[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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| 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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[15] | 31 | Simulator_impl::Simulator_impl(Simulator *self, int optitrack_mstime,
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| 32 | float yaw_deg)
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| 33 | : vrpn_Connection_IP(), Thread(self, "simulator", 1) {
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| 34 | this->self = self;
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| 35 | this->optitrack_mstime = optitrack_mstime;
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| 36 | yaw_rad = Euler::ToRadian(yaw_deg);
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[8] | 37 | }
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| 38 |
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[15] | 39 | Simulator_impl::~Simulator_impl() {
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| 40 | // printf("del Simulator_impl\n");
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[8] | 41 |
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[15] | 42 | SafeStop();
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| 43 | Join();
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[8] | 44 |
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[15] | 45 | for (size_t i = 0; i < models.size(); i++) {
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| 46 | models.at(i)->pimpl_->SafeStop();
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| 47 | models.at(i)->pimpl_->Join();
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| 48 | delete models.at(i);
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| 49 | }
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[8] | 50 |
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| 51 | #ifdef GL
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[15] | 52 | if (getGui() != NULL)
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| 53 | delete getGui();
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[8] | 54 | #endif
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| 55 |
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[15] | 56 | // printf("del Simulator_impl ok\n");
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[8] | 57 | }
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| 58 |
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[15] | 59 | void Simulator_impl::Run(void) {
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| 60 | SetPeriodMS(optitrack_mstime);
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[8] | 61 |
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[15] | 62 | while (ToBeStopped() == false) {
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| 63 | WaitPeriod();
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| 64 | // printf("%lld\n",GetTime());
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| 65 | mainloop();
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| 66 | for (size_t i = 0; i < models.size(); i++) {
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| 67 | models.at(i)->pimpl_->mainloop();
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| 68 | }
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| 69 | }
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[8] | 70 | }
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| 71 |
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[15] | 72 | void Simulator_impl::RunSimu(void) {
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| 73 | if (models.size() == 0) {
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| 74 | self->Err("No model to run\n");
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| 75 | return;
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| 76 | }
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[8] | 77 |
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[15] | 78 | for (size_t i = 0; i < models.size(); i++) {
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| 79 | models.at(i)->pimpl_->Start();
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| 80 | }
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[8] | 81 |
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[15] | 82 | Start();
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[8] | 83 |
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| 84 | #ifdef GL
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[15] | 85 | if (getGui() != NULL) {
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| 86 | getGui()->pimpl_->RunGui(models, objects);
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| 87 | } else
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[8] | 88 | #endif
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[15] | 89 | {
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| 90 | models.at(0)->pimpl_->Join();
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| 91 | }
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[8] | 92 |
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[15] | 93 | SafeStop();
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| 94 | Join();
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[8] | 95 | }
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