[10] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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[8] | 5 | // created: 2013/03/25
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| 6 | // filename: Simulator_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: classe de base du Simulator
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| 14 | //
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| 15 | /*********************************************************************/
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| 16 |
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| 17 | #include "Simulator_impl.h"
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| 18 | #include "Simulator.h"
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| 19 | #include "Euler.h"
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| 20 | #ifdef GL
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| 21 | #include "Gui.h"
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| 22 | #include "Gui_impl.h"
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| 23 | #endif
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| 24 | #include "Model.h"
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| 25 | #include "Model_impl.h"
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| 26 | #include <unistd.h>
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| 27 |
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| 28 | using namespace flair::core;
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| 29 | using namespace flair::simulator;
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| 30 |
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| 31 | Simulator_impl::Simulator_impl(Simulator* self,int optitrack_mstime,float yaw_deg): vrpn_Connection_IP(), Thread(self,"simulator",1)
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| 32 | {
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| 33 | this->self=self;
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| 34 | this->optitrack_mstime=optitrack_mstime;
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| 35 | yaw_rad=Euler::ToRadian(yaw_deg);
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| 36 | }
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| 37 |
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| 38 | Simulator_impl::~Simulator_impl()
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| 39 | {
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| 40 | //printf("del Simulator_impl\n");
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| 41 |
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| 42 | SafeStop();
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| 43 | Join();
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| 44 |
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| 45 | for(size_t i=0;i<models.size();i++)
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| 46 | {
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| 47 | models.at(i)->pimpl_->SafeStop();
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| 48 | models.at(i)->pimpl_->Join();
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| 49 | delete models.at(i);
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| 50 | }
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| 51 |
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| 52 | #ifdef GL
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| 53 | if(getGui()!=NULL) delete getGui();
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| 54 | #endif
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| 55 |
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| 56 | //printf("del Simulator_impl ok\n");
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| 57 | }
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| 58 |
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| 59 | void Simulator_impl::Run(void)
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| 60 | {
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| 61 | SetPeriodMS(optitrack_mstime);
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| 62 |
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| 63 | while(ToBeStopped()==false)
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| 64 | {
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| 65 | WaitPeriod();
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| 66 | //printf("%lld\n",GetTime());
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| 67 | mainloop();
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| 68 | for(size_t i=0;i<models.size();i++)
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| 69 | {
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| 70 | models.at(i)->pimpl_->mainloop();
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| 71 | }
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| 72 | }
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| 73 | }
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| 74 |
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| 75 |
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| 76 | void Simulator_impl::RunSimu(void)
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| 77 | {
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| 78 | if(models.size()==0)
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| 79 | {
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| 80 | self->Err("No model to run\n");
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| 81 | return;
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| 82 | }
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| 83 |
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| 84 | for(size_t i=0;i<models.size();i++)
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| 85 | {
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| 86 | models.at(i)->pimpl_->Start();
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| 87 | }
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| 88 |
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| 89 | Start();
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| 90 |
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| 91 | #ifdef GL
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| 92 | if(getGui()!=NULL)
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| 93 | {
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| 94 | getGui()->pimpl_->RunGui(models,objects);
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| 95 | }
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| 96 | else
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| 97 | #endif
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| 98 | {
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| 99 | models.at(0)->pimpl_->Join();
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| 100 | }
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| 101 |
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| 102 | SafeStop();
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| 103 | Join();
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| 104 | }
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