#include <SimulationThread.hpp>

Inheritance diagram for RTT::extras::SimulationThread:

Public Member Functions
virtual bool	isRunning () const
virtual bool	run (unsigned int maxsteps)
virtual os::ThreadInterface *	simthread ()
virtual bool	start ()
virtual bool	start (unsigned int maxsteps)
virtual	~SimulationThread ()
Static Public Member Functions
static SimulationThreadPtr	Instance (double period=0.001)
static bool	Release ()
Protected Member Functions
void	finalize ()
bool	initialize ()
	SimulationThread (double period)
void	step ()
Private Attributes
os::TimeService *	beat
unsigned int	cursteps
unsigned int	maxsteps_
bool	sim_running
Static Private Attributes
static SimulationThreadPtr	_instance

Detailed Description

This thread is the simulated real-time periodic thread in the Orocos system.

All your activities in the same program must be a SimulationActivity for this to work, since the os::TimeService global time is updated when this thread runs.

By default, the update period is 0.001 seconds. If you want to run with a finer or coarser grained time step, use the Instance() method and supply another period before SimulationActivities are created.

Note:: This implementation has lost the capability to run SimulationActivity objects of different periods.

Definition at line 64 of file SimulationThread.hpp.

Constructor & Destructor Documentation

RTT::SimulationThread::~SimulationThread ( ) [virtual]

Destructor

Definition at line 98 of file SimulationThread.cpp.

RTT::SimulationThread::SimulationThread ( double period ) [protected]

Constructor

Definition at line 86 of file SimulationThread.cpp.

Member Function Documentation

void RTT::SimulationThread::finalize ( ) [protected, virtual]

See also:: base::RunnableInterface::finalize()

Reimplemented from RTT::extras::TimerThread.

Definition at line 155 of file SimulationThread.cpp.

bool RTT::SimulationThread::initialize ( ) [protected, virtual]

See also:: base::RunnableInterface::initialize()

Reimplemented from RTT::extras::TimerThread.

Definition at line 141 of file SimulationThread.cpp.

SimulationThreadPtr RTT::SimulationThread::Instance ( double period = 0.001 ) [static]

Create the SimulationThread with a given period. Only one SimulationThread can be created.

Parameters:

period The period in seconds at which the simulation takes steps and updates the TimeService. Only the first invocation of Instance will consider this parameter. The others will ignore it.

Definition at line 69 of file SimulationThread.cpp.

bool RTT::SimulationThread::isRunning ( ) const [virtual]

Returns true if thread is running or run( unsigned int ) is being invoked.

Reimplemented from RTT::os::Thread.

Definition at line 103 of file SimulationThread.cpp.

bool RTT::SimulationThread::Release ( ) [static]

Releases the SimulationThread Reference counting might aid in making this call safe

Returns:: true on success, false on failure

Definition at line 79 of file SimulationThread.cpp.

bool RTT::SimulationThread::run ( unsigned int maxsteps ) [virtual]

Execute maxsteps steps immediately. This function will call the step() functions maxsteps times, without requiring start() or stop() to be called before or after. The thread is thus not used.