Orocos Real-Time Toolkit  2.9.0
SimulationThread.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 SimulationThread.hpp
3 
4  SimulationThread.hpp - description
5  -------------------
6  begin : Tue December 21 2004
7  copyright : (C) 2004 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
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37 
38 
39 
40 #ifndef SIMULATIONTHREAD_HPP
41 #define SIMULATIONTHREAD_HPP
42 
43 #include "TimerThread.hpp"
44 #include "../os/rtt-os-fwd.hpp"
45 
46 
47 namespace RTT
48 { namespace extras {
49  typedef boost::shared_ptr<SimulationThread> SimulationThreadPtr;
50 
65  : public TimerThread
66  {
67  public:
77  static SimulationThreadPtr Instance(double period = 0.001);
78 
85  static bool Release();
86 
90  virtual ~SimulationThread();
91 
92  virtual bool start();
93 
98  virtual bool isRunning() const;
99 
104  virtual bool start(unsigned int maxsteps);
105 
114  virtual bool run(unsigned int maxsteps);
115 
119  virtual os::ThreadInterface* simthread();
120  protected:
121  bool initialize();
122  void step();
123  void finalize();
124 
128  SimulationThread(double period);
129 
130  private:
131 
135  static SimulationThreadPtr _instance;
136 
140  os::TimeService* beat;
141 
142  unsigned int maxsteps_, cursteps;
143 
144  bool sim_running;
145  };
146 }} // namespace RTT
147 
148 #endif
The TimeService is used for system-wide time keeping and conversions.
Definition: TimeService.hpp:35
This Periodic Thread is meant for executing a PeriodicActivity object periodically.
Definition: TimerThread.hpp:69
#define RTT_API
Definition: rtt-config.h:97
A thread which is being run.
boost::shared_ptr< SimulationThread > SimulationThreadPtr
This thread is the simulated real-time periodic thread in the Orocos system.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52