Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * simts.h - Simulator time source 00004 * 00005 * Created: Mon Feb 25 15:44:00 2008 00006 * Copyright 2008 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __UTILS_TIME_SIMTS_H_ 00025 #define __UTILS_TIME_SIMTS_H_ 00026 00027 #include <utils/time/clock.h> 00028 #include <utils/time/timesource.h> 00029 00030 namespace fawkes { 00031 00032 class SimulatorTimeSource : public TimeSource 00033 { 00034 public: 00035 SimulatorTimeSource(); 00036 virtual ~SimulatorTimeSource(); 00037 00038 virtual void get_time(timeval* tv) const; 00039 virtual timeval conv_to_realtime(const timeval* tv) const; 00040 00041 void set_start(float initial_offset); 00042 void set_sim_offset(float sim_offset); 00043 00044 private: 00045 Clock *clock; 00046 Time start_time; // sim AND realtime 00047 Time current_simtime; 00048 Time current_realtime; 00049 float start_simoffset; 00050 float current_simoffset; 00051 }; 00052 00053 } // end namespace fawkes 00054 00055 #endif