SimulatorJsonParser.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 "GameFramework/Actor.h"
 
#include "Json.h"
#include "JsonUtilities.h"
#include "JsonObjectConverter.h"
 
#include "SimulatorJsonParser.generated.h"
 
class APIDDrone;
class AVehicle;
class ASensor;
 
struct FThermalCameraParameters;
struct FDepthCameraParameters;
struct FDVSCameraParameters;
struct FWalkerParameters;
struct FDroneParameters;
 
UCLASS()
class AGRARSENSE_API USimulatorJsonParser : public UBlueprintFunctionLibrary
{
 
    GENERATED_BODY()
 
public:
 
    UFUNCTION(BlueprintCallable, Category = "ROS JSON Utilities")
    static void ParseAndOperateJSONFile(const FString& Path);
 
private:
 
    static void ParseVehicle(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParsePropOrFoliage(const TSharedPtr<FJsonObject>& JsonObject, const FString& ObjectType);
 
    static void SpawnSensorToVehicle(AVehicle* Vehicle, const TSharedPtr<FJsonObject>& SensorObject);
 
    static void SpawnSensorWorld(const TSharedPtr<FJsonObject>& SensorObject);
 
    static void SpawnWalker(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseWalkerSpawnPoints(const TSharedPtr<FJsonObject>& ParametersObject, FWalkerParameters& WalkerParams);
 
    static void ChangeWeather(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseAndSetDroneParameters(APIDDrone* DronePtr, const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseAndSetWheeledVehicleParameters(AVehicle* VehiclePtr, const TSharedPtr<FJsonObject>& JsonObject);
 
    static void HandleSpectatorMovement(const TSharedPtr<FJsonObject>& JsonObject, AActor* Actor, const FTransform& Transform);
 
    static void AttachActorToSpectatorCamera(AActor* ActorPtr);
 
    static void ParseAndSetSemanticColors(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseCommands(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseVolumeDeletion(const TSharedPtr<FJsonObject>& JsonObject);
 
    static void ParseDataCapture(const TSharedPtr<FJsonObject>& JsonObject);
 
    static FTransform ParseTransform(const FString& FieldName, const TSharedPtr<FJsonObject>& Object);
 
    static FVector4 ParseVector4(const FString& FieldName, const TSharedPtr<FJsonObject>& Object);
 
    static FThermalCameraParameters ParseThermalCameraParameters(const TSharedPtr<FJsonObject>& ParametersObject);
 
    static int32 GetIntValueOrDefault(const TSharedPtr<FJsonObject>& JsonObject, const FString& FieldName, int32 DefaultValue);
 
    /*
    * Adjusts the Z value of the given transform so that its position represents
    * the specified height above the ground, instead of an absolute world Z value.
    * It performs a downward line trace to find the ground level and updates the transform accordingly.
    */
    static void ComputeAndSetZFromGround(FTransform& Position);
 
    template<typename T>
    static T ParseParameters(const TSharedPtr<FJsonObject>& ParametersObject)
    {
        T Params;
 
        if (ParametersObject.IsValid())
        {
            FJsonObjectConverter::JsonObjectToUStruct(ParametersObject.ToSharedRef(), T::StaticStruct(), &Params);
        }
 
        return Params;
    }
 
    static bool IsDataCapture;
 
    static TArray<ASensor*> SpawnedSensorsForDataCapture;
};