[Engine] add stop function

sarthou · Jan 21, 2025 · fccc93c · fccc93c
1 parent c68c27d
commit fccc93c
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/include/overworld/Engine/Engine.h b/include/overworld/Engine/Engine.h
@@ -37,7 +37,7 @@ namespace owds {
   {
   public:
     Engine(const std::string& name, Window* window) : world(compat::owds_ros::getShareDirectory("overworld")),
-                                                      name_(name), window_(window)
+                                                      name_(name), window_(window), run_(true)
     {}
 
     WorldEngine world;
@@ -66,9 +66,14 @@ namespace owds {
       world.setTimeStep(fps);
     }
 
+    void stop()
+    {
+      run_ = false;
+    }
+
     void run(bool simulate = false)
     {
-      while(!window_->isCloseRequested())
+      while(!window_->isCloseRequested() && run_)
       {
         window_->doPollEvents(renderer_);
         if(simulate)
@@ -86,6 +91,7 @@ namespace owds {
     Renderer renderer_;
     std::string name_;
     Window* window_;
+    std::atomic<bool> run_;
   };
 
 } // namespace owds

diff --git a/src/SituationAssessor.cpp b/src/SituationAssessor.cpp
@@ -126,6 +126,7 @@ namespace owds {
     {
       callback_queue_.callAvailable(ros::WallDuration(0.1));
     }
+    engine_->stop();
   }
 
   void SituationAssessor::run()
-Original file line number
+Diff line change
@@ Expand Up / @@ -126,6 +126,7 @@ namespace owds { @@
         {
           callback_queue_.callAvailable(ros::WallDuration(0.1));
         }
+        engine_->stop();
       }
       void SituationAssessor::run()
@@ Expand Down @@