Implement reset command, return success/failure

roboticslab-uc3m · Sep 18, 2023 · e5cd035 · e5cd035
1 parent 9a98e8d
commit e5cd035
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Showing 3 changed files with 23 additions and 6 deletions.
diff --git a/libraries/VisionIDL/vision.thrift b/libraries/VisionIDL/vision.thrift
@@ -38,12 +38,18 @@ service SceneReconstructionIDL
     /**
      * pause the scene reconstruction process
      */
-    void pause();
+    bool pause();
 
     /**
      * start/resume the scene reconstruction process
      */
-    void resume();
+    bool resume();
+
+    /**
+     * reset the currently stored reconstruction
+     * @return bool
+     */
+    bool reset();
 
     /**
      * get current camera pose

diff --git a/programs/sceneReconstruction/SceneReconstruction.cpp b/programs/sceneReconstruction/SceneReconstruction.cpp
@@ -310,16 +310,25 @@ bool SceneReconstruction::close()
     return cameraDriver.close();
 }
 
-void SceneReconstruction::pause()
+bool SceneReconstruction::pause()
 {
     yCDebug(KINFU) << "Pausing";
     isRunning = false;
+    return true;
 }
 
-void SceneReconstruction::resume()
+bool SceneReconstruction::resume()
 {
     yCDebug(KINFU) << "Resuming";
     isRunning = true;
+    return true;
+}
+
+bool SceneReconstruction::reset()
+{
+    yCDebug(KINFU) << "Resetting";
+    kinfu->reset();
+    return true;
 }
 
 return_pose SceneReconstruction::getPose()

diff --git a/programs/sceneReconstruction/SceneReconstruction.hpp b/programs/sceneReconstruction/SceneReconstruction.hpp
@@ -60,9 +60,11 @@ class SceneReconstruction : public yarp::os::RFModule,
 
     bool close() override;
 
-    void pause() override;
+    bool pause() override;
 
-    void resume() override;
+    bool resume() override;
+
+    bool reset() override;
 
     return_pose getPose() override;