Boat state update with new wind and current vectors

src/boat_simulator/boat_simulator/nodes/physics_engine/physics_engine_node.py

@@ -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()
@@ -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: