#include <CollisionSensor.h>

Inheritance diagram for ACollisionSensor:

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Collaboration diagram for ACollisionSensor:

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Public Member Functions
	ACollisionSensor (const FObjectInitializer &ObjectInitializer)

void	Init (FCollisionSensorParameters CollisionSensorParameters, bool SimulateSensor=true)

virtual ESensorTypes	GetSensorType () const override

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

FString	ExportToJsonFile (const FString &FileName)

virtual ESensorTypes	GetSensorType () const

FString	GetSensorIdentifier () const

void	SetSensorIdentifier (const FString newIdentifier)

FString	GetSensorName () const

virtual FString	GetParametersAsString () const

AVehicle *	IsAttachedToVehicle () const

void	SetSensorName (const FString newName)

FString	GetTopicName ()

UTopic *	GetROSTopic () const

void	SetSimulateSensor (bool SimulateSensor)

bool	CanSimulateSensor () const

ASensorModel *	GetSensorModel () const

void	SetSensorModel (ASensorModel *NewSensorModel)

FORCEINLINE bool	IsROSConnected () const

UROSIntegrationGameInstance *	GetROSGameInstance () const

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

void	SetParentActorPtr (AActor *ParentActorPtr)

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Protected Member Functions
virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	CreateDataSavePath () override

void	CreateLogFile () override

Protected Member Functions inherited from ASensor
virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

FString	CreateTimeStampString () const

virtual void	CreateROSTopic ()

virtual void	DestroyROSTopic ()

virtual void	CreateDataSavePath ()

bool	IsLogFileCreated ()

virtual void	CreateLogFile ()

void	WriteToLogFile (const FString &Message)

Protected Attributes
FCollisionSensorParameters	Parameters

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

AActor *	ParentActor = nullptr

FString	FileSavePath

UROSIntegrationGameInstance *	ROSInstance = nullptr

Private Member Functions
void	SendCollisionData (const FString &CollisionDataString)

void	OnComponentHit (UPrimitiveComponent HitComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, FVector NormalImpulse, const FHitResult &Hit)

void	OnActorHit (AActor Actor, AActor OtherActor, FVector NormalImpulse, const FHitResult &Hit)

FString	CollsionDataToString (const CollisionData &Data)

FString	TryGetID (AActor *Actor) const

Private Attributes
TWeakObjectPtr< AActor >	CurrentOwner

UPrimitiveComponent *	PrimitiveComponent = nullptr

TSharedPtr< ROSMessages::std_msgs::String >	CollisionMessage

Additional Inherited Members
Static Public Member Functions inherited from ASensor
static void	HideComponentForAllCameras (UPrimitiveComponent *PrimitiveComponent)

static TMap< FString, FColor >	GetSemanticColors ()

static TArray< TWeakObjectPtr< UPrimitiveComponent > >	GetComponentsToHide ()

Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Public Attributes inherited from ASensor
FSensorDestroy	OnSensorDestroy

FString	AttachedToComponent

FName	AttachedToBone

Static Protected Member Functions inherited from ASensor
template<typename InStructType >
static FString	StructToString (const InStructType &InStruct)

Static Protected Attributes inherited from ASensor
static FPrimitiveAdded	OnPrimitiveAdded

static const FName	NiagaraPointsInt = "User.PointCount"

static const FName	NiagaraHitPoints = "User.HitPoints"

static const FName	NiagaraHitColors = "User.HitColors"

static const FName	NiagaraPointsFloat = "User.Test"

Detailed Description

Collision sensor for vehicles.

Definition at line 65 of file CollisionSensor.h.

Constructor & Destructor Documentation

◆ ACollisionSensor()

ACollisionSensor::ACollisionSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 12 of file CollisionSensor.cpp.

                                                                              : Super(ObjectInitializer)
{
    PrimaryActorTick.bCanEverTick = false;
}

Member Function Documentation

◆ BeginPlay()

void ACollisionSensor::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 44 of file CollisionSensor.cpp.

{
    Super::BeginPlay();
}

◆ CollsionDataToString()

FString ACollisionSensor::CollsionDataToString ( const CollisionData & Data )

private

Definition at line 119 of file CollisionSensor.cpp.

{
    auto Quote = [](FString S)
        {
            S.ReplaceInline(TEXT("\""), TEXT("\\\""));
            return FString::Printf(TEXT("%s"), *S);
        };
 
 
    FString ID;
    FVector Location;
 
    if (Data.OtherActorPtr)
    {
        ID = TryGetID(Data.OtherActorPtr);
        Location = Data.ActorPtr->GetActorLocation();
    }
 
    auto NormalImpulse = Data.NormalImpulse;
    const FString ImpulseStr = FString::Printf(TEXT("%.2f,%.2f,%.2f"), NormalImpulse.X, NormalImpulse.Y, NormalImpulse.Z);
    const double ImpulseMag = Data.NormalImpulse.Size();
    const FString Ts = CreateTimeStampString();
 
    return FString::Printf(
        TEXT("actor=%s other_actor=%s other_actor_id=%s other_actor_location=%.2f,%.2f,%.2f impulse_strength=%s impulse_magnitude=%.2f timestamp=%s"),
        *Quote(Data.Actor),
        *Quote(Data.OtherActor),
        *Quote(ID),
        Location.X, Location.Y, Location.Z,
        *ImpulseStr,
        ImpulseMag,
        *Quote(Ts));
}

References CollisionData::Actor, CollisionData::ActorPtr, ASensor::CreateTimeStampString(), CollisionData::NormalImpulse, CollisionData::OtherActor, CollisionData::OtherActorPtr, and TryGetID().

Referenced by OnActorHit(), and OnComponentHit().

◆ CreateDataSavePath()

void ACollisionSensor::CreateDataSavePath ( )

overrideprotectedvirtual

Creates data save path for this sensor. Can be overriden if needed.

Reimplemented from ASensor.

Definition at line 178 of file CollisionSensor.cpp.

{
    if (!FileSavePath.IsEmpty())
    {
        return;
    }
 
    const FString DataLocation = UAgrarsensePaths::GetDataFolder();
 
    // Default save path
    FileSavePath = DataLocation + GetActorID_Implementation() + "/";
 
    if (AVehicle* AttachedVehicle = IsAttachedToVehicle())
    {
        // If sensor is attached to vehicle, save data to vehicle folder
        FileSavePath = DataLocation + AttachedVehicle->GetActorID_Implementation();
    }
}

References ASensor::FileSavePath, ASensor::GetActorID_Implementation(), UAgrarsensePaths::GetDataFolder(), and ASensor::IsAttachedToVehicle().

Referenced by CreateLogFile().

◆ CreateLogFile()

void ACollisionSensor::CreateLogFile ( )

overrideprotectedvirtual

Create Text file for this sensor if it has not been created already. Text file will be created to ROOT/Data/Run/Logs directory. Filename will be SensorName_ID_UnixTimestamp.txt Can be overriden by individual sensor if needed.

Reimplemented from ASensor.

Definition at line 197 of file CollisionSensor.cpp.

{
    if (IsValid(LogFile))
    {
        // File has already been created, return
        return;
    }
 
    CreateDataSavePath();
 
    FLogFileSettings Settings;
    Settings.FileCreationOptions = FFileCreationOptions::Overwrite;
    Settings.FileWriteOptions = FFileWriteOptions::Queue;
    Settings.QueueLength = MAX_int32;
    Settings.KeepFileOpen = false;
    Settings.Timestamp = false;
    Settings.OverrideFilePath = true;
    Settings.FilePath = FileSavePath;
 
    UE_LOG(LogTemp, Warning, TEXT("FileSavePath %s"), *FileSavePath);
 
    LogFile = NewObject<ULogFile>(ULogFile::StaticClass());
    if (IsValid(LogFile))
    {
        FString Prefix;
        if (AVehicle* AttachedVehicle = IsAttachedToVehicle())
        {
            Prefix = AttachedVehicle->GetActorID_Implementation();
        }
        FString FileName = Prefix.IsEmpty() ? TEXT("collision") : Prefix + TEXT("_collision");
 
        LogFile->Create(FileName, Settings);
    }
}

References ULogFile::Create(), CreateDataSavePath(), FLogFileSettings::FileCreationOptions, FLogFileSettings::FilePath, ASensor::FileSavePath, FLogFileSettings::FileWriteOptions, ASensor::IsAttachedToVehicle(), FLogFileSettings::KeepFileOpen, ASensor::LogFile, FLogFileSettings::OverrideFilePath, Overwrite, Queue, FLogFileSettings::QueueLength, and FLogFileSettings::Timestamp.

Referenced by Init().

◆ EndPlay()

void ACollisionSensor::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 49 of file CollisionSensor.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    if (CurrentOwner.Get())
    {
        CurrentOwner->OnActorHit.RemoveDynamic(this, &ACollisionSensor::OnActorHit);
        CurrentOwner.Reset();
    }
 
    if (PrimitiveComponent)
    {
        PrimitiveComponent->OnComponentHit.RemoveDynamic(this, &ACollisionSensor::OnComponentHit);
        PrimitiveComponent = nullptr;
    }
 
    Parameters.Reset();
    CollisionMessage.Reset();
}

References CollisionMessage, CurrentOwner, OnActorHit(), OnComponentHit(), Parameters, PrimitiveComponent, and FCollisionSensorParameters::Reset().

◆ GetSensorType()

virtual ESensorTypes ACollisionSensor::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ASensor.

Definition at line 85 of file CollisionSensor.h.

    {
        return ESensorTypes::Collision;
    }

References Collision.

◆ Init()

void ACollisionSensor::Init	(	FCollisionSensorParameters	CollisionSensorParameters,
		bool	SimulateSensor = `true`
	)

Initialize collision sensor.

Parameters

NewOwner	The new owner actor to be set.
SimulateSensor	Whether to simulate the sensor (default is true).

Definition at line 17 of file CollisionSensor.cpp.

{
    SetSimulateSensor(SimulateSensor);
 
    if (CollisionSensorParameters.OwningActor)
    {
        CurrentOwner = CollisionSensorParameters.OwningActor;
        PrimitiveComponent = CollisionSensorParameters.PrimitiveComponent;
 
        if (CollisionSensorParameters.UseActorCollision && CurrentOwner.Get())
        {
            CurrentOwner->OnActorHit.AddDynamic(this, &ACollisionSensor::OnActorHit);
        }
        else if (CollisionSensorParameters.PrimitiveComponent) 
        {
            PrimitiveComponent->OnComponentHit.AddDynamic(this, &ACollisionSensor::OnComponentHit);
        }
 
        AttachToActor(CurrentOwner.Get(), FAttachmentTransformRules::KeepWorldTransform);
    }
 
    CollisionMessage = MakeShared<ROSMessages::std_msgs::String>();
 
    CreateROSTopic();
    CreateLogFile();
}

References CollisionMessage, CreateLogFile(), ASensor::CreateROSTopic(), CurrentOwner, OnActorHit(), OnComponentHit(), FCollisionSensorParameters::OwningActor, PrimitiveComponent, FCollisionSensorParameters::PrimitiveComponent, ASensor::SetSimulateSensor(), and FCollisionSensorParameters::UseActorCollision.

Referenced by USensorFactory::SpawnCollisionSensor().

◆ OnActorHit()

void ACollisionSensor::OnActorHit	(	AActor *	Actor,
		AActor *	OtherActor,
		FVector	NormalImpulse,
		const FHitResult &	Hit
	)

private

Definition at line 94 of file CollisionSensor.cpp.

{
    if (!CanSimulateSensor() || !Actor || !OtherActor)
    {
        return;
    }
 
    NormalImpulse *= 1e-2;
    if (NormalImpulse.Size() > 200)
    {
        CollisionData Collisiondata =
        {
            Actor,
            OtherActor,
            Actor->GetName(),
            OtherActor->GetName(),
            NormalImpulse
        };
 
        FString CollisionDataString = CollsionDataToString(Collisiondata);
        SendCollisionData(CollisionDataString);
        WriteToLogFile(CollisionDataString);
    }
}

References ASensor::CanSimulateSensor(), CollsionDataToString(), SendCollisionData(), and ASensor::WriteToLogFile().

Referenced by EndPlay(), and Init().

◆ OnComponentHit()

void ACollisionSensor::OnComponentHit	(	UPrimitiveComponent *	HitComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		FVector	NormalImpulse,
		const FHitResult &	Hit
	)

private

Definition at line 69 of file CollisionSensor.cpp.

{
    if (!CanSimulateSensor() || !OtherActor || !CurrentOwner.Get())
    {
        return;
    }
 
    NormalImpulse *= 1e-2;
    if (NormalImpulse.Size() > 0.3f)
    {
        CollisionData Collisiondata =
        {
            CurrentOwner.Get(),
            OtherActor,
            CurrentOwner->GetName(),
            OtherActor->GetName(),
            NormalImpulse
        };
 
        FString CollisionDataString = CollsionDataToString(Collisiondata);
        SendCollisionData(CollisionDataString);
        WriteToLogFile(CollisionDataString);
    }
}

References ASensor::CanSimulateSensor(), CollsionDataToString(), CurrentOwner, SendCollisionData(), and ASensor::WriteToLogFile().

Referenced by EndPlay(), and Init().

◆ SendCollisionData()

void ACollisionSensor::SendCollisionData ( const FString & CollisionDataString )

private

Definition at line 168 of file CollisionSensor.cpp.

{
    UTopic* Topic = GetROSTopic();
    if (IsROSConnected() && CollisionMessage.IsValid() && Topic)
    {
        CollisionMessage->_Data = CollisionDataString;
        Topic->Publish(CollisionMessage);
    }
}

References CollisionMessage, ASensor::GetROSTopic(), and ASensor::IsROSConnected().

Referenced by OnActorHit(), and OnComponentHit().

◆ TryGetID()

FString ACollisionSensor::TryGetID ( AActor * Actor ) const

private

Definition at line 153 of file CollisionSensor.cpp.

{
    FString ID;
 
    if (Actor && Actor->GetClass()->ImplementsInterface(UActorInformation::StaticClass()))
    {
        if (Actor->Implements<UActorInformation>())
        {
            ID = IActorInformation::Execute_GetActorID(Actor);
        }
    }
 
    return ID;
}

Referenced by CollsionDataToString().

Member Data Documentation

◆ CollisionMessage

TSharedPtr<ROSMessages::std_msgs::String> ACollisionSensor::CollisionMessage

private

Definition at line 122 of file CollisionSensor.h.

Referenced by EndPlay(), Init(), and SendCollisionData().

◆ CurrentOwner

TWeakObjectPtr<AActor> ACollisionSensor::CurrentOwner

private

Definition at line 117 of file CollisionSensor.h.

Referenced by EndPlay(), Init(), and OnComponentHit().

◆ Parameters

FCollisionSensorParameters ACollisionSensor::Parameters

protected

Definition at line 100 of file CollisionSensor.h.

Referenced by EndPlay().

◆ PrimitiveComponent

UPrimitiveComponent* ACollisionSensor::PrimitiveComponent = nullptr

private

Definition at line 120 of file CollisionSensor.h.

Referenced by EndPlay(), and Init().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Sensor/Collision/CollisionSensor.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Collision/CollisionSensor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ACollisionSensor()

Member Function Documentation

◆ BeginPlay()

◆ CollsionDataToString()

◆ CreateDataSavePath()

◆ CreateLogFile()

◆ EndPlay()

◆ GetSensorType()

◆ Init()

◆ OnActorHit()

◆ OnComponentHit()

◆ SendCollisionData()

◆ TryGetID()

Member Data Documentation

◆ CollisionMessage

◆ CurrentOwner

◆ Parameters

◆ PrimitiveComponent