WalkerActorFactory.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Carla/Actor/ActorSpawnResult.h"
#include "Carla/Actor/CarlaActorFactory.h"
#include "Carla/Actor/PedestrianParameters.h"
 
#include <util/ue-header-guard-begin.h>
#include "Json.h"
#include "JsonUtilities.h"
#include <util/ue-header-guard-end.h>
 
#include "WalkerActorFactory.generated.h"
 
UCLASS()
class CARLA_API AWalkerActorFactory : public ACarlaActorFactory
{
    GENERATED_BODY()
 
    /// Retrieve the definitions of the static mesh actor
    virtual TArray<FActorDefinition> GetDefinitions() override;
 
    virtual FActorSpawnResult SpawnActor(
        const FTransform &SpawnAtTransform,
        const FActorDescription &ActorDescription) override;
 
public:
    UFUNCTION(BlueprintCallable, Category = "WalkerActorFactory")
    static void SaveWalkerParametersArrayToFile(const TArray<FPedestrianParameters> &WalkerParamsArray, const FString &FileName);
    UFUNCTION(BlueprintCallable, Category = "WalkerActorFactory")
    static void LoadWalkerParametersArrayFromFile(const FString &FileName, TArray<FPedestrianParameters> &OutWalkerParamsArray);
 
    UFUNCTION(BlueprintImplementableEvent, Category = "WalkerActorFactory")
    bool PostProcessWalker(AActor* SpawnedActor, const FActorDescription& WalkerParams);
 
private:
    static TSharedPtr<FJsonObject> FWalkerParametersToJsonObject(const FPedestrianParameters& WalkerParams);
    static FString FWalkerParametersArrayToJson(const TArray<FPedestrianParameters>& WalkerParamsArray);
    static bool JsonToFWalkerParameters(const TSharedPtr<FJsonObject> JsonObject, FPedestrianParameters& OutWalkerParams);
    static bool JsonToFWalkerParametersArray(const FString& JsonString, TArray<FPedestrianParameters>& OutWalkerParamsArray);
 
    virtual void ReleaseContentPack(const FString &MountPoint) override;
 
protected:
    // Transient: GetDefinitions() rebuilds these from the JSON catalogs every
    // episode, and a saved copy bakes a stale catalog into the map.
    UPROPERTY(EditAnywhere, Transient)
    TArray<FActorDefinition> Definitions;
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Transient)
    TArray<FPedestrianParameters> WalkersParams;
};