SimulationThread.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 SimulationThread.hpp 00003 00004 SimulationThread.hpp - description 00005 ------------------- 00006 begin : Tue December 21 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 00040 #ifndef SIMULATIONTHREAD_HPP 00041 #define SIMULATIONTHREAD_HPP 00042 00043 #include "TimerThread.hpp" 00044 #include "../os/rtt-os-fwd.hpp" 00045 00046 00047 namespace RTT 00048 { namespace extras { 00049 typedef boost::shared_ptr<SimulationThread> SimulationThreadPtr; 00050 00064 class RTT_API SimulationThread 00065 : public TimerThread 00066 { 00067 public: 00077 static SimulationThreadPtr Instance(double period = 0.001); 00078 00085 static bool Release(); 00086 00090 virtual ~SimulationThread(); 00091 00092 virtual bool start(); 00093 00098 virtual bool isRunning() const; 00099 00104 virtual bool start(unsigned int maxsteps); 00105 00114 virtual bool run(unsigned int maxsteps); 00115 00119 virtual os::ThreadInterface* simthread(); 00120 protected: 00121 bool initialize(); 00122 void step(); 00123 void finalize(); 00124 00128 SimulationThread(double period); 00129 00130 private: 00131 00135 static SimulationThreadPtr _instance; 00136 00140 os::TimeService* beat; 00141 00142 unsigned int maxsteps_, cursteps; 00143 00144 bool sim_running; 00145 }; 00146 }} // namespace RTT 00147 00148 #endif