real_clock.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <acado/clock/real_clock.hpp>



BEGIN_NAMESPACE_ACADO



RealClock::RealClock( ) : Clock( )
{
        lastTimeInstant = 0.0;
}


RealClock::RealClock( const RealClock &rhs ) : Clock( rhs )
{
        lastTimeInstant = rhs.lastTimeInstant;
}


RealClock::~RealClock( )
{
}


RealClock& RealClock::operator=( const RealClock &rhs )
{
        if( this != &rhs )
        {
                Clock::operator=( rhs );

                lastTimeInstant = rhs.lastTimeInstant;
        }

        return *this;
}


Clock* RealClock::clone( ) const
{
        return new RealClock( *this );
}


returnValue RealClock::start( )
{
        if ( status != CS_STOPPED )
                return ACADOERROR( RET_CLOCK_NOT_READY );

        lastTimeInstant = acadoGetTime( );

        if ( lastTimeInstant < 0.0 )
                return ACADOERROR( RET_NO_SYSTEM_TIME );

        status = CS_RUNNING;

        return SUCCESSFUL_RETURN;
}


returnValue RealClock::step(    double _timeShift
                                                                )
{
        returnValue returnvalue = stop( );
        if ( returnvalue != SUCCESSFUL_RETURN )
                return returnvalue;

        elapsedTime += _timeShift;

        return start( );
}


returnValue RealClock::stop( )
{
        if ( status == CS_NOT_INITIALIZED )
                return ACADOERROR( RET_CLOCK_NOT_READY );

        if ( status == CS_STOPPED )
                return SUCCESSFUL_RETURN;

        // actually stop the clock
        double currentTimeInstant = acadoGetTime( );
        
        if ( currentTimeInstant < 0.0 )
                return ACADOERROR( RET_NO_SYSTEM_TIME );
        
        elapsedTime += currentTimeInstant - lastTimeInstant;

        status = CS_STOPPED;

        return SUCCESSFUL_RETURN;
}



CLOSE_NAMESPACE_ACADO


/*
 *      end of file
 */