From 14e000d9b3a154aef5472cbfe585ea4348af7a20 Mon Sep 17 00:00:00 2001
From: harderthan <kheo1772@gmail.com>
Date: Tue, 23 Jan 2024 22:13:38 +0900
Subject: [PATCH] Add simple backend class

Added Logger class as a simple child class.
---
 .../stride/simulator/backends/__init__.py     |  1 +
 .../stride/simulator/backends/logger.py       | 52 +++++++++++++++++++
 2 files changed, 53 insertions(+)
 create mode 100644 exts/stride.simulator/stride/simulator/backends/logger.py

diff --git a/exts/stride.simulator/stride/simulator/backends/__init__.py b/exts/stride.simulator/stride/simulator/backends/__init__.py
index 832439e..6676241 100644
--- a/exts/stride.simulator/stride/simulator/backends/__init__.py
+++ b/exts/stride.simulator/stride/simulator/backends/__init__.py
@@ -1 +1,2 @@
 from .backend import Backend
+from .logger import Logger
diff --git a/exts/stride.simulator/stride/simulator/backends/logger.py b/exts/stride.simulator/stride/simulator/backends/logger.py
new file mode 100644
index 0000000..0b60d7f
--- /dev/null
+++ b/exts/stride.simulator/stride/simulator/backends/logger.py
@@ -0,0 +1,52 @@
+import carb
+
+import omni.kit.app
+from stride.simulator.backends.backend import Backend
+
+class Logger(Backend):
+
+    def __init__(self, vehicle_id: int):
+        self._id = vehicle_id
+
+
+    def update_state(self, state):
+        """
+        Method that handles the receival of the state of the vehicle. It just prints the state to the console.
+        """
+
+        carb.log_info("Received state update for vehicle {}".format(self._id))
+        carb.log_info("Position: {}".format(state.position))
+        carb.log_info("Attitude: {}".format(state.attitude))
+        carb.log_info("Linear velocity: {}".format(state.linear_velocity))
+        carb.log_info("Angular velocity: {}".format(state.angular_velocity))
+        carb.log_info("Linear acceleration: {}".format(state.linear_acceleration))
+
+
+    def update_sensor(self, sensor_type: str, data):
+        """
+        Method that when implemented, should handle the receival of sensor data
+        """
+
+        if sensor_type == "IMU":
+            self.update_imu_data(data)
+
+        # TODO: Add support for other sensors
+
+
+    def update_imu_data(self, data):
+        """
+        Method that handles the receival of IMU data. It just prints the data to the console.
+        """
+        carb.log_info("Received IMU data for vehicle {}".format(self._id))
+        carb.log_info("Angular velocity: {}".format(data["angular_velocity"]))
+        carb.log_info("Linear acceleration: {}".format(data["linear_acceleration"]))
+
+
+    def update(self, dt: float):
+        """
+        Method that update the state of the backend and the information being sent/received from the communication
+        interface. This method will be called by the simulation on every physics steps.
+        """
+
+        carb.log_info("Updating logger backend for vehicle {}".format(self._id))
+        carb.log_info("Time elapsed since last update: {}".format(dt))
\ No newline at end of file