ROS2Node.h

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#pragma once
 
 
 
// UE
 
#include "Components/ActorComponent.h"
 
#include "Containers/Map.h"
 
#include "CoreMinimal.h"
 
#include "GameFramework/Actor.h"
 
 
 
// rclUE
 
#include "ROS2NodeComponent.h"
 
#include "ROS2Service.h"
 
#include "ROS2Subscriber.h"
 
 
 
#include "ROS2Node.generated.h"
 
 
 
class UROS2Publisher;
 
class UROS2ServiceClient;
 
class UROS2ActionServer;
 
class UROS2ActionClient;
 
 
 
struct RCLUE_API FSubscription
 
{
 
 
 
public:
 
 
    FString TopicName;
 
 
 
 
    TSubclassOf<UROS2GenericMsg> TopicType;
 
 
 
 
    UROS2GenericMsg* TopicMsg = nullptr;
 
 
 
    rcl_subscription_t rcl_subscription;
 
 
 
    FSubscriptionCallback Callback;
 
 
 
 
    bool Ready = false;
 
};
 
 
 
struct RCLUE_API FService
 
{
 
 
 
public:
 
 
    FString ServiceName;
 
 
 
 
    TSubclassOf<UROS2GenericSrv> ServiceType;
 
 
 
 
    UROS2GenericSrv* Service = nullptr;
 
 
 
    rcl_service_t rcl_service;
 
 
 
    FServiceCallback Callback;
 
 
 
 
    bool Ready = false;
 
};
 
 
 
class RCLUE_API AROS2Node : public AActor
 
{
 
 
 
public:
 
 
    AROS2Node();
 
 
 
public:
 
    UROS2NodeComponent* ActorComponent = nullptr;
 
 
 
    rcl_node_t* GetNode();
 
 
 
    void AddSubscription(const FString& TopicName, TSubclassOf<UROS2GenericMsg> MsgClass, const FSubscriptionCallback& Callback);
 
 
 
    void AddPublisher(UROS2Publisher* InPublisher);
 
 
 
    void AddServiceClient(UROS2ServiceClient* InClient);
 
 
 
    void AddServiceServer(const FString& ServiceName,
 
                          const TSubclassOf<UROS2GenericSrv> SrvClass,
 
                          const FServiceCallback& Callback);
 
 
 
    void AddActionClient(UROS2ActionClient* InActionClient);
 
 
 
    void AddActionServer(UROS2ActionServer* InActionServer);
 
 
 
 
    FString Name = TEXT("node");
 
 
 
 
    FString Namespace = TEXT("");
 
 
 
private:
 
};