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Lidar component refactor #463

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131 changes: 0 additions & 131 deletions Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.cpp

This file was deleted.

53 changes: 0 additions & 53 deletions Gems/ROS2/Code/Source/Lidar/Lidar2DSensorConfiguration.h

This file was deleted.

178 changes: 178 additions & 0 deletions Gems/ROS2/Code/Source/Lidar/LidarCore.cpp
Original file line number Diff line number Diff line change
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/*
* 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
*
*/

#include "LidarCore.h"
#include <Atom/RPI.Public/AuxGeom/AuxGeomFeatureProcessorInterface.h>
#include <Atom/RPI.Public/Scene.h>
#include <AzFramework/Physics/PhysicsSystem.h>
#include <Lidar/LidarRegistrarSystemComponent.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <ROS2/ROS2Bus.h>
#include <ROS2/Utilities/ROS2Names.h>

namespace ROS2
{

void LidarCore::Reflect(AZ::ReflectContext* context)
{
LidarSensorConfiguration::Reflect(context);

if (auto serialize = azrtti_cast<AZ::SerializeContext*>(context))
{
serialize->Class<LidarCore>()->Version(1)->Field("lidarConfiguration", &LidarCore::m_lidarConfiguration);

if (AZ::EditContext* ec = serialize->GetEditContext())
{
ec->Class<LidarCore>("ROS2 Lidar Sensor", "Lidar sensor component")
->DataElement(
AZ::Edit::UIHandlers::ComboBox, &LidarCore::m_lidarConfiguration, "Lidar configuration", "Lidar configuration")
->Attribute(AZ::Edit::Attributes::Visibility, AZ::Edit::PropertyVisibility::ShowChildrenOnly);
}
}
}

void LidarCore::ConnectToLidarRaycaster()
{
if (auto raycasterId = m_implementationToRaycasterMap.find(m_lidarConfiguration.m_lidarSystem);
raycasterId != m_implementationToRaycasterMap.end())
{
m_lidarRaycasterId = raycasterId->second;
return;
}

m_lidarRaycasterId = LidarId::CreateNull();
LidarSystemRequestBus::EventResult(
m_lidarRaycasterId, AZ_CRC(m_lidarConfiguration.m_lidarSystem), &LidarSystemRequestBus::Events::CreateLidar, m_entityId);
AZ_Assert(!m_lidarRaycasterId.IsNull(), "Could not access selected Lidar System.");

m_implementationToRaycasterMap.emplace(m_lidarConfiguration.m_lidarSystem, m_lidarRaycasterId);
}

void LidarCore::ConfigureLidarRaycaster()
{
LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayOrientations, m_lastRotations);
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId,
&LidarRaycasterRequestBus::Events::ConfigureMinimumRayRange,
m_lidarConfiguration.m_lidarParameters.m_minRange);
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayRange, m_lidarConfiguration.m_lidarParameters.m_maxRange);

if ((m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::Noise) &&
m_lidarConfiguration.m_lidarParameters.m_isNoiseEnabled)
{
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId,
&LidarRaycasterRequestBus::Events::ConfigureNoiseParameters,
m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_angularNoiseStdDev,
m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevBase,
m_lidarConfiguration.m_lidarParameters.m_noiseParameters.m_distanceNoiseStdDevRisePerMeter);
}

RaycastResultFlags requestedFlags = RaycastResultFlags::Ranges | RaycastResultFlags::Points;

LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRaycastResultFlags, requestedFlags);

if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::CollisionLayers)
{
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId,
&LidarRaycasterRequestBus::Events::ConfigureIgnoredCollisionLayers,
m_lidarConfiguration.m_ignoredCollisionLayers);
}

if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::EntityExclusion)
{
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ExcludeEntities, m_lidarConfiguration.m_excludedEntities);
}

if (m_lidarConfiguration.m_lidarSystemFeatures & LidarSystemFeatures::MaxRangePoints)
{
LidarRaycasterRequestBus::Event(
m_lidarRaycasterId,
&LidarRaycasterRequestBus::Events::ConfigureMaxRangePointAddition,
m_lidarConfiguration.m_addPointsAtMax);
}
}

LidarCore::LidarCore(const AZStd::vector<LidarTemplate::LidarModel>& availableModels)
: m_lidarConfiguration(availableModels)
{
}

LidarCore::LidarCore(const LidarSensorConfiguration& lidarConfiguration)
: m_lidarConfiguration(lidarConfiguration)
{
}

void LidarCore::VisualizeResults() const
{
if (m_lastScanResults.m_points.empty())
{
return;
}

if (m_drawQueue)
{
const uint8_t pixelSize = 2;
AZ::RPI::AuxGeomDraw::AuxGeomDynamicDrawArguments drawArgs;
drawArgs.m_verts = m_lastScanResults.m_points.data();
drawArgs.m_vertCount = m_lastScanResults.m_points.size();
drawArgs.m_colors = &AZ::Colors::Red;
drawArgs.m_colorCount = 1;
drawArgs.m_opacityType = AZ::RPI::AuxGeomDraw::OpacityType::Opaque;
drawArgs.m_size = pixelSize;
m_drawQueue->DrawPoints(drawArgs);
}
}

void LidarCore::Init(AZ::EntityId entityId)
{
m_entityId = entityId;

auto* entityScene = AZ::RPI::Scene::GetSceneForEntityId(m_entityId);
m_drawQueue = AZ::RPI::AuxGeomFeatureProcessorInterface::GetDrawQueueForScene(entityScene);

m_lastRotations = LidarTemplateUtils::PopulateRayRotations(m_lidarConfiguration.m_lidarParameters);

ConnectToLidarRaycaster();
ConfigureLidarRaycaster();
}

void LidarCore::Deinit()
{
for (auto& [implementation, raycasterId] : m_implementationToRaycasterMap)
{
LidarSystemRequestBus::Event(AZ_CRC(implementation), &LidarSystemRequestBus::Events::DestroyLidar, raycasterId);
}

m_implementationToRaycasterMap.clear();
}

LidarId LidarCore::GetLidarRaycasterId() const
{
return m_lidarRaycasterId;
}

RaycastResult LidarCore::PerformRaycast()
{
AZ::Entity* entity = nullptr;
AZ::ComponentApplicationBus::BroadcastResult(entity, &AZ::ComponentApplicationRequests::FindEntity, m_entityId);
const auto entityTransform = entity->FindComponent<AzFramework::TransformComponent>();

LidarRaycasterRequestBus::EventResult(
m_lastScanResults, m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::PerformRaycast, entityTransform->GetWorldTM());
if (m_lastScanResults.m_points.empty())
{
AZ_TracePrintf("Lidar Sensor Component", "No results from raycast\n");
return RaycastResult();
}
return m_lastScanResults;
}
} // namespace ROS2
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