FT - Primitive WebSocket Actuators Control

+ Optionally allow remote control of the robot
+ Direct set of actuators, this should pass by the layer controler for proper interpolation

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotComponent.cpp

@@ -60,3 +60,7 @@ void URobotPilotComponent::SetRobotTarget(const FTransform& TargetTransformIn)
 void URobotPilotComponent::SetRobotCurrentRewardZone(const FTransform& RewardTransformIn)
 {
 }
+
+void URobotPilotComponent::ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload)
+{
+}

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp

@@ -1,4 +1,6 @@
 #include "Robot/PilotComponent/RobotPilotSO100Component.h"
+
+#include "LuckyDataTransferSubsystem.h"
 #include "Actors/MujocoVolumeActor.h"
 #include "Kismet/KismetMathLibrary.h"
 #include "Robot/RobotPawn.h"
@@ -85,6 +87,14 @@ void URobotPilotSO100Component::SetRobotCurrentRewardZone(const FTransform& Rewa
 	bDropZoneIsRight = FVector::DotProduct(RobotOwner->RobotActor->GetActorRotation().Quaternion().GetRightVector(), DirectionToTarget) > 0.f;
 }
 
+void URobotPilotSO100Component::ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload)
+{
+	for (const auto& [ActuatorName, ActuatorValue] : RemoteRobotPayload.Commands)
+	{
+		// Will print an error message if it doesn't exists
+		RobotOwner->PhysicsSceneProxy->SetActuatorValue(ActuatorName, ActuatorValue);
+	}
+}
 
 void URobotPilotSO100Component::PrintCurrentActuators() const
 {

Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp

@@ -1,5 +1,6 @@
 #include "Robot/RobotPawn.h"
 
+#include "LuckyDataTransferSubsystem.h"
 #include "LuckySensorPawnBase.h"
 #include "Kismet/GameplayStatics.h"
 #include "Kismet/KismetMathLibrary.h"
@@ -69,3 +70,19 @@ void ARobotPawn::InitPilotComponent()
 	}
 }
 
+void ARobotPawn::EnableRemoteControl()
+{
+	// Get subsystem
+	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
+	{
+		// Connect first if necessary
+		if (!DataTransfer->Socket->IsConnected())
+		{
+			DataTransfer->ConnectToWebsocket("ws://127.0.0.1:3000", "");
+		}
+
+		// TODO Should we wait for connection to be successful before binding OnCommandReady?
+		DataTransfer->OnCommandReady.AddDynamic(this->RobotPilotComponent, &URobotPilotComponent::ReceiveRemoteCommand);
+	}
+}
+

Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotComponent.h

@@ -2,6 +2,8 @@
 #include "CoreMinimal.h"
 #include "RobotPilotComponent.generated.h"
 
+struct FRemoteControlPayload;
+
 USTRUCT(BlueprintType)
 struct FRobotActuators
 {
@@ -33,6 +35,9 @@ public:
 	UFUNCTION(BlueprintCallable)
 	virtual void SetRobotTarget(const FTransform& TargetTransformIn);
 	virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn);
+
+	UFUNCTION()
+	virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload);
 		
 	
 protected: // Child class need access

Source/LuckyWorldV2/Public/Robot/PilotComponent/RobotPilotSO100Component.h

@@ -3,6 +3,8 @@
 #include "Robot/PilotComponent/RobotPilotComponent.h"
 #include "RobotPilotSO100Component.generated.h"
 
+struct FRemoteControlPayload;
+
 USTRUCT(BlueprintType)
 struct FSo100Actuators
 {
@@ -42,6 +44,7 @@ public:
 
 	virtual void SetRobotTarget(const FTransform& TargetTransformIn) override;
 	virtual void SetRobotCurrentRewardZone(const FTransform& RewardTransformIn) override;
+	virtual void ReceiveRemoteCommand(const FRemoteControlPayload& RemoteRobotPayload) override;
 
 	
 private:

Source/LuckyWorldV2/Public/Robot/RobotPawn.h

@@ -40,4 +40,6 @@ public:
 	URobotPilotComponent* RobotPilotComponent = nullptr;
 	UFUNCTION(BlueprintCallable)
 	void InitPilotComponent(); // This should have Robot type as parameter?
+
+	void EnableRemoteControl();
 };