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Signed-off-by: Mateusz Wasilewski <[email protected]>
RobotecAI · Jul 31, 2024 · 5ef2246 · 5ef2246
1 parent 2bf527a
commit 5ef2246
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Showing 39 changed files with 251 additions and 258 deletions.
diff --git a/Gems/LevelModificationTools/Code/Source/Clients/PrefabVariantComponent.cpp b/Gems/LevelModificationTools/Code/Source/Clients/PrefabVariantComponent.cpp
@@ -43,7 +43,7 @@ namespace LevelModificationTools
             return;
         }
 
-        const auto assetIter = m_config.m_prefabVariants.begin()+variantId;
+        const auto assetIter = m_config.m_prefabVariants.begin() + variantId;
         AZ_Warning(
             "PrefabVariantComponent", assetIter != m_config.m_prefabVariants.end(), "Prefab variant with id %d not found.", variantId);
         if (assetIter != m_config.m_prefabVariants.end())

diff --git a/Gems/LevelModificationTools/Code/Source/Clients/PrefabVariantComponent.h b/Gems/LevelModificationTools/Code/Source/Clients/PrefabVariantComponent.h
@@ -25,7 +25,7 @@ namespace LevelModificationTools
     public:
         AZ_COMPONENT(PrefabVariantComponent, "{018f8611-85fc-7e0f-a879-b3a0ff793535}", AZ::Component);
         PrefabVariantComponent() = default;
-        explicit PrefabVariantComponent(PrefabVariantConfig  config);
+        explicit PrefabVariantComponent(PrefabVariantConfig config);
         ~PrefabVariantComponent() override = default;
 
         // Component overrides

diff --git a/Gems/ROS2PoseControl/Code/Include/ROS2PoseControl/ROS2PoseControlConfiguration.h b/Gems/ROS2PoseControl/Code/Include/ROS2PoseControl/ROS2PoseControlConfiguration.h
@@ -1,26 +1,28 @@
 #pragma once
 
+#include <AzCore/Component/EntityId.h>
 #include <AzCore/RTTI/RTTI.h>
 #include <AzCore/Serialization/SerializeContext.h>
 #include <AzCore/std/string/string.h>
 #include <ROS2/Communication/TopicConfiguration.h>
-#include <AzCore/Component/EntityId.h>
-namespace ROS2PoseControl {
+namespace ROS2PoseControl
+{
     //! A structure for a single ROS2 topic, a part of publisher or subscriber configuration.
-    struct ROS2PoseControlConfiguration {
+    struct ROS2PoseControlConfiguration
+    {
     public:
         AZ_TYPE_INFO(ROS2PoseControlConfiguration, "{4f7686d5-f44e-43a6-a1b8-f404065c6430}");
 
-        static void Reflect(AZ::ReflectContext *context);
+        static void Reflect(AZ::ReflectContext* context);
 
         AZ::Crc32 isTrackingModeTF2Visibility() const;
 
         AZ::Crc32 isTrackingModePoseMessagesVisibility() const;
 
-
         AZ::Crc32 isGroudOffsetVisible() const;
 
-        enum class TrackingMode {
+        enum class TrackingMode
+        {
             PoseMessages,
             TF2
         };
@@ -38,4 +40,4 @@ namespace ROS2PoseControl {
 
         AZStd::string m_startOffsetTag;
     };
-} // namespace ROS2
+} // namespace ROS2PoseControl
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp
@@ -95,15 +95,10 @@ namespace ROS2PoseControl
         geometry_msgs::msg::TransformStamped transformStamped;
         std::string errorString;
         if (m_tf_buffer->canTransform(
-            m_configuration.m_referenceFrame.c_str(),
-            m_configuration.m_targetFrame.c_str(),
-            tf2::TimePointZero,
-            &errorString))
+                m_configuration.m_referenceFrame.c_str(), m_configuration.m_targetFrame.c_str(), tf2::TimePointZero, &errorString))
         {
             transformStamped = m_tf_buffer->lookupTransform(
-                m_configuration.m_referenceFrame.c_str(),
-                m_configuration.m_targetFrame.c_str(),
-                tf2::TimePointZero);
+                m_configuration.m_referenceFrame.c_str(), m_configuration.m_targetFrame.c_str(), tf2::TimePointZero);
             m_tf2WarningShown = false;
         }
         else
@@ -363,7 +358,7 @@ namespace ROS2PoseControl
         request.m_distance = maxDistance;
 
         AzPhysics::SceneQueryHits result = sceneInterface->QueryScene(sceneHandle, &request);
-        if(!m_groundNotFoundWarningShown)
+        if (!m_groundNotFoundWarningShown)
         {
             AZ_Warning("ROS2PoseControl", hitPosition.has_value(), "No ground found for the entity");
             m_groundNotFoundWarningShown = !hitPosition.has_value();

diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.h b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.h
@@ -51,7 +51,6 @@ namespace ROS2PoseControl
         void SetIsTracking(bool isTracking);
 
     private:
-
         //! Obtains the transform in the world tagged with the given tag name.
         //! @param tagName The name of the tag to search for.
         //! @return The transform of the entity with the given tag name, if it exists.
@@ -68,7 +67,7 @@ namespace ROS2PoseControl
 
         AZ::Transform RemoveTilt(AZ::Transform transform) const;
 
-        AZStd::optional<AZ::Vector3> QueryGround(const AZ::Vector3& location,  const AZ::Vector3& gravityDirection, float maxDistance);
+        AZStd::optional<AZ::Vector3> QueryGround(const AZ::Vector3& location, const AZ::Vector3& gravityDirection, float maxDistance);
 
         void ApplyTransform(const AZ::Transform& transform);
 
@@ -88,6 +87,5 @@ namespace ROS2PoseControl
         bool m_tf2WarningShown = false;
         bool m_groundNotFoundWarningShown = false;
         bool m_startingOffsetNotFoundWarningShown = false;
-
     };
 } // namespace ROS2PoseControl
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlConfiguration.cpp b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlConfiguration.cpp
@@ -1,74 +1,83 @@
 #include <AzCore/Serialization/EditContext.h>
 #include <ROS2PoseControl/ROS2PoseControlConfiguration.h>
 
-namespace ROS2PoseControl {
-    AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModeTF2Visibility() const {
-        return m_tracking_mode == TrackingMode::TF2
-                   ? AZ::Edit::PropertyVisibility::Show
-                   : AZ::Edit::PropertyVisibility::Hide;
+namespace ROS2PoseControl
+{
+    AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModeTF2Visibility() const
+    {
+        return m_tracking_mode == TrackingMode::TF2 ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide;
     }
 
-    AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility() const {
-        return m_tracking_mode == TrackingMode::PoseMessages
-                   ? AZ::Edit::PropertyVisibility::Show
-                   : AZ::Edit::PropertyVisibility::Hide;
+    AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility() const
+    {
+        return m_tracking_mode == TrackingMode::PoseMessages ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide;
     }
 
-    AZ::Crc32 ROS2PoseControlConfiguration::isGroudOffsetVisible()  const {
-        return m_clampToGround ? AZ::Edit::PropertyVisibility::Show
-            : AZ::Edit::PropertyVisibility::Hide;
+    AZ::Crc32 ROS2PoseControlConfiguration::isGroudOffsetVisible() const
+    {
+        return m_clampToGround ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide;
     }
 
-    void ROS2PoseControlConfiguration::Reflect(AZ::ReflectContext *context) {
-        if (auto serializeContext = azrtti_cast<AZ::SerializeContext *>(context)) {
+    void ROS2PoseControlConfiguration::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+        {
             serializeContext->Class<ROS2PoseControlConfiguration>()
-                    ->Version(1)
-                    ->Field("m_tracking_mode", &ROS2PoseControlConfiguration::m_tracking_mode)
-                    ->Field("m_poseTopicConfiguration", &ROS2PoseControlConfiguration::m_poseTopicConfiguration)
-                    ->Field("m_targetFrame", &ROS2PoseControlConfiguration::m_targetFrame)
-                    ->Field("m_referenceFrame", &ROS2PoseControlConfiguration::m_referenceFrame)
-                    ->Field("lockZAxis", &ROS2PoseControlConfiguration::m_lockZAxis)
-                    ->Field("startOffsetTag", &ROS2PoseControlConfiguration::m_startOffsetTag)
-                    ->Field("m_clampToGround", &ROS2PoseControlConfiguration::m_clampToGround)
-                    ->Field("m_groundOffset", &ROS2PoseControlConfiguration::m_groundOffset);
+                ->Version(1)
+                ->Field("m_tracking_mode", &ROS2PoseControlConfiguration::m_tracking_mode)
+                ->Field("m_poseTopicConfiguration", &ROS2PoseControlConfiguration::m_poseTopicConfiguration)
+                ->Field("m_targetFrame", &ROS2PoseControlConfiguration::m_targetFrame)
+                ->Field("m_referenceFrame", &ROS2PoseControlConfiguration::m_referenceFrame)
+                ->Field("lockZAxis", &ROS2PoseControlConfiguration::m_lockZAxis)
+                ->Field("startOffsetTag", &ROS2PoseControlConfiguration::m_startOffsetTag)
+                ->Field("m_clampToGround", &ROS2PoseControlConfiguration::m_clampToGround)
+                ->Field("m_groundOffset", &ROS2PoseControlConfiguration::m_groundOffset);
 
-            if (AZ::EditContext *ec = serializeContext->GetEditContext()) {
-                ec->Class<ROS2PoseControlConfiguration>("ROS2PoseControlConfiguration",
-                                                        "Sub configuration for ROS2PoseControl component")
-                        ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
-                        ->DataElement(
-                            AZ::Edit::UIHandlers::ComboBox,
-                            &ROS2PoseControlConfiguration::m_tracking_mode,
-                            "Tracking Mode",
-                            "Selects tracking mode")
-                        ->EnumAttribute(TrackingMode::PoseMessages, "Pose Messages")
-                        ->EnumAttribute(TrackingMode::TF2, "TF2")
-                        ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree)
-                        ->DataElement(
-                            AZ::Edit::UIHandlers::Default,
-                            &ROS2PoseControlConfiguration::m_poseTopicConfiguration,
-                            "Topic for control message",
-                            "Configuration for ROS2 topic to receive control messages to")
-                        ->Attribute(AZ::Edit::Attributes::Visibility,
-                                    &ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility)
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_targetFrame,
-                                      "Target Frame", "Frame to track eg. base_link")
-                        ->Attribute(AZ::Edit::Attributes::Visibility,
-                                    &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility)
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_referenceFrame,
-                                      "Reference Frame", "Reference frame eg. map")
-                        ->Attribute(AZ::Edit::Attributes::Visibility,
-                                    &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility)
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_lockZAxis,
-                                    "Lock Z Axis", "Lock Z axis")
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_startOffsetTag,
-                                "Start Offset Tag", "Tag that will be used to set the start offset for the entity.")
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_clampToGround,
-                                      "Clamp to Ground", "Clamp to ground")
-                        ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_groundOffset, "Ground Offset",
-                                      "Offset from the ground")
-                        ->Attribute(AZ::Edit::Attributes::Visibility,   &ROS2PoseControlConfiguration::isGroudOffsetVisible);
+            if (AZ::EditContext* ec = serializeContext->GetEditContext())
+            {
+                ec->Class<ROS2PoseControlConfiguration>("ROS2PoseControlConfiguration", "Sub configuration for ROS2PoseControl component")
+                    ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::ComboBox,
+                        &ROS2PoseControlConfiguration::m_tracking_mode,
+                        "Tracking Mode",
+                        "Selects tracking mode")
+                    ->EnumAttribute(TrackingMode::PoseMessages, "Pose Messages")
+                    ->EnumAttribute(TrackingMode::TF2, "TF2")
+                    ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &ROS2PoseControlConfiguration::m_poseTopicConfiguration,
+                        "Topic for control message",
+                        "Configuration for ROS2 topic to receive control messages to")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &ROS2PoseControlConfiguration::m_targetFrame,
+                        "Target Frame",
+                        "Frame to track eg. base_link")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility)
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &ROS2PoseControlConfiguration::m_referenceFrame,
+                        "Reference Frame",
+                        "Reference frame eg. map")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility)
+                    ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_lockZAxis, "Lock Z Axis", "Lock Z axis")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &ROS2PoseControlConfiguration::m_startOffsetTag,
+                        "Start Offset Tag",
+                        "Tag that will be used to set the start offset for the entity.")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_clampToGround, "Clamp to Ground", "Clamp to ground")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &ROS2PoseControlConfiguration::m_groundOffset,
+                        "Ground Offset",
+                        "Offset from the ground")
+                    ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isGroudOffsetVisible);
             }
         }
     };
-} // namespace ROS2
+} // namespace ROS2PoseControl
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlModule.cpp b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlModule.cpp
@@ -1,17 +1,16 @@
 
+#include "ROS2PoseControlSystemComponent.h"
 #include <ROS2PoseControl/ROS2PoseControlTypeIds.h>
 #include <ROS2PoseControlModuleInterface.h>
-#include "ROS2PoseControlSystemComponent.h"
 
 namespace ROS2PoseControl
 {
-    class ROS2PoseControlModule
-        : public ROS2PoseControlModuleInterface
+    class ROS2PoseControlModule : public ROS2PoseControlModuleInterface
     {
     public:
         AZ_RTTI(ROS2PoseControlModule, ROS2PoseControlModuleTypeId, ROS2PoseControlModuleInterface);
         AZ_CLASS_ALLOCATOR(ROS2PoseControlModule, AZ::SystemAllocator);
     };
-}// namespace ROS2PoseControl
+} // namespace ROS2PoseControl
 
 AZ_DECLARE_MODULE_CLASS(Gem_ROS2PoseControl, ROS2PoseControl::ROS2PoseControlModule)
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlSystemComponent.cpp b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlSystemComponent.cpp
@@ -8,17 +8,14 @@
 
 namespace ROS2PoseControl
 {
-    AZ_COMPONENT_IMPL(ROS2PoseControlSystemComponent, "ROS2PoseControlSystemComponent",
-        ROS2PoseControlSystemComponentTypeId);
+    AZ_COMPONENT_IMPL(ROS2PoseControlSystemComponent, "ROS2PoseControlSystemComponent", ROS2PoseControlSystemComponentTypeId);
 
     void ROS2PoseControlSystemComponent::Reflect(AZ::ReflectContext* context)
     {
         ROS2PoseControlConfiguration::Reflect(context);
         if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
         {
-            serializeContext->Class<ROS2PoseControlSystemComponent, AZ::Component>()
-                ->Version(0)
-                ;
+            serializeContext->Class<ROS2PoseControlSystemComponent, AZ::Component>()->Version(0);
         }
     }
 
@@ -60,5 +57,4 @@ namespace ROS2PoseControl
     {
     }
 
-
 } // namespace ROS2PoseControl
diff --git a/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlSystemComponent.h b/Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlSystemComponent.h
@@ -6,8 +6,7 @@
 
 namespace ROS2PoseControl
 {
-    class ROS2PoseControlSystemComponent
-        : public AZ::Component
+    class ROS2PoseControlSystemComponent : public AZ::Component
     {
     public:
         AZ_COMPONENT_DECL(ROS2PoseControlSystemComponent);

diff --git a/Gems/ROS2PoseControl/Code/Source/ROS2PoseControlModuleInterface.cpp b/Gems/ROS2PoseControl/Code/Source/ROS2PoseControlModuleInterface.cpp
@@ -2,15 +2,14 @@
 #include "ROS2PoseControlModuleInterface.h"
 #include <AzCore/Memory/Memory.h>
 
-#include <ROS2PoseControl/ROS2PoseControlTypeIds.h>
 #include "Clients/ROS2PoseControl.h"
+#include <ROS2PoseControl/ROS2PoseControlTypeIds.h>
 
 #include <Clients/ROS2PoseControlSystemComponent.h>
 
 namespace ROS2PoseControl
 {
-    AZ_TYPE_INFO_WITH_NAME_IMPL(ROS2PoseControlModuleInterface,
-        "ROS2PoseControlModuleInterface", ROS2PoseControlModuleInterfaceTypeId);
+    AZ_TYPE_INFO_WITH_NAME_IMPL(ROS2PoseControlModuleInterface, "ROS2PoseControlModuleInterface", ROS2PoseControlModuleInterfaceTypeId);
     AZ_RTTI_NO_TYPE_INFO_IMPL(ROS2PoseControlModuleInterface, AZ::Module);
     AZ_CLASS_ALLOCATOR_IMPL(ROS2PoseControlModuleInterface, AZ::SystemAllocator);
 
@@ -20,10 +19,8 @@ namespace ROS2PoseControl
         // Add ALL components descriptors associated with this gem to m_descriptors.
         // This will associate the AzTypeInfo information for the components with the the SerializeContext, BehaviorContext and EditContext.
         // This happens through the [MyComponent]::Reflect() function.
-        m_descriptors.insert(m_descriptors.end(), {
-            ROS2PoseControlSystemComponent::CreateDescriptor(),
-            ROS2PoseControl::CreateDescriptor()
-            });
+        m_descriptors.insert(
+            m_descriptors.end(), { ROS2PoseControlSystemComponent::CreateDescriptor(), ROS2PoseControl::CreateDescriptor() });
     }
 
     AZ::ComponentTypeList ROS2PoseControlModuleInterface::GetRequiredSystemComponents() const

diff --git a/Gems/ROS2PoseControl/Code/Source/ROS2PoseControlModuleInterface.h b/Gems/ROS2PoseControl/Code/Source/ROS2PoseControlModuleInterface.h
@@ -6,8 +6,7 @@
 
 namespace ROS2PoseControl
 {
-    class ROS2PoseControlModuleInterface
-        : public AZ::Module
+    class ROS2PoseControlModuleInterface : public AZ::Module
     {
     public:
         AZ_TYPE_INFO_WITH_NAME_DECL(ROS2PoseControlModuleInterface)
@@ -21,4 +20,4 @@ namespace ROS2PoseControl
          */
         AZ::ComponentTypeList GetRequiredSystemComponents() const override;
     };
-}// namespace ROS2PoseControl
+} // namespace ROS2PoseControl