#include <Weather.h>

Inheritance diagram for AWeather:

Collaboration diagram for AWeather:

Public Member Functions
	AWeather (const FObjectInitializer &ObjectInitializer)

void	UpdateWeather (const FWeatherParameters &WeatherParameters, bool updateToROS)

FString	ExportToJSON (const FString &FileName)

void	ResetWeather ()

ESeason	GetCurrentSeason ()

ESeason	GetSeasonForMonth (const int32 Month)

const FWeatherParameters &	GetCurrentWeather () const

Public Attributes
FLevelEventDelegate_WeatherChanged	OnWeatherChanged

Protected Member Functions
virtual void	BeginPlay () override

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

Private Member Functions
void	ROSBridgeStateChanged (EROSState ROSState)

void	DestroyTopic ()

void	InitializeROSTopic ()

void	SendWeatherData (FWeatherParameters Parameters)

Private Attributes
FWeatherParameters	CurrentWeather

UTopic *	WeatherTopic = nullptr

UROSIntegrationGameInstance *	RosInstance = nullptr

bool	ROSConnected = false

TArray< FWeatherParameters >	WeatherPresets

TSharedPtr< ROSMessages::std_msgs::String >	Message

const FWeatherParameters	Default = { 0.0f, 0.0f, 0.1f, 0.05f, 0.0f, 0.2f, 0.0f, 15.0f, 0.0f, 0.0f, 7, 9 }

Detailed Description

Definition at line 30 of file Weather.h.

Constructor & Destructor Documentation

◆ AWeather()

AWeather::AWeather ( const FObjectInitializer & ObjectInitializer )

Definition at line 17 of file Weather.cpp.

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

Member Function Documentation

◆ BeginPlay()

void AWeather::BeginPlay ( )

overrideprotectedvirtual

Definition at line 22 of file Weather.cpp.

{
    Super::BeginPlay();
 
    CurrentWeather = Default;
 
    UWorld* World = GetWorld();
 
    UROSHandler* RosHandler = UAgrarsenseStatics::GetROSHandle(World);
    if (RosHandler)
    {
        RosHandler->OnROSStateChanged.AddUniqueDynamic(this, &AWeather::ROSBridgeStateChanged);
    }
 
    RosInstance = Cast<UROSIntegrationGameInstance>(World->GetGameInstance());
    if (RosInstance)
    {
        ROSConnected = RosInstance->IsROSConnected();
    }
 
    Message = MakeShared<ROSMessages::std_msgs::String>();
 
    InitializeROSTopic();
}

References CurrentWeather, Default, UAgrarsenseStatics::GetROSHandle(), InitializeROSTopic(), Message, UROSHandler::OnROSStateChanged, ROSBridgeStateChanged(), ROSConnected, and RosInstance.

◆ DestroyTopic()

void AWeather::DestroyTopic ( )

private

Definition at line 153 of file Weather.cpp.

{
    if (WeatherTopic)
    {
        WeatherTopic->Unadvertise();
        WeatherTopic->Unsubscribe();
        WeatherTopic->MarkAsDisconnected();
        WeatherTopic->ConditionalBeginDestroy();
        WeatherTopic = nullptr;
    }
}

References WeatherTopic.

Referenced by EndPlay(), and ROSBridgeStateChanged().

◆ EndPlay()

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

overrideprotectedvirtual

Definition at line 47 of file Weather.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    UROSHandler* RosHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (RosHandler)
    {
        RosHandler->OnROSStateChanged.AddUniqueDynamic(this, &AWeather::ROSBridgeStateChanged);
    }
 
    Message.Reset();
    DestroyTopic();
    RosInstance = nullptr;
}

References DestroyTopic(), UAgrarsenseStatics::GetROSHandle(), Message, UROSHandler::OnROSStateChanged, ROSBridgeStateChanged(), and RosInstance.

◆ ExportToJSON()

FString AWeather::ExportToJSON ( const FString & FileName )

Definition at line 121 of file Weather.cpp.

{
    return USimulatorJsonExporter::ExportWeatherToJSON(FileName, CurrentWeather);
}

References CurrentWeather, and USimulatorJsonExporter::ExportWeatherToJSON().

Referenced by UROSCommands::HandleExportWeather().

◆ GetCurrentSeason()

ESeason AWeather::GetCurrentSeason ( )

Get current season based on current FWeatherParameters Month

Definition at line 68 of file Weather.cpp.

{
    return GetSeasonForMonth(CurrentWeather.Month);
}

References CurrentWeather, GetSeasonForMonth(), and FWeatherParameters::Month.

◆ GetCurrentWeather()

const FWeatherParameters & AWeather::GetCurrentWeather ( ) const

inline

Get current FWeatherParameters

Definition at line 76 of file Weather.h.

    {
        return CurrentWeather;
    }

Referenced by AInstancedRenderer::BeginPlay(), ALidar::BeginPlay(), and USimulatorJsonParser::ChangeWeather().

◆ GetSeasonForMonth()

ESeason AWeather::GetSeasonForMonth ( const int32 Month )

This function takes a month as input and returns the corresponding season.

Parameters

Month The month for which to determine the season.

Returns: The season associated with the input month.

Definition at line 73 of file Weather.cpp.

{
    switch (Month)
    {
    case 0:
    case 1:
    case 2:
    case 3:
    case 12:
        return ESeason::Winter;
 
    case 4:
    case 5:
        return ESeason::Spring;
 
    case 6:
    case 7:
    case 8:
        return ESeason::Summer;
 
    case 9:
    case 10:
    case 11:
        return ESeason::Autumn;
 
    default:
        return ESeason::Summer;
    }
}

References Autumn, Spring, Summer, and Winter.

Referenced by GetCurrentSeason().

◆ InitializeROSTopic()

void AWeather::InitializeROSTopic ( )

private

Definition at line 126 of file Weather.cpp.

{
    if (WeatherTopic || !RosInstance || !ROSConnected)
    {
        return;
    }
 
    // Else create Weather ROS topic
    WeatherTopic = NewObject<UTopic>(UTopic::StaticClass());
    const FString TopicName = "/agrarsense/out/weather/";
    WeatherTopic->Init(RosInstance->ROSIntegrationCore, TopicName, TEXT("std_msgs/String"));
    WeatherTopic->Advertise();
 
#if WITH_EDITOR
    UE_LOG(LogTemp, Warning, TEXT("Weather.cpp: Created ROS topic. Topic name: %s"), *TopicName);
#endif
}

References ROSConnected, RosInstance, and WeatherTopic.

Referenced by BeginPlay(), and ROSBridgeStateChanged().

◆ ResetWeather()

void AWeather::ResetWeather ( )

Reset Weather to default

Definition at line 62 of file Weather.cpp.

{
    CurrentWeather = Default;
    UpdateWeather(CurrentWeather, true);
}

References CurrentWeather, Default, and UpdateWeather().

◆ ROSBridgeStateChanged()

void AWeather::ROSBridgeStateChanged ( EROSState ROSState )

private

Definition at line 165 of file Weather.cpp.

{
    switch (ROSState)
    {
    case EROSState::Connected:
        ROSConnected = true;
        InitializeROSTopic();
        break;
 
    case EROSState::Disconnected:
        ROSConnected = false;
        DestroyTopic();
        break;
    }
}

References Connected, DestroyTopic(), Disconnected, InitializeROSTopic(), and ROSConnected.

Referenced by BeginPlay(), and EndPlay().

◆ SendWeatherData()

void AWeather::SendWeatherData ( FWeatherParameters Parameters )

private

Definition at line 144 of file Weather.cpp.

{
    if (WeatherTopic && ROSConnected && Message.IsValid())
    {
        Message->_Data = Parameters.ToStringHumanReadable();
        WeatherTopic->Publish(Message);
    }
}

References Message, ROSConnected, FWeatherParameters::ToStringHumanReadable(), and WeatherTopic.

Referenced by UpdateWeather().

◆ UpdateWeather()

void AWeather::UpdateWeather	(	const FWeatherParameters &	WeatherParameters,
		bool	updateToROS
	)

Function that send current weather data to ROS and updates weather in scene

Parameters

WeatherParameters
isSubscribed	= true, ONLY when subscribe message calls this function

Definition at line 103 of file Weather.cpp.

{
    CurrentWeather = InWeather;
 
    if (updateToROS)
    {
        AsyncTask(ENamedThreads::AnyThread, [this]()
        {
            // Send weather parameters to ROS, we don't care if this message will be frame or two behind,
            // as long as it doesn't block the game thread.
            SendWeatherData(CurrentWeather);
        });
    }
 
    // Broadcast event that weather has been changed
    OnWeatherChanged.Broadcast(CurrentWeather);
}

References CurrentWeather, OnWeatherChanged, and SendWeatherData().

Referenced by USimulatorJsonParser::ChangeWeather(), and ResetWeather().

Member Data Documentation

◆ CurrentWeather

FWeatherParameters AWeather::CurrentWeather

private

Definition at line 104 of file Weather.h.

Referenced by BeginPlay(), ExportToJSON(), GetCurrentSeason(), ResetWeather(), and UpdateWeather().

◆ Default

const FWeatherParameters AWeather::Default = { 0.0f, 0.0f, 0.1f, 0.05f, 0.0f, 0.2f, 0.0f, 15.0f, 0.0f, 0.0f, 7, 9 }

private

Definition at line 119 of file Weather.h.

Referenced by BeginPlay(), and ResetWeather().

◆ Message

TSharedPtr<ROSMessages::std_msgs::String> AWeather::Message

private

Definition at line 117 of file Weather.h.

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

◆ OnWeatherChanged

FLevelEventDelegate_WeatherChanged AWeather::OnWeatherChanged

On Weather changed event

Definition at line 85 of file Weather.h.

Referenced by AInstancedRenderer::BeginPlay(), ALidar::BeginPlay(), AInstancedRenderer::EndPlay(), ALidar::EndPlay(), and UpdateWeather().

◆ ROSConnected

bool AWeather::ROSConnected = false

private

Definition at line 112 of file Weather.h.

Referenced by BeginPlay(), InitializeROSTopic(), ROSBridgeStateChanged(), and SendWeatherData().

◆ RosInstance

UROSIntegrationGameInstance* AWeather::RosInstance = nullptr

private

Definition at line 110 of file Weather.h.

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

◆ WeatherPresets

TArray<FWeatherParameters> AWeather::WeatherPresets

private

Definition at line 115 of file Weather.h.

◆ WeatherTopic

UTopic* AWeather::WeatherTopic = nullptr

private

Definition at line 107 of file Weather.h.

Referenced by DestroyTopic(), InitializeROSTopic(), and SendWeatherData().

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

Unreal/Agrarsense/Source/Agrarsense/Weather/Weather.h
Unreal/Agrarsense/Source/Agrarsense/Weather/Weather.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AWeather()

Member Function Documentation

◆ BeginPlay()

◆ DestroyTopic()

◆ EndPlay()

◆ ExportToJSON()

◆ GetCurrentSeason()

◆ GetCurrentWeather()

◆ GetSeasonForMonth()

◆ InitializeROSTopic()

◆ ResetWeather()

◆ ROSBridgeStateChanged()

◆ SendWeatherData()

◆ UpdateWeather()

Member Data Documentation

◆ CurrentWeather

◆ Default

◆ Message

◆ OnWeatherChanged

◆ ROSConnected

◆ RosInstance

◆ WeatherPresets

◆ WeatherTopic