Merged stabilization/2310 to development

cgalvan · cgalvan · commit 30a91fbe7ce8 · 2023-10-08T22:30:10.000-05:00
Signed-off-by: Chris Galvan &lt;chgalvan@amazon.com&gt;
diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp
@@ -102,8 +102,8 @@ namespace ROS2
         const AZStd::optional<AZ::Crc32>& crc32,
         const AZStd::optional<AZStd::string>& resolvedSdfPath)
     {
-        int i = m_table->rowCount();
-        m_table->setRowCount(i + 1);
+        int rowId = m_table->rowCount();
+        m_table->setRowCount(rowId + 1);
 
         // The Asset ID GUID must not be null(all zeros) and the asset source path must not be empty
         bool isOk = (assetSourcePath.has_value() && !assetSourcePath->empty() && assetSourcePath != "not found")
@@ -123,45 +123,43 @@ namespace ROS2
         {
             p->setToolTip(tr("CRC for file : ") + QString::fromUtf8(crcStr.data(), crcStr.size()));
         }
-        m_table->setItem(i, Columns::SdfMeshPath, p);
+        m_table->setItem(rowId, Columns::SdfMeshPath, p);
 
         if (resolvedSdfPath)
         {
             m_table->setItem(
-                i, Columns::ResolvedMeshPath, createCell(true, QString::fromUtf8(resolvedSdfPath->data(), resolvedSdfPath->size())));
+                rowId, Columns::ResolvedMeshPath, createCell(true, QString::fromUtf8(resolvedSdfPath->data(), resolvedSdfPath->size())));
         }
         else
         {
-            m_table->setItem(i, Columns::ResolvedMeshPath, createCell(false, tr("Not found")));
+            m_table->setItem(rowId, Columns::ResolvedMeshPath, createCell(false, tr("Not found")));
         }
 
-        m_table->setItem(i, Columns::Type, createCell(isOk, type));
+        m_table->setItem(rowId, Columns::Type, createCell(isOk, type));
 
         if (assetSourcePath && !assetSourcePath->empty())
         {
             m_table->setItem(
-                i, Columns::SourceAsset, createCell(true, QString::fromUtf8(assetSourcePath->data(), assetSourcePath->size())));
+                rowId, Columns::SourceAsset, createCell(true, QString::fromUtf8(assetSourcePath->data(), assetSourcePath->size())));
+            m_assetsPaths[assetUuid] = *assetSourcePath;
         }
         else
         {
-            m_table->setItem(i, Columns::SourceAsset, createCell(false, tr("Not found")));
+            m_table->setItem(rowId, Columns::SourceAsset, createCell(false, tr("Not found")));
         }
 
         if (isOk)
         {
-            m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_okIcon);
+            m_table->item(rowId, Columns::ResolvedMeshPath)->setIcon(m_okIcon);
         }
         else
         {
-            m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_failureIcon);
-            m_table->setItem(i, Columns::ProductAsset, createCell(false, QString()));
+            m_table->item(rowId, Columns::ResolvedMeshPath)->setIcon(m_failureIcon);
+            m_table->setItem(rowId, Columns::ProductAsset, createCell(false, QString()));
         }
-
-        // Don't add an empty asset path to the list of resolved assets
         if (isOk)
         {
-            m_assetsPaths.push_back(AZStd::move(*assetSourcePath));
-            m_assetsUuids.push_back(assetUuid);
+            m_assetsUuidsToColumnIndex[assetUuid] = rowId;
         }
     }
 
@@ -184,7 +182,7 @@ namespace ROS2
 
     void CheckAssetPage::ClearAssetsList()
     {
-        m_assetsUuids.clear();
+        m_assetsUuidsToColumnIndex.clear();
         m_assetsUuidsFinished.clear();
         m_assetsPaths.clear();
         m_table->setRowCount(0);
@@ -195,27 +193,30 @@ namespace ROS2
 
     bool CheckAssetPage::IsEmpty() const
     {
-        return m_assetsUuids.empty();
+        return m_assetsUuidsToColumnIndex.empty();
     }
 
     void CheckAssetPage::DoubleClickRow(int row, [[maybe_unused]] int col)
     {
-        AZ_Printf("CheckAssetPage", "Clicked on row", row);
-        if (row < m_assetsPaths.size())
+        for (const auto& [assetUuid, columnId] : m_assetsUuidsToColumnIndex)
         {
-            AzFramework::AssetSystemRequestBus::Broadcast(
-                &AzFramework::AssetSystem::AssetSystemRequests::ShowInAssetProcessor, m_assetsPaths[row]);
+            if (columnId == row && m_assetsPaths.contains(assetUuid))
+            {
+                AzFramework::AssetSystemRequestBus::Broadcast(
+                    &AzFramework::AssetSystem::AssetSystemRequests::ShowInAssetProcessor, m_assetsPaths[assetUuid]);
+            }
+
         }
     }
 
     void CheckAssetPage::RefreshTimerElapsed()
     {
-        for (int i = 0; i < m_assetsUuids.size(); i++)
+        for (const auto& [assetUuid, rowId] : m_assetsUuidsToColumnIndex)
         {
-            const AZ::Uuid& assetUuid = m_assetsUuids[i];
-            const AZStd::string& sourceAssetFullPath = m_assetsPaths[i];
-            if (!m_assetsUuidsFinished.contains(assetUuid))
+            if (m_assetsPaths.contains(assetUuid) && !m_assetsUuidsFinished.contains(assetUuid))
             {
+                // Execute for all found source assets that are not finished yet.
+                const AZStd::string& sourceAssetFullPath = m_assetsPaths[assetUuid];
                 using namespace AzToolsFramework;
                 using namespace AzToolsFramework::AssetSystem;
 
@@ -225,7 +226,7 @@ namespace ROS2
                 if (result)
                 {
                     bool allFinished = true;
-                    bool failed = false;
+                    bool productAssetFailed = false;
                     JobInfoContainer& allJobs = result.GetValue();
                     for (const JobInfo& job : allJobs)
                     {
@@ -235,34 +236,35 @@ namespace ROS2
                         }
                         if (job.m_status == JobStatus::Failed)
                         {
-                            failed = true;
-                            m_failedCount++;
+                            productAssetFailed = true;
                         }
                     }
                     if (allFinished)
                     {
-                        if (!failed)
+                        if (!productAssetFailed)
                         {
                             const AZStd::vector<AZStd::string> productPaths = Utils::GetProductAssets(assetUuid);
                             QString text;
                             for (const auto& productPath : productPaths)
                             {
                                 text += QString::fromUtf8(productPath.data(), productPath.size()) + " ";
                             }
-                            m_table->setItem(i, Columns::ProductAsset, createCell(true, text));
-                            m_table->item(i, Columns::ProductAsset)->setIcon(m_okIcon);
+                            m_table->setItem(rowId, Columns::ProductAsset, createCell(true, text));
+                            m_table->item(rowId, Columns::ProductAsset)->setIcon(m_okIcon);
                         }
                         else
                         {
-                            m_table->setItem(i, Columns::ProductAsset, createCell(false, tr("Failed")));
-                            m_table->item(i, Columns::ProductAsset)->setIcon(m_failureIcon);
+                            m_table->setItem(rowId, Columns::ProductAsset, createCell(false, tr("Failed")));
+                            m_table->item(rowId, Columns::ProductAsset)->setIcon(m_failureIcon);
+                            m_failedCount++;
                         }
                         m_assetsUuidsFinished.insert(assetUuid);
                     }
                 }
             }
         }
-        if (m_assetsUuidsFinished.size() == m_assetsUuids.size())
+
+        if (m_assetsUuidsFinished.size() == m_assetsUuidsToColumnIndex.size())
         {
             m_refreshTimer->stop();
             if (m_failedCount == 0 && m_missingCount == 0)
diff --git a/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.h b/Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.h
@@ -53,9 +53,9 @@ namespace ROS2
         unsigned int m_missingCount{ 0 };
         unsigned int m_failedCount{ 0 };
         void SetTitle();
-        AZStd::vector<AZ::Uuid> m_assetsUuids;
-        AZStd::vector<AZStd::string> m_assetsPaths;
-        AZStd::unordered_set<AZ::Uuid> m_assetsUuidsFinished;
+        AZStd::unordered_map<AZ::Uuid, int> m_assetsUuidsToColumnIndex; //!< Map of asset UUIDs to column index in the table.
+        AZStd::unordered_map<AZ::Uuid, AZStd::string> m_assetsPaths; //! Map of asset UUIDs to asset source paths.
+        AZStd::unordered_set<AZ::Uuid> m_assetsUuidsFinished; //!< Set of asset UUIDs that have been processed by asset processor.
         void DoubleClickRow(int row, int col);
         void RefreshTimerElapsed();
         QIcon m_failureIcon;
diff --git a/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp b/Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp
@@ -510,28 +510,6 @@ namespace ROS2::Utils
 
     bool CreateSceneManifest(const AZ::IO::Path& sourceAssetPath, const AZ::IO::Path& assetInfoFile, const bool collider, const bool visual)
     {
-        // Start with a default set of import settings.
-        AZ::SceneAPI::SceneImportSettings importSettings;
-
-        // OBJ files used for robotics might be authored with hundreds or thousands of tiny groups of meshes. By default,
-        // AssImp splits each object or group in an OBJ into a separate submesh, creating an extremely non-optimal result.
-        // By turning on the AssImp options to optimize the scene and the meshes, all of these submeshes will get recombined
-        // back into just a few submeshes.
-        if (sourceAssetPath.Extension() == ".obj")
-        {
-            importSettings.m_optimizeScene = true;
-            importSettings.m_optimizeMeshes = true;
-        }
-
-        // Set the import settings into the settings registry.
-        // This needs to happen before calling LoadScene so that the AssImp import settings are applied to the scene being
-        // read into memory. These settings affect the list of scene nodes referenced by the MeshGroup and PhysXGroup settings,
-        // so it's important to apply them here to get the proper node lists.
-        if (AZ::SettingsRegistryInterface* settingsRegistry = AZ::SettingsRegistry::Get(); settingsRegistry)
-        {
-            settingsRegistry->SetObject(AZ::SceneAPI::DataTypes::IImportGroup::SceneImportSettingsRegistryKey, importSettings);
-        }
-
         AZ_Printf("CreateSceneManifest", "Creating manifest for asset %s at : %s ", sourceAssetPath.c_str(), assetInfoFile.c_str());
         AZStd::shared_ptr<AZ::SceneAPI::Containers::Scene> scene;
         AZ::SceneAPI::Events::SceneSerializationBus::BroadcastResult(
diff --git a/Gems/ROS2/gem.json b/Gems/ROS2/gem.json
@@ -32,6 +32,7 @@
         "PhysX",
         "PrimitiveAssets",
         "StartingPointInput"
+
     ],
     "restricted": "ROS2",
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
diff --git a/Templates/Ros2RoboticManipulationTemplate/Template/Examples/panda_moveit_config_demo.launch.py b/Templates/Ros2RoboticManipulationTemplate/Template/Examples/panda_moveit_config_demo.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
 def launch_setup(context, *args, **kwargs):
 
     current_file_path = Path(__file__).resolve()
-    current_directory = current_file_path.parent
+    current_directory = str(current_file_path.parent)
 
     use_sim_time = { "use_sim_time": True}
     moveit_config = (
diff --git a/Templates/Ros2RoboticManipulationTemplate/Template/project.json b/Templates/Ros2RoboticManipulationTemplate/Template/project.json
@@ -21,6 +21,7 @@
     "engine_version": "2.1.0",
     "gem_names": [
         "WarehouseAssets",
+        "WarehouseAutomation",
         "ROS2"
     ]
 }
diff --git a/repo.json b/repo.json
@@ -151,17 +151,8 @@
                         "o3de-sdk>=2.1.0",
                         "o3de>=2.1.0"
                     ],
-                    "dependencies": [
-                        "Atom_RPI",
-                        "Atom_Feature_Common",
-                        "Atom_Component_DebugCamera",
-                        "CommonFeaturesAtom",
-                        "PhysX",
-                        "PrimitiveAssets",
-                        "StartingPointInput"
-                    ],
                     "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/ros2-2.0.0-gem.zip",
-                    "sha256": "8910f69ffb7598a6c0880f44fb6785edfa90e7de47becdff4358c978be848fd4"
+                    "sha256": "93a51bebd7d5b931996025d6622bb09a6c20d6071da625d57eddf80f285444af"
                 }
             ]
         },

Original file line number	Diff line number	Diff line change
`@@ -102,8 +102,8 @@ namespace ROS2`
`102`	`102`	`const AZStd::optional<AZ::Crc32>& crc32,`
`103`	`103`	`const AZStd::optional<AZStd::string>& resolvedSdfPath)`
`104`	`104`	`{`
`105`		`- int i = m_table->rowCount();`
`106`		`- m_table->setRowCount(i + 1);`
	`105`	`+ int rowId = m_table->rowCount();`
	`106`	`+ m_table->setRowCount(rowId + 1);`
`107`	`107`
`108`	`108`	`// The Asset ID GUID must not be null(all zeros) and the asset source path must not be empty`
`109`	`109`	`bool isOk = (assetSourcePath.has_value() && !assetSourcePath->empty() && assetSourcePath != "not found")`
`@@ -123,45 +123,43 @@ namespace ROS2`
`123`	`123`	`{`
`124`	`124`	`p->setToolTip(tr("CRC for file : ") + QString::fromUtf8(crcStr.data(), crcStr.size()));`
`125`	`125`	`}`
`126`		`- m_table->setItem(i, Columns::SdfMeshPath, p);`
	`126`	`+ m_table->setItem(rowId, Columns::SdfMeshPath, p);`
`127`	`127`
`128`	`128`	`if (resolvedSdfPath)`
`129`	`129`	`{`
`130`	`130`	`m_table->setItem(`
`131`		`- i, Columns::ResolvedMeshPath, createCell(true, QString::fromUtf8(resolvedSdfPath->data(), resolvedSdfPath->size())));`
	`131`	`+ rowId, Columns::ResolvedMeshPath, createCell(true, QString::fromUtf8(resolvedSdfPath->data(), resolvedSdfPath->size())));`
`132`	`132`	`}`
`133`	`133`	`else`
`134`	`134`	`{`
`135`		`- m_table->setItem(i, Columns::ResolvedMeshPath, createCell(false, tr("Not found")));`
	`135`	`+ m_table->setItem(rowId, Columns::ResolvedMeshPath, createCell(false, tr("Not found")));`
`136`	`136`	`}`
`137`	`137`
`138`		`- m_table->setItem(i, Columns::Type, createCell(isOk, type));`
	`138`	`+ m_table->setItem(rowId, Columns::Type, createCell(isOk, type));`
`139`	`139`
`140`	`140`	`if (assetSourcePath && !assetSourcePath->empty())`
`141`	`141`	`{`
`142`	`142`	`m_table->setItem(`
`143`		`- i, Columns::SourceAsset, createCell(true, QString::fromUtf8(assetSourcePath->data(), assetSourcePath->size())));`
	`143`	`+ rowId, Columns::SourceAsset, createCell(true, QString::fromUtf8(assetSourcePath->data(), assetSourcePath->size())));`
	`144`	`+ m_assetsPaths[assetUuid] = *assetSourcePath;`
`144`	`145`	`}`
`145`	`146`	`else`
`146`	`147`	`{`
`147`		`- m_table->setItem(i, Columns::SourceAsset, createCell(false, tr("Not found")));`
	`148`	`+ m_table->setItem(rowId, Columns::SourceAsset, createCell(false, tr("Not found")));`
`148`	`149`	`}`
`149`	`150`
`150`	`151`	`if (isOk)`
`151`	`152`	`{`
`152`		`- m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_okIcon);`
	`153`	`+ m_table->item(rowId, Columns::ResolvedMeshPath)->setIcon(m_okIcon);`
`153`	`154`	`}`
`154`	`155`	`else`
`155`	`156`	`{`
`156`		`- m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_failureIcon);`
`157`		`- m_table->setItem(i, Columns::ProductAsset, createCell(false, QString()));`
	`157`	`+ m_table->item(rowId, Columns::ResolvedMeshPath)->setIcon(m_failureIcon);`
	`158`	`+ m_table->setItem(rowId, Columns::ProductAsset, createCell(false, QString()));`
`158`	`159`	`}`
`159`		`-`
`160`		`- // Don't add an empty asset path to the list of resolved assets`
`161`	`160`	`if (isOk)`
`162`	`161`	`{`
`163`		`- m_assetsPaths.push_back(AZStd::move(*assetSourcePath));`
`164`		`- m_assetsUuids.push_back(assetUuid);`
	`162`	`+ m_assetsUuidsToColumnIndex[assetUuid] = rowId;`
`165`	`163`	`}`
`166`	`164`	`}`
`167`	`165`
`@@ -184,7 +182,7 @@ namespace ROS2`
`184`	`182`
`185`	`183`	`void CheckAssetPage::ClearAssetsList()`
`186`	`184`	`{`
`187`		`- m_assetsUuids.clear();`
	`185`	`+ m_assetsUuidsToColumnIndex.clear();`
`188`	`186`	`m_assetsUuidsFinished.clear();`
`189`	`187`	`m_assetsPaths.clear();`
`190`	`188`	`m_table->setRowCount(0);`
`@@ -195,27 +193,30 @@ namespace ROS2`
`195`	`193`
`196`	`194`	`bool CheckAssetPage::IsEmpty() const`
`197`	`195`	`{`
`198`		`- return m_assetsUuids.empty();`
	`196`	`+ return m_assetsUuidsToColumnIndex.empty();`
`199`	`197`	`}`
`200`	`198`
`201`	`199`	`void CheckAssetPage::DoubleClickRow(int row, [[maybe_unused]] int col)`
`202`	`200`	`{`
`203`		`- AZ_Printf("CheckAssetPage", "Clicked on row", row);`
`204`		`- if (row < m_assetsPaths.size())`
	`201`	`+ for (const auto& [assetUuid, columnId] : m_assetsUuidsToColumnIndex)`
`205`	`202`	`{`
`206`		`- AzFramework::AssetSystemRequestBus::Broadcast(`
`207`		`- &AzFramework::AssetSystem::AssetSystemRequests::ShowInAssetProcessor, m_assetsPaths[row]);`
	`203`	`+ if (columnId == row && m_assetsPaths.contains(assetUuid))`
	`204`	`+ {`
	`205`	`+ AzFramework::AssetSystemRequestBus::Broadcast(`
	`206`	`+ &AzFramework::AssetSystem::AssetSystemRequests::ShowInAssetProcessor, m_assetsPaths[assetUuid]);`
	`207`	`+ }`
	`208`	`+`
`208`	`209`	`}`
`209`	`210`	`}`
`210`	`211`
`211`	`212`	`void CheckAssetPage::RefreshTimerElapsed()`
`212`	`213`	`{`
`213`		`- for (int i = 0; i < m_assetsUuids.size(); i++)`
	`214`	`+ for (const auto& [assetUuid, rowId] : m_assetsUuidsToColumnIndex)`
`214`	`215`	`{`
`215`		`- const AZ::Uuid& assetUuid = m_assetsUuids[i];`
`216`		`- const AZStd::string& sourceAssetFullPath = m_assetsPaths[i];`
`217`		`- if (!m_assetsUuidsFinished.contains(assetUuid))`
	`216`	`+ if (m_assetsPaths.contains(assetUuid) && !m_assetsUuidsFinished.contains(assetUuid))`
`218`	`217`	`{`
	`218`	`+ // Execute for all found source assets that are not finished yet.`
	`219`	`+ const AZStd::string& sourceAssetFullPath = m_assetsPaths[assetUuid];`
`219`	`220`	`using namespace AzToolsFramework;`
`220`	`221`	`using namespace AzToolsFramework::AssetSystem;`
`221`	`222`
`@@ -225,7 +226,7 @@ namespace ROS2`
`225`	`226`	`if (result)`
`226`	`227`	`{`
`227`	`228`	`bool allFinished = true;`
`228`		`- bool failed = false;`
	`229`	`+ bool productAssetFailed = false;`
`229`	`230`	`JobInfoContainer& allJobs = result.GetValue();`
`230`	`231`	`for (const JobInfo& job : allJobs)`
`231`	`232`	`{`
`@@ -235,34 +236,35 @@ namespace ROS2`
`235`	`236`	`}`
`236`	`237`	`if (job.m_status == JobStatus::Failed)`
`237`	`238`	`{`
`238`		`- failed = true;`
`239`		`- m_failedCount++;`
	`239`	`+ productAssetFailed = true;`
`240`	`240`	`}`
`241`	`241`	`}`
`242`	`242`	`if (allFinished)`
`243`	`243`	`{`
`244`		`- if (!failed)`
	`244`	`+ if (!productAssetFailed)`
`245`	`245`	`{`
`246`	`246`	`const AZStd::vector<AZStd::string> productPaths = Utils::GetProductAssets(assetUuid);`
`247`	`247`	`QString text;`
`248`	`248`	`for (const auto& productPath : productPaths)`
`249`	`249`	`{`
`250`	`250`	`text += QString::fromUtf8(productPath.data(), productPath.size()) + " ";`
`251`	`251`	`}`
`252`		`- m_table->setItem(i, Columns::ProductAsset, createCell(true, text));`
`253`		`- m_table->item(i, Columns::ProductAsset)->setIcon(m_okIcon);`
	`252`	`+ m_table->setItem(rowId, Columns::ProductAsset, createCell(true, text));`
	`253`	`+ m_table->item(rowId, Columns::ProductAsset)->setIcon(m_okIcon);`
`254`	`254`	`}`
`255`	`255`	`else`
`256`	`256`	`{`
`257`		`- m_table->setItem(i, Columns::ProductAsset, createCell(false, tr("Failed")));`
`258`		`- m_table->item(i, Columns::ProductAsset)->setIcon(m_failureIcon);`
	`257`	`+ m_table->setItem(rowId, Columns::ProductAsset, createCell(false, tr("Failed")));`
	`258`	`+ m_table->item(rowId, Columns::ProductAsset)->setIcon(m_failureIcon);`
	`259`	`+ m_failedCount++;`
`259`	`260`	`}`
`260`	`261`	`m_assetsUuidsFinished.insert(assetUuid);`
`261`	`262`	`}`
`262`	`263`	`}`
`263`	`264`	`}`
`264`	`265`	`}`
`265`		`- if (m_assetsUuidsFinished.size() == m_assetsUuids.size())`
	`266`	`+`
	`267`	`+ if (m_assetsUuidsFinished.size() == m_assetsUuidsToColumnIndex.size())`
`266`	`268`	`{`
`267`	`269`	`m_refreshTimer->stop();`
`268`	`270`	`if (m_failedCount == 0 && m_missingCount == 0)`
Original file line number	Diff line number	Diff line change
`@@ -21,6 +21,7 @@`
`21`	`21`	`"engine_version": "2.1.0",`
`22`	`22`	`"gem_names": [`
`23`	`23`	`"WarehouseAssets",`
	`24`	`+ "WarehouseAutomation",`
`24`	`25`	`"ROS2"`
`25`	`26`	`]`
`26`	`27`	`}`