Modified editor items behavior. Fixed invalid GUID

Signed-off-by: Adam Dąbrowski <[email protected]>

Author: adamdbrw

Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp

@@ -25,6 +25,7 @@ namespace ROS2
             serialize->Class<ROS2LidarSensorComponent, ROS2SensorComponent>()
                 ->Version(1)
                 ->Field("lidarModel", &ROS2LidarSensorComponent::m_lidarModel)
+                ->Field("SensorConfiguration", &ROS2LidarSensorComponent::m_sensorConfiguration)
                 ;
 
             if (AZ::EditContext* ec = serialize->GetEditContext())
@@ -33,20 +34,29 @@ namespace ROS2
                     ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
                         ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
                     ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2LidarSensorComponent::m_lidarModel, "Lidar Model", "Lidar model")
+                    ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2LidarSensorComponent::m_sensorConfiguration, "Sensor configuration", "Sensor configuration")
                     ;
             }
         }
     }
 
+    ROS2LidarSensorComponent::ROS2LidarSensorComponent()
+    {   // TODO - replace with EditorComponent behavior
+        SensorConfiguration sc;
+        PublisherConfiguration pc;
+        pc.m_type = "sensor_msgs::msg::PointCloud2";
+        pc.m_topic = "pc";
+        m_sensorConfiguration.m_frequency = 10; // TODO - dependent on lidar type
+        m_sensorConfiguration.m_publishersConfigurations = { pc };
+    }
+
     void ROS2LidarSensorComponent::Activate()
     {
         ROS2SensorComponent::Activate();
         auto ros2Node = ROS2Interface::Get()->GetNode();
-        auto config = GetConfiguration();
-
-        AZ_Assert(config.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor");
+        AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor");
 
-        const auto& publisherConfig = config.m_publishersConfigurations.front();
+        const auto& publisherConfig = m_sensorConfiguration.m_publishersConfigurations.front();
         AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic);
         m_pointCloudPublisher = ros2Node->create_publisher<sensor_msgs::msg::PointCloud2>(fullTopic.data(), publisherConfig.m_qos);
     }
@@ -99,15 +109,4 @@ namespace ROS2
 
         m_pointCloudPublisher->publish(message);
     }
-
-    SensorConfiguration ROS2LidarSensorComponent::DefaultConfiguration() const
-    {
-        SensorConfiguration sc;
-        PublisherConfiguration pc;
-        pc.m_type = "sensor_msgs::msg::PointCloud2";
-        pc.m_topic = "pc";
-        sc.m_frequency = 10; // TODO - dependent on lidar type
-        sc.m_publishersConfigurations = { pc };
-        return sc;
-    }
 } // namespace ROS2

Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.h

@@ -23,13 +23,14 @@ namespace ROS2
     {
     public:
         AZ_COMPONENT(ROS2LidarSensorComponent, "{502A955F-7742-4E23-AD77-5E4063739DCA}", ROS2SensorComponent);
+        ROS2LidarSensorComponent();
+        ~ROS2LidarSensorComponent() = default;
         static void Reflect(AZ::ReflectContext* context);
         void Activate() override;
         void Deactivate() override;
 
     private:
         void FrequencyTick() override;
-        SensorConfiguration DefaultConfiguration() const override;
 
         LidarTemplate::LidarModel m_lidarModel = LidarTemplate::SickMRS6000;
         LidarRaycaster m_lidarRaycaster;

Gems/ROS2/Code/Source/Sensor/PublisherConfiguration.h

@@ -19,7 +19,7 @@ namespace ROS2
     struct PublisherConfiguration
     {
     public:
-        AZ_RTTI(PublisherConfiguration, "{{7F875348-F2F9-404A-841E-D9A749EA4E79}}");
+        AZ_RTTI(PublisherConfiguration, "{7F875348-F2F9-404A-841E-D9A749EA4E79}");
         PublisherConfiguration() = default;
         virtual ~PublisherConfiguration() = default;
         static void Reflect(AZ::ReflectContext* context);

Gems/ROS2/Code/Source/Sensor/ROS2SensorComponent.cpp

@@ -14,11 +14,6 @@
 
 namespace ROS2
 {
-    void ROS2SensorComponent::Init()
-    {
-        m_sensorConfiguration = DefaultConfiguration();
-    }
-
     void ROS2SensorComponent::Activate()
     {
         AZ::TickBus::Handler::BusConnect();
@@ -36,25 +31,10 @@ namespace ROS2
         {
             serialize->Class<ROS2SensorComponent, AZ::Component>()
                 ->Version(1)
-                ->Field("SensorConfiguration", &ROS2SensorComponent::m_sensorConfiguration)
                 ;
-
-            if (AZ::EditContext* ec = serialize->GetEditContext())
-            {
-                ec->Class<ROS2SensorComponent>("ROS2 Sensor", "[Base component for sensors]")
-                        ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
-                            ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2SensorComponent::m_sensorConfiguration, "Sensor configuration", "Sensor configuration")
-                        ;
-            }
         }
     }
 
-    const SensorConfiguration& ROS2SensorComponent::GetConfiguration() const
-    {
-        return m_sensorConfiguration;
-    }
-
     AZStd::string ROS2SensorComponent::GetNamespace() const
     {
         // TODO - hold frame?
@@ -99,12 +79,4 @@ namespace ROS2
         // Note that sensor frequency can be limited by simulation tick rate (if higher sensor Hz is desired).
         FrequencyTick();
     }
-
-    SensorConfiguration ROS2SensorComponent::DefaultConfiguration() const
-    {
-        SensorConfiguration sc;
-        PublisherConfiguration pc;
-        sc.m_publishersConfigurations = { pc };
-        return sc;
-    }
 } // namespace ROS2

Gems/ROS2/Code/Source/Sensor/ROS2SensorComponent.h

@@ -25,7 +25,6 @@ namespace ROS2
         AZ_COMPONENT(ROS2SensorComponent, "{91BCC1E9-6D93-4466-9CDB-E73D497C6B5E}", AZ::Component);
 
         // AZ::Component interface implementation.
-        void Init() override;
         void Activate() override;
         void Deactivate() override;
 
@@ -37,13 +36,11 @@ namespace ROS2
     protected:
         AZStd::string GetNamespace() const;
         AZStd::string GetFrameID() const; // includes namespace
-        const SensorConfiguration& GetConfiguration() const;
-
-    private:
-        virtual SensorConfiguration DefaultConfiguration() const; // Override to provide default sensor config
-        virtual void FrequencyTick() { }; // Override to implement sensor behavior
 
         // TODO - Editor component: validation of fields, constraints between values and so on
         SensorConfiguration m_sensorConfiguration;
+
+    private:
+        virtual void FrequencyTick() { }; // Override to implement sensor behavior
     };
 }  // namespace ROS2