SENSSimHelper Class Reference

#include <SENSSimHelper.h>

Public Member Functions
	SENSSimHelper (SENSGps *&gps, SENSOrientation *&orientation, SENSCamera *&camera, const std::string &simDataDir, std::function< void(void)> cameraParametersChangedCB)
	~SENSSimHelper ()
bool	startRecording ()
void	stopRecording ()
void	updateGpsRecording ()
void	updateOrientationRecording ()
void	updateCameraRecording ()
bool	recorderIsRunning ()
void	resetRecorder ()
bool	getRecorderErrors (std::vector< std::string > &errorMsgs)
bool	canSimGps ()
bool	canSimOrientation ()
bool	canSimCamera ()
void	initSimulator (const std::string &simDataSet)
bool	simIsRunning ()
void	updateGpsSim ()
void	updateOrientationSim ()
void	updateCameraSim ()
bool	getSimulatorErrors (std::vector< std::string > &errorMsgs)
void	stopSim ()
void	startSim ()
bool	isPausedSim ()
void	pauseSim ()
void	resumeSim ()
SENSTimePt	simTime ()
SENSMicroseconds	passedSimTime ()
SENSGps *	gps () const
SENSOrientation *	orientation () const
SENSCamera *	camera () const
const std::string &	simDataDir () const

Public Attributes
bool	recordGps = false
bool	recordOrientation = false
bool	recordCamera = false
bool	simulateGps = false
bool	simulateOrientation = false
bool	simulateCamera = false

Private Member Functions
void	restoreInputSensors ()
SENSRecorder *	recorder ()

Private Attributes
std::unique_ptr< SENSSimulator >	_simulator
std::unique_ptr< SENSRecorder >	_recorder
SENSGps *	_gpsIn
SENSOrientation *	_orientationIn
SENSCamera *	_cameraIn
SENSGps *&	_gpsRef
SENSOrientation *&	_orientationRef
SENSCamera *&	_cameraRef
std::string	_simDataDir
std::function< void(void)>	_cameraParametersChangedCB

Detailed Description

Definition at line 7 of file SENSSimHelper.h.

Constructor & Destructor Documentation

SENSSimHelper()

SENSSimHelper::SENSSimHelper	(	SENSGps *&	gps,
		SENSOrientation *&	orientation,
		SENSCamera *&	camera,
		const std::string &	simDataDir,
		std::function< void(void)>	cameraParametersChangedCB
	)

Definition at line 3 of file SENSSimHelper.cpp.

  : _gpsIn(gps),
    _orientationIn(orientation),
    _cameraIn(camera),
    _gpsRef(gps),
    _orientationRef(orientation),
    _cameraRef(camera),
    _simDataDir(Utils::unifySlashes(simDataDir)),
    _cameraParametersChangedCB(cameraParametersChangedCB)
{
    if (!Utils::dirExists(simDataDir))
        Utils::makeDir(simDataDir);
    if (!Utils::dirExists(simDataDir))
        Utils::log("SENSSimHelper", "Could not create simDataDir!");
}

~SENSSimHelper()

SENSSimHelper::~SENSSimHelper

(

)

Definition at line 23 of file SENSSimHelper.cpp.

{
    resetRecorder();
    restoreInputSensors();
}

Member Function Documentation

camera()

SENSCamera* SENSSimHelper::camera ( ) const

inline

Definition at line 48 of file SENSSimHelper.h.

{ return _cameraRef; }

canSimCamera()

bool SENSSimHelper::canSimCamera

(

)

Definition at line 172 of file SENSSimHelper.cpp.

{
    if (_simulator && _simulator->getCameraSensorPtr())
        return true;
    else
        return false;
}

canSimGps()

bool SENSSimHelper::canSimGps

(

)

Definition at line 156 of file SENSSimHelper.cpp.

{
    if (_simulator && _simulator->getGpsSensorPtr())
        return true;
    else
        return false;
}

canSimOrientation()

bool SENSSimHelper::canSimOrientation

(

)

Definition at line 164 of file SENSSimHelper.cpp.

{
    if (_simulator && _simulator->getOrientationSensorPtr())
        return true;
    else
        return false;
}

getRecorderErrors()

bool SENSSimHelper::getRecorderErrors

(

std::vector< std::string > &

errorMsgs

)

Definition at line 136 of file SENSSimHelper.cpp.

{
    if (_recorder)
    {
        std::string gpsError;
        if (_recorder->getGpsHandlerError(gpsError))
            errorMsgs.emplace_back(gpsError);
        std::string orientationError;
        if (_recorder->getOrientationHandlerError(orientationError))
            errorMsgs.emplace_back(orientationError);
        std::string cameraError;
        if (_recorder->getCameraHandlerError(cameraError))
            errorMsgs.emplace_back(cameraError);
 
        return errorMsgs.size() != 0;
    }
    else
        return false;
}

getSimulatorErrors()

bool SENSSimHelper::getSimulatorErrors

(

std::vector< std::string > &

errorMsgs

)

Definition at line 248 of file SENSSimHelper.cpp.

{
    if (_simulator)
        return _simulator->getSimulatorErrors(errorMsgs);
    else
        return false;
}

gps()

SENSGps* SENSSimHelper::gps ( ) const

inline

Definition at line 46 of file SENSSimHelper.h.

{ return _gpsRef; }

initSimulator()

void SENSSimHelper::initSimulator

(

const std::string &

simDataSet

)

Definition at line 180 of file SENSSimHelper.cpp.

{
    resetRecorder();
    //stop running simulations
    if (canSimGps() && simulateGps)
        _simulator->getGpsSensorPtr()->stop();
    if (canSimOrientation() && simulateOrientation)
        _simulator->getOrientationSensorPtr()->stop();
    if (canSimCamera() && simulateCamera)
        _simulator->getCameraSensorPtr()->stop();
 
    simulateGps         = false;
    simulateOrientation = false;
    simulateCamera      = false;
    restoreInputSensors();
    if (_cameraParametersChangedCB)
        _cameraParametersChangedCB();
 
    if (_simulator)
        _simulator.reset();
 
    _simulator = std::make_unique<SENSSimulator>(_simDataDir + simDataSet);
}

isPausedSim()

bool SENSSimHelper::isPausedSim

(

)

Definition at line 306 of file SENSSimHelper.cpp.

{
    if (_simulator && _simulator->isPaused())
        return true;
    else
        return false;
}

orientation()

SENSOrientation* SENSSimHelper::orientation ( ) const

inline

Definition at line 47 of file SENSSimHelper.h.

{ return _orientationRef; }

passedSimTime()

SENSMicroseconds SENSSimHelper::passedSimTime

(

)

Definition at line 333 of file SENSSimHelper.cpp.

{
    if (_simulator)
        return _simulator->passedTime();
    else
        return SENSMicroseconds(0);
}

pauseSim()

void SENSSimHelper::pauseSim

(

)

Definition at line 314 of file SENSSimHelper.cpp.

{
    if (_simulator)
        _simulator->pause();
}

recorder()

SENSRecorder * SENSSimHelper::recorder ( )

private

Definition at line 111 of file SENSSimHelper.cpp.

{
    if (!_recorder)
        _recorder = std::make_unique<SENSRecorder>(_simDataDir);
    return _recorder.get();
}

recorderIsRunning()

bool SENSSimHelper::recorderIsRunning

(

)

Definition at line 118 of file SENSSimHelper.cpp.

{
    if (_recorder)
        return _recorder->isRunning();
    else
        return false;
}

resetRecorder()

void SENSSimHelper::resetRecorder

(

)

Definition at line 126 of file SENSSimHelper.cpp.

{
    if (_recorder)
        _recorder.reset();
 
    recordGps         = false;
    recordOrientation = false;
    recordCamera      = false;
}

restoreInputSensors()

void SENSSimHelper::restoreInputSensors ( )

private

Definition at line 29 of file SENSSimHelper.cpp.

{
    //restore input sensors and state
    if (_gpsRef != _gpsIn)
    {
        if (_gpsRef && _gpsRef->isRunning())
            _gpsRef->stop();
        _gpsRef = _gpsIn;
    }
 
    if (_orientationRef != _orientationIn)
    {
        if (_orientationRef && _orientationRef->isRunning())
            _orientationRef->stop();
        _orientationRef = _orientationIn;
    }
 
    if (_cameraRef != _cameraIn)
    {
        if (_cameraRef && _cameraRef->started())
            _cameraRef->stop();
        _cameraRef = _cameraIn;
    }
}

resumeSim()

void SENSSimHelper::resumeSim

(

)

Definition at line 320 of file SENSSimHelper.cpp.

{
    if (_simulator)
        _simulator->resume();
}

simDataDir()

const std::string& SENSSimHelper::simDataDir ( ) const

inline

Definition at line 49 of file SENSSimHelper.h.

{ return _simDataDir; }

simIsRunning()

bool SENSSimHelper::simIsRunning

(

)

Definition at line 204 of file SENSSimHelper.cpp.

{
    if (_simulator && _simulator->isRunning())
        return true;
    else
        return false;
}

simTime()

SENSTimePt SENSSimHelper::simTime

(

)

Definition at line 326 of file SENSSimHelper.cpp.

{
    if (_simulator)
        return _simulator->now();
    else
        return SENSClock::now();
}

startRecording()

bool SENSSimHelper::startRecording

(

)

Definition at line 54 of file SENSSimHelper.cpp.

{
    if (!_recorder)
        return false;
 
    //sensors should have been activated before
    return _recorder->start();
}

startSim()

void SENSSimHelper::startSim

(

)

Definition at line 269 of file SENSSimHelper.cpp.

{
    //stop running sensors
    stopSim();
 
    //start possible simulated sensors
    if (canSimGps() && simulateGps)
    {
        _gpsRef = _simulator->getGpsSensorPtr();
        _gpsRef->start();
    }
 
    if (canSimOrientation() && simulateOrientation)
    {
        _orientationRef = _simulator->getOrientationSensorPtr();
        _orientationRef->start();
    }
 
    if (canSimCamera() && simulateCamera)
    {
        _cameraRef = _simulator->getCameraSensorPtr();
        //there is only one prop:
        const SENSCaptureProps& capProps = _cameraRef->captureProperties();
        if (capProps.size())
        {
            const SENSCameraDeviceProps* currCamProps = &capProps.front();
            auto                         streamConfig = currCamProps->streamConfigs().front();
            //first start the camera, the intrinsic is valid afterwards
            _cameraRef->start(currCamProps->deviceId(),
                              streamConfig,
                              true);
            if (_cameraParametersChangedCB)
                _cameraParametersChangedCB();
        }
    }
}

stopRecording()

void SENSSimHelper::stopRecording

(

)

Definition at line 63 of file SENSSimHelper.cpp.

{
    if (_recorder)
        _recorder->stop();
}

stopSim()

void SENSSimHelper::stopSim

(

)

Definition at line 256 of file SENSSimHelper.cpp.

{
    //stop running sensors
    if (_gpsRef && _gpsRef->isRunning())
        _gpsRef->stop();
 
    if (_orientationRef && _orientationRef->isRunning())
        _orientationRef->stop();
 
    if (_cameraRef && _cameraRef->started())
        _cameraRef->stop();
}

updateCameraRecording()

void SENSSimHelper::updateCameraRecording

(

)

Definition at line 97 of file SENSSimHelper.cpp.

{
    if (recordCamera)
    {
        if (!recorder()->activateCamera(_cameraRef))
            recordCamera = !recordCamera;
    }
    else
    {
        if (!recorder()->deactivateOrientation())
            recordCamera = !recordCamera;
    }
}

updateCameraSim()

void SENSSimHelper::updateCameraSim

(

)

Definition at line 234 of file SENSSimHelper.cpp.

{
    if (_cameraRef && _cameraRef->started())
        _cameraRef->stop();
 
    if (canSimCamera() && simulateCamera)
        _cameraRef = _simulator->getCameraSensorPtr();
    else
        _cameraRef = _cameraIn;
 
    if (_cameraParametersChangedCB)
        _cameraParametersChangedCB();
}

updateGpsRecording()

void SENSSimHelper::updateGpsRecording

(

)

Definition at line 69 of file SENSSimHelper.cpp.

{
    if (recordGps)
    {
        if (!recorder()->activateGps(_gpsRef))
            recordGps = !recordGps;
    }
    else
    {
        if (!recorder()->deactivateGps())
            recordGps = !recordGps;
    }
}

updateGpsSim()

void SENSSimHelper::updateGpsSim

(

)

Definition at line 212 of file SENSSimHelper.cpp.

{
    if (_gpsRef && _gpsRef->isRunning())
        _gpsRef->stop();
 
    if (canSimGps() && simulateGps)
        _gpsRef = _simulator->getGpsSensorPtr();
    else
        _gpsRef = _gpsIn;
}

updateOrientationRecording()

void SENSSimHelper::updateOrientationRecording

(

)

Definition at line 83 of file SENSSimHelper.cpp.

{
    if (recordOrientation)
    {
        if (!recorder()->activateOrientation(_orientationRef))
            recordOrientation = !recordOrientation;
    }
    else
    {
        if (!recorder()->deactivateOrientation())
            recordOrientation = !recordOrientation;
    }
}

updateOrientationSim()

void SENSSimHelper::updateOrientationSim

(

)

Definition at line 223 of file SENSSimHelper.cpp.

{
    if (_orientationRef && _orientationRef->isRunning())
        _orientationRef->stop();
 
    if (canSimOrientation() && simulateOrientation)
        _orientationRef = _simulator->getOrientationSensorPtr();
    else
        _orientationRef = _orientationIn;
}

Member Data Documentation

_cameraIn

SENSCamera* SENSSimHelper::_cameraIn

private

Definition at line 68 of file SENSSimHelper.h.

_cameraParametersChangedCB

std::function<void(void)> SENSSimHelper::_cameraParametersChangedCB

private

Definition at line 77 of file SENSSimHelper.h.

_cameraRef

SENSCamera*& SENSSimHelper::_cameraRef

private

Definition at line 72 of file SENSSimHelper.h.

_gpsIn

SENSGps* SENSSimHelper::_gpsIn

private

Definition at line 66 of file SENSSimHelper.h.

_gpsRef

SENSGps*& SENSSimHelper::_gpsRef

private

Definition at line 70 of file SENSSimHelper.h.

_orientationIn

SENSOrientation* SENSSimHelper::_orientationIn

private

Definition at line 67 of file SENSSimHelper.h.

_orientationRef

SENSOrientation*& SENSSimHelper::_orientationRef

private

Definition at line 71 of file SENSSimHelper.h.

_recorder

std::unique_ptr<SENSRecorder> SENSSimHelper::_recorder

private

Definition at line 64 of file SENSSimHelper.h.

_simDataDir

std::string SENSSimHelper::_simDataDir

private

Definition at line 74 of file SENSSimHelper.h.

_simulator

std::unique_ptr<SENSSimulator> SENSSimHelper::_simulator

private

Definition at line 63 of file SENSSimHelper.h.

recordCamera

bool SENSSimHelper::recordCamera = false

Definition at line 53 of file SENSSimHelper.h.

recordGps

bool SENSSimHelper::recordGps = false

Definition at line 51 of file SENSSimHelper.h.

recordOrientation

bool SENSSimHelper::recordOrientation = false

Definition at line 52 of file SENSSimHelper.h.

simulateCamera

bool SENSSimHelper::simulateCamera = false

Definition at line 57 of file SENSSimHelper.h.

simulateGps

bool SENSSimHelper::simulateGps = false

Definition at line 55 of file SENSSimHelper.h.

simulateOrientation

bool SENSSimHelper::simulateOrientation = false

Definition at line 56 of file SENSSimHelper.h.

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The documentation for this class was generated from the following files:

• SENSSimHelper.h
• SENSSimHelper.cpp