def monitor(d_context):
# Stop the simulation once there's any contact.
context = plant.GetMyContextFromRoot(d_context)
query_object = plant.get_geometry_query_input_port().Eval(context)
if query_object.HasCollisions():
return EventStatus.ReachedTermination(plant, "Contact")
else:
return EventStatus.DidNothing()
def viz_monitor(control_d_context):
# Simulate control, visualizing in original diagram.
assert (control_context is
control_plant.GetMyContextFromRoot(control_d_context))
from_control.copy_state(control_context, context)
d_context.SetTime(control_d_context.get_time())
diagram.Publish(d_context)
return EventStatus.DidNothing()
def test_event_status(self):
system = ZeroOrderHold(period_sec=0.1, vector_size=1)
# Existence check.
EventStatus.Severity.kDidNothing
EventStatus.Severity.kSucceeded
EventStatus.Severity.kReachedTermination
EventStatus.Severity.kFailed
self.assertIsInstance(EventStatus.DidNothing(), EventStatus)
self.assertIsInstance(EventStatus.Succeeded(), EventStatus)
status = EventStatus.ReachedTermination(system=system, message="done")
# Check API.
self.assertIsInstance(status, EventStatus)
self.assertEqual(
status.severity(), EventStatus.Severity.kReachedTermination)
self.assertIs(status.system(), system)
self.assertEqual(status.message(), "done")
self.assertIsInstance(
status.KeepMoreSevere(candidate=status), EventStatus)
status = EventStatus.Failed(system=system, message="failed")
self.assertIsInstance(status, EventStatus)
def monitor(root_context):
context = sys.GetMyContextFromRoot(root_context)
if context.get_time() >= 1.:
return EventStatus.ReachedTermination(sys, "Time reached")
else:
return EventStatus.DidNothing()
def _on_forced_unrestricted(self, context, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(state, State)
test.assertFalse(self.called_forced_unrestricted)
self.called_forced_unrestricted = True
return EventStatus.Succeeded()
def _on_forced_discrete(self, context, discrete_state):
test.assertIsInstance(context, Context)
test.assertIsInstance(discrete_state, DiscreteValues)
test.assertFalse(self.called_forced_discrete)
self.called_forced_discrete = True
return EventStatus.Succeeded()
def _on_forced_publish(self, context):
test.assertIsInstance(context, Context)
test.assertFalse(self.called_forced_publish)
self.called_forced_publish = True
return EventStatus.Succeeded()
def _on_per_step_unrestricted(self, context, state):
test.assertIsInstance(context, Context)
test.assertIsInstance(state, State)
self.called_per_step_unrestricted = True
return EventStatus.Succeeded()
def _on_per_step_publish(self, context):
test.assertIsInstance(context, Context)
self.called_per_step_publish = True
return EventStatus.Succeeded()
