Capture scheduling tests pass now

com.unity.perception/Runtime/GroundTruth/DatasetCapture.cs

             Id = id ?? string.Empty;
         }
 
+        public override string ToString()
+        {
+            return Id;
+        }
+
         /// <summary>
         /// Whether the sensor is currently enabled. When disabled, the DatasetCapture will no longer schedule frames for running captures on this sensor.
         /// </summary>

com.unity.perception/Runtime/GroundTruth/SimulationState.cs

                 modality = sensor.modality,
                 description = sensor.definition,
                 firstCaptureTime = UnscaledSequenceTime + sensor.firstCaptureFrame * renderingDeltaTime,
-                captureTriggerMode = CaptureTriggerMode.Scheduled, // TODO fix this
+                captureTriggerMode = sensor.captureTriggerMode,
                 renderingDeltaTime = renderingDeltaTime,
                 framesBetweenCaptures = sensor.framesBetweenCaptures,
                 manualSensorAffectSimulationTiming = sensor.manualSensorsAffectTiming,
         public void SetNextCaptureTimeToNowForSensor(SensorHandle sensorHandle)
         {
             if (!m_Sensors.ContainsKey(sensorHandle))
+            {
+                Debug.LogError($"Tried to set a capture time for an unregistered sensor: {sensorHandle}");
+            }
 
             var data = m_Sensors[sensorHandle];
             data.sequenceTimeOfNextCapture = UnscaledSequenceTime;
 // This is just here for debug reasons, this here will always report errors, but they get cleaned up in shutdown
 //            VerifyNoMorePendingFrames();
 
-
+            Time.captureDeltaTime = 0;
             ExecutionState = ExecutionStateType.ShuttingDown;
         }
 #endif

com.unity.perception/Tests/Runtime/GroundTruthTests/DatasetCaptureSensorSchedulingTests.cs

 using System.Text.RegularExpressions;
 using NUnit.Framework;
 using Unity.Mathematics;
+using UnityEditorInternal;
 using UnityEngine;
 using UnityEngine.Perception.GroundTruth;
 using UnityEngine.Perception.GroundTruth.DataModel;
 
         internal SimulationStateTestHelper()
         {
+            DatasetCapture.Instance.automaticShutdown = false;
             m_State = DatasetCapture.Instance.currentSimulation;
             var bindingFlags = BindingFlags.NonPublic | BindingFlags.Instance;
             m_SequenceTimeOfNextCaptureMethod = m_State.GetType().GetMethod("GetSequenceTimeOfNextCapture", bindingFlags);
             DatasetCapture.Instance.ResetSimulation();
         }
 
-        SensorDefinition CreateSensorDefinition(string id, string modality, string def, int firstFrame, CaptureTriggerMode mode, float deltaTime, int framesBetween)
+        SensorDefinition CreateSensorDefinition(string id, string modality, string def, int firstFrame, CaptureTriggerMode mode, float deltaTime, int framesBetween, bool manualSensorAffectSimulationTiming = false)
         {
             return new SensorDefinition(id, modality, def)
             {
-                framesBetweenCaptures = framesBetween
+                framesBetweenCaptures = framesBetween,
+                manualSensorsAffectTiming = manualSensorAffectSimulationTiming
             };
         }
 
             DatasetCapture.Instance.ResetSimulation();
             Assert.AreEqual(0, Time.captureDeltaTime);
         }
-#if false
+#if true
         [UnityTest]
         public IEnumerator ShouldCaptureFlagsAndRenderTimesAreCorrectWithMultipleSensors()
         {
 
             //Third sensor is a manually triggered one. All it does in this test is affect delta times.
             var simDeltaTime3 = 5;
-            var sensor3 = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam3", "", "", 0, CaptureTriggerMode.Manual, simDeltaTime3, 0)); // why is there a true on this one
+            var sensor3 = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam3", "", "", 0, CaptureTriggerMode.Manual, simDeltaTime3, 0, true));
 
             (float deltaTime, bool sensor1ShouldCapture, bool sensor2ShouldCapture, bool sensor3ShouldCapture)[] samplesExpected =
             {
         [TestCase(235, 10, 2350, 2585, 2820, 3055, ExpectedResult = (IEnumerator)null)]
         public IEnumerator SequenceTimeOfNextCapture_ReportsCorrectTime_VariedDeltaTimesAndStartFrames(float simulationDeltaTime, int firstCaptureFrame, float firstCaptureTime, float secondCaptureTime, float thirdCaptureTime, float fourthCaptureTime)
         {
+
             var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", firstCaptureFrame, CaptureTriggerMode.Scheduled, simulationDeltaTime, 0));
 
             float[] sequenceTimesExpected =
                 Assert.AreEqual(sequenceTimesExpected[i], sequenceTimeActual, 0.0001f);
                 yield return null;
             }
+
+//            DatasetCapture.Instance.ResetSimulation();
+//            var dcWatcher = new DatasetCapture.WaitUntilComplete();
+//            yield return dcWatcher;
-#if false
+#if true
-            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, 0, 0)); // why is there supposed to be a falise at the end of this
+            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, 0, 0, false));
 
             var framesToCaptureOn = new List<int>();
 
                     var elapsed = Time.time - startTime;
                     Assert.AreEqual(elapsed, sequenceTimeActual, 0.0001f);
                 }
+
+                if (Time.frameCount > 1000)
+                {
+                    Debug.Log("Pulling the eject handle");
+                    yield break;
+                }
+
                 yield return null;
             }
 
-#if false
+
+#if true
-            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, simulationDeltaTime, 0)); // why was there a true here...
+            var sensorHandle = DatasetCapture.Instance.RegisterSensor(CreateSensorDefinition("cam", "", "", 0, CaptureTriggerMode.Manual, simulationDeltaTime, 0, true));
 
             var framesToCaptureOn = new List<int>();
 
                     Assert.AreEqual(sequenceTimesExpected[frameIndex], sequenceTimeActual, 0.0001f);
                     frameIndex++;
                 }
+
+                if (Time.frameCount > 1000)
+                {
+                    Debug.Log("Pulling the eject handle");
+                    yield break;
+                }
+
                 yield return null;
             }
             Assert.AreEqual(frameIndex, framesToCaptureOn.Count, 0.0001f);