75 lines
2.4 KiB
GDScript
75 lines
2.4 KiB
GDScript
class_name VehicleTelemetry
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extends RefCounted
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var session_id: StringName
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var sequence: int
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var world_position_m: Vector3
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var world_orientation: Quaternion
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var world_linear_velocity_mps: Vector3
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var local_angular_velocity_rps: Vector3
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var depth_m: float
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var longitudinal_effort: float
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var steering_effort: float
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var vertical_effort: float
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var high_thrust_active: bool
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func _init(
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p_session_id: StringName,
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p_sequence: int,
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p_world_position_m: Vector3,
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p_world_orientation: Quaternion,
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p_world_linear_velocity_mps: Vector3,
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p_local_angular_velocity_rps: Vector3,
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p_depth_m: float,
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p_longitudinal_effort: float,
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p_steering_effort: float,
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p_vertical_effort: float,
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p_high_thrust_active: bool
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) -> void:
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session_id = p_session_id
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sequence = p_sequence
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world_position_m = p_world_position_m
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world_orientation = p_world_orientation
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world_linear_velocity_mps = p_world_linear_velocity_mps
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local_angular_velocity_rps = p_local_angular_velocity_rps
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depth_m = p_depth_m
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longitudinal_effort = p_longitudinal_effort
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steering_effort = p_steering_effort
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vertical_effort = p_vertical_effort
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high_thrust_active = p_high_thrust_active
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func validation_error(expected_session_id: StringName, expected_sequence: int) -> String:
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if session_id != expected_session_id:
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return "telemetry session_id does not match"
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if sequence != expected_sequence:
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return "telemetry sequence does not match expected tick"
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if not _vector_is_finite(world_position_m):
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return "telemetry world position is not finite"
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if not _quaternion_is_finite(world_orientation):
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return "telemetry orientation is not finite"
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if not _vector_is_finite(world_linear_velocity_mps):
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return "telemetry linear velocity is not finite"
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if not _vector_is_finite(local_angular_velocity_rps):
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return "telemetry angular velocity is not finite"
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if not is_finite(depth_m) or depth_m < 0.0:
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return "telemetry depth must be finite and non-negative"
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for effort: float in [longitudinal_effort, steering_effort, vertical_effort]:
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if not is_finite(effort) or effort < -1.0 or effort > 1.0:
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return "telemetry efforts must be between -1 and 1"
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return ""
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func _vector_is_finite(value: Vector3) -> bool:
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return is_finite(value.x) and is_finite(value.y) and is_finite(value.z)
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func _quaternion_is_finite(value: Quaternion) -> bool:
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return (
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is_finite(value.x)
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and is_finite(value.y)
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and is_finite(value.z)
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and is_finite(value.w)
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)
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