CollisionSensor.h

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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>.
 
#pragma once
 
#include "CoreMinimal.h"
#include "Agrarsense/Sensor/Sensor.h"
 
#include "ROSIntegration/Public/std_msgs/String.h"
 
#include "CollisionSensor.generated.h"
 
struct CollisionData
{
    FString Actor;
    FString OtherActor;
    FVector NormalImpulse;
 
    FString ToString()
    {
        FString X = FString::SanitizeFloat(NormalImpulse.X);
        FString Y = FString::SanitizeFloat(NormalImpulse.Y);
        FString Z = FString::SanitizeFloat(NormalImpulse.Z);
        return FString::Printf(TEXT("%s, %s, %s, %s, %s"), *Actor, *OtherActor, *X, *Y, *Z);
    }
 
    FString ToStringHumanReadable()
    {
        return FString::Printf(TEXT("Actor %s collided with %s with impulse of %s"), *Actor, *OtherActor, *NormalImpulse.ToString());
    }
};
 
UCLASS()
class AGRARSENSE_API ACollisionSensor : public ASensor
{
    GENERATED_BODY()
 
public:
 
    ACollisionSensor(const FObjectInitializer& ObjectInitializer);
 
    UFUNCTION(BlueprintCallable)
    void Init(AActor* NewOwner, bool SimulateSensor = true);
 
    virtual ESensorTypes GetSensorType() const override
    {
        return ESensorTypes::Collision;
    }
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
private:
 
    void SendCollisionData(const FString& CollisionDataString);
 
    UFUNCTION()
    void OnCollisionEvent(AActor* Actor, AActor* OtherActor, FVector NormalImpulse, const FHitResult& Hit);
 
    UPROPERTY()
    TWeakObjectPtr<AActor> CurrentOwner;
 
    TSharedPtr<ROSMessages::std_msgs::String> CollisionMessage;
};