Add API to check if sensor is in trigger mode (gazebosim#441)

Signed-off-by: Ian Chen <[email protected]>

Author: iche033

include/gz/sensors/Sensor.hh

@@ -253,6 +253,10 @@ namespace gz
       /// trigger.
       public: bool HasPendingTrigger() const;
 
+      /// \brief Whether the sensor trigger mode is enabled.
+      /// \return True if the sensor is in trigger mode, false otherwise
+      public: bool IsTriggered() const;
+
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data

src/Sensor.cc

@@ -653,10 +653,17 @@ void SensorPrivate::DisableTriggered() {
 }
 
 //////////////////////////////////////////////////
-bool Sensor::HasPendingTrigger() const {
+bool Sensor::HasPendingTrigger() const
+{
   if (!this->dataPtr->IsTriggered())
     return false;
 
   std::lock_guard<std::mutex> triggerLock(this->dataPtr->triggerMutex);
   return this->dataPtr->pendingTrigger;
 }
+
+//////////////////////////////////////////////////
+bool Sensor::IsTriggered() const
+{
+  return this->dataPtr->IsTriggered();
+}

src/Sensor_TEST.cc

@@ -477,8 +477,10 @@ TEST(Sensor_TEST, Trigger)
   sensor.SetUpdateRate(5);
   EXPECT_DOUBLE_EQ(kUpdateRate, sensor.UpdateRate());
 
+  EXPECT_FALSE(sensor.IsTriggered());
   constexpr char kTriggerTopic[] = "/trigger";
   EXPECT_TRUE(sensor.SetTriggered(true, kTriggerTopic));
+  EXPECT_TRUE(sensor.IsTriggered());
   EXPECT_FALSE(sensor.HasPendingTrigger());
 
   transport::Node node;