Agrarsense
LidarManager.cpp
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1// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
2//
3// This work is licensed under the terms of the MIT license.
4// For a copy, see <https://opensource.org/licenses/MIT>.
5
6#include "LidarManager.h"
7
13
14#include "ROSIntegration/Classes/ROSIntegrationGameInstance.h"
15#include "ROSIntegration/Classes/RI/Topic.h"
16
17#include "PhysicsEngine/PhysicsObjectExternalInterface.h"
18#include "Physics/Experimental/PhysScene_Chaos.h"
19#include "Physics/PhysicsInterfaceUtils.h"
20
21#include "Math/Vector.h"
22#include "Engine/CollisionProfile.h"
23#include "Runtime/Engine/Classes/Kismet/KismetMathLibrary.h"
24#include "Runtime/Core/Public/Async/ParallelFor.h"
25#include "Kismet/GameplayStatics.h"
26#include "Kismet/KismetMathLibrary.h"
27#include "Misc/CommandLine.h"
28
29#include <iterator>
30
31ALidarManager::ALidarManager(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
32{
33 // TickManager handles this Actor ticking
34 PrimaryActorTick.bCanEverTick = false;
35
36 if (FParse::Param(FCommandLine::Get(), TEXT("-save-combined-pointcloud")))
37 {
39 }
40}
41
43{
44 Super::BeginPlay();
45
46 // There should only be one instance of this actor which is spawned in AgrarsenseGameModebase.cpp
47 UWorld* World = GetWorld();
48 TArray<AActor*> FoundActors;
49 UGameplayStatics::GetAllActorsOfClass(World, ALidarManager::StaticClass(), FoundActors);
50 if (FoundActors.Num() != 1)
51 {
52#ifdef WITH_EDITOR
53 UE_LOG(LogTemp, Warning, TEXT("LidarManager.cpp: LidarManager already exists in the level. Destroying this one."));
54#endif
55 this->Destroy();
56 return;
57 }
58
59 RosInstance = Cast<UROSIntegrationGameInstance>(GetGameInstance());
60
62
63 FString DataLocation = UAgrarsensePaths::GetDataFolder();
64 FString UnixTimeStamp = FString::FromInt(FDateTime::Now().ToUnixTimestamp());
65 FileSavePath = DataLocation + "LidarCombined_" + UnixTimeStamp + "/";
66
67 // Initialize the PointCloudMessage
68 PointCloudMessage = MakeShared<ROSMessages::sensor_msgs::PointCloud2>();
69 PointCloudMessage->CreateDefaultPointCloud2Message();
70}
71
72void ALidarManager::EndPlay(const EEndPlayReason::Type EndPlayReason)
73{
74 Super::EndPlay(EndPlayReason);
75
77
78 PointCloudMessage.Reset();
79
80 RaycastLidars.clear();
81
82 RosInstance = nullptr;
83
84 delete(TotalAverageTimer);
85
86 if (TickAdded)
87 {
89 }
90}
91
92void ALidarManager::TickParallel(float DeltaTime)
93{
94#ifdef WITH_EDITOR
96 {
98 }
99#endif
100
101 SimulateLidars(DeltaTime);
102
103#ifdef WITH_EDITOR
105 {
106 double ms = TotalAverageTimer->PrintAverageTime();
107 TimeInMilliseconds = FMath::RoundToFloat(ms * 100.0f) / 100.0f;
108 }
109#endif
110}
111
112void ALidarManager::SimulateLidars(const float DeltaTime)
113{
114 TRACE_CPUPROFILER_EVENT_SCOPE(ALidarManager::SimulateLidars);
115
116 const int32 LidarCount = RaycastLidars.size();
117
118 if (LidarCount == 0 || !CanSimulateLidars)
119 {
120 return;
121 }
122
123 std::vector<FPointData> FlattenedPoints;
124
125 FPhysicsCommand::ExecuteRead(GetWorld()->GetPhysicsScene(), [&]
126 {
127 if (LidarCount == 1)
128 {
129 // If we only have one lidar sensor,
130 // we can skip ParallelFor and 2D to 1D std::vector conversion
131 ALidar* lidar = RaycastLidars[0];
132 if (lidar)
133 {
134 FlattenedPoints = lidar->SimulateRaycastLidar(DeltaTime);
135 }
136 }
137 else
138 {
139 // Else we have multiple Lidar sensors,
140 // Simulate all of them in parallel
141 std::vector<std::vector<FPointData>> points(LidarCount);
142
143 ParallelFor(LidarCount, [&](int32 lidarIndex)
144 {
145 ALidar* lidar = RaycastLidars[lidarIndex];
146 if (lidar)
147 {
148 points[lidarIndex] = lidar->SimulateRaycastLidar(DeltaTime);
149 }
150 }, EParallelForFlags::Unbalanced);
151
153 {
154 int32 TotalSize = 0;
155 for (const std::vector<FPointData>& vec : points)
156 {
157 TotalSize += vec.size();
158 }
159
160 if (TotalSize != 0)
161 {
162 FlattenedPoints.reserve(TotalSize);
163 for (std::vector<FPointData>& vec : points)
164 {
165 FlattenedPoints.insert(FlattenedPoints.end(), std::make_move_iterator(vec.begin()), std::make_move_iterator(vec.end()));
166 }
167 }
168 }
169 }
170
171 });
172
173 if (!FlattenedPoints.empty())
174 {
176 {
177 SaveCombinedPointcloud(FlattenedPoints);
178 }
179
180 SendCombinedPointcloud(FlattenedPoints);
181 }
182}
183
184void ALidarManager::SetSimulateLidars(bool bSimulateLidars)
185{
186 CanSimulateLidars = bSimulateLidars;
187}
188
189void ALidarManager::SetMeasurePerformance(bool bMeasurePerformance)
190{
191 MeasurePerformance = bMeasurePerformance;
192}
193
194void ALidarManager::SetSaveCombinedCloudToDisk(bool bSaveCombinedCloud)
195{
196 SaveCombinedCloudToDisk = bSaveCombinedCloud;
197}
198
199void ALidarManager::SetSendCombinedCloud(bool bSaveCombinedCloud)
200{
201 SendCombinedCloudToROS = bSaveCombinedCloud;
203 {
204 InitTopic();
205 }
206
207#if WITH_EDITOR
208 UE_LOG(LogTemp, Warning, TEXT("LidarManager.cpp: Saving combined Lidar pointcloud to disk: %s"), (SendCombinedCloudToROS ? TEXT("true") : TEXT("false")));
209#endif
210}
211
213{
214 if (!lidarPtr)
215 {
216 return;
217 }
218
219 RaycastLidars.push_back(lidarPtr);
220
221#if WITH_EDITOR
222 UE_LOG(LogTemp, Warning, TEXT("LidarManager.cpp: Added Lidar sensor."));
223#endif
224
225 if (!TickAdded)
226 {
227 InitTopic();
228
229 TickEntry = ATickManager::AddTick(this, BindTick(this, &ALidarManager::TickParallel), ETickType::FullFrameTaskParallel);
230 TickAdded = true;
231 }
232
233 // Broadcast new lidar has been spawned, broadcast Lidar actor
234 OnLidarSpawned.Broadcast(lidarPtr);
235}
236
238{
239 if (!lidarPtr)
240 {
241 return;
242 }
243
244 auto it = std::find(RaycastLidars.begin(), RaycastLidars.end(), lidarPtr);
245 if (it != RaycastLidars.end())
246 {
247 RaycastLidars.erase(it);
248
249#if WITH_EDITOR
250 UE_LOG(LogTemp, Warning, TEXT("LidarManager.cpp: Removed Lidar sensor"));
251#endif
252 }
253
254 // Disable tick if there's no Lidar sensors.
255 if (RaycastLidars.size() == 0)
256 {
258 if (TickAdded)
259 {
261 TickAdded = false;
262 DestroyTopic();
263 }
264 }
265
266 // Broadcast lidar sensor has been destroyed event and broadcast current lidar count
267 int32 currentLidarCount = RaycastLidars.size();
268 OnLidarDestroyed.Broadcast(currentLidarCount);
269}
270
272{
273 switch (RosState)
274 {
276 InitTopic();
277 break;
278
280 DestroyTopic();
281 break;
282 }
283}
284
286{
287 if (CombinedLidarTopic.IsValid() || !SendCombinedCloudToROS || !RosInstance->IsROSConnected())
288 {
289 return;
290 }
291
292 CombinedLidarTopic = NewObject<UTopic>(UTopic::StaticClass());
293 CombinedLidarTopic->Init(RosInstance->ROSIntegrationCore, FString::Printf(TEXT("/agrarsense/out/sensors/lidars_combined")), TEXT("sensor_msgs/PointCloud2"));
294 CombinedLidarTopic->Advertise();
295
296#if WITH_EDITOR
297 UE_LOG(LogTemp, Warning, TEXT("LidarManager.cpp: Created combined Lidar ROS topic. Topic name: /agrarsense/sensors/lidars_combined"));
298#endif
299}
300
302{
303 if (CombinedLidarTopic.IsValid())
304 {
305 CombinedLidarTopic->Unadvertise();
306 CombinedLidarTopic->Unsubscribe();
307 CombinedLidarTopic->MarkAsDisconnected();
308 CombinedLidarTopic->ConditionalBeginDestroy();
309 CombinedLidarTopic.Reset();
310 }
311}
312
313void ALidarManager::SaveCombinedPointcloud(const std::vector<FPointData>& points)
314{
316 {
317 return;
318 }
319
320 FString Filename = FString::Printf(TEXT("%sCombinedPointcloud_%d.ply"), *FileSavePath, LidarSaves);
321 ++LidarSaves;
322
324}
325
326void ALidarManager::SendCombinedPointcloud(const std::vector<FPointData>& points)
327{
328 TRACE_CPUPROFILER_EVENT_SCOPE(ALidarManager::SendCombinedPointcloud);
329
330 UTopic* Topic = CombinedLidarTopic.Get();
331
333 || !RosInstance
334 || !RosInstance->IsROSConnected()
335 || !Topic
336 || !PointCloudMessage.IsValid())
337 {
338 return;
339 }
340
341 const size_t PointsSize = points.size();
342 const size_t DataSize = PointsSize * sizeof(FPointData);
343
344 PointCloudMessage->width = static_cast<uint32>(PointsSize);
345 PointCloudMessage->row_step = static_cast<uint32>(DataSize);
346 PointCloudMessage->data_ptr = reinterpret_cast<uint8*>(const_cast<FPointData*>(points.data()));
347 Topic->Publish(PointCloudMessage);
348}
EROSState
Definition: ROSState.h:16
static auto BindTick(ObjectType *Object, FunctionType Function)
Definition: TickManager.h:162
bool CanSimulateLidars
Definition: LidarManager.h:213
void SendCombinedPointcloud(const std::vector< FPointData > &points)
FString FileSavePath
Definition: LidarManager.h:215
FLidarDelegate_LidarSpawned OnLidarSpawned
Definition: LidarManager.h:131
UROSIntegrationGameInstance * RosInstance
Definition: LidarManager.h:204
void SaveCombinedPointcloud(const std::vector< FPointData > &points)
TSharedPtr< ROSMessages::sensor_msgs::PointCloud2 > PointCloudMessage
Definition: LidarManager.h:209
virtual void BeginPlay() override
TWeakObjectPtr< UTopic > CombinedLidarTopic
Definition: LidarManager.h:207
void SetSaveCombinedCloudToDisk(bool bSaveCombinedCloud)
void AddRaycastLidar(ALidar *lidarPtr)
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override
bool SaveCombinedCloudToDisk
Definition: LidarManager.h:144
FTickEntry TickEntry
Definition: LidarManager.h:160
void ROSBridgeStateChanged(EROSState RosState)
void SetSendCombinedCloud(bool bSaveCombinedCloud)
void SetMeasurePerformance(bool bMeasurePerformance)
void SetSimulateLidars(bool bSimulateLidars)
float TimeInMilliseconds
Definition: LidarManager.h:150
void RemoveRaycastLidar(ALidar *lidarPtr)
SimpleTimer * TotalAverageTimer
Definition: LidarManager.h:211
void SimulateLidars(const float DeltaTime)
ALidarManager(const FObjectInitializer &ObjectInitializer)
bool SendCombinedCloudToROS
Definition: LidarManager.h:141
std::vector< ALidar * > RaycastLidars
Definition: LidarManager.h:201
FLidarDelegate_LidarDestroyed OnLidarDestroyed
Definition: LidarManager.h:138
void TickParallel(float DeltaTime)
bool MeasurePerformance
Definition: LidarManager.h:147
Definition: Lidar.h:35
std::vector< FPointData > SimulateRaycastLidar(const float DeltaTime)
Definition: Lidar.cpp:249
static void RemoveTick(FTickEntry TickEntry)
Definition: TickManager.cpp:80
static FTickEntry AddTick(UObject *Object, std::function< void(float)> Function, ETickType Type)
Definition: TickManager.cpp:51
double PrintAverageTime(FString prefix="Average execution time ", FString suffix=" milliseconds", bool printToScreen=false)
Definition: SimpleTimer.h:123
void TakeTimeStamp()
Definition: SimpleTimer.h:76
void ResetAverageTime()
Definition: SimpleTimer.h:141
static FString GetDataFolder()
static void SaveVectorArrayAsPlyAsync(FString FullFileName, const std::vector< FPointData > points)