#include <ROSHandler.h>

Inheritance diagram for UROSHandler:

Collaboration diagram for UROSHandler:

Public Member Functions
void	Setup (bool RosIsConnected)

void	LaunchROSBridge ()

void	StopROSBridge ()

void	RestartROSBridge ()

bool	IsROSConnected ()

EROSState	GetROSState ()

Public Attributes
FROSDelegate_ROState	OnROSStateChanged

Private Member Functions
void	OnROSBridgeChanged (EROSState newRosState)

Private Attributes
EROSState	ROSState = EROSState::Disconnected

FProcHandle	ROSProcessHandle

FProcHandle	ROSBridgeHandle

bool	ROSConnected = false

Detailed Description

This class handles launching ROS bridge when the Simulator starts. On Windows this tries to start ROS Bridge through wsl, On Linux we simply start another terminal window and attempt to launch ROS bridge.

Definition at line 27 of file ROSHandler.h.

Member Function Documentation

◆ GetROSState()

EROSState UROSHandler::GetROSState ( )

inline

Get current ROS State

Returns: EROSState rosState

Definition at line 71 of file ROSHandler.h.

    {
        return ROSState;
    }

◆ IsROSConnected()

bool UROSHandler::IsROSConnected ( )

inline

Is simulation connected to ROS Bridge at the moment.

Returns: bool isROSConnected

Definition at line 61 of file ROSHandler.h.

    {
        return ROSConnected;
    }

◆ LaunchROSBridge()

void UROSHandler::LaunchROSBridge ( )

Attempt to launch ROS Bridge. BlueprintCallable.

Definition at line 21 of file ROSHandler.cpp.

{
    if (ROSConnected)
    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Error, TEXT("ROSHandler.cpp: ROS is already active."));
#endif
        return;
    }
 
#if PLATFORM_LINUX
    FString command = "gnome-terminal -- bash -c \"roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True""\"";
 
#if WITH_EDITOR
    UE_LOG(LogTemp, Warning, TEXT("ROSHandler.cpp: Attempting to launch ROS with command: %s"), *command);
#endif
    // Attempt to launch ROS on Linux
    system(TCHAR_TO_ANSI(*command));
 
#elif PLATFORM_WINDOWS
 
    // Attempt to launch ROS on Windows via WSL
 
    // Create the process
    FString Application = "wsl";
    FString CommandParams = "-e bash -lic \"roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True""\"";
 
    // Added LaunchParams for ROS1 to ROS2 bridge. ROS2 command is in .bashrc, check build_windows.md
    FString BridgeCommands = "-e bash -lic \"ROS2 && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics""\"";
 
    ROSProcessHandle = FPlatformProcess::CreateProc(*Application, *CommandParams, true, false, false, nullptr, 0, nullptr, nullptr);
    ROSBridgeHandle = FPlatformProcess::CreateProc(*Application, *BridgeCommands, true, false, false, nullptr, 0, nullptr, nullptr);
 
#if WITH_EDITOR
    if (!ROSProcessHandle.IsValid())
    {
        UE_LOG(LogTemp, Error, TEXT("ROSHandler.cpp: Failed to create wsl process"));
    }
 
    if (!ROSBridgeHandle.IsValid())
    {
        UE_LOG(LogTemp, Error, TEXT("ROSHandler.cpp: Bridge not installed"));
    }
#endif
 
#endif
}

References ROSBridgeHandle, ROSConnected, and ROSProcessHandle.

Referenced by RestartROSBridge(), and AAgrarsenseGameModeBase::SpawnNeededActorsInitGame().

◆ OnROSBridgeChanged()

void UROSHandler::OnROSBridgeChanged ( EROSState newRosState )

private

Definition at line 117 of file ROSHandler.cpp.

{
    ROSState = newRosState;
    ROSConnected = ROSState == EROSState::Connected ? true : false;
 
#if WITH_EDITOR
    UE_LOG(LogTemp, Warning, TEXT("ROSHandler.cpp: ROS bridge state changed. ROS is connected: %s"), (ROSConnected ? TEXT("true") : TEXT("false")));
#endif
}

References Connected, ROSConnected, and ROSState.

Referenced by Setup().

◆ RestartROSBridge()

void UROSHandler::RestartROSBridge ( )

Shutdown ROS Bridge and then attempt to launch it again. BlueprintCallable.

Definition at line 111 of file ROSHandler.cpp.

{
    StopROSBridge();
    LaunchROSBridge();
}

References LaunchROSBridge(), and StopROSBridge().

◆ Setup()

void UROSHandler::Setup ( bool RosIsConnected )

Setup ROSHandler. Should only be called From AgrarsenseGameModeBase.

Definition at line 11 of file ROSHandler.cpp.

{
    // Bind to OnROSBridgeChanged event
    OnROSStateChanged.AddUniqueDynamic(this, &UROSHandler::OnROSBridgeChanged);
 
    // Set ROS connected state
    ROSConnected = RosIsConnected;
    ROSState = ROSConnected == true ? EROSState::Connected : EROSState::Disconnected;
}

References Connected, Disconnected, OnROSBridgeChanged(), OnROSStateChanged, ROSConnected, and ROSState.

Referenced by AAgrarsenseGameModeBase::SpawnNeededActorsInitGame().

◆ StopROSBridge()

void UROSHandler::StopROSBridge ( )

Shutdown ROS Bridge. BlueprintCallable.

Definition at line 69 of file ROSHandler.cpp.

{
    if (!ROSConnected)
    {
        return;
    }
 
    FString StopCommand = "killall -9 rosmaster";
 
#if PLATFORM_LINUX
    // Attempt to stop ROS on Linux
    system(TCHAR_TO_ANSI(*StopCommand));
 
#elif PLATFORM_WINDOWS
    // Attempt to stop ROS on Windows
    if (ROSBridgeHandle.IsValid())
    {
        if (FPlatformProcess::IsProcRunning(ROSBridgeHandle))
        {
            FPlatformProcess::TerminateProc(ROSBridgeHandle);
        }
    }
 
    if (ROSProcessHandle.IsValid())
    {
        if (FPlatformProcess::IsProcRunning(ROSProcessHandle))
        {
            FPlatformProcess::TerminateProc(ROSProcessHandle);
        }
    }
    else
    {
        // Else ROS Bridge might have been opened by the user, so let's
        // stop it by opening new wsl window and giving StopCommand.
        FString Application = "wsl";
        FProcHandle Handle = FPlatformProcess::CreateProc(*Application, *StopCommand, true, false, false, nullptr, 0, nullptr, nullptr);
    }
#endif
 
    ROSConnected = false;
}