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a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp new file mode 100644 index 00000000..329a4f6e --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp @@ -0,0 +1,7 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/CameraSensorHandler.h" + + +// Add default functionality here for any ICameraSensorHandler functions that are not pure virtual. diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp new file mode 100644 index 00000000..105e898a --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp @@ -0,0 +1,84 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/PickAndPlaceManager.h" + +#include "Components/StateTreeComponent.h" + + +// Sets default values +APickAndPlaceManager::APickAndPlaceManager() +{ + // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it. + PrimaryActorTick.bCanEverTick = false; + +} + +// Called when the game starts or when spawned +void APickAndPlaceManager::BeginPlay() +{ + Super::BeginPlay(); + +} + +// Called every frame +void APickAndPlaceManager::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); + +} + +bool APickAndPlaceManager::SetNewTarget_Implementation(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea) +{ + if (IsValid(TargetActor) && IsValid(PlaceArea) && IsValid(StateTreeOwner)) + { + if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass()) + { + FStateTreeEvent Event; + Event.Origin = "PickAndPlaceStart"; + Event.Tag = PickAndPlaceStartTag; + STC->SendStateTreeEvent(Event); + } + CurrentTargetActor = TargetActor; + CurrentPlaceArea = PlaceArea; + if (!CurrentTargetActor->Tags.Contains(PickAndPlaceTag)) + { + CurrentTargetActor->Tags.Add(PickAndPlaceTag); + } + if (OnPickAndPlaceTargetsUpdated.IsBound()) + { + OnPickAndPlaceTargetsUpdated.Broadcast(this); + } + return true; + } + return false; +} + +bool APickAndPlaceManager::PickAndPlaceSuccess_Implementation(AActor* StateTreeOwner) +{ + if (IsValid(StateTreeOwner)) + { + if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass()) + { + FStateTreeEvent Event; + Event.Origin = "PickAndPlaceSuccess"; + Event.Tag = PickAndPlaceSuccessTag; + STC->SendStateTreeEvent(Event); + } + } + if (OnPickAndPlaceSuccess.IsBound()) + { + OnPickAndPlaceSuccess.Broadcast(this); + } + return true; +} + +AActor* APickAndPlaceManager::GetCurrentTargetActor() const +{ + return CurrentTargetActor; +} + +AActor* APickAndPlaceManager::GetCurrentPlaceArea() const +{ + return CurrentPlaceArea; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp new file mode 100644 index 00000000..9aaa53da --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp @@ -0,0 +1,7 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/PickAndPlaceUser.h" + + +// Add default functionality here for any IPickAndPlaceUser functions that are not pure virtual. diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp new file mode 100644 index 00000000..b065d109 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp @@ -0,0 +1,23 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/Tasks/STT_PickAndPlace.h" +#include "StateTreeExecutionContext.h" +#include "AI/PickAndPlaceUser.h" +#include "Lib/LuckyWorldFunctions.h" + +EStateTreeRunStatus FSTT_PickAndPlace::EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const +{ + if (UObject* Ref = Context.GetOwner()) + { + if (Ref->GetClass()->ImplementsInterface(UPickAndPlaceUser::StaticClass())) + { + if (APickAndPlaceManager* Manager = ULuckyWorldFunctions::GetPickAndPlaceManager(Ref)) + { + IPickAndPlaceUser::Execute_SetPickAndPlaceTargets(Ref,Manager->GetCurrentTargetActor(),Manager->GetCurrentPlaceArea()); + return EStateTreeRunStatus::Running; + } + } + } + return EStateTreeRunStatus::Failed; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp new file mode 100644 index 00000000..2416e8c6 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp @@ -0,0 +1,116 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "Lib/LuckyWorldFunctions.h" +#include "EngineUtils.h" +#include "IImageWrapperModule.h" +#include "IImageWrapper.h" +#include "Modules/ModuleManager.h" +#include "Engine/TextureRenderTarget2D.h" +#include "Modules/ModuleManager.h" +#include "Misc/FileHelper.h" +#include "Engine/Texture2D.h" +#include "RenderUtils.h" + +APickAndPlaceManager* ULuckyWorldFunctions::GetPickAndPlaceManager(UObject* WorldContextObject) +{ + if (IsValid(WorldContextObject)) + { + for (TActorIterator Itr(WorldContextObject->GetWorld()); Itr; ++Itr) + { + return *Itr; + } + } + return nullptr; +} + +bool ULuckyWorldFunctions::SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG, bool bFlipVertically) +{ + if (!IsValid(RenderTarget)) return false; + + FRenderTarget* RenderTargetResource = RenderTarget->GameThread_GetRenderTargetResource(); + TArray Bitmap; + RenderTargetResource->ReadPixels(Bitmap); + + if (Bitmap.Num() <= 0) return false; + + if (bFlipVertically) + { + for (int32 Row = 0; Row < RenderTarget->SizeY / 2; Row++) + { + int32 IndexA = Row * RenderTarget->SizeX; + int32 IndexB = (RenderTarget->SizeY - Row - 1) * RenderTarget->SizeX; + for (int32 Col = 0; Col < RenderTarget->SizeX; Col++) + { + Bitmap.SwapMemory(IndexA + Col, IndexB + Col); + } + } + } + + FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename; + FPaths::NormalizeFilename(FullPath); + IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked(FName("ImageWrapper")); + EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG; + TSharedPtr ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format); + + ImageWrapper->SetRaw(Bitmap.GetData(), Bitmap.GetAllocatedSize(), RenderTarget->SizeX, RenderTarget->SizeY, ERGBFormat::BGRA, 8); + const TArray64& ImageData = bAsPNG + ? ImageWrapper->GetCompressed(100) + : ImageWrapper->GetCompressed(75); + + return FFileHelper::SaveArrayToFile(ImageData, *FullPath); +} + +bool ULuckyWorldFunctions::SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG, bool bFlipVertically) +{ + if (IsValid(Texture) || !Texture->GetPlatformData() || Texture->GetPlatformData()->Mips.Num() == 0) + { + return false; + } + + FTexture2DMipMap& Mip = Texture->GetPlatformData()->Mips[0]; + const void* Data = Mip.BulkData.LockReadOnly(); + + int32 Width = Mip.SizeX; + int32 Height = Mip.SizeY; + TArray Pixels; + Pixels.AddUninitialized(Width * Height); + + if (Texture->GetPlatformData()->PixelFormat == PF_B8G8R8A8) + { + FMemory::Memcpy(Pixels.GetData(), Data, Width * Height * sizeof(FColor)); + } + else + { + Mip.BulkData.Unlock(); + return false; + } + + Mip.BulkData.Unlock(); + + if (bFlipVertically) + { + for (int32 Row = 0; Row < Height / 2; Row++) + { + int32 IndexA = Row * Width; + int32 IndexB = (Height - Row - 1) * Width; + for (int32 Col = 0; Col < Width; Col++) + { + Pixels.SwapMemory(IndexA + Col, IndexB + Col); + } + } + } + + IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked(FName("ImageWrapper")); + EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG; + TSharedPtr ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format); + + ImageWrapper->SetRaw(Pixels.GetData(), Pixels.GetAllocatedSize(), Width, Height, ERGBFormat::BGRA, 8); + const TArray64& ImageData = bAsPNG + ? ImageWrapper->GetCompressed(100) + : ImageWrapper->GetCompressed(75); + + FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename; + FPaths::NormalizeFilename(FullPath); + return FFileHelper::SaveArrayToFile(ImageData, *FullPath); +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h new file mode 100644 index 00000000..cc8e4dea --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h @@ -0,0 +1,61 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "UObject/Interface.h" + +#include "CameraSensorHandler.generated.h" + +// This class does not need to be modified. +UINTERFACE(MinimalAPI) +class UCameraSensorHandler : public UInterface +{ + GENERATED_BODY() +}; + +/** + * + */ +class LUCKYMUJOCO_API ICameraSensorHandler +{ + GENERATED_BODY() + + // Add interface functions to this class. This is the class that will be inherited to implement this interface. +public: + + /** + * @return - The array of camera sensors. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + TArray GetCameraSensors(); + + /** + * Spawn a camera sensor child actor component. + * NOTE::You will need to make sure you set the class in the AddChildActorComponent function or this will return a nullptr. + * @param Transform - The new transform to spawn the camera at. + * @param Value - The return index for the new camera in the array. + * @return - The spawned camera component. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + UChildActorComponent* AddCameraSensor(const FTransform& Transform, int32& Value); + + /** + * Move a camera to a new world transform at the given index. + * @param Transform - The new camera transform. + * @param Index - The index for the camera in the array. + * @return - True if valid index. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + bool UpdateCameraSensorTransform(const FTransform& Transform, int32 Index); + + /** + * Reset the camera to its original position. + * NOTE::The camera indexes need to be cached in the actor or it will fail. + * @param Index - The camera index. + * @return - True if valid index. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + bool ResetCameraSensorTransform(int32 Index); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h new file mode 100644 index 00000000..6ce7914d --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h @@ -0,0 +1,98 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "GameplayTagContainer.h" +#include "GameFramework/Actor.h" +#include "PickAndPlaceManager.generated.h" + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceTargetsUpdated, APickAndPlaceManager*, Manager); +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceSuccess, APickAndPlaceManager*, Manager); + +UCLASS() +class LUCKYMUJOCO_API APickAndPlaceManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + APickAndPlaceManager(); + + /** + * Notify pick and place has started. + */ + UPROPERTY(BlueprintAssignable,Category = "PickAndPlace") + FOnPickAndPlaceTargetsUpdated OnPickAndPlaceTargetsUpdated; + + /** + * Notify pick and place has succeeded. + */ + UPROPERTY(BlueprintAssignable,Category = "PickAndPlace") + FOnPickAndPlaceSuccess OnPickAndPlaceSuccess; + + /** + * The gameplay tag to send to the state tree to start pick and place. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FGameplayTag PickAndPlaceStartTag; + + /** + * The gameplay tag to send to the state tree to stop pick and place. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FGameplayTag PickAndPlaceSuccessTag; + + /** + * The actor tag that is required to consider an object entering the "box" to be a valid pick and place object. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FName PickAndPlaceTag; + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void Tick(float DeltaTime) override; + + /** + * Initialize the pick and place logic. + * @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue. + * @param TargetActor - The target to pick and place. + * @param PlaceArea - The area to place the target actor. + * @return - True if both target actor and place area are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace") + bool SetNewTarget(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea); + + /** + * For now, this just broadcasts the event and sends a gameplay tag to the owner of the state tree, but more can be done here if needed. + * @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue. + * @return - Dummy value. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace") + bool PickAndPlaceSuccess(AActor* StateTreeOwner); + + /** + * @return - CurrentTargetActor. + */ + UFUNCTION(BlueprintPure,Category = "PickAndPlace") + AActor* GetCurrentTargetActor() const; + + /** + * @return - CurrentPlaceArea. + */ + UFUNCTION(BlueprintPure,Category = "PickAndPlace") + AActor* GetCurrentPlaceArea() const; + +private: + + UPROPERTY() + AActor* CurrentTargetActor; + + UPROPERTY() + AActor* CurrentPlaceArea; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h new file mode 100644 index 00000000..3acc7faf --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h @@ -0,0 +1,43 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "UObject/Interface.h" + +#include "PickAndPlaceUser.generated.h" + +// This class does not need to be modified. +UINTERFACE(MinimalAPI) +class UPickAndPlaceUser : public UInterface +{ + GENERATED_BODY() +}; + +/** + * + */ +class LUCKYMUJOCO_API IPickAndPlaceUser +{ + GENERATED_BODY() + + // Add interface functions to this class. This is the class that will be inherited to implement this interface. +public: + + /** + * Set pick and place targets. + * @param PickAndPlaceTarget - The target to pick up. + * @param PickAndPlaceArea - The area to drop the location at. + * @return - True if both targets are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser") + bool SetPickAndPlaceTargets(AActor* PickAndPlaceTarget, AActor* PickAndPlaceArea); + + /** + * Tell the robot to place the target at the desired location. + * @return - True if both targets are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser") + bool PlaceTarget(); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h new file mode 100644 index 00000000..625a4bca --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h @@ -0,0 +1,36 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "StateTreeTaskBase.h" +#include "StateTreeExecutionContext.h" +#include "Components/LuckyCustomMovementComponent.h" +#include "STT_PickAndPlace.generated.h" + +USTRUCT(BlueprintType) +struct FSTT_PickAndPlaceInstanceData +{ + GENERATED_BODY() + + UPROPERTY() + bool Dummy = false; +}; + +/** + * Basic pick and place. + */ +USTRUCT(BlueprintType, meta = (DisplayName = "Lucky Pick And Place")) +struct LUCKYMUJOCO_API FSTT_PickAndPlace : public FStateTreeTaskCommonBase + +{ + GENERATED_BODY() + +public: + + using FInstanceData = FSTT_PickAndPlaceInstanceData; + virtual const UStruct* GetInstanceDataType() const override {return FInstanceData::StaticStruct();} + + virtual EStateTreeRunStatus EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const override; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h new file mode 100644 index 00000000..0e11810d --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h @@ -0,0 +1,50 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "AI/PickAndPlaceManager.h" +#include "Kismet/BlueprintFunctionLibrary.h" +#include "LuckyWorldFunctions.generated.h" + +/** + * + */ +UCLASS() +class LUCKYMUJOCO_API ULuckyWorldFunctions : public UBlueprintFunctionLibrary +{ + GENERATED_BODY() + +public: + + /** + * Get the pick and place manager. + * @param WorldContextObject - The world context owner. + * @return - The first pick and place manager. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|PickAndPlace", meta = (WorldContext = "WorldContextObject")) + static APickAndPlaceManager* GetPickAndPlaceManager(UObject* WorldContextObject); + + /** + * Save a render target (texture target from scene capture component 2D) to disk. + * @param RenderTarget - The render target to save to disk. + * @param Filename - The path for the file. + * @param bAsPNG - If true, we write as a png. + * @param bFlipVertically - If true, we will flip the pixels. + * @return - True if saved. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images") + static bool SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = false); + + /** + * Save a texture to disk. + * @param Texture - The texure to save to disk. + * @param Filename - The path for the file. + * @param bAsPNG - If true, we write as a png. + * @param bFlipVertically - If true, we will flip the pixels. + * @return - True if saved. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images") + static bool SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = true); + +}; diff --git a/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.dll b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.dll index 7ec2f8f1..51097c9d 100644 --- a/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.dll +++ b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.dll @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a1cd31df2c42a0234ee9bb3869a27d06c968021c64aef1c63e0e3f3709f86201 +oid sha256:227277b8c2da6e2d99474a5ad270106851d0b283c57d7a6b99c06dbf83cceaf8 size 69120 diff --git a/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.pdb b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.pdb index 957a3b09..79576030 100644 --- a/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.pdb +++ b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor-LuckyTextWrite.pdb @@ -1,3 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