ROSHandler.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 "UObject/Object.h"
#include "Engine/EngineTypes.h"
#include "GenericPlatform/GenericPlatformProcess.h"
 
#include "ROSState.h"
#include "ROSHandler.generated.h"
 
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FROSDelegate_ROState, EROSState, rosState);
 
UCLASS()
class AGRARSENSE_API UROSHandler : public UObject
{
    GENERATED_BODY()
 
public:
 
    void Setup(bool RosIsConnected);
 
    UFUNCTION(BlueprintCallable)
    void LaunchROSBridge();
 
    UFUNCTION(BlueprintCallable)
    void StopROSBridge();
 
    UFUNCTION(BlueprintCallable)
    void RestartROSBridge();
 
    UFUNCTION(BlueprintCallable)
    bool IsROSConnected()
    {
        return ROSConnected;
    }
 
    UFUNCTION(BlueprintCallable)
    EROSState GetROSState()
    {
        return ROSState;
    }
 
    UPROPERTY(BlueprintAssignable)
    FROSDelegate_ROState OnROSStateChanged;
 
private:
 
    UFUNCTION()
    void OnROSBridgeChanged(EROSState newRosState);
 
    EROSState ROSState = EROSState::Disconnected;
 
    FProcHandle ROSProcessHandle;
 
    FProcHandle ROSBridgeHandle;
 
    bool ROSConnected = false;
 
};