refactor ROS2SpawnerComponent

Gems/ROS2/Code/Include/ROS2/Spawner/SpawnerBus.h

@@ -11,6 +11,7 @@
 #include <AzCore/EBus/EBus.h>
 #include <AzCore/Math/Transform.h>
 #include <AzCore/RTTI/BehaviorContext.h>
+#include <ROS2/Spawner/SpawnerInfo.h>
 
 namespace ROS2
 {
@@ -28,8 +29,9 @@ namespace ROS2
         //! @return default spawn point coordinates set by user in Editor (by default: translation: {0, 0, 0}, rotation: {0, 0, 0, 1},
         //! scale: 1.0)
         virtual const AZ::Transform& GetDefaultSpawnPose() const = 0;
+
+        virtual AZStd::unordered_map<AZStd::string, SpawnPointInfo> GetAllSpawnPointInfos() const = 0;
     };
 
     using SpawnerRequestsBus = AZ::EBus<SpawnerRequests>;
-    using SpawnerInterface = AZ::Interface<SpawnerRequests>;
 } // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Spawner/SpawnerInfo.h

@@ -0,0 +1,26 @@
+/*
+ * 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
+ *
+ */
+#pragma once
+
+#include <AzCore/Math/Transform.h>
+#include <AzCore/Memory/Memory.h>
+#include <AzCore/Memory/Memory_fwd.h>
+#include <AzCore/Memory/SystemAllocator.h>
+#include <AzCore/std/containers/unordered_map.h>
+#include <AzCore/std/string/string.h>
+
+namespace ROS2
+{
+    struct SpawnPointInfo
+    {
+        AZStd::string info;
+        AZ::Transform pose;
+    };
+
+    using SpawnPointInfoMap = AZStd::unordered_map<AZStd::string, SpawnPointInfo>;
+} // namespace ROS2

Gems/ROS2/Code/Source/ROS2EditorModule.cpp

@@ -5,11 +5,13 @@
  * SPDX-License-Identifier: Apache-2.0 OR MIT
  *
  */
+#include <Camera/ROS2CameraSensorEditorComponent.h>
 #include <Lidar/LidarRegistrarEditorSystemComponent.h>
 #include <ROS2EditorSystemComponent.h>
 #include <ROS2ModuleInterface.h>
-#include <Camera/ROS2CameraSensorEditorComponent.h>
 #include <RobotImporter/ROS2RobotImporterEditorSystemComponent.h>
+#include <Spawner/ROS2SpawnPointEditorComponent.h>
+#include <Spawner/ROS2SpawnerEditorComponent.h>
 
 #include <QtCore/qglobal.h>
 
@@ -30,19 +32,19 @@ namespace ROS2
         ROS2EditorModule()
         {
             InitROS2Resources();
-            
+
             // Push results of [MyComponent]::CreateDescriptor() into m_descriptors here.
             // Add ALL components descriptors associated with this gem to m_descriptors.
             // This will associate the AzTypeInfo information for the components with the SerializeContext, BehaviorContext and
             // EditContext. This happens through the [MyComponent]::Reflect() function.
             m_descriptors.insert(
                 m_descriptors.end(),
-                {
-                    ROS2EditorSystemComponent::CreateDescriptor(),
-                    LidarRegistrarEditorSystemComponent::CreateDescriptor(),
-                    ROS2RobotImporterEditorSystemComponent::CreateDescriptor(),
-                    ROS2CameraSensorEditorComponent::CreateDescriptor(),
-                });
+                { ROS2EditorSystemComponent::CreateDescriptor(),
+                  LidarRegistrarEditorSystemComponent::CreateDescriptor(),
+                  ROS2RobotImporterEditorSystemComponent::CreateDescriptor(),
+                  ROS2CameraSensorEditorComponent::CreateDescriptor(),
+                  ROS2SpawnerEditorComponent::CreateDescriptor(),
+                  ROS2SpawnPointEditorComponent::CreateDescriptor() });
         }
 
         /**

Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.cpp

@@ -7,7 +7,18 @@
  */
 
 #include "PrefabMakerPage.h"
+#include <AzCore/Component/Entity.h>
+#include <AzCore/Debug/Trace.h>
+#include <AzCore/EBus/Results.h>
+#include <AzCore/Math/Transform.h>
+#include <AzCore/std/smart_ptr/make_shared.h>
+#include <AzCore/std/string/string.h>
+#include <ROS2/Spawner/SpawnerBus.h>
+#include <ROS2/Spawner/SpawnerInfo.h>
 #include <RobotImporter/RobotImporterWidget.h>
+#include <optional>
+#include <qcombobox.h>
+#include <qvariant.h>
 
 namespace ROS2
 {
@@ -17,6 +28,20 @@ namespace ROS2
         , m_parentImporterWidget(parent)
         , m_success(false)
     {
+        AZ::EBusAggregateResults<AZStd::unordered_map<AZStd::string, SpawnPointInfo>> allActiveSpawnPoints;
+        SpawnerRequestsBus::BroadcastResult(allActiveSpawnPoints, &SpawnerRequestsBus::Events::GetAllSpawnPointInfos);
+
+        m_spawnPointsComboBox = new QComboBox(this);
+        m_spawnPointsInfos = allActiveSpawnPoints.values;
+
+        for (int i = 0; i < allActiveSpawnPoints.values.size(); i++)
+        {
+            for (const auto& element : allActiveSpawnPoints.values[i])
+            {
+                m_spawnPointsComboBox->addItem(element.first.c_str(), QVariant(i));
+            }
+        }
+
         m_prefabName = new QLineEdit(this);
         m_createButton = new QPushButton(tr("Create Prefab"), this);
         m_log = new QTextEdit(this);
@@ -28,6 +53,17 @@ namespace ROS2
         layoutInner->addWidget(m_createButton);
         layout->addLayout(layoutInner);
         layout->addWidget(m_useArticulation);
+        QLabel* spawnPointListLabel;
+        if (allActiveSpawnPoints.values.size() == 0)
+        {
+            spawnPointListLabel = new QLabel("Select spawn position (No spawn positions were detected)", this);
+        }
+        else
+        {
+            spawnPointListLabel = new QLabel("Select spawn position", this);
+        }
+        layout->addWidget(spawnPointListLabel);
+        layout->addWidget(m_spawnPointsComboBox);
         layout->addWidget(m_log);
         setLayout(layout);
         connect(m_createButton, &QPushButton::pressed, this, &PrefabMakerPage::onCreateButtonPressed);
@@ -60,5 +96,20 @@ namespace ROS2
     {
         return m_useArticulation->isChecked();
     }
+    AZStd::optional<AZ::Transform> PrefabMakerPage::getSelectedSpawnPoint() const
+    {
+        if (!m_spawnPointsInfos.empty())
+        {
+            int vectorIndex = m_spawnPointsComboBox->currentData().toInt();
+            AZStd::string mapKey(m_spawnPointsComboBox->currentText().toStdString().c_str());
+            auto& map = m_spawnPointsInfos[vectorIndex];
+            if (auto spawnInfo = map.find(mapKey);
+                spawnInfo != map.end())
+            {
+                return spawnInfo->second.pose;
+            }
+        }
+        return AZStd::nullopt;
+    }
 
 } // namespace ROS2

Gems/ROS2/Code/Source/RobotImporter/Pages/PrefabMakerPage.h

@@ -8,6 +8,9 @@
 
 #pragma once
 
+#include "ROS2/Spawner/SpawnerInfo.h"
+#include <AzCore/Component/Entity.h>
+#include <qcombobox.h>
 #if !defined(Q_MOC_RUN)
 #include <AzCore/Math/Crc.h>
 #include <AzCore/std/string/string.h>
@@ -34,6 +37,7 @@ namespace ROS2
         void setSuccess(bool success);
         bool isComplete() const override;
         bool IsUseArticulations() const;
+        AZStd::optional<AZ::Transform> getSelectedSpawnPoint() const;
     Q_SIGNALS:
         void onCreateButtonPressed();
 
@@ -43,6 +47,8 @@ namespace ROS2
         QPushButton* m_createButton;
         QTextEdit* m_log;
         QCheckBox* m_useArticulation;
+        QComboBox* m_spawnPointsComboBox;
+        AZStd::vector<SpawnPointInfoMap> m_spawnPointsInfos;
         RobotImporterWidget* m_parentImporterWidget;
     };
 } // namespace ROS2

Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp

@@ -356,7 +356,12 @@ namespace ROS2
         }
         const bool useArticulation = m_prefabMakerPage->IsUseArticulations();
         m_prefabMaker = AZStd::make_unique<URDFPrefabMaker>(
-            m_urdfPath.String(), m_parsedUrdf, prefabPath.String(), m_urdfAssetsMapping, useArticulation);
+            m_urdfPath.String(),
+            m_parsedUrdf,
+            prefabPath.String(),
+            m_urdfAssetsMapping,
+            useArticulation,
+            m_prefabMakerPage->getSelectedSpawnPoint());
 
         auto prefabOutcome = m_prefabMaker->CreatePrefabFromURDF();
         if (prefabOutcome.IsSuccess())

Gems/ROS2/Code/Source/RobotImporter/URDF/ArticulationsMaker.cpp

@@ -100,7 +100,7 @@ namespace ROS2
         AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
         AZ_Assert(entity, "No entity for id %s", entityId.ToString().c_str());
 
-        AZ_TracePrintf("ArticulationsMaker", "Processing inertial for entity id: %s\n", entityId.ToString().c_str());
+        AZ_Trace("ArticulationsMaker", "Processing inertial for entity id: %s\n", entityId.ToString().c_str());
         PhysX::EditorArticulationLinkConfiguration articulationLinkConfiguration;
 
         articulationLinkConfiguration = AddToArticulationConfig(articulationLinkConfiguration, link->inertial);

Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.cpp

@@ -58,7 +58,7 @@ namespace ROS2
         {
             m_wheelMaterial =
                 AZ::Data::Asset<Physics::MaterialAsset>(assetId, Physics::MaterialAsset::TYPEINFO_Uuid(), physicsMaterialAssetRelPath);
-            AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Waiting for asset load\n");
+            AZ_Trace(Internal::CollidersMakerLoggingTag, "Waiting for asset load\n");
             m_wheelMaterial.BlockUntilLoadComplete();
         }
         else
@@ -150,7 +150,7 @@ namespace ROS2
 
             if (result.GetResult() != AZ::SceneAPI::Events::ProcessingResult::Success)
             {
-                AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Scene updated\n");
+                AZ_Trace(Internal::CollidersMakerLoggingTag, "Scene updated\n");
                 return;
             }
 
@@ -242,7 +242,7 @@ namespace ROS2
         { // it is ok not to have collision in a link
             return;
         }
-        AZ_TracePrintf(Internal::CollidersMakerLoggingTag, "Processing collisions for entity id:%s\n", entityId.ToString().c_str());
+        AZ_Trace(Internal::CollidersMakerLoggingTag, "Processing collisions for entity id:%s\n", entityId.ToString().c_str());
 
         auto geometry = collision->geometry;
         if (!geometry)

Gems/ROS2/Code/Source/RobotImporter/URDF/InertialsMaker.cpp

@@ -21,7 +21,7 @@ namespace ROS2
         { // it is ok not to have inertia in a link
             return;
         }
-        AZ_TracePrintf("AddInertial", "Processing inertial for entity id: %s\n", entityId.ToString().c_str());
+        AZ_Trace("AddInertial", "Processing inertial for entity id: %s\n", entityId.ToString().c_str());
 
         AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
         PhysX::EditorRigidBodyConfiguration rigidBodyConfiguration;

Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.cpp

@@ -79,7 +79,7 @@ namespace ROS2::PrefabMakerUtils
             return AZ::Failure(AZStd::string("Invalid id for created entity"));
         }
 
-        AZ_TracePrintf("CreateEntity", "Processing entity id: %s with name: %s\n", entityId.ToString().c_str(), name.c_str());
+        AZ_Trace("CreateEntity", "Processing entity id: %s with name: %s\n", entityId.ToString().c_str(), name.c_str());
         AZ::Entity* entity = AzToolsFramework::GetEntityById(entityId);
         entity->SetName(name);
         entity->Deactivate();