Fawkes API  Fawkes Development Version
simts.h
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