ROS2Subscriber.h

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#pragma once
 
 
 
#include <Components/ActorComponent.h>
 
#include <CoreMinimal.h>
 
 
 
// rclUE
 
#include "Msgs/ROS2GenericMsg.h"
 
#include "ROS2NodeComponent.h"
 
#include "ROS2Topic.h"
 
 
 
#include "ROS2Subscriber.generated.h"
 
 
 
class RCLUE_API UROS2Subscriber : public UROS2Topic
 
{
 
 
 
public:
 
    static UROS2Subscriber* CreateSubscriber(UObject* InOwner,
 
                                             const FString& InTopicName,
 
                                             const TSubclassOf<UROS2GenericMsg>& InMsgClass,
 
                                             const FSubscriptionCallback& InCallback,
 
                                             const UROS2QoS InQoS = UROS2QoS::Default);
 
 
 
    static UROS2Subscriber* CreateSubscriber(UObject* InOwner,
 
                                             const FString& InTopicName,
 
                                             const TSubclassOf<UROS2GenericMsg>& InMsgClass,
 
                                             const FSubscriptionCallback& InCallback,
 
                                             const rmw_qos_profile_t& InCustomQoS);
 
 
 
    virtual void Destroy() override;
 
 
 
 
 
    FSubscriptionCallback Callback;
 
 
 
    virtual void ProcessReady();
 
 
 
 
    void SetDelegates(const FSubscriptionCallback& InCallback);
 
 
 
    bool Ready = false;
 
 
 
 
    rcl_subscription_t rcl_subscription;
 
 
 
protected:
 
    virtual void InitializeTopicComponent();
 
};
 
 
 
class RCLUE_API UROS2SubscriberComponent : public UActorComponent
 
{
 
 
 
public:
 
 
    UROS2Subscriber* Subscriber = nullptr;
 
 
 
 
 
    FString TopicName = TEXT("");
 
 
 
 
 
    TSubclassOf<UROS2GenericMsg> MsgClass = UROS2GenericMsg::StaticClass();
 
 
 
 
 
    UROS2QoS QoS = UROS2QoS::Default;
 
 
 
 
 
    FSubscriptionCallback Callback;
 
 
 
 
    virtual void DefaultCreateSubscriber()
 
    {
 
        if (Subscriber == nullptr)
 
        {
 
            Subscriber = UROS2Subscriber::CreateSubscriber(this, TopicName, MsgClass, Callback, QoS);
 
        }
 
    }
 
 
 
    virtual void BeginPlay() override
 
    {
 
        DefaultCreateSubscriber();
 
        Super::BeginPlay();
 
    };
 
};