ROS2ActionClient.h

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#pragma once
 
 
 
#include "ROS2Action.h"
 
#include "ROS2NodeComponent.h"
 
 
 
#include <rcl_action/action_client.h>
 
 
 
#include "ROS2ActionClient.generated.h"
 
 
 
class RCLUE_API UROS2ActionClient : public UROS2Action
 
{
 
 
 
public:
 
    static UROS2ActionClient* CreateActionClient(UObject* InOwner,
 
                                                 const FString& InActionName,
 
                                                 const TSubclassOf<UROS2GenericAction>& InActionClass,
 
                                                 const FActionCallback& InGoalResponseDelegate,
 
                                                 const FActionCallback& InResultResponseDelegate,
 
                                                 const FActionCallback& InFeedbackDelegate,
 
                                                 const FSimpleCallback& InCancelResponseDelegate,
 
                                                 const UROS2QoS InGoalQoS = UROS2QoS::Services,
 
                                                 const UROS2QoS InResultQoS = UROS2QoS::Services,
 
                                                 const UROS2QoS InFeedbackQoS = UROS2QoS::Default,
 
                                                 const UROS2QoS InCancelQoS = UROS2QoS::Services);
 
    virtual void Destroy() override;
 
 
 
    virtual void ProcessReady(rcl_wait_set_t* wait_set) override;
 
 
 
    bool SendGoal();
 
 
 
    template<typename TAction, typename TUEStruct>
 
    void SendGoal(const TUEStruct& InGoalData)
 
    {
 
        if (IsValid(OwnerNode) && OwnerNode->State == UROS2State::Initialized && State == UROS2State::Initialized)
 
        {
 
            // Update [TopicMessage] with [InMessageData]
 
            CastChecked<TAction>(Action)->SetGoalRequest(InGoalData);
 
 
 
            // Send [Action]
 
            SendGoal();
 
        }
 
        else
 
        {
 
            UE_LOG_WITH_INFO_NAMED(LogTemp, Log, TEXT("Action client or node is not yet initialized"));
 
        }
 
    }
 
 
 
    void SendResultRequest();
 
 
 
    void SendCancelRequest();
 
 
 
    void SetDelegates(const FActionCallback& InFeedbackDelegate,
 
                      const FActionCallback& InResultResponseDelegate,
 
                      const FActionCallback& InGoalResponseDelegate,
 
                      const FSimpleCallback& InCancelResponseDelegate);
 
 
 
 
    rcl_action_client_t client;
 
 
 
private:
 
    rmw_request_id_t goal_res_id;
 
    rmw_request_id_t result_res_id;
 
    rmw_request_id_t cancel_res_id;
 
 
 
    FActionCallback GoalResponseDelegate;
 
    FActionCallback ResultResponseDelegate;
 
    FActionCallback FeedbackDelegate;
 
    FSimpleCallback CancelResponseDelegate;
 
 
 
    virtual void InitializeActionComponent() override;
 
};
 
 
 
class RCLUE_API UROS2ActionClientComponent : public UActorComponent
 
{
 
 
 
public:
 
 
    UROS2ActionClient* ActionClient = nullptr;
 
 
 
 
 
    FString ActionName = TEXT("");
 
 
 
 
 
    TSubclassOf<UROS2GenericAction> ActionClass;
 
 
 
 
 
    UROS2QoS CancelQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS GoalQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS ResultQoS = UROS2QoS::Services;
 
 
 
 
 
    UROS2QoS FeedbackQoS = UROS2QoS::Default;
 
 
 
    FActionCallback GoalResponseDelegate;
 
    FActionCallback ResultResponseDelegate;
 
    FActionCallback FeedbackDelegate;
 
    FSimpleCallback CancelResponseDelegate;
 
 
 
    virtual void BeginPlay() override
 
    {
 
        if (ActionClient == nullptr)
 
        {
 
            ActionClient = UROS2ActionClient::CreateActionClient(this,
 
                                                                 ActionName,
 
                                                                 ActionClass,
 
                                                                 GoalResponseDelegate,
 
                                                                 ResultResponseDelegate,
 
                                                                 FeedbackDelegate,
 
                                                                 CancelResponseDelegate,
 
                                                                 GoalQoS,
 
                                                                 ResultQoS,
 
                                                                 FeedbackQoS,
 
                                                                 CancelQoS);
 
        }
 
        Super::BeginPlay();
 
    };
 
};