simulation_sync.hpp

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/*
 * Copyright 2024 Robert Bosch GmbH
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#pragma once
 
#include <cstdint>
 
#include <cloe/core/duration.hpp>
#include <cloe/sync.hpp>
 
namespace engine {
 
class SimulationSync : public cloe::Sync {
 public:  // Overrides
  SimulationSync() = default;
  SimulationSync(const SimulationSync &) = default;
  SimulationSync(SimulationSync &&) = delete;
  SimulationSync &operator=(const SimulationSync &) = default;
  SimulationSync &operator=(SimulationSync &&) = delete;
  virtual ~SimulationSync() = default;
 
  explicit SimulationSync(const cloe::Duration &step_width) : step_width_(step_width) {}
 
  uint64_t step() const override { return step_; }
  cloe::Duration step_width() const override { return step_width_; }
  cloe::Duration time() const override { return time_; }
  cloe::Duration eta() const override { return eta_; }
 
  double realtime_factor() const override { return realtime_factor_; }
 
  double achievable_realtime_factor() const override {
    return static_cast<double>(step_width().count()) / static_cast<double>(cycle_time_.count());
  }
 
 public:  // Modification
  void increment_step() {
    step_ += 1;
    time_ += step_width_;
  }
 
  void set_realtime_factor(double s) { realtime_factor_ = s; }
 
  void set_eta(cloe::Duration d) { eta_ = d; }
 
  void reset() {
    time_ = cloe::Duration(0);
    step_ = 0;
  }
 
  void set_cycle_time(cloe::Duration d) { cycle_time_ = d; }
 
 private:
  // Simulation State
  uint64_t step_{0};
  cloe::Duration time_{0};
  cloe::Duration eta_{0};
  cloe::Duration cycle_time_{0};
 
  // Simulation Configuration
  double realtime_factor_{1.0};            // realtime
  cloe::Duration step_width_{20'000'000};  // should be 20ms
};
 
}  // namespace engine