model.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef ROSRTW_MODEL_H
00030 #define ROSRTW_MODEL_H
00031 
00032 #include "grt.h"
00033 #include <rosrtw/model_interface.h>
00034 
00035 namespace rosrtw {
00036 
00037 class Model : public ModelInterface {
00038 private:
00039   RT_MODEL  *S;
00040   real_T     finaltime;
00041 
00042   const std::string name;
00043   bool is_initialized;
00044 
00045   struct {
00046     int_T    stopExecutionFlag;
00047     int_T    isrOverrun;
00048     int_T    overrunFlags[NUMST];
00049     int_T    eventFlags[NUMST];
00050     const    char_T *errmsg;
00051   } GBLbuf;
00052 
00053 private:
00054   void rt_OneStep(RT_MODEL *S);
00055 
00056 public:
00057   Model();
00058   virtual ~Model();
00059 
00060   const std::string& getName() const { return name; }
00061   bool isInitialized() const { return is_initialized; }
00062 
00063   bool isRunning();
00064   bool initialize();
00065   void loop();
00066   void step();
00067   void stop();
00068   void terminate();
00069 };
00070 
00071 } // namespace rosrtw
00072 
00073 #endif // ROSRTW_MODEL_H


rosrtw
Author(s): Johannes Meyer
autogenerated on Fri Jul 25 2014 06:48:24