#include <OverlapSensor.h>

Inheritance diagram for AOverlapSensor:

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Collaboration diagram for AOverlapSensor:

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Public Member Functions
	AOverlapSensor (const FObjectInitializer &ObjectInitializer)

void	Init (FOverlapSensorParameters InParameters)

virtual ESensorTypes	GetSensorType () const override

void	SetOverlapBounds (const FVector &NewSize)

void	SetVisualizeOverlapArea (bool Visualize)

void	SetOverlapRelativePosition (const FVector &Vector)

void	SetOverlapResponseToAllChannels (const ECollisionResponse Response)

bool	IsVisualizingOverlapArea () const

virtual FString	GetParametersAsString () 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

void	SetSensorName (const FString newName)

virtual 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

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
void	OnOverlapBegin (UPrimitiveComponent OverlappedComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, int32 OtherBodyIndex, bool bFromSweep, const FHitResult &SweepResult)

void	OnOverlapEnd (UPrimitiveComponent OverlappedComponent, AActor OtherActor, UPrimitiveComponent *OtherComp, int32 OtherBodyIndex)

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

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

virtual void	CreateROSTopic ()

virtual void	DestroyROSTopic ()

virtual void	CreateDataSavePath ()

bool	IsLogFileCreated ()

virtual void	CreateLogFile ()

void	WriteToLogFile (const FString &Message)

Protected Attributes
UBoundsVisualizerComponent *	BoundsComponent = nullptr

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

FString	FileSavePath

UROSIntegrationGameInstance *	ROSInstance = nullptr

Private Member Functions
virtual void	BeginPlay () override

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

void	BuildAndSendMessage (const FString &Prefix, AActor *Actor)

FString	TryGetID (AActor *Actor)

Private Attributes
TSharedPtr< ROSMessages::std_msgs::String >	ROSMessage

FOverlapSensorParameters	Parameters

AVehicle *	Vehicle = nullptr

FString	VehicleName

FString	VehicleID

bool	IsVisible = false

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

Overlap sensor is a sensor that detects overlap with certain objects in the simulation. This can be useful for development purposes, such as determining when a Walker/Vehicle enters the "safe zone" of another Vehicle. Note that this sensor does not simulate any real-world sensor.

Definition at line 28 of file OverlapSensor.h.

Constructor & Destructor Documentation

◆ AOverlapSensor()

AOverlapSensor::AOverlapSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 19 of file OverlapSensor.cpp.

                                                                          : Super(ObjectInitializer)
{
    PrimaryActorTick.bCanEverTick = false;
 
    BoundsComponent = CreateDefaultSubobject<UBoundsVisualizerComponent>(TEXT("BoundsComponent"));
    BoundsComponent->SetupAttachment(RootComponent);
    BoundsComponent->SetGenerateOverlapEvents(true);
    BoundsComponent->SetVisibility(false);
    BoundsComponent->SetCollisionEnabled(ECollisionEnabled::QueryOnly);
}

References BoundsComponent.

Member Function Documentation

◆ BeginPlay()

void AOverlapSensor::BeginPlay ( )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 95 of file OverlapSensor.cpp.

{
    Super::BeginPlay();
 
    BoundsComponent->OnComponentBeginOverlap.AddDynamic(this, &AOverlapSensor::OnOverlapBegin);
    BoundsComponent->OnComponentEndOverlap.AddDynamic(this, &AOverlapSensor::OnOverlapEnd);
}

References BoundsComponent, OnOverlapBegin(), and OnOverlapEnd().

◆ BuildAndSendMessage()

void AOverlapSensor::BuildAndSendMessage	(	const FString &	Prefix,
		AActor *	Actor
	)

private

Definition at line 191 of file OverlapSensor.cpp.

{
    if (!Actor)
    {
        return;
    }
 
    FString ID = TryGetID(Actor);
    FString Message;
 
    // Calculate distance from sensor parent (vehicle) to incoming Actor
    AActor* From = this;
    if (AActor* VehicleActorPtr = GetParentActor()) 
    {
        From = VehicleActorPtr;
    }
    float DistanceInMeters = FVector::Dist(From->GetActorLocation(), Actor->GetActorLocation()) / 100.0f;
 
    // Add distance to the end of the message
    if (ID.IsEmpty())
    {
        Message = FString::Printf(TEXT("%s: %s, Distance: %.2f m"), *Prefix, *Actor->GetName(), DistanceInMeters);
    }
    else
    {
        Message = FString::Printf(TEXT("%s: %s: ID: %s, Distance: %.2f m"), *Prefix, *Actor->GetName(), *ID, DistanceInMeters);
    }
 
    UTopic* Topic = GetROSTopic();
    if (ROSMessage.IsValid() && Topic && IsROSConnected())
    {
        ROSMessage->_Data = Message;
        Topic->Publish(ROSMessage);
    }
 
    WriteToLogFile(Message);
 
    if (Vehicle)
    {
        FString Msg = FString::Printf(TEXT("Actor '%s' with ID: '%s' %s"), *VehicleName, *VehicleID, *Message);
        SimulatorLog::Log(Msg);
    }
}

References ASensor::GetROSTopic(), ASensor::IsROSConnected(), SimulatorLog::Log(), ROSMessage, TryGetID(), Vehicle, VehicleID, VehicleName, and ASensor::WriteToLogFile().

Referenced by OnOverlapBegin(), and OnOverlapEnd().

◆ EndPlay()

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

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 103 of file OverlapSensor.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    BoundsComponent->OnComponentBeginOverlap.RemoveDynamic(this, &AOverlapSensor::OnOverlapBegin);
    BoundsComponent->OnComponentEndOverlap.RemoveDynamic(this, &AOverlapSensor::OnOverlapEnd);
}

References BoundsComponent, OnOverlapBegin(), and OnOverlapEnd().

◆ GetParametersAsString()

virtual FString AOverlapSensor::GetParametersAsString ( ) const

inlineoverridevirtual

Get this sensor parameters as string

Reimplemented from ASensor.

Definition at line 82 of file OverlapSensor.h.

    {
        return StructToString(Parameters);
    }

◆ GetSensorType()

virtual ESensorTypes AOverlapSensor::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ASensor.

Definition at line 43 of file OverlapSensor.h.

    {
        return ESensorTypes::Overlap;
    }

References Overlap.

◆ Init()

void AOverlapSensor::Init ( FOverlapSensorParameters InParameters )

Definition at line 30 of file OverlapSensor.cpp.

{
    Parameters = InParameters;
 
    Vehicle = Cast<AVehicle>(Parameters.OwningActor);
 
    if (Vehicle)
    {
        VehicleName = IActorInformation::Execute_GetActorName(Vehicle);
        VehicleID = IActorInformation::Execute_GetActorID(Vehicle);
    }
 
    UPrimitiveComponent* TriggerComponent = Cast<UPrimitiveComponent>(BoundsComponent);
 
    // if you change DefaultEngine.ini collision channels then this index must be changed as well!
    const int32 OverlapSensorIndex = 2;
    const ECollisionChannel OverlapSensorChannel = UCollisionProfile::Get()->ConvertToCollisionChannel(false, OverlapSensorIndex);
    BoundsComponent->SetCollisionEnabled(ECollisionEnabled::QueryOnly);
    BoundsComponent->SetGenerateOverlapEvents(true);
    BoundsComponent->SetCollisionObjectType(OverlapSensorChannel);
    BoundsComponent->SetCollisionResponseToAllChannels(ECollisionResponse::ECR_Ignore);
    BoundsComponent->SetCollisionResponseToChannel(OverlapSensorChannel, ECollisionResponse::ECR_Overlap);
    BoundsComponent->SetRelativeLocation(Parameters.RelativePosition);
 
    if (RootComponent)
    {
        BoundsComponent->AttachToComponent(RootComponent, FAttachmentTransformRules::KeepWorldTransform);
    }
 
    TriggerComponent = BoundsComponent;
 
    if (TriggerComponent)
    {
        SetOverlapBounds(InParameters.Size);
        //SetRootComponent(TriggerComponent);
        SetSimulateSensor(true);
 
        ROSMessages::std_msgs::String StringMsg;
        ROSMessage = MakeShared<ROSMessages::std_msgs::String>(StringMsg);
 
        if (Parameters.CreateROSTopic)
        {
            CreateROSTopic();
        }
    }
 
    if (BoundsComponent)
    {
        // Adjust the scale of the Sphere/Box component bounds to match the scale of the VisualizerComponent mesh
        FVector ScaledVector = FVector(Parameters.Size.X / SIZE_DIVISOR, Parameters.Size.Y / SIZE_DIVISOR, Parameters.Size.Z / SIZE_DIVISOR);
        BoundsComponent->SetRelativeScale3D(ScaledVector);
        BoundsComponent->SetRelativeLocation(Parameters.RelativePosition);
 
        if (RootComponent)
        {
            BoundsComponent->AttachToComponent(RootComponent, FAttachmentTransformRules::KeepWorldTransform);
        }
    }
 
    if (Parameters.OwningActor)
    {
        AttachToActor(Parameters.OwningActor, FAttachmentTransformRules::KeepWorldTransform);
    }
}

References BoundsComponent, FOverlapSensorParameters::CreateROSTopic, ASensor::CreateROSTopic(), FOverlapSensorParameters::OwningActor, Parameters, FOverlapSensorParameters::RelativePosition, ROSMessage, SetOverlapBounds(), ASensor::SetSimulateSensor(), FOverlapSensorParameters::Size, SIZE_DIVISOR, Vehicle, VehicleID, and VehicleName.

Referenced by USensorFactory::SpawnOverlapSensor().

◆ IsVisualizingOverlapArea()

bool AOverlapSensor::IsVisualizingOverlapArea ( ) const

inline

Definition at line 77 of file OverlapSensor.h.

    {
        return IsVisible;
    }

◆ OnOverlapBegin()

void AOverlapSensor::OnOverlapBegin	(	UPrimitiveComponent *	OverlappedComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		int32	OtherBodyIndex,
		bool	bFromSweep,
		const FHitResult &	SweepResult
	)

protected

Definition at line 165 of file OverlapSensor.cpp.

{
    // Don't allow Overlapping with other Overlapping sensors..
    AOverlapSensor* OtherOverlapSensor = Cast<AOverlapSensor>(OtherActor);
    if (OtherOverlapSensor)
    {
        return;
    }
 
    BuildAndSendMessage("Overlap Begin with", OtherActor);
}

References BuildAndSendMessage().

Referenced by BeginPlay(), and EndPlay().

◆ OnOverlapEnd()

void AOverlapSensor::OnOverlapEnd	(	UPrimitiveComponent *	OverlappedComponent,
		AActor *	OtherActor,
		UPrimitiveComponent *	OtherComp,
		int32	OtherBodyIndex
	)

protected

Definition at line 178 of file OverlapSensor.cpp.

{
    // Don't allow Overlapping with other Overlapping sensors..
    AOverlapSensor* OtherOverlapSensor = Cast< AOverlapSensor>(OtherActor);
    if (OtherOverlapSensor)
    {
        return;
    }
 
    BuildAndSendMessage("Overlap End with", OtherActor);
}

References BuildAndSendMessage().

Referenced by BeginPlay(), and EndPlay().

◆ SetOverlapBounds()

void AOverlapSensor::SetOverlapBounds ( const FVector & NewSize )

Set this Overlap sensor Overlap bounds.

Definition at line 111 of file OverlapSensor.cpp.

{
    Parameters.Size = NewSize;
 
    if (BoundsComponent)
    {
        // Adjust the scale of the Sphere/Box component bounds to match the scale of the VisualizerComponent mesh
        FVector ScaledVector = FVector(Parameters.Size.X / SIZE_DIVISOR, Parameters.Size.Y / SIZE_DIVISOR, Parameters.Size.Z / SIZE_DIVISOR);
        BoundsComponent->SetRelativeScale3D(ScaledVector);
    }
 
    FString ActorID = IActorInformation::Execute_GetActorID(this);
 
    FString Msg = FString::Printf(TEXT("OverlapSensor with ID: %s changed overlap bounds to: %s"), *ActorID, *NewSize.ToString());
    SimulatorLog::Log(Msg);
}

References BoundsComponent, SimulatorLog::Log(), Parameters, FOverlapSensorParameters::Size, and SIZE_DIVISOR.

Referenced by UROSCommands::HandleChangeOverlapSensorBounds(), and Init().

◆ SetOverlapRelativePosition()

void AOverlapSensor::SetOverlapRelativePosition ( const FVector & Vector )

Set this Overlap sensor relative position to parent.

Definition at line 138 of file OverlapSensor.cpp.

{
    Parameters.RelativePosition = Vector;
 
    if (BoundsComponent)
    {
        BoundsComponent->SetRelativeLocation(Parameters.RelativePosition);
    }
 
    FString Msg = FString::Printf(TEXT("OverlapSensor.cpp: Changed overlap relative position to: %s"), *Vector.ToString());
    SimulatorLog::Log(Msg);
}

References BoundsComponent, SimulatorLog::Log(), Parameters, and FOverlapSensorParameters::RelativePosition.

Referenced by UROSCommands::HandleChangeOverlapSensorPosition().

◆ SetOverlapResponseToAllChannels()

void AOverlapSensor::SetOverlapResponseToAllChannels ( const ECollisionResponse Response )

Set this sensor overlap response.

Parameters

Response The desired collision response. ECR_Overlap: Allows all overlaps to be recognized. ECR_Ignore: Allows only Walker overlaps to be recognized. Other than ECR_Overlap or ECR_Ignore is ignored.

Definition at line 151 of file OverlapSensor.cpp.

{
    if (Response != ECollisionResponse::ECR_Overlap && Response != ECollisionResponse::ECR_Ignore)
    {
        // If Response is neither ECR_Overlap nor ECR_Ignore, return
        return;
    }
 
    if (BoundsComponent)
    {
        BoundsComponent->SetCollisionResponseToAllChannels(Response);
    }
}

References BoundsComponent.

◆ SetVisualizeOverlapArea()

void AOverlapSensor::SetVisualizeOverlapArea ( bool Visualize )

Set this Overlap sensor bounds visulization on or off.

Definition at line 128 of file OverlapSensor.cpp.

{
    IsVisible = Visualize;
 
    if (BoundsComponent)
    {
        BoundsComponent->SetVisibility(IsVisible);
    }
}

References BoundsComponent, and IsVisible.

Referenced by UROSCommands::HandleVisualizeOverlapSensorsBounds(), and AVehicle::SetVisualizeVehicleOverlapArea().

◆ TryGetID()

FString AOverlapSensor::TryGetID ( AActor * Actor )

private

Definition at line 235 of file OverlapSensor.cpp.

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

Referenced by BuildAndSendMessage().

Member Data Documentation

◆ BoundsComponent

UBoundsVisualizerComponent* AOverlapSensor::BoundsComponent = nullptr

protected

Definition at line 98 of file OverlapSensor.h.

Referenced by AOverlapSensor(), BeginPlay(), EndPlay(), Init(), SetOverlapBounds(), SetOverlapRelativePosition(), SetOverlapResponseToAllChannels(), and SetVisualizeOverlapArea().

◆ IsVisible

bool AOverlapSensor::IsVisible = false

private

Definition at line 121 of file OverlapSensor.h.

Referenced by SetVisualizeOverlapArea().

◆ Parameters

FOverlapSensorParameters AOverlapSensor::Parameters

private

Definition at line 112 of file OverlapSensor.h.

Referenced by Init(), SetOverlapBounds(), and SetOverlapRelativePosition().

◆ ROSMessage

TSharedPtr<ROSMessages::std_msgs::String> AOverlapSensor::ROSMessage

private

Definition at line 110 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), and Init().

◆ Vehicle

AVehicle* AOverlapSensor::Vehicle = nullptr

private

Definition at line 115 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), AVehicle::GetActorInformation_Implementation(), and Init().

◆ VehicleID

FString AOverlapSensor::VehicleID

private

Definition at line 119 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), and Init().

◆ VehicleName

FString AOverlapSensor::VehicleName

private

Definition at line 117 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), and Init().

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

Unreal/Agrarsense/Source/Agrarsense/Sensor/Overlap/OverlapSensor.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Overlap/OverlapSensor.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AOverlapSensor()

Member Function Documentation

◆ BeginPlay()

◆ BuildAndSendMessage()

◆ EndPlay()

◆ GetParametersAsString()

◆ GetSensorType()

◆ Init()

◆ IsVisualizingOverlapArea()

◆ OnOverlapBegin()

◆ OnOverlapEnd()

◆ SetOverlapBounds()

◆ SetOverlapRelativePosition()

◆ SetOverlapResponseToAllChannels()

◆ SetVisualizeOverlapArea()

◆ TryGetID()

Member Data Documentation

◆ BoundsComponent

◆ IsVisible

◆ Parameters

◆ ROSMessage

◆ Vehicle

◆ VehicleID

◆ VehicleName