#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

virtual FString	GetTopicName ()

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

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

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

Protected Attributes
TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

Private Attributes
bool	VehicleInGarage = false

FTransform	MovedFromGarageTransform

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 37 of file Vehicle.h.

Constructor & Destructor Documentation

◆ AVehicle()

AVehicle::AVehicle ( )

Definition at line 19 of file Vehicle.cpp.

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

References InteractableName, and SensorsManager.

Member Function Documentation

◆ BeginPlay()

void AVehicle::BeginPlay ( )

overrideprotectedvirtual

Reimplemented in AForwarder, AHarvester, and APIDDrone.

Definition at line 26 of file Vehicle.cpp.

{
    Super::BeginPlay();
 
    TogglePhysics(true);
 
    // 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);
 
    // Create Transform sensor
    FString VehicleTransformSensorID = ActorID + "/transform";
    TransformSensor = USensorFactory::SpawnTransformSensor(transform, this, VehicleTransformSensorID, "transform", true);
 
    float NiagaraComponentHeight = 500.0f;
    float OverlapBoundsSize = 5000.0f;
 
    if (GetVehicleType() == EVehicleTypes::Drone)
    {
        // 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.TriggerShape = ETriggerShape::Sphere;
    Params.RelativePosition = RelativePosition;
    FString OverlapSensorID = ActorID + "/overlap";
    OverlapSensor = USensorFactory::SpawnOverlapSensor(transform, Params, OverlapSensorID, "overlap");
 
    // 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);
    }
}

References ActorID, CollisionSensor, Drone, Forwarder, GetVehicleType(), NiagaraComponent, OverlapSensor, FOverlapSensorParameters::OwningActor, FOverlapSensorParameters::RelativePosition, FOverlapSensorParameters::Size, USensorFactory::SpawnCollisionSensor(), USensorFactory::SpawnOverlapSensor(), USensorFactory::SpawnTransformSensor(), Sphere, TogglePhysics(), TransformSensor, and FOverlapSensorParameters::TriggerShape.

◆ EndPlay()

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

overrideprotectedvirtual

Reimplemented in AForwarder, AHarvester, and APIDDrone.

Definition at line 86 of file Vehicle.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    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;
    }
}

References CollisionSensor, NiagaraComponent, OverlapSensor, 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 135 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 203 of file Vehicle.h.

    {
        return ActorID;
    }

Referenced by AOverlapSensor::Init().

◆ GetActorInformation_Implementation()

virtual FString AVehicle::GetActorInformation_Implementation ( ) const

inlineoverridevirtual

Definition at line 213 of file Vehicle.h.

    {
        const FString Vehicle = UEnumUtilities::ConvertVehicleTypeToString(GetVehicleType());
        const FString ID = GetActorID_Implementation();
        const FString Name = GetActorName_Implementation();
        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(), ASensor::GetActorID_Implementation(), ASensor::GetActorName_Implementation(), and AOverlapSensor::Vehicle.

◆ GetActorName_Implementation()

virtual FString AVehicle::GetActorName_Implementation ( ) const

inlineoverridevirtual

Definition at line 208 of file Vehicle.h.

    {
        return ActorName;
    }

Referenced by AOverlapSensor::Init().

◆ GetCollisionSensor()

ACollisionSensor * AVehicle::GetCollisionSensor ( ) const

inline

Get collision sensor attached to this Vehicle

Returns: ACollisionSensor pointer

Definition at line 151 of file Vehicle.h.

    {
        return CollisionSensor;
    }

◆ GetInteractableName_Implementation()

virtual FText AVehicle::GetInteractableName_Implementation ( ) const

inlineoverridevirtual

Definition at line 193 of file Vehicle.h.

    {
        return InteractableName;
    }

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform AVehicle::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented in APIDDrone.

Definition at line 198 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 182 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 171 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 141 of file Vehicle.h.

    {
        return SensorsManager;
    }

◆ GetTopicName()

virtual FString AVehicle::GetTopicName ( )

inlinevirtual

Get ROS topic name for this sensor

Definition at line 59 of file Vehicle.h.

    {
        return FString(TEXT("Undefined"));
    }

◆ GetTransformSensor()

ATransformSensor * AVehicle::GetTransformSensor ( ) const

inline

Get transform sensor attached to this Vehicle

Returns: ATransformSensor pointer

Definition at line 161 of file Vehicle.h.

    {
        return TransformSensor;
    }

◆ 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 50 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 131 of file Vehicle.h.

    {
        return VehicleInGarage;
    }

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

◆ PossessedBy()

void AVehicle::PossessedBy ( AController * NewController )

overridevirtual

Definition at line 79 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().

◆ SetActorIDAndName_Implementation()

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

inlineoverridevirtual

Definition at line 231 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 226 of file Vehicle.h.

    {
        ActorName = NewActorName;
    }

◆ SetCurrentTransformToMovedFromGarageTransform()

void AVehicle::SetCurrentTransformToMovedFromGarageTransform ( )

inline

Definition at line 188 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 120 of file Vehicle.h.

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

◆ 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 127 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 122 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 275 of file Vehicle.h.

Referenced by BeginPlay().

◆ ActorName

FString AVehicle::ActorName

protected

Definition at line 272 of file Vehicle.h.

◆ CollisionSensor

ACollisionSensor* AVehicle::CollisionSensor = nullptr

protected

Definition at line 260 of file Vehicle.h.

Referenced by BeginPlay(), and EndPlay().

◆ InteractableName

FText AVehicle::InteractableName

Definition at line 241 of file Vehicle.h.

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

◆ MovedFromGarageTransform

FTransform AVehicle::MovedFromGarageTransform

private

Definition at line 284 of file Vehicle.h.

Referenced by ExportToJsonFile().

◆ NiagaraComponent

UNiagaraComponent* AVehicle::NiagaraComponent = nullptr

protected

Definition at line 269 of file Vehicle.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnVehicleGarageChanged

FVehicleGarageChangedDelegate AVehicle::OnVehicleGarageChanged

Definition at line 244 of file Vehicle.h.

◆ OriginalCameraTransform

FTransform AVehicle::OriginalCameraTransform

protected

Definition at line 278 of file Vehicle.h.

◆ OverlapSensor

AOverlapSensor* AVehicle::OverlapSensor = nullptr

protected

Definition at line 266 of file Vehicle.h.

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

◆ SensorsManager

TObjectPtr<USensorsManagerComponent> AVehicle::SensorsManager

protected

Definition at line 257 of file Vehicle.h.

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

◆ TransformSensor

ATransformSensor* AVehicle::TransformSensor = nullptr

protected

Definition at line 263 of file Vehicle.h.

Referenced by BeginPlay(), and EndPlay().

◆ VehicleInGarage

bool AVehicle::VehicleInGarage = false

private

Definition at line 282 of file Vehicle.h.

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

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AVehicle()

Member Function Documentation

◆ BeginPlay()

◆ EndPlay()

◆ ExportToJsonFile()

◆ GetActorID_Implementation()

◆ GetActorInformation_Implementation()

◆ GetActorName_Implementation()

◆ GetCollisionSensor()

◆ GetInteractableName_Implementation()

◆ GetInteractableWorldTransform_Implementation()

◆ GetMovedFromGarageTransform()

◆ GetOverlapSensor()

◆ GetSensorsManager()

◆ GetTopicName()

◆ GetTransformSensor()

◆ GetVehicleType()

◆ IsVehicleInGarage()

◆ PossessedBy()

◆ ResetCamera()

◆ SetActorIDAndName_Implementation()

◆ SetActorName_Implementation()

◆ SetCurrentTransformToMovedFromGarageTransform()

◆ SetVehicleIsInGarage()

◆ SetVisualizeVehicleOverlapArea()

◆ TeleportVehicleTo()

◆ TeleportVehicleTo_Implementation()

◆ ToggleLights()

◆ TogglePhysics()

Member Data Documentation

◆ ActorID

◆ ActorName

◆ CollisionSensor

◆ InteractableName

◆ MovedFromGarageTransform

◆ NiagaraComponent

◆ OnVehicleGarageChanged

◆ OriginalCameraTransform

◆ OverlapSensor

◆ SensorsManager

◆ TransformSensor

◆ VehicleInGarage