SensorFactory.h

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// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "CoreMinimal.h"
#include "Kismet/BlueprintFunctionLibrary.h"
#include "Engine.h"
#include "Math/Transform.h"
 
#include "Agrarsense/Sensor/Overlap/OverlapSensorParameters.h"
#include "Agrarsense/Sensor/SensorMapDataAsset.h"
 
#include "SensorFactory.generated.h"
 
class UWorld;
 
class ASensor;
class ALidar;
class ACamera;
class AThermalCamera;
class ADepthCamera;
class ASemanticSegmentationCamera;
class AInstanceSegmentationCamera;
class ADVSCamera;
class ARadar;
class ACollisionSensor;
class ATransformSensor;
class AOverlapSensor;
 
struct FCollisionSensorParameters;
struct FTransformSensorParameters;
struct FThermalCameraParameters;
struct FDepthCameraParameters;
struct FDVSCameraParameters;
struct FCameraParameters;
struct FLidarParameters;
struct FRadarParameters;
 
USTRUCT(BlueprintType)
struct FSensorSpawnParameters
{
    GENERATED_BODY()
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    FTransform Transform;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    FString SensorIdentifier;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    FString SensorName;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SimulateSensor = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    AActor* Parent = nullptr;
};
 
UCLASS()
class AGRARSENSE_API USensorFactory : public UBlueprintFunctionLibrary
{
    GENERATED_BODY()
 
public:
 
    UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Sensor")
    static USensorMapDataAsset* GetSensorMapDataAsset();
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ALidar* SpawnLidarSensor(const FSensorSpawnParameters SpawnParameters, FLidarParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ACamera* SpawnCamera(const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AThermalCamera* SpawnThermalCamera(const FSensorSpawnParameters SpawnParameters, FThermalCameraParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ADepthCamera* SpawnDepthCamera(const FSensorSpawnParameters SpawnParameters, FDepthCameraParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ASemanticSegmentationCamera* SpawnSegmentationCamera(const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AInstanceSegmentationCamera* SpawnInstanceSegmentationCamera(const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters);
 
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ADVSCamera* SpawnDVSCamera(const FSensorSpawnParameters SpawnParameters, FDVSCameraParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ARadar* SpawnRadar(const FSensorSpawnParameters SpawnParameters, FRadarParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ACollisionSensor* SpawnCollisionSensor(const FSensorSpawnParameters SpawnParameters, const FCollisionSensorParameters CollisionSensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ATransformSensor* SpawnTransformSensor(const FSensorSpawnParameters SpawnParameters, FTransformSensorParameters SensorParameters);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AOverlapSensor* SpawnOverlapSensor(const FSensorSpawnParameters SpawnParameters, FOverlapSensorParameters SensorParameters);
 
 
private:
 
    /*
     * Templated function that spawns an Actor of the specified class and returns a pointer to the Actor.
     * @param FSensorSpawnParameters Spawnparameters
     * @param SpawnSensorModel Should spawn sensor visual model
     */
    template <typename T>
    static T* SpawnSensor(const FSensorSpawnParameters& SpawnParameters, bool SpawnSensorModel = true);
 
    static void SetSensorIdentifierAndNameWithFallbacks(ASensor* Sensor, const FString& SensorIdentifier, const FString& SensorName);
 
    static ASensorModel* SpawnModelClassForSensor(ASensor* attachTo);
 
    static ASensorModel* SpawnModelClass(TSubclassOf<ASensorModel> ModelClass, ASensor* AttachTo);
 
    static void Initialize();
 
    static UWorld* GetGameWorld();
 
    static TWeakObjectPtr<USensorMapDataAsset> SensorMapDataAsset;
 
};