ROS2Action.h

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#pragma once
 
 
 
// UE
 
#include <Actions/ROS2GenericAction.h>
 
#include <Components/ActorComponent.h>
 
#include <CoreMinimal.h>
 
 
 
//rclUE
 
#include "ROS2NodeComponent.h"
 
#include "Srvs/ROS2CancelGoal.h"
 
#include "rclcUtilities.h"
 
 
 
#include "ROS2Action.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogROS2Action, Log, All);
 
 
 
#define IS_ACTION_INITED(InNode, InName, OutRes)                                                                                   \
 
    IS_ROS2NODE_INITED(InNode, InName, OutRes);                                                                                    \
 
                                                                                                                                   \
 
    if (State != UROS2State::Initialized)                                                                                          \
 
    {                                                                                                                              \
 
        UE_LOG_WITH_INFO(                                                                                                          \
 
            LogROS2Action, Warning, TEXT("[%s] Action Client/Server is not initialized yet. Please initialize Action."), *InName); \
 
        OutRes = false;                                                                                                            \
 
    }
 
 
 
class RCLUE_API UROS2Action : public UObject
 
{
 
 
 
public:
 
    virtual bool InitializeWithROS2(UROS2NodeComponent* InROS2Node);
 
 
 
    virtual bool Init();
 
 
 
    virtual bool InitializeAction();
 
 
 
    virtual void Destroy();
 
 
 
    virtual void ProcessReady(rcl_wait_set_t* wait_set);
 
 
 
 
    FString ActionName;
 
 
 
 
 
    TSubclassOf<UROS2GenericAction> ActionClass;
 
 
 
 
 
    UROS2GenericAction* Action;
 
 
 
 
 
    UROS2NodeComponent* OwnerNode;
 
 
 
 
 
    TEnumAsByte<UROS2State> State = UROS2State::Created;
 
 
 
 
 
 
    UROS2QoS CancelQoS = UROS2QoS::Services;
 
 
 
 
 
 
    UROS2QoS GoalQoS = UROS2QoS::Services;
 
 
 
 
 
 
    UROS2QoS ResultQoS = UROS2QoS::Services;
 
 
 
 
 
 
    UROS2QoS FeedbackQoS = UROS2QoS::Default;
 
 
 
protected:
 
    virtual void InitializeActionComponent();
 
};