DroneMovementSubscriber.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 "Components/ActorComponent.h"
 
#include "Agrarsense/ROS/ROSState.h"
 
#include "ROSIntegration/Classes/RI/Topic.h"
 
#include "DroneMovementSubscriber.generated.h"
 
USTRUCT(BlueprintType)
struct FDroneMessageParser
{
    GENERATED_BODY()
 
    FDroneMessageParser()
    {
        this->linear = { 0,0,0 };
        this->angular = { 0,0,0 };
    }
 
    UPROPERTY(BlueprintReadOnly)
    FVector linear;
 
    UPROPERTY(BlueprintReadOnly)
    FVector angular;
};
 
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FDroneMessageReceived, FDroneMessageParser, Movement);
 
UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))
class AGRARSENSE_API UDroneMovementSubscriber : public UActorComponent
{
    GENERATED_BODY()
 
public:
 
    UDroneMovementSubscriber();
 
    UPROPERTY(BlueprintAssignable)
    FDroneMessageReceived OnDroneMessageReceived;
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void OnUnregister() override;
 
private:
 
    UFUNCTION()
    void ROSBridgeStateChanged(EROSState rosState);
 
    void CreateROSTopic();
 
    void DestroyROSTopic();
 
    UPROPERTY()
    TObjectPtr<UTopic> MovementTopic;
 
};