UNSTBL - Refacto

+ Exit CaptureImage faster in case of problem
+ Register cameras manually in Episode SubSystem
+ Make FilePath optional to keep the correct default value in saved games
- Image capture doesn't work, image is empty

Source/LuckyWorldV2/Private/Episode/EpisodeSubSystem.cpp

@@ -184,6 +184,21 @@ void UEpisodeSubSystem::FindRobotPawnFromScene()
 	}
 }
 
+void UEpisodeSubSystem::InitCameras()
+{
+	// TODO Fix the spawning of sensors in Cpp and spawn them using a config?
+	// TODO How people can move the camera themselves?
+
+	// Find all sensors in the scene
+	TArray<AActor*> Sensors;
+	UGameplayStatics::GetAllActorsOfClass(this->GetWorld(), ALuckySensorPawnBase::StaticClass(), Sensors);
+	
+	for (const auto Sensor : Sensors)
+	{
+		if (const auto Camera = Cast<ALuckySensorPawnBase>(Sensor)) Cameras.Add(Camera);
+	}
+}
+
 void UEpisodeSubSystem::ConfigureDataCapture()
 {
 	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
@@ -192,6 +207,13 @@ void UEpisodeSubSystem::ConfigureDataCapture()
 		//Connect to websocket and create session id
 		DataTransfer->ConnectToWebsocket("ws://127.0.0.1:3000", "");
 		DataTransfer->CreateCaptureSessionID();
+
+		InitCameras();
+		for (const auto& Cam : Cameras)
+		{
+			DataTransfer->RegisterSensor(Cam.Get());
+			Cam->SensorInfo.bActive = true;
+		}
 	}
 }
 
@@ -211,17 +233,23 @@ FObservationPayload UEpisodeSubSystem::CreatePayload()
 		// enter a message here - FString,
 		// TMap of FString (Actuator name or index), and Float (value of actuator)
 		// Camera info struct goes here, don't worry about this for now, just use TArray<FObservationCameraObject>()
-		// What about episode success?
+		// What about episode success? -> can be stated after the result is known
 		// How to invalidate data
+
+		// Anuj -> How many frames do we need to store in a single parquet chunk
+		// Exact data structure with correct data types
 	};
 }
 
 void UEpisodeSubSystem::SendEpisodeData(const FObservationPayload& Payload) const
 {
+	// PayloadBuffer.Add(Payload)
+	// Every X frames -> Write parquet chunk
+	
 	if (ULuckyDataTransferSubsystem* DataTransfer = GetWorld()->GetSubsystem<ULuckyDataTransferSubsystem>())
 	{
 		// Here generate the path for each image?
-		// DataTransfer->WriteImageToDisk(BaseImageDataPath, 0.f);
+		DataTransfer->WriteImageToDisk(CurrentRobot->PhysicsSceneProxy->GetMujocoData().time);
 
 		// Don't send data if socket is disconnected
 		if (!DataTransfer->Socket->IsConnected()) return;

Source/LuckyWorldV2/Private/Robot/PilotComponent/RobotPilotSO100Component.cpp

@@ -54,11 +54,6 @@ FTransform URobotPilotSO100Component::GetReachableTransform()
 	RewardAxis.Z = 0; // Nullify Z to keep a 2D vector -> ensure the geometry roll/pitch are 0
 	const FRotator TowardPivotRotation = UKismetMathLibrary::MakeRotFromXZ(RewardAxis, FVector::UpVector);
 
-	// Debug
-	// DrawDebugLine(this->GetWorld(), ArmPivotLocation + ArmWorldRotation.GetForwardVector() * 70, ArmPivotLocation, FColor::Green, true);
-	// DrawDebugLine(this->GetWorld(), ArmPivotLocation + FVector::UpVector * 70, ArmPivotLocation, FColor::Red, true);
-	// DrawDebugLine(this->GetWorld(), RandomLocation, RandomLocation + TowardPivotRotation.Quaternion().GetForwardVector() * -50 , FColor::Blue, true);
-	
 	// Return the Object Transform
 	return FTransform(TowardPivotRotation, RandomLocation);
 }

Source/LuckyWorldV2/Private/Robot/RobotPawn.cpp

@@ -20,7 +20,6 @@ void ARobotPawn::BeginPlay()
 void ARobotPawn::InitRobot()
 {
 	InitPilotComponent();
-	InitCamera();
 }
 
 void ARobotPawn::InitPilotComponent()
@@ -70,17 +69,3 @@ void ARobotPawn::InitPilotComponent()
 	}
 }
 
-void ARobotPawn::InitCamera()
-{
-	// TODO Fix the spawning of sensors in Cpp and spawn them using a config?
-	// TODO How people can move the camera themselves?
-
-	// Find all sensors in the scene
-	TArray<AActor*> Sensors;
-	UGameplayStatics::GetAllActorsOfClass(this->GetWorld(), ALuckySensorPawnBase::StaticClass(), Sensors);
-	
-	for (const auto Sensor : Sensors)
-	{
-		if (const auto Camera = Cast<ALuckySensorPawnBase>(Sensor)) Cameras.Add(Camera);
-	}
-}

Source/LuckyWorldV2/Public/Episode/EpisodeSubSystem.h

@@ -6,6 +6,7 @@
 #include "EpisodeSubSystem.generated.h"
 
 
+class ALuckySensorPawnBase;
 class ATextRenderActor;
 class AMujocoStaticMeshActor;
 class ARobotPawn;
@@ -85,6 +86,11 @@ private:
 	UPROPERTY()
 	TObjectPtr<ARobotPawn> CurrentRobot;
 
+	// ---------------------
+	// ------ SENSORS ------
+	// ---------------------
+	void InitCameras();
+	TArray<TObjectPtr<ALuckySensorPawnBase>> Cameras;
 
 
 

Source/LuckyWorldV2/Public/Robot/RobotPawn.h

@@ -40,11 +40,4 @@ public:
 	URobotPilotComponent* RobotPilotComponent = nullptr;
 	UFUNCTION(BlueprintCallable)
 	void InitPilotComponent(); // This should have Robot type as parameter?
-
-	// ---------------------
-	// ------ SENSORS ------
-	// ---------------------
-	void InitCamera();
-	UPROPERTY(EditAnywhere, BlueprintReadWrite)
-	TArray<TObjectPtr<ALuckySensorPawnBase>> Cameras;
 };