[10] | 1 | // %flair:license{
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[15] | 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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[10] | 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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[162] | 23 | #include <ISceneManager.h>
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[8] | 24 | #endif
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| 25 | #include "Model.h"
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| 26 | #include "Model_impl.h"
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| 27 | #include <unistd.h>
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| 28 |
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::simulator;
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| 31 |
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[15] | 32 | Simulator_impl::Simulator_impl(Simulator *self, int optitrack_mstime,
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[286] | 33 | float yaw_deg,int port)
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| 34 | : vrpn_Connection_IP(port), Thread(self, "simulator", 1) {
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[15] | 35 | this->self = self;
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| 36 | this->optitrack_mstime = optitrack_mstime;
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| 37 | yaw_rad = Euler::ToRadian(yaw_deg);
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[294] | 38 | Printf("Starting VRPN server on port %i\n",port);
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[8] | 39 | }
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| 40 |
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[15] | 41 | Simulator_impl::~Simulator_impl() {
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| 42 | // printf("del Simulator_impl\n");
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[8] | 43 |
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[15] | 44 | SafeStop();
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| 45 | Join();
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[8] | 46 |
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[15] | 47 | for (size_t i = 0; i < models.size(); i++) {
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| 48 | models.at(i)->pimpl_->SafeStop();
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| 49 | models.at(i)->pimpl_->Join();
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[162] | 50 | #ifdef GL
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| 51 | getGui()->getSceneManager()->getRootSceneNode()->removeChild(models.at(i)->pimpl_);
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| 52 | #endif
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[15] | 53 | delete models.at(i);
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| 54 | }
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[8] | 55 |
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| 56 | #ifdef GL
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[15] | 57 | if (getGui() != NULL)
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| 58 | delete getGui();
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[8] | 59 | #endif
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| 60 |
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[15] | 61 | // printf("del Simulator_impl ok\n");
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[8] | 62 | }
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| 63 |
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[15] | 64 | void Simulator_impl::Run(void) {
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| 65 | SetPeriodMS(optitrack_mstime);
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[8] | 66 |
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[15] | 67 | while (ToBeStopped() == false) {
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| 68 | WaitPeriod();
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| 69 | // printf("%lld\n",GetTime());
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| 70 | for (size_t i = 0; i < models.size(); i++) {
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| 71 | models.at(i)->pimpl_->mainloop();
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| 72 | }
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[218] | 73 | mainloop();
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[15] | 74 | }
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[8] | 75 | }
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| 76 |
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[15] | 77 | void Simulator_impl::RunSimu(void) {
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| 78 | if (models.size() == 0) {
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| 79 | self->Err("No model to run\n");
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| 80 | return;
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| 81 | }
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[8] | 82 |
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[15] | 83 | for (size_t i = 0; i < models.size(); i++) {
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| 84 | models.at(i)->pimpl_->Start();
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| 85 | }
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[8] | 86 |
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[15] | 87 | Start();
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[8] | 88 |
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| 89 | #ifdef GL
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[15] | 90 | if (getGui() != NULL) {
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| 91 | getGui()->pimpl_->RunGui(models, objects);
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| 92 | } else
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[8] | 93 | #endif
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[15] | 94 | {
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| 95 | models.at(0)->pimpl_->Join();
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| 96 | }
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[8] | 97 |
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[15] | 98 | SafeStop();
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| 99 | Join();
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[8] | 100 | }
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