#include <AgrarsenseGameModeBase.h>

Inheritance diagram for AAgrarsenseGameModeBase:

Collaboration diagram for AAgrarsenseGameModeBase:

[legend]

Public Member Functions
	AAgrarsenseGameModeBase (const FObjectInitializer &ObjectInitializer)

ALidarManager *	GetLidarManager ()

UROSHandler *	GetROSHandle ()

ASimulationLevelManager *	GetSimulationLevelManager ()

AInstancedRenderer *	GetInstancedRenderer ()

AWeather *	GetWeatherActor ()

ASpectator *	GetSpectator ()

UROSCommands *	GetROSCommands ()

Public Attributes
TSubclassOf< ALidarManager >	LidarManagerClass

TSubclassOf< UUserWidget >	DeveloperTools

TSubclassOf< ASimulationLevelManager >	SimulationLevelManagerClass

Protected Member Functions
void	InitGame (const FString &MapName, const FString &Options, FString &ErrorMessage) override

void	BeginPlay () override

void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Private Member Functions
void	ParseMapChangeLaunchArgument ()

void	SpawnNeededActorsInitGame ()

void	SpawnNeededActorsBeginPlay ()

Private Attributes
ALidarManager *	LidarManager = nullptr

UROSHandler *	ROSHandle = nullptr

ASimulationLevelManager *	SimulationLevelManager = nullptr

AInstancedRenderer *	InstancedRenderer = nullptr

AWeather *	Weather = nullptr

UROSCommands *	ROSCommands = nullptr

ASpectator *	Spectator = nullptr

ATagger *	Tagger = nullptr

Static Private Attributes
static bool	AttemptToLaunchROSBridge = true

static bool	StartMessageLogged = false

static bool	MapChanged = false

Detailed Description

Definition at line 28 of file AgrarsenseGameModeBase.h.

Constructor & Destructor Documentation

◆ AAgrarsenseGameModeBase()

AAgrarsenseGameModeBase::AAgrarsenseGameModeBase ( const FObjectInitializer & ObjectInitializer )

Definition at line 32 of file AgrarsenseGameModeBase.cpp.

                                                                                            : Super(ObjectInitializer)
{
    PrimaryActorTick.bCanEverTick = false;
}

Member Function Documentation

◆ BeginPlay()

void AAgrarsenseGameModeBase::BeginPlay ( )

overrideprotected

Entry point to the simulation after InitGame.

Definition at line 44 of file AgrarsenseGameModeBase.cpp.

{
    Super::BeginPlay();
 
    SpawnNeededActorsBeginPlay();
 
    ParseMapChangeLaunchArgument();
}

References ParseMapChangeLaunchArgument(), and SpawnNeededActorsBeginPlay().

◆ EndPlay()

void AAgrarsenseGameModeBase::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprotected

Called when simulation ends.

Definition at line 53 of file AgrarsenseGameModeBase.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    if (EndPlayReason == EEndPlayReason::Type::Quit || EndPlayReason == EEndPlayReason::Type::EndPlayInEditor)
    {
        UInfoTopic::Destroy();
 
        if (ROSCommands)
        {
            ROSCommands->Destroy();
        }
 
        SimulatorLog::Log("Simulator shutting down. Goodbye.");
        SimulatorLog::Shutdown();
    }
 
#if WITH_EDITOR
    if (EndPlayReason == EEndPlayReason::Type::EndPlayInEditor)
    {
        EditorEndPlayCleanup();
    }
#endif
}

References UInfoTopic::Destroy(), UROSCommands::Destroy(), SimulatorLog::Log(), ROSCommands, and SimulatorLog::Shutdown().

◆ GetInstancedRenderer()

AInstancedRenderer * AAgrarsenseGameModeBase::GetInstancedRenderer ( )

inline

Get Instanced Renderer pointer.

Returns: AInstancedRenderer actor pointer or nullptr

Definition at line 72 of file AgrarsenseGameModeBase.h.

    {
        return InstancedRenderer;
    }

Referenced by UAgrarsenseStatics::GetInstancedRenderer().

◆ GetLidarManager()

ALidarManager * AAgrarsenseGameModeBase::GetLidarManager ( )

inline

Get the Lidar Manager instance

Returns: Pointer to the Lidar Manager or nullptr

Definition at line 42 of file AgrarsenseGameModeBase.h.

    {
        return LidarManager;
    }

Referenced by UAgrarsenseStatics::GetLidarManager().

◆ GetROSCommands()

UROSCommands * AAgrarsenseGameModeBase::GetROSCommands ( )

inline

Get UROSCommands pointer.

Returns: UROSCommands pointer or nullptr

Definition at line 102 of file AgrarsenseGameModeBase.h.

    {
        return ROSCommands;
    }

◆ GetROSHandle()

UROSHandler * AAgrarsenseGameModeBase::GetROSHandle ( )

inline

Get the ROS Handler instance

Returns: Pointer to the ROS Handler or nullptr

Definition at line 52 of file AgrarsenseGameModeBase.h.

    {
        return ROSHandle;
    }

Referenced by UAgrarsenseStatics::GetROSHandle().

◆ GetSimulationLevelManager()

ASimulationLevelManager * AAgrarsenseGameModeBase::GetSimulationLevelManager ( )

inline

Get simulation level's manager

Returns: Simulation level manager pointer or nullptr

Definition at line 62 of file AgrarsenseGameModeBase.h.

    {
        return SimulationLevelManager;
    }

Referenced by UAgrarsenseStatics::GetSimulationLevelManager().

◆ GetSpectator()

ASpectator * AAgrarsenseGameModeBase::GetSpectator ( )

inline

Get ASpectator pointer.

Returns: AWeather pointer or nullptr

Definition at line 92 of file AgrarsenseGameModeBase.h.

    {
        return Spectator;
    }

Referenced by UAgrarsenseStatics::GetSpectator().

◆ GetWeatherActor()

AWeather * AAgrarsenseGameModeBase::GetWeatherActor ( )

inline

Get AWeather pointer.

Returns: AWeather pointer or nullptr

Definition at line 82 of file AgrarsenseGameModeBase.h.

    {
        return Weather;
    }

Referenced by UAgrarsenseStatics::GetWeatherActor().

◆ InitGame()

void AAgrarsenseGameModeBase::InitGame	(	const FString &	MapName,
		const FString &	Options,
		FString &	ErrorMessage
	)

overrideprotected

Entry point to the simulation. InitGame is called before BeginPlay

Definition at line 37 of file AgrarsenseGameModeBase.cpp.

{
    Super::InitGame(MapName, Options, ErrorMessage);
 
    SpawnNeededActorsInitGame();
}

References SpawnNeededActorsInitGame().

◆ ParseMapChangeLaunchArgument()

void AAgrarsenseGameModeBase::ParseMapChangeLaunchArgument ( )

private

Parse launch arguments after begin play.

Definition at line 93 of file AgrarsenseGameModeBase.cpp.

{
    if (MapChanged) 
    {
        return;
    }
 
    FString LevelName;
    if (FParse::Param(FCommandLine::Get(), TEXT("-vindeln")) && !MapChanged)
    {
        LevelName = "/Game/Agrarsense/Maps/Vindeln/Vindeln";
    }
    else if (FParse::Param(FCommandLine::Get(), TEXT("-rovaniemi")) && !MapChanged)
    {
        LevelName = "/Game/Agrarsense/Maps/RovaniemiForest/RovaniemiForest";
    }
    else if (FParse::Param(FCommandLine::Get(), TEXT("-playground")) && !MapChanged)
    {
        LevelName = "/Game/Agrarsense/Maps/Playground";
    }
 
    if (!LevelName.IsEmpty())
    {
        MapChanged = true;
        UGameplayStatics::OpenLevel(GetWorld(), *LevelName);
    }
}

References MapChanged.

Referenced by BeginPlay().

◆ SpawnNeededActorsBeginPlay()

void AAgrarsenseGameModeBase::SpawnNeededActorsBeginPlay ( )

private

Spawn needed Actors or UObjects that should always exist in the level in BeginPlay. This is the Simulator second entry point.

Definition at line 220 of file AgrarsenseGameModeBase.cpp.

{
    UWorld* World = GetWorld();
 
    // Spawn developer tools widget (Ctrl + F9 to open)
    // this cannot be spawned in InitGame!
    if (DeveloperTools)
    {
        auto developerToolsWidget = CreateWidget<UUserWidget>(World, DeveloperTools);
        developerToolsWidget->AddToViewport(10);
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Error, TEXT("Missing DeveloperTools class! Please open AgrarsenseGameMode in Unreal and add it."));
    }
#endif
 
    if (!ROSCommands)
    {
        ROSCommands = NewObject<UROSCommands>();
        ROSCommands->Init();
    }
 
    UInfoTopic::Init();
 
    if (!Spectator) 
    {
        // try to get Spectator actor
        TArray<AActor*> Spectators;
        UGameplayStatics::GetAllActorsOfClass(World, ASpectator::StaticClass(), Spectators);
        if (!Spectators.IsEmpty())
        {
            Spectator = Cast<ASpectator>(Spectators[0]);
 
#if WITH_EDITOR
            if (Spectators.Num() >= 2)
            {
                UE_LOG(LogTemp, Warning, TEXT("AAgrarsenseGameModeBase.cpp: Level has multiple Spectator blueprints. Make sure to only use one."));
            }
#endif
        }
    }
 
    if (!Tagger) 
    {
        // Destroy all existing Tagger if there's any, there should only be one.
        TArray<AActor*> Taggers;
        UGameplayStatics::GetAllActorsOfClass(World, ATagger::StaticClass(), Taggers);
        for (AActor* TaggerActor : Taggers)
        {
            if (TaggerActor)
            {
                TaggerActor->Destroy();
            }
        }
        Taggers.Empty();
        Tagger = World->SpawnActor<ATagger>();
    }
 
    if (World && GEngine && GEngine->GameViewport)
    {
        // Create and add a drag-and-drop overlay widget to the main viewport (Spectator).
        // Note: All widgets block the drag-and-drop interaction.
        // To ensure smooth usage, try dragging the file into an area without any visible widgets.
        // If the cursor shows a cancel icon, it indicates a hidden widget is obstructing the view.
        TSharedPtr<SDragAndDropWidget> OverlayWidget = SNew(SDragAndDropWidget);
        GEngine->GameViewport->AddViewportWidgetContent(OverlayWidget.ToSharedRef());
    }
}

References DeveloperTools, UInfoTopic::Init(), UROSCommands::Init(), ROSCommands, Spectator, and Tagger.

Referenced by BeginPlay().

◆ SpawnNeededActorsInitGame()

void AAgrarsenseGameModeBase::SpawnNeededActorsInitGame ( )

private

Spawn needed Actors or UObjects that should always exist in the level in InitGame. This is the Simulator entry point.

Definition at line 121 of file AgrarsenseGameModeBase.cpp.

{
    if (!StartMessageLogged)
    {
        SimulatorLog::Create();
        SimulatorLog::Log("Simulator starting.");
        StartMessageLogged = true;
    }
 
    UWorld* World = GetWorld();
 
    // Setup Agrarsense settings
    UAgrarsenseSettings* Settings = UAgrarsenseSettings::GetAgrarsenseSettings();
    if (Settings) 
    {
        Settings->Setup(World);
    }
 
    UROSIntegrationGameInstance* RosInstance = Cast<UROSIntegrationGameInstance>(World->GetGameInstance());
    bool ROSConnected = RosInstance->IsROSConnected();
 
    // Create UROSHandle UObject
    if (!ROSHandle)
    {
        ROSHandle = NewObject<UROSHandler>();
 
        if (ROSHandle) 
        {
            ROSHandle->Setup(ROSConnected);
            if (RosInstance->bConnectToROS && !ROSConnected && AttemptToLaunchROSBridge)
            {
                ROSHandle->LaunchROSBridge();
 
                // Only try to attempt once.
                // Otherwise if ROS is not connected, simulator attempts to launch ROS Bridge 
                // process each time map is changed.
                AttemptToLaunchROSBridge = false;
            }
        }
    }
 
    // Spawn Lidar Mananger. This actor should always exists in the scene.
    // This actor only ticks when there is Lidar sensor(s) in the world.
    if (LidarManagerClass && !LidarManager)
    {
        LidarManager = World->SpawnActor<ALidarManager>(LidarManagerClass);
    }
    else
    {
        UE_LOG(LogTemp, Error, TEXT("Missing LidarManager class or it already exists."));
    }
 
    if (!SimulationLevelManager)
    {
        // Try to find from the world, if not found, spawn a new one
        AActor* simulationLevelManagerActor = UGameplayStatics::GetActorOfClass(World, (TSubclassOf<AActor>)SimulationLevelManagerClass);
        if (IsValid(simulationLevelManagerActor))
        {
            SimulationLevelManager = Cast<ASimulationLevelManager>(simulationLevelManagerActor);
        }
        else
        {
            SimulationLevelManager = World->SpawnActor<ASimulationLevelManager>(SimulationLevelManagerClass);
        }
    }
 
    if (!Weather) 
    {
        // Try to find AWeather (BP_Weather) from the level.
        TArray<AActor*> WeatherActors;
        UGameplayStatics::GetAllActorsOfClass(World, AWeather::StaticClass(), WeatherActors);
        if (!WeatherActors.IsEmpty())
        {
            Weather = Cast<AWeather>(WeatherActors[0]);
 
#if WITH_EDITOR
            if (WeatherActors.Num() >= 2)
            {
                UE_LOG(LogTemp, Warning, TEXT("AAgrarsenseGameModeBase.cpp: Level has multiple Weather blueprints. Make sure to only use one."));
            }
#endif
        }
    }
 
    if (!InstancedRenderer) 
    {
        TArray<AActor*> InstancedRendererActors;
        UGameplayStatics::GetAllActorsOfClass(World, AInstancedRenderer::StaticClass(), InstancedRendererActors);
        if (!InstancedRendererActors.IsEmpty()) 
        {
            InstancedRenderer = Cast<AInstancedRenderer>(InstancedRendererActors[0]);
        }
        else 
        {
            InstancedRenderer = World->SpawnActor<AInstancedRenderer>();
        }
    }
}

References AttemptToLaunchROSBridge, SimulatorLog::Create(), UAgrarsenseSettings::GetAgrarsenseSettings(), InstancedRenderer, UROSHandler::LaunchROSBridge(), LidarManager, LidarManagerClass, SimulatorLog::Log(), ROSHandle, UROSHandler::Setup(), UAgrarsenseSettings::Setup(), SimulationLevelManager, SimulationLevelManagerClass, StartMessageLogged, and Weather.

Referenced by InitGame().

Member Data Documentation

◆ AttemptToLaunchROSBridge

bool AAgrarsenseGameModeBase::AttemptToLaunchROSBridge = true

staticprivate

Definition at line 168 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ DeveloperTools

TSubclassOf<UUserWidget> AAgrarsenseGameModeBase::DeveloperTools

DeveloperTools widget. Created when simulation starts. This must be setup in AgrarsenseGameMode in Unreal editor.

Definition at line 119 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsBeginPlay().

◆ InstancedRenderer

AInstancedRenderer* AAgrarsenseGameModeBase::InstancedRenderer = nullptr

private

Definition at line 182 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ LidarManager

ALidarManager* AAgrarsenseGameModeBase::LidarManager = nullptr

private

Definition at line 173 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ LidarManagerClass

TSubclassOf<ALidarManager> AAgrarsenseGameModeBase::LidarManagerClass

LidarManager class. Spawned when simulation starts. This must be setup in AgrarsenseGameMode in Unreal editor.

Definition at line 112 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ MapChanged

bool AAgrarsenseGameModeBase::MapChanged = false

staticprivate

Definition at line 170 of file AgrarsenseGameModeBase.h.

Referenced by ParseMapChangeLaunchArgument().

◆ ROSCommands

UROSCommands* AAgrarsenseGameModeBase::ROSCommands = nullptr

private

Definition at line 188 of file AgrarsenseGameModeBase.h.

Referenced by EndPlay(), and SpawnNeededActorsBeginPlay().

◆ ROSHandle

UROSHandler* AAgrarsenseGameModeBase::ROSHandle = nullptr

private

Definition at line 176 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ SimulationLevelManager

ASimulationLevelManager* AAgrarsenseGameModeBase::SimulationLevelManager = nullptr

private

Definition at line 179 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ SimulationLevelManagerClass

TSubclassOf<ASimulationLevelManager> AAgrarsenseGameModeBase::SimulationLevelManagerClass

Simulation level manager class. Spawned when simulation starts. This must be setup in AgrarsenseGameMode in Unreal editor.

Definition at line 126 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ Spectator

ASpectator* AAgrarsenseGameModeBase::Spectator = nullptr

private

Definition at line 191 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsBeginPlay().

◆ StartMessageLogged

bool AAgrarsenseGameModeBase::StartMessageLogged = false

staticprivate

Definition at line 169 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

◆ Tagger

ATagger* AAgrarsenseGameModeBase::Tagger = nullptr

private

Definition at line 194 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsBeginPlay().

◆ Weather

AWeather* AAgrarsenseGameModeBase::Weather = nullptr

private

Definition at line 185 of file AgrarsenseGameModeBase.h.

Referenced by SpawnNeededActorsInitGame().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Game/AgrarsenseGameModeBase.h
Unreal/Agrarsense/Source/Agrarsense/Game/AgrarsenseGameModeBase.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AAgrarsenseGameModeBase()

Member Function Documentation

◆ BeginPlay()

◆ EndPlay()

◆ GetInstancedRenderer()

◆ GetLidarManager()

◆ GetROSCommands()

◆ GetROSHandle()

◆ GetSimulationLevelManager()

◆ GetSpectator()

◆ GetWeatherActor()

◆ InitGame()

◆ ParseMapChangeLaunchArgument()

◆ SpawnNeededActorsBeginPlay()

◆ SpawnNeededActorsInitGame()

Member Data Documentation

◆ AttemptToLaunchROSBridge

◆ DeveloperTools

◆ InstancedRenderer

◆ LidarManager

◆ LidarManagerClass

◆ MapChanged

◆ ROSCommands

◆ ROSHandle

◆ SimulationLevelManager

◆ SimulationLevelManagerClass

◆ Spectator

◆ StartMessageLogged

◆ Tagger

◆ Weather