RRROS2GameMode.h

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#pragma once
 
 
 
// UE
 
#include "Engine/EngineTypes.h"
 
#include "GameFramework/GameMode.h"
 
#include "Tools/RRLimitRTFFixedSizeCustomTimeStep.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Tools/RRROS2SimulationStateClient.h"
 
#include "Tools/SimulationState.h"
 
 
 
#include "RRROS2GameMode.generated.h"
 
 
 
class AROS2Node;
 
class URRROS2ClockPublisher;
 
 
 
DECLARE_MULTICAST_DELEGATE(FRROnROS2Initialized);
 
 
 
class RAPYUTASIMULATIONPLUGINS_API ARRROS2GameMode : public AGameMode
 
{
 
 
 
public:
 
    ARRROS2GameMode();
 
 
 
 
 
    UROS2NodeComponent* MainROS2Node = nullptr;
 
 
 
 
 
    FString MainROS2NodeName = TEXT("UEROS2Node");
 
 
 
 
 
    URRROS2ClockPublisher* ClockPublisher = nullptr;
 
 
 
 
 
    ASimulationState* MainSimState = nullptr;
 
 
 
 
 
 
    URRROS2SimulationStateClient* MainROS2SimStateClient = nullptr;
 
 
 
 
 
    TSubclassOf<URRROS2SimulationStateClient> ROS2SimStateClientClass = URRROS2SimulationStateClient::StaticClass();
 
 
 
 
    FRROnROS2Initialized OnROS2Initialized;
 
    virtual void SetFixedTimeStep(const float InStepSize);
 
 
 
    virtual float GetFixedTimeStep() const;
 
 
 
    virtual void SetTargetRTF(const float InTargetRTF);
 
 
 
    virtual float GetTargetRTF() const;
 
 
 
    virtual void PrintSimConfig() const;
 
 
 
    FString GetSpawnableNativeEntityClassPath(const FString& InEntityModelName) const
 
    {
 
        return NativeSpawnableClassPaths.FindRef(InEntityModelName);
 
    }
 
 
 
protected:
 
    virtual void InitGame(const FString& InMapName, const FString& InOptions, FString& OutErrorMessage) override;
 
 
 
    virtual void InitSim();
 
 
 
    virtual void StartPlay() override;
 
 
 
 
 
 
    TArray<FString> BPSpawnableClassNames;
 
 
 
 
 
 
    TMap<FString /*Entity model name*/, FString /*Class path*/> NativeSpawnableClassPaths;
 
 
 
private:
 
    void InitROS2();
 
};