RRNetworkPlayerController.h

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#pragma once
 
 
 
// UE
 
#include "GameFramework/Pawn.h"
 
#include "GameFramework/PlayerController.h"
 
#include "UnrealClient.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRActorCommon.h"
 
#include "Robots/RRBaseRobot.h"
 
#include "Tools/RRROS2ClockPublisher.h"
 
#include "Tools/RRROS2SimulationStateClient.h"
 
#include "Tools/SimulationState.h"
 
 
 
#include "RRNetworkPlayerController.generated.h"
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ARRNetworkPlayerController : public APlayerController
 
{
 
public:
 
    ARRNetworkPlayerController();
 
 
 
    virtual void Tick(float DeltaSeconds) override;
 
 
 
    void GetLifetimeReplicatedProps(TArray<FLifetimeProperty>& OutLifetimeProps) const override;
 
 
 
 
 
    UROS2NodeComponent* SimStateClientROS2Node = nullptr;
 
 
 
 
 
    URRROS2ClockPublisher* SimStateClientClockPublisher = nullptr;
 
 
 
    // SIM STATE & ROS 2 STATE CLIENT
 
 
 
    ASimulationState* ServerSimState = nullptr;
 
 
 
 
 
    URRROS2SimulationStateClient* ROS2SimStateClient = nullptr;
 
 
 
    virtual void OnRep_SimStateClient();
 
 
 
    // PLAYER
 
 
 
    FString PlayerName;
 
 
 
    void CreateROS2SimStateClient(const TSubclassOf<URRROS2SimulationStateClient>& InSimStateClientClass);
 
 
 
    void ClientInitSimStateClientROS2();
 
 
 
    void ServerSetPlayerName(const FString& InPlayerName);
 
 
 
    // LOCAL CLOCK
 
 
 
    FTimerHandle ClockRequestTimerHandle;
 
 
 
 
 
    float LocalTime = 0.0f;
 
    virtual float GetLocalTime()
 
    {
 
        return LocalTime;
 
    }
 
 
 
    void RequestServerTimeUpdate();
 
 
 
    void ServerRequestLocalClockUpdate(float InClientRequestTime);
 
 
 
    void ClientSendLocalClockUpdate(float InClientRequestTime, float InServerCurrentTime);
 
 
 
    void UpdateLocalClock(float InDeltaSeconds);
 
 
 
    virtual void ServerSetLinearVel(ARRBaseRobot* InServerRobot,
 
                                    float InClientTimeStamp,
 
                                    const FTransform& InClientRobotTransform,
 
                                    const FVector& InLinearVel);
 
 
 
    virtual void ServerSetAngularVel(ARRBaseRobot* InServerRobot,
 
                                     float InClientTimeStamp,
 
                                     const FRotator& InClientRobotRotation,
 
                                     const FVector& InAngularVel);
 
 
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void ReceivedPlayer() override;
 
};