SimulationThread.hpp

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/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:07 CET 2004  SimulationThread.hpp

                        SimulationThread.hpp -  description
                           -------------------
    begin                : Tue December 21 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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#ifndef SIMULATIONTHREAD_HPP
#define SIMULATIONTHREAD_HPP

#include "TimerThread.hpp"
#include "../os/rtt-os-fwd.hpp"


namespace RTT
{ namespace extras {
    typedef boost::shared_ptr<SimulationThread> SimulationThreadPtr;

    class RTT_API SimulationThread
        : public TimerThread
    {
    public:
        static SimulationThreadPtr Instance(double period = 0.001);

        static bool Release();

        virtual ~SimulationThread();

        virtual bool start();

        virtual bool isRunning() const;

        virtual bool start(unsigned int maxsteps);

        virtual bool run(unsigned int maxsteps);

        virtual os::ThreadInterface* simthread();
    protected:
        bool initialize();
        void step();
        void finalize();

        SimulationThread(double period);

    private:

        static SimulationThreadPtr _instance;

        os::TimeService* beat;

        unsigned int maxsteps_, cursteps;

        bool sim_running;
    };
}} // namespace RTT

#endif