FURLabRpcDispatcher¶

Transport-agnostic step-server core.

Owns session id, mode state, step counter, request queues, and all the Handle* / dispatch logic. Knows nothing about ZMQ, SHM, msgpack, or any specific wire transport. Multiple transports (ZMQ, SHM) call into the same dispatcher; they only differ in how bytes get from the wire to Dispatch() and back. Lives on AAMjManager so all transports share one instance; the dispatcher's serializing mutex makes concurrent dispatches from multiple transports safe.

Attribute	Value
Kind	`Class`

Properties Functions

Properties¶

Public Properties¶

Property	Type	Description
`minimal`	``
`standard`	``
`changes`	`Called when a PIE cycle ends or the editor level *`
`URLabVersion`	`FString`	Wire format echoed to the client as the urlab plugin version.
`FJsonObject`	`Returns the reply as an`

minimal¶

Type:

standard¶

Type:

changes¶

Type: Called when a PIE cycle ends or the editor level *

URLabVersion¶

Wire format echoed to the client as the urlab plugin version.

Type: FString

FJsonObject¶

Type: Returns the reply as an

Private Properties¶

Property	Type	Description
`Dispatch`	`** Inner body of`
`OwnerMgr`	TWeakObjectPtr<AAMjManager>	Weak so stale-manager bugs return nullptr on .Get() instead of
`DispatchMutex`	`FCriticalSection`	Guards ActiveSessionId + step-handler install/uninstall. NOT held
`ActiveSessionId`	`FString`
`CachedReplayManager`	TWeakObjectPtr<AMjReplayManager>
`StepQueue`	TQueue<TSharedPtr<FMjDirectStepCommand>, EQueueMode::Spsc>	SPSC. Shared ownership so both RPC + physics threads can drop their
`PushStateQueue`	TQueue<FMjPushStateRequest, EQueueMode::Spsc>	Puppet-mode request queue.
`PuppetStepHandler`	UMjPhysicsEngine::FMujocoStepCallback	Custom step handlers installed on the engine for Direct / Puppet.
`DirectStepHandler`	UMjPhysicsEngine::FMujocoStepCallback
`bPuppetHandlerInstalled`	`bool`
`bDirectHandlerInstalled`	`bool`
`RegisteredOpNames`	`TArray<FString>`

Dispatch¶

Type: ** Inner body of

OwnerMgr¶

Weak so stale-manager bugs return nullptr on .Get() instead of

Type: TWeakObjectPtr<AAMjManager>

DispatchMutex¶

Guards ActiveSessionId + step-handler install/uninstall. NOT held

Type: FCriticalSection

ActiveSessionId¶

Type: FString

CachedReplayManager¶

Type: TWeakObjectPtr<AMjReplayManager>

StepQueue¶

SPSC. Shared ownership so both RPC + physics threads can drop their

Type: TQueue<TSharedPtr<FMjDirectStepCommand>, EQueueMode::Spsc>

PushStateQueue¶

Puppet-mode request queue.

Type: TQueue<FMjPushStateRequest, EQueueMode::Spsc>

PuppetStepHandler¶

Custom step handlers installed on the engine for Direct / Puppet.

Type: UMjPhysicsEngine::FMujocoStepCallback

DirectStepHandler¶

Type: UMjPhysicsEngine::FMujocoStepCallback

bPuppetHandlerInstalled¶

Type: bool

bDirectHandlerInstalled¶

Type: bool

RegisteredOpNames¶

Type: TArray

Functions¶

Public Functions¶

General¶

Function	Returns	Description
`Init()`	void	Bind the dispatcher to a manager (game thread, called from BeginPlay).
`OnManagerGone()`	void	Per-manager teardown: drop the manager pointer, uninstall step
`Shutdown()`	void	Full bridge-server teardown. Resets everything OnManagerGone
`SetDraining()`	void	Cooperative shutdown signal. Set by BridgeServer::Stop() so blocking
`Dispatch()`	`TSharedPtr<FJsonObject>`	Parse one inbound (already-decoded) request and run the matching
`SetCachedReplayManager()`	void	Worker threads read the replay manager via this cache instead of
`BuildHandshakePayload()`	`TSharedPtr<FJsonObject>`	Build the hello-reply payload. When bIncludeAssets is true (caller
`AppendClockFields()`	void	Stamps `sim_time` + `wall_time` blocks (ROS `builtin_interfaces/Time`

Init¶

Bind the dispatcher to a manager (game thread, called from BeginPlay).

Signature: Init(AAMjManager* InManager)

OnManagerGone¶

Per-manager teardown: drop the manager pointer, uninstall step

Signature: OnManagerGone()

Shutdown¶

Full bridge-server teardown. Resets everything OnManagerGone

Signature: Shutdown()

SetDraining¶

Cooperative shutdown signal. Set by BridgeServer::Stop() so blocking

Signature: SetDraining(bool bIn)

Dispatch¶

Parse one inbound (already-decoded) request and run the matching

Signature: Dispatch(const TSharedPtr<FJsonObject>& Req)
Returns: TSharedPtr

SetCachedReplayManager¶

Worker threads read the replay manager via this cache instead of

Signature: SetCachedReplayManager(AMjReplayManager* RM)

BuildHandshakePayload¶

Build the hello-reply payload. When bIncludeAssets is true (caller

Signature: BuildHandshakePayload(AAMjManager* Manager, const FString& SessionId, const FString& URLabVer, bool bIncludeAssets)
Returns: TSharedPtr

AppendClockFields¶

Stamps sim_time + wall_time blocks (ROS builtin_interfaces/Time

Signature: AppendClockFields(TSharedPtr<FJsonObject>& Reply, double SimTimeSec)

Private Functions¶

General¶

Function	Returns	Description
`DispatchInternal()`	`TSharedPtr<FJsonObject>`	Inner body of Dispatch; wrapped by the public method so every
`RegisterDispatcherOps()`	void	Register every dispatcher-owned op (manager-required +

DispatchInternal¶

Inner body of Dispatch; wrapped by the public method so every

Signature: DispatchInternal(const TSharedPtr<FJsonObject>& Req)
Returns: TSharedPtr

RegisterDispatcherOps¶

Register every dispatcher-owned op (manager-required +

Signature: RegisterDispatcherOps()