AWeather Class Reference

#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
const bool	IsValidLeafColor (const FLinearColor &Color) 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 AInstancedActorRenderer::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().

IsValidLeafColor()

const bool AWeather::IsValidLeafColor ( const FLinearColor &  Color ) const

inline

Definition at line 82 of file Weather.h.

    {
        return Color != FLinearColor(0.0f, 0.0f, 0.0f, 0.0f);
    }

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 110 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 125 of file Weather.h.

Referenced by BeginPlay(), and ResetWeather().

Message

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

private

Definition at line 123 of file Weather.h.

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

OnWeatherChanged

FLevelEventDelegate_WeatherChanged AWeather::OnWeatherChanged

On Weather changed event

Definition at line 91 of file Weather.h.

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

ROSConnected

bool AWeather::ROSConnected = false

private

Definition at line 118 of file Weather.h.

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

RosInstance

UROSIntegrationGameInstance* AWeather::RosInstance = nullptr

private

Definition at line 116 of file Weather.h.

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

WeatherPresets

TArray<FWeatherParameters> AWeather::WeatherPresets

private

Definition at line 121 of file Weather.h.

WeatherTopic

UTopic* AWeather::WeatherTopic = nullptr

private

Definition at line 113 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