updated source for ue5.4.4 (#308)

Author: khalidbourr

Source/RapyutaSimulationPlugins/Private/Core/RRActorCommon.cpp

@@ -15,6 +15,8 @@
 #include "Core/RRSceneDirector.h"
 #include "Core/RRThreadUtils.h"
 #include "Core/RRUObjectUtils.h"
+#include "RapyutaSimulationPlugins.h"
+
 
 void URRSceneInstance::ConfigureStaticClasses()
 {

Source/RapyutaSimulationPlugins/Private/Core/RRAssetUtils.cpp

@@ -1,9 +1,20 @@
 // Copyright 2020-2023 Rapyuta Robotics Co., Ltd.
 #include "Core/RRAssetUtils.h"
 
+// Native
+#include <type_traits>
+
 // UE
 #include "CoreMinimal.h"
 
+
+
+// Ensure RAPYUTA_SIM_DEBUG is defined before usage
+#ifndef RAPYUTA_SIM_DEBUG
+#define RAPYUTA_SIM_DEBUG 0  // Default to 0 if undefined
+#endif
+
+
 #if WITH_EDITOR
 #include "BlueprintCompilationManager.h"
 #include "PackageHelperFunctions.h"
@@ -18,7 +29,7 @@
 #include "Core/RRGameSingleton.h"
 #include "Core/RRThreadUtils.h"
 
-using URRBlueprint = typename TChooseClass<WITH_EDITOR, UBlueprint, UBlueprintGeneratedClass>::Result;
+using URRBlueprint = typename std::conditional<WITH_EDITOR, UBlueprint, UBlueprintGeneratedClass>::type;
 
 UClass* URRAssetUtils::FindBlueprintClass(const FString& InBlueprintClassName)
 {
@@ -58,11 +69,11 @@ UClass* URRAssetUtils::FindBlueprintClass(const FString& InBlueprintClassName)
             {
                 if (auto* bp = Cast<URRBlueprint>(InAssetData.GetAsset()))
                 {
-                    if constexpr (TIsSame<URRBlueprint, UBlueprint>::Value)
+                    if constexpr (std::is_same<URRBlueprint, UBlueprint>::value)
                     {
                         foundBPClass = Cast<UBlueprint>(bp)->GeneratedClass;
                     }
-                    else if constexpr (TIsSame<URRBlueprint, UBlueprintGeneratedClass>::Value)
+                    else if constexpr (std::is_same<URRBlueprint, UBlueprintGeneratedClass>::value)
                     {
                         foundBPClass = Cast<UClass>(bp);
                     }

Source/RapyutaSimulationPlugins/Private/Core/RRBaseActor.cpp

@@ -8,6 +8,8 @@
 #include "Core/RRGameState.h"
 #include "Core/RRPlayerController.h"
 #include "Core/RRUObjectUtils.h"
+#include "RapyutaSimulationPlugins.h"
+
 
 TMap<UClass*, TUniquePtr<std::once_flag>> ARRBaseActor::OnceFlagList;
 std::once_flag ARRBaseActor::OnceFlag;

Source/RapyutaSimulationPlugins/Private/Core/RRCamera.cpp

@@ -12,6 +12,8 @@
 #include "Core/RRMathUtils.h"
 #include "Core/RRMeshActor.h"
 #include "Core/RRUObjectUtils.h"
+#include "RapyutaSimulationPlugins.h"
+
 
 ARRCamera::ARRCamera()
 {

Source/RapyutaSimulationPlugins/Private/Core/RRCoreUtils.cpp

@@ -7,10 +7,8 @@
 #include "HAL/PlatformProcess.h"
 #include "IESConverter.h"
 #include "ImageUtils.h"
-#include "TextureCompiler.h"
 #if WITH_EDITOR
 #include "Factories/TextureFactory.h"
-#include "ThumbnailRendering/ThumbnailManager.h"
 #endif
 
 // RapyutaSimulationPlugins
@@ -26,6 +24,9 @@
 #include "Core/RRThreadUtils.h"
 #include "Core/RRTypeUtils.h"
 #include "Core/RRUObjectUtils.h"
+#include "RapyutaSimulationPlugins.h"
+
+
 
 IImageWrapperModule* URRCoreUtils::SImageWrapperModule = nullptr;
 TMap<ERRFileType, TSharedPtr<IImageWrapper>> URRCoreUtils::SImageWrappers;
@@ -303,6 +304,12 @@ bool URRCoreUtils::CheckWithTimeOut(const TFunctionRef<bool()>& InCondition,
 //
 UTexture2D* URRCoreUtils::LoadImageToTexture(const FString& InFullFilePath, const FString& InTextureName, const bool bInSaveToAsset)
 {
+    if (InTextureName.IsEmpty())
+    {
+        UE_LOG_WITH_INFO_SHORT(LogRapyutaCore, Error, TEXT("Image path [%s] - InTextureName is empty"));
+        return nullptr;
+    }
+
     if (bInSaveToAsset)
     {
 #if WITH_EDITOR
@@ -316,7 +323,7 @@ UTexture2D* URRCoreUtils::LoadImageToTexture(const FString& InFullFilePath, cons
         // Save [texture] to uasset file on disk, logged here-in
         return URRAssetUtils::SavePackageToAsset(texturePkg, texture) ? texture : nullptr;
 #else
-        UE_LOG_WITH_INFO(LogTemp, Error, TEXT("Texture saving to uasset is Editor-only feature"));
+        UE_LOG_WITH_INFO_SHORT(LogRapyutaCore, Error, TEXT("Texture saving to uasset is Editor-only feature"));
         return nullptr;
 #endif
     }
@@ -333,6 +340,7 @@ UTexture2D* URRCoreUtils::LoadImageToTexture(const FString& InFullFilePath, cons
         texture = FImageUtils::ImportFileAsTexture2D(InFullFilePath);
         if (texture)
         {
+            texture = FImageUtils::ImportFileAsTexture2D(InFullFilePath);
             texture->Rename(*InTextureName);
         }
         return texture;
@@ -487,173 +495,3 @@ bool URRCoreUtils::LoadIESProfilesFromFolder(const FString& InFolderPath,
 
     return bResult;
 }
-
-// -------------------------------------------------------------------------------------------------------------------------
-// GRAPHICS UTILS --
-//
-#if WITH_EDITOR
-bool URRCoreUtils::RenderThumbnail(UObject* InObject,
-                                   uint32 InImageWidth,
-                                   uint32 InImageHeight,
-                                   const ThumbnailTools::EThumbnailTextureFlushMode::Type InFlushMode,
-                                   FObjectThumbnail* OutThumbnail)
-{
-    // Renderer must be initialized before generating thumbnails
-    if (!ensure(FApp::CanEverRender()))
-    {
-        return false;
-    }
-    if (!ensure(GIsRHIInitialized))
-    {
-        return false;
-    }
-
-    // Get the rendering info for this object
-    FThumbnailRenderingInfo* renderInfo = UThumbnailManager::Get().GetRenderingInfo(InObject);
-    if ((nullptr == renderInfo) || (nullptr == renderInfo->Renderer))
-    {
-        UE_LOG_WITH_INFO_SHORT(LogRapyutaCore,
-                               Error,
-                               TEXT("[ThumbnailManager] No rendering info found for class [%s]"),
-                               *InObject->GetClass()->GetName());
-        return false;
-    }
-
-    if (false == renderInfo->Renderer->CanVisualizeAsset(InObject))
-    {
-        UE_LOG_WITH_INFO_SHORT(LogRapyutaCore,
-                               Error,
-                               TEXT("[%s] cannot be visualized, probably due to invalid rendering resource"),
-                               *InObject->GetName());
-        return false;
-    }
-
-    // Thumbnail size
-    if (OutThumbnail)
-    {
-        OutThumbnail->SetImageSize(InImageWidth, InImageHeight);
-    }
-
-    // Create a static texture render target, as commonly used for all thumbnails
-    static UTextureRenderTarget2D* sThumbnailRenderTarget = []()
-    {
-        // Create thumbnail render target
-        UTextureRenderTarget2D* renderTarget = NewObject<UTextureRenderTarget2D>(GetTransientPackage());
-        renderTarget->AddToRoot();
-        renderTarget->ClearColor = FLinearColor::Transparent;
-        renderTarget->TargetGamma = GEngine->GetDisplayGamma();
-        renderTarget->RenderTargetFormat = RTF_RGBA8;
-        return renderTarget;
-    }();
-    sThumbnailRenderTarget->InitAutoFormat(InImageWidth, InImageHeight);
-    auto* renderTargetResource = sThumbnailRenderTarget->GameThread_GetRenderTargetResource();
-
-    // Create a canvas for the render target and clear it to black
-    FCanvas canvas(renderTargetResource, nullptr, FGameTime::GetTimeSinceAppStart(), GMaxRHIFeatureLevel);
-    canvas.Clear(FLinearColor::Transparent);
-
-    // Wait for all textures to be streamed in before rendering the thumbnail
-    // @todo CB: This helps but doesn't 100% guarantee fully-streamed-in resources!
-    if (ThumbnailTools::EThumbnailTextureFlushMode::AlwaysFlush == InFlushMode)
-    {
-        if (GShaderCompilingManager)
-        {
-            GShaderCompilingManager->ProcessAsyncResults(false, true);
-        }
-
-        if (UTexture* texture = Cast<UTexture>(InObject))
-        {
-            FTextureCompilingManager::Get().FinishCompilation({texture});
-        }
-
-        FlushAsyncLoading();
-        IStreamingManager::Get().StreamAllResources(100.f);
-    }
-
-    // Make sure we suppress any message dialogs that might result from constructing
-    // or initializing any of the renderable objects.
-    {
-        TGuardValue<bool> Unattended(GIsRunningUnattendedScript, true);
-
-        // Draw thumbnail onto [canvas]
-        renderInfo->Renderer->Draw(
-            InObject, 0, 0, InImageWidth, InImageHeight, renderTargetResource, &canvas, false /*bAdditionalViewFamily*/);
-    }
-
-    // Flush [canvas], tell rendering thread to finish drawing batched elements
-    canvas.Flush_GameThread();
-    {
-        ENQUEUE_RENDER_COMMAND(UpdateThumbnailRTCommand)
-        (
-            [renderTargetResource](FRHICommandListImmediate& RHICmdList) {
-                TransitionAndCopyTexture(
-                    RHICmdList, renderTargetResource->GetRenderTargetTexture(), renderTargetResource->TextureRHI, {});
-            });
-
-        if (OutThumbnail)
-        {
-            const FIntRect thumbnailRect(0, 0, OutThumbnail->GetImageWidth(), OutThumbnail->GetImageHeight());
-            TArray<uint8>& outThumbnailData = OutThumbnail->AccessImageData();
-
-            outThumbnailData.Empty();
-            outThumbnailData.AddUninitialized(OutThumbnail->GetImageWidth() * OutThumbnail->GetImageHeight() * sizeof(FColor));
-
-            // Read remote texture's contents (GPU) back to system memory (CPU)
-            renderTargetResource->ReadPixelsPtr((FColor*)outThumbnailData.GetData(), FReadSurfaceDataFlags(), thumbnailRect);
-        }
-    }
-    return true;
-}
-#endif
-
-bool URRCoreUtils::GenerateThumbnail(UObject* InObject, uint32 InImageWidth, uint32 InImageHeight, const FString& InSaveImagePath)
-{
-    if (IsRunningCommandlet() && !IsAllowCommandletRendering())
-    {
-        UE_LOG_WITH_INFO_SHORT(
-            LogRapyutaCore,
-            Warning,
-            TEXT("[%s] is running without [-AllowCommandletRendering], thus unable to generate [%s]'s thumbnail!"),
-            *GetRunningCommandletClass()->GetName(),
-            *InObject->GetName());
-        return false;
-    }
-#if WITH_EDITOR
-    FObjectThumbnail thumbnail;
-    // Already logged here-in
-    if (false == URRCoreUtils::RenderThumbnail(
-                     InObject, InImageWidth, InImageHeight, ThumbnailTools::EThumbnailTextureFlushMode::AlwaysFlush, &thumbnail))
-    {
-        return false;
-    }
-
-    // Ref: FImageUtils::ThumbnailCompressImageArray()
-#if RAPYUTA_SIM_DEBUG
-    FColor* thumbnailColorData = (FColor*)thumbnail.AccessImageData().GetData();
-    // Thumbnails are saved as RGBA but FColors are stored as BGRA. An option to swap the order upon compression may be added at
-    // some point. At the moment, manually swapping Red and Blue
-    for (int32 i = 0; i < InImageWidth * InImageHeight; ++i)
-    {
-        Swap(thumbnailColorData[i].R, thumbnailColorData[i].B);
-    }
-#endif
-
-    // Compress thumbnail data & save to disk
-    thumbnail.CompressImageData();
-    if (FFileHelper::SaveArrayToFile(thumbnail.AccessCompressedImageData(), *InSaveImagePath))
-    {
-        UE_LOG_WITH_INFO_SHORT(
-            LogRapyutaCore, Log, TEXT("[%s]'s thumbnail has been saved to file [%s]"), *InObject->GetName(), *InSaveImagePath);
-        return true;
-    }
-    else
-    {
-        UE_LOG_WITH_INFO_SHORT(
-            LogRapyutaCore, Error, TEXT("Failed saving [%s]'s thumbnail to file [%s]"), *InObject->GetName(), *InSaveImagePath);
-        return false;
-    }
-#else
-    UE_LOG_WITH_INFO_SHORT(LogRapyutaCore, Error, TEXT("Editor-only API"));
-    return false;
-#endif
-}

Source/RapyutaSimulationPlugins/Private/Core/RRCrowdROSController.cpp

@@ -4,6 +4,8 @@
 // RapyutaSimulationPlugins
 #include "Robots/RRBaseRobot.h"
 #include "Robots/RRRobotROS2Interface.h"
+#include "RapyutaSimulationPlugins.h"
+
 
 void ARRCrowdROSController::OnPossess(APawn* InPawn)
 {

Source/RapyutaSimulationPlugins/Private/Core/RRGameInstance.cpp

@@ -7,6 +7,8 @@
 #include "Core/RRGameMode.h"
 #include "Core/RRGameSingleton.h"
 #include "Core/RRMathUtils.h"
+#include "logUtilities.h"
+
 
 FString URRGameInstance::SMapName;
 void URRGameInstance::PreloadContentForURL(FURL InURL)

Source/RapyutaSimulationPlugins/Private/Core/RRGameMode.cpp

@@ -14,6 +14,8 @@
 #include "Core/RRGameState.h"
 #include "Core/RRPlayerController.h"
 #include "Tools/RRROS2ClockPublisher.h"
+#include "logUtilities.h"
+
 
 ARRGameMode::ARRGameMode()
 {

Source/RapyutaSimulationPlugins/Private/Core/RRGameSingleton.cpp

@@ -5,6 +5,8 @@
 // RapyutaSim
 #include "Core/RRPakLoader.h"
 #include "Core/RRTypeUtils.h"
+#include "logUtilities.h"
+
 
 TMap<ERRResourceDataType, TArray<const TCHAR*>> URRGameSingleton::SASSET_OWNING_MODULE_NAMES = {
     // Only required for statically loaded UASSET
@@ -25,12 +27,6 @@ URRGameSingleton::URRGameSingleton()
 #if RAPYUTA_SIM_VERBOSE
     UE_LOG_WITH_INFO(LogRapyutaCore, Display, TEXT("INSTANTIATED! ======================"));
 #endif
-    // Prepare an empty [ResourceMap]
-    for (uint8 i = (static_cast<uint8>(ERRResourceDataType::NONE) + 1); i < static_cast<uint8>(ERRResourceDataType::TOTAL); ++i)
-    {
-        const ERRResourceDataType dataType = static_cast<ERRResourceDataType>(i);
-        ResourceMap.Add(dataType, FRRResourceInfo(dataType));
-    }
 }
 
 URRGameSingleton::~URRGameSingleton()
@@ -98,6 +94,13 @@ URRGameSingleton* URRGameSingleton::Get()
 
 bool URRGameSingleton::InitializeResources(bool bInRequestResourceLoading)
 {
+    // Prepare an empty [ResourceMap]
+    for (uint8 i = (static_cast<uint8>(ERRResourceDataType::NONE) + 1); i < static_cast<uint8>(ERRResourceDataType::TOTAL); ++i)
+    {
+        const ERRResourceDataType dataType = static_cast<ERRResourceDataType>(i);
+        ResourceMap.Add(dataType, FRRResourceInfo(dataType));
+    }
+
     // Initialize PakLoader (only available in packaged Sim)
 #if WITH_EDITOR
     bPakLoaderInitialized = false;

Source/RapyutaSimulationPlugins/Private/Core/RRGameState.cpp

@@ -18,6 +18,9 @@
 #include "Core/RRROS2GameMode.h"
 #include "Core/RRSceneDirector.h"
 #include "Core/RRUObjectUtils.h"
+#include "logUtilities.h"
+#include "Core/RRGameMode.h" 
+
 
 ARRGameState::ARRGameState()
 {