Spawning with namespace (#444)

Spawning with namespace Signed-off-by: Piotr Jaroszek <[email protected]>
o3de · Aug 24, 2023 · c5b7c01 · c5b7c01
1 parent a2d2da0
commit c5b7c01
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Showing 6 changed files with 43 additions and 5 deletions.
diff --git a/Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h b/Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h
@@ -41,6 +41,11 @@ namespace ROS2
         void PopulateNamespace(bool isRoot, const AZStd::string& entityName);
         AZStd::string GetNamespace(const AZStd::string& parentNamespace) const;
 
+        //! Update namespace and strategy.
+        //! @param ns Desired namespace.
+        //! @param strategy Namespace strategy.
+        void SetNamespace(const AZStd::string& ns, NamespaceStrategy strategy);
+
     private:
         AZStd::string m_namespace;
         NamespaceStrategy m_namespaceStrategy = NamespaceStrategy::Default;

diff --git a/Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h b/Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h
@@ -74,6 +74,11 @@ namespace ROS2
         //! @return The name of the global frame with namespace attached. It is typically "odom", "map", "world".
         AZStd::string GetGlobalFrameName() const;
 
+        //! Updates the namespace and namespace strategy of the underlying namespace configuration
+        //! @param ns Namespace to set.
+        //! @param strategy Namespace strategy to use.
+        void UpdateNamespaceConfiguration(const AZStd::string& ns, NamespaceConfiguration::NamespaceStrategy strategy);
+
     private:
         //////////////////////////////////////////////////////////////////////////
         // AZ::TickBus::Handler overrides

diff --git a/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp b/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp
@@ -63,6 +63,13 @@ namespace ROS2
         return ROS2Names::GetNamespacedName(parentNamespace, m_namespace);
     }
 
+    void NamespaceConfiguration::SetNamespace(const AZStd::string& ns, NamespaceStrategy strategy)
+    {
+        m_namespace = ns;
+        m_namespaceStrategy = strategy;
+        UpdateNamespace();
+    }
+
     bool NamespaceConfiguration::IsNamespaceCustom() const
     {
         return m_namespaceStrategy == NamespaceConfiguration::NamespaceStrategy::Custom;

diff --git a/Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp b/Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp
@@ -139,6 +139,11 @@ namespace ROS2
         return ROS2Names::GetNamespacedName(GetNamespace(), AZStd::string("odom"));
     }
 
+    void ROS2FrameComponent::UpdateNamespaceConfiguration(const AZStd::string& ns, NamespaceConfiguration::NamespaceStrategy strategy)
+    {
+        m_namespaceConfiguration.SetNamespace(ns, strategy);
+    }
+
     bool ROS2FrameComponent::IsTopLevel() const
     {
         return GetGlobalFrameName() == GetParentFrameID();

diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp
@@ -15,6 +15,7 @@
 #include <ROS2/ROS2Bus.h>
 #include <ROS2/ROS2GemUtilities.h>
 #include <ROS2/Utilities/ROS2Conversions.h>
+#include <ROS2/Utilities/ROS2Names.h>
 
 namespace ROS2
 {
@@ -91,8 +92,17 @@ namespace ROS2
     void ROS2SpawnerComponent::SpawnEntity(const SpawnEntityRequest request, SpawnEntityResponse response)
     {
         AZStd::string spawnableName(request->name.c_str());
+        AZStd::string spawnableNamespace(request->robot_namespace.c_str());
         AZStd::string spawnPointName(request->xml.c_str(), request->xml.size());
 
+        auto namespaceValidation = ROS2Names::ValidateNamespace(spawnableNamespace);
+        if (!namespaceValidation.IsSuccess())
+        {
+            response->success = false;
+            response->status_message = namespaceValidation.GetError().data();
+            return;
+        }
+
         auto spawnPoints = GetSpawnPoints();
 
         if (!m_controller.GetSpawnables().contains(spawnableName))
@@ -131,9 +141,9 @@ namespace ROS2
                           1.0f };
         }
 
-        optionalArgs.m_preInsertionCallback = [this, transform, spawnableName](auto id, auto view)
+        optionalArgs.m_preInsertionCallback = [this, transform, spawnableName, spawnableNamespace](auto id, auto view)
         {
-            PreSpawn(id, view, transform, spawnableName);
+            PreSpawn(id, view, transform, spawnableName, spawnableNamespace);
         };
 
         spawner->SpawnAllEntities(m_tickets.at(spawnableName), optionalArgs);
@@ -145,7 +155,8 @@ namespace ROS2
         AzFramework::EntitySpawnTicket::Id id [[maybe_unused]],
         AzFramework::SpawnableEntityContainerView view,
         const AZ::Transform& transform,
-        const AZStd::string& spawnableName)
+        const AZStd::string& spawnableName,
+        const AZStd::string& spawnableNamespace)
     {
         if (view.empty())
         {
@@ -159,10 +170,14 @@ namespace ROS2
         AZStd::string instanceName = AZStd::string::format("%s_%d", spawnableName.c_str(), m_counter++);
         for (AZ::Entity* entity : view)
         { // Update name for the first entity with ROS2Frame in hierarchy (left to right)
-            const auto* frameComponent = Utils::GetGameOrEditorComponent<ROS2FrameComponent>(entity);
+            auto* frameComponent = Utils::GetGameOrEditorComponent<ROS2FrameComponent>(entity);
             if (frameComponent)
             {
                 entity->SetName(instanceName);
+                if (!spawnableNamespace.empty())
+                {
+                    frameComponent->UpdateNamespaceConfiguration(spawnableNamespace, NamespaceConfiguration::NamespaceStrategy::Custom);
+                }
                 break;
             }
         }

diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.h b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.h
@@ -66,7 +66,8 @@ namespace ROS2
             AzFramework::EntitySpawnTicket::Id,
             AzFramework::SpawnableEntityContainerView,
             const AZ::Transform&,
-            const AZStd::string& spawnableName);
+            const AZStd::string& spawnableName,
+            const AZStd::string& spawnableNamespace);
 
         void GetSpawnPointsNames(const GetSpawnPointsNamesRequest request, GetSpawnPointsNamesResponse response);
         void GetSpawnPointInfo(const GetSpawnPointInfoRequest request, GetSpawnPointInfoResponse response);