Merge pull request #171 from vmc-motion/feature/add-message-types

Add Int32 and UInt8 support

Author: Sanic

Source/ROSIntegration/Private/Conversion/Messages/std_msgs/StdMsgsInt32Converter.cpp

@@ -0,0 +1,25 @@
+#include "Conversion/Messages/std_msgs/StdMsgsInt32Converter.h"
+
+
+UStdMsgsInt32Converter::UStdMsgsInt32Converter()
+{
+	_MessageType = "std_msgs/Int32";
+}
+
+bool UStdMsgsInt32Converter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg) {
+	bool KeyFound = false;
+
+	int32 Data = GetInt32FromBSON(TEXT("msg.data"), message->full_msg_bson_, KeyFound);
+	if (!KeyFound) return false;
+
+	BaseMsg = TSharedPtr<FROSBaseMsg>(new ROSMessages::std_msgs::Int32(Data));
+	return true;
+}
+
+bool UStdMsgsInt32Converter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message) {
+	auto Int32Message = StaticCastSharedPtr<ROSMessages::std_msgs::Int32>(BaseMsg);
+	*message = BCON_NEW(
+		"data", BCON_INT32(Int32Message->_Data)
+	);
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/std_msgs/StdMsgsInt32Converter.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "std_msgs/Int32.h"
+#include "StdMsgsInt32Converter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UStdMsgsInt32Converter: public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UStdMsgsInt32Converter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+};

Source/ROSIntegration/Private/Conversion/Messages/std_msgs/StdMsgsUInt8Converter.cpp

@@ -0,0 +1,26 @@
+#include "Conversion/Messages/std_msgs/StdMsgsUInt8Converter.h"
+
+
+UStdMsgsUInt8Converter::UStdMsgsUInt8Converter()
+{
+	_MessageType = "std_msgs/UInt8";
+}
+
+bool UStdMsgsUInt8Converter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg) {
+	bool KeyFound = false;
+
+	int32 DataAsInt32 = GetInt32FromBSON(TEXT("msg.data"), message->full_msg_bson_, KeyFound);
+	if (!KeyFound) return false;
+	uint8 Data = static_cast<uint8>(DataAsInt32);
+	BaseMsg = TSharedPtr<FROSBaseMsg>(new ROSMessages::std_msgs::UInt8(Data));
+	return true;
+}
+
+bool UStdMsgsUInt8Converter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message) {
+	auto UInt8Message = StaticCastSharedPtr<ROSMessages::std_msgs::UInt8>(BaseMsg);
+	int32 DataAsInt32 = static_cast<int32>(UInt8Message->_Data);
+	*message = BCON_NEW(
+		"data", BCON_INT32(DataAsInt32)
+	);
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/std_msgs/StdMsgsUInt8Converter.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <CoreMinimal.h>
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "std_msgs/UInt8.h"
+#include "StdMsgsUInt8Converter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UStdMsgsUInt8Converter: public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UStdMsgsUInt8Converter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+};

Source/ROSIntegration/Public/std_msgs/Int32.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "ROSBaseMsg.h"
+
+namespace ROSMessages{
+	namespace std_msgs {
+		class Int32 : public FROSBaseMsg {
+		public:
+			Int32() : Int32(0.f) {}
+
+			Int32(float data) {
+				_MessageType = "std_msgs/Int32";
+				_Data = data;
+			}
+
+		//private:
+			int32 _Data;
+		};
+	}
+}

Source/ROSIntegration/Public/std_msgs/UInt8.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "ROSBaseMsg.h"
+
+namespace ROSMessages{
+	namespace std_msgs {
+		class UInt8 : public FROSBaseMsg {
+		public:
+			UInt8() : UInt8(0) {}
+
+			UInt8(uint8 data) {
+				_MessageType = "std_msgs/UInt8";
+				_Data = data;
+			}
+
+		//private:
+			uint8 _Data;
+		};
+	}
+}