SimulatorAdvanceFrameControl.cc

Go to the documentation of this file.

#ifndef PLATFORM_APERIOS    

#include "Behaviors/Controls/NullControl.h"
#include "Shared/ProjectInterface.h"

//! Requests the next camera frame and sensor data, for use when running in simulation
/*! Note that this won't increment the simulator time if triggered while paused... */
class SimulatorAdvanceFrameControl : public NullControl {
public:
  //! default constructor
  SimulatorAdvanceFrameControl()
    : NullControl("Advance Frame","Requests the next camera frame and sensor data, for use when running in simulation")
  {}
  //! constructor which allows a custom name
  SimulatorAdvanceFrameControl(const std::string& n)
    : NullControl(n,"Requests the next camera frame and sensor data, for use when running in simulation")
  {}
  
  virtual ControlBase * activate(MC_ID disp_id, Socket * gui) {
    ProjectInterface::sendCommand("advance");
    return NullControl::activate(disp_id,gui);
  }
  
  virtual std::string getName() const {
    if(canManuallyAdvance())
      return NullControl::getName();
    return "[Auto-Advancing]";
  }
  
  virtual std::string getDescription() const {
    if(canManuallyAdvance())
      return NullControl::getDescription();
    return "Cannot manually advance when in realtime mode, or when AdvanceOnAccess is enabled";
  }
  
protected:
  //! ideally, this should return true only when the simulator is paused or the data source is frozen...
  bool canManuallyAdvance() const { return true; }
};

REGISTER_CONTROL(SimulatorAdvanceFrameControl,"Vision Pipeline");

#endif

/*! @file
 * @brief Defines SimulatorAdvanceFrameControl, which requests the next camera frame and sensor data, for use when running in simulation
 * @author ejt (Creator)
 */