception, you may use this file as part of a free *
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* software library without restriction. Specifically, if other files *
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* instantiate templates or use macros or inline functions from this *
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* file, or you compile this file and link it with other files to *
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* produce an executable, this file does not by itself cause the *
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* resulting executable to be covered by the GNU General Public *
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* License. This exception does not however invalidate any other *
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* reasons why the executable file might be covered by the GNU General *
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* Public License. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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#ifndef SIMULATIONTHREAD_HPP
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#define SIMULATIONTHREAD_HPP
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#include "
TimerThread.hpp
"
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#include "../os/rtt-os-fwd.hpp"
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namespace
RTT
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{
namespace
extras {
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typedef
boost::shared_ptr<SimulationThread>
SimulationThreadPtr
;
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class
RTT_API
SimulationThread
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:
public
TimerThread
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{
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public
:
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static
SimulationThreadPtr Instance(
double
period = 0.001);
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static
bool
Release();
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virtual
~
SimulationThread
();
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virtual
bool
start();
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virtual
bool
isRunning()
const
;
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virtual
bool
start(
unsigned
int
maxsteps);
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virtual
bool
run(
unsigned
int
maxsteps);
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virtual
os::ThreadInterface
* simthread();
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protected
:
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bool
initialize();
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void
step();
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void
finalize();
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SimulationThread
(
double
period);
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private
:
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static
SimulationThreadPtr _instance;
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os::TimeService
* beat;
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unsigned
int
maxsteps_, cursteps;
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bool
sim_running;
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};
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}}
// namespace RTT
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#endif
RTT::os::TimeService
The TimeService is used for system-wide time keeping and conversions.
Definition:
TimeService.hpp:35
RTT::extras::TimerThread
This Periodic Thread is meant for executing a PeriodicActivity object periodically.
Definition:
TimerThread.hpp:69
RTT_API
#define RTT_API
Definition:
rtt-config.h:97
TimerThread.hpp
RTT::os::ThreadInterface
A thread which is being run.
Definition:
ThreadInterface.hpp:56
RTT::extras::SimulationThreadPtr
boost::shared_ptr< SimulationThread > SimulationThreadPtr
Definition:
SimulationThread.hpp:49
RTT::extras::SimulationThread
This thread is the simulated real-time periodic thread in the Orocos system.
Definition:
SimulationThread.hpp:64
RTT
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition:
Activity.cpp:51
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