InfoTopic.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/ROS/ROSState.h"
 
#include "ROSIntegration/Public/std_msgs/String.h"
#include "ROSIntegration/Classes/RI/Topic.h"
 
#include "InfoTopic.generated.h"
 
/*
* ROS Info topic class.
* This class creates /Agrarsense/Info topic and publishes what's currently happening in the Simulation,
* new sensor spawned/destroyed etc.
*
* To send message from cpp side:
* #include "Agrarsense/ROS/InfoTopic/InfoTopic.h"
* UInfoTopic::SendMessage("Hello");
*/
UCLASS()
class AGRARSENSE_API UInfoTopic : public UObject
{
 
    GENERATED_BODY()
 
public:
 
    static void SetAllowSendInfo(bool Allow);
 
    static void SendMessage(const FString& Message);
 
private:
 
    // Allow AAgrarsenseGameModeBase to access private methods
    friend class AAgrarsenseGameModeBase;
 
    static void Init();
 
    static void Destroy();
 
    void Setup();
 
    void SetupROSInfoTopic();
 
    void DestroyROSTopic();
 
    UFUNCTION()
    void ROSBridgeStateChanged(EROSState state);
 
    static UInfoTopic* Instance;
 
    static TWeakObjectPtr<UTopic> InfoTopic;
 
    static TSharedPtr<ROSMessages::std_msgs::String> ROSMessage;
 
    static bool ROSConnected;
 
    static bool AllowInfoTopic;
 
};