USemLog

Semantic logging plugin for Unreal Engine. Logs symbolic and sub-symbolic data to a KnowRob compatible format.

Master branch

Version with UTags as object descriptions and basic editor integration

Usage:

Include the plugin to your project

• Add the plugin to your project (e.g MyProject/Plugins/USemLog)

Tag semantic components (see UTags for more details)

• Tag your actors / components that you want to semantically log:

  • Tag example:

    [SemLog;Class,HelaCurryKetchup;Runtime,Dynamic;Id,gPP9;]

    where

    SemLog; is the TagType

    Class,HelaCurryKetchup; - represents the semantic class of the object

    Runtime,Dynamic; - represents the raw logging type of the object (static or dynamic)

    Id,gPP9; - represents the unique ID for each entity to be logged

Rules:

• All meshes/items/actor/components need to have the scale set to 1,1,1 in Unreal
• The center of the objects should be in the center of mass.

Tutorials

How to broadcast and read published raw and events data:

• Add the module dependency to your module (Project/Plugin); In the MyModule.Build.cs file:

   PublicDependencyModuleNames.AddRange(  
   new string[]  
   {  
   ...  
   "SemLog",  
   ...  
   }  
   );  
  

• Add an ASLRuntimeManager actor to your world

• Enable bBroadcastRawData and bLogEventData in your ASLRuntimeManager;

• The example actor (ARawDataDelegateListener) below subscribes to the broadcasted events and prints them to the log:

.h

#pragma once

#include "CoreMinimal.h"
#include "GameFramework/Actor.h"
#include "RawDataDelegateListener.generated.h"

UCLASS()
class ROBCOG_API ARawDataDelegateListener : public AActor
{
	GENERATED_BODY()

public:
	// Sets default values for this actor's properties
	ARawDataDelegateListener();

protected:
	// Called when the game starts or when spawned
	virtual void BeginPlay() override;

private:
	// Called when new raw data is received
	UFUNCTION()
	void OnReceiveRawData(const FString& RawData);

	// Called when the event data is finished
	UFUNCTION()
	void OnReceiveFinishedEventsData(const FString& EventData);
};

.cpp

#include "RawDataDelegateListener.h"
#include "SLRuntimeManager.h"
#include "EngineUtils.h"

// Sets default values
ARawDataDelegateListener::ARawDataDelegateListener()
{
 	// 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 ARawDataDelegateListener::BeginPlay()
{
	Super::BeginPlay();

	// Iterate the runtime managers from the world
	for (TActorIterator<ASLRuntimeManager>RMItr(GetWorld()); RMItr; ++RMItr)
	{
		// Get the raw data logger
		if (USLRawDataLogger* RawDataLogger = (*RMItr)->GetRawDataLogger())
		{
			// Listen for new data
			RawDataLogger->OnNewData.AddUObject(this,
				&ARawDataDelegateListener::OnReceiveRawData);
		}

		// Get the event data logger
		if (USLEventDataLogger* EventDataLogger = (*RMItr)->GetEventDataLogger())
		{
			// Listen for when the events are finished
			EventDataLogger->OnEventsFinished.AddUObject(this,
				&ARawDataDelegateListener::OnReceiveFinishedEventsData);
		}
		// Break loop, there should only be one manager
		break;
	}
}

// Called when new raw data is received
void ARawDataDelegateListener::OnReceiveRawData(const FString& RawData)
{
	UE_LOG(LogTemp, Warning, TEXT("Data: %s"), *RawData);
}

// Called when the event data is finished
void ARawDataDelegateListener::OnReceiveFinishedEventsData(const FString& EventData)
{
	UE_LOG(LogTemp, Warning, TEXT("Data: %s"), *EventData);
}