SensorsManagerComponent.h

Go to the documentation of this file.

// 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 "Components/ActorComponent.h"
#include "CoreMinimal.h"
#include "GameFramework/Actor.h"
 
#include "Agrarsense/Sensor/Lidar/LidarParameters.h"
#include "Agrarsense/Sensor/Camera/DepthCameraParameters.h"
#include "Agrarsense/Sensor/Camera/CameraBaseParameters.h"
#include "Agrarsense/Sensor/Radar/RadarParameters.h"
#include "Agrarsense/Vehicle/VehicleSensorsPreset.h"
#include "Agrarsense/Sensor/SensorTypes.h"
 
#include "SensorsManagerComponent.generated.h"
 
class ALidar;
class ACamera;
class AThermalCamera;
class ADVSCamera;
class ASemanticSegmentationCamera;
class AInstanceSegmentationCamera;
class ADepthCamera;
class ARadar;
class ACollisionSensor;
class ASensor;
class ASensorModel;
 
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLidarSpawned, ALidar*, lidar);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FCameraSpawned, ACamera*, camera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FThermalCameraSpawned, AThermalCamera*, thermalCamera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FDVSCameraSpawned, ADVSCamera*, dvsCamera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FSegmentationCameraSpawned, ASemanticSegmentationCamera*, segmentationCamera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FInstanceSegmentationCameraSpawned, AInstanceSegmentationCamera*, InstanceSegmentationCamera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FDepthCameraSpawned, ADepthCamera*, depthCamera);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FRadarSpawned, ARadar*, radar);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FSensorSpawned, ASensor*, sensor);
 
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLidarDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FThermalCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FDVSCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FSegmentationCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FInstanceSegmentationCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FDepthCameraDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FRadarDestroyed, FString, sensorIdentifier);
DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FSensorDestroyed, ESensorTypes, sensorType, FString, sensorIdentifier);
 
UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent))
class AGRARSENSE_API USensorsManagerComponent : public UActorComponent
{
 
    GENERATED_BODY()
 
public:
    USensorsManagerComponent();
 
    ~USensorsManagerComponent();
 
public:
    UFUNCTION(BlueprintCallable)
    TArray<ASensor*> GetSensors() const { return Sensors; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ALidar*> GetLidars() const { return Lidars; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ACamera*> GetCameras() const { return Cameras; }
 
    UFUNCTION(BlueprintCallable)
    TArray<AThermalCamera*> GetThermalCameras() const { return ThermalCameras; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ADVSCamera*> GetDVSCameras() const { return DVSCameras; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ASemanticSegmentationCamera*> GetSegmentationCameras() const { return SegmentationCameras; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ADepthCamera*> GetDepthCameras() const { return DepthCameras; }
 
    UFUNCTION(BlueprintCallable)
    TArray<ARadar*> GetRadars() const { return Radars; }
 
    // UFUNCTION(BlueprintCallable)
    // ACollisionSensor* GetCollisionSensor() const { return CollisionSensor; }
 
    UFUNCTION(BlueprintCallable)
    ALidar* SpawnLidar(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FLidarParameters lidarParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ACamera* SpawnCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters cameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    AThermalCamera* SpawnThermalCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FThermalCameraParameters thermalCameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ADVSCamera* SpawnDVSCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FDVSCameraParameters DVSCameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ASemanticSegmentationCamera* SpawnSegmentationCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters CameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    AInstanceSegmentationCamera* SpawnInstanceSegmentationCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FCameraBaseParameters CameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ADepthCamera* SpawnDepthCamera(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FDepthCameraParameters DepthCameraParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ARadar* SpawnRadar(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, FRadarParameters radarParameters, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    ASensor* SpawnSensor(const FTransform& transform, bool isTransformRelativeToComponent, const FString sensorIdentifier, const FString sensorName, ESensorTypes sensorType, bool simulateSensor, ASensorModel*& createdModel, USceneComponent* attachToComponent = nullptr, FName attachToBone = NAME_None);
 
    UFUNCTION(BlueprintCallable)
    void DestroyLidar(ALidar* lidarToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyCamera(ACamera* cameraToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyThermalCamera(AThermalCamera* thermalCameraToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyDVSCamera(ADVSCamera* thermalCameraToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroySegmentationCamera(ASemanticSegmentationCamera* cameraToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyDepthCamera(ADepthCamera* depthCameraToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyRadar(ARadar* radarToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroySensor(ASensor* sensorToDestroy);
 
    UFUNCTION(BlueprintCallable)
    void DestroyAllSensors();
 
    UFUNCTION(BlueprintCallable)
    void LoadPreset(FVehicleSensorsPreset preset, bool simulateSensors);
 
    UFUNCTION(BlueprintCallable)
    FVehicleSensorsPreset GetSensorsAsPreset();
 
    UFUNCTION(BlueprintCallable)
    void AttachSensorToActor(ASensor* sensor, AActor* attachToActor);
 
    UFUNCTION(BlueprintCallable)
    void AttachSensorToBone(ASensor* sensor, USceneComponent* attachToComponent, const FName& boneName);
 
    UFUNCTION(BlueprintCallable)
    void AttachSensor(ASensor* sensor, USceneComponent* attachToComponent, const FName& boneName);
 
    USceneComponent* GetComponentByHierarchyName(FString hierarchyName);
 
 
    UPROPERTY(BlueprintAssignable)
    FLidarSpawned OnLidarSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FCameraSpawned OnCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FThermalCameraSpawned OnThermalCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FDVSCameraSpawned OnDVSCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FSegmentationCameraSpawned OnSegmentationCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FInstanceSegmentationCameraSpawned OnInstanceSegmentationCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FDepthCameraSpawned OnDepthCameraSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FRadarSpawned OnRadarSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FSensorSpawned OnSensorSpawned;
 
    UPROPERTY(BlueprintAssignable)
    FLidarDestroyed OnLidarDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FCameraDestroyed OnCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FThermalCameraDestroyed OnThermalCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FDVSCameraDestroyed OnDVSCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FSegmentationCameraDestroyed OnSegmentationCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FInstanceSegmentationCameraDestroyed OnInstanceSegmentationCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FDepthCameraDestroyed OnDepthCameraDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FRadarDestroyed OnRadarDestroyed;
 
    UPROPERTY(BlueprintAssignable)
    FSensorDestroyed OnSensorDestroyed;
 
 
    static const FString ComponentHierarchySeparator;
 
private:
    FTransform SensorRelativeTransformToWorld(const FTransform& relativeTransform);
 
    FTransform SensorRelativeTransformToComponentWorld(const FTransform& relativeTransform, const FTransform& componentTransformWorld);
 
    FTransform GetSensorAttachmentTransform(const FTransform& sensorRelativeTransform, USceneComponent* attachToComponent, const FName& attachToBone, bool revertScaleToVectorOne = true);
 
    void AttachSensorToOwner(ASensor* sensor);
 
    void DestroySensorActor(AActor* sensorActor);
 
    UFUNCTION()
    void OnCameraWindowClosed(ACamera* camera);
 
    void AddSensorDestroyListener(ASensor* sensor);
 
    void RemoveSensorDestroyListener(ASensor* sensor);
 
    UFUNCTION()
    void OnSensorDestroy(ASensor* sensor);
 
    UFUNCTION()
    FSensorPreset GetSensorPreset(ASensor* sensor);
 
    UPROPERTY()
    TArray<ASensor*> Sensors;
 
    UPROPERTY()
    TArray<ALidar*> Lidars;
 
    UPROPERTY()
    TArray<ACamera*> Cameras;
 
    UPROPERTY()
    TArray<AThermalCamera*> ThermalCameras;
 
    UPROPERTY()
    TArray<ADVSCamera*> DVSCameras;
 
    UPROPERTY()
    TArray<ASemanticSegmentationCamera*> SegmentationCameras;
 
    UPROPERTY()
    TArray<AInstanceSegmentationCamera*> InstanceSegmentationCameras;
 
    UPROPERTY()
    TArray<ADepthCamera*> DepthCameras;
 
    UPROPERTY()
    TArray<ARadar*> Radars;
 
    // If we want to add reference to collision sensor in this
    // ACollisionSensor* CollisionSensor;
};