Aaron/programaticvehiclefactory (#8340)
* Add Vehicle Factory to be loaded in c++ * Read properly the object class path
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// Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#include "Carla/Actor/Factory/VehicleActorFactory.h"
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#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
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#include "Carla/Actor/ActorDefinition.h"
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#include "Carla/Game/CarlaEpisode.h"
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#include "Json.h"
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#include "JsonUtilities.h"
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#include "Misc/FileHelper.h"
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#include "Misc/Paths.h"
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TArray<FActorDefinition> AVehicleActorFactory::GetDefinitions()
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{
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LoadVehicleParametersArrayFromFile("VehicleParameters.json", VehiclesParams);
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UActorBlueprintFunctionLibrary::MakeVehicleDefinitions(VehiclesParams, Definitions);
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return Definitions;
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}
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FActorSpawnResult AVehicleActorFactory::SpawnActor(
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const FTransform &SpawnAtTransform,
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const FActorDescription &ActorDescription)
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{
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FActorSpawnResult SpawnResult;
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if(!IsValid(ActorDescription.Class))
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{
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UE_LOG(LogCarla, Error, TEXT("Actor Description Class is null."));
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SpawnResult.Status = EActorSpawnResultStatus::InvalidDescription;
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return SpawnResult;
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}
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AActor* SpawnedActor = GetWorld()->SpawnActor<AActor>(ActorDescription.Class, SpawnAtTransform);
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SpawnResult.Actor = SpawnedActor;
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if(SpawnedActor == nullptr)
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{
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SpawnResult.Status = EActorSpawnResultStatus::Collision;
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return SpawnResult;
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}
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if( PostProcessVehicle(SpawnedActor, ActorDescription) ){
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SpawnResult.Status = EActorSpawnResultStatus::Success;
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return SpawnResult;
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}
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SpawnResult.Status = EActorSpawnResultStatus::UnknownError;
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return SpawnResult;
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}
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TSharedPtr<FJsonObject> AVehicleActorFactory::FVehicleParametersToJsonObject(const FVehicleParameters& VehicleParams)
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{
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TSharedPtr<FJsonObject> JsonObject = MakeShareable(new FJsonObject);
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JsonObject->SetStringField(TEXT("Make"), VehicleParams.Make);
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JsonObject->SetStringField(TEXT("Model"), VehicleParams.Model);
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JsonObject->SetStringField(TEXT("Class"), VehicleParams.Class ? VehicleParams.Class->GetPathName() : "");
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JsonObject->SetNumberField(TEXT("NumberOfWheels"), VehicleParams.NumberOfWheels);
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JsonObject->SetNumberField(TEXT("Generation"), VehicleParams.Generation);
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JsonObject->SetStringField(TEXT("ObjectType"), VehicleParams.ObjectType);
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JsonObject->SetStringField(TEXT("BaseType"), VehicleParams.BaseType);
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JsonObject->SetStringField(TEXT("SpecialType"), VehicleParams.SpecialType);
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JsonObject->SetBoolField(TEXT("HasDynamicDoors"), VehicleParams.HasDynamicDoors);
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JsonObject->SetBoolField(TEXT("HasLights"), VehicleParams.HasLights);
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// Serialize RecommendedColors
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TArray<TSharedPtr<FJsonValue>> ColorsArray;
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for (const FColor& Color : VehicleParams.RecommendedColors)
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{
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TSharedPtr<FJsonObject> ColorObject = MakeShareable(new FJsonObject);
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ColorObject->SetNumberField(TEXT("R"), Color.R);
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ColorObject->SetNumberField(TEXT("G"), Color.G);
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ColorObject->SetNumberField(TEXT("B"), Color.B);
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ColorObject->SetNumberField(TEXT("A"), Color.A);
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ColorsArray.Add(MakeShareable(new FJsonValueObject(ColorObject)));
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}
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JsonObject->SetArrayField(TEXT("RecommendedColors"), ColorsArray);
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// Serialize SupportedDrivers
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TArray<TSharedPtr<FJsonValue>> DriversArray;
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for (int32 DriverID : VehicleParams.SupportedDrivers)
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{
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DriversArray.Add(MakeShareable(new FJsonValueNumber(DriverID)));
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}
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JsonObject->SetArrayField(TEXT("SupportedDrivers"), DriversArray);
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return JsonObject;
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}
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FString AVehicleActorFactory::FVehicleParametersArrayToJson(const TArray<FVehicleParameters>& VehicleParamsArray)
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{
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TArray<TSharedPtr<FJsonValue>> JsonArray;
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for (const FVehicleParameters& VehicleParams : VehicleParamsArray)
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{
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// Convert each FVehicleParameters to a JSON object
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TSharedPtr<FJsonObject> JsonObject = FVehicleParametersToJsonObject(VehicleParams);
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JsonArray.Add(MakeShareable(new FJsonValueObject(JsonObject)));
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}
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// Convert the array of JSON objects into a single JSON object
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TSharedRef<FJsonObject> RootObject = MakeShareable(new FJsonObject);
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RootObject->SetArrayField(TEXT("Vehicles"), JsonArray);
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// Serialize the JSON object into an FString
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FString OutputString;
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TSharedRef<TJsonWriter<>> Writer = TJsonWriterFactory<>::Create(&OutputString);
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FJsonSerializer::Serialize(RootObject, Writer);
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return OutputString;
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}
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void AVehicleActorFactory::SaveVehicleParametersArrayToFile(const TArray<FVehicleParameters>& VehicleParamsArray, const FString& FileName)
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{
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FString FilePath = FPaths::ProjectContentDir() + TEXT("Carla/Config/") + FileName;
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// Convert the array to an FString in JSON format
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FString JsonContent = FVehicleParametersArrayToJson(VehicleParamsArray);
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// Save the JSON to a file
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if (FFileHelper::SaveStringToFile(JsonContent, *FilePath))
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{
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UE_LOG(LogCarla, Log, TEXT("JSON file successfully saved at: %s"), *FilePath);
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}
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else
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to save JSON file at: %s"), *FilePath);
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}
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}
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bool AVehicleActorFactory::JsonToFVehicleParameters(const TSharedPtr<FJsonObject> JsonObject, FVehicleParameters& OutVehicleParams)
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{
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if (!JsonObject.IsValid()) return false;
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JsonObject->TryGetStringField(TEXT("Make"), OutVehicleParams.Make);
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JsonObject->TryGetStringField(TEXT("Model"), OutVehicleParams.Model);
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// Convert "Class" string back to a class reference if necessary
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FString ClassPath;
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JsonObject->TryGetStringField(TEXT("Class"), ClassPath); // Custom conversion required if needed
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OutVehicleParams.Class = StaticLoadClass(ACarlaWheeledVehicle::StaticClass(), nullptr, *ClassPath);
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JsonObject->TryGetNumberField(TEXT("NumberOfWheels"), OutVehicleParams.NumberOfWheels);
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JsonObject->TryGetNumberField(TEXT("Generation"), OutVehicleParams.Generation);
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JsonObject->TryGetStringField(TEXT("ObjectType"), OutVehicleParams.ObjectType);
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JsonObject->TryGetStringField(TEXT("BaseType"), OutVehicleParams.BaseType);
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JsonObject->TryGetStringField(TEXT("SpecialType"), OutVehicleParams.SpecialType);
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JsonObject->TryGetBoolField(TEXT("HasDynamicDoors"), OutVehicleParams.HasDynamicDoors);
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JsonObject->TryGetBoolField(TEXT("HasLights"), OutVehicleParams.HasLights);
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// Parse RecommendedColors
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const TArray<TSharedPtr<FJsonValue>>* ColorsArray;
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if (JsonObject->TryGetArrayField(TEXT("RecommendedColors"), ColorsArray))
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{
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OutVehicleParams.RecommendedColors.Empty();
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for (const TSharedPtr<FJsonValue>& ColorValue : *ColorsArray)
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{
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TSharedPtr<FJsonObject> ColorObject = ColorValue->AsObject();
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if (ColorObject.IsValid())
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{
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FColor Color;
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Color.R = ColorObject->GetIntegerField(TEXT("R"));
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Color.G = ColorObject->GetIntegerField(TEXT("G"));
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Color.B = ColorObject->GetIntegerField(TEXT("B"));
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Color.A = ColorObject->GetIntegerField(TEXT("A"));
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OutVehicleParams.RecommendedColors.Add(Color);
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}
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}
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}
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// Parse SupportedDrivers
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const TArray<TSharedPtr<FJsonValue>>* DriversArray;
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if (JsonObject->TryGetArrayField(TEXT("SupportedDrivers"), DriversArray))
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{
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OutVehicleParams.SupportedDrivers.Empty();
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for (const TSharedPtr<FJsonValue>& DriverValue : *DriversArray)
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{
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OutVehicleParams.SupportedDrivers.Add(DriverValue->AsNumber());
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}
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}
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return true;
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}
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bool AVehicleActorFactory::JsonToFVehicleParametersArray(const FString& JsonString, TArray<FVehicleParameters>& OutVehicleParamsArray)
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{
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TSharedPtr<FJsonObject> RootObject;
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TSharedRef<TJsonReader<>> Reader = TJsonReaderFactory<>::Create(JsonString);
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if (!FJsonSerializer::Deserialize(Reader, RootObject) || !RootObject.IsValid())
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to parse JSON."));
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return false;
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}
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// Get the "Vehicles" array from the JSON root object
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const TArray<TSharedPtr<FJsonValue>>* VehiclesArray;
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if (RootObject->TryGetArrayField(TEXT("Vehicles"), VehiclesArray))
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{
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OutVehicleParamsArray.Empty();
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for (const TSharedPtr<FJsonValue>& VehicleValue : *VehiclesArray)
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{
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TSharedPtr<FJsonObject> VehicleObject = VehicleValue->AsObject();
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if (VehicleObject.IsValid())
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{
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FVehicleParameters VehicleParams;
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if (JsonToFVehicleParameters(VehicleObject, VehicleParams))
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{
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OutVehicleParamsArray.Add(VehicleParams);
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}
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}
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}
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}
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return true;
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}
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void AVehicleActorFactory::LoadVehicleParametersArrayFromFile(const FString& FileName, TArray<FVehicleParameters>& OutVehicleParamsArray)
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{
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FString JsonString;
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FString FilePath = FPaths::ProjectContentDir() + TEXT("Carla/Config/") + FileName;
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FString JsonContent;
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// Load the JSON file content into an FString
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if (FFileHelper::LoadFileToString(JsonContent, *FilePath))
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{
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// Parse the JSON and populate the TArray<FVehicleParameters>
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if (JsonToFVehicleParametersArray(JsonContent, OutVehicleParamsArray))
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{
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UE_LOG(LogCarla, Log, TEXT("Vehicle parameters loaded successfully from %s"), *FilePath);
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}
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else
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to parse vehicle parameters from %s"), *FilePath);
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}
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}
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else
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to load file: %s"), *FilePath);
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}
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}
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@ -0,0 +1,52 @@
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// Copyright (c) 2024 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "Carla/Actor/ActorSpawnResult.h"
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#include "Carla/Actor/CarlaActorFactory.h"
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#include "Carla/Actor/VehicleParameters.h"
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#include "Json.h"
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#include "JsonUtilities.h"
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#include "VehicleActorFactory.generated.h"
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/// Factory in charge of spawning static meshes. This factory is able to spawn
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/// any mesh in content.
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UCLASS()
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class CARLA_API AVehicleActorFactory : public ACarlaActorFactory
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{
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GENERATED_BODY()
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/// Retrieve the definitions of the static mesh actor
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virtual TArray<FActorDefinition> GetDefinitions() override;
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virtual FActorSpawnResult SpawnActor(
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const FTransform &SpawnAtTransform,
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const FActorDescription &ActorDescription) override;
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public:
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UFUNCTION(BlueprintCallable, Category = "VehicleActorFactory")
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static void SaveVehicleParametersArrayToFile(const TArray<FVehicleParameters>& VehicleParamsArray, const FString& FileName);
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UFUNCTION(BlueprintCallable, Category = "VehicleActorFactory")
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static void LoadVehicleParametersArrayFromFile(const FString& FileName, TArray<FVehicleParameters>& OutVehicleParamsArray);
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UFUNCTION(BlueprintImplementableEvent, Category = "VehicleActorFactory")
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bool PostProcessVehicle(AActor* SpawnedActor, const FActorDescription& VehicleParams);
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private:
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static TSharedPtr<FJsonObject> FVehicleParametersToJsonObject(const FVehicleParameters& VehicleParams);
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static FString FVehicleParametersArrayToJson(const TArray<FVehicleParameters>& VehicleParamsArray);
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static bool JsonToFVehicleParameters(const TSharedPtr<FJsonObject> JsonObject, FVehicleParameters& OutVehicleParams);
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static bool JsonToFVehicleParametersArray(const FString& JsonString, TArray<FVehicleParameters>& OutVehicleParamsArray);
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protected:
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UPROPERTY(EditAnywhere)
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TArray<FActorDefinition> Definitions;
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UPROPERTY(EditAnywhere)
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TArray<FVehicleParameters> VehiclesParams;
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};
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