ASensor Class Reference

#include <Sensor.h>

Inheritance diagram for ASensor:

Collaboration diagram for ASensor:

Public Member Functions
	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)

Static Public Member Functions
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
FSensorDestroy	OnSensorDestroy
FString	AttachedToComponent
FName	AttachedToBone

Protected Member Functions
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)

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

Protected Attributes
UTopic *	ROSTopic = nullptr
bool	SendDataToROS = true
ULogFile *	LogFile = nullptr
AActor *	ParentActor = nullptr
FString	FileSavePath
UROSIntegrationGameInstance *	ROSInstance = nullptr

Static Protected Attributes
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"

Private Member Functions
void	ROSBridgeStateChanged (EROSState ROSState)

Private Attributes
TObjectPtr< ASensorModel >	SensorModel
FString	SensorIdentifier
FString	SensorName
bool	SimulateThisSensor = true
bool	ROSConnected = false

Static Private Attributes
static TArray< TWeakObjectPtr< UPrimitiveComponent > >	ComponentsToHide

Detailed Description

Base class for all sensors.

Definition at line 44 of file Sensor.h.

Constructor & Destructor Documentation

ASensor()

ASensor::ASensor

(

const FObjectInitializer &

ObjectInitializer

)

Definition at line 27 of file Sensor.cpp.

                                                            : Super(ObjectInitializer)
{
    RootComponent = CreateDefaultSubobject<USceneComponent>(TEXT("SceneRoot"));
    RootComponent->SetMobility(EComponentMobility::Movable);
}

Member Function Documentation

BeginPlay()

void ASensor::BeginPlay ( )

overrideprotectedvirtual

Reimplemented in ACamera, ACollisionSensor, ALidar, AOverlapSensor, ARadar, and ATransformSensor.

Definition at line 33 of file Sensor.cpp.

{
    Super::BeginPlay();
 
    UWorld* World = GetWorld();
 
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(World);
    if (ROSHandler)
    {
        // Subscribe to ROS changed event
        ROSHandler->OnROSStateChanged.AddUniqueDynamic(this, &ASensor::ROSBridgeStateChanged);
    }
 
    ROSInstance = UAgrarsenseStatics::GetROSGameInstance(World);
    if (ROSInstance)
    {
        // Check if ROS is connected at BeginPlay
        ROSConnected = ROSInstance->IsROSConnected();
    }
 
    // Delay logging sensor information message so each sensor have time setup fully.
    FTimerHandle Handle;
    World->GetTimerManager().SetTimer(Handle, FTimerDelegate::CreateLambda([this]
        {
            if (IsValid(this))
            {
                FString ActorInformation = IActorInformation::Execute_GetActorInformation(this);
                FString Message = FString::Printf(TEXT("Spawned %s"), *ActorInformation);
 
                SimulatorLog::Log(Message);
            }
        }), 0.150f, false);
 
    // Inform sensor manager that new sensor has been spawned.
    USensorManager::AddSensor(this);
 
    ESensorTypes ThisSensorType = GetSensorType();
 
    if (ThisSensorType != ESensorTypes::NONE &&
        ThisSensorType != ESensorTypes::Transform &&
        ThisSensorType != ESensorTypes::Collision &&
        ThisSensorType != ESensorTypes::Overlap)
    {
        // Spawn a Transform sensor for any sensor type other than NONE, Transform, Collision, or Overlap.
        // Meaning each sensor, like a Lidar sensor, has its own Transform sensor that publishes its:
        // - World location
        // - GNSS location (if world has GNSS setup)
        
        // We don't need to keep track of this TransformSensor Actor as it should 
        // be automatically destroyed when the parent sensor is destroyed (ASensor EndPlay)
        FString ActorID = IActorInformation::Execute_GetActorID(this);
        FString SensorTransformSensorID = ActorID + "/transform";
 
        FTransformSensorParameters Params;
        Params.SaveTransformDataToDisk = false;
        Params.OwningActor = this;
 
        USensorFactory::SpawnTransformSensor(GetActorTransform(), Params, SensorTransformSensorID, "transform", true, this);
    }
}

References USensorManager::AddSensor(), Collision, UAgrarsenseStatics::GetROSGameInstance(), UAgrarsenseStatics::GetROSHandle(), GetSensorType(), SimulatorLog::Log(), NONE, UROSHandler::OnROSStateChanged, Overlap, FTransformSensorParameters::OwningActor, ROSBridgeStateChanged(), ROSConnected, ROSInstance, FTransformSensorParameters::SaveTransformDataToDisk, USensorFactory::SpawnTransformSensor(), and Transform.

CanSimulateSensor()

bool ASensor::CanSimulateSensor ( ) const

inline

Checks whether this sensor can be simulated.

Returns

True if the sensor can be simulated, false otherwise.

Definition at line 170 of file Sensor.h.

    {
        return SimulateThisSensor;
    }

Referenced by ADVSCamera::ChangeDVSCameraParameters(), ALidar::ChangeLidarParameters(), ARadar::ChangeRadarParameters(), ACollisionSensor::OnCollisionEvent(), ACamera::ShouldSimulate(), ALidar::SimulateRaycastLidar(), ARadar::Tick(), and ATransformSensor::TickParallel().

CreateDataSavePath()

void ASensor::CreateDataSavePath ( )

protectedvirtual

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

Reimplemented in ACollisionSensor, AOverlapSensor, and ATransformSensor.

Definition at line 246 of file Sensor.cpp.

{
    if (FileSavePath.IsEmpty())
    {
        FString DataLocation = UAgrarsensePaths::GetDataFolder();
    
        if (AVehicle* Vehicle = IsAttachedToVehicle()) 
        {
            FString VehicleName = Vehicle->GetActorID_Implementation();
            FileSavePath = DataLocation + VehicleName + "/" + GetActorID_Implementation() + "/";
        }
        else 
        {
            FileSavePath = DataLocation + GetActorID_Implementation() + "/";
        }
    }
}

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

Referenced by ACamera::Init(), and ALidar::Init().

CreateLogFile()

void ASensor::CreateLogFile ( )

protectedvirtual

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 in ACamera, ACollisionSensor, ALidar, AOverlapSensor, and ATransformSensor.

Definition at line 264 of file Sensor.cpp.

{
    if (IsValid(LogFile))
    {
        // File has already been created, return
        return;
    }
 
    FLogFileSettings Settings;
    Settings.FileCreationOptions = FFileCreationOptions::Overwrite;
    Settings.FileWriteOptions = FFileWriteOptions::Queue;
    Settings.QueueLength = 10;
    Settings.KeepFileOpen = false;
 
    LogFile = NewObject<ULogFile>(ULogFile::StaticClass());
    if (LogFile)
    {
        // FileName is SensorName_ID_UnixTimeStamp.txt
        FString UnixTimeStamp = FString::FromInt(FDateTime::Now().ToUnixTimestamp());
 
        FString ActorID = IActorInformation::Execute_GetActorID(this);
 
        // Temp fix, Remove all "/" from ActorID
        ActorID.ReplaceInline(TEXT("/"), TEXT(""), ESearchCase::IgnoreCase);
 
        FString FileName = FString::Printf(TEXT("%s_%s_%s"), *GetSensorName(), *ActorID, *UnixTimeStamp);
        LogFile->Create(FileName, Settings);
    }
}

References ULogFile::Create(), FLogFileSettings::FileCreationOptions, FLogFileSettings::FileWriteOptions, GetSensorName(), FLogFileSettings::KeepFileOpen, LogFile, Overwrite, Queue, and FLogFileSettings::QueueLength.

Referenced by WriteToLogFile().

CreateROSTopic()

void ASensor::CreateROSTopic ( )

protectedvirtual

Creates ROS Topic for this sensor. Can be overriden by individual sensor if needed.

Reimplemented in ADVSCamera, and ATransformSensor.

Definition at line 190 of file Sensor.cpp.

{
    if (!SendDataToROS
        || ROSTopic
        || !ROSInstance
        || !IsROSConnected())
    {
        return;
    }
 
    FString MessageType;
    ESensorTypes SensorType = GetSensorType();
 
    switch (SensorType)
    {
    case ESensorTypes::Lidar:
    case ESensorTypes::Radar:
        MessageType = "sensor_msgs/PointCloud2";
        break;
 
    case ESensorTypes::RGBCamera:
    case ESensorTypes::ThermalCamera:
    case ESensorTypes::DepthCamera:
    case ESensorTypes::SemanticSegmentationCamera:
    case ESensorTypes::DVSCamera: // DVS Camera should override this.
        MessageType = "sensor_msgs/Image";
        break;
 
    case ESensorTypes::Transform:
        MessageType = "geometry_msgs/Transform";
        break;
 
    case ESensorTypes::Collision:
    case ESensorTypes::Overlap:
        MessageType = "std_msgs/String";
        break;
 
    default:
        FString SensorNameString = UEnumUtilities::ConvertSensorTypeToString(SensorType);
        UE_LOG(LogTemp, Warning, TEXT("Unhandled ROS sensor message creation for sensor: %s"), *SensorNameString);
        break;
    }
 
    FString TopicName = FString::Printf(TEXT("/agrarsense/out/sensors/%s"), *GetSensorIdentifier());
 
    ROSTopic = NewObject<UTopic>(UTopic::StaticClass());
    if (ROSTopic)
    {
        ROSTopic->Init(ROSInstance->ROSIntegrationCore, TopicName, MessageType);
        ROSTopic->Advertise();
    }
 
    FString Message = FString::Printf(TEXT("%s sensor created ROS topic. Name: '%s' MessageType: '%s' "), *GetSensorName(), *TopicName, *MessageType);
    SimulatorLog::Log(Message);
}

References Collision, UEnumUtilities::ConvertSensorTypeToString(), DepthCamera, DVSCamera, GetSensorIdentifier(), GetSensorName(), GetSensorType(), IsROSConnected(), Lidar, SimulatorLog::Log(), Overlap, Radar, RGBCamera, ROSInstance, ROSTopic, SemanticSegmentationCamera, SendDataToROS, ThermalCamera, and Transform.

Referenced by ALidar::ChangeParameters(), ACollisionSensor::Init(), AOverlapSensor::Init(), ARadar::Init(), ROSBridgeStateChanged(), and ACamera::SetupCamera().

CreateTimeStampString()

FString ASensor::CreateTimeStampString ( ) const

protected

Definition at line 322 of file Sensor.cpp.

{
    FDateTime Now = FDateTime::Now();
    FString TimeStamp = FString::Printf(TEXT("%02d:%02d:%04d:%02d:%02d:%02d:%03d"),
        Now.GetDay(), Now.GetMonth(), Now.GetYear(),
        Now.GetHour(), Now.GetMinute(), Now.GetSecond(), Now.GetMillisecond());
 
    return TimeStamp;
}

Referenced by ACamera::SaveCameraMetaDataToDisk(), ALidar::SaveLidarMetaDataToDisk(), and ATransformSensor::SaveTransformMetaDataToDisk().

DestroyROSTopic()

void ASensor::DestroyROSTopic ( )

protectedvirtual

Destroy created ROS Topic. Can be overriden by individual sensor if needed.

Reimplemented in ATransformSensor.

Definition at line 178 of file Sensor.cpp.

{
    if (ROSTopic)
    {
        ROSTopic->Unadvertise();
        ROSTopic->Unsubscribe();
        ROSTopic->MarkAsDisconnected();
        ROSTopic->ConditionalBeginDestroy();
        ROSTopic = nullptr;
    }
}

References ROSTopic.

Referenced by EndPlay(), and ROSBridgeStateChanged().

EndPlay()

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

overrideprotectedvirtual

Reimplemented in ACamera, ADepthCamera, ADVSCamera, AThermalCamera, ACollisionSensor, ALidar, AOverlapSensor, ARadar, and ATransformSensor.

Definition at line 94 of file Sensor.cpp.

{
    // Broadcast that this sensor will be destroyed
    OnSensorDestroy.Broadcast(this);
 
    USensorManager::RemoveSensor(this);
 
    Super::EndPlay(EndPlayReason);
 
    UROSHandler* ROSHandler = UAgrarsenseStatics::GetROSHandle(GetWorld());
    if (ROSHandler)
    {
        ROSHandler->OnROSStateChanged.RemoveDynamic(this, &ASensor::ROSBridgeStateChanged);
    }
 
    FString Sensor = UEnum::GetDisplayValueAsText(GetSensorType()).ToString();
    FString ID = GetSensorIdentifier();
    FString Message = FString::Printf(TEXT("Destroyed %s sensor with ID: %s"), *Sensor, *ID);
    SimulatorLog::Log(Message);
 
    if (EndPlayReason == EEndPlayReason::EndPlayInEditor 
        || EndPlayReason == EEndPlayReason::Quit)
    {
        for (auto& WeakComponentPtr : ComponentsToHide)
        {
            WeakComponentPtr.Reset();
        }
        ComponentsToHide.Empty();
    }
 
    // Destroy all Actors that are attached to this sensor like:
    // Sensor model Actor and TransformSensor Actor.
    TArray<AActor*> AttachedActors;
    GetAttachedActors(AttachedActors);
    for (AActor* Actor : AttachedActors)
    {
        if (Actor)
        {
            Actor->Destroy();
        }
    }
 
    ROSInstance = nullptr;
 
    if (LogFile)
    {
        LogFile->Destroy();
        LogFile = nullptr;
    }
 
    DestroyROSTopic();
}

References ComponentsToHide, ULogFile::Destroy(), DestroyROSTopic(), UAgrarsenseStatics::GetROSHandle(), GetSensorIdentifier(), GetSensorType(), SimulatorLog::Log(), LogFile, UROSHandler::OnROSStateChanged, OnSensorDestroy, USensorManager::RemoveSensor(), ROSBridgeStateChanged(), and ROSInstance.

ExportToJsonFile()

FString ASensor::ExportToJsonFile

(

const FString &

FileName

)

Export this Sensor and parameters to a JSON file.

Parameters

FileName

The name of the file without extension.

Returns

FString representing saved Json file path, or an empty string if the export fails.

Definition at line 147 of file Sensor.cpp.

{
    return USimulatorJsonExporter::ExportSensorToJSON(FileName, this);
}

References USimulatorJsonExporter::ExportSensorToJSON().

Referenced by UROSCommands::HandleExportSensors().

GetActorID_Implementation()

virtual FString ASensor::GetActorID_Implementation ( ) const

inlineoverridevirtual

Definition at line 216 of file Sensor.h.

    {
        return GetSensorIdentifier();
    }

Referenced by CreateDataSavePath(), ACollisionSensor::CreateDataSavePath(), AOverlapSensor::CreateDataSavePath(), and ATransformSensor::CreateDataSavePath().

GetActorInformation_Implementation()

virtual FString ASensor::GetActorInformation_Implementation ( ) const

inlineoverridevirtual

Definition at line 226 of file Sensor.h.

    {
        const FString Sensor = UEnumUtilities::ConvertSensorTypeToString(GetSensorType());
        const FString ID = IActorInformation::Execute_GetActorID(this);
        const FTransform Transform = GetActorTransform();
        const FVector Location = Transform.GetLocation();
        const FRotator Rotation = Transform.Rotator();
        const FString Parameters = GetParametersAsString();
 
        FString Information = FString::Printf(TEXT("Sensor: %s \nID: %s \nLocation: %s \nRotation: %s \nParameters: %s"),
            *Sensor, *ID, *Location.ToString(), *Rotation.ToString(), *Parameters);
 
        return Information;
    }

References UEnumUtilities::ConvertSensorTypeToString(), and Transform.

GetActorName_Implementation()

virtual FString ASensor::GetActorName_Implementation ( ) const

inlineoverridevirtual

Definition at line 221 of file Sensor.h.

    {
        return GetSensorName();
    }

GetComponentsToHide()

static TArray< TWeakObjectPtr< UPrimitiveComponent > > ASensor::GetComponentsToHide ( )

inlinestatic

Static method to retrieve an array of weak pointers to UPrimitiveComponents that are ready to be hidden.

Returns

An array of TWeakObjectPtr<UPrimitiveComponent> containing components ready to be hidden.

Definition at line 270 of file Sensor.h.

    {
        // Since we don't know whether some UPrimitiveComponent has been destroyed,
        // we need to check these are still valid.
        ComponentsToHide.RemoveAll([](const TWeakObjectPtr<UPrimitiveComponent>& WeakComponent)
            {
                return !WeakComponent.IsValid();
            });
 
        return ComponentsToHide;
    }

Referenced by ACamera::BeginPlay().

GetParametersAsString()

virtual FString ASensor::GetParametersAsString ( ) const

inlinevirtual

Get this sensor parameters as string

Reimplemented in ACamera, ADepthCamera, ADVSCamera, AThermalCamera, ALidar, AOverlapSensor, and ARadar.

Definition at line 105 of file Sensor.h.

    {
        return FString();
    }

GetROSGameInstance()

UROSIntegrationGameInstance * ASensor::GetROSGameInstance ( ) const

inline

Retrieves the instance of the ROSIntegrationGameInstance set in ASensor::BeginPlay.

Returns

A pointer to the associated ROSIntegrationGameInstance.

Definition at line 211 of file Sensor.h.

    {
        return ROSInstance;
    }

GetROSTopic()

UTopic * ASensor::GetROSTopic ( ) const

inline

Retrieves the ROS topic associated with this sensor.

Returns

A pointer to the associated ROS topic or nullptr.

Definition at line 150 of file Sensor.h.

    {
        return ROSTopic;
    }

Referenced by AOverlapSensor::BuildAndSendMessage(), ACollisionSensor::SendCollisionData(), ALidar::SendDataToTopic(), ACamera::SendImageDataToROS(), ARadar::SendRadarData(), and ATransformSensor::SendTransformDataToROS().

GetSemanticColors()

TMap< FString, FColor > ASensor::GetSemanticColors ( )

static

Definition at line 317 of file Sensor.cpp.

{
    return USemanticColors::GetSemanticColors();
}

References USemanticColors::GetSemanticColors().

Referenced by ALidar::BeginPlay().

GetSensorIdentifier()

FString ASensor::GetSensorIdentifier ( ) const

inline

Get sensor's identifier

Returns

sensor identifier as FString

Definition at line 75 of file Sensor.h.

    {
        return SensorIdentifier;
    }

Referenced by CreateROSTopic(), ADVSCamera::CreateROSTopic(), ATransformSensor::CreateROSTopic(), EndPlay(), ADVSCamera::Init(), USensorFactory::SetSensorIdentifierAndNameWithFallbacks(), and ACamera::SetupCamera().

GetSensorModel()

ASensorModel * ASensor::GetSensorModel ( ) const

inline

Retrieves the sensor model associated with this sensor.

Note

The returned pointer can be nullptr if no sensor model is set for this sensor.

Returns

A pointer to the associated sensor model or nullptr if not set.

Definition at line 181 of file Sensor.h.

    {
        return SensorModel.Get();
    }

Referenced by USimulatorJsonParser::AttachActorToSpectatorCamera().

GetSensorName()

FString ASensor::GetSensorName ( ) const

inline

Get sensor's name

Returns

Name

Definition at line 96 of file Sensor.h.

    {
        return SensorName;
    }

Referenced by ACamera::AddPostProcessingMaterial(), CreateLogFile(), CreateROSTopic(), and USimulatorJsonExporter::CreateSensorJSONObject().

GetSensorType()

virtual ESensorTypes ASensor::GetSensorType ( ) const

inlinevirtual

Get type of the sensor

Returns

Sensor's type

Reimplemented in ACamera, ADepthCamera, ADVSCamera, ASemanticSegmentationCamera, AThermalCamera, ACollisionSensor, ALidar, AOverlapSensor, ARadar, and ATransformSensor.

Definition at line 65 of file Sensor.h.

    {
        return ESensorTypes::NONE;
    }

References NONE.

Referenced by BeginPlay(), CreateROSTopic(), USensorUtilities::DestroyAllSensors(), EndPlay(), USimulatorJsonExporter::ExportSensorToJSON(), UAgrarsenseSettings::OnSensorDestroyed(), UAgrarsenseSettings::OnSensorSpawned(), USensorFactory::SetSensorIdentifierAndNameWithFallbacks(), and USensorFactory::SpawnModelClassForSensor().

GetTopicName()

virtual FString ASensor::GetTopicName ( )

inlinevirtual

Get ROS topic name for this sensor

Returns

Topic name

Definition at line 133 of file Sensor.h.

    {
        FString Name = "Undefined";
 
        if (ROSTopic)
        {
            Name = ROSTopic->GetName();
        }
 
        return Name;
    }

HideComponentForAllCameras()

void ASensor::HideComponentForAllCameras ( UPrimitiveComponent *  PrimitiveComponent )

static

Static method to hide a specified primitive component for all cameras in the World.

Parameters

PrimitiveComponent

The UPrimitiveComponent to be hidden for all cameras.

Definition at line 307 of file Sensor.cpp.

{
    if (PrimitiveComponent)
    {
        TWeakObjectPtr<UPrimitiveComponent> Component(PrimitiveComponent);
        ComponentsToHide.Add(Component);
        OnPrimitiveAdded.Broadcast(PrimitiveComponent);
    }
}

References ComponentsToHide, and OnPrimitiveAdded.

Referenced by ALidar::BeginPlay(), ASpectator::BeginPlay(), USensorUtilities::HideComponentForAllCameraSensors(), and ARadar::Init().

IsAttachedToVehicle()

AVehicle * ASensor::IsAttachedToVehicle

(

)

const

Definition at line 152 of file Sensor.cpp.

{
    AVehicle* VehicleActor = Cast<AVehicle>(ParentActor);
    if (VehicleActor)
    {
        return VehicleActor;
    }
    return nullptr;
}

References ParentActor.

Referenced by CreateDataSavePath(), ACollisionSensor::CreateDataSavePath(), AOverlapSensor::CreateDataSavePath(), ATransformSensor::CreateDataSavePath(), ACollisionSensor::CreateLogFile(), AOverlapSensor::CreateLogFile(), and ATransformSensor::CreateLogFile().

IsLogFileCreated()

bool ASensor::IsLogFileCreated ( )

inlineprotected

Does log file exists for this sensor.

Definition at line 336 of file Sensor.h.

    {
        if (LogFile)
        {
            return true;
        }
 
        return false;
    }

IsROSConnected()

FORCEINLINE bool ASensor::IsROSConnected ( ) const

inline

Check if ROS is connected.

Returns

True if connected, false otherwise.

Definition at line 201 of file Sensor.h.

    {
        return ROSConnected;
    }

Referenced by AOverlapSensor::BuildAndSendMessage(), CreateROSTopic(), ADVSCamera::CreateROSTopic(), ACollisionSensor::SendCollisionData(), ALidar::SendDataToTopic(), ACamera::SendImageDataToROS(), ADVSCamera::SendRawDVSImageDataToROS(), and ATransformSensor::TickParallel().

ROSBridgeStateChanged()

void ASensor::ROSBridgeStateChanged ( EROSState  ROSState )

private

Callback when ROS Bridge state changed. Must be marked as UFUNCTION.

Definition at line 162 of file Sensor.cpp.

{
    switch (ROSState)
    {
    case EROSState::Connected:
        ROSConnected = true;
        CreateROSTopic();
        break;
 
    case EROSState::Disconnected:
        ROSConnected = false;
        DestroyROSTopic();
        break;
    }
}

References Connected, CreateROSTopic(), DestroyROSTopic(), Disconnected, and ROSConnected.

Referenced by BeginPlay(), and EndPlay().

SetActorIDAndName_Implementation()

virtual void ASensor::SetActorIDAndName_Implementation ( const FString &  NewActorName, const FString &  NewID  )

inlineoverridevirtual

Definition at line 246 of file Sensor.h.

    {
        SetSensorName(NewActorName);
        SetSensorIdentifier(NewID);
    }

SetActorName_Implementation()

virtual void ASensor::SetActorName_Implementation ( const FString &  NewActorName )

inlineoverridevirtual

Definition at line 241 of file Sensor.h.

    {
        SetSensorName(NewActorName);
    }

SetParentActorPtr()

void ASensor::SetParentActorPtr ( AActor *  ParentActorPtr )

inline

Definition at line 252 of file Sensor.h.

    {
        ParentActor = ParentActorPtr;
    }

SetSensorIdentifier()

void ASensor::SetSensorIdentifier ( const FString  newIdentifier )

inline

Set sensor's identifier

Parameters

newIdentifier

New identifier

Definition at line 85 of file Sensor.h.

    {
        SensorIdentifier = newIdentifier;
        SetAndValidateActorIDAndName(SensorName, SensorIdentifier, TWeakObjectPtr<AActor>(this));
    }

Referenced by USensorFactory::SetSensorIdentifierAndNameWithFallbacks().

SetSensorModel()

void ASensor::SetSensorModel ( ASensorModel *  NewSensorModel )

inline

Sets the sensor model for sensor.

Parameters

NewSensorModel

The new sensor model to set.

Definition at line 191 of file Sensor.h.

    {
        SensorModel = NewSensorModel;
    }

Referenced by USensorFactory::SpawnModelClass().

SetSensorName()

void ASensor::SetSensorName ( const FString  newName )

inline

Set sensor's name

Parameters

newIdentifier

New name

Definition at line 123 of file Sensor.h.

    {
        SensorName = newName;
    }

Referenced by USensorFactory::SetSensorIdentifierAndNameWithFallbacks().

SetSimulateSensor()

void ASensor::SetSimulateSensor ( bool  SimulateSensor )

inline

Set simulate this sensor

Parameters

bSimulateSensor

bool

Definition at line 160 of file Sensor.h.

    {
        SimulateThisSensor = SimulateSensor;
    }

Referenced by UROSCommands::HandleSetSensorEnabled(), ACollisionSensor::Init(), ACamera::Init(), ALidar::Init(), AOverlapSensor::Init(), ARadar::Init(), ATransformSensor::Init(), USensorUtilities::SetSimulateAllSensors(), and USensorUtilities::SetSimulateSensorsAttachedToVehicle().

StructToString()

template<typename InStructType >

static FString ASensor::StructToString ( const InStructType &  InStruct )

inlinestaticprotected

Templated function to convert any struct to JSON string representation for logging and debugging purposes.

Template Parameters

InStructType

The type of the structure to be converted to a JSON string.

Parameters

InStruct

The structure instance to be converted.

Returns

A FString containing the JSON string representation of the input structure.

Definition at line 325 of file Sensor.h.

    {
        FString AsString;
        FJsonObjectConverter::UStructToJsonObjectString(InStruct, AsString);
        return AsString;
    }

WriteToLogFile()

void ASensor::WriteToLogFile ( const FString &  Message )

protected

Write to text file. If the text file doesn't exits, it will be created.

Definition at line 294 of file Sensor.cpp.

{
    if (!IsValid(LogFile) && IsValid(this))
    {
        CreateLogFile();
    }
 
    if (IsValid(LogFile))
    {
        LogFile->Write(Message);
    }
}

References CreateLogFile(), LogFile, and ULogFile::Write().

Referenced by AOverlapSensor::BuildAndSendMessage(), ACamera::CreateLogFile(), ALidar::CreateLogFile(), ATransformSensor::CreateLogFile(), ACollisionSensor::OnCollisionEvent(), ACamera::SaveCameraMetaDataToDisk(), ALidar::SaveLidarMetaDataToDisk(), and ATransformSensor::SaveTransformMetaDataToDisk().

Member Data Documentation

AttachedToBone

FName ASensor::AttachedToBone

Definition at line 289 of file Sensor.h.

Referenced by USimulatorJsonExporter::CreateSensorJSONObject().

AttachedToComponent

FString ASensor::AttachedToComponent

Definition at line 286 of file Sensor.h.

Referenced by USimulatorJsonExporter::CreateSensorJSONObject().

ComponentsToHide

TArray< TWeakObjectPtr< UPrimitiveComponent > > ASensor::ComponentsToHide

staticprivate

Definition at line 411 of file Sensor.h.

Referenced by EndPlay(), and HideComponentForAllCameras().

FileSavePath

FString ASensor::FileSavePath

protected

Definition at line 372 of file Sensor.h.

Referenced by CreateDataSavePath(), ACollisionSensor::CreateDataSavePath(), AOverlapSensor::CreateDataSavePath(), ATransformSensor::CreateDataSavePath(), ACamera::CreateLogFile(), ACollisionSensor::CreateLogFile(), ALidar::CreateLogFile(), AOverlapSensor::CreateLogFile(), ATransformSensor::CreateLogFile(), ALidar::SaveDataToDisk(), and ACamera::SaveImageToDisk().

LogFile

ULogFile* ASensor::LogFile = nullptr

protected

Definition at line 367 of file Sensor.h.

Referenced by CreateLogFile(), ACamera::CreateLogFile(), ACollisionSensor::CreateLogFile(), ALidar::CreateLogFile(), AOverlapSensor::CreateLogFile(), ATransformSensor::CreateLogFile(), EndPlay(), ACamera::SaveCameraMetaDataToDisk(), ALidar::SaveLidarMetaDataToDisk(), ATransformSensor::SaveTransformMetaDataToDisk(), and WriteToLogFile().

NiagaraHitColors

const FName ASensor::NiagaraHitColors = "User.HitColors"

inlinestaticprotected

Definition at line 382 of file Sensor.h.

Referenced by ALidar::UpdateLidarParticles().

NiagaraHitPoints

const FName ASensor::NiagaraHitPoints = "User.HitPoints"

inlinestaticprotected

Definition at line 381 of file Sensor.h.

Referenced by ARadar::SimulateRadar(), and ALidar::UpdateLidarParticles().

NiagaraPointsFloat

const FName ASensor::NiagaraPointsFloat = "User.Test"

inlinestaticprotected

Definition at line 383 of file Sensor.h.

Referenced by ARadar::SimulateRadar(), and ALidar::UpdateLidarParticles().

NiagaraPointsInt

const FName ASensor::NiagaraPointsInt = "User.PointCount"

inlinestaticprotected

Definition at line 380 of file Sensor.h.

Referenced by ARadar::SimulateRadar(), and ALidar::UpdateLidarParticles().

OnPrimitiveAdded

FPrimitiveAdded ASensor::OnPrimitiveAdded

staticprotected

Definition at line 377 of file Sensor.h.

Referenced by ACamera::BeginPlay(), and HideComponentForAllCameras().

OnSensorDestroy

FSensorDestroy ASensor::OnSensorDestroy

Definition at line 283 of file Sensor.h.

Referenced by EndPlay().

ParentActor

AActor* ASensor::ParentActor = nullptr

protected

Definition at line 370 of file Sensor.h.

Referenced by ATransformSensor::CreateDataSavePath(), and IsAttachedToVehicle().

ROSConnected

bool ASensor::ROSConnected = false

private

Definition at line 409 of file Sensor.h.

Referenced by BeginPlay(), and ROSBridgeStateChanged().

ROSInstance

UROSIntegrationGameInstance* ASensor::ROSInstance = nullptr

protected

Definition at line 375 of file Sensor.h.

Referenced by BeginPlay(), CreateROSTopic(), ADVSCamera::CreateROSTopic(), ATransformSensor::CreateROSTopic(), and EndPlay().

ROSTopic

UTopic* ASensor::ROSTopic = nullptr

protected

Definition at line 361 of file Sensor.h.

Referenced by CreateROSTopic(), ADVSCamera::CreateROSTopic(), DestroyROSTopic(), and ATransformSensor::DestroyROSTopic().

SendDataToROS

bool ASensor::SendDataToROS = true

protected

Definition at line 364 of file Sensor.h.

Referenced by ALidar::ChangeParameters(), CreateROSTopic(), ACamera::FrameGrabberCapture(), ALidar::SendData(), ALidar::SendDataToTopic(), ACamera::SendImageDataToROS(), ARadar::SendRadarData(), ADVSCamera::SendRawDVSImageDataToROS(), ARadar::SetRadarParameters(), and ACamera::SetupCamera().

SensorIdentifier

FString ASensor::SensorIdentifier

private

Definition at line 400 of file Sensor.h.

SensorModel

TObjectPtr<ASensorModel> ASensor::SensorModel

private

Definition at line 397 of file Sensor.h.

SensorName

FString ASensor::SensorName

private

Definition at line 403 of file Sensor.h.

SimulateThisSensor

bool ASensor::SimulateThisSensor = true

private

Definition at line 406 of file Sensor.h.

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

• Unreal/Agrarsense/Source/Agrarsense/Sensor/Sensor.h
• Unreal/Agrarsense/Source/Agrarsense/Sensor/Sensor.cpp