#include <SensorFactory.h>

Inheritance diagram for USensorFactory:

Collaboration diagram for USensorFactory:

Static Public Member Functions
static USensorMapDataAsset *	GetSensorMapDataAsset ()

static ALidar *	SpawnLidarSensor (const FSensorSpawnParameters SpawnParameters, FLidarParameters SensorParameters)

static ACamera *	SpawnCamera (const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters)

static AThermalCamera *	SpawnThermalCamera (const FSensorSpawnParameters SpawnParameters, FThermalCameraParameters SensorParameters)

static ADepthCamera *	SpawnDepthCamera (const FSensorSpawnParameters SpawnParameters, FDepthCameraParameters SensorParameters)

static ASemanticSegmentationCamera *	SpawnSegmentationCamera (const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters)

static AInstanceSegmentationCamera *	SpawnInstanceSegmentationCamera (const FSensorSpawnParameters SpawnParameters, FCameraBaseParameters SensorParameters)

static ADVSCamera *	SpawnDVSCamera (const FSensorSpawnParameters SpawnParameters, FDVSCameraParameters SensorParameters)

static ARadar *	SpawnRadar (const FSensorSpawnParameters SpawnParameters, FRadarParameters SensorParameters)

static ACollisionSensor *	SpawnCollisionSensor (const FSensorSpawnParameters SpawnParameters)

static ATransformSensor *	SpawnTransformSensor (const FSensorSpawnParameters SpawnParameters, FTransformSensorParameters SensorParameters)

static AOverlapSensor *	SpawnOverlapSensor (const FSensorSpawnParameters SpawnParameters, FOverlapSensorParameters SensorParameters)

Static Private Member Functions
template<typename T >
static T *	SpawnSensor (const FSensorSpawnParameters &SpawnParameters, bool SpawnSensorModel=true)

static void	SetSensorIdentifierAndNameWithFallbacks (ASensor *Sensor, const FString &SensorIdentifier, const FString &SensorName)

static ASensorModel *	SpawnModelClassForSensor (ASensor *attachTo)

static ASensorModel *	SpawnModelClass (TSubclassOf< ASensorModel > ModelClass, ASensor *AttachTo)

static void	Initialize ()

static UWorld *	GetGameWorld ()
	Gets the current game world from the viewport. More...

Static Private Attributes
static TWeakObjectPtr< USensorMapDataAsset >	SensorMapDataAsset

Detailed Description

SensorFactory is a UBlueprintFunctionLibrary based class in charge of spawning sensors. Sensors should only be spawned through this class to ensure proper setup (settings params, spawning visual model etc). Note. This only works during runtime, don't call these functions in Editor without play mode on.

Definition at line 68 of file SensorFactory.h.

Member Function Documentation

◆ GetGameWorld()

UWorld * USensorFactory::GetGameWorld ( )

staticprivate

Gets the current game world from the viewport.

Returns: Pointer to the current UWorld, or nullptr if unavailable.

Definition at line 279 of file SensorFactory.cpp.

{
    return (GEngine && GEngine->GameViewport) ? GEngine->GameViewport->GetWorld() : nullptr;
}

Referenced by SpawnModelClass(), and SpawnSensor().

◆ GetSensorMapDataAsset()

USensorMapDataAsset * USensorFactory::GetSensorMapDataAsset ( )

static

Definition at line 52 of file SensorFactory.cpp.

{
    Initialize();
 
    return SensorMapDataAsset.Get();
}

References Initialize(), and SensorMapDataAsset.

Referenced by SpawnModelClassForSensor().

◆ Initialize()

void USensorFactory::Initialize ( )

staticprivate

Initialize the factory. Should be called before using data or calling functions

Definition at line 29 of file SensorFactory.cpp.

{
    if (SensorMapDataAsset.IsValid())
    {
        return;
    }
 
    SensorMapDataAsset.Reset();
    FSoftObjectPath SensorMapDataAssetPath(TEXT("/Game/Agrarsense/Data/Sensors/SensorMap"));
    SensorMapDataAsset = Cast<USensorMapDataAsset>(SensorMapDataAssetPath.TryLoad());
 
#if WITH_EDITOR
    if (SensorMapDataAsset.IsValid())
    {
        UE_LOG(LogTemp, Warning, TEXT("USensorFactory.cpp: Loaded SensorMapDataAsset successfully."));
    }
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("USensorFactory.cpp: Loading SensorMapDataAsset failed."));
    }
#endif
}

References SensorMapDataAsset.

Referenced by GetSensorMapDataAsset().

◆ SetSensorIdentifierAndNameWithFallbacks()

void USensorFactory::SetSensorIdentifierAndNameWithFallbacks	(	ASensor *	Sensor,
		const FString &	SensorIdentifier,
		const FString &	SensorName
	)

staticprivate

Set sensor name and identifier but fallback to default values if sensor name and/or sensor identifier are empty.

Parameters

sensor	Sensor which name and identifier to change
sensorIdentifier	Sensor new identifier (empty identifier not accepted)
sensorName	Sensor new name (empty name not accepted)

Definition at line 188 of file SensorFactory.cpp.

{
    bool generateIdentifier = SensorIdentifier.IsEmpty();
    bool generateName = SensorName.IsEmpty();
 
    FString generatedSensorIdentifier;
 
    // If ID not given, use ESensorTypes as the ID
    // and let the ActorInformation-interface handle the numbering after that
    if (generateIdentifier)
    {
        generatedSensorIdentifier = UEnumUtilities::ConvertSensorTypeToString(Sensor->GetSensorType());
    }
 
    // If not using generated name -> set the given sensor name
    if (!generateName)
    {
        Sensor->SetSensorName(SensorName);
    }
 
    Sensor->SetSensorIdentifier(generateIdentifier ? generatedSensorIdentifier : SensorIdentifier);
 
    // If using generated name -> use the identifier as the name too
    if (generateName)
    {
        Sensor->SetSensorName(Sensor->GetSensorIdentifier());
    }
}

References UEnumUtilities::ConvertSensorTypeToString(), ASensor::GetSensorIdentifier(), ASensor::GetSensorType(), ASensor::SetSensorIdentifier(), and ASensor::SetSensorName().

Referenced by SpawnSensor().

◆ SpawnCamera()

ACamera * USensorFactory::SpawnCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FCameraBaseParameters	SensorParameters
	)

static

Spawn new Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: ACamera pointer or nullptr

Definition at line 68 of file SensorFactory.cpp.

{
    ACamera* Sensor = SpawnSensor<ACamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters);
    return Sensor;
}

References ACamera::Init().

◆ SpawnCollisionSensor()

ACollisionSensor * USensorFactory::SpawnCollisionSensor ( const FSensorSpawnParameters SpawnParameters )

static

Spawn new Collision sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters Spawnparameters

Returns: ACollisionSensor pointer or nullptr

Definition at line 131 of file SensorFactory.cpp.

{
    ACollisionSensor* Sensor = SpawnSensor<ACollisionSensor>(SpawnParameters, false);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SpawnParameters.Parent, SpawnParameters.SimulateSensor);
    return Sensor;
}

References ACollisionSensor::Init(), FSensorSpawnParameters::Parent, and FSensorSpawnParameters::SimulateSensor.

Referenced by AVehicle::BeginPlay().

◆ SpawnDepthCamera()

ADepthCamera * USensorFactory::SpawnDepthCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FDepthCameraParameters	SensorParameters
	)

static

Spawn new Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: ADepthCamera pointer or nullptr

Definition at line 86 of file SensorFactory.cpp.

{
    ADepthCamera* Sensor = SpawnSensor<ADepthCamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->DepthInit(SensorParameters, SpawnParameters.SimulateSensor);
    return Sensor;
}

References ADepthCamera::DepthInit(), and FSensorSpawnParameters::SimulateSensor.

◆ SpawnDVSCamera()

ADVSCamera * USensorFactory::SpawnDVSCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FDVSCameraParameters	SensorParameters
	)

static

Spawn new Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: ADVSCamera pointer or nullptr

Definition at line 113 of file SensorFactory.cpp.

{
    ADVSCamera* Sensor = SpawnSensor<ADVSCamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->DVSInit(SensorParameters, SpawnParameters.SimulateSensor);
    return Sensor;
}

References ADVSCamera::DVSInit(), and FSensorSpawnParameters::SimulateSensor.

◆ SpawnInstanceSegmentationCamera()

AInstanceSegmentationCamera * USensorFactory::SpawnInstanceSegmentationCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FCameraBaseParameters	SensorParameters
	)

static

Spawn new Instance Segmentation Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: ASemanticSegmentationCamera pointer

Definition at line 104 of file SensorFactory.cpp.

{
    AInstanceSegmentationCamera* Sensor = SpawnSensor<AInstanceSegmentationCamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters);
    return Sensor;
}

References AInstanceSegmentationCamera::Init().

◆ SpawnLidarSensor()

ALidar * USensorFactory::SpawnLidarSensor	(	const FSensorSpawnParameters	SpawnParameters,
		FLidarParameters	SensorParameters
	)

static

Spawn new Lidar sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FLidarParameters	FLidarParameters parameters struct

Returns: ALidar pointer or nullptr

Definition at line 59 of file SensorFactory.cpp.

{
    ALidar* Sensor = SpawnSensor<ALidar>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters);
    return Sensor;
}

References ALidar::Init().

◆ SpawnModelClass()

ASensorModel * USensorFactory::SpawnModelClass	(	TSubclassOf< ASensorModel >	ModelClass,
		ASensor *	AttachTo
	)

staticprivate

Spawn sensor visual model (3D model) class attaching it to the given sensor actor.

Parameters

ModelClass	ASensorModel class for the sensor's model's class
AttachTo	Attach to this sensor

Returns: Spawned model actor or nullptr

Definition at line 252 of file SensorFactory.cpp.

{
    ASensorModel* createdModelActor = nullptr;
 
    if (!attachTo)
    {
        return createdModelActor;
    }
 
    if (UWorld* World = GetGameWorld())
    {
        FVector sensorLocation = attachTo->GetActorLocation();
        createdModelActor = World->SpawnActor<ASensorModel>(modelClass);
 
        if (createdModelActor)
        {
            createdModelActor->AttachToActor(attachTo, FAttachmentTransformRules::SnapToTargetIncludingScale);
 
            attachTo->SetSensorModel(createdModelActor);
            createdModelActor->SetAttachedToSensor(attachTo);
            createdModelActor->InitAfterSpawn();
        }
    }
 
    return createdModelActor;
}

References GetGameWorld(), ASensorModel::InitAfterSpawn(), ASensorModel::SetAttachedToSensor(), and ASensor::SetSensorModel().

Referenced by SpawnModelClassForSensor().

◆ SpawnModelClassForSensor()

ASensorModel * USensorFactory::SpawnModelClassForSensor ( ASensor * attachTo )

staticprivate

Spawn sensor model (3D model) class attaching it to the given actor

Parameters

attachTo Sensor to attach to

Returns: Spawned model actor or nullptr

Definition at line 217 of file SensorFactory.cpp.

{
    ASensorModel* SpawnedModel = nullptr;
 
    if (!AttachTo)
    {
        return SpawnedModel;
    }
 
    USensorMapDataAsset* SensorMap = GetSensorMapDataAsset();
 
    if (SensorMap)
    {
        ESensorTypes sensorType = AttachTo->GetSensorType();
 
        TSubclassOf<ASensorModel> modelClass = nullptr;
 
        bool matchFound;
 
        USensorDataAsset* sensorData = SensorMap->GetAssetDataBySensorType(sensorType, matchFound);
 
        if (matchFound && sensorData)
        {
            modelClass = sensorData->ModelClass;
        }
 
        if (modelClass)
        {
            SpawnedModel = SpawnModelClass(modelClass, AttachTo);
        }
    }
 
    return SpawnedModel;
}

References USensorMapDataAsset::GetAssetDataBySensorType(), GetSensorMapDataAsset(), ASensor::GetSensorType(), USensorDataAsset::ModelClass, and SpawnModelClass().

Referenced by SpawnSensor().

◆ SpawnOverlapSensor()

AOverlapSensor * USensorFactory::SpawnOverlapSensor	(	const FSensorSpawnParameters	SpawnParameters,
		FOverlapSensorParameters	SensorParameters
	)

static

Spawn new Overlap sensor. BlueprintCallable. This is spawned by default on every vehicle

Parameters

FSensorSpawnParameters	Spawnparameters
FOverlapSensorParameters*	Overlap sensor parameters

Returns: AOverlapSensor pointer or nullptr

Definition at line 150 of file SensorFactory.cpp.

{
    AOverlapSensor* Sensor = SpawnSensor<AOverlapSensor>(SpawnParameters, false);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters);
    return Sensor;
}

References AOverlapSensor::Init().

Referenced by ASpectator::BeginPlay(), APIDDrone::BeginPlay(), AVehicle::BeginPlay(), and APIDDrone::ChangeDroneParameters().

◆ SpawnRadar()

ARadar * USensorFactory::SpawnRadar	(	const FSensorSpawnParameters	SpawnParameters,
		FRadarParameters	SensorParameters
	)

static

Spawn new Radar sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FRadarParameters	FRadarParameters parameters struct

Returns: ARadar pointer or nullptr

Definition at line 122 of file SensorFactory.cpp.

{
    ARadar* Sensor = SpawnSensor<ARadar>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters, SpawnParameters.SimulateSensor);
    return Sensor;
}

References ARadar::Init(), and FSensorSpawnParameters::SimulateSensor.

◆ SpawnSegmentationCamera()

ASemanticSegmentationCamera * USensorFactory::SpawnSegmentationCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FCameraBaseParameters	SensorParameters
	)

static

Spawn new Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: ASemanticSegmentationCamera pointer

Definition at line 95 of file SensorFactory.cpp.

{
    ASemanticSegmentationCamera* Sensor = SpawnSensor<ASemanticSegmentationCamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters, SpawnParameters.SimulateSensor);
    return Sensor;
}

References ASemanticSegmentationCamera::Init(), and FSensorSpawnParameters::SimulateSensor.

◆ SpawnSensor()

template<typename T >

T * USensorFactory::SpawnSensor	(	const FSensorSpawnParameters &	SpawnParameters,
		bool	SpawnSensorModel = `true`
	)

staticprivate

Definition at line 160 of file SensorFactory.cpp.

{
    T* Sensor = nullptr;
 
    if (UWorld* World = GetGameWorld())
    {
        Sensor = World->SpawnActorDeferred<T>(T::StaticClass(), SpawnParameters.Transform);
        if (Sensor)
        {
            SetSensorIdentifierAndNameWithFallbacks(Sensor, SpawnParameters.SensorIdentifier, SpawnParameters.SensorName);
 
            if (SpawnParameters.Parent)
            {
                Sensor->SetParentActorPtr(SpawnParameters.Parent);
            }
 
            Sensor->FinishSpawning(SpawnParameters.Transform);
 
            if (SpawnSensorModel)
            {
                SpawnModelClassForSensor(Cast<ASensor>(Sensor));
            }
        }
    }
 
    return Sensor;
}

References GetGameWorld(), FSensorSpawnParameters::Parent, FSensorSpawnParameters::SensorIdentifier, FSensorSpawnParameters::SensorName, SetSensorIdentifierAndNameWithFallbacks(), SpawnModelClassForSensor(), and FSensorSpawnParameters::Transform.

◆ SpawnThermalCamera()

AThermalCamera * USensorFactory::SpawnThermalCamera	(	const FSensorSpawnParameters	SpawnParameters,
		FThermalCameraParameters	SensorParameters
	)

static

Spawn new Camera sensor. BlueprintCallable.

Parameters

FSensorSpawnParameters	Spawnparameters
FCameraBaseParameters	FCameraBaseParameters parameters struct

Returns: AThermalCamera pointer or nullptr

Definition at line 77 of file SensorFactory.cpp.

{
    AThermalCamera* Sensor = SpawnSensor<AThermalCamera>(SpawnParameters, true);
    if (!Sensor) return nullptr;
 
    Sensor->ThermalInit(SensorParameters, SpawnParameters.SimulateSensor);
    return Sensor;
}

References FSensorSpawnParameters::SimulateSensor, and AThermalCamera::ThermalInit().

◆ SpawnTransformSensor()

ATransformSensor * USensorFactory::SpawnTransformSensor	(	const FSensorSpawnParameters	SpawnParameters,
		FTransformSensorParameters	SensorParameters
	)

static

Spawn new Tranform sensor. BlueprintCallable. This is spawned by default on every vehicle

Parameters

FSensorSpawnParameters	Spawnparameters
FTransformSensorParameters	Transform sensor parameters

Returns: ATransformSensor pointer or nullptr

Definition at line 140 of file SensorFactory.cpp.

{
    ATransformSensor* Sensor = SpawnSensor<ATransformSensor>(SpawnParameters, false);
    if (!Sensor) return nullptr;
 
    Sensor->Init(SensorParameters, SpawnParameters.SimulateSensor);
    Sensor->AttachToActor(SensorParameters.OwningActor, FAttachmentTransformRules::KeepWorldTransform);
    return Sensor;
}

References ATransformSensor::Init(), FTransformSensorParameters::OwningActor, and FSensorSpawnParameters::SimulateSensor.

Referenced by ASensor::BeginPlay(), APIDDrone::BeginPlay(), AVehicle::BeginPlay(), and AWalker::BeginPlay().

Member Data Documentation

◆ SensorMapDataAsset

TWeakObjectPtr< USensorMapDataAsset > USensorFactory::SensorMapDataAsset

staticprivate

Sensor map data asset to hold sensor specific base data

Definition at line 226 of file SensorFactory.h.

Referenced by GetSensorMapDataAsset(), and Initialize().

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

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

Static Public Member Functions

Static Private Member Functions

Static Private Attributes

Detailed Description

Member Function Documentation

◆ GetGameWorld()

◆ GetSensorMapDataAsset()

◆ Initialize()

◆ SetSensorIdentifierAndNameWithFallbacks()

◆ SpawnCamera()

◆ SpawnCollisionSensor()

◆ SpawnDepthCamera()

◆ SpawnDVSCamera()

◆ SpawnInstanceSegmentationCamera()

◆ SpawnLidarSensor()

◆ SpawnModelClass()

◆ SpawnModelClassForSensor()

◆ SpawnOverlapSensor()

◆ SpawnRadar()

◆ SpawnSegmentationCamera()

◆ SpawnSensor()

◆ SpawnThermalCamera()

◆ SpawnTransformSensor()

Member Data Documentation

◆ SensorMapDataAsset