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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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,
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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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37 | }
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38 |
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39 | Simulator_impl::~Simulator_impl() {
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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 | 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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50 |
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51 | #ifdef GL
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52 | if (getGui() != NULL)
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53 | 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 | SetPeriodMS(optitrack_mstime);
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61 |
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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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70 | }
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71 |
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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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77 |
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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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81 |
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82 | Start();
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83 |
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84 | #ifdef GL
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85 | if (getGui() != NULL) {
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86 | getGui()->pimpl_->RunGui(models, objects);
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87 | } else
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88 | #endif
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89 | {
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90 | models.at(0)->pimpl_->Join();
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91 | }
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92 |
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93 | SafeStop();
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94 | Join();
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95 | }
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