SimulationState.h

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#pragma once
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "GameFramework/Actor.h"
 
 
 
// rclUE
 
#include "Srvs/ROS2Attach.h"
 
#include "Srvs/ROS2DeleteEntity.h"
 
#include "Srvs/ROS2GetEntityState.h"
 
#include "Srvs/ROS2SetEntityState.h"
 
#include "Srvs/ROS2SpawnEntities.h"
 
#include "Srvs/ROS2SpawnEntity.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRConversionUtils.h"
 
#include "Core/RRGeneralUtils.h"
 
 
 
#include "SimulationState.generated.h"
 
 
 
struct RAPYUTASIMULATIONPLUGINS_API FRREntityInfo
 
{
 
 
 
 
    FString EntityTypeName;
 
 
 
 
    TSubclassOf<AActor> EntityClass;
 
 
 
    FRREntityInfo()
 
    {
 
    }
 
    FRREntityInfo(const TPair<FString, TSubclassOf<AActor>>& InEntityInfo)
 
        : EntityTypeName(InEntityInfo.Key), EntityClass(InEntityInfo.Value)
 
    {
 
    }
 
};
 
 
 
struct RAPYUTASIMULATIONPLUGINS_API FRREntities
 
{
 
 
 
 
    TArray<AActor*> Actors;
 
};
 
 
 
// (NOTE) To be renamed ARRROS2SimulationState, due to its inherent attachment to ROS 2 Node
 
// & thus house [Entities] spawned by ROS services, and  with ROS relevance.
 
// However, check for its usage in BP and refactor if there is accordingly!
 
class RAPYUTASIMULATIONPLUGINS_API ASimulationState : public AActor
 
{
 
 
 
public:
 
    ASimulationState();
 
 
 
public:
 
    void RegisterSpawnableBPEntities(const TArray<FString>& InBPSpawnableClassNames);
 
 
 
    virtual void InitEntities();
 
 
 
 
 
 
    FROSGetEntityStateReq PrevGetEntityStateRequest;
 
 
 
    bool ServerCheckSetEntityStateRequest(const FROSSetEntityStateReq& InRequest);
 
 
 
    void ServerSetEntityState(const FROSSetEntityStateReq& InRequest);
 
 
 
 
 
 
    FROSSetEntityStateReq PrevSetEntityStateRequest;
 
 
 
    bool ServerCheckAttachRequest(const FROSAttachReq& InRequest);
 
 
 
    void ServerAttach(const FROSAttachReq& InRequest);
 
 
 
 
 
 
    FROSAttachReq PrevAttachEntityRequest;
 
 
 
    bool ServerCheckSpawnRequest(const FROSSpawnEntityReq& InRequest);
 
 
 
    AActor* ServerSpawnEntity(const FROSSpawnEntityReq& InRequest, const int32 NetworkPlayerId);
 
 
 
 
 
 
    FROSSpawnEntityReq PrevSpawnEntityRequest;
 
 
 
    bool ServerCheckDeleteRequest(const FROSDeleteEntityReq& InRequest);
 
 
 
    void ServerDeleteEntity(const FROSDeleteEntityReq& InRequest);
 
 
 
 
 
 
    FROSDeleteEntityReq PrevDeleteEntityRequest;
 
 
 
    void ServerAddEntity(AActor* InEntity);
 
 
 
    void AddTaggedEntity(AActor* InEntity, const FName& InTag);
 
 
 
    void AddSpawnableEntityTypes(TMap<FString, TSubclassOf<AActor>> InSpawnableEntityTypes);
 
 
 
 
 
 
    TMap<FString, AActor*> Entities;
 
 
 
 
 
 
    TMap<FName, FRREntities> EntitiesWithTag;
 
 
 
 
 
    TArray<AActor*> EntityList;
 
 
 
    void OnRep_EntityList();
 
 
 
 
 
 
    TMap<FString, TSubclassOf<AActor>> SpawnableEntityTypes;
 
 
 
 
 
    TArray<FRREntityInfo> SpawnableEntityInfoList;
 
 
 
    void GetSpawnableEntityInfoList();
 
 
 
    void OnRep_SpawnableEntityInfoList();
 
 
 
 
 
    FTimerHandle FetchEntityListTimerHandle;
 
 
 
    TMap<FString, std::string> EncodedStrings;
 
 
 
private:
 
    bool VerifyIsServerCall(const FString& InFunctionName);
 
 
 
    AActor* ServerSpawnEntity(const FROSSpawnEntityReq& InROSSpawnRequest,
 
                              const TSubclassOf<AActor>& InEntityClass,
 
                              const FTransform& InEntityTransform,
 
                              const int32& InNetworkPlayerId);
 
};