You've already forked LuckyWorld
bf58329dc4
+ Optionally allow remote control of the robot + Direct set of actuators, this should pass by the layer controler for proper interpolation
89 lines
2.3 KiB
C++
89 lines
2.3 KiB
C++
#include "Robot/RobotPawn.h"
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#include "LuckyDataTransferSubsystem.h"
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#include "LuckySensorPawnBase.h"
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#include "Kismet/GameplayStatics.h"
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#include "Kismet/KismetMathLibrary.h"
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#include "Kismet/KismetSystemLibrary.h"
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#include "Robot/PilotComponent/RobotPilotMultiRotorDrone.h"
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#include "Robot/PilotComponent/RobotPilotSO100Component.h"
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ARobotPawn::ARobotPawn()
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{
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}
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void ARobotPawn::BeginPlay()
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{
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Super::BeginPlay();
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InitRobot(); // TODO Maybe move to GameInstance to control when we initialize the robot completely
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}
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void ARobotPawn::InitRobot()
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{
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InitPilotComponent();
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}
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void ARobotPawn::InitPilotComponent()
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{
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// Initialize pilot component based on robot type
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switch (RobotType)
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{
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case ERobotsName::None:
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break;
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case ERobotsName::SO100Robot:
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RobotPilotComponent = NewObject<URobotPilotSO100Component>(this);
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break;
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case ERobotsName::DJIDrone:
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RobotPilotComponent = NewObject<URobotPilotMultiRotorDrone>(this);
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break;
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case ERobotsName::Luck_e:
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break; // TODO or remove from enum
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case ERobotsName::Stretch:
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break; // TODO or remove from enum
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case ERobotsName::LuckyDrone:
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break; // TODO or remove from enum
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case ERobotsName::ArmLucky:
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break; // TODO or remove from enum
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case ERobotsName::UnitreeG1:
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break; // TODO or remove from enum
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case ERobotsName::StretchRobotV1:
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break; // TODO or remove from enum
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case ERobotsName::PandaArmRobot:
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break; // TODO or remove from enum
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case ERobotsName::PuralinkRobot:
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break; // TODO or remove from enum
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case ERobotsName::UnitreeGo2:
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break; // TODO or remove from enum
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case ERobotsName::RevoluteRobot:
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break; // TODO or remove from enum
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case ERobotsName::BostonSpotRobot:
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break; // TODO or remove from enum
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}
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// Register if this Robot has a Pilot Component
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if (RobotPilotComponent)
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{
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RobotPilotComponent->RegisterComponent();
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}
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}
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void ARobotPawn::EnableRemoteControl()
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{
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// Get subsystem
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if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
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{
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// Connect first if necessary
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if (!DataTransfer->Socket->IsConnected())
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{
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DataTransfer->ConnectToWebsocket("ws://127.0.0.1:3000", "");
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}
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// TODO Should we wait for connection to be successful before binding OnCommandReady?
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DataTransfer->OnCommandReady.AddDynamic(this->RobotPilotComponent, &URobotPilotComponent::ReceiveRemoteCommand);
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}
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}
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