Orocos Real-Time Toolkit  2.5.0
SimulationThread.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Tue Dec 21 22:43:07 CET 2004  SimulationThread.hpp
00003 
00004                         SimulationThread.hpp -  description
00005                            -------------------
00006     begin                : Tue December 21 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 
00040 #ifndef SIMULATIONTHREAD_HPP
00041 #define SIMULATIONTHREAD_HPP
00042 
00043 #include "TimerThread.hpp"
00044 #include "../os/rtt-os-fwd.hpp"
00045 
00046 
00047 namespace RTT
00048 { namespace extras {
00049     typedef boost::shared_ptr<SimulationThread> SimulationThreadPtr;
00050 
00064     class RTT_API SimulationThread
00065         : public TimerThread
00066     {
00067     public:
00077         static SimulationThreadPtr Instance(double period = 0.001);
00078 
00085         static bool Release();
00086 
00090         virtual ~SimulationThread();
00091 
00092         virtual bool start();
00093 
00098         virtual bool isRunning() const;
00099 
00104         virtual bool start(unsigned int maxsteps);
00105 
00114         virtual bool run(unsigned int maxsteps);
00115 
00119         virtual os::ThreadInterface* simthread();
00120     protected:
00121         bool initialize();
00122         void step();
00123         void finalize();
00124 
00128         SimulationThread(double period);
00129 
00130     private:
00131 
00135         static SimulationThreadPtr _instance;
00136 
00140         os::TimeService* beat;
00141 
00142         unsigned int maxsteps_, cursteps;
00143 
00144         bool sim_running;
00145     };
00146 }} // namespace RTT
00147 
00148 #endif