Network Player controller provides functionality for client-server. Major functionalites are. More...

#include <RRNetworkPlayerController.h>

Inheritance diagram for ARRNetworkPlayerController:

Collaboration diagram for ARRNetworkPlayerController:

[legend]

Public Member Functions
	ARRNetworkPlayerController ()

virtual void	Tick (float DeltaSeconds) override

void	GetLifetimeReplicatedProps (TArray< FLifetimeProperty > &OutLifetimeProps) const override
	Returns the properties used for network replication, this needs to be overridden by all actor classes with native. More...

virtual void	OnRep_SimStateClient ()
	Function called with #SimStateClient replication. Initialize ROS2SimStateClient. More...

void	CreateROS2SimStateClient (const TSubclassOf< URRROS2SimulationStateClient > &InSimStateClientClass)
	Create ROS2SimStateClient without initializing yet. More...

void	ClientInitSimStateClientROS2 ()
	Init SimStateClient ROS 2 Component, e.g. SimStateClientROS2Node, SimStateClientClockPublisher. More...

void	ServerSetPlayerName (const FString &InPlayerName)
	Set player name in server. More...

virtual float	GetLocalTime ()

void	RequestServerTimeUpdate ()
	[Time Sync Step1] Request server time update from client via ServerRequestLocalClockUpdate More...

void	ServerRequestLocalClockUpdate (float InClientRequestTime)
	[Time Sync Step2] Called from the client and execute in the server via RPC. More...

void	ClientSendLocalClockUpdate (float InClientRequestTime, float InServerCurrentTime)
	[Time Sync Step3] Called from the server and execute in the client via RPC. More...

void	UpdateLocalClock (float InDeltaSeconds)
	Increase local clock's time by delta seconds. More...

virtual void	ServerSetLinearVel (ARRBaseRobot *InServerRobot, float InClientTimeStamp, const FTransform &InClientRobotTransform, const FVector &InLinearVel)
	Set server linear velocity to #RobotVehicleMoveComponent. Non player object can use this method to call RPC. More...

virtual void	ServerSetAngularVel (ARRBaseRobot *InServerRobot, float InClientTimeStamp, const FRotator &InClientRobotRotation, const FVector &InAngularVel)
	Set server angular velocity to #RobotVehicleMoveComponent. Non player object can use this method to call RPC. More...

Public Attributes
UROS2NodeComponent *	SimStateClientROS2Node = nullptr
	Sim ROS 2 node in each client. Created only in the client. More...

URRROS2ClockPublisher *	SimStateClientClockPublisher = nullptr
	/clock publisher More...

ASimulationState *	ServerSimState = nullptr
	Pointer to ServerSimState. ROS2SimStateClient in each client use this to execute sim-wide operation in the server. More...

URRROS2SimulationStateClient *	ROS2SimStateClient = nullptr
	ROS 2 Sim state client. Provide ROS 2 interface of sim-wide operations implemented by ServerSimState. More...

FString	PlayerName
	Controller's PlayerName. More...

FTimerHandle	ClockRequestTimerHandle
	Timer handle used by RequestServerTime(). This will used to sync simulation time. More...

float	LocalTime = 0.0f
	Local clock time. More...

Protected Member Functions
virtual void	BeginPlay () override
	Standalone game mode will call this method to call #ClientInitSimStateClientROS2lient. More...

virtual void	ReceivedPlayer () override

Detailed Description

Network Player controller provides functionality for client-server. Major functionalites are.

UROS2NodeComponent, URRROS2ClockPublisher, URRROS2SimulationStateClient are created for each client to provide ROS 2 services which are provided by ARRROS2GameMode in standalone game.
Clock sync between server and the clients with delay compensation
RPC call to sync Robot movements between server and clients.

UCLASS()

Constructor & Destructor Documentation

◆ ARRNetworkPlayerController()

ARRNetworkPlayerController::ARRNetworkPlayerController ( )

Member Function Documentation

◆ BeginPlay()

virtual void ARRNetworkPlayerController::BeginPlay ( )

overrideprotectedvirtual

Standalone game mode will call this method to call #ClientInitSimStateClientROS2lient.

Client server game mode will start timer to sync time with server.

◆ ClientInitSimStateClientROS2()

void ARRNetworkPlayerController::ClientInitSimStateClientROS2 ( )

Init SimStateClient ROS 2 Component, e.g. SimStateClientROS2Node, SimStateClientClockPublisher.

UFUNCTION(Client, Reliable)

◆ ClientSendLocalClockUpdate()

void ARRNetworkPlayerController::ClientSendLocalClockUpdate	(	float	InClientRequestTime,
		float	InServerCurrentTime
	)

[Time Sync Step3] Called from the server and execute in the client via RPC.

Sync client time with InServerCurrentTime + delay compendation.

Delay is estimated as 0.5 * (current client time - InClientRequestTime)

Parameters

InClientRequestTime	Client time when client calls ServerRequestLocalClockUpdate
InServerCurrentTime	Server time when server call this method

UFUNCTION(Client, Reliable)

◆ CreateROS2SimStateClient()

void ARRNetworkPlayerController::CreateROS2SimStateClient ( const TSubclassOf< URRROS2SimulationStateClient > & InSimStateClientClass )

Create ROS2SimStateClient without initializing yet.

Parameters

InSimStateClientClass

UFUNCTION(BlueprintCallable)

◆ GetLifetimeReplicatedProps()

void ARRNetworkPlayerController::GetLifetimeReplicatedProps ( TArray< FLifetimeProperty > & OutLifetimeProps ) const

override

Returns the properties used for network replication, this needs to be overridden by all actor classes with native.

replicated properties

Parameters

OutLifetimeProps Output lifetime properties

◆ GetLocalTime()

virtual float ARRNetworkPlayerController::GetLocalTime ( )

inlinevirtual

◆ OnRep_SimStateClient()

virtual void ARRNetworkPlayerController::OnRep_SimStateClient ( )

virtual

Function called with #SimStateClient replication. Initialize ROS2SimStateClient.

UFUNCTION(BlueprintCallable)

◆ ReceivedPlayer()

virtual void ARRNetworkPlayerController::ReceivedPlayer ( )

overrideprotectedvirtual

◆ RequestServerTimeUpdate()

void ARRNetworkPlayerController::RequestServerTimeUpdate ( )

[Time Sync Step1] Request server time update from client via ServerRequestLocalClockUpdate

◆ ServerRequestLocalClockUpdate()

void ARRNetworkPlayerController::ServerRequestLocalClockUpdate ( float InClientRequestTime )

[Time Sync Step2] Called from the client and execute in the server via RPC.

Get current server time and call ClientSendLocalClockUpdate with current server time and given InClientRequestTime

Parameters

InClientRequestTime Client Time when client call this method.

UFUNCTION(Server, Reliable)

◆ ServerSetAngularVel()

virtual void ARRNetworkPlayerController::ServerSetAngularVel	(	ARRBaseRobot *	InServerRobot,
		float	InClientTimeStamp,
		const FRotator &	InClientRobotRotation,
		const FVector &	InAngularVel
	)

virtual

Set server angular velocity to #RobotVehicleMoveComponent. Non player object can use this method to call RPC.

Parameters

InServerRobot	target server-owned robot
InClientTimeStamp
InClientRobotRotation
InAngularVel

Note: This method is because RRBaseRobot can't use rpc since it is not controlled/possessed by the Player.

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerSetLinearVel()

virtual void ARRNetworkPlayerController::ServerSetLinearVel	(	ARRBaseRobot *	InServerRobot,
		float	InClientTimeStamp,
		const FTransform &	InClientRobotTransform,
		const FVector &	InLinearVel
	)

virtual

Set server linear velocity to #RobotVehicleMoveComponent. Non player object can use this method to call RPC.

Parameters

InServerRobot	target server-owned robot
InClientTimeStamp
InClientRobotPosition
InLinearVel

Note: This method is because RRBaseRobot can't use rpc since it is not controlled/possessed by the Player.

UFUNCTION(BlueprintCallable, Server, Reliable)

◆ ServerSetPlayerName()

void ARRNetworkPlayerController::ServerSetPlayerName ( const FString & InPlayerName )

Set player name in server.

UFUNCTION(Server, Reliable)

◆ Tick()

virtual void ARRNetworkPlayerController::Tick ( float DeltaSeconds )

overridevirtual

◆ UpdateLocalClock()

void ARRNetworkPlayerController::UpdateLocalClock ( float InDeltaSeconds )

Increase local clock's time by delta seconds.

Parameters

InDeltaSeconds

Member Data Documentation

◆ ClockRequestTimerHandle

FTimerHandle ARRNetworkPlayerController::ClockRequestTimerHandle

Timer handle used by RequestServerTime(). This will used to sync simulation time.

UPROPERTY(VisibleAnywhere, BlueprintReadOnly)

◆ LocalTime

float ARRNetworkPlayerController::LocalTime = 0.0f

Local clock time.

UPROPERTY()

◆ PlayerName

FString ARRNetworkPlayerController::PlayerName

Controller's PlayerName.

UPROPERTY(EditAnywhere, BlueprintReadWrite, meta = (ExposeOnSpawn = "true"), Replicated)

◆ ROS2SimStateClient

URRROS2SimulationStateClient* ARRNetworkPlayerController::ROS2SimStateClient = nullptr

ROS 2 Sim state client. Provide ROS 2 interface of sim-wide operations implemented by ServerSimState.

UPROPERTY(Transient, Replicated, ReplicatedUsing = OnRep_SimStateClient)

◆ ServerSimState

ASimulationState* ARRNetworkPlayerController::ServerSimState = nullptr

Pointer to ServerSimState. ROS2SimStateClient in each client use this to execute sim-wide operation in the server.

UPROPERTY(EditAnywhere, BlueprintReadWrite, meta = (ExposeOnSpawn = "true"), Replicated)

◆ SimStateClientClockPublisher

URRROS2ClockPublisher* ARRNetworkPlayerController::SimStateClientClockPublisher = nullptr

/clock publisher

UPROPERTY(BlueprintReadOnly)

◆ SimStateClientROS2Node

UROS2NodeComponent* ARRNetworkPlayerController::SimStateClientROS2Node = nullptr

Sim ROS 2 node in each client. Created only in the client.

UPROPERTY(Transient)

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/RRNetworkPlayerController.h

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ARRNetworkPlayerController()

Member Function Documentation

◆ BeginPlay()

◆ ClientInitSimStateClientROS2()

◆ ClientSendLocalClockUpdate()

◆ CreateROS2SimStateClient()

◆ GetLifetimeReplicatedProps()

◆ GetLocalTime()

◆ OnRep_SimStateClient()

◆ ReceivedPlayer()

◆ RequestServerTimeUpdate()

◆ ServerRequestLocalClockUpdate()

◆ ServerSetAngularVel()

◆ ServerSetLinearVel()

◆ ServerSetPlayerName()

◆ Tick()

◆ UpdateLocalClock()

Member Data Documentation

◆ ClockRequestTimerHandle

◆ LocalTime

◆ PlayerName

◆ ROS2SimStateClient

◆ ServerSimState

◆ SimStateClientClockPublisher

◆ SimStateClientROS2Node