SimulationActivity.cpp

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:07 CET 2004  SimulationActivity.cxx

                        SimulationActivity.cxx -  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         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
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 ***************************************************************************/


#include "SimulationActivity.hpp"
#include "SimulationThread.hpp"

namespace RTT {
    using namespace base;
    using namespace extras;

    SimulationActivity::SimulationActivity(Seconds period, RunnableInterface* r )
        :PeriodicActivity(period,SimulationThread::Instance(), r)
    {
    }

    SimulationActivity::SimulationActivity(secs sec, nsecs nsec, RunnableInterface* r )
        :PeriodicActivity(sec, nsec,SimulationThread::Instance(), r)
    {
    }

    SimulationActivity::~SimulationActivity()
    {
        stop();
    }

    os::ThreadInterface* SimulationActivity::thread() {
        return SimulationThread::Instance()->simthread();
    }

    bool SimulationActivity::execute()
    {
        if ( this->isRunning() ) {
            this->step();
            return true;
        }
        return false;
    }


    // COPY/PASTE from PeriodicActivity.cxx
    bool SimulationActivity::start()
    {
        if ( isActive() ) { //|| !thread_->isRunning() ) {
            //Logger::log() << Logger::Error << "PeriodicActivity : no timer, already active or thread not running." << Logger::endl;
            return false;
        }

        active = true;
        bool inError = !this->initialize();
        if ( inError ) {
            //Logger::log() << Logger::Error << "PeriodicActivity : initialize() returned false " << Logger::endl;
            active = false;
            return false;
        }

        bool res;
        res = thread_->addActivity( this );
        if ( res == false ) {
            //Logger::log() << Logger::Error << "PeriodicActivity : addActivity() returned false " << Logger::endl;
            this->finalize();
            active = false;
            return false;
        }

        running = true;
        return true;
    }

}