ROSCommands.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/Walker/WalkerEndAction.h"
#include "Agrarsense/Vehicle/DroneEndAction.h"
#include "ROSState.h"
 
#include "ROSCommands.generated.h"
 
class UAgrarsenseSettings;
class UROSIntegrationGameInstance;
class UTopic;
class UWorld;
 
typedef void (UROSCommands::* CommandHandler)(const FString&);
 
struct FCommand
{
    FCommand() : Handler(nullptr), CooldownTime(0.0f), LastExecutionTime(0.0), DefaultValue(TEXT("")) {}
 
    FCommand(CommandHandler InHandler, float InCooldownTime, const FString& InDefaultValue = "")
        : Handler(InHandler), CooldownTime(InCooldownTime), LastExecutionTime(0.0), DefaultValue(InDefaultValue)
    {
    }
 
    CommandHandler Handler;
    float CooldownTime;
    double LastExecutionTime;
    FString DefaultValue;
};
 
/*
* This class is responsible listening incoming string messages from /agrarsense/in/commands ROS topic,
* parsing the incoming message and turning it into Simulation action.
* For example changing main camera (Spectator) world rendering on/off can be done with below ROS message:
* rostopic pub /Agrarsense/Commands std_msgs/String "SetWorldRendering false" --once
* And turning it back on can be done with below ROS message:
* rostopic pub /Agrarsense/Commands std_msgs/String "SetWorldRendering true" --once
*/
UCLASS()
class AGRARSENSE_API UROSCommands : public UObject
{
 
    GENERATED_BODY()
 
public:
 
    /*
    * For testing purposes, should not be used otherwise.
    * Get Game mode - GetROSCommands - TryExecuteCommand
    */
    UFUNCTION(BlueprintCallable)
    void TryExecuteCommand(const FString& Command);
 
private:
 
    friend class AAgrarsenseGameModeBase;
 
    void Init();
 
    void Destroy();
 
    /*
    * Static map of command handlers, indexed by command strings.
    * This static implementation ensures that the cooldown times for commands are preserved when switching between maps.
    * By not resetting cooldowns during map transitions, we prevent potential command spamming.
    */
    static TMap<FString, FCommand> CommandHandlers;
 
    UWorld* GetGameWorld();
 
    UAgrarsenseSettings* GetSettings();
 
    /*
    * Add Commands to CommandHandlers TMap
    */
    void AddCommands();
 
    void SetupROSCommandTopic();
 
    void DestroyROSTopic();
 
    void ParseIncomingMessage(const FString Message);
 
    UFUNCTION()
    void ROSBridgeStateChanged(EROSState state);
 
    bool TryParseBoolean(const FString& String, bool& OutBool) const;
 
    UPROPERTY()
    UTopic* CommandTopic = nullptr;
 
    UPROPERTY()
    UROSIntegrationGameInstance* RosInstance = nullptr;
 
    bool InMeters = false;
 
    bool TeleportSpectatorHeight = false;
 
    void HandlePrintAvailableCommands(const FString& Variable);
 
    void HandleQuit(const FString& Variable);
 
    void HandlePauseSimulator(const FString& Variable);
 
    void HandleUnPauseSimulator(const FString& Variable);
 
    void HandleAdvanceOneFrame(const FString& Variable);
 
    void HandleAdvanceFrames(const FString& Variable);
 
    void HandleAdvanceTime(const FString& Variable);
 
    void HandleChangeMap(const FString& Variable);
 
    void HandleUnrealCommand(const FString& Variable);
 
    void HandleSetSpectatorOverlapRadius(const FString& Variable);
 
    void HandleTeleportSpectatorHeight(const FString& Variable);
 
    void HandleTeleportSpectator(const FString& Variable);
 
    void HandleTeleportActorByID(const FString& Variable);
 
    void HandleTeleportActorByIDHeight(const FString& Variable);
 
    void HandleTeleportSpectatorByInstanceID(const FString& Variable);
 
    void HandleTryDestroyObjectByID(const FString& Variable);
 
    void HandleDestroyAllSensors(const FString& Variable);
 
    void HandleDestroyAllWalkers(const FString& Variable);
 
    void HandleDestroyAllVehicles(const FString& Variable);
 
    void HandleDestroyObjectByInstanceID(const FString& Variable);
 
    void HandlePrintMaps(const FString& Variable);
 
    void HandlePrintAllSensors(const FString& Variable);
 
    void HandlePrintAllVehicles(const FString& Variable);
 
    void HandlePrintAllWalkers(const FString& Variable);
 
    void PrintActorInformation(const FString& Variable, UClass* ActorClass, const FString& ActorTypeName);
 
    void HandlePrintIds(const FString& Variable);
 
    void HandleSetGlobalTargetFrameRate(const FString& Variable);
 
    void HandleSetGlobalTimeDilation(const FString& Variable);
 
    void HandleSetQualityLevel(const FString& Variable);
 
    void HandleSetWorldRendering(const FString& Variable);
 
    void HandleSetGrassVisibility(const FString& Variable);
 
    void HandleSetSaveCombinedPointcloudToDisk(const FString& Variable);
 
    void HandleSpawnObjects(const FString& Variable);
 
    void HandleExportAll(const FString& Variable);
 
    void HandleExportWeather(const FString& Variable);
 
    void HandleExportWalkers(const FString& Variable);
 
    void HandleExportVehicles(const FString& Variable);
 
    void HandleExportSensors(const FString& Variable);
 
    void HandleExportFoliage(const FString& Variable);
 
    void HandleExportObjects(const FString& Variable);
 
    void HandleExportProps(const FString& Variable);
 
    void HandleVisualizeOverlapSensorsBounds(const FString& Variable);
 
    void HandleChangeOverlapSensorBounds(const FString& Variable);
 
    void HandleChangeOverlapSensorPosition(const FString& Variable);
 
    void HandleMoveWalkerToAndDestroy(const FString& Variable);
 
    void HandleMoveWalkerToAndStop(const FString& Variable);
 
    void HandleMoveWalkerTo(const FString& Variable, EWalkerEndAction EndAction);
 
    void HandleStopWalker(const FString& Variable);
 
    void HandleResumeWalker(const FString& Variable);
 
    void HandleSetWalkerMovement(const FString& Variable, bool IsPaused);
 
    void HandleMoveDroneTo(const FString& Variable, EDroneEndAction EndAction);
 
    void HandleMoveDroneToAndStop(const FString& Variable);
 
    void HandleSetAllSensorsEnabled(const FString& Variable);
 
    void HandleEnableAllSensors(const FString& Variable);
 
    void HandleDisableAllSensors(const FString& Variable);
 
    void HandleSetSensorEnabled(const FString& Variable);
 
    void HandleSetWPO(const FString& Variable);
 
    void HandleSetNaniteMaxPixelsPerEdge(const FString& Variable);
 
    void HandleDestroyTreesArea(const FString& Variable);
 
    void HandleDestroyActorsArea(const FString& Variable);
 
    void HandleDestroyActors(const FString& Variable, bool OnlyTrees);
 
    void HandleVehicleMeshVisibility(const FString& Variable);
};