[Simulation Interfaces] Support for Worlds

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/LevelManagerRequestBus.h

@@ -0,0 +1,79 @@
+/*
+ * 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 "SimulationInterfacesTypeIds.h"
+#include <AzCore/Outcome/Outcome.h>
+#include <AzCore/std/containers/vector.h>
+#include <AzCore/std/string/string.h>
+#include <SimulationInterfaces/Resource.h>
+#include <SimulationInterfaces/Result.h>
+#include <SimulationInterfaces/TagFilter.h>
+
+#include "WorldResource.h"
+#include <AzCore/EBus/EBus.h>
+#include <AzCore/Interface/Interface.h>
+#include <AzCore/std/containers/unordered_set.h>
+#include <simulation_interfaces/msg/simulator_features.hpp>
+
+namespace SimulationInterfaces
+{
+    //! @see <a
+    //! href="https://github.com/ros-simulation/simulation_interfaces/blob/main/srv/GetAvailableWorlds.srv">GetAvailableWorlds.srv</a>
+    struct GetWorldsRequest
+    {
+        // Optional sources (local or remote) where simulator should look for worlds
+        AZStd::vector<AZStd::string> additionalSources;
+        TagFilter filter; // A filter to match against world tags
+        bool offlineOnly = false; // Whether to limit search to only offline resources
+        bool continueOnError = false; // By default fail in case of missing asset
+    };
+
+    //! @see <a
+    //! href="https://github.com/ros-simulation/simulation_interfaces/blob/main/srv/LoadWorld.srv">LoadWorld.srv</a>
+    struct LoadWorldRequest
+    {
+        Resource levelResource; // which level needs to be loaded
+        bool failOnUnsupportedElement = false; // By default just skip failed elements
+        bool ignoreMissingOrUnsupportedAssets = false; // Whether search should be continue on some noncritical fails
+    };
+
+    using WorldResourcesList = AZStd::vector<WorldResource>;
+
+    class LevelManagerRequests
+    {
+    public:
+        AZ_RTTI(LevelManagerRequests, LevelManagerRequestsTypeId);
+        virtual ~LevelManagerRequests() = default;
+
+        //! Returns vector with all worlds available in the simulator
+        virtual AZ::Outcome<WorldResourcesList, FailedResult> GetAvailableWorlds(const GetWorldsRequest& request) = 0;
+        //! Returns currently loaded world. If no world is loaded, error is returned
+        virtual AZ::Outcome<WorldResource, FailedResult> GetCurrentWorld() = 0;
+        //! Loads world based on provided resources
+        virtual AZ::Outcome<WorldResource, FailedResult> LoadWorld(const LoadWorldRequest& request) = 0;
+        //! Unloads currently loaded level
+        virtual AZ::Outcome<void, FailedResult> UnloadWorld() = 0;
+        //! Reloads current level
+        virtual void ReloadLevel() = 0;
+    };
+
+    class LevelManagerRequestBusTraits : public AZ::EBusTraits
+    {
+    public:
+        //////////////////////////////////////////////////////////////////////////
+        // EBusTraits overrides
+        static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single;
+        static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single;
+        //////////////////////////////////////////////////////////////////////////
+    };
+
+    using LevelManagerRequestBus = AZ::EBus<LevelManagerRequests, LevelManagerRequestBusTraits>;
+
+} // namespace SimulationInterfaces

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/Resource.h

@@ -0,0 +1,27 @@
+/*
+ * 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/std/string/string.h>
+
+namespace SimulationInterfaces
+{
+    //! A message type to represent simulation Resource
+    //! @see <a href="https://github.com/ros-simulation/simulation_interfaces/blob/main/msg/Resource.msg">Resource.msg</a>
+    struct Resource
+    {
+        Resource() = default;
+        Resource(AZStd::string uri, AZStd::string resourceString)
+            : m_uri(uri)
+            , m_resourceString(resourceString)
+        {
+        }
+        AZStd::string m_uri;
+        AZStd::string m_resourceString;
+    };
+} // namespace SimulationInterfaces

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/SimulationEntityManagerRequestBus.h

@@ -105,7 +105,7 @@ namespace SimulationInterfaces
 
         //! Reset the simulation to begin.
         //! This will revert the entire simulation to the initial state.
-        virtual void ResetAllEntitiesToInitialState() = 0;
+        virtual AZ::Outcome<void, FailedResult> ResetAllEntitiesToInitialState() = 0;
     };
 
     class SimulationInterfacesBusTraits : public AZ::EBusTraits

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/SimulationInterfacesTypeIds.h

@@ -23,6 +23,8 @@ namespace SimulationInterfaces
     inline constexpr const char* NamedPoseManagerTypeId = "{0F100078-C297-482C-BA56-644AB09F053F}";
     inline constexpr const char* NamedPoseManagerEditorTypeId = "{9E91A513-E1A5-43F0-B7B1-A759EEC23174}";
 
+    inline constexpr const char* LevelManagerTypeId = "{A9D5953D-F266-46D4-AD08-82CF10F426F7}";
+    inline constexpr const char* LevelManagerEditorTypeId = "{16C16216-279D-4215-9DF8-8AB4F15AC4C8}";
     // Module derived classes TypeIds
     inline constexpr const char* SimulationInterfacesModuleInterfaceTypeId = "{675797BF-E5D5-438A-BF86-4B4554F09CEF}";
     inline constexpr const char* SimulationInterfacesModuleTypeId = "{8D6741FD-3105-4CB0-9700-152123B6D135}";
@@ -41,5 +43,6 @@ namespace SimulationInterfaces
     inline constexpr const char* NamedPoseTypeId = "{C6B4A8BE-F39A-46ED-82E8-05BC260A1F31}";
     inline constexpr const char* NamedPoseComponentTypeId = "{A294B840-79CA-402D-A250-B5C3D958B518}";
     inline constexpr const char* NamedPoseEditorComponentTypeId = "{867002FC-ECA9-4CAE-A7B4-D2CA6FA14EF6}";
+    inline constexpr const char* LevelManagerRequestsTypeId = "{88519292-D032-4A2F-B323-FEDFE2E277EA}";
 
 } // namespace SimulationInterfaces

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/SimulationMangerRequestBus.h

@@ -9,6 +9,7 @@
 #pragma once
 
 #include "SimulationInterfacesTypeIds.h"
+#include <AzCore/Outcome/Outcome.h>
 
 #include "Result.h"
 #include <AzCore/EBus/EBus.h>
@@ -30,7 +31,7 @@ namespace SimulationInterfaces
         using ReloadLevelCallback = AZStd::function<void(void)>;
 
         //! Reload level and remove all spawned simulation entities.
-        virtual void ReloadLevel(ReloadLevelCallback completionCallback) = 0;
+        virtual AZ::Outcome<void, FailedResult> ResetSimulation(ReloadLevelCallback completionCallback) = 0;
 
         //! Set the simulation to paused or unpaused,
         //! expect always to succeed
@@ -61,6 +62,9 @@ namespace SimulationInterfaces
         //! https://github.com/ros-simulation/simulation_interfaces/blob/main/msg/SimulationState.msg
         //! @return outcome indicating if setting state succeed. In case of failure error message with error code is returned
         virtual AZ::Outcome<void, FailedResult> SetSimulationState(SimulationState stateToSet) = 0;
+        //! Check if it possible to work with entities. These operations should be possible only if world is loaded
+        //! @return bool indicating if simulator is ready for taking requests related to spawning/despawning setting entity state etc
+        virtual bool EntitiesOperationsPossible() = 0;
     };
 
     class SimulationMangerRequestBusTraits : public AZ::EBusTraits

Gems/SimulationInterfaces/Code/Include/SimulationInterfaces/WorldResource.h

@@ -0,0 +1,33 @@
+/*
+ * 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 "Resource.h"
+#include <AzCore/std/containers/vector.h>
+#include <AzCore/std/string/string.h>
+
+namespace SimulationInterfaces
+{
+    //! A message type to represent simulation Resource
+    //! @see <a href="https://github.com/ros-simulation/simulation_interfaces/blob/main/msg/WorldResource.msg">Resource.msg</a>
+    struct WorldResource
+    {
+        WorldResource() = default;
+        WorldResource(AZStd::string name, Resource resource, AZStd::string description, AZStd::vector<AZStd::string> tags)
+            : m_name(name)
+            , m_worldResource(resource)
+            , m_description(description)
+            , m_tags(tags)
+        {
+        }
+        AZStd::string m_name;
+        Resource m_worldResource;
+        AZStd::string m_description;
+        AZStd::vector<AZStd::string> m_tags;
+    };
+} // namespace SimulationInterfaces