78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "SimStateEventSource.hh"
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using namespace gazebo;
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////////////////////////////////////////////////////////////////////////////////
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SimStateEventSource::SimStateEventSource(transport::PublisherPtr _pub,
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physics::WorldPtr _world)
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:EventSource(_pub, "sim_state", _world), hasPaused(false)
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{
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}
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////////////////////////////////////////////////////////////////////////////////
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SimStateEventSource::~SimStateEventSource()
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{
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event::Events::DisconnectPause(this->pauseConnection);
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}
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////////////////////////////////////////////////////////////////////////////////
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void SimStateEventSource::Load(const sdf::ElementPtr _sdf)
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{
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EventSource::Load(_sdf);
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// Listen to the pause event. This event is broadcast every
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// simulation iteration.
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this->pauseConnection = event::Events::ConnectPause(
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boost::bind(&SimStateEventSource::OnPause, this, _1));
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// Listen to the update event. This event is broadcast every
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// simulation iteration.
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&SimStateEventSource::OnUpdate, this, _1));
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}
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////////////////////////////////////////////////////////////////////////////////
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void SimStateEventSource::OnUpdate(const common::UpdateInfo &_info)
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{
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if (_info.simTime < this->simTime)
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{
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std::string json;
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json = "{\"state\": \"reset\" }";
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this->Emit(json);
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}
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this->simTime = _info.simTime;
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}
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////////////////////////////////////////////////////////////////////////////////
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void SimStateEventSource::OnPause(const bool _pause)
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{
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std::string json;
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if (_pause)
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{
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json = "{\"state\": \"paused\" }";
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}
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else
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{
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json = "{\"state\": \"running\" }";
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}
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this->Emit(json);
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this->hasPaused = _pause;
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}
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