Radar.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 "Templates/SharedPointer.h"
#include "Engine/HitResult.h"
 
#include "Agrarsense/Sensor/Sensor.h"
#include "RadarParameters.h"
 
#include "ROSIntegration/Public/sensor_msgs/PointCloud2.h"
 
#include "Radar.generated.h"
 
class UNiagaraComponent;
 
UCLASS()
class AGRARSENSE_API ARadar : public ASensor
{
    GENERATED_BODY()
 
public:
 
    ARadar(const FObjectInitializer& ObjectInitializer);
 
    void Init(FRadarParameters parameters, bool SimulateSensor = true);
 
    virtual ESensorTypes GetSensorType() const override { return ESensorTypes::Radar; }
 
    UFUNCTION(BlueprintCallable)
    void ChangeRadarParameters(FRadarParameters Parameters);
 
    UFUNCTION(BlueprintCallable)
    void SetVisualizeParticles(bool Visualize);
 
    UFUNCTION(BlueprintCallable, BlueprintPure)
    FRadarParameters GetRadarParameters()
    {
        return RadarParameters;
    }
 
    virtual FString GetParametersAsString() const override
    {
        return StructToString(RadarParameters);
    }
 
private:
 
    void BeginPlay() override;
 
    virtual void Tick(float DeltaTime) override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    void SendRadarData();
 
    UPROPERTY()
    UNiagaraComponent* NiagaraComponent;
 
    bool VisualizeParticles = false;
 
    UPROPERTY()
    TArray<FVector> HitLocations;
 
    FRadarParameters RadarParameters;
 
    FRadarParameters TempRadarParameters;
 
    void SetRadarParameters(FRadarParameters Parameters);
 
    void CalculateCurrentVelocity(const float DeltaTime);
 
    void SimulateRadar(float DeltaTime);
 
    float CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation, const FVector ActorVelocity);
 
    FVector CurrentVelocity;
 
    // Used to compute the velocity of the radar
    FVector PrevLocation;
 
    struct RayData
    {
        float Radius;
        float Angle;
        bool Hit;
        float RelativeVelocity;
        FVector2D AzimuthAndElevation;
        float Distance;
        FVector HitPoint;
    };
 
    struct FRadarDetection
    {
        float velocity; // m/s
        float azimuth;  // rad
        float altitude; // rad
        float depth;    // m
    };
 
    std::vector<RayData> Rays;
    std::vector<FRadarDetection> detections;
 
    UWorld* World = nullptr;
 
    bool RadarParametersChanged = false;
 
    struct RadarData
    {
        float x;
        float y;
        float z;
        float range;
        float velocity;
        float azimuth;
        float elevationAng;
    };
 
    TSharedPtr<ROSMessages::sensor_msgs::PointCloud2> RadarMessage;
};