Program Listing for File SyncRealTime.h

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/**
 * @file
 * @brief Contains the declarations for the SyncRealTime KModel.
 */

#pragma once
#include "Karana/SOADyn/KModel.h"
#include <chrono>

namespace Karana::Models {

    namespace km = Karana::Math;
    namespace kd = Karana::Dynamics;

    /**
     * @class SyncRealTime
     * @brief Limits sim speed to a multiple of real time.
     */
    class SyncRealTime : public KModel<SyncRealTime> {
        // For access to _enabled for testing
        friend void forceEnableSyncRealTime(const kc::ks_ptr<SyncRealTime> &);

      public:
        /**
         * @brief SyncRealTime constructor. The constructor is not meant to be called directly.
         *        Please use the create(...) method instead to create an instance.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param rt_speed The multiple of real time to limit to.
         */
        SyncRealTime(std::string_view name,
                     const kc::ks_ptr<kd::ModelManager> &mm,
                     double rt_speed = 1.0);

        /**
         * @brief Destructor for SyncRealTime.
         */
        ~SyncRealTime();

        /**
         * @brief Constructor.
         *
         * @param name The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param rt_speed The multiple of real time to limit to.
         * @return A ks_ptr to the newly created instance of the SyncRealTime model.
         */
        static kc::ks_ptr<SyncRealTime>
        create(std::string_view name, const kc::ks_ptr<kd::ModelManager> &mm, double rt_speed);

        /**
         * @brief Record the start-hop time.
         *
         * @param t Current time.
         * @param x Current state. Not used.
         */
        void preHop(const km::Ktime &t, const km::Vec &x);

        /**
         * @brief Sleep as needed to sync to real time.
         *
         * @param t Current time.
         * @param x Current state. Not used.
         */
        void postHop(const km::Ktime &t, const km::Vec &x);

        /**
         * @brief Get the multiple of real-time speed this SyncRealTime model is using.
         *
         * @return The multiple of real-time speed this SyncRealTime model is using.
         */
        double getRealTimeSpeed() const;

      private:
        /// The multiple of real time to limit to.
        double _rt_speed;

        /// Saved sim time at hop start
        km::Ktime _pre_hop_st;

        /// Saved real time at hop start
        std::chrono::high_resolution_clock::time_point _pre_hop_rt;

        /// Whether the model is syncing time
        bool _enabled;
    };
} // namespace Karana::Models