[SimulatorServer] Adding callback set functions.

Author: Murilo Marinho

include/sas_common/sas_simulator_server.hpp

@@ -66,8 +66,8 @@ class SimulatorServer: private sas::Object
     SimulatorServer(const std::shared_ptr<Node> &node,
                     const std::string topic_prefix="GET_FROM_NODE");
 
-    //bool start_simulation();
-    //bool stop_simulation();
+    void set_start_simulation_callback(const std::function<void()>&);
+    void set_stop_simulation_callback(const std::function<void()>&);
 
     bool is_enabled() const;
     std::string get_topic_prefix() const;

src/examples/sas_simulator_test_node.cpp

@@ -23,6 +23,7 @@
 # ################################################################*/
 #include <exception>
 #include <rclcpp/rclcpp.hpp>
+#include <sas_core/sas_clock.hpp>
 #include <sas_common/sas_simulator_client.hpp>
 #include <sas_common/sas_simulator_server.hpp>
 
@@ -44,13 +45,24 @@ int main(int argc, char** argv)
 
     rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
     auto node = std::make_shared<rclcpp::Node>("sas_simulator_test_node");
+    auto clock = sas::Clock(0.001);
 
     try
     {
         auto simulator_client = sas::SimulatorClient(node);
-        simulator_client.is_enabled();
         auto simulator_server = sas::SimulatorServer(node);
-        simulator_server.is_enabled();
+        auto f1 = [](){};
+        auto f2 = [](){};
+        simulator_server.set_start_simulation_callback(f1);
+        simulator_server.set_stop_simulation_callback(f2);
+
+        clock.init();
+        while(!(simulator_client.is_enabled() &&
+                simulator_server.is_enabled()))
+        {
+            clock.update_and_sleep();
+        }
+
     }
     catch (const std::exception& e)
     {

src/sas_simulator_server.cpp

@@ -79,6 +79,15 @@ void SimulatorServer::stop_simulation_callback_ros_(
     stop_simulation_callback_();
 }
 
+void SimulatorServer::set_start_simulation_callback(const std::function<void()>& start_simulation_callback)
+{
+    start_simulation_callback_ = start_simulation_callback;
+}
+void SimulatorServer::set_stop_simulation_callback(const std::function<void()>& stop_simulation_callback)
+{
+    stop_simulation_callback_ = stop_simulation_callback;
+}
+
 bool SimulatorServer::is_enabled() const
 {
     return !(start_simulation_callback_ == nullptr ||