sim

type Gazebo struct {
	sync.Mutex
	ExecutablePath           string
	Config                   *GazeboConfig
	Logger                   *log.Logger
	Cmd                      *exec.Cmd
	TimePath                 string
	StepPath                 string
	PositionPath             string
	TotalIterations          uint64
	PTY                      *os.File
	TemporaryPostStepActions []StepActions
	// contains filtered or unexported fields
}

type GazeboConfig struct {
	// contains the world configuration
	WorldPath string

	// where to execute Gazebo
	WorkDir string

	// Any additional environment variables
	Env []string

	// Actions to invoke pre-step
	PreStepActions []StepActions

	// Actions to invoke post-step
	PostStepActions []StepActions

	// Length of each unit of simulation
	StepSize uint64
}

type Sim interface {
	Start() error
	Shutdown(ctx context.Context) error
	Step(ctx context.Context) error
	SimTime(ctx context.Context) (time.Time, error)
	Position(ctx context.Context) (entities.Position, error)
	AddPostStepAction(action StepActions)
	Iterations() uint64
}

type StepActions func()