default_visualization.cpp

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#include <argos3/core/simulator/visualization/default_visualization.h>
#include <argos3/core/simulator/space/space.h>
#include <argos3/core/simulator/loop_functions.h>
 
#include <unistd.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   static Real TVTimeToHumanReadable(::timeval& t_time) {
      return
         static_cast<Real>(t_time.tv_sec) +
         static_cast<Real>(t_time.tv_usec * 10e-6);
   }
 
   /****************************************/
   /****************************************/
 
   CDefaultVisualization::CDefaultVisualization() {
      /* Set the pointer to the step function */
      if(m_cSimulator.IsRealTimeClock()) {
         /* Use real-time clock and set time structures */
         m_tStepFunction = &CDefaultVisualization::RealTimeStep;
         timerclear(&m_tStepClockTime);
         m_tStepClockTime.tv_usec = 1e6 * CPhysicsEngine::GetSimulationClockTick();
         ::gettimeofday(&m_tStepStartTime, nullptr);
      }
      else {
         /* Use normal clock */
         m_tStepFunction = &CDefaultVisualization::NormalStep;
      }
   }
 
   /****************************************/
   /****************************************/
 
   void CDefaultVisualization::Execute() {
      /* Main cycle */
      while(!m_cSimulator.IsExperimentFinished()) {
         (this->*m_tStepFunction)();
      }
      /* The experiment is finished */
      m_cSimulator.GetLoopFunctions().PostExperiment();
      LOG.Flush();
      LOGERR.Flush();
   }
 
   /****************************************/
   /****************************************/
 
   void CDefaultVisualization::NormalStep() {
      m_cSimulator.UpdateSpace();
   }
 
   /****************************************/
   /****************************************/
 
   void CDefaultVisualization::RealTimeStep() {
      /* m_tStepStartTime has already been set */
      m_cSimulator.UpdateSpace();
      /* Take the time now */
      ::gettimeofday(&m_tStepEndTime, nullptr);
      /* Calculate the elapsed time */
      timersub(&m_tStepEndTime, &m_tStepStartTime, &m_tStepElapsedTime);
      /* If the elapsed time is lower than the tick length, wait */
      if(!timercmp(&m_tStepElapsedTime, &m_tStepClockTime, >)) {
         /* Calculate the waiting time */
         timersub(&m_tStepClockTime, &m_tStepElapsedTime, &m_tStepWaitTime);
         /* Wait */
         ::usleep(static_cast<UInt32>(m_tStepWaitTime.tv_sec * 1e6 + m_tStepWaitTime.tv_usec));
         /* Get the new step end */
         ::gettimeofday(&m_tStepEndTime, nullptr);
      }
      else {
         LOGERR << "[WARNING] Clock tick took "
                << TVTimeToHumanReadable(m_tStepElapsedTime)
                << " sec, more than the expected "
                << TVTimeToHumanReadable(m_tStepClockTime)
                << " sec."
                << std::endl;
      }
      /* Set the step start time to whatever the step end time is */
      m_tStepStartTime.tv_sec = m_tStepEndTime.tv_sec;
      m_tStepStartTime.tv_usec = m_tStepEndTime.tv_usec;
   }
 
   /****************************************/
   /****************************************/
 
}