PIDDrone.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 "Vehicle.h"
#include "DroneParameters.h"
#include "PIDDrone.generated.h"
 
class USkeletalMeshComponent;
class UStaticMeshComponent;
//DECLARE_DYNAMIC_MULTICAST_DELEGATE(FLevelEventDelegate_FlightPathCompleted);
 
UCLASS()
class AGRARSENSE_API APIDDrone : public AVehicle
{
    GENERATED_BODY()
 
public:
    APIDDrone();
    //UPROPERTY(BlueprintAssignable)
    //FLevelEventDelegate_FlightPathCompleted OnFlightPathCompleted;
 
    virtual EVehicleTypes GetVehicleType() const override { return EVehicleTypes::Drone; }
 
    virtual FTransform GetInteractableWorldTransform_Implementation() const override
    {
        if (mesh)
        {
            return mesh->GetComponentTransform();
        }
        else
        {
            return GetActorTransform();
        }
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void SetDroneAction(EDroneAction mode)
    {
        DroneParameters.DroneAction = mode;
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    EDroneAction GetDroneAction()
    {
        return DroneParameters.DroneAction;
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    FDroneParameters GetDroneParameters()
    {
        return DroneParameters;
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void ChangeDroneParameters(const FDroneParameters& newParameters)
    {
        UE_LOG(LogTemp, Warning, TEXT("Parameters Chnaged!"));
        SetDroneParameters(newParameters);
    }
 
    void SetDroneParameters(const FDroneParameters& InParameters)
    {
        DroneParameters = InParameters;
    }
 
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void AddWayPoint(FVector waypoint)
    {
        FTransform transform;
        transform.SetLocation(waypoint);
 
        DroneParameters.Points.Add(transform);
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void ClearWaypoints()
    {
        DroneParameters.Points.Empty();
    }
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void FlySetFlightpath();
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    void SetManualControl(bool value) {
        manualControl = value;
    }
 
    void MoveDroneToPosition(const FTransform Transform);
 
    UFUNCTION(BlueprintCallable, Category = "Drone")
    TArray<FTransform> GenerateRoamingPoints(float radius, int roamingPoints);
 
    bool manualControl = false;
 
private:
 
    virtual void BeginPlay() override;
 
    virtual void Tick(float DeltaTime) override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    void AutoPilot(float DeltaTime);
 
    //FVector GetCurrentWaypointTarget();
 
    UPROPERTY()
    EFlightMode flightmode = EFlightMode::Roaming;
 
    UPROPERTY()
    UWorld* World = nullptr;
 
    FVector StartingPosition;
 
    USkeletalMeshComponent* mesh = nullptr;
    UStaticMeshComponent* desiredPositionMesh = nullptr;
 
    bool bRosConnected = false;
    bool waypointreached = false;
 
    /* For testing purposes. Hardcoded coordinates */
    TArray<FVector> WayPoints = {
        {3790, 8050, 5000},
        {11779.536955,6566.541435,5000}
    };
 
    bool isRoaming()
    {
        return DroneParameters.DroneAction == EDroneAction::Roaming;
    }
 
    int passedWaypoints = 0;
 
protected:
 
    FDroneParameters DroneParameters;
 
    UFUNCTION(BlueprintCallable)
    FVector GetCurrentWaypointTarget();
 
    UFUNCTION(BlueprintCallable)
    void SetDesiredLocationMesh(UStaticMeshComponent *meshcomponent) {
        desiredPositionMesh = meshcomponent;
    }
 
    UFUNCTION(BlueprintCallable)
    void AssignRoamingPoints(TArray<FTransform> Points)
    {
        // Empty current waypoints if any
        ClearWaypoints();
 
 
        for (FTransform point : Points)
        {
            // Assing new waypoints to the array
            WayPoints.Add(point.GetLocation());
        }
    };
 
    UFUNCTION(BlueprintCallable)
    void SetDroneRotation(USkeletalMeshComponent* target, FRotator rotator);
    
};