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Boat state update with new wind and current vectors #415

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merged 4 commits into from
Aug 1, 2024
Merged

Boat state update with new wind and current vectors #415

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d7284a4
added update_boat_state private method implementation and call to met…
alberto-escobar Jul 1, 2024
1579d89
Added call step method in __boat_state
alberto-escobar Jul 4, 2024
7a20ff8
Update physics_engine_node.py
alberto-escobar Aug 1, 2024
532f522
Merge branch 'main' into alberto-escobar/401-calculate-physics-engine…
alberto-escobar Aug 1, 2024
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14 changes: 14 additions & 0 deletions src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -279,6 +279,7 @@ def __init_timer_callbacks(self):
# PUBLISHER CALLBACKS
def __publish(self):
"""Synchronously publishes data to all publishers at once."""
self.__update_boat_state()
# TODO Get updated boat state and publish (should this be separate from publishing?)
# TODO Get wind sensor data and publish (should this be separate from publishing?)
self.__publish_gps()
Expand Down Expand Up @@ -554,6 +555,19 @@ def __sail_action_feedback_callback(
.double_value,
)

def __update_boat_state(self):
"""
Generates the next vectors for wind_generator and current_generator and updates the
boat_state with the new wind and current vectors along with the rudder_angle and
sail_trim_tab_angle.
"""
self.__boat_state.step(
self.__wind_generator.next(),
self.__current_generator.next(),
self.__rudder_angle,
self.__sail_trim_tab_angle,
)

# CLASS PROPERTY PUBLIC GETTERS
@property
def is_multithreading_enabled(self) -> bool:
Expand Down
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