publish hooks for processing

Signed-off-by: Jan Hanca <[email protected]>
o3de · Sep 13, 2023 · f540795 · f540795
1 parent ccb5bd7
commit f540795
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Showing 3 changed files with 41 additions and 25 deletions.
diff --git a/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp b/Gems/ROS2/Code/Source/RobotImporter/ROS2RobotImporterEditorSystemComponent.cpp
@@ -7,18 +7,20 @@
  */
 
 #include "ROS2RobotImporterEditorSystemComponent.h"
-#include <RobotImporter/URDF/UrdfParser.h>
-#include <RobotImporter/Utils/FilePath.h>
-#include <RobotImporter/Utils/ErrorUtils.h>
 #include "RobotImporterWidget.h"
-#include <SdfAssetBuilder/SdfAssetBuilderSettings.h>
 #include <AzCore/Serialization/SerializeContext.h>
+#include <AzCore/StringFunc/StringFunc.h>
 #include <AzCore/Utils/Utils.h>
 #include <AzCore/std/chrono/chrono.h>
+#include <AzCore/std/containers/vector.h>
 #include <AzCore/std/string/string.h>
-#include <AzCore/StringFunc/StringFunc.h>
+#include <AzCore/std/utility/move.h>
 #include <AzToolsFramework/API/ViewPaneOptions.h>
-
+#include <RobotImporter/URDF/UrdfParser.h>
+#include <RobotImporter/Utils/ErrorUtils.h>
+#include <RobotImporter/Utils/FilePath.h>
+#include <SDFormat/ROS2SensorHooks.h>
+#include <SdfAssetBuilder/SdfAssetBuilderSettings.h>
 
 #include <sdf/sdf.hh>
 
@@ -32,7 +34,16 @@ namespace ROS2
     {
         if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
         {
-            serializeContext->Class<ROS2RobotImporterEditorSystemComponent, ROS2RobotImporterSystemComponent>()->Version(0);
+            const auto& importerHookCamera = ROS2::SDFormat::ROS2SensorHooks::ROS2CameraSensor();
+            const auto& importerHookGNSS = ROS2::SDFormat::ROS2SensorHooks::ROS2GNSSSensor();
+            const auto& importerHookImu = ROS2::SDFormat::ROS2SensorHooks::ROS2ImuSensor();
+            const auto& importerHookLidar = ROS2::SDFormat::ROS2SensorHooks::ROS2LidarSensor();
+            serializeContext->Class<ROS2RobotImporterEditorSystemComponent, ROS2RobotImporterSystemComponent>()->Version(0)->Attribute(
+                "SensorImporterHooks",
+                AZStd::vector<ROS2::SDFormat::SensorImporterHook>{ AZStd::move(importerHookCamera),
+                                                                   AZStd::move(importerHookGNSS),
+                                                                   AZStd::move(importerHookImu),
+                                                                   AZStd::move(importerHookLidar) });
         }
 
         if (AZ::BehaviorContext* behaviorContext = azrtti_cast<AZ::BehaviorContext*>(context))
@@ -111,8 +122,7 @@ namespace ROS2
         {
             const AZStd::string log = Utils::JoinSdfErrorsToString(parsedUrdfOutcome.GetSdfErrors());
 
-            AZ_Warning("ROS2RobotImporterEditorSystemComponent", false, "URDF parsing failed with errors:\nRefer to %s",
-                log.c_str());
+            AZ_Warning("ROS2RobotImporterEditorSystemComponent", false, "URDF parsing failed with errors:\nRefer to %s", log.c_str());
             return false;
         }
 
@@ -195,30 +205,32 @@ namespace ROS2
         // Use the name of the first model tag in the SDF for the prefab
         // Otherwise use the name of the first world tag in the SDF
         AZStd::string prefabName;
-        if (const sdf::Model* model = parsedUrdfRoot.Model();
-            model != nullptr)
+        if (const sdf::Model* model = parsedUrdfRoot.Model(); model != nullptr)
         {
             prefabName = AZStd::string(model->Name().c_str(), model->Name().size()) + ".prefab";
         }
 
-        if (uint64_t urdfWorldCount = parsedUrdfRoot.WorldCount();
-            prefabName.empty() && urdfWorldCount > 0)
+        if (uint64_t urdfWorldCount = parsedUrdfRoot.WorldCount(); prefabName.empty() && urdfWorldCount > 0)
         {
             const sdf::World* parsedUrdfWorld = parsedUrdfRoot.WorldByIndex(0);
             prefabName = AZStd::string(parsedUrdfWorld->Name().c_str(), parsedUrdfWorld->Name().size()) + ".prefab";
         }
 
         if (prefabName.empty())
         {
-            AZ_Error("ROS2RobotImporterEditorSystemComponent", false, "URDF file converted to SDF %.*s contains no worlds."
-                " O3DE Prefab cannot be created", AZ_STRING_ARG(filePath));
+            AZ_Error(
+                "ROS2RobotImporterEditorSystemComponent",
+                false,
+                "URDF file converted to SDF %.*s contains no worlds."
+                " O3DE Prefab cannot be created",
+                AZ_STRING_ARG(filePath));
             return false;
         }
 
-
         const AZ::IO::Path prefabPathRelative(AZ::IO::Path("Assets") / "Importer" / prefabName);
         const AZ::IO::Path prefabPath(AZ::IO::Path(AZ::Utils::GetProjectPath()) / prefabPathRelative);
-        AZStd::unique_ptr<URDFPrefabMaker> prefabMaker = AZStd::make_unique<URDFPrefabMaker>(filePath, &parsedUrdfRoot, prefabPath.String(), urdfAssetsMapping, useArticulation);
+        AZStd::unique_ptr<URDFPrefabMaker> prefabMaker =
+            AZStd::make_unique<URDFPrefabMaker>(filePath, &parsedUrdfRoot, prefabPath.String(), urdfAssetsMapping, useArticulation);
 
         auto prefabOutcome = prefabMaker->CreatePrefabFromURDF();
 

diff --git a/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp b/Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp
@@ -165,7 +165,7 @@ namespace ROS2
                     {
                         report += " - " + QString::fromUtf8(modifiedTag.data(), static_cast<int>(modifiedTag.size())) + "\n";
                     }
-                    report += "\n# "+tr("The modified URDF code:") + "\n";
+                    report += "\n# " + tr("The modified URDF code:") + "\n";
                     report += "```\n" + QString::fromStdString(parsedUrdfOutcome.m_modifiedURDFContent) + "```\n";
                 }
                 else

diff --git a/Gems/ROS2/Code/Source/RobotImporter/URDF/SensorsMaker.cpp b/Gems/ROS2/Code/Source/RobotImporter/URDF/SensorsMaker.cpp
@@ -9,6 +9,7 @@
 #include "SensorsMaker.h"
 
 #include <AzCore/Component/EntityId.h>
+#include <AzCore/std/containers/vector.h>
 #include <AzToolsFramework/Entity/EditorEntityHelpers.h>
 
 #include <ROS2/RobotImporter/SDFormatSensorImporterHook.h>
@@ -25,22 +26,25 @@ namespace ROS2
         serializeContext->EnumerateAll(
             [&](const AZ::SerializeContext::ClassData* classData, const AZ::Uuid& typeId) -> bool
             {
-                auto* attribute = AZ::FindAttribute(AZ::Crc32("SDFormatSensorImporter"), classData->m_attributes);
+                auto* attribute = AZ::FindAttribute(AZ::Crc32("SensorImporterHooks"), classData->m_attributes);
                 if (attribute == nullptr)
                 {
                     return true;
                 }
 
                 AZ::AttributeReader reader(nullptr, attribute);
-                SDFormat::SensorImporterHook sensorHook;
-                if (reader.Read<SDFormat::SensorImporterHook>(sensorHook))
+                AZStd::vector<ROS2::SDFormat::SensorImporterHook> sensorHooks;
+                if (reader.Read<AZStd::vector<ROS2::SDFormat::SensorImporterHook>>(sensorHooks))
                 {
-                    for (const auto& t : sensorHook.m_sensorTypes)
+                    for (const auto& hook : sensorHooks)
                     {
-                        if (sensor->Type() == t)
+                        for (const auto& t : hook.m_sensorTypes)
                         {
-                            sensorHook.m_sdfSensorToComponentCallback(*entity, *sensor);
-                            return false;
+                            if (sensor->Type() == t)
+                            {
+                                hook.m_sdfSensorToComponentCallback(*entity, *sensor);
+                                return false;
+                            }
                         }
                     }
                 }