model.cpp

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//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

// #include <pluginlib/class_list_macros.h>
#include "model.h"

#define MODEL_STR_(m) #m
#define MODEL_STR MODEL_STR_(MODEL)

namespace rosrtw {

Model::Model()
  : S(0)
  , finaltime(-2.0)
  , name(MODEL_STR)
  , is_initialized(false)
{
  /****************************
   * Initialize global memory *
   ****************************/
  (void)memset(&GBLbuf, 0, sizeof(GBLbuf));
}

Model::~Model()
{
  terminate();
}

void Model::stop()
{
  if (!isRunning()) return;
  GBLbuf.stopExecutionFlag = true;
}

} // namespace rosrtw

#ifdef PLUGINLIB_DECLARE_CLASS
  typedef rosrtw::Model test;
  PLUGINLIB_DECLARE_CLASS(ROS_PACKAGE_NAME, MODEL, rosrtw::Model, rosrtw::ModelInterface)
#endif