source: flair-src/trunk/lib/FlairSimulator/src/Simulator_impl.cpp@ 10

Last change on this file since 10 was 10, checked in by Sanahuja Guillaume, 6 years ago

lic

File size: 2.0 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/03/25
6// filename: Simulator_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: classe de base du Simulator
14//
15/*********************************************************************/
16
17#include "Simulator_impl.h"
18#include "Simulator.h"
19#include "Euler.h"
20#ifdef GL
21#include "Gui.h"
22#include "Gui_impl.h"
23#endif
24#include "Model.h"
25#include "Model_impl.h"
26#include <unistd.h>
27
28using namespace flair::core;
29using namespace flair::simulator;
30
31Simulator_impl::Simulator_impl(Simulator* self,int optitrack_mstime,float yaw_deg): vrpn_Connection_IP(), Thread(self,"simulator",1)
32{
33 this->self=self;
34 this->optitrack_mstime=optitrack_mstime;
35 yaw_rad=Euler::ToRadian(yaw_deg);
36}
37
38Simulator_impl::~Simulator_impl()
39{
40 //printf("del Simulator_impl\n");
41
42 SafeStop();
43 Join();
44
45 for(size_t i=0;i<models.size();i++)
46 {
47 models.at(i)->pimpl_->SafeStop();
48 models.at(i)->pimpl_->Join();
49 delete models.at(i);
50 }
51
52#ifdef GL
53 if(getGui()!=NULL) delete getGui();
54#endif
55
56 //printf("del Simulator_impl ok\n");
57}
58
59void Simulator_impl::Run(void)
60{
61 SetPeriodMS(optitrack_mstime);
62
63 while(ToBeStopped()==false)
64 {
65 WaitPeriod();
66//printf("%lld\n",GetTime());
67 mainloop();
68 for(size_t i=0;i<models.size();i++)
69 {
70 models.at(i)->pimpl_->mainloop();
71 }
72 }
73}
74
75
76void Simulator_impl::RunSimu(void)
77{
78 if(models.size()==0)
79 {
80 self->Err("No model to run\n");
81 return;
82 }
83
84 for(size_t i=0;i<models.size();i++)
85 {
86 models.at(i)->pimpl_->Start();
87 }
88
89 Start();
90
91#ifdef GL
92 if(getGui()!=NULL)
93 {
94 getGui()->pimpl_->RunGui(models,objects);
95 }
96 else
97#endif
98 {
99 models.at(0)->pimpl_->Join();
100 }
101
102 SafeStop();
103 Join();
104}
Note: See TracBrowser for help on using the repository browser.