SimulatorJsonExporter.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 "EngineMinimal.h"
#include "Kismet/BlueprintFunctionLibrary.h"
#include "JsonObjectConverter.h"
#include "Dom/JsonObject.h"
#include "JsonUtilities.h"
#include "Json.h"
 
#include "Agrarsense/Sensor/Camera/CameraBaseParameters.h"
#include "Agrarsense/Weather/WeatherParameters.h"
 
#include "SimulatorJsonExporter.generated.h"
 
class AInstancedActor;
class AVehicle;
class ASensor;
class ALidar;
class ACamera;
class AThermalCamera;
class ADepthCamera;
class ASemanticSegmentationCamera;
class ADVSCamera;
class ARadar;
class AWalker;
 
UCLASS()
class AGRARSENSE_API USimulatorJsonExporter : public UBlueprintFunctionLibrary
{
 
    GENERATED_BODY()
 
public:
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static FString ExportInstancedActorsToJSON(FString FileName, const TArray<AInstancedActor*>& Actors);
 
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static FString ExportVehicleAndSensorsToJSON(FString FileName, AVehicle* Vehicle, bool OverrideTransform = false, const FTransform& Transform = FTransform());
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static FString ExportWeatherToJSON(const FString& FileName, const FWeatherParameters& WeatherParameters);
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static FString ExportWalkerToJSON(const FString& FileName, AWalker* Walker);
 
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static FString ExportSensorToJSON(const FString& FileName, ASensor* Sensor);
 
private:
 
    static TArray<TSharedPtr<FJsonValue>> ParseLidars(const TArray<ALidar*>& Lidars);
 
    static TArray<TSharedPtr<FJsonValue>> ParseCameras(const TArray<ACamera*>& Cameras);
 
    static TArray<TSharedPtr<FJsonValue>> ParseDepthCameras(const TArray<ADepthCamera*>& DepthCameras);
 
    static TArray<TSharedPtr<FJsonValue>> ParseThermalCameras(const TArray<AThermalCamera*>& ThermalCameras);
 
    static TArray<TSharedPtr<FJsonValue>> ParseDVSCameras(const TArray<ADVSCamera*>& DVSCameras);
 
    static TArray<TSharedPtr<FJsonValue>> ParseRadars(const TArray<ARadar*>& Radars);
 
    static TSharedPtr<FJsonObject> CreateSensorJSONObject(const ASensor* SensorPtr, FString SensorName);
 
    static TSharedPtr<FJsonObject> CameraParametersToJSONObject(const FCameraBaseParameters& Parameters);
 
    static void SetSpawnPoint(TSharedPtr<FJsonObject>& ObjectEntry, const FVector& Location, const FRotator& Rotation, const FVector& Scale);
 
    static FString CreateUniqueFilePath(FString FileName);
 
};