Ticker.h

Go to the documentation of this file.

/*
 * Copyright 2015-2023 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/mc_global_controller.h>
 
#include <mc_rtc/log/FlatLog.h>
 
#include <mc_rtc/config.h>
#include <mc_rtc/logging.h>
#include <mc_rtc/version.h>
 
namespace mc_control
{
 
struct MC_CONTROL_DLLAPI Ticker
{
  struct Configuration
  {
    std::string mc_rtc_configuration = "";
    bool step_by_step = false;
    double run_for = std::numeric_limits<double>::infinity();
    bool no_sync = false;
    double sync_ratio = 1.0;
    struct Replay
    {
      std::string log = "";
      bool with_inputs = true;
      bool with_gui_inputs = true;
      std::string with_datastore_config = "";
      bool with_outputs = false;
      bool stop_after_log = true;
      bool exit_after_log = false;
    };
    Replay replay_configuration = {};
  };
 
  Ticker(const Configuration & config);
 
  void reset();
 
  bool step();
 
  void run();
 
  inline double elapsed_time() const noexcept { return static_cast<double>(iters_) * gc_.timestep(); }
 
  inline const mc_control::MCGlobalController & controller() const noexcept { return gc_; }
 
  inline mc_control::MCGlobalController & controller() noexcept { return gc_; }
 
protected:
  Configuration config_;
  mc_control::MCGlobalController gc_;
  std::shared_ptr<mc_rtc::log::FlatLog> log_;
 
  size_t iters_ = 0;
 
  double sim_real_ratio_ = 1.0;
 
  std::atomic<bool> do_reset_ = false;
 
  bool running_ = true;
 
  bool replay_done_ = false;
 
  int64_t rem_steps_ = 0;
 
  void simulate_sensors();
 
  void setup_gui();
 
  void set_time(double t);
};
 
} // namespace mc_control