Controller.h

// Fill out your copyright notice in the Description page of Project Settings.

#pragma once

#include "CoreMinimal.h"
#include "UObject/NoExportTypes.h"
#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"
#include "LeController.generated.h"

//some flight functions require enums/structs from DroneCommon.hpp but accessible to BP
UENUM(BlueprintType)
enum class EDrivetrainType : uint8
{
	MaxDegreeOfFreedom = 0,
	ForwardOnly
};

//USTRUCT(immutable, noexport, BlueprintType)
USTRUCT(BlueprintType)
struct AIRSIM_API FYawMode {

	GENERATED_USTRUCT_BODY()

	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Drone")
	bool is_rate = true;

	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Drone")
	float yaw_or_rate = 0.0f;
	
	FYawMode()
	{}

	FYawMode(bool is_rate_val, float yaw_or_rate_val)
	{
		is_rate = is_rate_val;
		yaw_or_rate = yaw_or_rate_val;
	}

	static FYawMode Zero()
	{
		return FYawMode(true, 0);
	}

	void setZeroRate()
	{
		is_rate = true;
		yaw_or_rate = 0;
	}	
};

/**
 * helper class that exposes flight API to blue prints
 */
UCLASS(Blueprintable)
class AIRSIM_API ALeController : public AActor
{
	GENERATED_BODY()
protected:
	msr::airlib::MultirotorRpcLibClient client;	
public:

	ALeController(const FObjectInitializer& ObjectInitializer);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool armDisarm(bool arm);
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	void enableApiControl(bool enable);
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool goHome();

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool hover();

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool land(float max_wait_seconds);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	void setSimulationMode(bool is_set);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool takeoff(float max_wait_ms);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByAngle(float pitch, float roll, float z, float yaw, float duration);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByVelocity(float vx, float vy, float vz, float duration);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByVelocityEx(float vx, float vy, float vz, float duration,
		EDrivetrainType drivetrain, UPARAM(ref) FYawMode& yaw_mode);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByVelocityZ(float vx, float vy, float z, float duration);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByVelocityZEx(float vx, float vy, float z, float duration,
		EDrivetrainType drivetrain, UPARAM(ref) FYawMode& yaw_mode);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveOnPath(UPARAM(ref) TArray<FVector>& path, float velocity, float max_wait_seconds,
		EDrivetrainType drivetrain, UPARAM(ref) FYawMode& yaw_mode, float lookahead, float adaptive_lookahead);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveToPosition(float x, float y, float z, float velocity);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveToPositionEx(float x, float y, float z, float velocity, float max_wait_seconds,
		EDrivetrainType drivetrain, UPARAM(ref) FYawMode& yaw_mode, float lookahead, float adaptive_lookahead);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveToZ(float z, float velocity);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveToZEx(float z, float velocity, float max_wait_seconds,
			UPARAM(ref) FYawMode& yaw_mode, float lookahead, float adaptive_lookahead);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByManual(float vx_max, float vy_max, float z_min, float duration);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool moveByManualEx(float vx_max, float vy_max, float z_min, float duration,
		EDrivetrainType drivetrain, UPARAM(ref) FYawMode& yaw_mode);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool rotateToYaw(float yaw);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool rotateToYawEx(float yaw, float max_wait_seconds, float margin);

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool rotateByYawRate(float yaw_rate, float duration);

	
	//getters
	UFUNCTION(BlueprintCallable, Category = "Drone")
	FVector getPosition();
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	FVector getVelocity();
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	FQuat getOrientation();
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	FVector getGpsLocation();

	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool isSimulationMode();

	UFUNCTION(BlueprintCallable, Category = "Drone")
	FString getDebugInfo();

	///getLandedState returns true if copter has landed, false otherwise
	UFUNCTION(BlueprintCallable, Category = "Drone")
	bool getLandedState();
	
	UFUNCTION(BlueprintCallable, Category = "Drone")
	int timestampNow();
	
};