ROS2Topic.h

Go to the documentation of this file.

 
#pragma once
 
 
 
#include <Components/ActorComponent.h>
 
#include <CoreMinimal.h>
 
 
 
// rclUE
 
#include "Msgs/ROS2GenericMsg.h"
 
#include "ROS2NodeComponent.h"
 
#include "rclcUtilities.h"
 
 
 
#include "ROS2Topic.generated.h"
 
 
 
DECLARE_LOG_CATEGORY_EXTERN(LogROS2Topic, Log, All);
 
 
 
#define IS_TOPIC_INITED(InNode, InName, OutRes)                                                                                   \
 
    IS_ROS2NODE_INITED(InNode, InName, OutRes);                                                                                   \
 
    if (State != UROS2State::Initialized)                                                                                         \
 
    {                                                                                                                             \
 
        UE_LOG_WITH_INFO(                                                                                                         \
 
            LogROS2Topic, Warning, TEXT("[%s] Publisher/Subscriber is not initialized yet. Please initialize Action."), *InName); \
 
        OutRes = false;                                                                                                           \
 
    }
 
 
 
class RCLUE_API UROS2Topic : public UObject
 
{
 
 
 
public:
 
    virtual bool InitializeWithROS2(UROS2NodeComponent* InROS2Node);
 
 
 
    virtual bool Init();
 
 
 
    virtual bool InitializeMessage();
 
 
 
    virtual void Destroy();
 
 
 
 
 
    FString TopicName;
 
 
 
 
 
    TSubclassOf<UROS2GenericMsg> MsgClass;
 
 
 
 
 
    UROS2NodeComponent* OwnerNode = nullptr;
 
 
 
 
 
    TEnumAsByte<UROS2State> State = UROS2State::Created;
 
 
 
 
 
 
    UROS2QoS QoS = UROS2QoS::Default;
 
 
 
    TOptional<rmw_qos_profile_t> QoSProfile;
 
 
 
 
 
    UROS2GenericMsg* TopicMessage;
 
 
 
protected:
 
    rmw_qos_profile_t GetEffectiveQoS() const
 
    {
 
        if (QoSProfile.IsSet())
 
        {
 
            return QoSProfile.GetValue();
 
        }
 
        return QoS_LUT[QoS];
 
    }
 
 
 
    virtual void InitializeTopicComponent();
 
};