AgrarsenseGameInstance.cpp

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// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "Agrarsense/Game/AgrarsenseGameInstance.h"
#include "Agrarsense/Game/AgrarsenseStatics.h"
#include "Agrarsense/Logging/SimulatorLog.h"
#include "Agrarsense/ROS/ROSHandler.h"
 
#include "Internationalization/Regex.h"
#include "Misc/CommandLine.h"
#include "Engine/World.h"
 
void UAgrarsenseGameInstance::Init()
{
    bool ConnectToROS = DefaultConnectToROS;
    bool AsyncROSConnection = DefaultAsyncROSConnection;
    FString Host = DefaultROSHost;
    int Port = DefaultROSPort;
    int MaxRetries = DefaultROSMaxRetries;
 
    ParseLaunchArguments(ConnectToROS, AsyncROSConnection, Host, Port, MaxRetries);
 
    // Set UROSIntegrationGameInstance ROS variables, afterwards these cannot be changed.
    bConnectToROS = ConnectToROS;
    bConnectToROSAsync = AsyncROSConnection;
    ROSBridgeServerHost = Host;
    ROSBridgeServerPort = Port;
    bMaxRetries = MaxRetries;
 
    Super::Init();
}
 
void UAgrarsenseGameInstance::BeginDestroy()
{
    Super::BeginDestroy();
}
 
void UAgrarsenseGameInstance::ROSBridgeConnected()
{
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (ROSHandler)
    {
        SimulatorLog::Log("ROS Connected.");
        ROSHandler->OnROSStateChanged.Broadcast(EROSState::Connected);
    }
}
 
void UAgrarsenseGameInstance::ROSBridgeDisconnected()
{
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (ROSHandler)
    {
        SimulatorLog::Log("ROS Disconnected.");
        ROSHandler->OnROSStateChanged.Broadcast(EROSState::Disconnected);
    }
}
 
void UAgrarsenseGameInstance::ParseLaunchArguments(bool& ConnectToROS, bool& AsyncROSConnection, FString& Host, int& Port, int& MaxRetries)
{
    if (FParse::Param(FCommandLine::Get(), TEXT("-no-ros")))
    {
        ConnectToROS = false;
    }
 
    if (FParse::Param(FCommandLine::Get(), TEXT("-no-ros-async")))
    {
        AsyncROSConnection = false;
    }
 
    FString HostString;
    if (FParse::Value(FCommandLine::Get(), TEXT("-ros-host-ip="), HostString))
    {
        FRegexPattern IpPattern(TEXT("^\\d+\\.\\d+\\.\\d+\\.\\d+$"));
        FRegexMatcher Matcher(IpPattern, HostString);
 
        if (Matcher.FindNext())
        {
            Host = HostString;
        }
    }
 
    FString PortString;
    if (FParse::Value(FCommandLine::Get(), TEXT("-ros-port="), PortString))
    {
        if (PortString.IsNumeric())
        {
            Port = FCString::Atoi(*PortString);
        }
    }
 
    FString MaxRetriesString;
    if (FParse::Value(FCommandLine::Get(), TEXT("-ros-max-retries="), MaxRetriesString))
    {
        if (MaxRetriesString.IsNumeric())
        {
            MaxRetries = FCString::Atoi(*MaxRetriesString);
        }
    }
}