Update Kraken demo to recent changes in o3de-extras.

Project/Gem/CMakeLists.txt

@@ -50,6 +50,7 @@ ly_add_target(
             Gem::AtomLyIntegration_CommonFeatures.Editor.Static
             Gem::Atom_AtomBridge.Static
             Gem::ImGui.Static
+            Gem::PhysX.Static
 )
 
 target_depends_on_ros2_packages(ROSConDemo.Static std_srvs nav_msgs vision_msgs)
@@ -70,12 +71,69 @@ ly_add_target(
             AZ::AzFramework
 )
 
-# if enabled, ROSConDemo is used by all kinds of applications
-ly_create_alias(NAME ROSConDemo.Builders NAMESPACE Gem TARGETS Gem::ROSConDemo)
-ly_create_alias(NAME ROSConDemo.Tools    NAMESPACE Gem TARGETS Gem::ROSConDemo)
+# By default, we will specify that the above target ROSConDemo would be used by
+# Client and Server type targets when this gem is enabled.  If you don't want it
+# active in Clients or Servers by default, delete one or more of the following lines:
 ly_create_alias(NAME ROSConDemo.Clients  NAMESPACE Gem TARGETS Gem::ROSConDemo)
 ly_create_alias(NAME ROSConDemo.Servers  NAMESPACE Gem TARGETS Gem::ROSConDemo)
 
+# If we are on a host platform, we want to add the host tools targets like the ROSConDemo.Editor target which
+# will also depend on ROSConDemo.Static
+if(PAL_TRAIT_BUILD_HOST_TOOLS)
+    ly_add_target(
+        NAME ROSConDemo.Editor.Static STATIC
+        NAMESPACE Gem
+        AUTOMOC
+        AUTORCC
+        FILES_CMAKE
+            roscondemo_editor_files.cmake
+        INCLUDE_DIRECTORIES
+            PRIVATE
+                Source
+            PUBLIC
+                Include
+        COMPILE_DEFINITIONS
+            PRIVATE
+                ROSConDemo_EDITOR
+        BUILD_DEPENDENCIES
+            PUBLIC
+                AZ::AzToolsFramework
+                Gem::AtomLyIntegration_CommonFeatures.Editor.Static
+                Gem::LmbrCentral.API
+                Gem::ROS2.Editor.Static
+                Gem::ROSConDemo.Static
+            PRIVATE
+    )
+
+    find_package(urdfdom)
+    target_link_libraries(ROSConDemo.Editor.Static PUBLIC urdfdom::urdfdom_model)
+
+    ly_add_target(
+        NAME ROSConDemo.Editor GEM_MODULE
+        NAMESPACE Gem
+        FILES_CMAKE
+            roscondemo_editor_shared_files.cmake
+        COMPILE_DEFINITIONS
+            PRIVATE
+                ROSConDemo_EDITOR
+        INCLUDE_DIRECTORIES
+            PRIVATE
+                Source
+            PUBLIC
+                Include
+        BUILD_DEPENDENCIES
+            PUBLIC
+                Gem::ROSConDemo.Editor.Static
+                Gem::Atom_Feature_Common.Static
+    )
+
+    # By default, we will specify that the above target ROSConDemo would be used by
+    # Tool and Builder type targets when this gem is enabled. If you don't want it
+    # active in Tools or Builders by default, delete one or both of the following lines:
+    ly_create_alias(NAME ROSConDemo.Tools    NAMESPACE Gem TARGETS Gem::ROSConDemo.Editor)
+    ly_create_alias(NAME ROSConDemo.Builders NAMESPACE Gem TARGETS Gem::ROSConDemo.Editor)
+endif()
+
 ################################################################################
 # Gem dependencies
 ################################################################################

Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp

@@ -7,7 +7,7 @@
  */
 
 #include "KrakenManipulatorController.h"
-#include <ROS2/Manipulator/MotorizedJointBus.h>
+#include <ROS2/Manipulation/MotorizedJoints/PidMotorControllerBus.h>
 #include <AzCore/Serialization/EditContext.h>
 
 #include <AzFramework/Components/TransformComponent.h>
@@ -103,11 +103,11 @@ namespace AppleKraken
         float error_x = std::numeric_limits<float>::max();
         float error_z = std::numeric_limits<float>::max();
 
-        ROS2::MotorizedJointRequestBus::Event(m_entityX, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointX);
-        ROS2::MotorizedJointRequestBus::EventResult(error_x, m_entityX, &ROS2::MotorizedJointRequest::GetError);
+        ROS2::PidMotorControllerRequestBus::Event(m_entityX, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointX);
+        ROS2::PidMotorControllerRequestBus::EventResult(error_x, m_entityX, &ROS2::PidMotorControllerRequests::GetError);
 
-        ROS2::MotorizedJointRequestBus::Event(m_entityZ, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointZ);
-        ROS2::MotorizedJointRequestBus::EventResult(error_z, m_entityZ, &ROS2::MotorizedJointRequest::GetError);
+        ROS2::PidMotorControllerRequestBus::Event(m_entityZ, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointZ);
+        ROS2::PidMotorControllerRequestBus::EventResult(error_z, m_entityZ, &ROS2::PidMotorControllerRequests::GetError);
 
         // auto - disable nose retrieve only if we reached small error.
         if (m_noseRetrieveRequest == true)
@@ -133,7 +133,7 @@ namespace AppleKraken
                 if (m_time_Y_ok > m_timeSetpointReach)
                 {
                     float error_y = std::numeric_limits<float>::max();
-                    ROS2::MotorizedJointRequestBus::EventResult(error_y, m_entityY, &ROS2::MotorizedJointRequest::GetError);
+                    ROS2::PidMotorControllerRequestBus::EventResult(error_y, m_entityY, &ROS2::PidMotorControllerRequests::GetError);
                     if (error_y < max_errorY && error_y > -max_errorY)
                     {
                         m_noseRetrievingSuccess = true;
@@ -145,7 +145,7 @@ namespace AppleKraken
             {
                 m_noseRetrievingSuccess = false;
             }
-            ROS2::MotorizedJointRequestBus::Event(m_entityY, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointY);
+            ROS2::PidMotorControllerRequestBus::Event(m_entityY, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointY);
         }
 
     }
@@ -164,9 +164,9 @@ namespace AppleKraken
         float x{0};
         float y{0};
         float z{0};
-        ROS2::MotorizedJointRequestBus::EventResult(x, m_entityX, &ROS2::MotorizedJointRequest::GetCurrentMeasurement);
-        ROS2::MotorizedJointRequestBus::EventResult(y, m_entityY, &ROS2::MotorizedJointRequest::GetCurrentMeasurement);
-        ROS2::MotorizedJointRequestBus::EventResult(z, m_entityZ, &ROS2::MotorizedJointRequest::GetCurrentMeasurement);
+        ROS2::PidMotorControllerRequestBus::EventResult(x, m_entityX, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement);
+        ROS2::PidMotorControllerRequestBus::EventResult(y, m_entityY, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement);
+        ROS2::PidMotorControllerRequestBus::EventResult(z, m_entityZ, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement);
         return AZ::Vector3{x,y,z};
     };
 

Project/Gem/Source/Manipulator/KrakenManipulatorController.h

@@ -52,8 +52,8 @@ namespace AppleKraken
 
         AZ::Vector3 m_desiredPosition{0, 0, 0 };
         AZStd::optional<AZ::Vector3> m_desiredApple;
-        bool m_noseRetrieveRequest{false };
-        bool m_noseRetrievingSuccess{false};
+        bool m_noseRetrieveRequest{ false };
+        bool m_noseRetrievingSuccess{ false };
 
         AZ::Vector3 m_vectorX{1, 0, 0 };
         AZ::Vector3 m_vectorY{0, 1, 0 };

Project/Gem/Source/ROSConDemoEditorModule.cpp

@@ -0,0 +1,43 @@
+/*
+ * 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
+ *
+ */
+
+#include <QtCore/qglobal.h>
+#include <ROSConDemoModuleInterface.h>
+#include <ROSConDemoEditorSystemComponent.h>
+
+namespace ROSConDemo
+{
+    class ROSConDemoEditorModule : public ROSConDemoModuleInterface
+    {
+    public:
+        AZ_RTTI(ROSConDemoEditorModule, "{ca41105c-1c8c-1db7-72fe-c20cd0160c76}", ROSConDemoModuleInterface);
+        AZ_CLASS_ALLOCATOR(ROSConDemoEditorModule, AZ::SystemAllocator);
+
+        ROSConDemoEditorModule()
+        {
+            m_descriptors.insert(
+                m_descriptors.end(),
+                {
+                    ROSConDemoEditorSystemComponent::CreateDescriptor(),
+                });
+        }
+
+        /**
+         * Add required SystemComponents to the SystemEntity.
+         * Non-SystemComponents should not be added here
+         */
+        AZ::ComponentTypeList GetRequiredSystemComponents() const override
+        {
+            return AZ::ComponentTypeList{
+                azrtti_typeid<ROSConDemoEditorSystemComponent>(),
+            };
+        }
+    };
+} // namespace ROSConDemo
+
+AZ_DECLARE_MODULE_CLASS(Gem_ROSConDemo, ROSConDemo::ROSConDemoEditorModule)

Project/Gem/Source/ROSConDemoEditorSystemComponent.cpp

@@ -0,0 +1,69 @@
+/*
+ * 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
+ *
+ */
+#include "ROSConDemoSystemComponent.h"
+#include <AzCore/Component/ComponentApplicationBus.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <ROSConDemoEditorSystemComponent.h>
+
+namespace ROSConDemo
+{
+    void ROSConDemoEditorSystemComponent::Reflect(AZ::ReflectContext* context)
+    {
+        if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serializeContext->Class<ROSConDemoEditorSystemComponent, ROSConDemoSystemComponent>()->Version(0);
+        }
+    }
+
+    ROSConDemoEditorSystemComponent::ROSConDemoEditorSystemComponent() = default;
+
+    ROSConDemoEditorSystemComponent::~ROSConDemoEditorSystemComponent() = default;
+
+    void ROSConDemoEditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided)
+    {
+        ROSConDemoSystemComponent::GetProvidedServices(provided);
+        provided.push_back(AZ_CRC_CE("ROSConDemoEditorService"));
+    }
+
+    void ROSConDemoEditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible)
+    {
+        ROSConDemoSystemComponent::GetIncompatibleServices(incompatible);
+        incompatible.push_back(AZ_CRC_CE("ROSConDemoEditorService"));
+    }
+
+    void ROSConDemoEditorSystemComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required)
+    {
+        required.push_back(AZ_CRC_CE("ROS2EditorService"));
+        ROSConDemoSystemComponent::GetRequiredServices(required);
+    }
+
+    void ROSConDemoEditorSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent)
+    {
+        ROSConDemoSystemComponent::GetDependentServices(dependent);
+    }
+
+    void ROSConDemoEditorSystemComponent::Activate()
+    {
+        AzToolsFramework::EditorEntityContextNotificationBus::Handler::BusConnect();
+    }
+
+    void ROSConDemoEditorSystemComponent::Deactivate()
+    {
+        AzToolsFramework::EditorEntityContextNotificationBus::Handler::BusDisconnect();
+    }
+
+    void ROSConDemoEditorSystemComponent::OnStartPlayInEditor()
+    {
+        ROSConDemoSystemComponent::Activate();
+    }
+    void ROSConDemoEditorSystemComponent::OnStopPlayInEditorBegin()
+    {
+        ROSConDemoSystemComponent::Deactivate();
+    }
+
+} // namespace ROS2

Project/Gem/Source/ROSConDemoEditorSystemComponent.h

@@ -0,0 +1,47 @@
+/*
+ * 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 <ROSConDemoSystemComponent.h>
+
+#include <AzToolsFramework/Entity/EditorEntityContextBus.h>
+
+namespace ROSConDemo
+{
+    /// System component for ROS2 editor
+    class ROSConDemoEditorSystemComponent
+        : public ROSConDemoSystemComponent
+        , private AzToolsFramework::EditorEntityContextNotificationBus::Handler
+    {
+
+    public:
+        AZ_COMPONENT(ROSConDemoEditorSystemComponent, "{96e4d699-8ebf-f2cc-9c6f-7791d697e1fa}", ROSConDemoSystemComponent);
+        static void Reflect(AZ::ReflectContext* context);
+
+        ROSConDemoEditorSystemComponent();
+        ~ROSConDemoEditorSystemComponent();
+
+    private:
+        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
+        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
+        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
+        static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent);
+
+        //////////////////////////////////////////////////////////////////////////
+        // Component overrides
+        void Activate() override;
+        void Deactivate() override;
+        //////////////////////////////////////////////////////////////////////////
+
+        //////////////////////////////////////////////////////////////////////////
+        // EditorEntityContextNotificationBus overrides
+        void OnStartPlayInEditor() override;
+        void OnStopPlayInEditorBegin() override;
+        //////////////////////////////////////////////////////////////////////////
+    };
+} // namespace ROSConDemo

Project/Gem/Source/ROSConDemoModule.cpp

@@ -6,46 +6,20 @@
  *
  */
 
-#include "ApplePicker/ApplePickerComponent.h"
-#include "ApplePicker/GatheringRowComponent.h"
-#include "ApplePicker/KrakenEffectorComponent.h"
-#include "DemoStatistics/DemoStatisticsComponent.h"
-#include "FruitStorage/FruitStorageComponent.h"
-#include "Manipulator/KrakenManipulatorController.h"
-#include "KrakenCamera/FollowingCameraComponent.h"
-#include "ROSConDemoSystemComponent.h"
+
+#include "ROSConDemoModuleInterface.h"
 #include <AzCore/Memory/SystemAllocator.h>
 #include <AzCore/Module/Module.h>
+#include <ROS2/ROS2Bus.h>
+
 
 namespace ROSConDemo
 {
-    class ROSConDemoModule : public AZ::Module
+    class ROSConDemoModule : public ROSConDemoModuleInterface
     {
     public:
-        AZ_RTTI(ROSConDemoModule, "{E38575E4-7D2F-4617-B938-416E8C1C07B4}", AZ::Module);
+        AZ_RTTI(ROSConDemoModule, "{E38575E4-7D2F-4617-B938-416E8C1C07B4}", ROSConDemoModuleInterface);
         AZ_CLASS_ALLOCATOR(ROSConDemoModule, AZ::SystemAllocator, 0);
-
-        ROSConDemoModule()
-            : AZ::Module()
-        {
-            m_descriptors.insert(
-                m_descriptors.end(),
-                { ROSConDemoSystemComponent::CreateDescriptor(),
-                  AppleKraken::ApplePickerComponent::CreateDescriptor(),
-                  AppleKraken::GatheringRowComponent::CreateDescriptor(),
-                  AppleKraken::KrakenEffectorComponent::CreateDescriptor(),
-                  AppleKraken::FruitStorageComponent::CreateDescriptor(),
-                  AppleKraken::DemoStatisticsComponent::CreateDescriptor(),
-                  AppleKraken::ManipulatorController::CreateDescriptor(),
-                  AppleKraken::FollowingCameraComponent::CreateDescriptor() });
-        }
-
-        AZ::ComponentTypeList GetRequiredSystemComponents() const override
-        {
-            return AZ::ComponentTypeList{
-                azrtti_typeid<ROSConDemoSystemComponent>(),
-            };
-        }
     };
 } // namespace ROSConDemo