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keyboard controls for pause/resume toggle and play-next:
- supports custom keyboard bindings set through commandline into play_options_ Signed-off-by: Sonia Jin <[email protected]>
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rosbag2_transport/test/rosbag2_transport/mock_keyboard_handler.hpp
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| // Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef ROSBAG2_TRANSPORT__MOCK_KEYBOARD_HANDLER_HPP_ | ||
| #define ROSBAG2_TRANSPORT__MOCK_KEYBOARD_HANDLER_HPP_ | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <unordered_map> | ||
| #include <vector> | ||
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| #include "keyboard_handler/keyboard_handler_base.hpp" | ||
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| // press one specific key code one second at a time | ||
| class MockKeyboardHandlerImpl : public KeyboardHandlerBase | ||
| { | ||
| public: | ||
| MockKeyboardHandlerImpl( | ||
| KeyboardHandlerBase::KeyCode pause_resume_toggle_key, | ||
| KeyboardHandlerBase::KeyCode play_next_key) | ||
| : pause_resume_toggle_key_(pause_resume_toggle_key), | ||
| play_next_key_(play_next_key) | ||
| { | ||
| is_init_succeed_ = true; | ||
| key_handler_thread_ = std::thread( | ||
| [ = ]() { | ||
| try { | ||
| int i = 0; | ||
| // sleep 0.1 seconda in beginning | ||
| std::this_thread::sleep_for(std::chrono::duration<float>(0.1)); | ||
| do { | ||
| // only press 4 times it in the beginning | ||
| // 0 - pause | ||
| // 1 - play-next = plays next message | ||
| // 2 - resume | ||
| // 3 - play-next = calls code but doesn't actually play next message because not paused | ||
| if (i < 4) { | ||
| KeyboardHandlerBase::KeyCode key_code = pause_resume_toggle_key_; | ||
| if ((i == 1) || (i == 3)) { | ||
| key_code = play_next_key_; | ||
| } | ||
| KeyModifiers key_modifiers = KeyboardHandlerBase::KeyModifiers::NONE; | ||
| std::lock_guard<std::mutex> lk(callbacks_mutex_); | ||
| auto range = callbacks_.equal_range(KeyAndModifiers{key_code, key_modifiers}); | ||
| for (auto it = range.first; it != range.second; ++it) { | ||
| it->second.callback(key_code, key_modifiers); | ||
| } | ||
| // sleep 1 second at a time | ||
| std::this_thread::sleep_for(std::chrono::duration<float>(0.25)); | ||
| } | ||
| i++; | ||
| } while (!exit_.load()); | ||
| } catch (...) { | ||
| thread_exception_ptr = std::current_exception(); | ||
| } | ||
| } | ||
| ); | ||
| } | ||
|
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| /// \brief destructor | ||
| KEYBOARD_HANDLER_PUBLIC | ||
| virtual ~MockKeyboardHandlerImpl() | ||
| { | ||
| exit_ = true; | ||
| if (key_handler_thread_.joinable()) { | ||
| key_handler_thread_.join(); | ||
| } | ||
| try { | ||
| if (thread_exception_ptr != nullptr) { | ||
| std::rethrow_exception(thread_exception_ptr); | ||
| } | ||
| } catch (const std::exception & e) { | ||
| std::cerr << "Caught exception: \"" << e.what() << "\"\n"; | ||
| } catch (...) { | ||
| std::cerr << "Caught unknown exception" << std::endl; | ||
| } | ||
| } | ||
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| private: | ||
| KeyboardHandlerBase::KeyCode pause_resume_toggle_key_; | ||
| KeyboardHandlerBase::KeyCode play_next_key_; | ||
| std::thread key_handler_thread_; | ||
| std::atomic_bool exit_; | ||
| std::exception_ptr thread_exception_ptr{nullptr}; | ||
| }; | ||
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| #endif // ROSBAG2_TRANSPORT__MOCK_KEYBOARD_HANDLER_HPP_ |
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