#include <Vehicle.h>

Inheritance diagram for AVehicle:

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Collaboration diagram for AVehicle:

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Public Member Functions
	AVehicle ()

virtual EVehicleTypes	GetVehicleType () const

void	TogglePhysics (bool isOn)

void	TeleportVehicleTo (FVector NewLocation, FRotator NewRotation)

virtual void	TeleportVehicleTo_Implementation (FVector NewLocation, FRotator NewRotation)

void	ResetCamera ()

void	ToggleLights (bool isOn)

void	SetVisualizeVehicleOverlapArea (bool Visible)

FString	ExportToJsonFile (const FString &FileName)

void	SetVehicleIsInGarage (bool VehicleIsInGarage)

bool	IsVehicleInGarage () const

USensorsManagerComponent *	GetSensorsManager () const

ACollisionSensor *	GetCollisionSensor () const

ATransformSensor *	GetTransformSensor () const

AOverlapSensor *	GetOverlapSensor () const

FTransform	GetMovedFromGarageTransform () const

virtual void	SetCurrentTransformToMovedFromGarageTransform ()

virtual FText	GetInteractableName_Implementation () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

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

void	SetVehicleParameters (FWheeledVehicleParameters NewParameters)

FWheeledVehicleParameters	GetVehicleParameters () const

void	ApplyVehicleParameters (FWheeledVehicleParameters CurrentParameters)

virtual void	PossessedBy (AController *NewController) override

Public Member Functions inherited from IInteractable
FText	GetInteractableName () const

FTransform	GetInteractableWorldTransform () const

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)

Public Attributes
FText	InteractableName

FVehicleGarageChangedDelegate	OnVehicleGarageChanged

Protected Member Functions
virtual void	BeginPlay () override

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

virtual void	ROSBridgeStateChanged (EROSState ROSState)

Protected Attributes
FWheeledVehicleParameters	VehicleParameters

TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

FTransform	MovedFromGarageTransform

bool	VehicleInGarage = false

Additional Inherited Members
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 ()

Detailed Description

Definition at line 39 of file Vehicle.h.

Constructor & Destructor Documentation

◆ AVehicle()

AVehicle::AVehicle ( )

Definition at line 22 of file Vehicle.cpp.

{
    PrimaryActorTick.bCanEverTick = false;
    SensorsManager = CreateDefaultSubobject<USensorsManagerComponent>(TEXT("SensorsManagerComp"));
    InteractableName = NSLOCTEXT("Agrarsense", "VehicleInteractableName", "Vehicle");
}

References InteractableName, and SensorsManager.

Member Function Documentation

◆ ApplyVehicleParameters()

void AVehicle::ApplyVehicleParameters ( FWheeledVehicleParameters CurrentParameters )

Referenced by BeginPlay().

◆ BeginPlay()

void AVehicle::BeginPlay ( )

overrideprotectedvirtual

Reimplemented in AForwarder, AHarvester, and APIDDrone.

Definition at line 29 of file Vehicle.cpp.

{
    Super::BeginPlay();
 
    TogglePhysics(true);
 
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (ROSHandler)
    {
        ROSHandler->OnROSStateChanged.AddUniqueDynamic(this, &AVehicle::ROSBridgeStateChanged);
    }
 
    bool IsDrone = GetVehicleType() == EVehicleTypes::Drone;
 
    // Spawn Transform and Collision sensors for each vehicle
    FTransform transform = GetTransform();
 
    // Create Collision sensor
    FString VehicleCollisionSensorID = ActorID + "/collision";
    CollisionSensor = USensorFactory::SpawnCollisionSensor(transform, this, VehicleCollisionSensorID, "collision", true, this);
 
    if (!IsDrone) 
    {
        // Create Transform sensor for forwarder and harvester
        FTransformSensorParameters Params;
        Params.SaveTransformDataToDisk = true;
        Params.OwningActor = this;
 
        FString VehicleTransformSensorID = ActorID + "/transform";
        TransformSensor = USensorFactory::SpawnTransformSensor(transform, Params, VehicleTransformSensorID, "transform", true, this);
    }
 
    float NiagaraComponentHeight = 500.0f;
    float OverlapBoundsSize = 5000.0f;
 
    if (IsDrone)
    {
        // Adjust certain variables if vehicle is a drone
        OverlapBoundsSize = 2500.0f;
        NiagaraComponentHeight = 200.0f;
    }
 
    FVector RelativePosition = FVector(0.0f, 0.0f, 0.0f);
    if (GetVehicleType() == EVehicleTypes::Forwarder)
    {
        // TODO make better solution for this.
        RelativePosition = FVector(150.0f, -120.0f, 250.0f);
    }
 
    // Create OverlapSensor
    FOverlapSensorParameters Params;
    Params.OwningActor = this;
    Params.Size = FVector(OverlapBoundsSize, OverlapBoundsSize, OverlapBoundsSize);
    Params.RelativePosition = RelativePosition;
    FString OverlapSensorID = ActorID + "/overlap";
    OverlapSensor = USensorFactory::SpawnOverlapSensor(transform, Params, OverlapSensorID, "overlap", this);
 
    // Load and setup rain/snow fall niagara system
    UNiagaraSystem* NiagaraSystem = LoadObject<UNiagaraSystem>(nullptr, TEXT("/Game/Agrarsense/Particles/WaterAndSnow/NS_Particles.NS_Particles"));
    if (NiagaraSystem)
    {
        NiagaraComponent = UNiagaraFunctionLibrary::SpawnSystemAttached(NiagaraSystem, this->GetRootComponent(),
            FName("NiagaraEmitterSocketName"),
            FVector(0.0, 0.0, NiagaraComponentHeight), FRotator::ZeroRotator, EAttachLocation::KeepRelativeOffset, true);
    }
 
    ApplyVehicleParameters(VehicleParameters);
}

References ActorID, ApplyVehicleParameters(), CollisionSensor, Drone, Forwarder, UAgrarsenseStatics::GetROSHandle(), GetVehicleType(), NiagaraComponent, UROSHandler::OnROSStateChanged, OverlapSensor, FOverlapSensorParameters::OwningActor, FTransformSensorParameters::OwningActor, FOverlapSensorParameters::RelativePosition, ROSBridgeStateChanged(), FTransformSensorParameters::SaveTransformDataToDisk, FOverlapSensorParameters::Size, USensorFactory::SpawnCollisionSensor(), USensorFactory::SpawnOverlapSensor(), USensorFactory::SpawnTransformSensor(), TogglePhysics(), TransformSensor, and VehicleParameters.

◆ EndPlay()

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

overrideprotectedvirtual

Reimplemented in AForwarder, AHarvester, and APIDDrone.

Definition at line 98 of file Vehicle.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (ROSHandler)
    {
        ROSHandler->OnROSStateChanged.RemoveDynamic(this, &AVehicle::ROSBridgeStateChanged);
    }
 
    if (TransformSensor)
    {
        TransformSensor->Destroy();
        TransformSensor = nullptr;
    }
 
    if (CollisionSensor)
    {
        CollisionSensor->Destroy();
        CollisionSensor = nullptr;
    }
 
    if (OverlapSensor)
    {
        OverlapSensor->Destroy();
        OverlapSensor = nullptr;
    }
 
    // Destroy attached sensors when vehicle is destroyed
    if (IsValid(SensorsManager) && EndPlayReason == EEndPlayReason::Destroyed)
    {
        SensorsManager->DestroyAllSensors();
    }
 
    if (NiagaraComponent)
    {
        NiagaraComponent->UnregisterComponent();
        NiagaraComponent->DestroyComponent();
        NiagaraComponent = nullptr;
    }
 
    // Destroy all remaining Actors that are attached to this vehicle, if any
    TArray<AActor*> AttachedActors;
    GetAttachedActors(AttachedActors);
    for (AActor* Actor : AttachedActors)
    {
        if (Actor)
        {
            Actor->Destroy();
        }
    }
}

References CollisionSensor, UAgrarsenseStatics::GetROSHandle(), NiagaraComponent, UROSHandler::OnROSStateChanged, OverlapSensor, ROSBridgeStateChanged(), SensorsManager, and TransformSensor.

◆ ExportToJsonFile()

FString AVehicle::ExportToJsonFile ( const FString & FileName )

Export the Vehicle and its sensors to a JSON file.

Parameters

FileName The name of the file without extension.

Returns: FString representing the saved JSON file path, or an empty string if the export fails.

Definition at line 176 of file Vehicle.cpp.

{
    bool OverrideTransform = IsVehicleInGarage();
 
    FTransform TransformToUse = GetActorTransform();
 
    if (OverrideTransform)
    {
        TransformToUse = MovedFromGarageTransform;
    }
 
    return USimulatorJsonExporter::ExportVehicleAndSensorsToJSON(FileName, this, OverrideTransform, TransformToUse);
}

References USimulatorJsonExporter::ExportVehicleAndSensorsToJSON(), IsVehicleInGarage(), and MovedFromGarageTransform.

Referenced by UROSCommands::HandleExportSensors(), and UROSCommands::HandleExportVehicles().

◆ GetActorID_Implementation()

virtual FString AVehicle::GetActorID_Implementation ( ) const

inlineoverridevirtual

Definition at line 195 of file Vehicle.h.

    {
        return ActorID;
    }

Referenced by APIDDrone::CreateTopic().

◆ GetActorInformation_Implementation()

virtual FString AVehicle::GetActorInformation_Implementation ( ) const

inlineoverridevirtual

Definition at line 205 of file Vehicle.h.

    {
        const FString Vehicle = UEnumUtilities::ConvertVehicleTypeToString(GetVehicleType());
        const FString ID = IActorInformation::Execute_GetActorID(this);
        const FString Name = IActorInformation::Execute_GetActorName(this);
        const FTransform VehicleTransform = GetActorTransform();
        const FVector Location = VehicleTransform.GetLocation();
        const FRotator Rotation = VehicleTransform.Rotator();
        FString Information = FString::Printf(TEXT("Vehicle: %s, Name: %s, ID: %s, Location: %s, Rotation: %s"), *Vehicle, *Name, *ID, *Location.ToString(), *Rotation.ToString());
 
        return Information;
    }

References UEnumUtilities::ConvertVehicleTypeToString(), and AOverlapSensor::Vehicle.

◆ GetActorName_Implementation()

virtual FString AVehicle::GetActorName_Implementation ( ) const

inlineoverridevirtual

Definition at line 200 of file Vehicle.h.

    {
        return ActorName;
    }

◆ GetCollisionSensor()

ACollisionSensor * AVehicle::GetCollisionSensor ( ) const

inline

Get collision sensor attached to this Vehicle

Returns: ACollisionSensor pointer

Definition at line 144 of file Vehicle.h.

    {
        return CollisionSensor;
    }

◆ GetInteractableName_Implementation()

virtual FText AVehicle::GetInteractableName_Implementation ( ) const

inlineoverridevirtual

Definition at line 185 of file Vehicle.h.

    {
        return InteractableName;
    }

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform AVehicle::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented in APIDDrone.

Definition at line 190 of file Vehicle.h.

    {
        return GetActorTransform();
    }

◆ GetMovedFromGarageTransform()

FTransform AVehicle::GetMovedFromGarageTransform ( ) const

inline

Get transform of the vehicle when it moved to garage

Returns

Definition at line 174 of file Vehicle.h.

    {
        return MovedFromGarageTransform;
    }

◆ GetOverlapSensor()

AOverlapSensor * AVehicle::GetOverlapSensor ( ) const

inline

Get overlap sensor attached to this Vehicle

Returns: AOverlapSensor pointer

Definition at line 164 of file Vehicle.h.

    {
        return OverlapSensor;
    }

◆ GetSensorsManager()

USensorsManagerComponent * AVehicle::GetSensorsManager ( ) const

inline

Get sensor manager attached to this Vehicle

Returns: USensorsManagerComponent pointer

Definition at line 134 of file Vehicle.h.

    {
        return SensorsManager;
    }

◆ GetTransformSensor()

ATransformSensor * AVehicle::GetTransformSensor ( ) const

inline

Get transform sensor attached to this Vehicle

Returns: ATransformSensor pointer

Definition at line 154 of file Vehicle.h.

    {
        return TransformSensor;
    }

◆ GetVehicleParameters()

FWheeledVehicleParameters AVehicle::GetVehicleParameters ( ) const

inline

Definition at line 244 of file Vehicle.h.

    {
        return VehicleParameters;
    }

Referenced by USimulatorJsonParser::ParseAndSetWheeledVehicleParameters().

◆ GetVehicleType()

virtual EVehicleTypes AVehicle::GetVehicleType ( ) const

inlinevirtual

Get type of the Vehicle

Returns: Vehicle's type

Reimplemented in AForwarder, AHarvester, and APIDDrone.

Definition at line 52 of file Vehicle.h.

    {
        return EVehicleTypes::NONE;
    }

References NONE.

Referenced by BeginPlay().

◆ IsVehicleInGarage()

bool AVehicle::IsVehicleInGarage ( ) const

inline

Checks if the vehicle is currently in the "Garage" where vehicle can be setup with sensors.

Returns: True if the vehicle is in the garage, false otherwise.

Definition at line 124 of file Vehicle.h.

    {
        return VehicleInGarage;
    }

Referenced by ExportToJsonFile(), ACamera::PreActorTick(), and APIDDrone::Tick().

◆ PossessedBy()

void AVehicle::PossessedBy ( AController * NewController )

overridevirtual

Definition at line 156 of file Vehicle.cpp.

{
    Super::PossessedBy(NewController);
 
    ResetCamera();
}

References ResetCamera().

◆ ResetCamera()

void AVehicle::ResetCamera ( )

Reset the camera to original position and rotation BlueprintImplementableEvent meant to be implemented in blueprint e.g. BP_Forwarder

Referenced by PossessedBy().

◆ ROSBridgeStateChanged()

void AVehicle::ROSBridgeStateChanged ( EROSState ROSState )

protectedvirtual

Reimplemented in APIDDrone.

Definition at line 151 of file Vehicle.cpp.

{
 
}

Referenced by BeginPlay(), and EndPlay().

◆ SetActorIDAndName_Implementation()

virtual void AVehicle::SetActorIDAndName_Implementation	(	const FString &	NewActorName,
		const FString &	NewID
	)

inlineoverridevirtual

Definition at line 223 of file Vehicle.h.

    {
        ActorName = NewActorName;
        ActorID = NewID;
        SetAndValidateActorIDAndName(ActorName, ActorID, TWeakObjectPtr<AActor>(this));
    }

References IActorInformation::SetAndValidateActorIDAndName().

◆ SetActorName_Implementation()

virtual void AVehicle::SetActorName_Implementation ( const FString & NewActorName )

inlineoverridevirtual

Definition at line 218 of file Vehicle.h.

    {
        ActorName = NewActorName;
    }

◆ SetCurrentTransformToMovedFromGarageTransform()

virtual void AVehicle::SetCurrentTransformToMovedFromGarageTransform ( )

inlinevirtual

Reimplemented in APIDDrone.

Definition at line 180 of file Vehicle.h.

    {
        MovedFromGarageTransform = GetTransform();
    }

◆ SetVehicleIsInGarage()

void AVehicle::SetVehicleIsInGarage ( bool VehicleIsInGarage )

inline

Sets the state of the vehicle garage state boolean.

Parameters

VehicleIsInGarage - A boolean indicating whether the vehicle is in the garage or not.

Definition at line 113 of file Vehicle.h.

    {
        VehicleInGarage = VehicleIsInGarage;
        OnVehicleGarageChanged.Broadcast(VehicleInGarage);
    }

◆ SetVehicleParameters()

void AVehicle::SetVehicleParameters ( FWheeledVehicleParameters NewParameters )

inline

Definition at line 234 of file Vehicle.h.

    {
        VehicleParameters = NewParameters;
        ApplyVehicleParameters(VehicleParameters);
    }

Referenced by USimulatorJsonParser::ParseAndSetWheeledVehicleParameters().

◆ SetVisualizeVehicleOverlapArea()

void AVehicle::SetVisualizeVehicleOverlapArea ( bool Visible )

Sets the visibility of the vehicle overlap area visualization.

Parameters

Visible Whether the vehicle overlap area should be visible or not.

Definition at line 168 of file Vehicle.cpp.

{
    if (OverlapSensor)
    {
        OverlapSensor->SetVisualizeOverlapArea(Visible);
    }
}

References OverlapSensor, and AOverlapSensor::SetVisualizeOverlapArea().

◆ TeleportVehicleTo()

void AVehicle::TeleportVehicleTo	(	FVector	NewLocation,
		FRotator	NewRotation
	)

Teleport the vehicle into a specific location and rotation

Parameters

NewLocation
NewRotation

◆ TeleportVehicleTo_Implementation()

void AVehicle::TeleportVehicleTo_Implementation	(	FVector	NewLocation,
		FRotator	NewRotation
	)

virtual

Teleport to implementation

Parameters

NewLocation
NewRotation

Definition at line 163 of file Vehicle.cpp.

{
    SetActorLocationAndRotation(NewLocation, NewRotation, false, nullptr, ETeleportType::TeleportPhysics);
}

◆ ToggleLights()

void AVehicle::ToggleLights ( bool isOn )

Toggle lights of the vehicle on or off. BlueprintImplementableEvent meant to be implemented in blueprint e.g. BP_Forwarder

Parameters

isOn	Physics on or off

◆ TogglePhysics()

void AVehicle::TogglePhysics ( bool isOn )

Toggle physics of the vehicle on or off. BlueprintImplementableEvent meant to be implemented in blueprint e.g. BP_Forwarder

Parameters

isOn	Physics on or off

Referenced by BeginPlay(), and UROSCommands::HandleTeleportActorByID().

Member Data Documentation

◆ ActorID

FString AVehicle::ActorID

protected

Definition at line 300 of file Vehicle.h.

Referenced by APIDDrone::BeginPlay(), and BeginPlay().

◆ ActorName

FString AVehicle::ActorName

protected

Definition at line 297 of file Vehicle.h.

◆ CollisionSensor

ACollisionSensor* AVehicle::CollisionSensor = nullptr

protected

Definition at line 285 of file Vehicle.h.

Referenced by BeginPlay(), and EndPlay().

◆ InteractableName

FText AVehicle::InteractableName

Definition at line 258 of file Vehicle.h.

Referenced by AForwarder::AForwarder(), AHarvester::AHarvester(), APIDDrone::APIDDrone(), and AVehicle().

◆ MovedFromGarageTransform

FTransform AVehicle::MovedFromGarageTransform

protected

Definition at line 305 of file Vehicle.h.

Referenced by ExportToJsonFile().

◆ NiagaraComponent

UNiagaraComponent* AVehicle::NiagaraComponent = nullptr

protected

Definition at line 294 of file Vehicle.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnVehicleGarageChanged

FVehicleGarageChangedDelegate AVehicle::OnVehicleGarageChanged

Definition at line 261 of file Vehicle.h.

◆ OriginalCameraTransform

FTransform AVehicle::OriginalCameraTransform

protected

Definition at line 303 of file Vehicle.h.

◆ OverlapSensor

AOverlapSensor* AVehicle::OverlapSensor = nullptr

protected

Definition at line 291 of file Vehicle.h.

Referenced by BeginPlay(), EndPlay(), and SetVisualizeVehicleOverlapArea().

◆ SensorsManager

TObjectPtr<USensorsManagerComponent> AVehicle::SensorsManager

protected

Definition at line 282 of file Vehicle.h.

Referenced by AVehicle(), EndPlay(), and ASimulationLevelManager::GetSensorsManager().

◆ TransformSensor

ATransformSensor* AVehicle::TransformSensor = nullptr

protected

Definition at line 288 of file Vehicle.h.

Referenced by APIDDrone::BeginPlay(), BeginPlay(), and EndPlay().

◆ VehicleInGarage

bool AVehicle::VehicleInGarage = false

protected

Definition at line 307 of file Vehicle.h.

◆ VehicleParameters

FWheeledVehicleParameters AVehicle::VehicleParameters

protected

Definition at line 276 of file Vehicle.h.

Referenced by BeginPlay().

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

Unreal/Agrarsense/Source/Agrarsense/Vehicle/Vehicle.h
Unreal/Agrarsense/Source/Agrarsense/Vehicle/Vehicle.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AVehicle()

Member Function Documentation

◆ ApplyVehicleParameters()

◆ BeginPlay()

◆ EndPlay()

◆ ExportToJsonFile()

◆ GetActorID_Implementation()

◆ GetActorInformation_Implementation()

◆ GetActorName_Implementation()

◆ GetCollisionSensor()

◆ GetInteractableName_Implementation()

◆ GetInteractableWorldTransform_Implementation()

◆ GetMovedFromGarageTransform()

◆ GetOverlapSensor()

◆ GetSensorsManager()

◆ GetTransformSensor()

◆ GetVehicleParameters()

◆ GetVehicleType()

◆ IsVehicleInGarage()

◆ PossessedBy()

◆ ResetCamera()

◆ ROSBridgeStateChanged()

◆ SetActorIDAndName_Implementation()

◆ SetActorName_Implementation()

◆ SetCurrentTransformToMovedFromGarageTransform()

◆ SetVehicleIsInGarage()

◆ SetVehicleParameters()

◆ SetVisualizeVehicleOverlapArea()

◆ TeleportVehicleTo()

◆ TeleportVehicleTo_Implementation()

◆ ToggleLights()

◆ TogglePhysics()

Member Data Documentation

◆ ActorID

◆ ActorName

◆ CollisionSensor

◆ InteractableName

◆ MovedFromGarageTransform

◆ NiagaraComponent

◆ OnVehicleGarageChanged

◆ OriginalCameraTransform

◆ OverlapSensor

◆ SensorsManager

◆ TransformSensor

◆ VehicleInGarage

◆ VehicleParameters