UInfoTopic Class Reference

#include <InfoTopic.h>

Inheritance diagram for UInfoTopic:

Collaboration diagram for UInfoTopic:

Static Public Member Functions
static void	SetAllowSendInfo (bool Allow)
static void	SendMessage (const FString &Message)

Private Member Functions
void	Setup ()
void	SetupROSInfoTopic ()
void	DestroyROSTopic ()
void	ROSBridgeStateChanged (EROSState state)

Static Private Member Functions
static void	Init ()
static void	Destroy ()

Static Private Attributes
static UInfoTopic *	Instance = nullptr
static TWeakObjectPtr< UTopic >	InfoTopic
static TSharedPtr< ROSMessages::std_msgs::String >	ROSMessage
static bool	ROSConnected = false
static bool	AllowInfoTopic = true

Friends
class	AAgrarsenseGameModeBase

Detailed Description

Definition at line 27 of file InfoTopic.h.

Member Function Documentation

Destroy()

void UInfoTopic::Destroy ( )

staticprivate

Definition at line 33 of file InfoTopic.cpp.

{
    if (Instance)
    {
        Instance->DestroyROSTopic();
        Instance = nullptr;
    }
}

References DestroyROSTopic(), and Instance.

Referenced by AAgrarsenseGameModeBase::EndPlay().

DestroyROSTopic()

void UInfoTopic::DestroyROSTopic ( )

private

Definition at line 75 of file InfoTopic.cpp.

{
    if (InfoTopic.IsValid())
    {
        InfoTopic->Unadvertise();
        InfoTopic->Unsubscribe();
        InfoTopic->MarkAsDisconnected();
        InfoTopic->ConditionalBeginDestroy();
        InfoTopic.Reset();
 
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("InfoTopic.cpp: Destroyed ROS Info Topic"));
#endif
    }
}

References InfoTopic.

Referenced by Destroy(), and ROSBridgeStateChanged().

Init()

void UInfoTopic::Init ( )

staticprivate

Definition at line 24 of file InfoTopic.cpp.

{
    if (Instance == nullptr)
    {
        Instance = NewObject<UInfoTopic>();
        Instance->Setup();
    }
}

References Instance, and Setup().

Referenced by AAgrarsenseGameModeBase::SpawnNeededActorsBeginPlay().

ROSBridgeStateChanged()

void UInfoTopic::ROSBridgeStateChanged ( EROSState  state )

private

Definition at line 59 of file InfoTopic.cpp.

{
    switch (state)
    {
    case EROSState::Connected:
        ROSConnected = true;
        SetupROSInfoTopic();
        break;
 
    case EROSState::Disconnected:
        ROSConnected = false;
        DestroyROSTopic();
        break;
    }
}

References Connected, DestroyROSTopic(), Disconnected, ROSConnected, and SetupROSInfoTopic().

Referenced by Setup().

SendMessage()

void UInfoTopic::SendMessage ( const FString &  Message )

static

Definition at line 129 of file InfoTopic.cpp.

{
    // UInfoTopic::Init must be called before SendMessage is called.
    // At the moment Init called from AgrarsenseGameModeBase.cpp BeginPlay
 
    if (!InfoTopic.IsValid() || !ROSMessage.IsValid())
    {
        if (Instance)
        {
            Instance->SetupROSInfoTopic();
        }
    }
 
    if (AllowInfoTopic && ROSConnected && Instance
        && InfoTopic.IsValid() && ROSMessage.IsValid() && !Message.IsEmpty())
    {
        ROSMessage->_Data = Message;
        InfoTopic->Publish(ROSMessage);
    }
}

References AllowInfoTopic, InfoTopic, Instance, ROSConnected, ROSMessage, and SetupROSInfoTopic().

Referenced by SimulatorLog::Log(), and UInfoTopicBlueprint::SendInfoMessageToROS().

SetAllowSendInfo()

void UInfoTopic::SetAllowSendInfo ( bool  Allow )

static

Definition at line 124 of file InfoTopic.cpp.

{
    AllowInfoTopic = Allow;
}

References AllowInfoTopic.

Setup()

void UInfoTopic::Setup ( )

private

Definition at line 42 of file InfoTopic.cpp.

{
    Instance = this;
 
    if (GEngine && GEngine->GameViewport)
    {
        UWorld* World = GEngine->GameViewport->GetWorld();
        UROSHandler* RosHandle = UAgrarsenseStatics::GetROSHandle(World);
        if (RosHandle)
        {
            RosHandle->OnROSStateChanged.AddUniqueDynamic(this, &UInfoTopic::ROSBridgeStateChanged);
        }
    }
 
    SetupROSInfoTopic();
}

References UAgrarsenseStatics::GetROSHandle(), Instance, UROSHandler::OnROSStateChanged, ROSBridgeStateChanged(), and SetupROSInfoTopic().

Referenced by Init().

SetupROSInfoTopic()

void UInfoTopic::SetupROSInfoTopic ( )

private

Definition at line 91 of file InfoTopic.cpp.

{
    if (InfoTopic.IsValid() && ROSMessage.IsValid())
    {
        return;
    }
 
    if (GEngine && GEngine->GameViewport)
    {
        UWorld* World = GEngine->GameViewport->GetWorld();
        UROSIntegrationGameInstance* RosInstance = UAgrarsenseStatics::GetROSGameInstance(World);
 
        if (RosInstance)
        {
            ROSMessage.Reset();
            ROSMessage = MakeShared<ROSMessages::std_msgs::String>();
 
            ROSConnected = RosInstance->IsROSConnected();
 
            if (!InfoTopic.IsValid() && ROSConnected)
            {
                InfoTopic = NewObject<UTopic>(UTopic::StaticClass());
                InfoTopic->Init(RosInstance->ROSIntegrationCore, TEXT("/agrarsense/out/info"), TEXT("std_msgs/String"));
                InfoTopic->Advertise();
 
#if WITH_EDITOR
                UE_LOG(LogTemp, Warning, TEXT("InfoTopic.cpp: Created ROS Info Topic"));
#endif
            }
        }
    }
}

References UAgrarsenseStatics::GetROSGameInstance(), InfoTopic, ROSConnected, and ROSMessage.

Referenced by ROSBridgeStateChanged(), SendMessage(), and Setup().

Friends And Related Function Documentation

AAgrarsenseGameModeBase

friend class AAgrarsenseGameModeBase

friend

Definition at line 41 of file InfoTopic.h.

Member Data Documentation

AllowInfoTopic

bool UInfoTopic::AllowInfoTopic = true

staticprivate

Definition at line 64 of file InfoTopic.h.

Referenced by SendMessage(), and SetAllowSendInfo().

InfoTopic

TWeakObjectPtr< UTopic > UInfoTopic::InfoTopic

staticprivate

Definition at line 58 of file InfoTopic.h.

Referenced by DestroyROSTopic(), SendMessage(), and SetupROSInfoTopic().

Instance

UInfoTopic * UInfoTopic::Instance = nullptr

staticprivate

Definition at line 56 of file InfoTopic.h.

Referenced by Destroy(), Init(), SendMessage(), and Setup().

ROSConnected

bool UInfoTopic::ROSConnected = false

staticprivate

Definition at line 62 of file InfoTopic.h.

Referenced by ROSBridgeStateChanged(), SendMessage(), and SetupROSInfoTopic().

ROSMessage

TSharedPtr< ROSMessages::std_msgs::String > UInfoTopic::ROSMessage

staticprivate

Definition at line 60 of file InfoTopic.h.

Referenced by SendMessage(), and SetupROSInfoTopic().

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

• Unreal/Agrarsense/Source/Agrarsense/ROS/InfoTopic/InfoTopic.h
• Unreal/Agrarsense/Source/Agrarsense/ROS/InfoTopic/InfoTopic.cpp