RRGameMode.h

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#pragma once
 
 
 
#include "Engine/EngineTypes.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRROS2GameMode.h"
 
#include "Core/RRTypeUtils.h"
 
 
 
#include "RRGameMode.generated.h"
 
 
 
enum class ERRSimType : uint8
 
{
 
    NONE = 0x00,
 
    DATA_SYNTH = 0x01,
 
    ROBOT_SIM = 0x02
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ARRGameMode : public ARRROS2GameMode
 
{
 
 
 
public:
 
    ARRGameMode();
 
    static constexpr int32 SIM_START_TIMEOUT_MINS = 2;
 
    static constexpr int32 SIM_START_TIMEOUT_SECS = 60 * SIM_START_TIMEOUT_MINS;
 
 
 
 
    uint8 SimType = static_cast<uint8>(ERRSimType::ROBOT_SIM);
 
 
 
    bool IsSimType(const ERRSimType InSimType) const
 
    {
 
        return (static_cast<uint8>(InSimType) & static_cast<uint8>(SimType));
 
    }
 
 
 
    bool IsDataSynthSimType() const
 
    {
 
        return IsSimType(ERRSimType::DATA_SYNTH);
 
    }
 
 
 
    void SetSimType(const ERRSimType InSimType)
 
    {
 
        SimType |= static_cast<uint8>(InSimType);
 
    }
 
 
 
    FString GetSimTypeName() const
 
    {
 
        // SimType is not changed during Sim run
 
        static FString simTypeName = [this]()
 
        {
 
            FString resultName;
 
            auto fAppendIfOfType = [this, &resultName](const ERRSimType InSimType)
 
            {
 
                if (IsSimType(InSimType))
 
                {
 
                    const FString typeName = URRTypeUtils::GetEnumValueAsString(TEXT("ERRSimType"), InSimType);
 
                    if (resultName.IsEmpty())
 
                    {
 
                        resultName = typeName;
 
                    }
 
                    else
 
                    {
 
                        resultName.Append(FString::Printf(TEXT(",%s"), *typeName));
 
                    }
 
                }
 
            };
 
            fAppendIfOfType(ERRSimType::ROBOT_SIM);
 
            fAppendIfOfType(ERRSimType::DATA_SYNTH);
 
            return resultName;
 
        }();
 
        return simTypeName;
 
    }
 
 
 
    virtual void PreInitializeComponents() override;
 
    virtual void InitGameState() override;
 
 
 
    virtual void StartPlay() override;
 
 
 
    virtual void PrintSimConfig() const override;
 
 
 
    static void PrintUEPreprocessors();
 
 
 
    virtual void ConfigureSimInPlay();
 
 
 
    virtual void StartSim();
 
 
 
 
    bool bBenchmark = true;
 
 
 
    void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
 
 
private:
 
    FTimerHandle OwnTimerHandle;
 
 
    float BeginTimeStampSec = 0.f;
 
 
 
    bool TryStartingSim();
 
};