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redo SDFormat sensor import condition #632

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merged 1 commit into from
Jan 25, 2024
Merged

redo SDFormat sensor import condition #632

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27 changes: 10 additions & 17 deletions Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,23 +35,7 @@ namespace ROS2
{
if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
{
const auto& importerHookCamera = SDFormat::ROS2SensorHooks::ROS2CameraSensor();
const auto& importerHookGNSS = SDFormat::ROS2SensorHooks::ROS2GNSSSensor();
const auto& importerHookImu = SDFormat::ROS2SensorHooks::ROS2ImuSensor();
const auto& importerHookLidar = SDFormat::ROS2SensorHooks::ROS2LidarSensor();
const auto& importerHookSkidSteering = SDFormat::ROS2ModelPluginHooks::ROS2SkidSteeringModel();
const auto& importerHookAckermann = SDFormat::ROS2ModelPluginHooks::ROS2AckermannModel();
serializeContext->Class<ROS2RobotImporterEditorSystemComponent, ROS2RobotImporterSystemComponent>()
->Version(0)
->Attribute(
"SensorImporterHooks",
SDFormat::SensorImporterHooksStorage{ AZStd::move(importerHookCamera),
AZStd::move(importerHookGNSS),
AZStd::move(importerHookImu),
AZStd::move(importerHookLidar) })
->Attribute(
"ModelPluginImporterHooks",
SDFormat::ModelPluginImporterHooksStorage{ AZStd::move(importerHookSkidSteering), AZStd::move(importerHookAckermann) });
serializeContext->Class<ROS2RobotImporterEditorSystemComponent, ROS2RobotImporterSystemComponent>()->Version(1);
}

if (AZ::BehaviorContext* behaviorContext = azrtti_cast<AZ::BehaviorContext*>(context))
Expand Down Expand Up @@ -82,6 +66,15 @@ namespace ROS2
AzToolsFramework::EditorEvents::Bus::Handler::BusConnect();
RobotImporterRequestBus::Handler::BusConnect();

// Register default sensor and plugin hooks
m_sensorHooks.emplace_back(SDFormat::ROS2SensorHooks::ROS2CameraSensor());
m_sensorHooks.emplace_back(SDFormat::ROS2SensorHooks::ROS2GNSSSensor());
m_sensorHooks.emplace_back(SDFormat::ROS2SensorHooks::ROS2ImuSensor());
m_sensorHooks.emplace_back(SDFormat::ROS2SensorHooks::ROS2LidarSensor());
m_modelPluginHooks.emplace_back(SDFormat::ROS2ModelPluginHooks::ROS2AckermannModel());
m_modelPluginHooks.emplace_back(SDFormat::ROS2ModelPluginHooks::ROS2SkidSteeringModel());

// Query user-defined sensor and plugin hooks
auto serializeContext = AZ::Interface<AZ::ComponentApplicationRequests>::Get()->GetSerializeContext();
serializeContext->EnumerateAll(
[&](const AZ::SerializeContext::ClassData* classData, const AZ::Uuid& typeId) -> bool
Expand Down
62 changes: 53 additions & 9 deletions Gems/ROS2/Code/Source/RobotImporter/URDF/SensorsMaker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,30 +18,74 @@

namespace ROS2
{
bool AddSensor(AZ::EntityId entityId, const sdf::Sensor* sensor)
void AddSensor(AZ::EntityId entityId, const sdf::Sensor* sensor)
{
SDFormat::SensorImporterHooksStorage sensorHooks;
ROS2::RobotImporterRequestBus::BroadcastResult(sensorHooks, &ROS2::RobotImporterRequest::GetSensorHooks);
for (const auto& hook : sensorHooks)

const auto& sensorPlugins = sensor->Plugins();
if (sensorPlugins.empty())
{
if (hook.m_sensorTypes.contains(sensor->Type()))
for (auto& hook : sensorHooks)
{
AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
hook.m_sdfSensorToComponentCallback(*entity, *sensor);
return true;
if (hook.m_sensorTypes.contains(sensor->Type()))
{
AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
hook.m_sdfSensorToComponentCallback(*entity, *sensor);
return;
}
}
AZ_Warning(
"SensorMaker", false, "Cannot find a hook for %s sensor (type %s)", sensor->Name().c_str(), sensor->TypeStr().c_str());
return;
}

return false;
for (const auto& sp : sensorPlugins)
{
bool currentAdded = false;
ROS2::SDFormat::SensorImporterHook* defaultHook = nullptr;
for (auto& hook : sensorHooks)
{
if (hook.m_sensorTypes.contains(sensor->Type()))
{
if (hook.m_pluginNames.contains(sp.Filename().c_str()))
{
AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
hook.m_sdfSensorToComponentCallback(*entity, *sensor);
currentAdded = true;
break;
}
else if (defaultHook == nullptr)
{
defaultHook = &hook;
}
}
}

AZ_Warning(
"SensorMaker",
currentAdded,
"Cannot find a hook for %s sensor (type %s) with plugin %s",
sensor->Name().c_str(),
sensor->TypeStr().c_str(),
sp.Filename().c_str());
if (currentAdded == false && defaultHook != nullptr)
{
AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
defaultHook->m_sdfSensorToComponentCallback(*entity, *sensor);
currentAdded = true;
AZ_Warning(
"SensorMaker", false, "Default hook for %s sensor (type %s) used.", sensor->Name().c_str(), sensor->TypeStr().c_str());
}
}
}

void SensorsMaker::AddSensors(const sdf::Model& model, const sdf::Link* link, AZ::EntityId entityId) const
{
for (size_t si = 0; si < link->SensorCount(); ++si)
{
const auto* sensor = link->SensorByIndex(si);
const bool success = AddSensor(entityId, sensor);
AZ_Warning("SensorMaker", success, "Cannot find a sensor hook for sensor %d", sensor->Type());
AddSensor(entityId, sensor);
}
}
} // namespace ROS2