void
RosCommandAdapter::runMUSIC()
{
std::cout << "running command adapter with update rate of " << command_rate << std::endl;
RTClock clock(timestep / rtf);
runtime = new MUSIC::Runtime (setup, timestep);
for (int t = 0; runtime->time() < stoptime; t++)
{
clock.sleepNext();
runtime->tick();
}
#if MEASUREMENT_OUTPUT
saveRuntime(clock.time ());
#endif
std::cout << "command: total simtime: " << clock.time () << " s" << std::endl;
}
void
RosCommandAdapter::runROSMUSIC()
{
MPI::COMM_WORLD.Barrier();
std::cout << "running command adapter with update rate of " << command_rate << std::endl;
RTClock clock( 1. / (command_rate * rtf));
runtime = new MUSIC::Runtime (setup, timestep);
ros::spinOnce();
for (int t = 0; runtime->time() < stoptime; t++)
{
sendROS();
clock.sleepNext();
runtime->tick();
ros::spinOnce();
}
#if MEASUREMENT_OUTPUT
saveRuntime(clock.time ());
#endif
std::cout << "command: total simtime: " << clock.time () << " s" << std::endl;
}