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Robot Importer: add sensor maker (o3de#503)
* add SensorsMaker for SDFormat data * publish hooks for processing * revert output filename change * code review: cache list of sensor hooks --------- Signed-off-by: Jan Hanca <[email protected]> Signed-off-by: Michał Pełka <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
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| #include "SensorsMaker.h" | ||
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| #include <AzCore/Component/EntityId.h> | ||
| #include <AzToolsFramework/Entity/EditorEntityHelpers.h> | ||
| #include <ROS2/RobotImporter/RobotImporterBus.h> | ||
| #include <ROS2/RobotImporter/SDFormatSensorImporterHook.h> | ||
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| #include <sdf/Link.hh> | ||
| #include <sdf/Sensor.hh> | ||
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| namespace ROS2 | ||
| { | ||
| bool AddSensor(AZ::EntityId entityId, const sdf::Sensor* sensor) | ||
| { | ||
| SDFormat::SensorImporterHooksStorage sensorHooks; | ||
| ROS2::RobotImporterRequestBus::BroadcastResult(sensorHooks, &ROS2::RobotImporterRequest::GetSensorHooks); | ||
| for (const auto& hook : sensorHooks) | ||
| { | ||
| if (hook.m_sensorTypes.contains(sensor->Type())) | ||
| { | ||
| AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId); | ||
| hook.m_sdfSensorToComponentCallback(*entity, *sensor); | ||
| return true; | ||
| } | ||
| } | ||
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| return false; | ||
| } | ||
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| 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()); | ||
| } | ||
| } | ||
| } // namespace ROS2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
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| #pragma once | ||
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| #include "UrdfParser.h" | ||
| #include <AzCore/Component/ComponentBus.h> | ||
| #include <AzCore/Component/EntityId.h> | ||
| #include <AzCore/Outcome/Outcome.h> | ||
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| #include <sdf/sdf.hh> | ||
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| namespace ROS2 | ||
| { | ||
| //! Populates a given entity with all the contents of the <sensor> tag. | ||
| //! Sensors are specified as children of link or joint in SDFormat. | ||
| class SensorsMaker | ||
| { | ||
| public: | ||
| //! Adds a sensor to an entity and sets it accordingly based on SDFormat description. | ||
| //! @param model A parsed SDF model which could hold information about sensor to be made. | ||
| //! @param link A parsed SDF tree link node used to identify link being currently processed. | ||
| //! @param entityId A non-active entity which will be affected. | ||
| //! @returns created components Id or string with fail | ||
| void AddSensors(const sdf::Model& model, const sdf::Link* link, AZ::EntityId entityId) const; | ||
| }; | ||
| } // namespace ROS2 |
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