65 lines
2.0 KiB
C++
65 lines
2.0 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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#ifndef _SIMSTATE_EVENTSOURCE_HH_
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#define _SIMSTATE_EVENTSOURCE_HH_
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#include "EventSource.hh"
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namespace gazebo
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{
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/// \brief SimEvent that fires when the simulation is paused/resumed
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class SimStateEventSource: public EventSource
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{
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/// \brief Constructor
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/// \param[in] _pub publisher for the SimEvents
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/// \param[in] _world pointer to the world.
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public: SimStateEventSource(transport::PublisherPtr _pub,
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physics::WorldPtr _world);
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/// \brief Dtor
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public: virtual ~SimStateEventSource();
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/// \brief Load the name of the event from the world file
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/// \param[in] _sdf the event element in the world file
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public: virtual void Load(const sdf::ElementPtr _sdf);
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/// \brief Update for every time step
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/// \param[in] _info Update information provided by the server.
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public: virtual void OnUpdate(const common::UpdateInfo &_info);
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/// \brief Callback for the pause event
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/// \param[in] _p true if the sim has been paused
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public: void OnPause(bool _p);
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/// brief True if the simulation is paused.
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private: bool hasPaused;
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/// \brief Pointer to the Gazebo pause event connection
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private: event::ConnectionPtr pauseConnection;
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/// \brief Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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/// \brief Simulation time at the previous step
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private: common::Time simTime;
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};
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}
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#endif
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