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 "Agrarsense/Sensor/Overlap/OverlapSensorParameters.h"
#include "Agrarsense/Sensor/SensorMapDataAsset.h"
 
#include "SensorFactory.generated.h"
 
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 FTransformSensorParameters;
struct FThermalCameraParameters;
struct FDepthCameraParameters;
struct FDVSCameraParameters;
struct FCameraParameters;
struct FLidarParameters;
struct FRadarParameters;
 
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 FTransform& transform, const FString sensorIdentifier, const FString sensorName, FLidarParameters lidarParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ACamera* SpawnCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters cameraParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AThermalCamera* SpawnThermalCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FThermalCameraParameters thermalCameraParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ADepthCamera* SpawnDepthCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FDepthCameraParameters depthCameraParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ASemanticSegmentationCamera* SpawnSegmentationCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters cameraParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AInstanceSegmentationCamera* SpawnInstanceSegmentationCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters cameraParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ADVSCamera* SpawnDVSCamera(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FDVSCameraParameters DVSCameraParameters, bool SimulateSensor, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ARadar* SpawnRadar(const FTransform& transform, const FString sensorIdentifier, const FString sensorName, FRadarParameters radarParameters, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ACollisionSensor* SpawnCollisionSensor(const FTransform& transform, AActor* Owner, const FString sensorIdentifier, const FString sensorName, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static ATransformSensor* SpawnTransformSensor(const FTransform& transform, FTransformSensorParameters Parameters, const FString sensorIdentifier, const FString sensorName, bool SimulateSensor = true, AActor* Parent = nullptr);
 
    UFUNCTION(BlueprintCallable, Category = "Sensor")
    static AOverlapSensor* SpawnOverlapSensor(const FTransform& transform, FOverlapSensorParameters Parameters, const FString sensorIdentifier, const FString sensorName, AActor* Parent = nullptr);
 
 
private:
 
    /*
     * Templated function that spawns an Actor of the specified class and returns a pointer to the Actor.
     *
     * This function dynamically creates and initializes an Actor of the specified class using the provided transform.
     * It returns a pointer to the spawned Actor. Make sure to call the Init() function on the returned Actor
     * to properly initialize its parameters and simulation mode.
     *
     * @param transform The transform used to spawn the Actor.
     * @return Pointer to the spawned Actor or nullptr
     */
    template <typename T>
    static T* SpawnSensor(const FTransform& transform, const FString& sensorIdentifier, const FString& sensorName, bool SpawnSensorModel = true, AActor* Parent = nullptr);
 
    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 TWeakObjectPtr<USensorMapDataAsset> SensorMapDataAsset;
};