USimulatorJsonExporter Class Reference

#include <SimulatorJsonExporter.h>

Inheritance diagram for USimulatorJsonExporter:

Collaboration diagram for USimulatorJsonExporter:

Static Public Member Functions
static FString	ExportInstancedActorsToJSON (FString FileName, const TArray< AInstancedActor * > &Actors)
static FString	ExportVehicleAndSensorsToJSON (FString FileName, AVehicle *Vehicle, bool OverrideTransform=false, const FTransform &Transform=FTransform())
static FString	ExportWeatherToJSON (const FString &FileName, const FWeatherParameters &WeatherParameters)
static FString	ExportWalkerToJSON (const FString &FileName, AWalker *Walker)
static FString	ExportSensorToJSON (const FString &FileName, ASensor *Sensor)

Static Private Member Functions
static TArray< TSharedPtr< FJsonValue > >	ParseLidars (const TArray< ALidar * > &Lidars)
static TArray< TSharedPtr< FJsonValue > >	ParseCameras (const TArray< ACamera * > &Cameras)
static TArray< TSharedPtr< FJsonValue > >	ParseDepthCameras (const TArray< ADepthCamera * > &DepthCameras)
static TArray< TSharedPtr< FJsonValue > >	ParseThermalCameras (const TArray< AThermalCamera * > &ThermalCameras)
static TArray< TSharedPtr< FJsonValue > >	ParseDVSCameras (const TArray< ADVSCamera * > &DVSCameras)
static TArray< TSharedPtr< FJsonValue > >	ParseRadars (const TArray< ARadar * > &Radars)
static TSharedPtr< FJsonObject >	CreateSensorJSONObject (const ASensor *SensorPtr, FString SensorName)
static TSharedPtr< FJsonObject >	CameraParametersToJSONObject (const FCameraBaseParameters &Parameters)
static void	SetSpawnPoint (TSharedPtr< FJsonObject > &ObjectEntry, const FVector &Location, const FRotator &Rotation, const FVector &Scale)
static void	SetDroneParameters (TSharedPtr< FJsonObject > &ObjectEntry, AVehicle *VehiclePtr)
static FString	CreateUniqueFilePath (FString FileName)

Detailed Description

USimulatorJsonExporter is a static UBlueprintFunctionLibrary that allows exporting some Simulator things such as sensors into JSON files that can be spawned back with USimulatorJsonParser.

Definition at line 38 of file SimulatorJsonExporter.h.

Member Function Documentation

CameraParametersToJSONObject()

TSharedPtr< FJsonObject > USimulatorJsonExporter::CameraParametersToJSONObject ( const FCameraBaseParameters &  Parameters )

staticprivate

Definition at line 739 of file SimulatorJsonExporter.cpp.

{
    TSharedPtr<FJsonObject> ParametersObject = MakeShareable(new FJsonObject);
    FJsonObjectConverter::UStructToJsonObject(FCameraBaseParameters::StaticStruct(), &Parameters, ParametersObject.ToSharedRef());
 
    return ParametersObject;
}

Referenced by ExportSensorToJSON(), and ParseCameras().

CreateSensorJSONObject()

TSharedPtr< FJsonObject > USimulatorJsonExporter::CreateSensorJSONObject ( const ASensor *  SensorPtr, FString  SensorName  )

staticprivate

Definition at line 711 of file SimulatorJsonExporter.cpp.

{
    TSharedPtr<FJsonObject> SensorObject = MakeShareable(new FJsonObject);
 
    if (!SensorPtr)
    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("ROSJsonExporter.cpp: SensorPtr is nullptr!"));
#endif
        return SensorObject;
    }
 
    FJsonObject* SensorJsonObject = SensorObject.Get();
    SensorJsonObject->SetStringField("type", "sensor");
    SensorJsonObject->SetStringField("model", SensorName);
    SensorJsonObject->SetStringField("name", SensorPtr->GetSensorName());
    SensorJsonObject->SetStringField("id", SensorPtr->GetActorID_Implementation());
    SensorJsonObject->SetStringField("attachedToComponent", SensorPtr->AttachedToComponent);
    SensorJsonObject->SetStringField("attachedToBone", SensorPtr->AttachedToBone.ToString());
    
    FTransform Transform = SensorPtr->GetRootComponent()->GetRelativeTransform();
    FVector SensorLocation = Transform.GetLocation();
    FRotator SensorRotation = Transform.Rotator();
    SetSpawnPoint(SensorObject, SensorLocation, SensorRotation, Transform.GetScale3D());
 
    return SensorObject;
}

References ASensor::AttachedToBone, ASensor::AttachedToComponent, ASensor::GetActorID_Implementation(), ASensor::GetSensorName(), SetSpawnPoint(), and Transform.

Referenced by ParseCameras(), ParseDepthCameras(), ParseDVSCameras(), ParseLidars(), ParseRadars(), and ParseThermalCameras().

CreateUniqueFilePath()

FString USimulatorJsonExporter::CreateUniqueFilePath ( FString  FileName )

staticprivate

This function generates unique file name within the specified directory. If the provided FileName is empty, a default name "ROSJsonFile" is used.

Parameters

FileName

The desired base file name.

Returns

A unique file path for exporting ROS JSON data.

Definition at line 821 of file SimulatorJsonExporter.cpp.

{
    if (FileName.IsEmpty())
    {
        // If user didn't specify file name, give it a default name
        FileName = "ExportedJsonFile";
    }
 
    // Trim leading and trailing whitespace
    FileName = FileName.TrimStartAndEnd();
 
    // Check for invalid characters
    FString InvalidChars = TEXT("\\/:*?\"<>|");
    for (TCHAR InvalidChar : InvalidChars)
    {
        FileName.ReplaceCharInline(InvalidChar, TEXT('_'), ESearchCase::CaseSensitive);
    }
 
    FString DataPathFolder = UAgrarsensePaths::GetDataFolder();
    FString BaseFileName = FileName;
    FString FinalPath;
 
    int32 FileIndex = 0;
 
    // To avoid overriding existing file, 
    // find available filename by adding FILENAME_[NUM].json to the end
    do
    {
        FString IndexString = (FileIndex > 0) ? FString::Printf(TEXT("_%d"), FileIndex) : FString();
        FinalPath = DataPathFolder / FString::Printf(TEXT("ExportedJsonFiles/%s%s.json"), *BaseFileName, *IndexString);
        FileIndex++;
    } while (FPlatformFileManager::Get().GetPlatformFile().FileExists(*FinalPath));
 
 
    return FinalPath;
}

References UAgrarsensePaths::GetDataFolder().

Referenced by ExportInstancedActorsToJSON(), ExportSensorToJSON(), ExportVehicleAndSensorsToJSON(), ExportWalkerToJSON(), and ExportWeatherToJSON().

ExportInstancedActorsToJSON()

FString USimulatorJsonExporter::ExportInstancedActorsToJSON ( FString  FileName, const TArray< AInstancedActor * > &  Actors  )

static

Export a list of instanced actors to a JSON file. Actors with null references or with "none" type or model identifiers are excluded from the export.

Parameters

FileName	The name of the JSON file to be saved.
Actors	An array of AInstancedActor pointers representing the actors to export.

Returns

The file path to the saved JSON file, or an empty string if the export fails.

Definition at line 200 of file SimulatorJsonExporter.cpp.

{
    // Remove invalid characters from the filename, and replace them with undescores.
    // Will not remove spaces, maybe they should be?
    FString ValidatedFileName = FPaths::MakeValidFileName(FileName, TEXT('_'));
 
    FString FilePath;
 
    if (Actors.IsEmpty())
    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("ROSJsonExporter.cpp: Actors TArray is empty."));
#endif
        return FilePath;
    }
 
    FilePath = CreateUniqueFilePath(ValidatedFileName);
 
    TSharedPtr<FJsonObject> JsonObject = MakeShareable(new FJsonObject);
 
    TArray<TSharedPtr<FJsonValue>> ObjectsArray;
    for (AInstancedActor* Actor : Actors)
    {
        if (!Actor)
        {
            continue;
        }
 
        FString type = Actor->GetTypeIDString();
        FString model = Actor->GetModelIDString();
 
        // If these are not set, continue
        if (type == "none" || model == "none")
        {
            continue;
        }
 
        TSharedPtr<FJsonObject> ObjectEntry = MakeShareable(new FJsonObject);
        ObjectEntry->SetStringField("type", type);
        ObjectEntry->SetStringField("model", model);
 
        // Create a spawnPoint object
        TSharedPtr<FJsonObject> SpawnPoint = MakeShareable(new FJsonObject);
        FVector SpawnLocation = Actor->GetActorLocation();
        FRotator SpawnRotation = Actor->GetActorRotation();
        FVector Scale = Actor->GetActorScale();
        SetSpawnPoint(ObjectEntry, SpawnLocation, SpawnRotation, Scale);
        ObjectsArray.Add(MakeShareable(new FJsonValueObject(ObjectEntry)));
    }
 
    JsonObject->SetArrayField("objects", ObjectsArray);
 
    FString JsonString;
    TSharedRef<TJsonWriter<TCHAR>> JsonWriter = TJsonWriterFactory<>::Create(&JsonString);
    FJsonSerializer::Serialize(JsonObject.ToSharedRef(), JsonWriter);
 
    bool Saved = FFileHelper::SaveStringToFile(JsonString, *FilePath);
    if (!Saved)
    {
        return FString();
    }
 
    // Publish and log info
    FString Msg = FString::Printf(TEXT("Exported Actors JSON file to: %s"), *FilePath);
    SimulatorLog::Log(Msg);
 
    return FilePath;
}

References CreateUniqueFilePath(), SimulatorLog::Log(), and SetSpawnPoint().

Referenced by UROSCommands::HandleExportFoliage(), and UROSCommands::HandleExportProps().

ExportSensorToJSON()

FString USimulatorJsonExporter::ExportSensorToJSON ( const FString &  FileName, ASensor *  Sensor  )

static

Export Sensor and its parameters to a JSON file.

Parameters

FileName	The name of the file without extension.
Sensor	pointer to the Sensor object to be exported to JSON.

Returns

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

Definition at line 388 of file SimulatorJsonExporter.cpp.

{
    FString FilePath;
    if (!Sensor)
    {
        return FilePath;
    }
 
    // Remove invalid characters from the filename, and replace them with undescores.
    // Will not remove spaces, maybe they should be?
    FString ValidatedFileName = FPaths::MakeValidFileName(FileName, TEXT('_'));
 
    FilePath = CreateUniqueFilePath(ValidatedFileName);
 
    ESensorTypes SensorType = Sensor->GetSensorType();
    FString SensorTypeString = UEnumUtilities::ConvertSensorTypeToString(SensorType);
 
    TSharedPtr<FJsonObject> ParametersObject = MakeShareable(new FJsonObject);
 
    bool Success = false;
 
    switch (SensorType)
    {
    case ESensorTypes::Lidar:
    {
        ALidar* LidarPtr = Cast<ALidar>(Sensor);
        if (LidarPtr)
        {
            FLidarParameters LidarParameters = LidarPtr->GetLidarParameters();
            FJsonObjectConverter::UStructToJsonObject(FLidarParameters::StaticStruct(), &LidarParameters, ParametersObject.ToSharedRef());
            Success = true;
        }
    }
    break;
 
    // RGB and Semantic segmentation cameras share same parameters
    case ESensorTypes::RGBCamera:
    case ESensorTypes::SemanticSegmentationCamera:
    {
        ACamera* CameraPtr = Cast<ACamera>(Sensor);
        if (CameraPtr)
        {
            ParametersObject = CameraParametersToJSONObject(CameraPtr->GetCameraParameters());
            Success = true;
        }
    }
    break;
 
    case ESensorTypes::ThermalCamera:
    {
        AThermalCamera* ThermalCameraPtr = Cast<AThermalCamera>(Sensor);
        if (ThermalCameraPtr)
        {
            FThermalCameraParameters ThermalCameraParameters = ThermalCameraPtr->GetThermalCameraParameters();
            FJsonObjectConverter::UStructToJsonObject(FThermalCameraParameters::StaticStruct(), &ThermalCameraParameters, ParametersObject.ToSharedRef());
            Success = true;
        }
    }
    break;
 
    case ESensorTypes::DepthCamera:
    {
        ACamera* CameraPtr = Cast<ACamera>(Sensor);
        if (CameraPtr)
        {
            ADepthCamera* DepthCameraPtr = Cast<ADepthCamera>(Sensor);
            if (DepthCameraPtr)
            {
                FDepthCameraParameters DepthCameraParameters = DepthCameraPtr->GetDepthCameraParameters();
                FJsonObjectConverter::UStructToJsonObject(FDepthCameraParameters::StaticStruct(), &DepthCameraParameters, ParametersObject.ToSharedRef());
            }
            Success = true;
        }
    }
    break;
 
    case ESensorTypes::DVSCamera:
    {
        ADVSCamera* DVSPtr = Cast<ADVSCamera>(Sensor);
        if (DVSPtr)
        {
            FDVSCameraParameters CameraParameters = DVSPtr->GetDVSCameraParameters();
            FJsonObjectConverter::UStructToJsonObject(FDVSCameraParameters::StaticStruct(), &CameraParameters, ParametersObject.ToSharedRef());
            Success = true;
        }
    }
    break;
 
    case ESensorTypes::Radar:
    {
        ARadar* RadaPtr = Cast<ARadar>(Sensor);
        if (RadaPtr)
        {
            FRadarParameters RadarParameters = RadaPtr->GetRadarParameters();
            FJsonObjectConverter::UStructToJsonObject(FRadarParameters::StaticStruct(), &RadarParameters, ParametersObject.ToSharedRef());
            Success = true;
        }
    }
    break;
 
    // Don't export these sensors since these are automatically created for Vehicles
    case ESensorTypes::Collision:
    case ESensorTypes::Transform:
    case ESensorTypes::Overlap:
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("ROSJsonExporter.cpp: Exporting Collision/Transform or Overlap sensor is not supported."));
#endif
        break;
 
    default:
        break;
    }
 
    if (!Success)
    {
        return FString();
    }
 
    // Root Json object
    TSharedPtr<FJsonObject> RootJsonObject = MakeShareable(new FJsonObject);
 
    // Json structure "Objects" array
    TArray<TSharedPtr<FJsonValue>> ObjectsArray;
    TSharedPtr<FJsonObject> ObjectEntry = MakeShareable(new FJsonObject);
 
    // Set type and model
    ObjectEntry->SetStringField("type", "Sensor");
    ObjectEntry->SetStringField("model", SensorTypeString);
    ObjectEntry->SetStringField("id", Sensor->GetActorID_Implementation());
 
    FVector SpawnLocation = Sensor->GetActorLocation();
    FRotator SpawnRotation = Sensor->GetActorRotation();
    SetSpawnPoint(ObjectEntry, SpawnLocation, SpawnRotation, Sensor->GetActorScale());
 
    // Set the parameters object to ObjectEntry
    ObjectEntry->SetObjectField("parameters", ParametersObject);
 
    // Add the entry to ObjectsArray
    ObjectsArray.Add(MakeShareable(new FJsonValueObject(ObjectEntry)));
 
    // Set the ObjectsArray in the root JSON object
    RootJsonObject->SetArrayField("objects", ObjectsArray);
 
    // Serialize the root JSON object to a string
    FString JsonString;
    TSharedRef<TJsonWriter<TCHAR>> JsonWriter = TJsonWriterFactory<>::Create(&JsonString);
    FJsonSerializer::Serialize(RootJsonObject.ToSharedRef(), JsonWriter);
 
    // Save the JSON string to a file
    bool Saved = FFileHelper::SaveStringToFile(JsonString, *FilePath);
    if (!Saved)
    {
        return FString();
    }
 
    // Publish and log info
    FString Msg = FString::Printf(TEXT("Exported Actors JSON file to: %s"), *FilePath);
    SimulatorLog::Log(Msg);
 
    return FilePath;
}

References CameraParametersToJSONObject(), Collision, UEnumUtilities::ConvertSensorTypeToString(), CreateUniqueFilePath(), DepthCamera, DVSCamera, ASensor::GetActorID_Implementation(), ACamera::GetCameraParameters(), ADepthCamera::GetDepthCameraParameters(), ADVSCamera::GetDVSCameraParameters(), ALidar::GetLidarParameters(), ARadar::GetRadarParameters(), ASensor::GetSensorType(), AThermalCamera::GetThermalCameraParameters(), Lidar, SimulatorLog::Log(), Overlap, Radar, RGBCamera, SemanticSegmentationCamera, SetSpawnPoint(), ThermalCamera, and Transform.

Referenced by ASensor::ExportToJsonFile().

ExportVehicleAndSensorsToJSON()

FString USimulatorJsonExporter::ExportVehicleAndSensorsToJSON ( FString  FileName, AVehicle *  Vehicle, bool  OverrideTransform = false, const FTransform &  Transform = FTransform()  )

static

Export a vehicle and its associated sensors to a JSON file.

Parameters

FileName	The name of the JSON file to be saved.
Vehicle	A pointer to the vehicle to export.
OverrideTransform	(Optional) Indicates whether to override the transform
Transform	(Optional) The transformation information to use when exporting the vehicle if OverrideTransform is true

Returns

The file path to the saved JSON file, or an empty string if the export fails.

Definition at line 40 of file SimulatorJsonExporter.cpp.

{
    FString FilePath;
    if (!Vehicle)
    {
        return FilePath;
    }
 
    EVehicleTypes VehicleType = Vehicle->GetVehicleType();
    FString VehicleName;
 
    switch (VehicleType)
    {
    case EVehicleTypes::Forwarder:
        VehicleName = "Forwarder";
        break;
 
    case EVehicleTypes::Harvester:
        VehicleName = "Harvester";
        break;
 
    case EVehicleTypes::Drone:
        VehicleName = "Drone";
        break;
 
    case EVehicleTypes::NONE:
    default:
        break;
    }
 
    // If the vehicle name is empty, return
    if (VehicleName.IsEmpty())
    {
        return FilePath;
    }
 
    // Remove invalid characters from the filename, and replace them with undescores.
    // Will not remove spaces, maybe they should be?
    FString ValidatedFileName = FPaths::MakeValidFileName(FileName, TEXT('_'));
    FilePath = CreateUniqueFilePath(ValidatedFileName);
 
    TSharedPtr<FJsonObject> JsonObject = MakeShareable(new FJsonObject);
    TArray<TSharedPtr<FJsonValue>> ObjectsArray;
 
    TSharedPtr<FJsonObject> VehicleObject = MakeShareable(new FJsonObject);
    VehicleObject->SetStringField("type", "vehicle");
    VehicleObject->SetStringField("model", VehicleName);
    VehicleObject->SetBoolField("teleportSpectator", false);
    VehicleObject->SetBoolField("followObject", false);
    VehicleObject->SetBoolField("destroyOverlappingObjects", false);
    VehicleObject->SetStringField("id", Vehicle->GetActorID_Implementation());
 
    TSharedPtr<FJsonObject> VehicleSpawnPoint = MakeShareable(new FJsonObject);
 
    FVector SpawnLocation;
    FRotator SpawnRotation;
 
    if (OverrideTransform)
    {
        SpawnLocation = Transform.GetLocation();
        SpawnRotation = Transform.Rotator();
    }
    else
    {
        SpawnLocation = Vehicle->GetActorLocation();
        SpawnRotation = Vehicle->GetActorRotation();
    }
 
    // Export vehicle spawnpoint to json
    SetSpawnPoint(VehicleObject, SpawnLocation, SpawnRotation, Transform.GetScale3D());
 
    // If the vehicle is drone, export its parameters to json
    if (Vehicle->GetVehicleType() == EVehicleTypes::Drone)
    {
        SetDroneParameters(VehicleObject, Vehicle);
    }
 
    // Export all sensors attached to the vehicle
    TArray<TSharedPtr<FJsonValue>> SensorsArray;
 
    USensorsManagerComponent* SensorManager = Vehicle->GetSensorsManager();
    if (SensorManager)
    {
        // Parse different sensor types and add them to the SensorsArray
        SensorsArray.Append(ParseLidars(SensorManager->GetLidars()));
        SensorsArray.Append(ParseCameras(SensorManager->GetCameras()));
        SensorsArray.Append(ParseDepthCameras(SensorManager->GetDepthCameras()));
        SensorsArray.Append(ParseThermalCameras(SensorManager->GetThermalCameras()));
        SensorsArray.Append(ParseDVSCameras(SensorManager->GetDVSCameras()));
        SensorsArray.Append(ParseRadars(SensorManager->GetRadars()));
    }
 
    // Add the sensors array to the vehicle object if it's not empty
    if (SensorsArray.Num() > 0)
    {
        VehicleObject->SetArrayField("sensors", SensorsArray);
    }
 
    ObjectsArray.Add(MakeShareable(new FJsonValueObject(VehicleObject)));
 
    JsonObject->SetArrayField("objects", ObjectsArray);
 
    FString JsonString;
    TSharedRef<TJsonWriter<TCHAR>> JsonWriter = TJsonWriterFactory<>::Create(&JsonString);
    FJsonSerializer::Serialize(JsonObject.ToSharedRef(), JsonWriter);
 
    // Save the JSON string to the file
    bool Saved = FFileHelper::SaveStringToFile(JsonString, *FilePath);
    if (!Saved)
    {
        return FString();
    }
 
    // Publish and log info
    FString Msg = FString::Printf(TEXT("Exported vehicle JSON file to: %s"), *FilePath);
    SimulatorLog::Log(Msg);
 
    return FilePath;
}

References CreateUniqueFilePath(), Drone, Forwarder, Harvester, SimulatorLog::Log(), NONE, ParseCameras(), ParseDepthCameras(), ParseDVSCameras(), ParseLidars(), ParseRadars(), ParseThermalCameras(), SetDroneParameters(), SetSpawnPoint(), Transform, and Vehicle.

Referenced by AVehicle::ExportToJsonFile().

ExportWalkerToJSON()

FString USimulatorJsonExporter::ExportWalkerToJSON ( const FString &  FileName, AWalker *  Walker  )

static

Export a Walker and its parameters to a JSON file.

Parameters

FileName	The name of the file without extension.
Walker	Pointer to the Walker object to be exported to JSON.

Returns

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

Definition at line 269 of file SimulatorJsonExporter.cpp.

{
    FString FilePath;
    if (!Walker)
    {
        return FilePath;
    }
 
    // Remove invalid characters from the filename, and replace them with undescores.
    // Will not remove spaces, maybe they should be?
    FString ValidatedFileName = FPaths::MakeValidFileName(FileName, TEXT('_'));
 
    FilePath = CreateUniqueFilePath(ValidatedFileName);
 
    // Root Json object
    TSharedPtr<FJsonObject> RootJsonObject = MakeShareable(new FJsonObject);
 
    // Json structure "Objects" array
    TArray<TSharedPtr<FJsonValue>> ObjectsArray;
    TSharedPtr<FJsonObject> ObjectEntry = MakeShareable(new FJsonObject);
 
    // Get Walker parameters
    FWalkerParameters WalkerParameters = Walker->GetWalkerParameters();
 
    // Set type and model
    ObjectEntry->SetStringField("type", "Walker");
    ObjectEntry->SetStringField("model", UEnumUtilities::ConvertWalkerTypeToString(WalkerParameters.WalkerType));
    ObjectEntry->SetStringField("id", Walker->GetActorID_Implementation());
 
    // Create and set the JSON object from FWeatherParameters struct
    TSharedPtr<FJsonObject> ParametersObject = MakeShareable(new FJsonObject);
    FJsonObjectConverter::UStructToJsonObject(FWalkerParameters::StaticStruct(), &WalkerParameters, ParametersObject.ToSharedRef());
 
    // Remove "Points" field
    ParametersObject->RemoveField(TEXT("points"));
 
    if (WalkerParameters.Points.Num() >= 2)
    {
        // If we have at least 2 Points, re-create "points" field manually 
        // so it's compatible with ROSJsonParser Transform parsing logic.
        TSharedPtr<FJsonObject> PointsObject = MakeShareable(new FJsonObject);
        for (int32 i = 0; i < WalkerParameters.Points.Num(); ++i)
        {
            FString PointName = FString::Printf(TEXT("point%d"), i);
 
            FTransform Transform = WalkerParameters.Points[i];
            FVector Location = Transform.GetLocation();
            FRotator Rotation = Transform.Rotator();
 
            // Adding location and rotation to the point data
            TSharedPtr<FJsonObject> PointData = MakeShareable(new FJsonObject);
            PointData->SetNumberField(TEXT("x"), Location.X);
            PointData->SetNumberField(TEXT("y"), Location.Y);
            PointData->SetNumberField(TEXT("z"), Location.Z);
            PointData->SetNumberField(TEXT("roll"), Rotation.Roll);
            PointData->SetNumberField(TEXT("pitch"), Rotation.Pitch);
            PointData->SetNumberField(TEXT("yaw"), Rotation.Yaw);
 
            // Adding point data to the PointsObject
            PointsObject->SetObjectField(PointName, PointData);
        }
 
        // Add created PointsObject to ParametersObject "points" field
        ParametersObject->SetObjectField(TEXT("points"), PointsObject);
    }
    else
    {
        // else create a "spawnPoint" since we don't have enough Points in the WalkerParameters.
        TSharedPtr<FJsonObject> SpawnPoint = MakeShareable(new FJsonObject);
 
        FVector SpawnLocation;
        FRotator SpawnRotation;
        if (WalkerParameters.Points.IsEmpty())
        {
            // If for whatever reason Points is empty, 
            // use Walker current location and rotation.
            SpawnLocation = Walker->GetActorLocation();
            SpawnRotation = Walker->GetActorRotation();
        }
        else
        {
            // Else use first point which should be the spawn point of the Walker
            FTransform Transform = WalkerParameters.Points[0];
            SpawnLocation = Transform.GetLocation();
            SpawnRotation = Transform.Rotator();
        }
 
        SetSpawnPoint(ParametersObject, SpawnLocation, SpawnRotation, Walker->GetActorScale());
    }
 
    // Set the parameters object in the entry
    ObjectEntry->SetObjectField("parameters", ParametersObject);
 
    // Add the entry to the ObjectsArray
    ObjectsArray.Add(MakeShareable(new FJsonValueObject(ObjectEntry)));
 
    // Set the ObjectsArray in the root JSON object
    RootJsonObject->SetArrayField("objects", ObjectsArray);
 
    // Serialize the root JSON object to a string
    FString JsonString;
    TSharedRef<TJsonWriter<TCHAR>> JsonWriter = TJsonWriterFactory<>::Create(&JsonString);
    FJsonSerializer::Serialize(RootJsonObject.ToSharedRef(), JsonWriter);
 
    // Save the JSON string to a file
    bool Saved = FFileHelper::SaveStringToFile(JsonString, *FilePath);
    if (!Saved)
    {
        // If saving fails, return empty string
        return FString();
    }
 
    // Publish and log info
    FString Msg = FString::Printf(TEXT("Exported Actors JSON file to: %s"), *FilePath);
    SimulatorLog::Log(Msg);
 
    return FilePath;
}

References UEnumUtilities::ConvertWalkerTypeToString(), CreateUniqueFilePath(), SimulatorLog::Log(), FWalkerParameters::Points, SetSpawnPoint(), Transform, Walker, and FWalkerParameters::WalkerType.

Referenced by AWalker::ExportToJsonFile().

ExportWeatherToJSON()

FString USimulatorJsonExporter::ExportWeatherToJSON ( const FString &  FileName, const FWeatherParameters &  WeatherParameters  )

static

Export a FWeatherParameters to a JSON file.

Parameters

FileName	The name of the JSON file to be saved.
WeatherParameters	- The weather parameters to be exported to the JSON file.

Returns

The file path to the saved JSON file, or an empty string if the export fails.

Definition at line 160 of file SimulatorJsonExporter.cpp.

{
    // Remove invalid characters from the filename, and replace them with undescores.
    // Will not remove spaces, maybe they should be?
    FString ValidatedFileName = FPaths::MakeValidFileName(FileName, TEXT('_'));
 
    FString FilePath = CreateUniqueFilePath(ValidatedFileName);
 
    // Create the JSON object from FWeatherParameters struct
    TSharedPtr<FJsonObject> ParametersObject = MakeShareable(new FJsonObject);
    FJsonObjectConverter::UStructToJsonObject(FWeatherParameters::StaticStruct(), &WeatherParameters, ParametersObject.ToSharedRef());
 
    TSharedPtr<FJsonObject> RootObject = MakeShareable(new FJsonObject);
    TArray<TSharedPtr<FJsonValue>> ObjectsArray;
    TSharedPtr<FJsonObject> WeatherObject = MakeShareable(new FJsonObject);
    WeatherObject->SetStringField("type", "weather");
 
    WeatherObject->SetObjectField("parameters", ParametersObject);
 
    ObjectsArray.Add(MakeShareable(new FJsonValueObject(WeatherObject)));
 
    RootObject->SetArrayField("objects", ObjectsArray);
 
    FString JsonString;
    TSharedRef<TJsonWriter<>> JsonWriter = TJsonWriterFactory<>::Create(&JsonString);
    FJsonSerializer::Serialize(RootObject.ToSharedRef(), JsonWriter);
 
    bool Saved = FFileHelper::SaveStringToFile(JsonString, *FilePath);
    if (!Saved)
    {
        return FString();
    }
 
    // Publish and log info
    FString Msg = FString::Printf(TEXT("Exported Weather JSON file to: %s"), *FilePath);
    SimulatorLog::Log(Msg);
 
    return FilePath;
}

References CreateUniqueFilePath(), and SimulatorLog::Log().

Referenced by AWeather::ExportToJSON().

ParseCameras()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseCameras ( const TArray< ACamera * > &  Cameras )

staticprivate

Definition at line 577 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> CameraArray;
 
    for (ACamera* Camera : Cameras)
    {
        if (!Camera)
        {
            continue;
        }
 
        FTransform Transform = Camera->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Camera), "RGBCamera");
 
        FCameraBaseParameters Params = Camera->GetCameraParameters();
 
        TSharedPtr<FJsonObject> ParametersObject = CameraParametersToJSONObject(Params);
 
        SensorObject->SetObjectField("parameters", ParametersObject);
 
        CameraArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return CameraArray;
}

References CameraParametersToJSONObject(), CreateSensorJSONObject(), and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

ParseDepthCameras()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseDepthCameras ( const TArray< ADepthCamera * > &  DepthCameras )

staticprivate

Definition at line 603 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> CameraArray;
 
    for (ADepthCamera* Camera : DepthCameras)
    {
        if (!Camera)
        {
            continue;
        }
 
        FTransform Transform = Camera->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Camera), "DepthCamera");
 
        TSharedPtr<FJsonObject> DepthCameraParametersObject = MakeShareable(new FJsonObject);
 
        FDepthCameraParameters Params = Camera->GetDepthCameraParameters();
        FJsonObjectConverter::UStructToJsonObject(FDepthCameraParameters::StaticStruct(), &Params, DepthCameraParametersObject.ToSharedRef());
 
        SensorObject->SetObjectField("parameters", DepthCameraParametersObject);
 
        CameraArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return CameraArray;
}

References CreateSensorJSONObject(), and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

ParseDVSCameras()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseDVSCameras ( const TArray< ADVSCamera * > &  DVSCameras )

staticprivate

Definition at line 657 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> CameraArray;
 
    for (ADVSCamera* Camera : DVSCameras)
    {
        if (!Camera)
        {
            continue;
        }
 
        FTransform Transform = Camera->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Camera), "DVSCamera");
 
        TSharedPtr<FJsonObject> DVSCameraParametersObject = MakeShareable(new FJsonObject);
 
        FDVSCameraParameters Params = Camera->GetDVSCameraParameters();
        FJsonObjectConverter::UStructToJsonObject(FDVSCameraParameters::StaticStruct(), &Params, DVSCameraParametersObject.ToSharedRef());
 
        SensorObject->SetObjectField("parameters", DVSCameraParametersObject);
 
        CameraArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return CameraArray;
}

References CreateSensorJSONObject(), and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

ParseLidars()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseLidars ( const TArray< ALidar * > &  Lidars )

staticprivate

Definition at line 550 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> LidarArray;
 
    for (ALidar* Lidar : Lidars)
    {
        if (!Lidar)
        {
            continue;
        }
 
        FTransform Transform = Lidar->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Lidar), "Lidar");
 
        TSharedPtr<FJsonObject> ParametersObject = MakeShareable(new FJsonObject);
        FLidarParameters Params = Lidar->GetLidarParameters();
 
        FJsonObjectConverter::UStructToJsonObject(FLidarParameters::StaticStruct(), &Params, ParametersObject.ToSharedRef());
 
        SensorObject->SetObjectField("parameters", ParametersObject);
 
        LidarArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return LidarArray;
}

References CreateSensorJSONObject(), Lidar, and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

ParseRadars()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseRadars ( const TArray< ARadar * > &  Radars )

staticprivate

Definition at line 684 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> RadarArray;
 
    for (ARadar* Radar : Radars)
    {
        if (!Radar)
        {
            continue;
        }
 
        FTransform Transform = Radar->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Radar), "Radar");
 
        TSharedPtr<FJsonObject> RadarParametersObject = MakeShareable(new FJsonObject);
 
        FRadarParameters Params = Radar->GetRadarParameters();
        FJsonObjectConverter::UStructToJsonObject(FRadarParameters::StaticStruct(), &Params, RadarParametersObject.ToSharedRef());
 
        SensorObject->SetObjectField("parameters", RadarParametersObject);
 
        RadarArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return RadarArray;
}

References CreateSensorJSONObject(), Radar, and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

ParseThermalCameras()

TArray< TSharedPtr< FJsonValue > > USimulatorJsonExporter::ParseThermalCameras ( const TArray< AThermalCamera * > &  ThermalCameras )

staticprivate

Definition at line 630 of file SimulatorJsonExporter.cpp.

{
    TArray<TSharedPtr<FJsonValue>> CameraArray;
 
    for (AThermalCamera* Camera : ThermalCameras)
    {
        if (!Camera)
        {
            continue;
        }
 
        FTransform Transform = Camera->GetRootComponent()->GetRelativeTransform();
        TSharedPtr<FJsonObject> SensorObject = CreateSensorJSONObject(Cast<ASensor>(Camera), "ThermalCamera");
 
        TSharedPtr<FJsonObject> ThermalCameraParametersObject = MakeShareable(new FJsonObject);
 
        FThermalCameraParameters Params = Camera->GetThermalCameraParameters();
        FJsonObjectConverter::UStructToJsonObject(FThermalCameraParameters::StaticStruct(), &Params, ThermalCameraParametersObject.ToSharedRef());
 
        SensorObject->SetObjectField("parameters", ThermalCameraParametersObject);
 
        CameraArray.Add(MakeShareable(new FJsonValueObject(SensorObject)));
    }
 
    return CameraArray;
}

References CreateSensorJSONObject(), and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

SetDroneParameters()

void USimulatorJsonExporter::SetDroneParameters ( TSharedPtr< FJsonObject > &  ObjectEntry, AVehicle *  VehiclePtr  )

staticprivate

Definition at line 769 of file SimulatorJsonExporter.cpp.

{
    APIDDrone* DronePtr = Cast<APIDDrone>(VehiclePtr);
    if (!ObjectEntry.IsValid() || !DronePtr)
    {
        return;
    }
 
    TSharedPtr<FJsonObject> VehicleParams = MakeShareable(new FJsonObject);
 
    FDroneParameters DroneParams = DronePtr->GetDroneParameters();
 
    FString DroneActionString = UEnum::GetDisplayValueAsText(DroneParams.DroneAction).ToString();
    VehicleParams->SetStringField("droneAction", DroneActionString);
 
    FString DroneEndActionString = UEnum::GetDisplayValueAsText(DroneParams.DroneEndAction).ToString();
    VehicleParams->SetStringField("DroneEndAction", DroneEndActionString);
 
    if (!DroneParams.Points.IsEmpty())
    {
        // Create an array to hold the points
        TArray<TSharedPtr<FJsonValue>> PointsArray;
        PointsArray.Reserve(DroneParams.Points.Num());
 
        for (const FTransform& Transform : DroneParams.Points)
        {
            TSharedPtr<FJsonObject> PointObject = MakeShareable(new FJsonObject);
 
            // Serialize translation
            FVector Translation = Transform.GetLocation();
            PointObject->SetNumberField("X", Translation.X);
            PointObject->SetNumberField("Y", Translation.Y);
            PointObject->SetNumberField("Z", Translation.Z);
 
            // Serialize rotation (as a rotator or quaternion)
            FRotator Rotation = Transform.GetRotation().Rotator();
            PointObject->SetNumberField("Pitch", Rotation.Pitch);
            PointObject->SetNumberField("Yaw", Rotation.Yaw);
            PointObject->SetNumberField("Roll", Rotation.Roll);
 
            // Add the point object to the array
            PointsArray.Add(MakeShareable(new FJsonValueObject(PointObject)));
        }
 
        // Add the points array to the VehicleParams JSON object
        VehicleParams->SetArrayField("points", PointsArray);
    }
 
    // Add the VehicleParams object to the main VehicleObject
    ObjectEntry->SetObjectField("parameters", VehicleParams);
}

References FDroneParameters::DroneAction, FDroneParameters::DroneEndAction, APIDDrone::GetDroneParameters(), FDroneParameters::Points, and Transform.

Referenced by ExportVehicleAndSensorsToJSON().

SetSpawnPoint()

void USimulatorJsonExporter::SetSpawnPoint ( TSharedPtr< FJsonObject > &  ObjectEntry, const FVector &  Location, const FRotator &  Rotation, const FVector &  Scale  )

staticprivate

Definition at line 747 of file SimulatorJsonExporter.cpp.

{
    TSharedPtr<FJsonObject> SpawnPoint = MakeShareable(new FJsonObject);
 
    // Set Location
    SpawnPoint->SetNumberField("x", Location.X);
    SpawnPoint->SetNumberField("y", Location.Y);
    SpawnPoint->SetNumberField("z", Location.Z);
 
    // Set Rotation
    SpawnPoint->SetNumberField("roll", Rotation.Roll);
    SpawnPoint->SetNumberField("pitch", Rotation.Pitch);
    SpawnPoint->SetNumberField("yaw", Rotation.Yaw);
 
    // Set Scale
    SpawnPoint->SetNumberField("scaleX", Scale.X);
    SpawnPoint->SetNumberField("scaleY", Scale.Y);
    SpawnPoint->SetNumberField("scaleZ", Scale.Z);
 
    ObjectEntry->SetObjectField("spawnPoint", SpawnPoint);
}

Referenced by CreateSensorJSONObject(), ExportInstancedActorsToJSON(), ExportSensorToJSON(), ExportVehicleAndSensorsToJSON(), and ExportWalkerToJSON().

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

• Unreal/Agrarsense/Source/Agrarsense/JSON/SimulatorJsonExporter.h
• Unreal/Agrarsense/Source/Agrarsense/JSON/SimulatorJsonExporter.cpp