Feature/timesource options

Assets/AWSIM/Scenes/Main/AutowareSimulation.unity

@@ -38,7 +38,7 @@ RenderSettings:
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   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 1519.6069, g: 1883.9946, b: 2490.9849, a: 1}
+  m_IndirectSpecularColor: {r: 1520.0924, g: 1884.674, b: 2491.8425, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -536,6 +536,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   trafficManager: {fileID: 723377035}
   egoTransform: {fileID: 7808269042169720464}
+  timeSourceSelector: {fileID: 1259688278}
   commandLineConfigParam: --json_path
   useJsonConfig: 0
   jsonPath: 
@@ -3239,6 +3240,17 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 830ab73cebda3db4580ebd3ece935931, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+--- !u!114 &1259688278 stripped
+MonoBehaviour:
+  m_CorrespondingSourceObject: {fileID: 3077555317673241940, guid: 27181f17b3e1bb607a4b8fcb8a827e0f, type: 3}
+  m_PrefabInstance: {fileID: 1575276244}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 0dde57169074a9c5c9780c80294b4427, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1001 &1381324630
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -4046,7 +4058,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 3077555317673241940, guid: 27181f17b3e1bb607a4b8fcb8a827e0f, type: 3}
       propertyPath: Type
-      value: 2
+      value: 3
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 27181f17b3e1bb607a4b8fcb8a827e0f, type: 3}
@@ -4530,6 +4542,53 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 23c1ce4fb46143f46bc5cb5224c934f6, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  m_Version: 7
+  m_ObsoleteRenderingPath: 0
+  m_ObsoleteFrameSettings:
+    overrides: 0
+    enableShadow: 0
+    enableContactShadows: 0
+    enableShadowMask: 0
+    enableSSR: 0
+    enableSSAO: 0
+    enableSubsurfaceScattering: 0
+    enableTransmission: 0
+    enableAtmosphericScattering: 0
+    enableVolumetrics: 0
+    enableReprojectionForVolumetrics: 0
+    enableLightLayers: 0
+    enableExposureControl: 1
+    diffuseGlobalDimmer: 0
+    specularGlobalDimmer: 0
+    shaderLitMode: 0
+    enableDepthPrepassWithDeferredRendering: 0
+    enableTransparentPrepass: 0
+    enableMotionVectors: 0
+    enableObjectMotionVectors: 0
+    enableDecals: 0
+    enableRoughRefraction: 0
+    enableTransparentPostpass: 0
+    enableDistortion: 0
+    enablePostprocess: 0
+    enableOpaqueObjects: 0
+    enableTransparentObjects: 0
+    enableRealtimePlanarReflection: 0
+    enableMSAA: 0
+    enableAsyncCompute: 0
+    runLightListAsync: 0
+    runSSRAsync: 0
+    runSSAOAsync: 0
+    runContactShadowsAsync: 0
+    runVolumeVoxelizationAsync: 0
+    lightLoopSettings:
+      overrides: 0
+      enableDeferredTileAndCluster: 0
+      enableComputeLightEvaluation: 0
+      enableComputeLightVariants: 0
+      enableComputeMaterialVariants: 0
+      enableFptlForForwardOpaque: 0
+      enableBigTilePrepass: 0
+      isFptlEnabled: 0
   clearColorMode: 0
   backgroundColorHDR: {r: 0.025, g: 0.07, b: 0.19, a: 0}
   clearDepth: 1
@@ -4585,53 +4644,6 @@ MonoBehaviour:
       data1: 0
       data2: 0
   defaultFrameSettings: 0
-  m_Version: 7
-  m_ObsoleteRenderingPath: 0
-  m_ObsoleteFrameSettings:
-    overrides: 0
-    enableShadow: 0
-    enableContactShadows: 0
-    enableShadowMask: 0
-    enableSSR: 0
-    enableSSAO: 0
-    enableSubsurfaceScattering: 0
-    enableTransmission: 0
-    enableAtmosphericScattering: 0
-    enableVolumetrics: 0
-    enableReprojectionForVolumetrics: 0
-    enableLightLayers: 0
-    enableExposureControl: 1
-    diffuseGlobalDimmer: 0
-    specularGlobalDimmer: 0
-    shaderLitMode: 0
-    enableDepthPrepassWithDeferredRendering: 0
-    enableTransparentPrepass: 0
-    enableMotionVectors: 0
-    enableObjectMotionVectors: 0
-    enableDecals: 0
-    enableRoughRefraction: 0
-    enableTransparentPostpass: 0
-    enableDistortion: 0
-    enablePostprocess: 0
-    enableOpaqueObjects: 0
-    enableTransparentObjects: 0
-    enableRealtimePlanarReflection: 0
-    enableMSAA: 0
-    enableAsyncCompute: 0
-    runLightListAsync: 0
-    runSSRAsync: 0
-    runSSAOAsync: 0
-    runContactShadowsAsync: 0
-    runVolumeVoxelizationAsync: 0
-    lightLoopSettings:
-      overrides: 0
-      enableDeferredTileAndCluster: 0
-      enableComputeLightEvaluation: 0
-      enableComputeLightVariants: 0
-      enableComputeMaterialVariants: 0
-      enableFptlForForwardOpaque: 0
-      enableBigTilePrepass: 0
-      isFptlEnabled: 0
 --- !u!81 &2122627085
 AudioListener:
   m_ObjectHideFlags: 0

Assets/AWSIM/Scenes/Main/AutowareSimulation/AutowareSimulation.cs

@@ -12,6 +12,7 @@ public class AutowareSimulation : MonoBehaviour
     {
         [SerializeField] TrafficManager trafficManager;
         [SerializeField] Transform egoTransform;
+        [SerializeField] TimeSourceSelector timeSourceSelector;
 
         [Header("Player Config")]
         [SerializeField] string commandLineConfigParam = "--json_path";
@@ -33,13 +34,19 @@ public class EgoConfiguration
         public class Configuration
         {
             public float TimeScale;                 // Reflected in Time.timeScale
+            public string TimeSource;               // Reflected in TimeSourceSelector
             public int RandomTrafficSeed;           // Reflected in TrafficManager.seed
             public int MaxVehicleCount;             // Reflected in TrafficManager.maxVehicleCount
             public EgoConfiguration Ego = new EgoConfiguration();
         }
 
         void Awake()
         {
+            // check if time source selector is present
+            if(timeSourceSelector == null)
+            {
+                Debug.LogWarning("TimeSource: There is no TimeSourceSelector object assigned in the inspector. The default time source will be used.");
+            }
 
 #if !UNITY_EDITOR
             // initialize
@@ -62,6 +69,9 @@ void Awake()
 
                 var rotation = Quaternion.Euler(config.Ego.EulerAngles);
                 egoTransform.rotation = ROS2Utility.RosToUnityRotation(rotation);
+
+                // set time source
+                timeSourceSelector?.SetType(config.TimeSource);
             }
         }
     }

Assets/AWSIM/Scenes/Main/AutowareSimulation/config.json

@@ -1,5 +1,6 @@
 {
     "TimeScale": 0.2,
+    "TimeSource": "simulation",
     "RandomTrafficSeed": 33,
     "MaxVehicleCount": 2,
     "Ego": {
@@ -14,4 +15,4 @@
             "z": 35.0
         }
     }
-}
+}

Assets/AWSIM/Scripts/Clock/Scripts/DotNetSimulationTimeSource.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Threading;
+using ROS2;
+
+namespace AWSIM
+{
+    /// <summary>
+    /// A thread-safe timesource class that provides simulation time based on the dot net system utc time.
+    /// This time source takes into account the value of the simulation timescale and
+    /// starts at zero value when the simulation is started.
+    /// </summary>
+    public class DotNetSimulationTimeSource : ITimeSource
+    {
+        private DateTime prevDateTime;
+        private double time;
+        private bool hasStarted = false;
+
+        private readonly object lockObject = new object();
+
+        public DotNetSimulationTimeSource()
+        {
+            hasStarted = false;
+        }
+
+        public void GetTime(out int seconds, out uint nanoseconds)
+        {
+            lock (lockObject)
+            {
+                DateTime currDateTime = DateTime.UtcNow;
+
+                if(!hasStarted)
+                {
+                    hasStarted = true;
+                    time = 0.0;
+
+                    prevDateTime = currDateTime;
+                }
+
+                TimeSpan timeSpan = currDateTime - prevDateTime;
+                prevDateTime = currDateTime;
+
+                time += timeSpan.TotalMilliseconds * 0.001f * TimeScaleProvider.TimeScale;
+                TimeUtils.TimeFromTotalSeconds(time, out seconds, out nanoseconds);
+            }
+        }
+    }
+
+}

Assets/AWSIM/Scripts/Clock/Scripts/DotNetSystemTimeSource.cs

@@ -5,30 +5,43 @@
 namespace AWSIM
 {
     /// <summary>
-    /// A thread-safe timesource class that provides the dot net system utc time.
+    /// A thread-safe timesource class that provides the dot net system utc time since epoch.
+    /// This timesource takes into account the value of the simulation timescale.
     /// </summary>
     public class DotNetSystemTimeSource : ITimeSource
     {
         private DateTime prevDateTime;
         private double time;
+        private bool hasStarted = false;
 
         private readonly object lockObject = new object();
 
         public DotNetSystemTimeSource()
         {
-            prevDateTime = DateTime.UtcNow;
-            time = 0.0;
+            hasStarted = false;
         }
 
         public void GetTime(out int seconds, out uint nanoseconds)
         {
             lock (lockObject)
             {
                 DateTime currDateTime = DateTime.UtcNow;
+
+                if(!hasStarted)
+                {
+                    hasStarted = true;
+
+                    // get the time in millisecond since epoch
+                    long timeOffset = ((DateTimeOffset)currDateTime).ToUnixTimeMilliseconds();
+                    time = (double)timeOffset * 0.001;
+
+                    prevDateTime = currDateTime;
+                }
+
                 TimeSpan timeSpan = currDateTime - prevDateTime;
                 prevDateTime = currDateTime;
 
-                time += timeSpan.TotalMilliseconds * 0.001f * TimeScaleProvider.TimeScale;
+                time += timeSpan.TotalMilliseconds * 0.001 * TimeScaleProvider.TimeScale;
                 TimeUtils.TimeFromTotalSeconds(time, out seconds, out nanoseconds);
             }
         }

Assets/AWSIM/Scripts/Clock/Scripts/TimeAsDoubleProvider.cs

@@ -0,0 +1,41 @@
+using UnityEngine;
+
+namespace AWSIM
+{
+    /// <summary>
+    /// A thread-safe static class to provide the value of the Unity time as double.
+    /// </summary>
+    public static class TimeAsDoubleProvider
+    {
+        private static readonly object lockObject = new object();
+
+        private static double timeAsDouble = 0.0;
+        public static double TimeAsDouble
+        {
+            get
+            {
+                lock(lockObject)
+                {
+                    return timeAsDouble;
+                }
+            }
+        }
+
+
+        #region [Public Methods]
+
+        /// <summary>
+        /// Synchronise the value of the timeAsDouble variable with the Time.timeAsDouble from the Unity thread.
+        /// </summary>
+        public static void DoUpdate()
+        {
+            lock(lockObject)
+            {
+                timeAsDouble = Time.timeAsDouble;
+            }
+        }
+
+        #endregion
+    }
+}
+

Assets/AWSIM/Scripts/Clock/Scripts/TimeScaleProvider.cs

@@ -31,10 +31,7 @@ public static void DoUpdate()
         {
             lock(lockObject)
             {
-                if (Mathf.Abs(Time.timeScale - timeScale) > 0.01f)
-                {
-                    timeScale = Time.timeScale;
-                }
+                timeScale = Time.timeScale;
             }
         }