code review: cache list of sensor hooks

Signed-off-by: Jan Hanca <[email protected]>
o3de · Sep 19, 2023 · 469a582 · 469a582
1 parent 54ded8b
commit 469a582
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Showing 9 changed files with 1,373 additions and 776 deletions.
diff --git a/Gems/ROS2/Code/Include/ROS2/RobotImporter/RobotImporterBus.h b/Gems/ROS2/Code/Include/ROS2/RobotImporter/RobotImporterBus.h
@@ -7,9 +7,10 @@
  */
 #pragma once
 
+#include <AzCore/EBus/EBus.h>
 #include <AzCore/EBus/Policies.h>
 #include <AzCore/std/string/string.h>
-#include <AzCore/EBus/EBus.h>
+#include <ROS2/RobotImporter/SDFormatSensorImporterHook.h>
 
 namespace ROS2
 {
@@ -24,6 +25,9 @@ namespace ROS2
         //! @param importAssetWithUrdf If true, the assets referenced in the urdf file will be imported
         //! @param useArticulation If true, the prefab will be generated with articulation
         virtual bool GeneratePrefabFromFile(const AZStd::string_view filePath, bool importAssetWithUrdf, bool useArticulation) = 0;
+
+        //! Return the reference to the list of sensor importer hooks
+        virtual const SDFormat::SensorImporterHooksStorage& GetSensorHooks() const = 0;
     };
 
     using RobotImporterRequestBus = AZ::EBus<RobotImporterRequest>;

diff --git a/Gems/ROS2/Code/Include/ROS2/RobotImporter/SDFormatSensorImporterHook.h b/Gems/ROS2/Code/Include/ROS2/RobotImporter/SDFormatSensorImporterHook.h
@@ -56,4 +56,7 @@ namespace ROS2::SDFormat
         using ConvertSDFSensorCallback = AZStd::function<ConvertSensorOutcome(AZ::Entity&, const sdf::Sensor&)>;
         ConvertSDFSensorCallback m_sdfSensorToComponentCallback;
     };
+
+    //! Buffer for SensorImporterHook data
+    using SensorImporterHooksStorage = AZStd::vector<ROS2::SDFormat::SensorImporterHook>;
 } // namespace ROS2::SDFormat
diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp
diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.h
@@ -12,6 +12,7 @@
 #include <AzCore/std/string/string.h>
 #include <AzToolsFramework/Entity/EditorEntityContextBus.h>
 #include <ROS2/RobotImporter/RobotImporterBus.h>
+#include <ROS2/RobotImporter/SDFormatSensorImporterHook.h>
 #include <RobotImporter/Utils/SourceAssetsStorage.h>
 namespace ROS2
 {
@@ -42,8 +43,12 @@ namespace ROS2
 
         // RobotImporterRequestsBus::Handler overrides ..
         bool GeneratePrefabFromFile(const AZStd::string_view filePath, bool importAssetWithUrdf, bool useArticulation) override;
+        const SDFormat::SensorImporterHooksStorage& GetSensorHooks() const override;
 
         // Timeout for loop waiting for assets to be built
         static constexpr AZStd::chrono::seconds assetLoopTimeout = AZStd::chrono::seconds(30);
+
+        // Cache for storing sensor importer hooks (read only once)
+        SDFormat::SensorImporterHooksStorage m_sensorHooks;
     };
 } // namespace ROS2