OverlapSensor.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 "Engine/EngineTypes.h"
#include "Components/PrimitiveComponent.h"
 
#include "Agrarsense/Components/BoundsVisualizerComponent.h"
#include "Agrarsense/Sensor/Sensor.h"
#include "OverlapSensorParameters.h"
 
#include "ROSIntegration/Public/std_msgs/String.h"
 
#include "OverlapSensor.generated.h"
 
class AVehicle;
 
UCLASS()
class AGRARSENSE_API AOverlapSensor : public ASensor
{
    GENERATED_BODY()
 
public:
 
    AOverlapSensor(const FObjectInitializer& ObjectInitializer);
 
    UFUNCTION(BlueprintCallable)
    void Init(FOverlapSensorParameters InParameters);
 
    virtual ESensorTypes GetSensorType() const override
    {
        return ESensorTypes::Overlap;
    }
 
    UFUNCTION(BlueprintCallable)
    void SetOverlapBounds(const FVector& NewSize);
 
    UFUNCTION(BlueprintCallable)
    void SetVisualizeOverlapArea(bool Visualize);
 
    UFUNCTION(BlueprintCallable)
    void SetOverlapRelativePosition(const FVector& Vector);
 
    UFUNCTION(BlueprintCallable)
    void SetOverlapResponseToAllChannels(const ECollisionResponse Response);
 
    UFUNCTION(BlueprintCallable)
    bool IsVisualizingOverlapArea() const
    {
        return IsVisible;
    }
 
    virtual FString GetParametersAsString() const override
    {
        return StructToString(Parameters);
    }
 
protected:
 
    UFUNCTION()
    void OnOverlapBegin(UPrimitiveComponent* OverlappedComponent, AActor* OtherActor, UPrimitiveComponent* OtherComp,
        int32 OtherBodyIndex, bool bFromSweep, const FHitResult& SweepResult);
 
    UFUNCTION()
    void OnOverlapEnd(UPrimitiveComponent* OverlappedComponent, AActor* OtherActor, UPrimitiveComponent* OtherComp,
        int32 OtherBodyIndex);
 
    UPROPERTY(VisibleAnywhere)
    UBoundsVisualizerComponent* BoundsComponent = nullptr;
 
private:
 
    virtual void BeginPlay() override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    void BuildAndSendMessage(const FString& Prefix, AActor* Actor);
 
    FString TryGetID(AActor* Actor);
 
    TSharedPtr<ROSMessages::std_msgs::String> ROSMessage;
 
    FOverlapSensorParameters Parameters;
 
    UPROPERTY()
    AVehicle* Vehicle = nullptr;
 
    FString VehicleName;
 
    FString VehicleID;
 
    bool IsVisible = false;
 
};