Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h - master - vasandi/AirSim

Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h
90 строк3 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
#pragma once

#include <string>
#include "common/AirSimSettings.hpp"
#include "common/ClockFactory.hpp"
#include "common/StateReporterWrapper.hpp"
#include "api/ApiProvider.hpp"
#include "api/ApiServerBase.hpp"
#include "../PawnSimApi.h"
#include "../UnityPawn.h"

class SimModeBase
{
private:
    typedef common_utils::Utils Utils;
    typedef msr::airlib::ClockFactory ClockFactory;
    typedef msr::airlib::TTimePoint TTimePoint;
    typedef msr::airlib::TTimeDelta TTimeDelta;

protected:
    typedef msr::airlib::AirSimSettings AirSimSettings;

private:
    const msr::airlib::Vector3r GetVehiclePosition(const std::string& vehicle_name);
    UnityTransform GetVehicleStartTransform();
    void showClockStats();

protected:
    virtual std::unique_ptr<msr::airlib::ApiServerBase> createApiServer() const;
    virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const;
    virtual std::unique_ptr<PawnSimApi> createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const;
    virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const;
    virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name);
    virtual void setupVehiclesAndCamera();
    virtual void setupClockSpeed(); //called when SimMode should handle clock speed setting
    virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter);
    virtual const msr::airlib::AirSimSettings& getSettings() const;

public:
    SimModeBase(int port_number);
    virtual void BeginPlay();
    virtual void EndPlay();
    virtual void Tick(float DeltaSeconds) = 0;
    virtual void reset();
    virtual std::string getDebugReport();
    virtual bool isPaused() const;
    virtual void pause(bool is_paused);
    virtual void continueForTime(double seconds);
    virtual void continueForFrames(uint32_t frames);
    virtual void setWind(const msr::airlib::Vector3r& wind) const;
    void startApiServer();
    void stopApiServer();
    bool isApiServerStarted();
    const NedTransform& getGlobalNedTransform();
    virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
                              float celestial_clock_speed, float update_interval_secs, bool move_sun);

    msr::airlib::ApiProvider* getApiProvider() const
    {
        return api_provider_.get();
    }

    const PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") const
    {
        return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
    }

    PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "")
    {
        return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
    }

private:
    TTimePoint tod_sim_clock_start_;
    TTimePoint tod_last_update_;
    std::time_t tod_start_time_;
    std::unique_ptr<NedTransform> global_ned_transform_;
    std::unique_ptr<msr::airlib::WorldSimApiBase> world_sim_api_;
    std::unique_ptr<msr::airlib::ApiProvider> api_provider_;
    std::unique_ptr<msr::airlib::ApiServerBase> api_server_;
    msr::airlib::StateReporterWrapper debug_reporter_;
    std::vector<std::unique_ptr<msr::airlib::VehicleSimApiBase>> vehicle_sim_apis_;

protected:
    int record_tick_count;

public:
    int port_number_;
    bool EnableReport = false;
};