sim_display_text.hpp

 
#pragma once
 
#include <cstdint>
#include <cstdio>
#include <string>
#include <utility>
 
namespace mujoco_ros2_control
{
 
inline std::pair<std::string, std::string> compose_sim_display_text(bool running, uint64_t step_count, double sim_time,
                                                                    double desired_pct, double actual_pct, int ncon)
{
  char sim_time_buf[24], desired_buf[16], actual_buf[16];
  std::snprintf(sim_time_buf, sizeof(sim_time_buf), "%.3f s", sim_time);
  std::snprintf(desired_buf, sizeof(desired_buf), "%.1f%%", desired_pct);
  std::snprintf(actual_buf, sizeof(actual_buf), "%.1f%%", actual_pct);
 
  const std::string title = "Status\nSteps\nSim Time\nDesired Speed\nActual Speed\nContacts";
  const std::string content = std::string(running ? "Running" : "Paused") + "\n" + std::to_string(step_count) + "\n" +
                              sim_time_buf + "\n" + desired_buf + "\n" + actual_buf + "\n" + std::to_string(ncon);
  return { title, content };
}
 
}  // namespace mujoco_ros2_control