// Implementation of SGSubsystemGroup.
////////////////////////////////////////////////////////////////////////
-SGSubsystemGroup::SGSubsystemGroup ()
+SGSubsystemGroup::SGSubsystemGroup () :
+ _fixedUpdateTime(-1.0),
+ _updateTimeRemainder(0.0)
{
}
void
SGSubsystemGroup::update (double delta_time_sec)
{
- for (unsigned int i = 0; i < _members.size(); i++)
- {
- SGTimeStamp timeStamp = SGTimeStamp::now();
- _members[i]->update(delta_time_sec); // indirect call
- timeStamp = timeStamp - SGTimeStamp::now();
- double b = timeStamp.toUSecs();
- _members[i]->updateExecutionTime(b);
- double threshold = _members[i]->getTimeWarningThreshold();
- if (( b > threshold ) && (b > 10000)) {
- _members[i]->printTimingInformation(b);
- }
+ int loopCount = 1;
+ // if dt == 0.0, we are paused, so we need to run one iteration
+ // of our members; if we have a fixed update time, we compute a
+ // loop count, and locally adjust dt
+ if ((delta_time_sec > 0.0) && (_fixedUpdateTime > 0.0)) {
+ double localDelta = delta_time_sec + _updateTimeRemainder;
+ loopCount = SGMiscd::roundToInt(localDelta / _fixedUpdateTime);
+ _updateTimeRemainder = delta_time_sec - (loopCount * _fixedUpdateTime);
+ delta_time_sec = _fixedUpdateTime;
}
+
+ while (loopCount-- > 0) {
+ for (unsigned int i = 0; i < _members.size(); i++)
+ {
+ SGTimeStamp timeStamp = SGTimeStamp::now();
+ _members[i]->update(delta_time_sec); // indirect call
+ timeStamp = timeStamp - SGTimeStamp::now();
+ double b = timeStamp.toUSecs();
+ _members[i]->updateExecutionTime(b);
+ double threshold = _members[i]->getTimeWarningThreshold();
+ if (( b > threshold ) && (b > 10000)) {
+ _members[i]->printTimingInformation(b);
+ }
+ }
+ } // of multiple update loop
}
void
}
}
+void
+SGSubsystemGroup::set_fixed_update_time(double dt)
+{
+ _fixedUpdateTime = dt;
+}
+
void
SGSubsystemGroup::Member::printTimingStatistics ()
{
void collectDebugTiming(bool collect);
+ /**
+ *
+ */
+ void set_fixed_update_time(double fixed_dt);
private:
class Member {
Member * get_member (const string &name, bool create = false);
vector<Member *> _members;
+
+ double _fixedUpdateTime;
+ double _updateTimeRemainder;
};
enum GroupType {
INIT = 0,
GENERAL,
+ FDM, ///< flight model, autopilot, instruments that run coupled
MAX_GROUPS
};