78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2014 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* 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.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "SimStateEventSource.hh"
|
||
|
|
|
||
|
|
using namespace gazebo;
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
SimStateEventSource::SimStateEventSource(transport::PublisherPtr _pub,
|
||
|
|
physics::WorldPtr _world)
|
||
|
|
:EventSource(_pub, "sim_state", _world), hasPaused(false)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
SimStateEventSource::~SimStateEventSource()
|
||
|
|
{
|
||
|
|
event::Events::DisconnectPause(this->pauseConnection);
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
void SimStateEventSource::Load(const sdf::ElementPtr _sdf)
|
||
|
|
{
|
||
|
|
EventSource::Load(_sdf);
|
||
|
|
|
||
|
|
// Listen to the pause event. This event is broadcast every
|
||
|
|
// simulation iteration.
|
||
|
|
this->pauseConnection = event::Events::ConnectPause(
|
||
|
|
boost::bind(&SimStateEventSource::OnPause, this, _1));
|
||
|
|
|
||
|
|
// Listen to the update event. This event is broadcast every
|
||
|
|
// simulation iteration.
|
||
|
|
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
|
||
|
|
boost::bind(&SimStateEventSource::OnUpdate, this, _1));
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
void SimStateEventSource::OnUpdate(const common::UpdateInfo &_info)
|
||
|
|
{
|
||
|
|
if (_info.simTime < this->simTime)
|
||
|
|
{
|
||
|
|
std::string json;
|
||
|
|
json = "{\"state\": \"reset\" }";
|
||
|
|
this->Emit(json);
|
||
|
|
}
|
||
|
|
this->simTime = _info.simTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
void SimStateEventSource::OnPause(const bool _pause)
|
||
|
|
{
|
||
|
|
std::string json;
|
||
|
|
if (_pause)
|
||
|
|
{
|
||
|
|
json = "{\"state\": \"paused\" }";
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
json = "{\"state\": \"running\" }";
|
||
|
|
}
|
||
|
|
this->Emit(json);
|
||
|
|
this->hasPaused = _pause;
|
||
|
|
}
|