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Trigger callback functions
Child scripts, or customization scripts can include a trigger callback function (which is one of many system callback functions), when associated with a vision sensor or a proximity sensor.
Some conditions apply as to the location of the trigger callback function: if a trigger callback function is present in a child script as well as in a customization script, both attached to the object triggering, then the child script will be called first, and the customization script second.
A vision sensor can generate the trigger signal inside of the vision callback function. The trigger callback (if present) is then called as in following example:
function sysCall_trigger(inData)
-- We have:
-- inData.handle : the handle of the vision sensor.
-- inData.packedPackets : an array of data packets, packed (use sim.unpackFloatTable to unpack)
-- the first data packet always contains 15 auxiliary values about the acquired image:
-- - minimum of {intensity, red, green blue and depth value}
-- - maximum of {intensity, red, green blue and depth value}
-- - average of {intensity, red, green blue and depth value}
local outData={}
outData.trigger=true
return outData
end
A proximity sensor generates the trigger signal when an object is detected. The trigger callback (if present) is then called as in following example:
function sysCall_trigger(inData)
-- We have:
-- inData.handle : the handle of the proximity sensor.
-- inData.detectedObjectHandle : handle of detected object
-- inData.detectedPoint : detected point, relative to sensor frame
-- inData.normalVector : normal vector at detected point, relative to sensor frame
local outData={}
outData.trigger=true
return outData
end
In Python, a trigger callback function can only be implemented via a non-threaded script, and it should be explicitly activated with a luaExec command:
#python
#luaExec additionalFuncs={'sysCall_trigger'}
def sysCall_trigger(inData):
pass
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