RRROS2SimulationStateClient.h

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#pragma once
 
 
 
// UE
 
#include "Components/ActorComponent.h"
 
#include "CoreMinimal.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
#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 "RRROS2SimulationStateClient.generated.h"
 
 
 
class UROS2GenericSrv;
 
class ASimulationState;
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2SimulationStateClient : public UActorComponent
 
{
 
 
 
public:
 
 
 
    UROS2NodeComponent* ROS2Node = nullptr;
 
 
 
 
 
    ASimulationState* ServerSimState = nullptr;
 
 
 
    virtual void Init(UROS2NodeComponent* InROS2Node);
 
 
 
    virtual bool IsSupportedForNetworking() const override
 
    {
 
        return true;
 
    }
 
 
 
    virtual void GetLifetimeReplicatedProps(TArray<FLifetimeProperty>& OutLifetimeProps) const override;
 
 
 
    void GetEntityStateSrv(UROS2GenericSrv* InService);
 
 
 
    void SetEntityStateSrv(UROS2GenericSrv* InService);
 
 
 
    void ServerSetEntityState(const FROSSetEntityStateReq& InRequest);
 
 
 
    void AttachSrv(UROS2GenericSrv* InService);
 
 
 
    void ServerAttach(const FROSAttachReq& InRequest);
 
 
 
    virtual void SpawnEntitySrv(UROS2GenericSrv* InService);
 
 
 
    virtual void SpawnEntitiesSrv(UROS2GenericSrv* InService);
 
 
 
    void ServerSpawnEntity(const FROSSpawnEntityReq& InRequest);
 
 
 
    void DeleteEntitySrv(UROS2GenericSrv* InService);
 
 
 
    void ServerDeleteEntity(const FROSDeleteEntityReq& InRequest);
 
 
 
    void ServerAddEntity(AActor* InEntity);
 
 
 
    void SetNetworkPlayerId(const int32 InNetworkPlayerId)
 
    {
 
        NetworkPlayerId = InNetworkPlayerId;
 
    }
 
 
 
    int32 GetNetworkPlayerId() const
 
    {
 
        return NetworkPlayerId;
 
    }
 
 
 
protected:
 
    virtual void OnComponentCreated() override;
 
 
 
 
 
    int32 NetworkPlayerId;
 
 
 
    template<typename T>
 
    bool CheckEntity(TMap<FString, T>& InEntities, const FString& InEntityName, const bool bAllowEmpty = false);
 
    bool CheckEntity(const FString& InEntityName, const bool bAllowEmpty = false);
 
    bool CheckSpawnableEntity(const FString& InEntityName, const bool bAllowEmpty = false);
 
    virtual FROSSpawnEntityRes SpawnEntityImpl(FROSSpawnEntityReq& InRequest);
 
};