#include <TransformSensor.h>

Inheritance diagram for ATransformSensor:

[legend]

Collaboration diagram for ATransformSensor:

[legend]

Public Member Functions
	ATransformSensor (const FObjectInitializer &ObjectInitializer)

void	Init (AActor *TransformActor, 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

virtual void	CreateROSTopic () override

virtual void	DestroyROSTopic () 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	TickParallel (float DeltaTime)

void	SendTransformDataToROS (const FVector &Translation, const FQuat &Rotation)

void	SendGnssDataToROS (const FVector &ActorPosition)

Private Attributes
TSharedPtr< ROSMessages::geometry_msgs::Transform >	TransformMessage

TSharedPtr< ROSMessages::std_msgs::String >	GnssMessageString

TWeakObjectPtr< AActor >	Target

FVector	PreviousActorPosition = FVector(0.0f, 0.0f, 0.0f)

FTickEntry	TickEntry

UTopic *	GnssTopic = nullptr

AGeoReferencingSystem *	GeoReferencingSystem = nullptr

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

Definition at line 24 of file TransformSensor.h.

Constructor & Destructor Documentation

◆ ATransformSensor()

ATransformSensor::ATransformSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 14 of file TransformSensor.cpp.

                                                                              : Super(ObjectInitializer)
{
    // TickManager handles this Actor ticking
    PrimaryActorTick.bCanEverTick = false;
}

Member Function Documentation

◆ BeginPlay()

void ATransformSensor::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 33 of file TransformSensor.cpp.

{
    Super::BeginPlay();
 
    SetActorEnableCollision(false);
    PreviousActorPosition = GetActorLocation();
 
    TickEntry = ATickManager::AddTick(this, BindTick(this, &ATransformSensor::TickParallel), ETickType::LateTickParallel);
}

References ATickManager::AddTick(), BindTick(), PreviousActorPosition, TickEntry, and TickParallel().

◆ CreateROSTopic()

void ATransformSensor::CreateROSTopic ( )

overrideprotectedvirtual

Creates ROS Topic for this sensor. Can be overriden by individual sensor if needed.

Reimplemented from ASensor.

Definition at line 54 of file TransformSensor.cpp.

{
    Super::CreateROSTopic();
 
    GeoReferencingSystem = AGeoReferencingSystem::GetGeoReferencingSystem(GetWorld());
 
    // If map has been georeferenced, create gnss topic.
    if (GeoReferencingSystem)
    {
        FString TopicName = FString::Printf(TEXT("/agrarsense/out/sensors/%s"), *GetSensorIdentifier());
        int32 LastSlashIndex = TopicName.Find(TEXT("/"), ESearchCase::IgnoreCase, ESearchDir::FromEnd);
        if (LastSlashIndex != INDEX_NONE)
        {
            TopicName = TopicName.Left(LastSlashIndex) + TEXT("/gnss");
        }
        else
        {
            TopicName += TEXT("/gnss");
        }
 
        GnssTopic = NewObject<UTopic>(UTopic::StaticClass());
        if (GnssTopic)
        {
            GnssTopic->Init(ROSInstance->ROSIntegrationCore, TopicName, TEXT("std_msgs/String"));
            GnssTopic->Advertise();
        }
    }
}

References GeoReferencingSystem, ASensor::GetSensorIdentifier(), GnssTopic, and ASensor::ROSInstance.

Referenced by Init().

◆ DestroyROSTopic()

void ATransformSensor::DestroyROSTopic ( )

overrideprotectedvirtual

Destroy created ROS Topic. Can be overriden by individual sensor if needed.

Reimplemented from ASensor.

Definition at line 83 of file TransformSensor.cpp.

{
    Super::DestroyROSTopic();
 
    if (GnssTopic)
    {
        GnssTopic->Unadvertise();
        GnssTopic->Unsubscribe();
        GnssTopic->MarkAsDisconnected();
        GnssTopic->ConditionalBeginDestroy();
        GnssTopic = nullptr;
    }
}

References GnssTopic.

◆ EndPlay()

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

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 43 of file TransformSensor.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    ATickManager::RemoveTick(TickEntry);
 
    GnssMessageString.Reset();
    TransformMessage.Reset();
    Target.Reset();
}

References GnssMessageString, ATickManager::RemoveTick(), Target, TickEntry, and TransformMessage.

◆ GetSensorType()

virtual ESensorTypes ATransformSensor::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ASensor.

Definition at line 38 of file TransformSensor.h.

    {
        return ESensorTypes::Transform;
    }

References Transform.

◆ Init()

void ATransformSensor::Init	(	AActor *	TransformActor,
		bool	SimulateSensor = `true`
	)

Definition at line 20 of file TransformSensor.cpp.

{
    SetSimulateSensor(SimulateSensor);
    Target = TransformActor;
 
    ROSMessages::geometry_msgs::Transform transformMsg;
    TransformMessage = MakeShared<ROSMessages::geometry_msgs::Transform>(transformMsg);
 
    GnssMessageString = MakeShared<ROSMessages::std_msgs::String>();
 
    CreateROSTopic();
}

References CreateROSTopic(), GnssMessageString, ASensor::SetSimulateSensor(), Target, and TransformMessage.

Referenced by USensorFactory::SpawnTransformSensor().

◆ SendGnssDataToROS()

void ATransformSensor::SendGnssDataToROS ( const FVector & ActorPosition )

private

Definition at line 135 of file TransformSensor.cpp.

{
    if (GeoReferencingSystem && GnssTopic && GnssMessageString.IsValid())
    {
        // Convert Actor position to FGeographicCoordinates
        FGeographicCoordinates GeographicCoordinates = UCoordinateConversionUtilities::UnrealToGeographicCoordinates(GeoReferencingSystem, ActorPosition);
 
        double Latitude = GeographicCoordinates.Latitude;
        double Longitude = GeographicCoordinates.Longitude;
        double Altitude = GeographicCoordinates.Altitude;
 
        // Create gnss string and send the message to the created ROS topic
        FString GnssDataString = FString::Printf(TEXT("%f, %f, %f"), Latitude, Longitude, Altitude);
        GnssMessageString->_Data = GnssDataString;
        GnssTopic->Publish(GnssMessageString);
    }
}

References GeoReferencingSystem, GnssMessageString, GnssTopic, and UCoordinateConversionUtilities::UnrealToGeographicCoordinates().

Referenced by TickParallel().

◆ SendTransformDataToROS()

void ATransformSensor::SendTransformDataToROS	(	const FVector &	Translation,
		const FQuat &	Rotation
	)

private

Definition at line 124 of file TransformSensor.cpp.

{
    UTopic* Topic = GetROSTopic();
    if (Topic && TransformMessage.IsValid())
    {
        TransformMessage->translation = Translation;
        TransformMessage->rotation = Rotation;
        Topic->Publish(TransformMessage);
    }
}

References ASensor::GetROSTopic(), and TransformMessage.

Referenced by TickParallel().

◆ TickParallel()

void ATransformSensor::TickParallel ( float DeltaTime )

private

Definition at line 97 of file TransformSensor.cpp.

{
    AActor* TargetActor = Target.Get();
    if (!CanSimulateSensor() || !TargetActor)
    {
        return;
    }
 
    FTransform CurrentTransform = TargetActor->GetTransform();
    FVector CurrentPos = CurrentTransform.GetLocation();
    FQuat CurrentRot = CurrentTransform.GetRotation();
 
    if (CurrentPos != PreviousActorPosition)
    {
        // Send transform data to ROS topic,
        // this is done frequently but this should be quite fast and 
        // should give precise actor's current location and rotation in the World.
        PreviousActorPosition = CurrentPos;
 
        if (IsROSConnected()) 
        {
            SendTransformDataToROS(CurrentPos, CurrentRot);
            SendGnssDataToROS(CurrentPos);
        }
    }
}

References ASensor::CanSimulateSensor(), ASensor::IsROSConnected(), PreviousActorPosition, SendGnssDataToROS(), SendTransformDataToROS(), and Target.

Referenced by BeginPlay().

Member Data Documentation

◆ GeoReferencingSystem

AGeoReferencingSystem* ATransformSensor::GeoReferencingSystem = nullptr

private

Definition at line 77 of file TransformSensor.h.

Referenced by CreateROSTopic(), and SendGnssDataToROS().

◆ GnssMessageString

TSharedPtr<ROSMessages::std_msgs::String> ATransformSensor::GnssMessageString

private

Definition at line 63 of file TransformSensor.h.

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

◆ GnssTopic

UTopic* ATransformSensor::GnssTopic = nullptr

private

Definition at line 74 of file TransformSensor.h.

Referenced by CreateROSTopic(), DestroyROSTopic(), and SendGnssDataToROS().

◆ PreviousActorPosition

FVector ATransformSensor::PreviousActorPosition = FVector(0.0f, 0.0f, 0.0f)

private

Definition at line 68 of file TransformSensor.h.

Referenced by BeginPlay(), and TickParallel().

◆ Target

TWeakObjectPtr<AActor> ATransformSensor::Target

private

Definition at line 65 of file TransformSensor.h.

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

◆ TickEntry

FTickEntry ATransformSensor::TickEntry

private

Definition at line 71 of file TransformSensor.h.

Referenced by BeginPlay(), and EndPlay().

◆ TransformMessage

TSharedPtr<ROSMessages::geometry_msgs::Transform> ATransformSensor::TransformMessage

private

Definition at line 61 of file TransformSensor.h.

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

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

Unreal/Agrarsense/Source/Agrarsense/Sensor/Transform/TransformSensor.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Transform/TransformSensor.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ATransformSensor()

Member Function Documentation

◆ BeginPlay()

◆ CreateROSTopic()

◆ DestroyROSTopic()

◆ EndPlay()

◆ GetSensorType()

◆ Init()

◆ SendGnssDataToROS()

◆ SendTransformDataToROS()

◆ TickParallel()

Member Data Documentation

◆ GeoReferencingSystem

◆ GnssMessageString

◆ GnssTopic

◆ PreviousActorPosition

◆ Target

◆ TickEntry

◆ TransformMessage