Make simulation delay in detector configurable (#133)

* make simulation delay in detector configurable

* use member variable instead of class variable

* turn detection_delay into a parameter

---------

Co-authored-by: Falko Schindler <falko@zauberzeug.com>

rosys/vision/detector_simulation.py

@@ -31,16 +31,23 @@ class DetectorSimulation(Detector):
     Individual camera IDs can be added to a set of `blocked_cameras` to simulate occlusions during pytests.
     A list of `simulated_objects` can be filled to define what can be detected.
     An optional `noise` parameter controls the spatial accuracy in pixels.
+    An optional `detection_delay` parameter simulates the time it takes to process an image.
     """
 
-    def __init__(self, camera_provider: CalibratableCameraProvider, *, noise: float = 1.0, name: Optional[str] = None) -> None:
+    def __init__(self,
+                 camera_provider: CalibratableCameraProvider, *,
+                 noise: float = 1.0,
+                 detection_delay: float = 0.4,
+                 name: Optional[str] = None,
+                 ) -> None:
         super().__init__(name=name)
 
         self.camera_provider = camera_provider
         self.noise = noise
 
         self.blocked_cameras: set[str] = set()
         self.simulated_objects: list[SimulatedObject] = []
+        self.detection_delay = detection_delay
 
         rosys.on_repeat(self.step, 0.1)
 
@@ -54,7 +61,7 @@ async def detect(self,
                      tags: list[str] = [],
                      ) -> Detections | None:
         is_blocked = image.camera_id in self.blocked_cameras
-        await rosys.sleep(0.4)
+        await rosys.sleep(self.detection_delay)
         image.set_detections(self.name, Detections())
         if not is_blocked:
             self.update_simulated_objects(image)