#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

AVehicle *	IsAttachedToVehicle () 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

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
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

FString	CreateTimeStampString () const

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

AActor *	ParentActor = 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)

void	CreateDataSavePath () override

void	CreateLogFile () override

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 97 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 193 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().

◆ CreateDataSavePath()

void AOverlapSensor::CreateDataSavePath ( )

overrideprivatevirtual

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

Reimplemented from ASensor.

Definition at line 237 of file OverlapSensor.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 AOverlapSensor::CreateLogFile ( )

overrideprivatevirtual

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 256 of file OverlapSensor.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("overlap") : Prefix + TEXT("_overlap");
 
        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 AOverlapSensor::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from ASensor.

Definition at line 105 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);
    }
 
    CreateLogFile();
}

References BoundsComponent, CreateLogFile(), 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 167 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 180 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 113 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 140 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 153 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 130 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 292 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 125 of file OverlapSensor.h.

Referenced by SetVisualizeOverlapArea().

◆ Parameters

FOverlapSensorParameters AOverlapSensor::Parameters

private

Definition at line 116 of file OverlapSensor.h.

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

◆ ROSMessage

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

private

Definition at line 114 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), and Init().

◆ Vehicle

AVehicle* AOverlapSensor::Vehicle = nullptr

private

Definition at line 119 of file OverlapSensor.h.

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

◆ VehicleID

FString AOverlapSensor::VehicleID

private

Definition at line 123 of file OverlapSensor.h.

Referenced by BuildAndSendMessage(), and Init().

◆ VehicleName

FString AOverlapSensor::VehicleName

private

Definition at line 121 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()

◆ CreateDataSavePath()

◆ CreateLogFile()

◆ EndPlay()

◆ GetParametersAsString()

◆ GetSensorType()

◆ Init()

◆ IsVisualizingOverlapArea()

◆ OnOverlapBegin()

◆ OnOverlapEnd()

◆ SetOverlapBounds()

◆ SetOverlapRelativePosition()

◆ SetOverlapResponseToAllChannels()

◆ SetVisualizeOverlapArea()

◆ TryGetID()

Member Data Documentation

◆ BoundsComponent

◆ IsVisible

◆ Parameters

◆ ROSMessage

◆ Vehicle

◆ VehicleID

◆ VehicleName