#include <CollisionSensor.h>

Inheritance diagram for ACollisionSensor:

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Collaboration diagram for ACollisionSensor:

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Public Member Functions
	ACollisionSensor (const FObjectInitializer &ObjectInitializer)

void	Init (AActor *NewOwner, bool SimulateSensor=true)

virtual ESensorTypes	GetSensorType () const override

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

FString	ExportToJsonFile (const FString &FileName)

virtual ESensorTypes	GetSensorType () const

FString	GetSensorIdentifier () const

void	SetSensorIdentifier (const FString newIdentifier)

FString	GetSensorName () const

virtual FString	GetParametersAsString () const

void	SetSensorName (const FString newName)

virtual FString	GetTopicName ()

UTopic *	GetROSTopic () const

void	SetSimulateSensor (bool SimulateSensor)

bool	CanSimulateSensor () const

ASensorModel *	GetSensorModel () const

void	SetSensorModel (ASensorModel *NewSensorModel)

bool	IsROSConnected () const

UROSIntegrationGameInstance *	GetROSGameInstance () const

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Protected Member Functions
virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Protected Member Functions inherited from ASensor
virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

virtual void	CreateROSTopic ()

virtual void	DestroyROSTopic ()

virtual void	CreateDataSavePath ()

bool	IsLogFileCreated ()

virtual void	CreateLogFile ()

void	WriteToLogFile (const FString &Message)

Private Member Functions
void	SendCollisionData (const FString &CollisionDataString)

void	OnCollisionEvent (AActor Actor, AActor OtherActor, FVector NormalImpulse, const FHitResult &Hit)

Private Attributes
TWeakObjectPtr< AActor >	CurrentOwner

TSharedPtr< ROSMessages::std_msgs::String >	CollisionMessage

Additional Inherited Members
Static Public Member Functions inherited from ASensor
static void	HideComponentForAllCameras (UPrimitiveComponent *PrimitiveComponent)

static TMap< FString, FColor >	GetSemanticColors ()

static TArray< TWeakObjectPtr< UPrimitiveComponent > >	GetComponentsToHide ()

Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Public Attributes inherited from ASensor
FSensorDestroy	OnSensorDestroy

FString	AttachedToComponent

FName	AttachedToBone

Static Protected Member Functions inherited from ASensor
template<typename InStructType >
static FString	StructToString (const InStructType &InStruct)

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

FString	FileSavePath

UROSIntegrationGameInstance *	ROSInstance = nullptr

Static Protected Attributes inherited from ASensor
static FPrimitiveAdded	OnPrimitiveAdded

static const FName	NiagaraPointsInt = "User.PointCount"

static const FName	NiagaraHitPoints = "User.HitPoints"

static const FName	NiagaraHitColors = "User.HitColors"

static const FName	NiagaraPointsFloat = "User.Test"

Detailed Description

Collision sensor for vehicles.

Definition at line 39 of file CollisionSensor.h.

Constructor & Destructor Documentation

◆ ACollisionSensor()

ACollisionSensor::ACollisionSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 11 of file CollisionSensor.cpp.

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

Member Function Documentation

◆ BeginPlay()

void ACollisionSensor::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 30 of file CollisionSensor.cpp.

{
    Super::BeginPlay();
}

◆ EndPlay()

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

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 35 of file CollisionSensor.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    if (CurrentOwner.IsValid())
    {
        CurrentOwner->OnActorHit.RemoveDynamic(this, &ACollisionSensor::OnCollisionEvent);
    }
 
    CurrentOwner.Reset();
    CollisionMessage.Reset();
}

References CollisionMessage, CurrentOwner, and OnCollisionEvent().

◆ GetSensorType()

virtual ESensorTypes ACollisionSensor::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ASensor.

Definition at line 59 of file CollisionSensor.h.

    {
        return ESensorTypes::Collision;
    }

References Collision.

◆ Init()

void ACollisionSensor::Init	(	AActor *	NewOwner,
		bool	SimulateSensor = `true`
	)

Initialize collision sensor.

Parameters

NewOwner	The new owner actor to be set.
SimulateSensor	Whether to simulate the sensor (default is true).

Definition at line 16 of file CollisionSensor.cpp.

{
    SetSimulateSensor(SimulateSensor);
 
    if (NewOwner)
    {
        NewOwner->OnActorHit.AddDynamic(this, &ACollisionSensor::OnCollisionEvent);
        CurrentOwner = NewOwner;
    }
    CollisionMessage = MakeShared<ROSMessages::std_msgs::String>();
 
    CreateROSTopic();
}

References CollisionMessage, ASensor::CreateROSTopic(), CurrentOwner, OnCollisionEvent(), and ASensor::SetSimulateSensor().

Referenced by USensorFactory::SpawnCollisionSensor().

◆ OnCollisionEvent()

void ACollisionSensor::OnCollisionEvent	(	AActor *	Actor,
		AActor *	OtherActor,
		FVector	NormalImpulse,
		const FHitResult &	Hit
	)

private

Definition at line 48 of file CollisionSensor.cpp.

{
    if (!CanSimulateSensor() || !Actor || !OtherActor)
    {
        return;
    }
 
    NormalImpulse *= 1e-2;
    if (NormalImpulse.Size() > 200)
    {
        CollisionData Collisiondata =
        {
            Actor->GetName(),
            OtherActor->GetName(),
            NormalImpulse
        };
 
        SendCollisionData(Collisiondata.ToString());
 
        FString MsgHumanReadable = Collisiondata.ToStringHumanReadable();
        WriteToLogFile(MsgHumanReadable);       // Log to separate file
        SimulatorLog::Log(MsgHumanReadable);    // Log to ROS info topic and Simulator log file
    }
}

References ASensor::CanSimulateSensor(), SimulatorLog::Log(), SendCollisionData(), CollisionData::ToString(), CollisionData::ToStringHumanReadable(), and ASensor::WriteToLogFile().

Referenced by EndPlay(), and Init().

◆ SendCollisionData()

void ACollisionSensor::SendCollisionData ( const FString & CollisionDataString )

private

Definition at line 73 of file CollisionSensor.cpp.

{
    UTopic* Topic = GetROSTopic();
    if (IsROSConnected() && CollisionMessage.IsValid() && Topic)
    {
        CollisionMessage->_Data = CollisionDataString;
        Topic->Publish(CollisionMessage);
    }
}

References CollisionMessage, ASensor::GetROSTopic(), and ASensor::IsROSConnected().

Referenced by OnCollisionEvent().

Member Data Documentation

◆ CollisionMessage

TSharedPtr<ROSMessages::std_msgs::String> ACollisionSensor::CollisionMessage

private

Definition at line 80 of file CollisionSensor.h.

Referenced by EndPlay(), Init(), and SendCollisionData().

◆ CurrentOwner

TWeakObjectPtr<AActor> ACollisionSensor::CurrentOwner

private

Definition at line 78 of file CollisionSensor.h.

Referenced by EndPlay(), and Init().

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

Unreal/Agrarsense/Source/Agrarsense/Sensor/Collision/CollisionSensor.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Collision/CollisionSensor.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ACollisionSensor()

Member Function Documentation

◆ BeginPlay()

◆ EndPlay()

◆ GetSensorType()

◆ Init()

◆ OnCollisionEvent()

◆ SendCollisionData()

Member Data Documentation

◆ CollisionMessage

◆ CurrentOwner