new addon

Author: fferri

Pause Stop Simulation on Condition.lua

@@ -0,0 +1,119 @@
+sim = require 'sim'
+
+function sysCall_info()
+    return {autoStart = false, menu = 'Tools\nPause/Stop Simulation on condition...'}
+end
+
+function sysCall_init()
+    simUI = require 'simUI'
+    ui = simUI.create[[<ui closeable="true" title="Pause/Stop Simulation on condition" placement="relative" position="-10,500" on-close="uiClosed">
+        <label text="This add-on will pause or stop the simulation when the specified condition occurs" word-wrap="true" />
+        <group id="${ui_all}" flat="true" content-margins="0,0,0,0" layout="form">
+            <label text="Action:" />
+            <group flat="true" content-margins="0,0,0,0" layout="hbox">
+                <radiobutton text="Pause" on-click="setActionPause" checked="true" />
+                <radiobutton text="Stop" on-click="setActionStop" />
+            </group>
+            <label text="Condition:" />
+            <group flat="true" content-margins="0,0,0,0">
+                <combobox id="${ui_condition}">
+                    <item>When all objects stop moving</item>
+                </combobox>
+                <group id="${ui_grp_condStatic}" visible="true" flat="true" content-margins="0,0,0,0">
+                    <label text="Time threshold: [s]" />
+                    <edit id="${ui_timeThreshold}" value="1.0" />
+                </group>
+            </group>
+        </group>
+    </ui>]]
+    setActionPause()
+    setConditionWhenObjectsStopMoving()
+end
+
+function sysCall_nonSimulation()
+    if leaveNow then return {cmd = 'cleanup'} end
+end
+
+function sysCall_addOnScriptSuspend()
+    return {cmd = 'cleanup'}
+end
+
+function sysCall_beforeSimulation()
+    threshold = tonumber(simUI.getEditValue(ui, ui_timeThreshold))
+    reset()
+    simUI.setEnabled(ui, ui_all, false)
+end
+
+function sysCall_suspend()
+    simUI.setEnabled(ui, ui_all, true)
+end
+
+function sysCall_resume()
+    threshold = tonumber(simUI.getEditValue(ui, ui_timeThreshold))
+    reset()
+    simUI.setEnabled(ui, ui_all, false)
+end
+
+function sysCall_afterSimulation()
+    simUI.setEnabled(ui, ui_all, true)
+end
+
+function sysCall_actuation()
+    if leaveNow then return {cmd = 'cleanup'} end
+
+    checkCondition()
+end
+
+function reset()
+    lastLocalPose = {}
+    lastPose = {}
+    lastMotionTime = sim.getSimulationTime()
+end
+
+function onStaticConditionReached()
+    sim.addLog(sim.verbosity_scriptinfos, 'Static condition reached: pausing simulation...')
+    sim.pauseSimulation()
+end
+
+function uiClosed()
+    leaveNow = true
+end
+
+function setActionPause()
+    onStaticConditionReached = function()
+        sim.addLog(sim.verbosity_scriptinfos, 'Condition reached: pausing simulation...')
+        sim.pauseSimulation()
+    end
+end
+
+function setActionStop()
+    onStaticConditionReached = function()
+        sim.addLog(sim.verbosity_scriptinfos, 'Condition reached: stopping simulation...')
+        sim.stopSimulation()
+    end
+end
+
+function setConditionWhenObjectsStopMoving()
+    simUI.setWidgetVisibility(ui, ui_grp_condStatic, true)
+    checkCondition = function()
+        local d, n = 0, 0
+        for _, h in ipairs(sim.getObjectsInTree(sim.handle_scene)) do
+            local lp = sim.getObjectPosition(h, sim.handle_parent)
+            local p = sim.getObjectPosition(h)
+            if lastPose[h] then
+                d = d + (Vector(lp) - Vector(lastLocalPose[h])):norm()
+                d = d + (Vector(p) - Vector(lastPose[h])):norm()
+            end
+            lastPose[h] = p
+            lastLocalPose[h] = lp
+            n = n + 2
+        end
+        d = d / n
+        if d > 0.0001 then
+            lastMotionTime = sim.getSimulationTime()
+        end
+        if (sim.getSimulationTime() - lastMotionTime) > threshold then
+            onStaticConditionReached()
+        end
+    end
+end