GameMode with specific setting, asset loading and #SceneDirector. Parent class, ARRROS2GameMode,. More...

#include <RRGameMode.h>

Inheritance diagram for ARRGameMode:

Collaboration diagram for ARRGameMode:

[legend]

Public Member Functions
	ARRGameMode ()

bool	IsSimType (const ERRSimType InSimType) const

bool	IsDataSynthSimType () const

void	SetSimType (const ERRSimType InSimType)

FString	GetSimTypeName () const

virtual void	PreInitializeComponents () override

virtual void	InitGameState () override

virtual void	StartPlay () override
	Set benchmark, fixed time step via FApp if running without editor. More...

virtual void	PrintSimConfig () const override
	Print GameMode's user configs in INI. More...

virtual void	ConfigureSimInPlay ()
	Config Sim global configs in prep for play. More...

virtual void	StartSim ()

void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Public Member Functions inherited from ARRROS2GameMode
	ARRROS2GameMode ()

virtual void	SetFixedTimeStep (const float InStepSize)
	Set timestep by FApp::SetFixedDeltaTime. More...

virtual float	GetFixedTimeStep () const
	Get timestep. More...

virtual void	SetTargetRTF (const float InTargetRTF)
	Set the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep. More...

virtual float	GetTargetRTF () const
	Get the Target RTF. This works if CustomTimeStep class is URRLimitRTFFixedSizeCustomTimeStep. More...

FString	GetSpawnableNativeEntityClassPath (const FString &InEntityModelName) const
	Get corresponding class path of a native entity model from NativeSpawnableClassPaths. More...

Static Public Member Functions
static void	PrintUEPreprocessors ()
	Print UE global preprocessors' values. More...

Public Attributes
uint8	SimType = static_cast<uint8>(ERRSimType::ROBOT_SIM)

bool	bBenchmark = true

Public Attributes inherited from ARRROS2GameMode
UROS2NodeComponent *	MainROS2Node = nullptr
	Sim's Main ROS 2 node. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead. More...

FString	MainROS2NodeName = TEXT("UEROS2Node")
	Sim's Main ROS 2 node name. This is not used by client-server and ARRNetworkPlayerController has ROS2Node instead. More...

URRROS2ClockPublisher *	ClockPublisher = nullptr
	Publish /clock. This is not used by client-server without editor and ARRNetworkPlayerController has ClockPublisher instead. More...

ASimulationState *	MainSimState = nullptr
	Provide ROS 2 implementation of sim-wide operations like get/set actor state, spawn/delete actor, attach/detach actor. More...

URRROS2SimulationStateClient *	MainROS2SimStateClient = nullptr
	Provide ROS 2 interface of sim-wide operations implemented by MainSimState. More...

TSubclassOf< URRROS2SimulationStateClient >	ROS2SimStateClientClass = URRROS2SimulationStateClient::StaticClass()
	Custom type to instantiate MainROS2SimStateClient, configurable in child classes. More...

FRROnROS2Initialized	OnROS2Initialized
	Delegate signalling ROS 2 having been initialized with MainROS2Node, MainROS2SimStateClient, ClockPublisher ready. More...

Static Public Attributes
static constexpr int32	SIM_START_TIMEOUT_MINS = 2

static constexpr int32	SIM_START_TIMEOUT_SECS = 60 * SIM_START_TIMEOUT_MINS

Private Member Functions
bool	TryStartingSim ()
	This method was scheduled to be run by BeginPlay() More...

Private Attributes
FTimerHandle	OwnTimerHandle

float	BeginTimeStampSec = 0.f

Additional Inherited Members
Protected Member Functions inherited from ARRROS2GameMode
virtual void	InitGame (const FString &InMapName, const FString &InOptions, FString &OutErrorMessage) override
	Initialize Game. More...

virtual void	InitSim ()
	Create MainSimState and call InitROS2. More...

Protected Attributes inherited from ARRROS2GameMode
TArray< FString >	BPSpawnableClassNames
	Blueprint class names (also used as their entity model names) to be registered as spawnable entity types. More...

TMap< FString, FString >	NativeSpawnableClassPaths
	Asset paths of classes to be registered as spawnable entity types. More...

Detailed Description

GameMode with specific setting, asset loading and #SceneDirector. Parent class, ARRROS2GameMode,.

You needs to use #RRGameSingleton for asset loading.

You needs to use #RRPlayerController and #RRGameState for SceneDirector.

See also: GameMode and GameState

UCLASS(Config = RapyutaSimSettings)

Constructor & Destructor Documentation

◆ ARRGameMode()

ARRGameMode::ARRGameMode ( )

Member Function Documentation

◆ ConfigureSimInPlay()

virtual void ARRGameMode::ConfigureSimInPlay ( )

virtual

Config Sim global configs in prep for play.

◆ EndPlay()

void ARRGameMode::EndPlay ( const EEndPlayReason::Type EndPlayReason )

override

◆ GetSimTypeName()

FString ARRGameMode::GetSimTypeName ( ) const

inline

◆ InitGameState()

virtual void ARRGameMode::InitGameState ( )

overridevirtual

◆ IsDataSynthSimType()

bool ARRGameMode::IsDataSynthSimType ( ) const

inline

◆ IsSimType()

bool ARRGameMode::IsSimType ( const ERRSimType InSimType ) const

inline

◆ PreInitializeComponents()

virtual void ARRGameMode::PreInitializeComponents ( )

overridevirtual

◆ PrintSimConfig()

virtual void ARRGameMode::PrintSimConfig ( ) const

overridevirtual

Print GameMode's user configs in INI.

Reimplemented from ARRROS2GameMode.

◆ PrintUEPreprocessors()

static void ARRGameMode::PrintUEPreprocessors ( )

static

Print UE global preprocessors' values.

◆ SetSimType()

void ARRGameMode::SetSimType ( const ERRSimType InSimType )

inline

◆ StartPlay()

virtual void ARRGameMode::StartPlay ( )

overridevirtual

Set benchmark, fixed time step via FApp if running without editor.

Call ConfigureSimInPlay and StartSim

See also: FApp

Reimplemented from ARRROS2GameMode.

◆ StartSim()

virtual void ARRGameMode::StartSim ( )

virtual

LOAD [ImageWrapperModule]. This must be loaded this early for possible external image-based texture loading at Sim

initialization!

LOAD SIM STATIC GLOBAL RESOURCES
START SIM ONCE RESOURCES ARE LOADED

The reason for this scheduled delegate is some essential operation, which facilitates sim startup activities like

asynchronous resource loading, could only run after this [ARRGameState::BeginPlay()] ends!

◆ TryStartingSim()

bool ARRGameMode::TryStartingSim ( )

private

This method was scheduled to be run by BeginPlay()

WAIT FOR RESOURCE LOADING, in prep for Sim mode initialization
START PARENT'S PLAY, WHICH TRIGGER OTHERS PLAY FROM GAME STATE, PLAYER CONTROLLER, ETC.

UFUNCTION()

Member Data Documentation

◆ bBenchmark

bool ARRGameMode::bBenchmark = true

UPROPERTY(config)

◆ BeginTimeStampSec

float ARRGameMode::BeginTimeStampSec = 0.f

private

UPROPERTY()

◆ OwnTimerHandle

FTimerHandle ARRGameMode::OwnTimerHandle

private

◆ SIM_START_TIMEOUT_MINS

constexpr int32 ARRGameMode::SIM_START_TIMEOUT_MINS = 2

staticconstexpr

◆ SIM_START_TIMEOUT_SECS

constexpr int32 ARRGameMode::SIM_START_TIMEOUT_SECS = 60 * SIM_START_TIMEOUT_MINS

staticconstexpr

◆ SimType

uint8 ARRGameMode::SimType = static_cast<uint8>(ERRSimType::ROBOT_SIM)

UPROPERTY()

The documentation for this class was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/rapyutasimulationplugins/checkouts/devel/Source/RapyutaSimulationPlugins/Public/Core/RRGameMode.h

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ARRGameMode()

Member Function Documentation

◆ ConfigureSimInPlay()

◆ EndPlay()

◆ GetSimTypeName()

◆ InitGameState()

◆ IsDataSynthSimType()

◆ IsSimType()

◆ PreInitializeComponents()

◆ PrintSimConfig()

◆ PrintUEPreprocessors()

◆ SetSimType()

◆ StartPlay()

◆ StartSim()

◆ TryStartingSim()

Member Data Documentation

◆ bBenchmark

◆ BeginTimeStampSec

◆ OwnTimerHandle

◆ SIM_START_TIMEOUT_MINS

◆ SIM_START_TIMEOUT_SECS

◆ SimType