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 "CollisionSensorParameters.h"
 
#include "ROSIntegration/Public/std_msgs/String.h"
 
#include "CollisionSensor.generated.h"
 
struct CollisionData
{
    AActor* ActorPtr = nullptr;
    AActor* OtherActorPtr = nullptr;
 
    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());
    }
 
    FString ToLogString() const
    {
        auto Quote = [](FString S)
            {
                S.ReplaceInline(TEXT("\""), TEXT("\\\""));
                return FString::Printf(TEXT("\"%s\""), *S);
            };
 
        const FString ImpulseStr = FString::Printf(TEXT("%.2f,%.2f,%.2f"),
            NormalImpulse.X, NormalImpulse.Y, NormalImpulse.Z);
        const double ImpulseMag = NormalImpulse.Size();
        const FString Ts = FDateTime::UtcNow().ToIso8601();
 
        return FString::Printf(
            TEXT("actor=%s other_actor=%s impulse_strength=\"%s\" impulse_magnitude=%.2f ts=%s"),
            *Quote(Actor),
            *Quote(OtherActor),
            *ImpulseStr,
            ImpulseMag,
            *Quote(Ts));
    }
};
 
UCLASS()
class AGRARSENSE_API ACollisionSensor : public ASensor
{
    GENERATED_BODY()
 
public:
 
    ACollisionSensor(const FObjectInitializer& ObjectInitializer);
 
    UFUNCTION(BlueprintCallable)
    void Init(FCollisionSensorParameters CollisionSensorParameters, bool SimulateSensor = true);
 
    virtual ESensorTypes GetSensorType() const override
    {
        return ESensorTypes::Collision;
    }
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    void CreateDataSavePath() override;
 
    void CreateLogFile() override;
 
    FCollisionSensorParameters Parameters;
 
private:
 
    void SendCollisionData(const FString& CollisionDataString);
 
    UFUNCTION()
    void OnComponentHit(UPrimitiveComponent* HitComponent, AActor* OtherActor, UPrimitiveComponent* OtherComp, FVector NormalImpulse, const FHitResult& Hit);
 
    UFUNCTION()
    void OnActorHit(AActor* Actor, AActor* OtherActor, FVector NormalImpulse, const FHitResult& Hit);
 
    FString CollsionDataToString(const CollisionData& Data);
 
    FString TryGetID(AActor* Actor) const;
 
    UPROPERTY()
    TWeakObjectPtr<AActor> CurrentOwner;
 
    UPROPERTY()
    UPrimitiveComponent* PrimitiveComponent = nullptr;
 
    TSharedPtr<ROSMessages::std_msgs::String> CollisionMessage;
};