TransformSensor.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/Sensor/Sensor.h"
#include "Agrarsense/Managers/TickManager.h"
#include "Agrarsense/Sensor/Transform/TransformSensorParameters.h"
 
#include "ROSIntegration/Public/geometry_msgs/Transform.h"
#include "ROSIntegration/Public/sensor_msgs/NavSatFix.h"
#include "ROSIntegration/Public/std_msgs/String.h"
 
#include "TransformSensor.generated.h"
 
class AGeoReferencingSystem;
 
/*
* This Sensor publishes target Actor World transform
* and GNSS (Latitude, Longitude and Altitude) to ROS topic.
*/
UCLASS()
class AGRARSENSE_API ATransformSensor : public ASensor
{
    GENERATED_BODY()
 
public:
 
    ATransformSensor(const FObjectInitializer& ObjectInitializer);
 
    void Init(FTransformSensorParameters Params, bool SimulateSensor = true);
 
    virtual ESensorTypes GetSensorType() const override
    {
        return ESensorTypes::Transform;
    }
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    virtual void CreateROSTopic() override;
 
    virtual void DestroyROSTopic() override;
 
    void CreateDataSavePath() override;
 
    FTransformSensorParameters Parameters;
 
private:
 
    void TickParallel(float DeltaTime);
 
    void SendTransformDataToROS(const FVector& Translation, const FQuat& Rotation);
 
    void SendGpsDataToROS(const FVector& ActorPosition);
 
    void SaveTransformMetaDataToDisk(const FVector& Translation, const FQuat& Rotation);
 
    void CreateLogFile() override;
 
    TSharedPtr<ROSMessages::geometry_msgs::Transform> TransformMessage;
 
    TSharedPtr<ROSMessages::std_msgs::String> GnssMessageString;
 
    TSharedPtr<ROSMessages::sensor_msgs::NavSatFix> NavSatFixMessage;
 
    UPROPERTY()
    FVector PreviousPosition = FVector(0.0f, 0.0f, 0.0f);
 
    UPROPERTY()
    FQuat PreviousRotation = FQuat(0.0f, 0.0f, 0.0f, 0.0f);
 
    UPROPERTY()
    FTickEntry TickEntry;
 
    UPROPERTY()
    UTopic* GnssTopic = nullptr;
 
    UPROPERTY()
    UTopic* NavSatFixTopic = nullptr;
 
    UPROPERTY()
    AGeoReferencingSystem* GeoReferencingSystem = nullptr;
};