RoverVehiclePawn.h

#pragma once
 
#include <iterator>
#include "Components/ChildActorComponent.h"
#include "Core/RoverInterface.h"
#include "Containers/Map.h"
#include "HAL/Platform.h"
#include "Templates/Tuple.h"
#include "Templates/UniquePtr.h"
#include "WheeledVehiclePawn.h"
#include "RoverVehiclePawn.generated.h"
 
class ARoveSoSimulatorPlayerController;
class URoveCommPacketWrapper;
class URoveCommUDPWrapper;
 
class UChaosWheeledVehicleMovementComponent;
class USpringArmComponent;
class UCameraComponent;
class USplineComponent;
class USplineMeshComponent;
class UTextRenderComponent;
 
class AGeoReferencingSystem;
 
class ITalos2025Interface;
 
/**
 * @brief Custom WheeledVehiclePawn subclass which integrates many required pieces of logic for the rover's function
 */
UCLASS()
class ROVESOSIMULATOR_API ARoverVehiclePawn : public AWheeledVehiclePawn
{
  GENERATED_BODY()
 
public:
  ARoverVehiclePawn();
 
protected:
  virtual void BeginPlay() override;
  virtual void Tick(float DeltaTime) override;
  void SetupPlayerInput();
  void OnControlStateChange();
  void OnCameraStateChange();
  void OnAttachmentStateChange();
  void ZeroRoverMovement();
  void ApplyTorque(TArray<int32> wheelIndices, float throttle);
  void RotateCamera(float yaw, float pitch);
  void SplineDrawTick();
  void UpdateBackPanel();
  void SendCompassTelemetry();
  void SendRoveCommTelemetry();
 
  uint8 ControlState;
  uint8 CameraState;
  uint8 AttachmentState;
  float TranslationThrottle;
  float RotationDelta;
  float LeftThrottle;
  float RightThrottle;
 
  FVector SavedSpawnPoint;
  FRotator SavedSpawnRotation;
 
  bool DoSplineDrawing;
  FVector LastSplineLocation;
 
  bool PointcloudVisible;
 
  // -- Pointers --
 
  ARoveSoSimulatorPlayerController* PlayerController;
  UChaosWheeledVehicleMovementComponent* VehicleMovement;
  TUniquePtr<IRoverInterface> RoverInterface;
  URoveCommUDPWrapper* UDPWrapper;
  AGeoReferencingSystem* GeoRefSystem;
 
  FTimerHandle RoveCommTimerHandle;
  URoveCommPacketWrapper* GPSTelemetryPacket;
  URoveCommPacketWrapper* AccuracyTelemetryPacket;
  FTimerHandle CompassTimerHandle;
  URoveCommPacketWrapper* CompassTelemetryPacket;
 
  USpringArmComponent* CameraSpringArm;
  UCameraComponent* Camera;
 
  UStaticMeshComponent* BackPanel;
  UMaterialInstanceDynamic* BackPanelMaterial;
 
  USplineComponent* Spline;
  TArray<USplineMeshComponent*> SplineMeshes;
 
  TWeakObjectPtr<UStaticMeshComponent> AutoHead;
  TWeakObjectPtr<UChildActorComponent> Arm;
 
  USpringArmComponent* ZEDSpringArm;
  TSubclassOf<AActor> ZED2iStereoCamera;
  UChildActorComponent* FrontZEDCamera;
  UChildActorComponent* RearZEDCamera;
 
  // --- ROVER SETUP ---
 
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  ERoverInterfaceSubclasses RoverInterfaceSubclass;
 
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  bool HasRearZED;
  // Distance the rover must travel before another point is added to the trail
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  float SplineTrailDistance;
  // Static mesh for the trail to be drawn with
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  UStaticMesh* SplineTrailMesh;
  // Material for the trail to recieve
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  UMaterial* SplineTrailMaterial;
 
  // Location the rover spawns at and resets to
  UPROPERTY(EditDefaultsOnly, Category="Rover Setup")
  FVector RoverResetLocation;
 
  // Motor max torque in N*m
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  float MotorMaxTorque;
  // Motor power in watts
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  float MotorPower;
  // Final gear ratio between motor and wheel (Higher Ratio = Lower Torque & Higher RPM)
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  float FinalGearRatio;
  // Final mechanical efficiency from motor to wheel (float 0-1)
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  float FinalMechanicalEfficiency;
 
  // List of indicies of left-side wheels in the Chaos wheel setup
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  TArray<int32> LeftWheelIndices;
  // List of indicies of right-side wheels in the Chaos wheel setup
  UPROPERTY(EditAnywhere, Category = "Rover Setup")
  TArray<int32> RightWheelIndices;
 
public:
  void RoveCommDriveCallback();
  void RoveCommBackpanelCallback();
 
  void SetSpawnPointCallback();
  void GotoSpawnPointCallback();
  void ResetSplineCallback();
  void ToggleSplineCallback();
  void TogglePointcloudCallback();
  void ResetRoverCallback();
  void FlipRoverCallback();
 
  friend class ITalos2025Interface;
};