From f5d5581640fd39579d79d2a6ef82e605057efd32 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Tue, 3 Nov 2020 19:27:10 +0100 Subject: [PATCH 01/13] fixes cleaned --- .../AirsimWrapper/Source/PInvokeWrapper.cpp | 8 +-- .../AirsimWrapper/Source/PInvokeWrapper.h | 8 +-- .../AirsimWrapper/Source/SimHUD/SimHUD.cpp | 18 +++---- .../AirsimWrapper/Source/SimHUD/SimHUD.h | 3 +- .../Source/SimMode/SimModeBase.cpp | 51 +++++++++++-------- .../Source/SimMode/SimModeBase.h | 7 ++- .../Source/SimMode/SimModeWorldBase.cpp | 6 +-- .../Source/SimMode/SimModeWorldBase.h | 2 +- .../Source/UnityToAirSimCalls.cpp | 4 +- .../AirsimWrapper/Source/UnityToAirSimCalls.h | 12 ++--- .../Source/Vehicles/Car/CarPawnSimApi.cpp | 2 +- .../Source/Vehicles/Car/SimModeCar.cpp | 10 ++-- .../Source/Vehicles/Car/SimModeCar.h | 4 +- .../Multirotor/SimModeWorldMultiRotor.cpp | 8 +-- .../Multirotor/SimModeWorldMultiRotor.h | 4 +- .../AirsimWrapper/Source/WorldSimApi.cpp | 6 +-- .../AirsimWrapper/Source/WorldSimApi.h | 3 +- 17 files changed, 80 insertions(+), 76 deletions(-) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp index 9c45287d57..44a38393b9 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp @@ -17,10 +17,10 @@ bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRe int(*GetSegmentationObjectId)(const char* meshName); bool(*PrintLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity); UnityTransform(*GetTransformFromUnity)(const char* vehicleName); -bool(*Reset)(const char* vehicleName); +bool(*Reset)(); AirSimVector(*GetVelocity)(const char* vehicleName); RayCastHitResult(*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); -bool(*Pause)(const char* vehicleName, float timeScale); +bool(*Pause)(float timeScale); void InitVehicleManager( bool(*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName), @@ -39,10 +39,10 @@ void InitVehicleManager( int(*getSegmentationObjectId)(const char* meshName), bool(*printLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity), UnityTransform(*getTransformFromUnity)(const char* vehicleName), - bool(*reset)(const char* vehicleName), + bool(*reset)(), AirSimVector(*getVelocity)(const char* vehicleName), RayCastHitResult(*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), - bool(*pause)(const char* vehicleName, float timeScale) + bool(*pause)(float timeScale) ) { SetPose = setPose; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h index 36c22c2e1e..9638ddf5f5 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h @@ -31,10 +31,10 @@ extern bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool i extern int(*GetSegmentationObjectId)(const char* meshName); extern bool(*PrintLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity); extern UnityTransform(*GetTransformFromUnity)(const char* vehicleName); -extern bool(*Reset)(const char* vehicleName); +extern bool(*Reset)(); extern AirSimVector(*GetVelocity)(const char* vehicleName); extern RayCastHitResult(*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); -extern bool(*Pause)(const char* vehicleName, float timeScale); +extern bool(*Pause)(float timeScale); // PInvoke call to initialize the function pointers. This function is called from Unity. @@ -55,8 +55,8 @@ extern "C" EXPORT void InitVehicleManager( int(*getSegmentationObjectId)(const char* meshName), bool(*printLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity), UnityTransform(*getTransformFromUnity)(const char* vehicleName), - bool(*reset)(const char* vehicleName), + bool(*reset)(), AirSimVector(*getVelocity)(const char* vehicleName), RayCastHitResult(*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), - bool(*pause)(const char* vehicleName, float timeScale) + bool(*pause)(float timeScale) ); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp index 8fd77e916c..b4e9d6534d 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp @@ -3,8 +3,8 @@ #include "../Vehicles/Car/SimModeCar.h" #include "../Vehicles/Multirotor/SimModeWorldMultiRotor.h" -SimHUD::SimHUD(std::string vehicle_name, std::string sim_mode_name, int port_number) : - vehicle_name_(vehicle_name), sim_mode_name_(sim_mode_name), port_number_(port_number) +SimHUD::SimHUD(std::string sim_mode_name, int port_number) : + sim_mode_name_(sim_mode_name), port_number_(port_number) { server_started_Successfully_ = false; } @@ -21,7 +21,7 @@ void SimHUD::BeginPlay() } catch (std::exception& ex) { - PrintLogMessage("Error at startup: ", ex.what(), vehicle_name_.c_str(), ErrorLogSeverity::Error); + PrintLogMessage("Error at startup: ", ex.what(), "", ErrorLogSeverity::Error); } } @@ -78,10 +78,10 @@ void SimHUD::initializeSettings() AirSimSettings::singleton().load(std::bind(&SimHUD::getSimModeFromUser, this)); for (const auto& warning : AirSimSettings::singleton().warning_messages) { - PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", vehicle_name_.c_str(), ErrorLogSeverity::Error); + PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", "", ErrorLogSeverity::Error); } for (const auto& error : AirSimSettings::singleton().error_messages) { - PrintLogMessage(error.c_str(), "settings.json", vehicle_name_.c_str(), ErrorLogSeverity::Error); + PrintLogMessage(error.c_str(), "settings.json", "", ErrorLogSeverity::Error); } } @@ -110,9 +110,9 @@ void SimHUD::createSimMode() std::string simmode_name = AirSimSettings::singleton().simmode_name; if (simmode_name == "Multirotor") - simmode_ = new SimModeWorldMultiRotor(vehicle_name_, port_number_); + simmode_ = new SimModeWorldMultiRotor(port_number_); else if (simmode_name == "Car") - simmode_ = new SimModeCar(vehicle_name_, port_number_); + simmode_ = new SimModeCar(port_number_); simmode_->BeginPlay(); } @@ -139,12 +139,12 @@ bool SimHUD::readSettingsTextFromFile(std::string settingsFilepath, std::string& std::stringstream buffer; buffer << file.rdbuf(); settingsText = buffer.str(); - PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Information); + PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), "", ErrorLogSeverity::Information); return true; } else { - PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Error); + PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), "", ErrorLogSeverity::Error); } return false; } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h index 544693f117..2ef6edabed 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h @@ -18,7 +18,7 @@ class SimHUD std::string getSimModeFromUser(); public: - SimHUD(std::string vehicle_name, std::string sime_mode_name, int port_number); + SimHUD(std::string sime_mode_name, int port_number); SimModeBase* GetSimMode(); ImageType getSubwindowCameraType(int window_index); void setSubwindowCameraType(int window_index, ImageType type); @@ -31,7 +31,6 @@ class SimHUD private: typedef common_utils::Utils Utils; SimModeBase* simmode_; - std::string vehicle_name_; std::string sim_mode_name_; int port_number_; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index c8d5ef1129..6e9fea260f 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -5,8 +5,8 @@ #include "../PInvokeWrapper.h" #include "../WorldSimApi.h" -SimModeBase::SimModeBase(std::string vehicle_name, int port_number) : - vehicle_name_(vehicle_name), port_number_(port_number) +SimModeBase::SimModeBase(int port_number) : + port_number_(port_number) { } @@ -15,7 +15,7 @@ void SimModeBase::BeginPlay() debug_reporter_.initialize(false); debug_reporter_.reset(); global_ned_transform_.reset(new NedTransform(GetVehicleStartTransform())); - world_sim_api_.reset(new WorldSimApi(this, vehicle_name_)); + world_sim_api_.reset(new WorldSimApi(this)); api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get())); setupClockSpeed(); record_tick_count = 0; @@ -24,7 +24,8 @@ void SimModeBase::BeginPlay() void SimModeBase::Tick(float DeltaSeconds) { - getVehicleSimApi(vehicle_name_)->pawnTick(DeltaSeconds); + for (auto& api : getApiProvider()->getVehicleSimApis()) + static_cast(api)->pawnTick(DeltaSeconds); showClockStats(); updateDebugReport(debug_reporter_); } @@ -36,7 +37,7 @@ void SimModeBase::showClockStats() { PrintLogMessage("ClockSpeed config, actual: ", Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()).c_str(), - vehicle_name_.c_str(), ErrorLogSeverity::Information); + "", ErrorLogSeverity::Information); } } @@ -149,11 +150,11 @@ void SimModeBase::startApiServer() api_server_->start(false, 4); //TODO: set thread for vehicle count } catch (std::exception& ex) { - PrintLogMessage("Cannot start RpcLib Server", ex.what(), vehicle_name_.c_str(), ErrorLogSeverity::Error); + PrintLogMessage("Cannot start RpcLib Server", ex.what(), "", ErrorLogSeverity::Error); } } else - PrintLogMessage("API server is disabled in settings", "", vehicle_name_.c_str(), ErrorLogSeverity::Information); + PrintLogMessage("API server is disabled in settings", "", "", ErrorLogSeverity::Information); } void SimModeBase::stopApiServer() @@ -201,31 +202,37 @@ void SimModeBase::setupVehiclesAndCamera() { //determine camera director camera default pose and spawn it const auto& camera_director_setting = getSettings().camera_director; - UnityPawn* vehicle_pawn = GetVehiclePawn(); - const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(), getSettings().origin_geopoint); + for (auto const& vehicle_setting_pair : getSettings().vehicles) + { + const auto& vehicle_setting = *vehicle_setting_pair.second; + const std::string& vehicle_name = vehicle_setting.vehicle_name; - PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name_); - auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params); - auto vehicle_sim_api_p = vehicle_sim_api.get(); - auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); + UnityPawn* vehicle_pawn = GetVehiclePawn(vehicle_name); + const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(vehicle_name), getSettings().origin_geopoint); - getApiProvider()->insert_or_assign(vehicle_name_, vehicle_Api, vehicle_sim_api_p); + PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name); + auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params); + auto vehicle_sim_api_p = vehicle_sim_api.get(); + auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); - if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name_ != "") - { - getApiProvider()->makeDefaultVehicle(vehicle_name_); + getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p); + + if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "") + { + getApiProvider()->makeDefaultVehicle(vehicle_name); + } + vehicle_sim_apis_.push_back(std::move(vehicle_sim_api)); } - vehicle_sim_apis_.push_back(std::move(vehicle_sim_api)); } -const msr::airlib::Vector3r SimModeBase::GetVehiclePosition() +const msr::airlib::Vector3r SimModeBase::GetVehiclePosition(const std::string& vehicle_name) { - AirSimPose airSimPose = GetPose(vehicle_name_.c_str()); + AirSimPose airSimPose = GetPose(vehicle_name.c_str()); msr::airlib::Vector3r vehiclePosition(airSimPose.position.x, airSimPose.position.y, airSimPose.position.z); return vehiclePosition; } -UnityPawn* SimModeBase::GetVehiclePawn() +UnityPawn* SimModeBase::GetVehiclePawn(const std::string& vehicle_name) { return nullptr; } @@ -254,6 +261,6 @@ msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params UnityTransform SimModeBase::GetVehicleStartTransform() { - UnityTransform unityTransform = GetTransformFromUnity(vehicle_name_.c_str()); + UnityTransform unityTransform = GetTransformFromUnity(""); //we can use default vehicle? return unityTransform; } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h index 6e4020c7ee..d749d05daf 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h @@ -21,7 +21,7 @@ class SimModeBase typedef msr::airlib::AirSimSettings AirSimSettings; private: - const msr::airlib::Vector3r GetVehiclePosition(); + const msr::airlib::Vector3r GetVehiclePosition(const std::string& vehicle_name); UnityTransform GetVehicleStartTransform(); void showClockStats(); @@ -30,14 +30,14 @@ class SimModeBase virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const; virtual std::unique_ptr createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const; virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const; - virtual UnityPawn* GetVehiclePawn(); + virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name); virtual void setupVehiclesAndCamera(); virtual void setupClockSpeed(); //called when SimMode should handle clock speed setting virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter); virtual const msr::airlib::AirSimSettings& getSettings() const; public: - SimModeBase(std::string vehicle_name, int port_number); + SimModeBase(int port_number); virtual void BeginPlay(); virtual void EndPlay(); virtual void Tick(float DeltaSeconds) = 0; @@ -84,7 +84,6 @@ class SimModeBase int record_tick_count; public: - std::string vehicle_name_; int port_number_; bool EnableReport = false; }; \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp index 1712c1c480..890214291d 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp @@ -2,8 +2,8 @@ #include "SimModeWorldBase.h" #include "../PInvokeWrapper.h" -SimModeWorldBase::SimModeWorldBase(std::string multiRotorName, int port_number) : - SimModeBase(multiRotorName, port_number) +SimModeWorldBase::SimModeWorldBase(int port_number) : + SimModeBase(port_number) { } @@ -74,7 +74,7 @@ std::unique_ptr SimModeWorldBase::createPhy else { physics_engine.reset(); - PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), vehicle_name_.c_str(), ErrorLogSeverity::Warnning); + PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), "", ErrorLogSeverity::Warnning); } return physics_engine; } diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h index 95cc54ed81..85100baabe 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h @@ -26,7 +26,7 @@ class SimModeWorldBase : public SimModeBase void initializeForPlay(); public: - SimModeWorldBase(std::string multiRotorName, int port_number); + SimModeWorldBase(int port_number); virtual void BeginPlay() override; virtual void EndPlay() override; virtual void Tick(float DeltaSeconds) override; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp index 143b685502..f2a7fb05d6 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp @@ -1,7 +1,7 @@ #include "UnityToAirSimCalls.h" -void StartServerThread(std::string vehicle_name, std::string sim_mode_name, int port_number) +void StartServerThread(std::string sim_mode_name, int port_number) { - key = new SimHUD(vehicle_name, sim_mode_name, port_number); + key = new SimHUD(sim_mode_name, port_number); key->BeginPlay(); } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h index 2d320df6b4..503f3a665b 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h @@ -13,12 +13,12 @@ static SimHUD* key = nullptr; -void StartServerThread(std::string vehicle_name, std::string sim_mode_name, int port_number); +void StartServerThread(std::string sim_mode_name, int port_number); -extern "C" EXPORT bool StartServer(char* vehicle_name, char* sim_mode_name, int port_number) +extern "C" EXPORT bool StartServer(char* sim_mode_name, int port_number) { LOGGER->WriteLog("Starting server for : " + std::string(sim_mode_name)); - std::thread server_thread(StartServerThread, vehicle_name, sim_mode_name, port_number); + std::thread server_thread(StartServerThread, sim_mode_name, port_number); server_thread.detach(); int waitCounter = 25; // waiting for maximum 5 seconds to start a server. while ((key == nullptr || !key->server_started_Successfully_) && waitCounter > 0) @@ -29,7 +29,7 @@ extern "C" EXPORT bool StartServer(char* vehicle_name, char* sim_mode_name, int return key->server_started_Successfully_; } -extern "C" EXPORT void StopServer(char* vehicle_name) +extern "C" EXPORT void StopServer() { key->EndPlay(); if (key != nullptr) @@ -45,12 +45,12 @@ extern "C" EXPORT void CallTick(float deltaSeconds) key->Tick(deltaSeconds); } -extern "C" EXPORT void InvokeCollisionDetection(AirSimUnity::AirSimCollisionInfo collision_info) +extern "C" EXPORT void InvokeCollisionDetection(char* vehicle_name, AirSimUnity::AirSimCollisionInfo collision_info) { auto simMode = key->GetSimMode(); if (simMode) { - auto vehicleApi = simMode->getVehicleSimApi(simMode->vehicle_name_); + auto vehicleApi = simMode->getVehicleSimApi(vehicle_name); if (vehicleApi) { msr::airlib::CollisionInfo collisionInfo = UnityUtilities::Convert_to_AirSimCollisioinInfo(collision_info); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp index 660fba3682..d8c2873af9 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp @@ -168,7 +168,7 @@ void CarPawnSimApi::updateCarControls() void CarPawnSimApi::resetImplementation() { setPose(UnityUtilities::Convert_to_Pose(GetInitialPose()), false); - Reset(getVehicleName().c_str()); + Reset(); PawnSimApi::resetImplementation(); pawn_api_->reset(); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp index 39dbc1d44f..56d99508d0 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp @@ -5,7 +5,7 @@ #include "vehicles/car/api/CarRpcLibServer.hpp" #include "../../PInvokeWrapper.h" -SimModeCar::SimModeCar(std::string car_name, int port_number) : SimModeBase(car_name, port_number) +SimModeCar::SimModeCar(int port_number) : SimModeBase(port_number) { } @@ -34,7 +34,7 @@ void SimModeCar::pause(bool is_paused) else current_clockspeed_ = getSettings().clock_speed; - Pause(vehicle_name_.c_str(), current_clockspeed_); + Pause(current_clockspeed_); } void SimModeCar::continueForTime(double seconds) @@ -80,9 +80,9 @@ bool SimModeCar::isVehicleTypeSupported(const std::string& vehicle_type) const return vehicle_type == AirSimSettings::kVehicleTypePhysXCar; } -UnityPawn* SimModeCar::GetVehiclePawn() +UnityPawn* SimModeCar::GetVehiclePawn(const std::string& vehicle_name) { - return new CarPawn(vehicle_name_); + return new CarPawn(vehicle_name); } std::unique_ptr SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const @@ -90,7 +90,7 @@ std::unique_ptr SimModeCar::createVehicleSimApi(const PawnSimApi::Pa auto vehicle_pawn = static_cast(pawn_sim_api_params.pawn); auto vehicle_sim_api = std::unique_ptr(new CarPawnSimApi(pawn_sim_api_params, - vehicle_pawn->getKeyBoardControls(), vehicle_name_)); + vehicle_pawn->getKeyBoardControls(), pawn_sim_api_params.vehicle_name)); vehicle_sim_api->initialize(); vehicle_sim_api->reset(); return vehicle_sim_api; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h index 4a2c2dc3cd..88652ee80a 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h @@ -28,13 +28,13 @@ class SimModeCar : public SimModeBase const PawnSimApi* sim_api) const override; public: - SimModeCar(std::string car_name, int port_number); + SimModeCar(int port_number); virtual void BeginPlay() override; virtual void Tick(float DeltaSeconds) override; virtual bool isPaused() const override; virtual void pause(bool is_paused) override; virtual void continueForTime(double seconds) override; - virtual UnityPawn* GetVehiclePawn() override; + virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; private: std::atomic current_clockspeed_; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp index ea8ed76795..7f4185aafb 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp @@ -3,8 +3,8 @@ #include "MultirotorPawnSimApi.h" #include "vehicles/multirotor/api/MultirotorRpcLibServer.hpp" -SimModeWorldMultiRotor::SimModeWorldMultiRotor(std::string multiRotorName, int port_number) : - SimModeWorldBase(multiRotorName, port_number) +SimModeWorldMultiRotor::SimModeWorldMultiRotor(int port_number) : + SimModeWorldBase(port_number) { } @@ -28,9 +28,9 @@ void SimModeWorldMultiRotor::EndPlay() SimModeWorldBase::EndPlay(); } -UnityPawn* SimModeWorldMultiRotor::GetVehiclePawn() +UnityPawn* SimModeWorldMultiRotor::GetVehiclePawn(const std::string& vehicle_name) { - return new FlyingPawn(vehicle_name_); + return new FlyingPawn(vehicle_name); } void SimModeWorldMultiRotor::setupClockSpeed() diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h index 090b303b8e..3f781efc66 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h @@ -15,11 +15,11 @@ class SimModeWorldMultiRotor : public SimModeWorldBase const PawnSimApi* sim_api) const override; public: - SimModeWorldMultiRotor(std::string multi_rotor_name, int port_number); + SimModeWorldMultiRotor(int port_number); virtual void BeginPlay() override; virtual void EndPlay() override; void Tick(float DeltaSeconds) override; - UnityPawn* GetVehiclePawn() override; + UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; private: typedef FlyingPawn TVehiclePawn; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp index c8e5d7d025..c02a5e4edf 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp @@ -3,8 +3,8 @@ #include "PInvokeWrapper.h" #include "UnityUtilities.hpp" -WorldSimApi::WorldSimApi(SimModeBase* simmode, std::string vehicle_name) - : simmode_(simmode), vehicle_name_(vehicle_name) +WorldSimApi::WorldSimApi(SimModeBase* simmode) + : simmode_(simmode) {} WorldSimApi::~WorldSimApi() @@ -49,7 +49,7 @@ int WorldSimApi::getSegmentationObjectID(const std::string& mesh_name) const void WorldSimApi::printLogMessage(const std::string& message, const std::string& message_param, unsigned char severity) { - PrintLogMessage(message.c_str(), message_param.c_str(), vehicle_name_.c_str(), severity); + PrintLogMessage(message.c_str(), message_param.c_str(), "", severity); } std::unique_ptr> WorldSimApi::swapTextures(const std::string& tag, int tex_id, int component_id, int material_id) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h index 96a135dd51..ebd0c19f50 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h @@ -11,7 +11,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase typedef msr::airlib::Vector3r Vector3r; typedef msr::airlib::MeshPositionVertexBuffersResponse MeshPositionVertexBuffersResponse; - WorldSimApi(SimModeBase* simmode, std::string vehicle_name); + WorldSimApi(SimModeBase* simmode); virtual ~WorldSimApi(); // ------ Level setting apis ----- // @@ -65,5 +65,4 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase private: SimModeBase * simmode_; - std::string vehicle_name_; }; From 751fea5e97319573c5f4cc71ea17eef84b3be5aa Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Tue, 3 Nov 2020 21:46:48 +0100 Subject: [PATCH 02/13] changes to unity scripts --- .../Scripts/Utilities/AirSimManager.cs | 38 ++++++++++++++++++ .../Scripts/Utilities/AirSimManager.cs.meta | 11 +++++ .../Scripts/Utilities/AirSimTicker.cs | 14 +++++++ .../Scripts/Utilities/AirSimTicker.cs.meta | 11 +++++ .../Scripts/Utilities/PInvokeWrapper.cs | 6 +-- .../Scripts/Vehicles/IAirSimInterface.cs | 6 +-- .../Scripts/Vehicles/Multirotor/Drone.cs | 2 + .../AirSimAssets/Scripts/Vehicles/Vehicle.cs | 23 ++--------- .../Scripts/Vehicles/VehicleCompanion.cs | 40 ++++++++----------- 9 files changed, 101 insertions(+), 50 deletions(-) create mode 100644 Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs create mode 100644 Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta create mode 100644 Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs create mode 100644 Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs new file mode 100644 index 0000000000..ba0289dbf9 --- /dev/null +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs @@ -0,0 +1,38 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +using System; +using AirSimUnity.DroneStructs; +using System.Threading; +using UnityEditor; + +namespace AirSimUnity +{ + public class AirSimManager : MonoBehaviour + { + private const string DRONE_MODE = "Multirotor"; + + // Start is called before the first frame update + void Start() + { + string simMode = AirSimSettings.GetSettings().SimMode; + int basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(simMode == DRONE_MODE); + bool isServerStarted = PInvokeWrapper.StartServer(simMode, basePortId); + if (isServerStarted == false) + { +#if UNITY_EDITOR + EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit"); + EditorApplication.Exit(1); +#else + Application.Quit(); +#endif + } + } + + protected void OnApplicationQuit() + { + PInvokeWrapper.StopServer(); + } + } +} \ No newline at end of file diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta new file mode 100644 index 0000000000..7881b6f4b7 --- /dev/null +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ca72950c6b9a95848b5b1bee27e51ff8 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs new file mode 100644 index 0000000000..401785b8a8 --- /dev/null +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs @@ -0,0 +1,14 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace AirSimUnity +{ + public class AirSimTicker : MonoBehaviour + { + void FixedUpdate() + { + PInvokeWrapper.CallTick(Time.fixedDeltaTime); + } + } +} \ No newline at end of file diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta new file mode 100644 index 0000000000..8e150859b4 --- /dev/null +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 9cc58e6de68c02747a4aa12440551a3b +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs index 8f156909ce..f3b52be695 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs @@ -26,15 +26,15 @@ public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, Int public static extern void StopDroneServer(string vehicleName); [DllImport(DLL_NAME)] - public static extern bool StartServer(string vehicleName, string simModeName, int portNumber); + public static extern bool StartServer(string simModeName, int portNumber); [DllImport(DLL_NAME)] - public static extern void StopServer(string vehicleName); + public static extern void StopServer(); [DllImport(DLL_NAME)] public static extern void CallTick(float deltaSeconds); [DllImport(DLL_NAME)] - public static extern void InvokeCollisionDetection(CollisionInfo collisionInfo); + public static extern void InvokeCollisionDetection(string vehicleName, CollisionInfo collisionInfo); } } diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs index ce38757bd5..49514de4de 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IAirSimInterface.cs @@ -6,14 +6,10 @@ namespace AirSimUnity */ public interface IAirSimInterface { - bool StartVehicleServer(string hostIP); - - void StopVehicleServer(); - KinemticState GetKinematicState(); void InvokeTickInAirSim(float deltaSecond); - void InvokeCollisionDetectionInAirSim(CollisionInfo collisionInfo); + void InvokeCollisionDetectionInAirSim(string vehicleName, CollisionInfo collisionInfo); } } diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs index c7ede644ef..463da9a21e 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Multirotor/Drone.cs @@ -41,6 +41,8 @@ public class Drone : Vehicle { transform.position = position; transform.rotation = rotation; + currentPose = poseFromAirLib; + for (int i = 0; i < rotors.Length; i++) { float rotorSpeed = (float) (rotorInfos[i].rotorSpeed * rotorInfos[i].rotorDirection * 180 / diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs index 2049d2eecd..18f878f6da 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs @@ -46,6 +46,8 @@ public abstract class Vehicle : MonoBehaviour, IVehicleInterface { RaycastHit hitInfo; bool hitResult; + [SerializeField] string vehicleName; + //Ensure to call this method as the first statement, from derived class `Start()` method. protected void Start() { isDrone = this is Drone ? true : false; @@ -55,18 +57,7 @@ protected void Start() { InitializeVehicle(); - airsimInterface = VehicleCompanion.GetVehicleCompanion(this); - isServerStarted = airsimInterface.StartVehicleServer(AirSimSettings.GetSettings().LocalHostIP); - - if (isServerStarted == false) - { -#if UNITY_EDITOR - EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit"); - EditorApplication.Exit(1); -#else - Application.Quit(); -#endif - } + airsimInterface = VehicleCompanion.GetVehicleCompanion(vehicleName, this); } //Ensure to call this method as the first statement, from derived class `FixedUpdate()` method. @@ -112,8 +103,6 @@ protected void LateUpdate() { { print_log_messages_ = !print_log_messages_; } - - airsimInterface.InvokeTickInAirSim(Time.deltaTime); } } @@ -131,7 +120,7 @@ protected void OnCollisionEnter(Collision collision) { collisionInfo.object_name = collision.collider.name; collisionInfo.time_stamp = DataManager.GetCurrentTimeInMilli(); - airsimInterface.InvokeCollisionDetectionInAirSim(collisionInfo); + airsimInterface.InvokeCollisionDetectionInAirSim(vehicleName, collisionInfo); } } @@ -158,10 +147,6 @@ protected void OnCollisionExit() { } } - protected void OnApplicationQuit() { - airsimInterface.StopVehicleServer(); - } - //Define the recording data that needs to be saved in the airsim_rec file for Toggle Recording button public abstract DataRecorder.ImageData GetRecordingData(); diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs index ce674191e7..1a95a52066 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs @@ -36,34 +36,23 @@ private VehicleCompanion(IVehicleInterface vehicleInterface) { basePortId = AirSimSettings.GetSettings().GetPortIDForVehicle(isDrone); } - public static VehicleCompanion GetVehicleCompanion(IVehicleInterface vehicleInterface) { + public static VehicleCompanion GetVehicleCompanion(string vehicleName, IVehicleInterface vehicleInterface) { var companion = new VehicleCompanion(vehicleInterface); - if (AirSimSettings.GetSettings().SimMode == "Car") - companion.vehicleName = "PhysXCar"; - else if (AirSimSettings.GetSettings().SimMode == "Multirotor") - companion.vehicleName = "SimpleFlight"; + companion.vehicleName = vehicleName; Vehicles.Add(companion); return companion; } - public bool StartVehicleServer(string hostIP) { - return PInvokeWrapper.StartServer(vehicleName, AirSimSettings.GetSettings().SimMode, basePortId); - } - - public void StopVehicleServer() { - PInvokeWrapper.StopServer(vehicleName); - } - public void InvokeTickInAirSim(float deltaSecond) { PInvokeWrapper.CallTick(deltaSecond); } - public void InvokeCollisionDetectionInAirSim(CollisionInfo collisionInfo) + public void InvokeCollisionDetectionInAirSim(string vehicleName, CollisionInfo collisionInfo) { - PInvokeWrapper.InvokeCollisionDetection(collisionInfo); + PInvokeWrapper.InvokeCollisionDetection(vehicleName, collisionInfo); } public KinemticState GetKinematicState() { @@ -99,10 +88,10 @@ private static void InitDelegators() { Marshal.GetFunctionPointerForDelegate(new Func(GetSegmentationObjectId)), Marshal.GetFunctionPointerForDelegate(new Func(PrintLogMessage)), Marshal.GetFunctionPointerForDelegate(new Func(GetTransformFromUnity)), - Marshal.GetFunctionPointerForDelegate(new Func(Reset)), + Marshal.GetFunctionPointerForDelegate(new Func(Reset)), Marshal.GetFunctionPointerForDelegate(new Func(GetVelocity)), Marshal.GetFunctionPointerForDelegate(new Func(GetRayCastHit)), - Marshal.GetFunctionPointerForDelegate(new Func(Pause)) + Marshal.GetFunctionPointerForDelegate(new Func(Pause)) ); } @@ -140,10 +129,12 @@ private static UnityTransform GetTransformFromUnity(string vehicleName) return vehicle.VehicleInterface.GetTransform(); } - private static bool Reset(string vehicleName) + private static bool Reset() { - var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName); - vehicle.VehicleInterface.ResetVehicle(); + foreach (var vehicle in Vehicles) + { + vehicle.VehicleInterface.ResetVehicle(); + } return true; } @@ -207,10 +198,13 @@ private static int GetSegmentationObjectId(string objectName) { return Vehicle.GetSegmentationObjectId(objectName); } - private static bool Pause(string vehicleName, float timeScale) + private static bool Pause(float timeScale) { - var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName); - return vehicle.VehicleInterface.Pause(timeScale); + foreach (var vehicle in Vehicles) + { + vehicle.VehicleInterface.Pause(timeScale); + } + return true; } } } From 9542cb5c6eee99d1da512c12f2a0ea1001957ad4 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 4 Nov 2020 12:03:26 +0100 Subject: [PATCH 03/13] fixes --- .../AirsimWrapper/Source/SimMode/SimModeBase.cpp | 4 +++- .../Scripts/Utilities/{AirSimManager.cs => AirSimServer.cs} | 4 ++-- .../Utilities/{AirSimManager.cs.meta => AirSimServer.cs.meta} | 2 +- .../Scripts/Utilities/{AirSimTicker.cs => AirSimTick.cs} | 2 +- .../Utilities/{AirSimTicker.cs.meta => AirSimTick.cs.meta} | 2 +- .../Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs | 2 +- 6 files changed, 9 insertions(+), 7 deletions(-) rename Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/{AirSimManager.cs => AirSimServer.cs} (91%) rename Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/{AirSimManager.cs.meta => AirSimServer.cs.meta} (91%) rename Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/{AirSimTicker.cs => AirSimTick.cs} (83%) rename Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/{AirSimTicker.cs.meta => AirSimTick.cs.meta} (91%) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index 6e9fea260f..12d975a726 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -261,6 +261,8 @@ msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params UnityTransform SimModeBase::GetVehicleStartTransform() { - UnityTransform unityTransform = GetTransformFromUnity(""); //we can use default vehicle? + //take first vehicle as default + const std::string& vehicle_name = getSettings().vehicles.begin()->first; + UnityTransform unityTransform = GetTransformFromUnity(vehicle_name.c_str()); return unityTransform; } \ No newline at end of file diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs similarity index 91% rename from Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs rename to Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs index ba0289dbf9..baac8a5a1a 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs @@ -9,7 +9,7 @@ namespace AirSimUnity { - public class AirSimManager : MonoBehaviour + public class AirSimServer : MonoBehaviour { private const string DRONE_MODE = "Multirotor"; @@ -23,7 +23,7 @@ void Start() { #if UNITY_EDITOR EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit"); - EditorApplication.Exit(1); + //EditorApplication.Exit(1); #else Application.Quit(); #endif diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta similarity index 91% rename from Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta rename to Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta index 7881b6f4b7..0d8a36d9ac 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimManager.cs.meta +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs.meta @@ -4,7 +4,7 @@ MonoImporter: externalObjects: {} serializedVersion: 2 defaultReferences: [] - executionOrder: 0 + executionOrder: 100 icon: {instanceID: 0} userData: assetBundleName: diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs similarity index 83% rename from Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs rename to Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs index 401785b8a8..987738054e 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs @@ -4,7 +4,7 @@ namespace AirSimUnity { - public class AirSimTicker : MonoBehaviour + public class AirSimTick : MonoBehaviour { void FixedUpdate() { diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta similarity index 91% rename from Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta rename to Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta index 8e150859b4..94e97d4437 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTicker.cs.meta +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimTick.cs.meta @@ -4,7 +4,7 @@ MonoImporter: externalObjects: {} serializedVersion: 2 defaultReferences: [] - executionOrder: 0 + executionOrder: -50 icon: {instanceID: 0} userData: assetBundleName: diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs index 1a95a52066..db24893aeb 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs @@ -186,7 +186,7 @@ private static bool SetCameraFoV(string cameraName, float fov_degrees, string ve } private static bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) { - var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName); + var vehicle = Vehicles[0]; //we just let first vehicle print the message return vehicle.VehicleInterface.PrintLogMessage(message, messageParams, vehicleName, severity); } From 98cbc43c92d040b1d71051560e15d53a77ce7ed8 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 4 Nov 2020 14:52:31 +0100 Subject: [PATCH 04/13] fixes for default vehicle --- AirLib/include/common/AirSimSettings.hpp | 53 +++++++++++-------- .../Source/SimMode/SimModeBase.cpp | 5 +- 2 files changed, 32 insertions(+), 26 deletions(-) diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp index 0ef650ed1d..d94b7ebe04 100644 --- a/AirLib/include/common/AirSimSettings.hpp +++ b/AirLib/include/common/AirSimSettings.hpp @@ -378,7 +378,7 @@ struct AirSimSettings { { initializeSubwindowSettings(subwindow_settings); initializePawnPaths(pawn_paths); - initializeVehicleSettings(vehicles); + //initializeVehicleSettings(vehicles); } //returns number of warnings @@ -768,39 +768,46 @@ struct AirSimSettings { return vehicle_setting; } - static void initializeVehicleSettings(std::map>& vehicles) + static void initializeVehicleSettings(const std::string& simmode_name, std::map>& vehicles) { vehicles.clear(); //NOTE: Do not set defaults for vehicle type here. If you do then make sure //to sync code in createVehicleSetting() as well. - //create simple flight as default multirotor - auto simple_flight_setting = std::unique_ptr(new VehicleSetting()); - simple_flight_setting->vehicle_name = "SimpleFlight"; - simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight; - //TODO: we should be selecting remote if available else keyboard - //currently keyboard is not supported so use rc as default - simple_flight_setting->rc.remote_control_id = 0; - vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting); - - //create default car vehicle - auto physx_car_setting = std::unique_ptr(new VehicleSetting()); - physx_car_setting->vehicle_name = "PhysXCar"; - physx_car_setting->vehicle_type = kVehicleTypePhysXCar; - vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting); - - //create default computer vision vehicle - auto cv_setting = std::unique_ptr(new VehicleSetting()); - cv_setting->vehicle_name = "ComputerVision"; - cv_setting->vehicle_type = kVehicleTypeComputerVision; - vehicles[cv_setting->vehicle_name] = std::move(cv_setting); + if (simmode_name == "Multirotor") + { + //create simple flight as default multirotor + auto simple_flight_setting = std::unique_ptr(new VehicleSetting()); + simple_flight_setting->vehicle_name = "SimpleFlight"; + simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight; + //TODO: we should be selecting remote if available else keyboard + //currently keyboard is not supported so use rc as default + simple_flight_setting->rc.remote_control_id = 0; + vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting); + } + else if (simmode_name == "Car") + { + //create default car vehicle + auto physx_car_setting = std::unique_ptr(new VehicleSetting()); + physx_car_setting->vehicle_name = "PhysXCar"; + physx_car_setting->vehicle_type = kVehicleTypePhysXCar; + vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting); + } + else + { + //create default computer vision vehicle + auto cv_setting = std::unique_ptr(new VehicleSetting()); + cv_setting->vehicle_name = "ComputerVision"; + cv_setting->vehicle_type = kVehicleTypeComputerVision; + vehicles[cv_setting->vehicle_name] = std::move(cv_setting); + } } static void loadVehicleSettings(const std::string& simmode_name, const Settings& settings_json, std::map>& vehicles) { - initializeVehicleSettings(vehicles); + initializeVehicleSettings(simmode_name, vehicles); msr::airlib::Settings vehicles_child; if (settings_json.getChild("Vehicles", vehicles_child)) { diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index 12d975a726..16bc64c73e 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -261,8 +261,7 @@ msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params UnityTransform SimModeBase::GetVehicleStartTransform() { - //take first vehicle as default - const std::string& vehicle_name = getSettings().vehicles.begin()->first; - UnityTransform unityTransform = GetTransformFromUnity(vehicle_name.c_str()); + //can we just take origin in Unity here? + UnityTransform unityTransform; return unityTransform; } \ No newline at end of file From 31ae2eac61e450e023c3fb83fde66d9422f78387 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 4 Nov 2020 15:37:39 +0100 Subject: [PATCH 05/13] fix bool flag --- .../AirSimAssets/Scripts/Vehicles/Vehicle.cs | 1 + Unity/UnityDemo/Assets/Scenes/CarDemo.unity | 2658 ++++++++++++----- Unity/UnityDemo/Assets/Scenes/DroneDemo.unity | 2140 +++++++++---- 3 files changed, 3389 insertions(+), 1410 deletions(-) diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs index 18f878f6da..679d2ebdc1 100644 --- 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m_Material: {fileID: 0} m_IsTrigger: 0 @@ -5356,7 +5832,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 901892091} m_Enabled: 1 m_CastShadows: 1 @@ -5365,7 +5842,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5375,6 +5854,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5391,15 +5871,17 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: 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MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5493,6 +5982,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5509,14 +5999,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 921574310} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &929407263 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 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m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5578,6 +6075,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5594,14 +6092,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 929407263} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &935122615 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 935122616} @@ -5619,7 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m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 400.4} @@ -5802,7 +6319,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -5814,7 +6332,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_Enabled: 1 m_CastShadows: 1 @@ -5823,7 +6342,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5833,6 +6354,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5849,14 +6371,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1001162542 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1001162543} @@ -5874,7 +6398,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} 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m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -10176,14 +11083,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1772983451} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1778685771 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1778685772} @@ -10201,7 +11110,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1778685771} m_LocalRotation: {x: -0.21643952, y: 0, z: 0, w: 0.97629607} m_LocalPosition: {x: 0, y: 4.01, z: -3.28} @@ -10214,7 +11124,8 @@ Transform: 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m_GameObject: {fileID: 2134313031} m_Mesh: {fileID: 10206, guid: 0000000000000000e000000000000000, type: 0} diff --git a/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity b/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity index b0100fcb02..6029059caa 100644 --- a/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity +++ b/Unity/UnityDemo/Assets/Scenes/DroneDemo.unity @@ -38,7 +38,7 @@ RenderSettings: m_ReflectionIntensity: 1 m_CustomReflection: {fileID: 0} m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 0.18029505, g: 0.22572652, b: 0.30692935, a: 1} + m_IndirectSpecularColor: {r: 0.18028334, g: 0.2257134, b: 0.30692226, a: 1} m_UseRadianceAmbientProbe: 0 --- !u!157 &3 LightmapSettings: @@ -50,12 +50,11 @@ LightmapSettings: m_BounceScale: 1 m_IndirectOutputScale: 1 m_AlbedoBoost: 1 - m_TemporalCoherenceThreshold: 1 m_EnvironmentLightingMode: 0 m_EnableBakedLightmaps: 1 m_EnableRealtimeLightmaps: 1 m_LightmapEditorSettings: - serializedVersion: 10 + serializedVersion: 12 m_Resolution: 2 m_BakeResolution: 40 m_AtlasSize: 1024 @@ -63,6 +62,7 @@ LightmapSettings: m_AOMaxDistance: 1 m_CompAOExponent: 1 m_CompAOExponentDirect: 0 + m_ExtractAmbientOcclusion: 0 m_Padding: 2 m_LightmapParameters: {fileID: 0} m_LightmapsBakeMode: 1 @@ -77,10 +77,16 @@ LightmapSettings: m_PVRDirectSampleCount: 32 m_PVRSampleCount: 500 m_PVRBounces: 2 + m_PVREnvironmentSampleCount: 500 + m_PVREnvironmentReferencePointCount: 2048 + m_PVRFilteringMode: 2 + m_PVRDenoiserTypeDirect: 0 + m_PVRDenoiserTypeIndirect: 0 + m_PVRDenoiserTypeAO: 0 m_PVRFilterTypeDirect: 0 m_PVRFilterTypeIndirect: 0 m_PVRFilterTypeAO: 0 - m_PVRFilteringMode: 1 + m_PVREnvironmentMIS: 0 m_PVRCulling: 1 m_PVRFilteringGaussRadiusDirect: 1 m_PVRFilteringGaussRadiusIndirect: 5 @@ -88,7 +94,9 @@ LightmapSettings: m_PVRFilteringAtrousPositionSigmaDirect: 0.5 m_PVRFilteringAtrousPositionSigmaIndirect: 2 m_PVRFilteringAtrousPositionSigmaAO: 1 - m_ShowResolutionOverlay: 1 + m_ExportTrainingData: 0 + m_TrainingDataDestination: 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m_GameObject: {fileID: 204066940} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -1451,7 +1580,8 @@ CapsuleCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 204066940} m_Enabled: 1 m_CastShadows: 1 @@ -1460,7 +1590,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: d5746c3f216f7b84db940c7a63b44924, type: 2} m_StaticBatchInfo: @@ -1470,6 +1602,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1486,14 +1619,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + 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m_IsTrigger: 0 @@ -1536,7 +1673,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 235352963} m_Enabled: 1 m_CastShadows: 1 @@ -1545,7 +1683,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -1555,6 +1695,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1571,14 +1712,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: 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m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 278794954} @@ -1766,7 +1925,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 278794953} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -300, y: 0, z: 100} @@ -1779,7 +1939,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 278794953} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -1791,7 +1952,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 278794953} m_Enabled: 1 m_CastShadows: 1 @@ -1800,7 +1962,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -1810,6 +1974,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1826,14 +1991,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 278794953} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &297680528 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 297680529} @@ -1851,7 +2018,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 297680528} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 398, y: 0, z: 300.4} @@ -1864,7 +2032,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 297680528} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -1876,7 +2045,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 297680528} m_Enabled: 1 m_CastShadows: 1 @@ -1885,7 +2055,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -1895,6 +2067,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1911,14 +2084,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 297680528} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &318386983 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 318386984} @@ -1936,7 +2111,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 318386983} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -300, y: 0, z: 300.4} @@ -1949,7 +2125,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 318386983} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -1961,7 +2138,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 318386983} m_Enabled: 1 m_CastShadows: 1 @@ -1970,7 +2148,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -1980,6 +2160,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -1996,14 +2177,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 318386983} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &320786704 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - 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m_StaticBatchInfo: @@ -3849,6 +4261,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -3865,14 +4278,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 855812605} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &867517395 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 867517396} @@ -3887,7 +4302,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} 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m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 921574310} m_Enabled: 1 m_CastShadows: 1 @@ -4125,7 +4561,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -4135,6 +4573,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4151,14 +4590,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 921574310} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &929407263 GameObject: m_ObjectHideFlags: 0 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m_GameObject: {fileID: 929407263} m_Enabled: 1 m_CastShadows: 1 @@ -4210,7 +4654,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -4220,6 +4666,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4236,14 +4683,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 929407263} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &935122615 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 935122616} @@ -4261,7 +4710,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 935122615} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -300, y: 0, z: -299} @@ -4274,7 +4724,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 935122615} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -4286,7 +4737,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 935122615} m_Enabled: 1 m_CastShadows: 1 @@ -4295,7 +4747,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -4305,6 +4759,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -4321,14 +4776,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 935122615} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &970833774 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 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+4896,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 400.4} @@ -4444,7 +4910,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -4456,7 +4923,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 986458333} m_Enabled: 1 m_CastShadows: 1 @@ -4465,7 +4933,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 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m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1074876729} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -5008,7 +5518,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1074876729} m_Enabled: 1 m_CastShadows: 1 @@ -5017,7 +5528,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5027,6 +5540,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5043,14 +5557,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 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m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: d5746c3f216f7b84db940c7a63b44924, type: 2} m_StaticBatchInfo: @@ -5144,6 +5667,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5160,14 +5684,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1082429641} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1120314538 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 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0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5314,6 +5853,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5330,14 +5870,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1150396926} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1224083890 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1224083891} @@ -5355,7 +5897,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - 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m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5586,14 +6150,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1242013735} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1260987439 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1260987440} @@ -5611,7 +6177,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1260987439} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} 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m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5671,14 +6243,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1260987439} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1278939894 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1278939895} @@ -5696,7 +6270,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1278939894} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -450, y: 10, z: 0} @@ -5709,7 +6284,8 @@ 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m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1312022553} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -5807,7 +6391,8 @@ CapsuleCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1312022553} m_Enabled: 1 m_CastShadows: 1 @@ -5816,7 +6401,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: d5746c3f216f7b84db940c7a63b44924, type: 2} m_StaticBatchInfo: @@ -5826,6 +6413,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -5842,14 +6430,16 @@ 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m_GameObject: {fileID: 1348703854} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -5977,7 +6577,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1348703854} m_Enabled: 1 m_CastShadows: 1 @@ -5986,7 +6587,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -5996,6 +6599,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -6012,14 +6616,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: 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0 @@ -6062,7 +6670,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1355300759} m_Enabled: 1 m_CastShadows: 1 @@ -6071,7 +6680,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -6081,6 +6692,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -6097,14 +6709,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1355300759} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1362137216 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1362137217} @@ -6122,7 +6736,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1362137216} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 0, y: 0, z: -199} @@ -6135,7 +6750,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1362137216} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -6147,7 +6763,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1362137216} m_Enabled: 1 m_CastShadows: 1 @@ -6156,7 +6773,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -6166,6 +6785,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -6182,14 +6802,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1362137216} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1392769405 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1392769406} @@ -6207,7 +6829,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1392769405} m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0, y: 50.2, z: 0} @@ -6220,7 +6843,8 @@ Transform: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1392769405} m_Enabled: 1 m_CastShadows: 1 @@ -6229,7 +6853,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: d5746c3f216f7b84db940c7a63b44924, type: 2} m_StaticBatchInfo: @@ -6239,6 +6865,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -6255,14 +6882,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1392769405} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!65 &1392769409 BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1392769405} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -6274,7 +6903,8 @@ BoxCollider: GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1399587321} @@ -6292,7 +6922,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1399587320} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -100, y: 0, z: -299} @@ -6305,7 +6936,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1399587320} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -6317,7 +6949,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: 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m_StaticBatchInfo: @@ -6846,6 +7529,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -6862,14 +7546,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1460426459} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1490418359 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1490418360} @@ -6884,7 +7570,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} 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m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -6994,6 +7689,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7010,14 +7706,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1495769740} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1502187103 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1502187104} @@ -7035,7 +7733,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: 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baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -7079,6 +7782,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7095,14 +7799,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1502187103} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1620168040 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1620168041} @@ -7120,7 +7826,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: 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@@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7180,14 +7892,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1620168040} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1627181540 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1627181541} @@ -7205,7 +7919,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1627181540} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 398, y: 0, z: -299} @@ -7218,7 +7933,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1627181540} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -7230,7 +7946,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1627181540} m_Enabled: 1 m_CastShadows: 1 @@ -7239,7 +7956,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -7249,6 +7968,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} 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m_GameObject: {fileID: 1699530068} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -7655,7 +8411,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1699530068} m_Enabled: 1 m_CastShadows: 1 @@ -7664,7 +8421,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -7674,6 +8433,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7690,14 +8450,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: 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0 @@ -7740,7 +8504,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1707406993} m_Enabled: 1 m_CastShadows: 1 @@ -7749,7 +8514,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -7759,6 +8526,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7775,14 +8543,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 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m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1729091557} m_Enabled: 1 m_CastShadows: 1 @@ -7834,7 +8607,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -7844,6 +8619,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -7860,14 +8636,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1729091557} m_Mesh: {fileID: 10202, guid: 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GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} serializedVersion: 6 m_Component: - component: {fileID: 1756458946} @@ -7970,7 +8756,8 @@ GameObject: Transform: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1756458945} m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 298, y: 0, z: 0} @@ -7983,7 +8770,8 @@ Transform: BoxCollider: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1756458945} m_Material: {fileID: 0} m_IsTrigger: 0 @@ -7995,7 +8783,8 @@ BoxCollider: MeshRenderer: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 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m_Enabled: 1 m_CastShadows: 1 @@ -8089,7 +8886,9 @@ MeshRenderer: m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 + m_RayTracingMode: 2 m_RenderingLayerMask: 4294967295 + m_RendererPriority: 0 m_Materials: - {fileID: 2100000, guid: baf1b858a171d2a4b999716eae5ad6bc, type: 2} m_StaticBatchInfo: @@ -8099,6 +8898,7 @@ MeshRenderer: m_ProbeAnchor: {fileID: 0} m_LightProbeVolumeOverride: {fileID: 0} m_ScaleInLightmap: 1 + m_ReceiveGI: 1 m_PreserveUVs: 0 m_IgnoreNormalsForChartDetection: 0 m_ImportantGI: 0 @@ -8115,14 +8915,16 @@ MeshRenderer: MeshFilter: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1771783015} m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} --- !u!1 &1772983451 GameObject: m_ObjectHideFlags: 0 m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInternal: {fileID: 0} + m_PrefabInstance: {fileID: 0} + 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2 + .../Assets/Scenes/MultiDroneDemo.unity | 571 ++++++++++++++++++ .../Assets/Scenes/MultiDroneDemo.unity.meta | 7 + 3 files changed, 580 insertions(+) create mode 100644 Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity create mode 100644 Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity.meta diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs index 2b27df650e..7eb73d0bde 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimSettings.cs @@ -149,6 +149,8 @@ public struct PX4Settings { private static AirSimSettings settings = null; public static AirSimSettings GetSettings() { + if (settings == null) + Initialize(); return settings; } diff --git a/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity b/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity new file mode 100644 index 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+ userData: + assetBundleName: + assetBundleVariant: From aae7f5446b431a68e3da0d9c350ad5c7d572db24 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 4 Nov 2020 21:07:24 +0100 Subject: [PATCH 07/13] start thread per vehicle --- .../AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index 16bc64c73e..ad476ec90b 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -147,7 +147,7 @@ void SimModeBase::startApiServer() api_server_ = createApiServer(); #endif try { - api_server_->start(false, 4); //TODO: set thread for vehicle count + api_server_->start(false, vehicle_sim_apis_.size() + 4); //TODO: set thread for vehicle count } catch (std::exception& ex) { PrintLogMessage("Cannot start RpcLib Server", ex.what(), "", ErrorLogSeverity::Error); From cdbb2babad23c8143679e32c6859bf91bad99937 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 4 Nov 2020 21:34:34 +0100 Subject: [PATCH 08/13] code style changes --- AirLib/include/common/AirSimSettings.hpp | 9 +++------ .../AirsimWrapper/Source/SimMode/SimModeBase.cpp | 6 ++---- 2 files changed, 5 insertions(+), 10 deletions(-) diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp index d94b7ebe04..cee9bebdd3 100644 --- a/AirLib/include/common/AirSimSettings.hpp +++ b/AirLib/include/common/AirSimSettings.hpp @@ -775,8 +775,7 @@ struct AirSimSettings { //NOTE: Do not set defaults for vehicle type here. If you do then make sure //to sync code in createVehicleSetting() as well. - if (simmode_name == "Multirotor") - { + if (simmode_name == "Multirotor") { //create simple flight as default multirotor auto simple_flight_setting = std::unique_ptr(new VehicleSetting()); simple_flight_setting->vehicle_name = "SimpleFlight"; @@ -786,16 +785,14 @@ struct AirSimSettings { simple_flight_setting->rc.remote_control_id = 0; vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting); } - else if (simmode_name == "Car") - { + else if (simmode_name == "Car") { //create default car vehicle auto physx_car_setting = std::unique_ptr(new VehicleSetting()); physx_car_setting->vehicle_name = "PhysXCar"; physx_car_setting->vehicle_type = kVehicleTypePhysXCar; vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting); } - else - { + else { //create default computer vision vehicle auto cv_setting = std::unique_ptr(new VehicleSetting()); cv_setting->vehicle_name = "ComputerVision"; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index ad476ec90b..6bc978d05e 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -202,8 +202,7 @@ void SimModeBase::setupVehiclesAndCamera() { //determine camera director camera default pose and spawn it const auto& camera_director_setting = getSettings().camera_director; - for (auto const& vehicle_setting_pair : getSettings().vehicles) - { + for (auto const& vehicle_setting_pair : getSettings().vehicles) { const auto& vehicle_setting = *vehicle_setting_pair.second; const std::string& vehicle_name = vehicle_setting.vehicle_name; @@ -218,9 +217,8 @@ void SimModeBase::setupVehiclesAndCamera() getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p); if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "") - { getApiProvider()->makeDefaultVehicle(vehicle_name); - } + vehicle_sim_apis_.push_back(std::move(vehicle_sim_api)); } } From 3979e6a9faac1cd904151041c36bc8c887374dea Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Fri, 4 Jun 2021 20:26:59 +0200 Subject: [PATCH 09/13] apply style from clang-format --- .clang-format | 56 + AirLib/include/common/AirSimSettings.hpp | 2267 +++++++++-------- .../AirsimWrapper/Source/PInvokeWrapper.cpp | 121 +- .../AirsimWrapper/Source/PInvokeWrapper.h | 86 +- .../AirsimWrapper/Source/SimHUD/SimHUD.cpp | 142 +- .../AirsimWrapper/Source/SimHUD/SimHUD.h | 46 +- .../Source/SimMode/SimModeBase.cpp | 266 +- .../Source/SimMode/SimModeBase.h | 110 +- .../Source/SimMode/SimModeWorldBase.cpp | 120 +- .../Source/SimMode/SimModeWorldBase.h | 50 +- .../Source/UnityToAirSimCalls.cpp | 4 +- .../AirsimWrapper/Source/UnityToAirSimCalls.h | 56 +- .../Source/Vehicles/Car/CarPawnSimApi.cpp | 237 +- .../Source/Vehicles/Car/SimModeCar.cpp | 76 +- .../Source/Vehicles/Car/SimModeCar.h | 50 +- .../Multirotor/SimModeWorldMultiRotor.cpp | 124 +- .../Multirotor/SimModeWorldMultiRotor.h | 26 +- .../AirsimWrapper/Source/WorldSimApi.cpp | 101 +- .../AirsimWrapper/Source/WorldSimApi.h | 32 +- 19 files changed, 2020 insertions(+), 1950 deletions(-) create mode 100644 .clang-format diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000000..74f44951ab --- /dev/null +++ b/.clang-format @@ -0,0 +1,56 @@ +--- +# clang-format documentation +# http://clang.llvm.org/docs/ClangFormat.html +# http://clang.llvm.org/docs/ClangFormatStyleOptions.html + +# Preexisting formats: +# LLVM +# Google +# Chromium +# Mozilla +# WebKit + +Language: Cpp +BasedOnStyle: Mozilla + +AccessModifierOffset: -4 +AlignAfterOpenBracket: Align +AlignTrailingComments: false +AllowShortBlocksOnASingleLine: false +AllowShortFunctionsOnASingleLine: Inline +AllowShortIfStatementsOnASingleLine: true +AlwaysBreakAfterDefinitionReturnType: None +AlwaysBreakAfterReturnType: None +BinPackArguments: false +BinPackParameters: true +BreakBeforeBraces: Custom +BraceWrapping: + AfterClass: true + AfterControlStatement: false + AfterEnum: true + AfterFunction: true + AfterNamespace: true + AfterObjCDeclaration: false + AfterStruct: true + AfterUnion: true + BeforeCatch: true + BeforeElse: true + IndentBraces: false +ContinuationIndentWidth: 4 +ConstructorInitializerIndentWidth: 4 +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ColumnLimit: 0 +Cpp11BracedListStyle: false +IndentWidth: 4 +IndentCaseLabels: false +# KeepEmptyLinesAtTheStartOfBlocks: false +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: Inner +ReflowComments: false +PenaltyBreakBeforeFirstCallParameter: 100000 +PenaltyBreakComment: 100000 +SortIncludes: false +SpaceAfterTemplateKeyword: true +# Standard: Cpp11 # Broken +UseTab: Never +... diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp index cee9bebdd3..22b9991aa5 100644 --- a/AirLib/include/common/AirSimSettings.hpp +++ b/AirLib/include/common/AirSimSettings.hpp @@ -15,1317 +15,1338 @@ #include "ImageCaptureBase.hpp" #include "sensors/SensorBase.hpp" -namespace msr { namespace airlib { - -struct AirSimSettings { -private: - typedef common_utils::Utils Utils; - typedef ImageCaptureBase::ImageType ImageType; - -public: //types - static constexpr int kSubwindowCount = 3; //must be >= 3 for now - static constexpr char const * kVehicleTypePX4 = "px4multirotor"; - static constexpr char const * kVehicleTypeArduCopterSolo = "arducoptersolo"; - static constexpr char const * kVehicleTypeSimpleFlight = "simpleflight"; - static constexpr char const * kVehicleTypeArduCopter = "arducopter"; - static constexpr char const * kVehicleTypePhysXCar = "physxcar"; - static constexpr char const * kVehicleTypeArduRover = "ardurover"; - static constexpr char const * kVehicleTypeComputerVision = "computervision"; - - static constexpr char const * kVehicleInertialFrame = "VehicleInertialFrame"; - static constexpr char const * kSensorLocalFrame = "SensorLocalFrame"; - - struct SubwindowSetting { - int window_index; - ImageType image_type; - bool visible; - std::string camera_name; - std::string vehicle_name; - - SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, - bool visible_val = false, const std::string& camera_name_val = "", const std::string& vehicle_name_val = "") - : window_index(window_index_val), image_type(image_type_val), - visible(visible_val), camera_name(camera_name_val), vehicle_name(vehicle_name_val) - { - } - }; +namespace msr +{ +namespace airlib +{ - struct RecordingSetting { - bool record_on_move; - float record_interval; - - std::vector requests; - - RecordingSetting(bool record_on_move_val = false, float record_interval_val = 0.05f) - : record_on_move(record_on_move_val), record_interval(record_interval_val) + struct AirSimSettings + { + private: + typedef common_utils::Utils Utils; + typedef ImageCaptureBase::ImageType ImageType; + + public: //types + static constexpr int kSubwindowCount = 3; //must be >= 3 for now + static constexpr char const* kVehicleTypePX4 = "px4multirotor"; + static constexpr char const* kVehicleTypeArduCopterSolo = "arducoptersolo"; + static constexpr char const* kVehicleTypeSimpleFlight = "simpleflight"; + static constexpr char const* kVehicleTypeArduCopter = "arducopter"; + static constexpr char const* kVehicleTypePhysXCar = "physxcar"; + static constexpr char const* kVehicleTypeArduRover = "ardurover"; + static constexpr char const* kVehicleTypeComputerVision = "computervision"; + + static constexpr char const* kVehicleInertialFrame = "VehicleInertialFrame"; + static constexpr char const* kSensorLocalFrame = "SensorLocalFrame"; + + struct SubwindowSetting { - } - }; - - struct PawnPath { - std::string pawn_bp; - std::string slippery_mat; - std::string non_slippery_mat; + int window_index; + ImageType image_type; + bool visible; + std::string camera_name; + std::string vehicle_name; + + SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, + bool visible_val = false, const std::string& camera_name_val = "", const std::string& vehicle_name_val = "") + : window_index(window_index_val), image_type(image_type_val), visible(visible_val), camera_name(camera_name_val), vehicle_name(vehicle_name_val) + { + } + }; - PawnPath(const std::string& pawn_bp_val = "", - const std::string& slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/Slippery.Slippery", - const std::string& non_slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/NonSlippery.NonSlippery") - : pawn_bp(pawn_bp_val), slippery_mat(slippery_mat_val), non_slippery_mat(non_slippery_mat_val) + struct RecordingSetting { - } - }; + bool record_on_move; + float record_interval; - struct RCSettings { - int remote_control_id = -1; - bool allow_api_when_disconnected = false; - }; + std::vector requests; - struct Rotation { - float yaw = 0; - float pitch = 0; - float roll = 0; + RecordingSetting(bool record_on_move_val = false, float record_interval_val = 0.05f) + : record_on_move(record_on_move_val), record_interval(record_interval_val) + { + } + }; - Rotation() + struct PawnPath { - } + std::string pawn_bp; + std::string slippery_mat; + std::string non_slippery_mat; + + PawnPath(const std::string& pawn_bp_val = "", + const std::string& slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/Slippery.Slippery", + const std::string& non_slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/NonSlippery.NonSlippery") + : pawn_bp(pawn_bp_val), slippery_mat(slippery_mat_val), non_slippery_mat(non_slippery_mat_val) + { + } + }; - Rotation(float yaw_val, float pitch_val, float roll_val) - : yaw(yaw_val), pitch(pitch_val), roll(roll_val) + struct RCSettings { - } + int remote_control_id = -1; + bool allow_api_when_disconnected = false; + }; - static Rotation nanRotation() + struct Rotation { - static const Rotation val(Utils::nan(), Utils::nan(), Utils::nan()); - return val; - } - }; - - - struct GimbalSetting { - float stabilization = 0; - //bool is_world_frame = false; - Rotation rotation = Rotation::nanRotation(); - }; - - struct CaptureSetting { - //below settings_json are obtained by using Unreal console command (press ~): - // ShowFlag.VisualizeHDR 1. - //to replicate camera settings_json to SceneCapture2D - //TODO: should we use UAirBlueprintLib::GetDisplayGamma()? - typedef msr::airlib::Utils Utils; - static constexpr float kSceneTargetGamma = 1.4f; - - int image_type = 0; - - unsigned int width = 256, height = 144; //960 X 540 - float fov_degrees = Utils::nan(); //90.0f - int auto_exposure_method = -1; //histogram - float auto_exposure_speed = Utils::nan(); // 100.0f; - float auto_exposure_bias = Utils::nan(); // 0; - float auto_exposure_max_brightness = Utils::nan(); // 0.64f; - float auto_exposure_min_brightness = Utils::nan(); // 0.03f; - float auto_exposure_low_percent = Utils::nan(); // 80.0f; - float auto_exposure_high_percent = Utils::nan(); // 98.3f; - float auto_exposure_histogram_log_min = Utils::nan(); // -8; - float auto_exposure_histogram_log_max = Utils::nan(); // 4; - float motion_blur_amount = Utils::nan(); - float target_gamma = Utils::nan(); //1.0f; //This would be reset to kSceneTargetGamma for scene as default - int projection_mode = 0; // ECameraProjectionMode::Perspective - float ortho_width = Utils::nan(); - }; + float yaw = 0; + float pitch = 0; + float roll = 0; - struct NoiseSetting { - int ImageType = 0; - - bool Enabled = false; - - float RandContrib = 0.2f; - float RandSpeed = 100000.0f; - float RandSize = 500.0f; - float RandDensity = 2.0f; - - float HorzWaveContrib = 0.03f; - float HorzWaveStrength = 0.08f; - float HorzWaveVertSize = 1.0f; - float HorzWaveScreenSize = 1.0f; - - float HorzNoiseLinesContrib = 1.0f; - float HorzNoiseLinesDensityY = 0.01f; - float HorzNoiseLinesDensityXY = 0.5f; - - float HorzDistortionContrib = 1.0f; - float HorzDistortionStrength = 0.002f; - }; + Rotation() + { + } - struct CameraSetting { - //nan means keep the default values set in components - Vector3r position = VectorMath::nanVector(); - Rotation rotation = Rotation::nanRotation(); + Rotation(float yaw_val, float pitch_val, float roll_val) + : yaw(yaw_val), pitch(pitch_val), roll(roll_val) + { + } - GimbalSetting gimbal; - std::map capture_settings; - std::map noise_settings; + static Rotation nanRotation() + { + static const Rotation val(Utils::nan(), Utils::nan(), Utils::nan()); + return val; + } + }; - CameraSetting() + struct GimbalSetting { - initializeCaptureSettings(capture_settings); - initializeNoiseSettings(noise_settings); - } - }; - - struct CameraDirectorSetting { - Vector3r position = VectorMath::nanVector(); - Rotation rotation = Rotation::nanRotation(); - float follow_distance = Utils::nan(); - }; + float stabilization = 0; + //bool is_world_frame = false; + Rotation rotation = Rotation::nanRotation(); + }; - struct SensorSetting { - SensorBase::SensorType sensor_type; - std::string sensor_name; - bool enabled; - }; + struct CaptureSetting + { + //below settings_json are obtained by using Unreal console command (press ~): + // ShowFlag.VisualizeHDR 1. + //to replicate camera settings_json to SceneCapture2D + //TODO: should we use UAirBlueprintLib::GetDisplayGamma()? + typedef msr::airlib::Utils Utils; + static constexpr float kSceneTargetGamma = 1.4f; + + int image_type = 0; + + unsigned int width = 256, height = 144; //960 X 540 + float fov_degrees = Utils::nan(); //90.0f + int auto_exposure_method = -1; //histogram + float auto_exposure_speed = Utils::nan(); // 100.0f; + float auto_exposure_bias = Utils::nan(); // 0; + float auto_exposure_max_brightness = Utils::nan(); // 0.64f; + float auto_exposure_min_brightness = Utils::nan(); // 0.03f; + float auto_exposure_low_percent = Utils::nan(); // 80.0f; + float auto_exposure_high_percent = Utils::nan(); // 98.3f; + float auto_exposure_histogram_log_min = Utils::nan(); // -8; + float auto_exposure_histogram_log_max = Utils::nan(); // 4; + float motion_blur_amount = Utils::nan(); + float target_gamma = Utils::nan(); //1.0f; //This would be reset to kSceneTargetGamma for scene as default + int projection_mode = 0; // ECameraProjectionMode::Perspective + float ortho_width = Utils::nan(); + }; - struct BarometerSetting : SensorSetting { - }; + struct NoiseSetting + { + int ImageType = 0; - struct ImuSetting : SensorSetting { - }; + bool Enabled = false; - struct GpsSetting : SensorSetting { - }; + float RandContrib = 0.2f; + float RandSpeed = 100000.0f; + float RandSize = 500.0f; + float RandDensity = 2.0f; - struct MagnetometerSetting : SensorSetting { - }; + float HorzWaveContrib = 0.03f; + float HorzWaveStrength = 0.08f; + float HorzWaveVertSize = 1.0f; + float HorzWaveScreenSize = 1.0f; - struct DistanceSetting : SensorSetting { - // shared defaults - real_T min_distance = 20.0f / 100; //m - real_T max_distance = 4000.0f / 100; //m - Vector3r position = VectorMath::nanVector(); - Rotation rotation = Rotation::nanRotation(); - bool draw_debug_points = false; - }; + float HorzNoiseLinesContrib = 1.0f; + float HorzNoiseLinesDensityY = 0.01f; + float HorzNoiseLinesDensityXY = 0.5f; - struct LidarSetting : SensorSetting { + float HorzDistortionContrib = 1.0f; + float HorzDistortionStrength = 0.002f; + }; - // shared defaults - uint number_of_channels = 16; - real_T range = 10000.0f / 100; // meters - uint points_per_second = 100000; - uint horizontal_rotation_frequency = 10; // rotations/sec - float horizontal_FOV_start = 0; // degrees - float horizontal_FOV_end = 359; // degrees + struct CameraSetting + { + //nan means keep the default values set in components + Vector3r position = VectorMath::nanVector(); + Rotation rotation = Rotation::nanRotation(); - // defaults specific to a mode - float vertical_FOV_upper = Utils::nan(); // drones -15, car +10 - float vertical_FOV_lower = Utils::nan(); // drones -45, car -10 - Vector3r position = VectorMath::nanVector(); - Rotation rotation = Rotation::nanRotation(); + GimbalSetting gimbal; + std::map capture_settings; + std::map noise_settings; - bool draw_debug_points = false; - std::string data_frame = AirSimSettings::kVehicleInertialFrame; - }; + CameraSetting() + { + initializeCaptureSettings(capture_settings); + initializeNoiseSettings(noise_settings); + } + }; - struct VehicleSetting { - //required - std::string vehicle_name; - std::string vehicle_type; - - //optional - std::string default_vehicle_state; - std::string pawn_path; - bool allow_api_always = true; - bool auto_create = true; - bool enable_collision_passthrough = false; - bool enable_trace = false; - bool enable_collisions = true; - bool is_fpv_vehicle = false; - - //nan means use player start - Vector3r position = VectorMath::nanVector(); //in global NED - Rotation rotation = Rotation::nanRotation(); - - std::map cameras; - std::map> sensors; - - RCSettings rc; - }; + struct CameraDirectorSetting + { + Vector3r position = VectorMath::nanVector(); + Rotation rotation = Rotation::nanRotation(); + float follow_distance = Utils::nan(); + }; - struct MavLinkConnectionInfo { - /* Default values are requires so uninitialized instance doesn't have random values */ + struct SensorSetting + { + SensorBase::SensorType sensor_type; + std::string sensor_name; + bool enabled; + }; - bool use_serial = true; // false means use UDP or TCP instead + struct BarometerSetting : SensorSetting + { + }; - //Used to connect via HITL: needed only if use_serial = true - std::string serial_port = "*"; - int baud_rate = 115200; + struct ImuSetting : SensorSetting + { + }; - // Used to connect to drone over UDP: needed only if use_serial = false and use_tcp == false - std::string udp_address = "127.0.0.1"; - int udp_port = 14560; + struct GpsSetting : SensorSetting + { + }; - // Used to accept connections from drone over TCP: needed only if use_tcp = true - bool use_tcp = false; - int tcp_port = 4560; + struct MagnetometerSetting : SensorSetting + { + }; - // The PX4 SITL app requires receiving drone commands over a different mavlink channel called - // the "ground control station" channel. - // So set this to empty string to disable this separate command channel. - std::string control_ip_address = "127.0.0.1"; - int control_port = 14580; + struct DistanceSetting : SensorSetting + { + // shared defaults + real_T min_distance = 20.0f / 100; //m + real_T max_distance = 4000.0f / 100; //m + Vector3r position = VectorMath::nanVector(); + Rotation rotation = Rotation::nanRotation(); + bool draw_debug_points = false; + }; - // The log viewer can be on a different machine, so you can configure it's ip address and port here. - int logviewer_ip_port = 14388; - int logviewer_ip_sport = 14389; // for logging all messages we send to the vehicle. - std::string logviewer_ip_address = ""; + struct LidarSetting : SensorSetting + { - // The QGroundControl app can be on a different machine, and AirSim can act as a proxy to forward - // the mavlink stream over to that machine if you configure it's ip address and port here. - int qgc_ip_port = 0; - std::string qgc_ip_address = ""; + // shared defaults + uint number_of_channels = 16; + real_T range = 10000.0f / 100; // meters + uint points_per_second = 100000; + uint horizontal_rotation_frequency = 10; // rotations/sec + float horizontal_FOV_start = 0; // degrees + float horizontal_FOV_end = 359; // degrees + + // defaults specific to a mode + float vertical_FOV_upper = Utils::nan(); // drones -15, car +10 + float vertical_FOV_lower = Utils::nan(); // drones -45, car -10 + Vector3r position = VectorMath::nanVector(); + Rotation rotation = Rotation::nanRotation(); + + bool draw_debug_points = false; + std::string data_frame = AirSimSettings::kVehicleInertialFrame; + }; - // mavlink vehicle identifiers - uint8_t sim_sysid = 142; - int sim_compid = 42; - uint8_t offboard_sysid = 134; - int offboard_compid = 1; - uint8_t vehicle_sysid = 135; - int vehicle_compid = 1; + struct VehicleSetting + { + //required + std::string vehicle_name; + std::string vehicle_type; + + //optional + std::string default_vehicle_state; + std::string pawn_path; + bool allow_api_always = true; + bool auto_create = true; + bool enable_collision_passthrough = false; + bool enable_trace = false; + bool enable_collisions = true; + bool is_fpv_vehicle = false; + + //nan means use player start + Vector3r position = VectorMath::nanVector(); //in global NED + Rotation rotation = Rotation::nanRotation(); + + std::map cameras; + std::map> sensors; + + RCSettings rc; + }; - // if you want to select a specific local network adapter so you can reach certain remote machines (e.g. wifi versus ethernet) - // then you will want to change the LocalHostIp accordingly. This default only works when log viewer and QGC are also on the - // same machine. Whatever network you choose it has to be the same one for external - std::string local_host_ip = "127.0.0.1"; + struct MavLinkConnectionInfo + { + /* Default values are requires so uninitialized instance doesn't have random values */ + + bool use_serial = true; // false means use UDP or TCP instead + + //Used to connect via HITL: needed only if use_serial = true + std::string serial_port = "*"; + int baud_rate = 115200; + + // Used to connect to drone over UDP: needed only if use_serial = false and use_tcp == false + std::string udp_address = "127.0.0.1"; + int udp_port = 14560; + + // Used to accept connections from drone over TCP: needed only if use_tcp = true + bool use_tcp = false; + int tcp_port = 4560; + + // The PX4 SITL app requires receiving drone commands over a different mavlink channel called + // the "ground control station" channel. + // So set this to empty string to disable this separate command channel. + std::string control_ip_address = "127.0.0.1"; + int control_port = 14580; + + // The log viewer can be on a different machine, so you can configure it's ip address and port here. + int logviewer_ip_port = 14388; + int logviewer_ip_sport = 14389; // for logging all messages we send to the vehicle. + std::string logviewer_ip_address = ""; + + // The QGroundControl app can be on a different machine, and AirSim can act as a proxy to forward + // the mavlink stream over to that machine if you configure it's ip address and port here. + int qgc_ip_port = 0; + std::string qgc_ip_address = ""; + + // mavlink vehicle identifiers + uint8_t sim_sysid = 142; + int sim_compid = 42; + uint8_t offboard_sysid = 134; + int offboard_compid = 1; + uint8_t vehicle_sysid = 135; + int vehicle_compid = 1; + + // if you want to select a specific local network adapter so you can reach certain remote machines (e.g. wifi versus ethernet) + // then you will want to change the LocalHostIp accordingly. This default only works when log viewer and QGC are also on the + // same machine. Whatever network you choose it has to be the same one for external + std::string local_host_ip = "127.0.0.1"; + + std::string model = "Generic"; + + std::map params; + }; - std::string model = "Generic"; + struct MavLinkVehicleSetting : public VehicleSetting + { + MavLinkConnectionInfo connection_info; + }; - std::map params; - }; + struct SegmentationSetting + { + enum class InitMethodType + { + None, + CommonObjectsRandomIDs + }; - struct MavLinkVehicleSetting : public VehicleSetting { - MavLinkConnectionInfo connection_info; - }; + enum class MeshNamingMethodType + { + OwnerName, + StaticMeshName + }; - struct SegmentationSetting { - enum class InitMethodType { - None, CommonObjectsRandomIDs + InitMethodType init_method = InitMethodType::CommonObjectsRandomIDs; + bool override_existing = false; + MeshNamingMethodType mesh_naming_method = MeshNamingMethodType::OwnerName; }; - enum class MeshNamingMethodType { - OwnerName, StaticMeshName + struct TimeOfDaySetting + { + bool enabled = false; + std::string start_datetime = ""; //format: %Y-%m-%d %H:%M:%S + bool is_start_datetime_dst = false; + float celestial_clock_speed = 1; + float update_interval_secs = 60; + bool move_sun = true; }; - InitMethodType init_method = InitMethodType::CommonObjectsRandomIDs; - bool override_existing = false; - MeshNamingMethodType mesh_naming_method = MeshNamingMethodType::OwnerName; - }; + private: //fields + float settings_version_actual; + float settings_version_minimum = 1.2f; + + public: //fields + std::string simmode_name = ""; + std::string level_name = ""; + + std::vector subwindow_settings; + RecordingSetting recording_setting; + SegmentationSetting segmentation_setting; + TimeOfDaySetting tod_setting; + + std::vector warning_messages; + std::vector error_messages; + + bool is_record_ui_visible = false; + int initial_view_mode = 2; //ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME + bool enable_rpc = true; + std::string api_server_address = ""; + int api_port = RpcLibPort; + std::string physics_engine_name = ""; + + std::string clock_type = ""; + float clock_speed = 1.0f; + bool engine_sound = false; + bool log_messages_visible = true; + HomeGeoPoint origin_geopoint{ GeoPoint(47.641468, -122.140165, 122) }; //The geo-coordinate assigned to Unreal coordinate 0,0,0 + std::map pawn_paths; //path for pawn blueprint + std::map> vehicles; + CameraSetting camera_defaults; + CameraDirectorSetting camera_director; + float speed_unit_factor = 1.0f; + std::string speed_unit_label = "m\\s"; + std::map> sensor_defaults; + Vector3r wind = Vector3r::Zero(); + + public: //methods + static AirSimSettings& singleton() + { + static AirSimSettings instance; + return instance; + } - struct TimeOfDaySetting { - bool enabled = false; - std::string start_datetime = ""; //format: %Y-%m-%d %H:%M:%S - bool is_start_datetime_dst = false; - float celestial_clock_speed = 1; - float update_interval_secs = 60; - bool move_sun = true; - }; + AirSimSettings() + { + initializeSubwindowSettings(subwindow_settings); + initializePawnPaths(pawn_paths); + //initializeVehicleSettings(vehicles); + } -private: //fields - float settings_version_actual; - float settings_version_minimum = 1.2f; - -public: //fields - std::string simmode_name = ""; - std::string level_name = ""; - - std::vector subwindow_settings; - RecordingSetting recording_setting; - SegmentationSetting segmentation_setting; - TimeOfDaySetting tod_setting; - - std::vector warning_messages; - std::vector error_messages; - - bool is_record_ui_visible = false; - int initial_view_mode = 2; //ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME - bool enable_rpc = true; - std::string api_server_address = ""; - int api_port = RpcLibPort; - std::string physics_engine_name = ""; - - std::string clock_type = ""; - float clock_speed = 1.0f; - bool engine_sound = false; - bool log_messages_visible = true; - HomeGeoPoint origin_geopoint{ GeoPoint(47.641468, -122.140165, 122) }; //The geo-coordinate assigned to Unreal coordinate 0,0,0 - std::map pawn_paths; //path for pawn blueprint - std::map> vehicles; - CameraSetting camera_defaults; - CameraDirectorSetting camera_director; - float speed_unit_factor = 1.0f; - std::string speed_unit_label = "m\\s"; - std::map> sensor_defaults; - Vector3r wind = Vector3r::Zero(); - -public: //methods - static AirSimSettings& singleton() - { - static AirSimSettings instance; - return instance; - } + //returns number of warnings + void load(std::function simmode_getter) + { + warning_messages.clear(); + error_messages.clear(); + const Settings& settings_json = Settings::singleton(); + checkSettingsVersion(settings_json); + + loadCoreSimModeSettings(settings_json, simmode_getter); + loadLevelSettings(settings_json); + loadDefaultCameraSetting(settings_json, camera_defaults); + loadCameraDirectorSetting(settings_json, camera_director, simmode_name); + loadSubWindowsSettings(settings_json, subwindow_settings); + loadViewModeSettings(settings_json); + loadRecordingSetting(settings_json, recording_setting); + loadSegmentationSetting(settings_json, segmentation_setting); + loadPawnPaths(settings_json, pawn_paths); + loadOtherSettings(settings_json); + loadDefaultSensorSettings(simmode_name, settings_json, sensor_defaults); + loadVehicleSettings(simmode_name, settings_json, vehicles); + + //this should be done last because it depends on type of vehicles we have + loadClockSettings(settings_json); + } - AirSimSettings() - { - initializeSubwindowSettings(subwindow_settings); - initializePawnPaths(pawn_paths); - //initializeVehicleSettings(vehicles); - } + static void initializeSettings(const std::string& json_settings_text) + { + Settings& settings_json = Settings::loadJSonString(json_settings_text); + if (!settings_json.isLoadSuccess()) + throw std::invalid_argument("Cannot parse JSON settings_json string."); + } - //returns number of warnings - void load(std::function simmode_getter) - { - warning_messages.clear(); - error_messages.clear(); - const Settings& settings_json = Settings::singleton(); - checkSettingsVersion(settings_json); - - loadCoreSimModeSettings(settings_json, simmode_getter); - loadLevelSettings(settings_json); - loadDefaultCameraSetting(settings_json, camera_defaults); - loadCameraDirectorSetting(settings_json, camera_director, simmode_name); - loadSubWindowsSettings(settings_json, subwindow_settings); - loadViewModeSettings(settings_json); - loadRecordingSetting(settings_json, recording_setting); - loadSegmentationSetting(settings_json, segmentation_setting); - loadPawnPaths(settings_json, pawn_paths); - loadOtherSettings(settings_json); - loadDefaultSensorSettings(simmode_name, settings_json, sensor_defaults); - loadVehicleSettings(simmode_name, settings_json, vehicles); - - //this should be done last because it depends on type of vehicles we have - loadClockSettings(settings_json); - } - - static void initializeSettings(const std::string& json_settings_text) - { - Settings& settings_json = Settings::loadJSonString(json_settings_text); - if (! settings_json.isLoadSuccess()) - throw std::invalid_argument("Cannot parse JSON settings_json string."); - } + static void createDefaultSettingsFile() + { + std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json"); + Settings& settings_json = Settings::loadJSonString("{}"); + //write some settings_json in new file otherwise the string "null" is written if all settings_json are empty + settings_json.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md"); + settings_json.setDouble("SettingsVersion", 1.2); + + //TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only support Unreal 4.17 + //https://answers.unrealengine.com/questions/664905/unreal-crashes-on-two-lines-of-extremely-simple-st.html + settings_json.saveJSonFile(settings_filename); + } - static void createDefaultSettingsFile() - { - std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json"); - Settings& settings_json = Settings::loadJSonString("{}"); - //write some settings_json in new file otherwise the string "null" is written if all settings_json are empty - settings_json.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md"); - settings_json.setDouble("SettingsVersion", 1.2); - - //TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only support Unreal 4.17 - //https://answers.unrealengine.com/questions/664905/unreal-crashes-on-two-lines-of-extremely-simple-st.html - settings_json.saveJSonFile(settings_filename); - } - - const VehicleSetting* getVehicleSetting(const std::string& vehicle_name) const - { - auto it = vehicles.find(vehicle_name); - if (it == vehicles.end()) - throw std::invalid_argument(Utils::stringf("VehicleSetting for vehicle name %s was requested but not found", - vehicle_name.c_str()).c_str()); - else - return it->second.get(); - } - -private: - void checkSettingsVersion(const Settings& settings_json) - { - bool has_default_settings = hasDefaultSettings(settings_json, settings_version_actual); - bool upgrade_required = settings_version_actual < settings_version_minimum; - if (upgrade_required) { - bool auto_upgrade = false; - - //if we have default setting file not modified by user then we will - //just auto-upgrade it - if (has_default_settings) { - auto_upgrade = true; - } - else { - //check if auto-upgrade is possible - if (settings_version_actual == 1) { - const std::vector all_changed_keys = { - "AdditionalCameras", "CaptureSettings", "NoiseSettings", - "UsageScenario", "SimpleFlight", "PX4" - }; - std::stringstream detected_keys_ss; - for (const auto& changed_key : all_changed_keys) { - if (settings_json.hasKey(changed_key)) - detected_keys_ss << changed_key << ","; - } - std::string detected_keys = detected_keys_ss.str(); - if (detected_keys.length()) { - std::string error_message = - "You are using newer version of AirSim with older version of settings.json. " - "You can either delete your settings.json and restart AirSim or use the upgrade " - "instructions at https://git.io/vjefh. \n\n" - "Following keys in your settings.json needs updating: " - ; - - error_messages.push_back(error_message + detected_keys); + const VehicleSetting* getVehicleSetting(const std::string& vehicle_name) const + { + auto it = vehicles.find(vehicle_name); + if (it == vehicles.end()) + throw std::invalid_argument(Utils::stringf("VehicleSetting for vehicle name %s was requested but not found", + vehicle_name.c_str()) + .c_str()); + else + return it->second.get(); + } + + private: + void checkSettingsVersion(const Settings& settings_json) + { + bool has_default_settings = hasDefaultSettings(settings_json, settings_version_actual); + bool upgrade_required = settings_version_actual < settings_version_minimum; + if (upgrade_required) { + bool auto_upgrade = false; + + //if we have default setting file not modified by user then we will + //just auto-upgrade it + if (has_default_settings) { + auto_upgrade = true; + } + else { + //check if auto-upgrade is possible + if (settings_version_actual == 1) { + const std::vector all_changed_keys = { + "AdditionalCameras", "CaptureSettings", "NoiseSettings", "UsageScenario", "SimpleFlight", "PX4" + }; + std::stringstream detected_keys_ss; + for (const auto& changed_key : all_changed_keys) { + if (settings_json.hasKey(changed_key)) + detected_keys_ss << changed_key << ","; + } + std::string detected_keys = detected_keys_ss.str(); + if (detected_keys.length()) { + std::string error_message = + "You are using newer version of AirSim with older version of settings.json. " + "You can either delete your settings.json and restart AirSim or use the upgrade " + "instructions at https://git.io/vjefh. \n\n" + "Following keys in your settings.json needs updating: "; + + error_messages.push_back(error_message + detected_keys); + } + else + auto_upgrade = true; } else auto_upgrade = true; } - else - auto_upgrade = true; - } - if (auto_upgrade) { - warning_messages.push_back( - "You are using newer version of AirSim with older version of settings.json. " - "You should delete your settings.json file and restart AirSim."); + if (auto_upgrade) { + warning_messages.push_back( + "You are using newer version of AirSim with older version of settings.json. " + "You should delete your settings.json file and restart AirSim."); + } } + //else no action necessary } - //else no action necessary - } - bool hasDefaultSettings(const Settings& settings_json, float& version) - { - //if empty settings file - bool has_default = settings_json.size() == 0; + bool hasDefaultSettings(const Settings& settings_json, float& version) + { + //if empty settings file + bool has_default = settings_json.size() == 0; + + bool has_docs = settings_json.getString("SeeDocsAt", "") != "" || settings_json.getString("see_docs_at", "") != ""; + //we had spelling mistake so we are currently supporting SettingsVersion or SettingdVersion :( + version = settings_json.getFloat("SettingsVersion", settings_json.getFloat("SettingdVersion", 0)); - bool has_docs = settings_json.getString("SeeDocsAt", "") != "" - || settings_json.getString("see_docs_at", "") != ""; - //we had spelling mistake so we are currently supporting SettingsVersion or SettingdVersion :( - version = settings_json.getFloat("SettingsVersion", settings_json.getFloat("SettingdVersion", 0)); + //If we have pre-V1 settings and only element is docs link + has_default |= settings_json.size() == 1 && has_docs; - //If we have pre-V1 settings and only element is docs link - has_default |= settings_json.size() == 1 && has_docs; + //if we have V1 settings and only elements are docs link and version + has_default |= settings_json.size() == 2 && has_docs && version > 0; - //if we have V1 settings and only elements are docs link and version - has_default |= settings_json.size() == 2 && has_docs && version > 0; + return has_default; + } - return has_default; - } + void loadCoreSimModeSettings(const Settings& settings_json, std::function simmode_getter) + { + //get the simmode from user if not specified + simmode_name = settings_json.getString("SimMode", ""); + if (simmode_name == "") { + if (simmode_getter) + simmode_name = simmode_getter(); + else + throw std::invalid_argument("simmode_name is not expected empty in SimModeBase"); + } - void loadCoreSimModeSettings(const Settings& settings_json, std::function simmode_getter) - { - //get the simmode from user if not specified - simmode_name = settings_json.getString("SimMode", ""); - if (simmode_name == "") { - if (simmode_getter) - simmode_name = simmode_getter(); - else - throw std::invalid_argument("simmode_name is not expected empty in SimModeBase"); + physics_engine_name = settings_json.getString("PhysicsEngineName", ""); + if (physics_engine_name == "") { + if (simmode_name == "Multirotor") + physics_engine_name = "FastPhysicsEngine"; + else + physics_engine_name = "PhysX"; //this value is only informational for now + } } - physics_engine_name = settings_json.getString("PhysicsEngineName", ""); - if (physics_engine_name == "") { - if (simmode_name == "Multirotor") - physics_engine_name = "FastPhysicsEngine"; - else - physics_engine_name = "PhysX"; //this value is only informational for now + void loadLevelSettings(const Settings& settings_json) + { + level_name = settings_json.getString("Default Environment", ""); } - } - - void loadLevelSettings(const Settings& settings_json) - { - level_name = settings_json.getString("Default Environment", ""); - } - void loadViewModeSettings(const Settings& settings_json) - { - std::string view_mode_string = settings_json.getString("ViewMode", ""); + void loadViewModeSettings(const Settings& settings_json) + { + std::string view_mode_string = settings_json.getString("ViewMode", ""); + + if (view_mode_string == "") { + if (simmode_name == "Multirotor") + view_mode_string = "FlyWithMe"; + else if (simmode_name == "ComputerVision") + view_mode_string = "Fpv"; + else + view_mode_string = "SpringArmChase"; + } - if (view_mode_string == "") { - if (simmode_name == "Multirotor") - view_mode_string = "FlyWithMe"; - else if (simmode_name == "ComputerVision") - view_mode_string = "Fpv"; + if (view_mode_string == "Fpv") + initial_view_mode = 0; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FPV; + else if (view_mode_string == "GroundObserver") + initial_view_mode = 1; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_GROUND_OBSERVER; + else if (view_mode_string == "FlyWithMe") + initial_view_mode = 2; //ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME; + else if (view_mode_string == "Manual") + initial_view_mode = 3; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL; + else if (view_mode_string == "SpringArmChase") + initial_view_mode = 4; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE; + else if (view_mode_string == "Backup") + initial_view_mode = 5; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_BACKUP; + else if (view_mode_string == "NoDisplay") + initial_view_mode = 6; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_NODISPLAY; + else if (view_mode_string == "Front") + initial_view_mode = 7; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_FRONT; else - view_mode_string = "SpringArmChase"; + error_messages.push_back("ViewMode setting is not recognized: " + view_mode_string); } - if (view_mode_string == "Fpv") - initial_view_mode = 0; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FPV; - else if (view_mode_string == "GroundObserver") - initial_view_mode = 1; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_GROUND_OBSERVER; - else if (view_mode_string == "FlyWithMe") - initial_view_mode = 2; //ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME; - else if (view_mode_string == "Manual") - initial_view_mode = 3; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL; - else if (view_mode_string == "SpringArmChase") - initial_view_mode = 4; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE; - else if (view_mode_string == "Backup") - initial_view_mode = 5; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_BACKUP; - else if (view_mode_string == "NoDisplay") - initial_view_mode = 6; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_NODISPLAY; - else if (view_mode_string == "Front") - initial_view_mode = 7; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_FRONT; - else - error_messages.push_back("ViewMode setting is not recognized: " + view_mode_string); - } - - static void loadRCSetting(const std::string& simmode_name, const Settings& settings_json, RCSettings& rc_setting) - { - Settings rc_json; - if (settings_json.getChild("RC", rc_json)) { - rc_setting.remote_control_id = rc_json.getInt("RemoteControlID", - simmode_name == "Multirotor" ? 0 : -1); - rc_setting.allow_api_when_disconnected = rc_json.getBool("AllowAPIWhenDisconnected", - rc_setting.allow_api_when_disconnected); + static void loadRCSetting(const std::string& simmode_name, const Settings& settings_json, RCSettings& rc_setting) + { + Settings rc_json; + if (settings_json.getChild("RC", rc_json)) { + rc_setting.remote_control_id = rc_json.getInt("RemoteControlID", + simmode_name == "Multirotor" ? 0 : -1); + rc_setting.allow_api_when_disconnected = rc_json.getBool("AllowAPIWhenDisconnected", + rc_setting.allow_api_when_disconnected); + } } - } - static std::string getCameraName(const Settings& settings_json) - { - return settings_json.getString("CameraName", - //TODO: below exist only due to legacy reason and can be replaced by "" in future - std::to_string(settings_json.getInt("CameraID", 0))); - } + static std::string getCameraName(const Settings& settings_json) + { + return settings_json.getString("CameraName", + //TODO: below exist only due to legacy reason and can be replaced by "" in future + std::to_string(settings_json.getInt("CameraID", 0))); + } - static void loadRecordingSetting(const Settings& settings_json, RecordingSetting& recording_setting) - { - Settings recording_json; - if (settings_json.getChild("Recording", recording_json)) { - recording_setting.record_on_move = recording_json.getBool("RecordOnMove", recording_setting.record_on_move); - recording_setting.record_interval = recording_json.getFloat("RecordInterval", recording_setting.record_interval); - - Settings req_cameras_settings; - if (recording_json.getChild("Cameras", req_cameras_settings)) { - for (size_t child_index = 0; child_index < req_cameras_settings.size(); ++child_index) { - Settings req_camera_settings; - if (req_cameras_settings.getChild(child_index, req_camera_settings)) { - std::string camera_name = getCameraName(req_camera_settings); - ImageType image_type = - Utils::toEnum( - req_camera_settings.getInt("ImageType", 0)); - bool compress = req_camera_settings.getBool("Compress", true); - bool pixels_as_float = req_camera_settings.getBool("PixelsAsFloat", false); - - recording_setting.requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest( - camera_name, image_type, pixels_as_float, compress)); + static void loadRecordingSetting(const Settings& settings_json, RecordingSetting& recording_setting) + { + Settings recording_json; + if (settings_json.getChild("Recording", recording_json)) { + recording_setting.record_on_move = recording_json.getBool("RecordOnMove", recording_setting.record_on_move); + recording_setting.record_interval = recording_json.getFloat("RecordInterval", recording_setting.record_interval); + + Settings req_cameras_settings; + if (recording_json.getChild("Cameras", req_cameras_settings)) { + for (size_t child_index = 0; child_index < req_cameras_settings.size(); ++child_index) { + Settings req_camera_settings; + if (req_cameras_settings.getChild(child_index, req_camera_settings)) { + std::string camera_name = getCameraName(req_camera_settings); + ImageType image_type = + Utils::toEnum( + req_camera_settings.getInt("ImageType", 0)); + bool compress = req_camera_settings.getBool("Compress", true); + bool pixels_as_float = req_camera_settings.getBool("PixelsAsFloat", false); + + recording_setting.requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest( + camera_name, image_type, pixels_as_float, compress)); + } } } } + if (recording_setting.requests.size() == 0) + recording_setting.requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest( + "", ImageType::Scene, false, true)); } - if (recording_setting.requests.size() == 0) - recording_setting.requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest( - "", ImageType::Scene, false, true)); - } - static void initializeCaptureSettings(std::map& capture_settings) - { - capture_settings.clear(); - for (int i = -1; i < Utils::toNumeric(ImageType::Count); ++i) { - capture_settings[i] = CaptureSetting(); + static void initializeCaptureSettings(std::map& capture_settings) + { + capture_settings.clear(); + for (int i = -1; i < Utils::toNumeric(ImageType::Count); ++i) { + capture_settings[i] = CaptureSetting(); + } + capture_settings.at(Utils::toNumeric(ImageType::Scene)).target_gamma = CaptureSetting::kSceneTargetGamma; } - capture_settings.at(Utils::toNumeric(ImageType::Scene)).target_gamma = CaptureSetting::kSceneTargetGamma; - } - static void loadCaptureSettings(const Settings& settings_json, std::map& capture_settings) - { - initializeCaptureSettings(capture_settings); - - Settings json_parent; - if (settings_json.getChild("CaptureSettings", json_parent)) { - for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { - Settings json_settings_child; - if (json_parent.getChild(child_index, json_settings_child)) { - CaptureSetting capture_setting; - createCaptureSettings(json_settings_child, capture_setting); - capture_settings[capture_setting.image_type] = capture_setting; + static void loadCaptureSettings(const Settings& settings_json, std::map& capture_settings) + { + initializeCaptureSettings(capture_settings); + + Settings json_parent; + if (settings_json.getChild("CaptureSettings", json_parent)) { + for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { + Settings json_settings_child; + if (json_parent.getChild(child_index, json_settings_child)) { + CaptureSetting capture_setting; + createCaptureSettings(json_settings_child, capture_setting); + capture_settings[capture_setting.image_type] = capture_setting; + } } } } - } - static std::unique_ptr createMavLinkVehicleSetting(const Settings& settings_json) - { - //these settings_json are expected in same section, not in another child - std::unique_ptr vehicle_setting_p = std::unique_ptr(new MavLinkVehicleSetting()); - MavLinkVehicleSetting* vehicle_setting = static_cast(vehicle_setting_p.get()); + static std::unique_ptr createMavLinkVehicleSetting(const Settings& settings_json) + { + //these settings_json are expected in same section, not in another child + std::unique_ptr vehicle_setting_p = std::unique_ptr(new MavLinkVehicleSetting()); + MavLinkVehicleSetting* vehicle_setting = static_cast(vehicle_setting_p.get()); - //TODO: we should be selecting remote if available else keyboard - //currently keyboard is not supported so use rc as default - vehicle_setting->rc.remote_control_id = 0; + //TODO: we should be selecting remote if available else keyboard + //currently keyboard is not supported so use rc as default + vehicle_setting->rc.remote_control_id = 0; - MavLinkConnectionInfo &connection_info = vehicle_setting->connection_info; - connection_info.sim_sysid = static_cast(settings_json.getInt("SimSysID", connection_info.sim_sysid)); - connection_info.sim_compid = settings_json.getInt("SimCompID", connection_info.sim_compid); + MavLinkConnectionInfo& connection_info = vehicle_setting->connection_info; + connection_info.sim_sysid = static_cast(settings_json.getInt("SimSysID", connection_info.sim_sysid)); + connection_info.sim_compid = settings_json.getInt("SimCompID", connection_info.sim_compid); - connection_info.vehicle_sysid = static_cast(settings_json.getInt("VehicleSysID", connection_info.vehicle_sysid)); - connection_info.vehicle_compid = settings_json.getInt("VehicleCompID", connection_info.vehicle_compid); + connection_info.vehicle_sysid = static_cast(settings_json.getInt("VehicleSysID", connection_info.vehicle_sysid)); + connection_info.vehicle_compid = settings_json.getInt("VehicleCompID", connection_info.vehicle_compid); - connection_info.offboard_sysid = static_cast(settings_json.getInt("OffboardSysID", connection_info.offboard_sysid)); - connection_info.offboard_compid = settings_json.getInt("OffboardCompID", connection_info.offboard_compid); + connection_info.offboard_sysid = static_cast(settings_json.getInt("OffboardSysID", connection_info.offboard_sysid)); + connection_info.offboard_compid = settings_json.getInt("OffboardCompID", connection_info.offboard_compid); - connection_info.logviewer_ip_address = settings_json.getString("LogViewerHostIp", connection_info.logviewer_ip_address); - connection_info.logviewer_ip_port = settings_json.getInt("LogViewerPort", connection_info.logviewer_ip_port); - connection_info.logviewer_ip_sport = settings_json.getInt("LogViewerSendPort", connection_info.logviewer_ip_sport); + connection_info.logviewer_ip_address = settings_json.getString("LogViewerHostIp", connection_info.logviewer_ip_address); + connection_info.logviewer_ip_port = settings_json.getInt("LogViewerPort", connection_info.logviewer_ip_port); + connection_info.logviewer_ip_sport = settings_json.getInt("LogViewerSendPort", connection_info.logviewer_ip_sport); - connection_info.qgc_ip_address = settings_json.getString("QgcHostIp", connection_info.qgc_ip_address); - connection_info.qgc_ip_port = settings_json.getInt("QgcPort", connection_info.qgc_ip_port); + connection_info.qgc_ip_address = settings_json.getString("QgcHostIp", connection_info.qgc_ip_address); + connection_info.qgc_ip_port = settings_json.getInt("QgcPort", connection_info.qgc_ip_port); - connection_info.control_ip_address = settings_json.getString("ControlIp", connection_info.control_ip_address); - connection_info.control_port = settings_json.getInt("ControlPort", connection_info.control_port); + connection_info.control_ip_address = settings_json.getString("ControlIp", connection_info.control_ip_address); + connection_info.control_port = settings_json.getInt("ControlPort", connection_info.control_port); - std::string sitlip = settings_json.getString("SitlIp", connection_info.control_ip_address); - if (sitlip.size() > 0 && connection_info.control_ip_address.size() == 0) + std::string sitlip = settings_json.getString("SitlIp", connection_info.control_ip_address); + if (sitlip.size() > 0 && connection_info.control_ip_address.size() == 0) { + // backwards compat + connection_info.control_ip_address = sitlip; + } + if (settings_json.hasKey("SitlPort")) { + // backwards compat + connection_info.control_port = settings_json.getInt("SitlPort", connection_info.control_port); + } + + connection_info.local_host_ip = settings_json.getString("LocalHostIp", connection_info.local_host_ip); + + connection_info.use_serial = settings_json.getBool("UseSerial", connection_info.use_serial); + connection_info.udp_address = settings_json.getString("UdpIp", connection_info.udp_address); + connection_info.udp_port = settings_json.getInt("UdpPort", connection_info.udp_port); + connection_info.use_tcp = settings_json.getBool("UseTcp", connection_info.use_tcp); + connection_info.tcp_port = settings_json.getInt("TcpPort", connection_info.tcp_port); + connection_info.serial_port = settings_json.getString("SerialPort", connection_info.serial_port); + connection_info.baud_rate = settings_json.getInt("SerialBaudRate", connection_info.baud_rate); + connection_info.model = settings_json.getString("Model", connection_info.model); + + Settings params; + if (settings_json.getChild("Parameters", params)) { + std::vector keys; + params.getChildNames(keys); + for (auto key : keys) { + connection_info.params[key] = params.getFloat(key, 0); + } + } + + return vehicle_setting_p; + } + + static Vector3r createVectorSetting(const Settings& settings_json, const Vector3r& default_vec) { - // backwards compat - connection_info.control_ip_address = sitlip; + return Vector3r(settings_json.getFloat("X", default_vec.x()), + settings_json.getFloat("Y", default_vec.y()), + settings_json.getFloat("Z", default_vec.z())); } - if (settings_json.hasKey("SitlPort")) + static Rotation createRotationSetting(const Settings& settings_json, const Rotation& default_rot) { - // backwards compat - connection_info.control_port = settings_json.getInt("SitlPort", connection_info.control_port); + return Rotation(settings_json.getFloat("Yaw", default_rot.yaw), + settings_json.getFloat("Pitch", default_rot.pitch), + settings_json.getFloat("Roll", default_rot.roll)); } - connection_info.local_host_ip = settings_json.getString("LocalHostIp", connection_info.local_host_ip); - - connection_info.use_serial = settings_json.getBool("UseSerial", connection_info.use_serial); - connection_info.udp_address = settings_json.getString("UdpIp", connection_info.udp_address); - connection_info.udp_port = settings_json.getInt("UdpPort", connection_info.udp_port); - connection_info.use_tcp = settings_json.getBool("UseTcp", connection_info.use_tcp); - connection_info.tcp_port = settings_json.getInt("TcpPort", connection_info.tcp_port); - connection_info.serial_port = settings_json.getString("SerialPort", connection_info.serial_port); - connection_info.baud_rate = settings_json.getInt("SerialBaudRate", connection_info.baud_rate); - connection_info.model = settings_json.getString("Model", connection_info.model); - - Settings params; - if (settings_json.getChild("Parameters", params)) { - std::vector keys; - params.getChildNames(keys); - for (auto key: keys) - { - connection_info.params[key] = params.getFloat(key, 0); + static std::unique_ptr createVehicleSetting(const std::string& simmode_name, const Settings& settings_json, + const std::string vehicle_name) + { + auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", "")); + + std::unique_ptr vehicle_setting; + if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypeArduCopterSolo || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover) + vehicle_setting = createMavLinkVehicleSetting(settings_json); + //for everything else we don't need derived class yet + else { + vehicle_setting = std::unique_ptr(new VehicleSetting()); + if (vehicle_type == kVehicleTypeSimpleFlight) { + //TODO: we should be selecting remote if available else keyboard + //currently keyboard is not supported so use rc as default + vehicle_setting->rc.remote_control_id = 0; + } } + vehicle_setting->vehicle_name = vehicle_name; + + //required settings_json + vehicle_setting->vehicle_type = vehicle_type; + + //optional settings_json + vehicle_setting->pawn_path = settings_json.getString("PawnPath", ""); + vehicle_setting->default_vehicle_state = settings_json.getString("DefaultVehicleState", ""); + vehicle_setting->allow_api_always = settings_json.getBool("AllowAPIAlways", + vehicle_setting->allow_api_always); + vehicle_setting->auto_create = settings_json.getBool("AutoCreate", + vehicle_setting->auto_create); + vehicle_setting->enable_collision_passthrough = settings_json.getBool("EnableCollisionPassthrogh", + vehicle_setting->enable_collision_passthrough); + vehicle_setting->enable_trace = settings_json.getBool("EnableTrace", + vehicle_setting->enable_trace); + vehicle_setting->enable_collisions = settings_json.getBool("EnableCollisions", + vehicle_setting->enable_collisions); + vehicle_setting->is_fpv_vehicle = settings_json.getBool("IsFpvVehicle", + vehicle_setting->is_fpv_vehicle); + + loadRCSetting(simmode_name, settings_json, vehicle_setting->rc); + + vehicle_setting->position = createVectorSetting(settings_json, vehicle_setting->position); + vehicle_setting->rotation = createRotationSetting(settings_json, vehicle_setting->rotation); + + loadCameraSettings(settings_json, vehicle_setting->cameras); + loadSensorSettings(settings_json, "Sensors", vehicle_setting->sensors); + + return vehicle_setting; } - return vehicle_setting_p; - } + static void initializeVehicleSettings(const std::string& simmode_name, std::map>& vehicles) + { + vehicles.clear(); - static Vector3r createVectorSetting(const Settings& settings_json, const Vector3r& default_vec) - { - return Vector3r(settings_json.getFloat("X", default_vec.x()), - settings_json.getFloat("Y", default_vec.y()), - settings_json.getFloat("Z", default_vec.z())); - } - static Rotation createRotationSetting(const Settings& settings_json, const Rotation& default_rot) - { - return Rotation(settings_json.getFloat("Yaw", default_rot.yaw), - settings_json.getFloat("Pitch", default_rot.pitch), - settings_json.getFloat("Roll", default_rot.roll)); - } + //NOTE: Do not set defaults for vehicle type here. If you do then make sure + //to sync code in createVehicleSetting() as well. - static std::unique_ptr createVehicleSetting(const std::string& simmode_name, const Settings& settings_json, - const std::string vehicle_name) - { - auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", "")); - - std::unique_ptr vehicle_setting; - if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypeArduCopterSolo - || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover) - vehicle_setting = createMavLinkVehicleSetting(settings_json); - //for everything else we don't need derived class yet - else { - vehicle_setting = std::unique_ptr(new VehicleSetting()); - if (vehicle_type == kVehicleTypeSimpleFlight) { + if (simmode_name == "Multirotor") { + //create simple flight as default multirotor + auto simple_flight_setting = std::unique_ptr(new VehicleSetting()); + simple_flight_setting->vehicle_name = "SimpleFlight"; + simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight; //TODO: we should be selecting remote if available else keyboard //currently keyboard is not supported so use rc as default - vehicle_setting->rc.remote_control_id = 0; + simple_flight_setting->rc.remote_control_id = 0; + vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting); + } + else if (simmode_name == "Car") { + //create default car vehicle + auto physx_car_setting = std::unique_ptr(new VehicleSetting()); + physx_car_setting->vehicle_name = "PhysXCar"; + physx_car_setting->vehicle_type = kVehicleTypePhysXCar; + vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting); + } + else { + //create default computer vision vehicle + auto cv_setting = std::unique_ptr(new VehicleSetting()); + cv_setting->vehicle_name = "ComputerVision"; + cv_setting->vehicle_type = kVehicleTypeComputerVision; + vehicles[cv_setting->vehicle_name] = std::move(cv_setting); } } - vehicle_setting->vehicle_name = vehicle_name; - - //required settings_json - vehicle_setting->vehicle_type = vehicle_type; - - //optional settings_json - vehicle_setting->pawn_path = settings_json.getString("PawnPath", ""); - vehicle_setting->default_vehicle_state = settings_json.getString("DefaultVehicleState", ""); - vehicle_setting->allow_api_always = settings_json.getBool("AllowAPIAlways", - vehicle_setting->allow_api_always); - vehicle_setting->auto_create = settings_json.getBool("AutoCreate", - vehicle_setting->auto_create); - vehicle_setting->enable_collision_passthrough = settings_json.getBool("EnableCollisionPassthrogh", - vehicle_setting->enable_collision_passthrough); - vehicle_setting->enable_trace = settings_json.getBool("EnableTrace", - vehicle_setting->enable_trace); - vehicle_setting->enable_collisions = settings_json.getBool("EnableCollisions", - vehicle_setting->enable_collisions); - vehicle_setting->is_fpv_vehicle = settings_json.getBool("IsFpvVehicle", - vehicle_setting->is_fpv_vehicle); - - loadRCSetting(simmode_name, settings_json, vehicle_setting->rc); - - vehicle_setting->position = createVectorSetting(settings_json, vehicle_setting->position); - vehicle_setting->rotation = createRotationSetting(settings_json, vehicle_setting->rotation); - - loadCameraSettings(settings_json, vehicle_setting->cameras); - loadSensorSettings(settings_json, "Sensors", vehicle_setting->sensors); - - return vehicle_setting; - } - - static void initializeVehicleSettings(const std::string& simmode_name, std::map>& vehicles) - { - vehicles.clear(); - - //NOTE: Do not set defaults for vehicle type here. If you do then make sure - //to sync code in createVehicleSetting() as well. - - if (simmode_name == "Multirotor") { - //create simple flight as default multirotor - auto simple_flight_setting = std::unique_ptr(new VehicleSetting()); - simple_flight_setting->vehicle_name = "SimpleFlight"; - simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight; - //TODO: we should be selecting remote if available else keyboard - //currently keyboard is not supported so use rc as default - simple_flight_setting->rc.remote_control_id = 0; - vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting); - } - else if (simmode_name == "Car") { - //create default car vehicle - auto physx_car_setting = std::unique_ptr(new VehicleSetting()); - physx_car_setting->vehicle_name = "PhysXCar"; - physx_car_setting->vehicle_type = kVehicleTypePhysXCar; - vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting); - } - else { - //create default computer vision vehicle - auto cv_setting = std::unique_ptr(new VehicleSetting()); - cv_setting->vehicle_name = "ComputerVision"; - cv_setting->vehicle_type = kVehicleTypeComputerVision; - vehicles[cv_setting->vehicle_name] = std::move(cv_setting); - } - } - static void loadVehicleSettings(const std::string& simmode_name, const Settings& settings_json, - std::map>& vehicles) - { - initializeVehicleSettings(simmode_name, vehicles); + static void loadVehicleSettings(const std::string& simmode_name, const Settings& settings_json, + std::map>& vehicles) + { + initializeVehicleSettings(simmode_name, vehicles); - msr::airlib::Settings vehicles_child; - if (settings_json.getChild("Vehicles", vehicles_child)) { - std::vector keys; - vehicles_child.getChildNames(keys); + msr::airlib::Settings vehicles_child; + if (settings_json.getChild("Vehicles", vehicles_child)) { + std::vector keys; + vehicles_child.getChildNames(keys); - //remove default vehicles, if values are specified in settings - if (keys.size()) - vehicles.clear(); + //remove default vehicles, if values are specified in settings + if (keys.size()) + vehicles.clear(); - for (const auto& key : keys) { - msr::airlib::Settings child; - vehicles_child.getChild(key, child); - vehicles[key] = createVehicleSetting(simmode_name, child, key); + for (const auto& key : keys) { + msr::airlib::Settings child; + vehicles_child.getChild(key, child); + vehicles[key] = createVehicleSetting(simmode_name, child, key); + } } } - } - static void initializePawnPaths(std::map& pawn_paths) - { - pawn_paths.clear(); - pawn_paths.emplace("BareboneCar", - PawnPath("Class'/AirSim/VehicleAdv/Vehicle/VehicleAdvPawn.VehicleAdvPawn_C'")); - pawn_paths.emplace("DefaultCar", - PawnPath("Class'/AirSim/VehicleAdv/SUV/SuvCarPawn.SuvCarPawn_C'")); - pawn_paths.emplace("DefaultQuadrotor", - PawnPath("Class'/AirSim/Blueprints/BP_FlyingPawn.BP_FlyingPawn_C'")); - pawn_paths.emplace("DefaultComputerVision", - PawnPath("Class'/AirSim/Blueprints/BP_ComputerVisionPawn.BP_ComputerVisionPawn_C'")); - - } - - static void loadPawnPaths(const Settings& settings_json, std::map& pawn_paths) - { - initializePawnPaths(pawn_paths); + static void initializePawnPaths(std::map& pawn_paths) + { + pawn_paths.clear(); + pawn_paths.emplace("BareboneCar", + PawnPath("Class'/AirSim/VehicleAdv/Vehicle/VehicleAdvPawn.VehicleAdvPawn_C'")); + pawn_paths.emplace("DefaultCar", + PawnPath("Class'/AirSim/VehicleAdv/SUV/SuvCarPawn.SuvCarPawn_C'")); + pawn_paths.emplace("DefaultQuadrotor", + PawnPath("Class'/AirSim/Blueprints/BP_FlyingPawn.BP_FlyingPawn_C'")); + pawn_paths.emplace("DefaultComputerVision", + PawnPath("Class'/AirSim/Blueprints/BP_ComputerVisionPawn.BP_ComputerVisionPawn_C'")); + } + + static void loadPawnPaths(const Settings& settings_json, std::map& pawn_paths) + { + initializePawnPaths(pawn_paths); - msr::airlib::Settings pawn_paths_child; - if (settings_json.getChild("PawnPaths", pawn_paths_child)) { - std::vector keys; - pawn_paths_child.getChildNames(keys); + msr::airlib::Settings pawn_paths_child; + if (settings_json.getChild("PawnPaths", pawn_paths_child)) { + std::vector keys; + pawn_paths_child.getChildNames(keys); - for (const auto& key : keys) { - msr::airlib::Settings child; - pawn_paths_child.getChild(key, child); - pawn_paths[key] = createPathPawn(child); + for (const auto& key : keys) { + msr::airlib::Settings child; + pawn_paths_child.getChild(key, child); + pawn_paths[key] = createPathPawn(child); + } } } - } - static PawnPath createPathPawn(const Settings& settings_json) - { - auto paths = PawnPath(); - paths.pawn_bp = settings_json.getString("PawnBP", ""); - auto slippery_mat = settings_json.getString("SlipperyMat", ""); - auto non_slippery_mat = settings_json.getString("NonSlipperyMat", ""); + static PawnPath createPathPawn(const Settings& settings_json) + { + auto paths = PawnPath(); + paths.pawn_bp = settings_json.getString("PawnBP", ""); + auto slippery_mat = settings_json.getString("SlipperyMat", ""); + auto non_slippery_mat = settings_json.getString("NonSlipperyMat", ""); - if (slippery_mat != "") - paths.slippery_mat = slippery_mat; - if (non_slippery_mat != "") - paths.non_slippery_mat = non_slippery_mat; + if (slippery_mat != "") + paths.slippery_mat = slippery_mat; + if (non_slippery_mat != "") + paths.non_slippery_mat = non_slippery_mat; - return paths; - } + return paths; + } - static void loadSegmentationSetting(const Settings& settings_json, SegmentationSetting& segmentation_setting) - { - Settings json_parent; - if (settings_json.getChild("SegmentationSettings", json_parent)) { - std::string init_method = Utils::toLower(json_parent.getString("InitMethod", "")); - if (init_method == "" || init_method == "commonobjectsrandomids") - segmentation_setting.init_method = SegmentationSetting::InitMethodType::CommonObjectsRandomIDs; - else if (init_method == "none") - segmentation_setting.init_method = SegmentationSetting::InitMethodType::None; - else - //TODO: below exception doesn't actually get raised right now because of issue in Unreal Engine? - throw std::invalid_argument(std::string("SegmentationSetting init_method has invalid value in settings_json ") + init_method); + static void loadSegmentationSetting(const Settings& settings_json, SegmentationSetting& segmentation_setting) + { + Settings json_parent; + if (settings_json.getChild("SegmentationSettings", json_parent)) { + std::string init_method = Utils::toLower(json_parent.getString("InitMethod", "")); + if (init_method == "" || init_method == "commonobjectsrandomids") + segmentation_setting.init_method = SegmentationSetting::InitMethodType::CommonObjectsRandomIDs; + else if (init_method == "none") + segmentation_setting.init_method = SegmentationSetting::InitMethodType::None; + else + //TODO: below exception doesn't actually get raised right now because of issue in Unreal Engine? + throw std::invalid_argument(std::string("SegmentationSetting init_method has invalid value in settings_json ") + init_method); - segmentation_setting.override_existing = json_parent.getBool("OverrideExisting", false); + segmentation_setting.override_existing = json_parent.getBool("OverrideExisting", false); - std::string mesh_naming_method = Utils::toLower(json_parent.getString("MeshNamingMethod", "")); - if (mesh_naming_method == "" || mesh_naming_method == "ownername") - segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::OwnerName; - else if (mesh_naming_method == "staticmeshname") - segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::StaticMeshName; - else - throw std::invalid_argument(std::string("SegmentationSetting MeshNamingMethod has invalid value in settings_json ") + mesh_naming_method); + std::string mesh_naming_method = Utils::toLower(json_parent.getString("MeshNamingMethod", "")); + if (mesh_naming_method == "" || mesh_naming_method == "ownername") + segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::OwnerName; + else if (mesh_naming_method == "staticmeshname") + segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::StaticMeshName; + else + throw std::invalid_argument(std::string("SegmentationSetting MeshNamingMethod has invalid value in settings_json ") + mesh_naming_method); + } } - } - static void initializeNoiseSettings(std::map& noise_settings) - { - int image_count = Utils::toNumeric(ImageType::Count); - noise_settings.clear(); - for (int i = -1; i < image_count; ++i) - noise_settings[i] = NoiseSetting(); - } + static void initializeNoiseSettings(std::map& noise_settings) + { + int image_count = Utils::toNumeric(ImageType::Count); + noise_settings.clear(); + for (int i = -1; i < image_count; ++i) + noise_settings[i] = NoiseSetting(); + } - static void loadNoiseSettings(const Settings& settings_json, std::map& noise_settings) - { - initializeNoiseSettings(noise_settings); - - Settings json_parent; - if (settings_json.getChild("NoiseSettings", json_parent)) { - for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { - Settings json_settings_child; - if (json_parent.getChild(child_index, json_settings_child)) { - NoiseSetting noise_setting; - loadNoiseSetting(json_settings_child, noise_setting); - noise_settings[noise_setting.ImageType] = noise_setting; + static void loadNoiseSettings(const Settings& settings_json, std::map& noise_settings) + { + initializeNoiseSettings(noise_settings); + + Settings json_parent; + if (settings_json.getChild("NoiseSettings", json_parent)) { + for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { + Settings json_settings_child; + if (json_parent.getChild(child_index, json_settings_child)) { + NoiseSetting noise_setting; + loadNoiseSetting(json_settings_child, noise_setting); + noise_settings[noise_setting.ImageType] = noise_setting; + } } } } - } - - static void loadNoiseSetting(const msr::airlib::Settings& settings_json, NoiseSetting& noise_setting) - { - noise_setting.Enabled = settings_json.getBool("Enabled", noise_setting.Enabled); - noise_setting.ImageType = settings_json.getInt("ImageType", noise_setting.ImageType); - - noise_setting.HorzWaveStrength = settings_json.getFloat("HorzWaveStrength", noise_setting.HorzWaveStrength); - noise_setting.RandSpeed = settings_json.getFloat("RandSpeed", noise_setting.RandSpeed); - noise_setting.RandSize = settings_json.getFloat("RandSize", noise_setting.RandSize); - noise_setting.RandDensity = settings_json.getFloat("RandDensity", noise_setting.RandDensity); - noise_setting.RandContrib = settings_json.getFloat("RandContrib", noise_setting.RandContrib); - noise_setting.HorzWaveContrib = settings_json.getFloat("HorzWaveContrib", noise_setting.HorzWaveContrib); - noise_setting.HorzWaveVertSize = settings_json.getFloat("HorzWaveVertSize", noise_setting.HorzWaveVertSize); - noise_setting.HorzWaveScreenSize = settings_json.getFloat("HorzWaveScreenSize", noise_setting.HorzWaveScreenSize); - noise_setting.HorzNoiseLinesContrib = settings_json.getFloat("HorzNoiseLinesContrib", noise_setting.HorzNoiseLinesContrib); - noise_setting.HorzNoiseLinesDensityY = settings_json.getFloat("HorzNoiseLinesDensityY", noise_setting.HorzNoiseLinesDensityY); - noise_setting.HorzNoiseLinesDensityXY = settings_json.getFloat("HorzNoiseLinesDensityXY", noise_setting.HorzNoiseLinesDensityXY); - noise_setting.HorzDistortionStrength = settings_json.getFloat("HorzDistortionStrength", noise_setting.HorzDistortionStrength); - noise_setting.HorzDistortionContrib = settings_json.getFloat("HorzDistortionContrib", noise_setting.HorzDistortionContrib); - } - - static GimbalSetting createGimbalSetting(const Settings& settings_json) - { - GimbalSetting gimbal; - //capture_setting.gimbal.is_world_frame = settings_json.getBool("IsWorldFrame", false); - gimbal.stabilization = settings_json.getFloat("Stabilization", false); - gimbal.rotation = createRotationSetting(settings_json, gimbal.rotation); - return gimbal; - } - - static CameraSetting createCameraSetting(const Settings& settings_json) - { - CameraSetting setting; - setting.position = createVectorSetting(settings_json, setting.position); - setting.rotation = createRotationSetting(settings_json, setting.rotation); + static void loadNoiseSetting(const msr::airlib::Settings& settings_json, NoiseSetting& noise_setting) + { + noise_setting.Enabled = settings_json.getBool("Enabled", noise_setting.Enabled); + noise_setting.ImageType = settings_json.getInt("ImageType", noise_setting.ImageType); + + noise_setting.HorzWaveStrength = settings_json.getFloat("HorzWaveStrength", noise_setting.HorzWaveStrength); + noise_setting.RandSpeed = settings_json.getFloat("RandSpeed", noise_setting.RandSpeed); + noise_setting.RandSize = settings_json.getFloat("RandSize", noise_setting.RandSize); + noise_setting.RandDensity = settings_json.getFloat("RandDensity", noise_setting.RandDensity); + noise_setting.RandContrib = settings_json.getFloat("RandContrib", noise_setting.RandContrib); + noise_setting.HorzWaveContrib = settings_json.getFloat("HorzWaveContrib", noise_setting.HorzWaveContrib); + noise_setting.HorzWaveVertSize = settings_json.getFloat("HorzWaveVertSize", noise_setting.HorzWaveVertSize); + noise_setting.HorzWaveScreenSize = settings_json.getFloat("HorzWaveScreenSize", noise_setting.HorzWaveScreenSize); + noise_setting.HorzNoiseLinesContrib = settings_json.getFloat("HorzNoiseLinesContrib", noise_setting.HorzNoiseLinesContrib); + noise_setting.HorzNoiseLinesDensityY = settings_json.getFloat("HorzNoiseLinesDensityY", noise_setting.HorzNoiseLinesDensityY); + noise_setting.HorzNoiseLinesDensityXY = settings_json.getFloat("HorzNoiseLinesDensityXY", noise_setting.HorzNoiseLinesDensityXY); + noise_setting.HorzDistortionStrength = settings_json.getFloat("HorzDistortionStrength", noise_setting.HorzDistortionStrength); + noise_setting.HorzDistortionContrib = settings_json.getFloat("HorzDistortionContrib", noise_setting.HorzDistortionContrib); + } - loadCaptureSettings(settings_json, setting.capture_settings); - loadNoiseSettings(settings_json, setting.noise_settings); - Settings json_gimbal; - if (settings_json.getChild("Gimbal", json_gimbal)) - setting.gimbal = createGimbalSetting(json_gimbal); + static GimbalSetting createGimbalSetting(const Settings& settings_json) + { + GimbalSetting gimbal; + //capture_setting.gimbal.is_world_frame = settings_json.getBool("IsWorldFrame", false); + gimbal.stabilization = settings_json.getFloat("Stabilization", false); + gimbal.rotation = createRotationSetting(settings_json, gimbal.rotation); + return gimbal; + } - return setting; - } + static CameraSetting createCameraSetting(const Settings& settings_json) + { + CameraSetting setting; - static void loadCameraSettings(const Settings& settings_json, std::map& cameras) - { - cameras.clear(); + setting.position = createVectorSetting(settings_json, setting.position); + setting.rotation = createRotationSetting(settings_json, setting.rotation); - Settings json_parent; - if (settings_json.getChild("Cameras", json_parent)) { - std::vector keys; - json_parent.getChildNames(keys); + loadCaptureSettings(settings_json, setting.capture_settings); + loadNoiseSettings(settings_json, setting.noise_settings); + Settings json_gimbal; + if (settings_json.getChild("Gimbal", json_gimbal)) + setting.gimbal = createGimbalSetting(json_gimbal); - for (const auto& key : keys) { - msr::airlib::Settings child; - json_parent.getChild(key, child); - cameras[key] = createCameraSetting(child); - } + return setting; } - } - static void createCaptureSettings(const msr::airlib::Settings& settings_json, CaptureSetting& capture_setting) - { - capture_setting.width = settings_json.getInt("Width", capture_setting.width); - capture_setting.height = settings_json.getInt("Height", capture_setting.height); - capture_setting.fov_degrees = settings_json.getFloat("FOV_Degrees", capture_setting.fov_degrees); - capture_setting.auto_exposure_speed = settings_json.getFloat("AutoExposureSpeed", capture_setting.auto_exposure_speed); - capture_setting.auto_exposure_bias = settings_json.getFloat("AutoExposureBias", capture_setting.auto_exposure_bias); - capture_setting.auto_exposure_max_brightness = settings_json.getFloat("AutoExposureMaxBrightness", capture_setting.auto_exposure_max_brightness); - capture_setting.auto_exposure_min_brightness = settings_json.getFloat("AutoExposureMinBrightness", capture_setting.auto_exposure_min_brightness); - capture_setting.motion_blur_amount = settings_json.getFloat("MotionBlurAmount", capture_setting.motion_blur_amount); - capture_setting.image_type = settings_json.getInt("ImageType", 0); - capture_setting.target_gamma = settings_json.getFloat("TargetGamma", - capture_setting.image_type == 0 ? CaptureSetting::kSceneTargetGamma : Utils::nan()); - - std::string projection_mode = Utils::toLower(settings_json.getString("ProjectionMode", "")); - if (projection_mode == "" || projection_mode == "perspective") - capture_setting.projection_mode = 0; // Perspective - else if (projection_mode == "orthographic") - capture_setting.projection_mode = 1; // Orthographic - else - throw std::invalid_argument(std::string("CaptureSettings projection_mode has invalid value in settings_json ") + projection_mode); - - capture_setting.ortho_width = settings_json.getFloat("OrthoWidth", capture_setting.ortho_width); - } - - static void loadSubWindowsSettings(const Settings& settings_json, std::vector& subwindow_settings) - { - //load default subwindows - initializeSubwindowSettings(subwindow_settings); - - Settings json_parent; - if (settings_json.getChild("SubWindows", json_parent)) { - for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { - Settings json_settings_child; - if (json_parent.getChild(child_index, json_settings_child)) { - int window_index = json_settings_child.getInt("WindowID", 0); - SubwindowSetting& subwindow_setting = subwindow_settings.at(window_index); - subwindow_setting.window_index = window_index; - subwindow_setting.image_type = Utils::toEnum( - json_settings_child.getInt("ImageType", 0)); - subwindow_setting.visible = json_settings_child.getBool("Visible", false); - subwindow_setting.camera_name = getCameraName(json_settings_child); - subwindow_setting.vehicle_name = json_settings_child.getString("VehicleName", ""); + static void loadCameraSettings(const Settings& settings_json, std::map& cameras) + { + cameras.clear(); + + Settings json_parent; + if (settings_json.getChild("Cameras", json_parent)) { + std::vector keys; + json_parent.getChildNames(keys); + + for (const auto& key : keys) { + msr::airlib::Settings child; + json_parent.getChild(key, child); + cameras[key] = createCameraSetting(child); } } } - } - static void initializeSubwindowSettings(std::vector& subwindow_settings) - { - subwindow_settings.clear(); - subwindow_settings.push_back(SubwindowSetting(0, ImageType::DepthVis, false, "", "")); //depth - subwindow_settings.push_back(SubwindowSetting(1, ImageType::Segmentation, false, "", "")); //seg - subwindow_settings.push_back(SubwindowSetting(2, ImageType::Scene, false, "", "")); //vis - } + static void createCaptureSettings(const msr::airlib::Settings& settings_json, CaptureSetting& capture_setting) + { + capture_setting.width = settings_json.getInt("Width", capture_setting.width); + capture_setting.height = settings_json.getInt("Height", capture_setting.height); + capture_setting.fov_degrees = settings_json.getFloat("FOV_Degrees", capture_setting.fov_degrees); + capture_setting.auto_exposure_speed = settings_json.getFloat("AutoExposureSpeed", capture_setting.auto_exposure_speed); + capture_setting.auto_exposure_bias = settings_json.getFloat("AutoExposureBias", capture_setting.auto_exposure_bias); + capture_setting.auto_exposure_max_brightness = settings_json.getFloat("AutoExposureMaxBrightness", capture_setting.auto_exposure_max_brightness); + capture_setting.auto_exposure_min_brightness = settings_json.getFloat("AutoExposureMinBrightness", capture_setting.auto_exposure_min_brightness); + capture_setting.motion_blur_amount = settings_json.getFloat("MotionBlurAmount", capture_setting.motion_blur_amount); + capture_setting.image_type = settings_json.getInt("ImageType", 0); + capture_setting.target_gamma = settings_json.getFloat("TargetGamma", + capture_setting.image_type == 0 ? CaptureSetting::kSceneTargetGamma : Utils::nan()); + + std::string projection_mode = Utils::toLower(settings_json.getString("ProjectionMode", "")); + if (projection_mode == "" || projection_mode == "perspective") + capture_setting.projection_mode = 0; // Perspective + else if (projection_mode == "orthographic") + capture_setting.projection_mode = 1; // Orthographic + else + throw std::invalid_argument(std::string("CaptureSettings projection_mode has invalid value in settings_json ") + projection_mode); - void loadOtherSettings(const Settings& settings_json) - { - //by default we spawn server at local endpoint. Do not use 127.0.0.1 as default below - //because for docker container default is 0.0.0.0 and people get really confused why things - //don't work - api_server_address = settings_json.getString("LocalHostIp", ""); - api_port = settings_json.getInt("ApiServerPort", RpcLibPort); - is_record_ui_visible = settings_json.getBool("RecordUIVisible", true); - engine_sound = settings_json.getBool("EngineSound", false); - enable_rpc = settings_json.getBool("EnableRpc", enable_rpc); - speed_unit_factor = settings_json.getFloat("SpeedUnitFactor", 1.0f); - speed_unit_label = settings_json.getString("SpeedUnitLabel", "m\\s"); - log_messages_visible = settings_json.getBool("LogMessagesVisible", true); - - { //load origin geopoint - Settings origin_geopoint_json; - if (settings_json.getChild("OriginGeopoint", origin_geopoint_json)) { - GeoPoint origin = origin_geopoint.home_geo_point; - origin.latitude = origin_geopoint_json.getDouble("Latitude", origin.latitude); - origin.longitude = origin_geopoint_json.getDouble("Longitude", origin.longitude); - origin.altitude = origin_geopoint_json.getFloat("Altitude", origin.altitude); - origin_geopoint.initialize(origin); - } + capture_setting.ortho_width = settings_json.getFloat("OrthoWidth", capture_setting.ortho_width); } - { //time of day settings_json - Settings tod_settings_json; - if (settings_json.getChild("TimeOfDay", tod_settings_json)) { - tod_setting.enabled = tod_settings_json.getBool("Enabled", tod_setting.enabled); - tod_setting.start_datetime = tod_settings_json.getString("StartDateTime", tod_setting.start_datetime); - tod_setting.celestial_clock_speed = tod_settings_json.getFloat("CelestialClockSpeed", tod_setting.celestial_clock_speed); - tod_setting.is_start_datetime_dst = tod_settings_json.getBool("StartDateTimeDst", tod_setting.is_start_datetime_dst); - tod_setting.update_interval_secs = tod_settings_json.getFloat("UpdateIntervalSecs", tod_setting.update_interval_secs); - tod_setting.move_sun = tod_settings_json.getBool("MoveSun", tod_setting.move_sun); + static void loadSubWindowsSettings(const Settings& settings_json, std::vector& subwindow_settings) + { + //load default subwindows + initializeSubwindowSettings(subwindow_settings); + + Settings json_parent; + if (settings_json.getChild("SubWindows", json_parent)) { + for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) { + Settings json_settings_child; + if (json_parent.getChild(child_index, json_settings_child)) { + int window_index = json_settings_child.getInt("WindowID", 0); + SubwindowSetting& subwindow_setting = subwindow_settings.at(window_index); + subwindow_setting.window_index = window_index; + subwindow_setting.image_type = Utils::toEnum( + json_settings_child.getInt("ImageType", 0)); + subwindow_setting.visible = json_settings_child.getBool("Visible", false); + subwindow_setting.camera_name = getCameraName(json_settings_child); + subwindow_setting.vehicle_name = json_settings_child.getString("VehicleName", ""); + } + } } } + static void initializeSubwindowSettings(std::vector& subwindow_settings) { - // Wind Settings - Settings child_json; - if (settings_json.getChild("Wind", child_json)) { - wind = createVectorSetting(child_json, wind); - } + subwindow_settings.clear(); + subwindow_settings.push_back(SubwindowSetting(0, ImageType::DepthVis, false, "", "")); //depth + subwindow_settings.push_back(SubwindowSetting(1, ImageType::Segmentation, false, "", "")); //seg + subwindow_settings.push_back(SubwindowSetting(2, ImageType::Scene, false, "", "")); //vis } - } - static void loadDefaultCameraSetting(const Settings& settings_json, CameraSetting& camera_defaults) - { - Settings child_json; - if (settings_json.getChild("CameraDefaults", child_json)) { - camera_defaults = createCameraSetting(child_json); - } - } + void loadOtherSettings(const Settings& settings_json) + { + //by default we spawn server at local endpoint. Do not use 127.0.0.1 as default below + //because for docker container default is 0.0.0.0 and people get really confused why things + //don't work + api_server_address = settings_json.getString("LocalHostIp", ""); + api_port = settings_json.getInt("ApiServerPort", RpcLibPort); + is_record_ui_visible = settings_json.getBool("RecordUIVisible", true); + engine_sound = settings_json.getBool("EngineSound", false); + enable_rpc = settings_json.getBool("EnableRpc", enable_rpc); + speed_unit_factor = settings_json.getFloat("SpeedUnitFactor", 1.0f); + speed_unit_label = settings_json.getString("SpeedUnitLabel", "m\\s"); + log_messages_visible = settings_json.getBool("LogMessagesVisible", true); + + { //load origin geopoint + Settings origin_geopoint_json; + if (settings_json.getChild("OriginGeopoint", origin_geopoint_json)) { + GeoPoint origin = origin_geopoint.home_geo_point; + origin.latitude = origin_geopoint_json.getDouble("Latitude", origin.latitude); + origin.longitude = origin_geopoint_json.getDouble("Longitude", origin.longitude); + origin.altitude = origin_geopoint_json.getFloat("Altitude", origin.altitude); + origin_geopoint.initialize(origin); + } + } - static void loadCameraDirectorSetting(const Settings& settings_json, - CameraDirectorSetting& camera_director, const std::string& simmode_name) - { - camera_director = CameraDirectorSetting(); + { //time of day settings_json + Settings tod_settings_json; + if (settings_json.getChild("TimeOfDay", tod_settings_json)) { + tod_setting.enabled = tod_settings_json.getBool("Enabled", tod_setting.enabled); + tod_setting.start_datetime = tod_settings_json.getString("StartDateTime", tod_setting.start_datetime); + tod_setting.celestial_clock_speed = tod_settings_json.getFloat("CelestialClockSpeed", tod_setting.celestial_clock_speed); + tod_setting.is_start_datetime_dst = tod_settings_json.getBool("StartDateTimeDst", tod_setting.is_start_datetime_dst); + tod_setting.update_interval_secs = tod_settings_json.getFloat("UpdateIntervalSecs", tod_setting.update_interval_secs); + tod_setting.move_sun = tod_settings_json.getBool("MoveSun", tod_setting.move_sun); + } + } - Settings child_json; - if (settings_json.getChild("CameraDirector", child_json)) { - camera_director.position = createVectorSetting(settings_json, camera_director.position); - camera_director.rotation = createRotationSetting(settings_json, camera_director.rotation); - camera_director.follow_distance = child_json.getFloat("FollowDistance", camera_director.follow_distance); + { + // Wind Settings + Settings child_json; + if (settings_json.getChild("Wind", child_json)) { + wind = createVectorSetting(child_json, wind); + } + } } - if (std::isnan(camera_director.follow_distance)) { - if (simmode_name == "Car") - camera_director.follow_distance = -8; - else - camera_director.follow_distance = -3; - } - if (std::isnan(camera_director.position.x())) - camera_director.position.x() = camera_director.follow_distance; - if (std::isnan(camera_director.position.y())) - camera_director.position.y() = 0; - if (std::isnan(camera_director.position.z())) { - if (simmode_name == "Car") - camera_director.position.z() = -4; - else - camera_director.position.z() = -2; + static void loadDefaultCameraSetting(const Settings& settings_json, CameraSetting& camera_defaults) + { + Settings child_json; + if (settings_json.getChild("CameraDefaults", child_json)) { + camera_defaults = createCameraSetting(child_json); + } } - } - void loadClockSettings(const Settings& settings_json) - { - clock_type = settings_json.getString("ClockType", ""); + static void loadCameraDirectorSetting(const Settings& settings_json, + CameraDirectorSetting& camera_director, const std::string& simmode_name) + { + camera_director = CameraDirectorSetting(); - if (clock_type == "") { - //default value - clock_type = "ScalableClock"; + Settings child_json; + if (settings_json.getChild("CameraDirector", child_json)) { + camera_director.position = createVectorSetting(settings_json, camera_director.position); + camera_director.rotation = createRotationSetting(settings_json, camera_director.rotation); + camera_director.follow_distance = child_json.getFloat("FollowDistance", camera_director.follow_distance); + } - //override if multirotor simmode with simple_flight - if (simmode_name == "Multirotor") { - //TODO: this won't work if simple_flight and PX4 is combined together! - - //for multirotors we select steppable fixed interval clock unless we have - //PX4 enabled vehicle - clock_type = "SteppableClock"; - for (auto const& vehicle : vehicles) - { - if (vehicle.second->auto_create && - vehicle.second->vehicle_type == kVehicleTypePX4) { - clock_type = "ScalableClock"; - break; + if (std::isnan(camera_director.follow_distance)) { + if (simmode_name == "Car") + camera_director.follow_distance = -8; + else + camera_director.follow_distance = -3; + } + if (std::isnan(camera_director.position.x())) + camera_director.position.x() = camera_director.follow_distance; + if (std::isnan(camera_director.position.y())) + camera_director.position.y() = 0; + if (std::isnan(camera_director.position.z())) { + if (simmode_name == "Car") + camera_director.position.z() = -4; + else + camera_director.position.z() = -2; + } + } + + void loadClockSettings(const Settings& settings_json) + { + clock_type = settings_json.getString("ClockType", ""); + + if (clock_type == "") { + //default value + clock_type = "ScalableClock"; + + //override if multirotor simmode with simple_flight + if (simmode_name == "Multirotor") { + //TODO: this won't work if simple_flight and PX4 is combined together! + + //for multirotors we select steppable fixed interval clock unless we have + //PX4 enabled vehicle + clock_type = "SteppableClock"; + for (auto const& vehicle : vehicles) { + if (vehicle.second->auto_create && + vehicle.second->vehicle_type == kVehicleTypePX4) { + clock_type = "ScalableClock"; + break; + } } } } - } - clock_speed = settings_json.getFloat("ClockSpeed", 1.0f); - } + clock_speed = settings_json.getFloat("ClockSpeed", 1.0f); + } - static void initializeBarometerSetting(BarometerSetting& barometer_setting, const Settings& settings_json) - { - unused(barometer_setting); - unused(settings_json); + static void initializeBarometerSetting(BarometerSetting& barometer_setting, const Settings& settings_json) + { + unused(barometer_setting); + unused(settings_json); - //TODO: set from json as needed - } + //TODO: set from json as needed + } - static void initializeImuSetting(ImuSetting& imu_setting, const Settings& settings_json) - { - unused(imu_setting); - unused(settings_json); + static void initializeImuSetting(ImuSetting& imu_setting, const Settings& settings_json) + { + unused(imu_setting); + unused(settings_json); - //TODO: set from json as needed - } + //TODO: set from json as needed + } - static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json) - { - unused(gps_setting); - unused(settings_json); + static void initializeGpsSetting(GpsSetting& gps_setting, const Settings& settings_json) + { + unused(gps_setting); + unused(settings_json); - //TODO: set from json as needed - } + //TODO: set from json as needed + } - static void initializeMagnetometerSetting(MagnetometerSetting& magnetometer_setting, const Settings& settings_json) - { - unused(magnetometer_setting); - unused(settings_json); + static void initializeMagnetometerSetting(MagnetometerSetting& magnetometer_setting, const Settings& settings_json) + { + unused(magnetometer_setting); + unused(settings_json); - //TODO: set from json as needed - } + //TODO: set from json as needed + } - static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json) - { - distance_setting.min_distance = settings_json.getFloat("MinDistance", distance_setting.min_distance); - distance_setting.max_distance = settings_json.getFloat("MaxDistance", distance_setting.max_distance); - distance_setting.draw_debug_points = settings_json.getBool("DrawDebugPoints", distance_setting.draw_debug_points); + static void initializeDistanceSetting(DistanceSetting& distance_setting, const Settings& settings_json) + { + distance_setting.min_distance = settings_json.getFloat("MinDistance", distance_setting.min_distance); + distance_setting.max_distance = settings_json.getFloat("MaxDistance", distance_setting.max_distance); + distance_setting.draw_debug_points = settings_json.getBool("DrawDebugPoints", distance_setting.draw_debug_points); - distance_setting.position = createVectorSetting(settings_json, distance_setting.position); - distance_setting.rotation = createRotationSetting(settings_json, distance_setting.rotation); - } + distance_setting.position = createVectorSetting(settings_json, distance_setting.position); + distance_setting.rotation = createRotationSetting(settings_json, distance_setting.rotation); + } - static void initializeLidarSetting(LidarSetting& lidar_setting, const Settings& settings_json) - { - lidar_setting.number_of_channels = settings_json.getInt("NumberOfChannels", lidar_setting.number_of_channels); - lidar_setting.range = settings_json.getFloat("Range", lidar_setting.range); - lidar_setting.points_per_second = settings_json.getInt("PointsPerSecond", lidar_setting.points_per_second); - lidar_setting.horizontal_rotation_frequency = settings_json.getInt("RotationsPerSecond", lidar_setting.horizontal_rotation_frequency); - lidar_setting.draw_debug_points = settings_json.getBool("DrawDebugPoints", lidar_setting.draw_debug_points); - lidar_setting.data_frame = settings_json.getString("DataFrame", lidar_setting.data_frame); - - lidar_setting.vertical_FOV_upper = settings_json.getFloat("VerticalFOVUpper", lidar_setting.vertical_FOV_upper); - lidar_setting.vertical_FOV_lower = settings_json.getFloat("VerticalFOVLower", lidar_setting.vertical_FOV_lower); - lidar_setting.horizontal_FOV_start = settings_json.getFloat("HorizontalFOVStart", lidar_setting.horizontal_FOV_start); - lidar_setting.horizontal_FOV_end = settings_json.getFloat("HorizontalFOVEnd", lidar_setting.horizontal_FOV_end); - - lidar_setting.position = createVectorSetting(settings_json, lidar_setting.position); - lidar_setting.rotation = createRotationSetting(settings_json, lidar_setting.rotation); - } - - static std::unique_ptr createSensorSetting( - SensorBase::SensorType sensor_type, const std::string& sensor_name, - bool enabled) - { - std::unique_ptr sensor_setting; - - switch (sensor_type) { - case SensorBase::SensorType::Barometer: - sensor_setting = std::unique_ptr(new BarometerSetting()); - break; - case SensorBase::SensorType::Imu: - sensor_setting = std::unique_ptr(new ImuSetting()); - break; - case SensorBase::SensorType::Gps: - sensor_setting = std::unique_ptr(new GpsSetting()); - break; - case SensorBase::SensorType::Magnetometer: - sensor_setting = std::unique_ptr(new MagnetometerSetting()); - break; - case SensorBase::SensorType::Distance: - sensor_setting = std::unique_ptr(new DistanceSetting()); - break; - case SensorBase::SensorType::Lidar: - sensor_setting = std::unique_ptr(new LidarSetting()); - break; - default: - throw std::invalid_argument("Unexpected sensor type"); + static void initializeLidarSetting(LidarSetting& lidar_setting, const Settings& settings_json) + { + lidar_setting.number_of_channels = settings_json.getInt("NumberOfChannels", lidar_setting.number_of_channels); + lidar_setting.range = settings_json.getFloat("Range", lidar_setting.range); + lidar_setting.points_per_second = settings_json.getInt("PointsPerSecond", lidar_setting.points_per_second); + lidar_setting.horizontal_rotation_frequency = settings_json.getInt("RotationsPerSecond", lidar_setting.horizontal_rotation_frequency); + lidar_setting.draw_debug_points = settings_json.getBool("DrawDebugPoints", lidar_setting.draw_debug_points); + lidar_setting.data_frame = settings_json.getString("DataFrame", lidar_setting.data_frame); + + lidar_setting.vertical_FOV_upper = settings_json.getFloat("VerticalFOVUpper", lidar_setting.vertical_FOV_upper); + lidar_setting.vertical_FOV_lower = settings_json.getFloat("VerticalFOVLower", lidar_setting.vertical_FOV_lower); + lidar_setting.horizontal_FOV_start = settings_json.getFloat("HorizontalFOVStart", lidar_setting.horizontal_FOV_start); + lidar_setting.horizontal_FOV_end = settings_json.getFloat("HorizontalFOVEnd", lidar_setting.horizontal_FOV_end); + + lidar_setting.position = createVectorSetting(settings_json, lidar_setting.position); + lidar_setting.rotation = createRotationSetting(settings_json, lidar_setting.rotation); } - sensor_setting->sensor_type = sensor_type; - sensor_setting->sensor_name = sensor_name; - sensor_setting->enabled = enabled; + static std::unique_ptr createSensorSetting( + SensorBase::SensorType sensor_type, const std::string& sensor_name, + bool enabled) + { + std::unique_ptr sensor_setting; + + switch (sensor_type) { + case SensorBase::SensorType::Barometer: + sensor_setting = std::unique_ptr(new BarometerSetting()); + break; + case SensorBase::SensorType::Imu: + sensor_setting = std::unique_ptr(new ImuSetting()); + break; + case SensorBase::SensorType::Gps: + sensor_setting = std::unique_ptr(new GpsSetting()); + break; + case SensorBase::SensorType::Magnetometer: + sensor_setting = std::unique_ptr(new MagnetometerSetting()); + break; + case SensorBase::SensorType::Distance: + sensor_setting = std::unique_ptr(new DistanceSetting()); + break; + case SensorBase::SensorType::Lidar: + sensor_setting = std::unique_ptr(new LidarSetting()); + break; + default: + throw std::invalid_argument("Unexpected sensor type"); + } - return sensor_setting; - } + sensor_setting->sensor_type = sensor_type; + sensor_setting->sensor_name = sensor_name; + sensor_setting->enabled = enabled; - static void initializeSensorSetting(SensorSetting* sensor_setting, const Settings& settings_json) - { - sensor_setting->enabled = settings_json.getBool("Enabled", sensor_setting->enabled); - - switch (sensor_setting->sensor_type) { - case SensorBase::SensorType::Barometer: - initializeBarometerSetting(*static_cast(sensor_setting), settings_json); - break; - case SensorBase::SensorType::Imu: - initializeImuSetting(*static_cast(sensor_setting), settings_json); - break; - case SensorBase::SensorType::Gps: - initializeGpsSetting(*static_cast(sensor_setting), settings_json); - break; - case SensorBase::SensorType::Magnetometer: - initializeMagnetometerSetting(*static_cast(sensor_setting), settings_json); - break; - case SensorBase::SensorType::Distance: - initializeDistanceSetting(*static_cast(sensor_setting), settings_json); - break; - case SensorBase::SensorType::Lidar: - initializeLidarSetting(*static_cast(sensor_setting), settings_json); - break; - default: - throw std::invalid_argument("Unexpected sensor type"); + return sensor_setting; } - } - // creates and intializes sensor settings from json - static void loadSensorSettings( const Settings& settings_json, const std::string& collectionName, - std::map>& sensors) - { - msr::airlib::Settings sensors_child; - if (settings_json.getChild(collectionName, sensors_child)) { - std::vector keys; - sensors_child.getChildNames(keys); + static void initializeSensorSetting(SensorSetting* sensor_setting, const Settings& settings_json) + { + sensor_setting->enabled = settings_json.getBool("Enabled", sensor_setting->enabled); + + switch (sensor_setting->sensor_type) { + case SensorBase::SensorType::Barometer: + initializeBarometerSetting(*static_cast(sensor_setting), settings_json); + break; + case SensorBase::SensorType::Imu: + initializeImuSetting(*static_cast(sensor_setting), settings_json); + break; + case SensorBase::SensorType::Gps: + initializeGpsSetting(*static_cast(sensor_setting), settings_json); + break; + case SensorBase::SensorType::Magnetometer: + initializeMagnetometerSetting(*static_cast(sensor_setting), settings_json); + break; + case SensorBase::SensorType::Distance: + initializeDistanceSetting(*static_cast(sensor_setting), settings_json); + break; + case SensorBase::SensorType::Lidar: + initializeLidarSetting(*static_cast(sensor_setting), settings_json); + break; + default: + throw std::invalid_argument("Unexpected sensor type"); + } + } + + // creates and intializes sensor settings from json + static void loadSensorSettings(const Settings& settings_json, const std::string& collectionName, + std::map>& sensors) + { + msr::airlib::Settings sensors_child; + if (settings_json.getChild(collectionName, sensors_child)) { + std::vector keys; + sensors_child.getChildNames(keys); - for (const auto& key : keys) { - msr::airlib::Settings child; - sensors_child.getChild(key, child); + for (const auto& key : keys) { + msr::airlib::Settings child; + sensors_child.getChild(key, child); - auto sensor_type = Utils::toEnum(child.getInt("SensorType", 0)); - auto enabled = child.getBool("Enabled", false); + auto sensor_type = Utils::toEnum(child.getInt("SensorType", 0)); + auto enabled = child.getBool("Enabled", false); - sensors[key] = createSensorSetting(sensor_type, key, enabled); - initializeSensorSetting(sensors[key].get(), child); + sensors[key] = createSensorSetting(sensor_type, key, enabled); + initializeSensorSetting(sensors[key].get(), child); + } } } - } - // creates default sensor list when none specified in json - static void createDefaultSensorSettings(const std::string& simmode_name, - std::map>& sensors) - { - if (simmode_name == "Multirotor") { - sensors["imu"] = createSensorSetting(SensorBase::SensorType::Imu, "imu", true); - sensors["magnetometer"] = createSensorSetting(SensorBase::SensorType::Magnetometer, "magnetometer", true); - sensors["gps"] = createSensorSetting(SensorBase::SensorType::Gps, "gps", true); - sensors["barometer"] = createSensorSetting(SensorBase::SensorType::Barometer, "barometer", true); - } - else if (simmode_name == "Car") { - sensors["gps"] = createSensorSetting(SensorBase::SensorType::Gps, "gps", true); + // creates default sensor list when none specified in json + static void createDefaultSensorSettings(const std::string& simmode_name, + std::map>& sensors) + { + if (simmode_name == "Multirotor") { + sensors["imu"] = createSensorSetting(SensorBase::SensorType::Imu, "imu", true); + sensors["magnetometer"] = createSensorSetting(SensorBase::SensorType::Magnetometer, "magnetometer", true); + sensors["gps"] = createSensorSetting(SensorBase::SensorType::Gps, "gps", true); + sensors["barometer"] = createSensorSetting(SensorBase::SensorType::Barometer, "barometer", true); + } + else if (simmode_name == "Car") { + sensors["gps"] = createSensorSetting(SensorBase::SensorType::Gps, "gps", true); + } + else { + // no sensors added for other modes + } } - else { - // no sensors added for other modes + + // loads or creates default sensor list + static void loadDefaultSensorSettings(const std::string& simmode_name, + const Settings& settings_json, + std::map>& sensors) + { + msr::airlib::Settings sensors_child; + if (settings_json.getChild("DefaultSensors", sensors_child)) + loadSensorSettings(settings_json, "DefaultSensors", sensors); + else + createDefaultSensorSettings(simmode_name, sensors); } - } + }; - // loads or creates default sensor list - static void loadDefaultSensorSettings(const std::string& simmode_name, - const Settings& settings_json, - std::map>& sensors) - { - msr::airlib::Settings sensors_child; - if (settings_json.getChild("DefaultSensors", sensors_child)) - loadSensorSettings(settings_json, "DefaultSensors", sensors); - else - createDefaultSensorSettings(simmode_name, sensors); - } -}; - -}} //namespace +} +} //namespace #endif diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp index 44a38393b9..0c338c604f 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.cpp @@ -1,68 +1,67 @@ #include "PInvokeWrapper.h" //Function pointers to hold the addresses of the functions that are defined in Unity -bool(*SetPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName); -AirSimPose(*GetPose)(const char* vehicleName); -AirSimCollisionInfo(*GetCollisionInfo)(const char* vehicleName); -AirSimRCData(*GetRCData)(const char* vehicleName); -AirSimImageResponse(*GetSimImages)(AirSimImageRequest request, const char* vehicleName); -bool(*SetRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName); -bool(*SetEnableApi)(bool enableApi, const char* vehicleName); -bool(*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName); -AirSimCarState(*GetCarState)(const char* vehicleName); -AirSimCameraInfo(*GetCameraInfo)(const char* cameraName, const char* vehicleName); -bool(*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName); -bool(*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName); -bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex); -int(*GetSegmentationObjectId)(const char* meshName); -bool(*PrintLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity); -UnityTransform(*GetTransformFromUnity)(const char* vehicleName); -bool(*Reset)(); -AirSimVector(*GetVelocity)(const char* vehicleName); -RayCastHitResult(*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); -bool(*Pause)(float timeScale); +bool (*SetPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName); +AirSimPose (*GetPose)(const char* vehicleName); +AirSimCollisionInfo (*GetCollisionInfo)(const char* vehicleName); +AirSimRCData (*GetRCData)(const char* vehicleName); +AirSimImageResponse (*GetSimImages)(AirSimImageRequest request, const char* vehicleName); +bool (*SetRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName); +bool (*SetEnableApi)(bool enableApi, const char* vehicleName); +bool (*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName); +AirSimCarState (*GetCarState)(const char* vehicleName); +AirSimCameraInfo (*GetCameraInfo)(const char* cameraName, const char* vehicleName); +bool (*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName); +bool (*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName); +bool (*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex); +int (*GetSegmentationObjectId)(const char* meshName); +bool (*PrintLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity); +UnityTransform (*GetTransformFromUnity)(const char* vehicleName); +bool (*Reset)(); +AirSimVector (*GetVelocity)(const char* vehicleName); +RayCastHitResult (*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); +bool (*Pause)(float timeScale); void InitVehicleManager( - bool(*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName), - AirSimPose(*getPose)(const char* vehicleName), - AirSimCollisionInfo(*getCollisionInfo)(const char* vehicleName), - AirSimRCData(*getDroneRCData)(const char* vehicleName), - AirSimImageResponse(*getSimImages)(AirSimImageRequest request, const char* vehicleName), - bool(*setRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName), - bool(*setEnableApi)(bool enableApi, const char* vehicleName), - bool(*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName), - AirSimCarState(*getCarState)(const char* vehicleName), - AirSimCameraInfo(*getCameraInfo)(const char* cameraName, const char* vehicleName), - bool(*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName), - bool(*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName), - bool(*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex), - int(*getSegmentationObjectId)(const char* meshName), - bool(*printLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity), - UnityTransform(*getTransformFromUnity)(const char* vehicleName), - bool(*reset)(), - AirSimVector(*getVelocity)(const char* vehicleName), - RayCastHitResult(*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), - bool(*pause)(float timeScale) -) + bool (*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName), + AirSimPose (*getPose)(const char* vehicleName), + AirSimCollisionInfo (*getCollisionInfo)(const char* vehicleName), + AirSimRCData (*getDroneRCData)(const char* vehicleName), + AirSimImageResponse (*getSimImages)(AirSimImageRequest request, const char* vehicleName), + bool (*setRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName), + bool (*setEnableApi)(bool enableApi, const char* vehicleName), + bool (*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName), + AirSimCarState (*getCarState)(const char* vehicleName), + AirSimCameraInfo (*getCameraInfo)(const char* cameraName, const char* vehicleName), + bool (*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName), + bool (*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName), + bool (*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex), + int (*getSegmentationObjectId)(const char* meshName), + bool (*printLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity), + UnityTransform (*getTransformFromUnity)(const char* vehicleName), + bool (*reset)(), + AirSimVector (*getVelocity)(const char* vehicleName), + RayCastHitResult (*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), + bool (*pause)(float timeScale)) { - SetPose = setPose; - GetPose = getPose; - GetCollisionInfo = getCollisionInfo; - GetRCData = getDroneRCData; - GetSimImages = getSimImages; - SetRotorSpeed = setRotorSpeed; - SetEnableApi = setEnableApi; - SetCarApiControls = setCarApiControls; - GetCarState = getCarState; - GetCameraInfo = getCameraInfo; - SetCameraPose = setCameraPose; - SetCameraFoV = setCameraFoV; - SetSegmentationObjectId = setSegmentationObjectId; - GetSegmentationObjectId = getSegmentationObjectId; - PrintLogMessage = printLogMessage; - GetTransformFromUnity = getTransformFromUnity; - Reset = reset; - GetVelocity = getVelocity; - GetRayCastHit = getRayCastHit; - Pause = pause; + SetPose = setPose; + GetPose = getPose; + GetCollisionInfo = getCollisionInfo; + GetRCData = getDroneRCData; + GetSimImages = getSimImages; + SetRotorSpeed = setRotorSpeed; + SetEnableApi = setEnableApi; + SetCarApiControls = setCarApiControls; + GetCarState = getCarState; + GetCameraInfo = getCameraInfo; + SetCameraPose = setCameraPose; + SetCameraFoV = setCameraFoV; + SetSegmentationObjectId = setSegmentationObjectId; + GetSegmentationObjectId = getSegmentationObjectId; + PrintLogMessage = printLogMessage; + GetTransformFromUnity = getTransformFromUnity; + Reset = reset; + GetVelocity = getVelocity; + GetRayCastHit = getRayCastHit; + Pause = pause; } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h index 9638ddf5f5..b89c921a7e 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PInvokeWrapper.h @@ -4,59 +4,57 @@ #include "UnityImageCapture.h" #include "vehicles/car/api/CarApiBase.hpp" - #ifdef _WIN32 - #define EXPORT __declspec(dllexport) +#define EXPORT __declspec(dllexport) #elif defined(__linux__) || defined(__APPLE__) - #define EXPORT __attribute__((visibility("default"))) +#define EXPORT __attribute__((visibility("default"))) #endif /* * Defines all the functions that can be called into Unity */ //Function pointers to hold the addresses of the functions that are defined in Unity -extern bool(*SetPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName); -extern AirSimPose(*GetPose)(const char* vehicleName); -extern AirSimCollisionInfo(*GetCollisionInfo)(const char* vehicleName); -extern AirSimRCData(*GetRCData)(const char* vehicleName); -extern AirSimImageResponse(*GetSimImages)(AirSimImageRequest request, const char* vehicleName); -extern bool(*SetRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName); -extern bool(*SetEnableApi)(bool enableApi, const char* vehicleName); -extern bool(*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName); -extern AirSimCarState(*GetCarState)(const char* vehicleName); -extern AirSimCameraInfo(*GetCameraInfo)(const char* cameraName, const char* vehicleName); -extern bool(*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName); -extern bool(*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName); -extern bool(*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex); -extern int(*GetSegmentationObjectId)(const char* meshName); -extern bool(*PrintLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity); -extern UnityTransform(*GetTransformFromUnity)(const char* vehicleName); -extern bool(*Reset)(); -extern AirSimVector(*GetVelocity)(const char* vehicleName); -extern RayCastHitResult(*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); -extern bool(*Pause)(float timeScale); +extern bool (*SetPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName); +extern AirSimPose (*GetPose)(const char* vehicleName); +extern AirSimCollisionInfo (*GetCollisionInfo)(const char* vehicleName); +extern AirSimRCData (*GetRCData)(const char* vehicleName); +extern AirSimImageResponse (*GetSimImages)(AirSimImageRequest request, const char* vehicleName); +extern bool (*SetRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName); +extern bool (*SetEnableApi)(bool enableApi, const char* vehicleName); +extern bool (*SetCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName); +extern AirSimCarState (*GetCarState)(const char* vehicleName); +extern AirSimCameraInfo (*GetCameraInfo)(const char* cameraName, const char* vehicleName); +extern bool (*SetCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName); +extern bool (*SetCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName); +extern bool (*SetSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex); +extern int (*GetSegmentationObjectId)(const char* meshName); +extern bool (*PrintLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity); +extern UnityTransform (*GetTransformFromUnity)(const char* vehicleName); +extern bool (*Reset)(); +extern AirSimVector (*GetVelocity)(const char* vehicleName); +extern RayCastHitResult (*GetRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName); +extern bool (*Pause)(float timeScale); // PInvoke call to initialize the function pointers. This function is called from Unity. extern "C" EXPORT void InitVehicleManager( - bool(*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName), - AirSimPose(*getPose)(const char* vehicleName), - AirSimCollisionInfo(*getCollisionInfo)(const char* vehicleName), - AirSimRCData(*getDroneRCData)(const char* vehicleName), - AirSimImageResponse(*getSimImages)(AirSimImageRequest request, const char* vehicleName), - bool(*setRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName), - bool(*setEnableApi)(bool enableApi, const char* vehicleName), - bool(*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName), - AirSimCarState(*getCarState)(const char* vehicleName), - AirSimCameraInfo(*getCameraInfo)(const char* cameraName, const char* vehicleName), - bool(*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName), - bool(*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName), - bool(*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex), - int(*getSegmentationObjectId)(const char* meshName), - bool(*printLogMessage) (const char* message, const char* messageParam, const char* vehicleName, int severity), - UnityTransform(*getTransformFromUnity)(const char* vehicleName), - bool(*reset)(), - AirSimVector(*getVelocity)(const char* vehicleName), - RayCastHitResult(*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), - bool(*pause)(float timeScale) -); + bool (*setPose)(AirSimPose pose, bool ignoreCollision, const char* vehicleName), + AirSimPose (*getPose)(const char* vehicleName), + AirSimCollisionInfo (*getCollisionInfo)(const char* vehicleName), + AirSimRCData (*getDroneRCData)(const char* vehicleName), + AirSimImageResponse (*getSimImages)(AirSimImageRequest request, const char* vehicleName), + bool (*setRotorSpeed)(int rotorIndex, RotorInfo rotorInfo, const char* vehicleName), + bool (*setEnableApi)(bool enableApi, const char* vehicleName), + bool (*setCarApiControls)(msr::airlib::CarApiBase::CarControls controls, const char* vehicleName), + AirSimCarState (*getCarState)(const char* vehicleName), + AirSimCameraInfo (*getCameraInfo)(const char* cameraName, const char* vehicleName), + bool (*setCameraPose)(const char* cameraName, AirSimPose pose, const char* vehicleName), + bool (*setCameraFoV)(const char* cameraName, const float fov_degrees, const char* vehicleName), + bool (*setSegmentationObjectId)(const char* meshName, int objectId, bool isNameRegex), + int (*getSegmentationObjectId)(const char* meshName), + bool (*printLogMessage)(const char* message, const char* messageParam, const char* vehicleName, int severity), + UnityTransform (*getTransformFromUnity)(const char* vehicleName), + bool (*reset)(), + AirSimVector (*getVelocity)(const char* vehicleName), + RayCastHitResult (*getRayCastHit)(AirSimVector startVec, AirSimVector endVec, const char* vehicleName), + bool (*pause)(float timeScale)); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp index b4e9d6534d..3e3e46d4f4 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.cpp @@ -3,148 +3,142 @@ #include "../Vehicles/Car/SimModeCar.h" #include "../Vehicles/Multirotor/SimModeWorldMultiRotor.h" -SimHUD::SimHUD(std::string sim_mode_name, int port_number) : - sim_mode_name_(sim_mode_name), port_number_(port_number) +SimHUD::SimHUD(std::string sim_mode_name, int port_number) + : sim_mode_name_(sim_mode_name), port_number_(port_number) { - server_started_Successfully_ = false; + server_started_Successfully_ = false; } void SimHUD::BeginPlay() { - try { - initializeSettings(); - createSimMode(); - if (simmode_) - simmode_->startApiServer(); - - server_started_Successfully_ = true; - } - catch (std::exception& ex) - { - PrintLogMessage("Error at startup: ", ex.what(), "", ErrorLogSeverity::Error); - } + try { + initializeSettings(); + createSimMode(); + if (simmode_) + simmode_->startApiServer(); + + server_started_Successfully_ = true; + } + catch (std::exception& ex) { + PrintLogMessage("Error at startup: ", ex.what(), "", ErrorLogSeverity::Error); + } } void SimHUD::Tick(float DeltaSeconds) { - if (simmode_) - { - simmode_->Tick(DeltaSeconds); - } + if (simmode_) { + simmode_->Tick(DeltaSeconds); + } } void SimHUD::EndPlay() { - if (simmode_) - { - simmode_->EndPlay(); - simmode_->stopApiServer(); - } - if (simmode_) { - delete simmode_; - simmode_ = nullptr; - } + if (simmode_) { + simmode_->EndPlay(); + simmode_->stopApiServer(); + } + if (simmode_) { + delete simmode_; + simmode_ = nullptr; + } } SimHUD::ImageType SimHUD::getSubwindowCameraType(int window_index) { - //TODO: index check - return getSubWindowSettings().at(window_index).image_type; + //TODO: index check + return getSubWindowSettings().at(window_index).image_type; } void SimHUD::setSubwindowCameraType(int window_index, ImageType type) { - getSubWindowSettings().at(window_index).image_type = type; + getSubWindowSettings().at(window_index).image_type = type; } bool SimHUD::getSubwindowVisible(int window_index) { - return getSubWindowSettings().at(window_index).visible; + return getSubWindowSettings().at(window_index).visible; } void SimHUD::setSubwindowVisible(int window_index, bool is_visible) { - getSubWindowSettings().at(window_index).visible = is_visible; + getSubWindowSettings().at(window_index).visible = is_visible; } void SimHUD::initializeSettings() { - std::string settingsText; - if (getSettingsText(settingsText)) - AirSimSettings::initializeSettings(settingsText); - else - AirSimSettings::createDefaultSettingsFile(); + std::string settingsText; + if (getSettingsText(settingsText)) + AirSimSettings::initializeSettings(settingsText); + else + AirSimSettings::createDefaultSettingsFile(); - AirSimSettings::singleton().load(std::bind(&SimHUD::getSimModeFromUser, this)); + AirSimSettings::singleton().load(std::bind(&SimHUD::getSimModeFromUser, this)); - for (const auto& warning : AirSimSettings::singleton().warning_messages) { - PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", "", ErrorLogSeverity::Error); - } - for (const auto& error : AirSimSettings::singleton().error_messages) { - PrintLogMessage(error.c_str(), "settings.json", "", ErrorLogSeverity::Error); - } + for (const auto& warning : AirSimSettings::singleton().warning_messages) { + PrintLogMessage(warning.c_str(), "LogDebugLevel::Failure", "", ErrorLogSeverity::Error); + } + for (const auto& error : AirSimSettings::singleton().error_messages) { + PrintLogMessage(error.c_str(), "settings.json", "", ErrorLogSeverity::Error); + } } const std::vector& SimHUD::getSubWindowSettings() const { - return AirSimSettings::singleton().subwindow_settings; + return AirSimSettings::singleton().subwindow_settings; } std::vector& SimHUD::getSubWindowSettings() { - return AirSimSettings::singleton().subwindow_settings; + return AirSimSettings::singleton().subwindow_settings; } SimModeBase* SimHUD::GetSimMode() { - return simmode_; + return simmode_; } std::string SimHUD::getSimModeFromUser() { - return sim_mode_name_; + return sim_mode_name_; } void SimHUD::createSimMode() { - std::string simmode_name = AirSimSettings::singleton().simmode_name; + std::string simmode_name = AirSimSettings::singleton().simmode_name; - if (simmode_name == "Multirotor") - simmode_ = new SimModeWorldMultiRotor(port_number_); - else if (simmode_name == "Car") - simmode_ = new SimModeCar(port_number_); + if (simmode_name == "Multirotor") + simmode_ = new SimModeWorldMultiRotor(port_number_); + else if (simmode_name == "Car") + simmode_ = new SimModeCar(port_number_); - simmode_->BeginPlay(); + simmode_->BeginPlay(); } // Attempts to parse the settings text from one of multiple locations. // First, check the command line for settings provided via "-s" or "--settings" arguments // Next, check the executable's working directory for the settings file. -// Finally, check the user's documents folder. +// Finally, check the user's documents folder. // If the settings file cannot be read, throw an exception bool SimHUD::getSettingsText(std::string& settingsText) { - return ( - readSettingsTextFromFile(msr::airlib::Settings::getExecutableFullPath("settings.json"), settingsText) - || - readSettingsTextFromFile(msr::airlib::Settings::Settings::getUserDirectoryFullPath("settings.json"), settingsText)); + return ( + readSettingsTextFromFile(msr::airlib::Settings::getExecutableFullPath("settings.json"), settingsText) || + readSettingsTextFromFile(msr::airlib::Settings::Settings::getUserDirectoryFullPath("settings.json"), settingsText)); } bool SimHUD::readSettingsTextFromFile(std::string settingsFilepath, std::string& settingsText) { - std::ifstream file(settingsFilepath); - if (!file.fail()) - { - std::stringstream buffer; - buffer << file.rdbuf(); - settingsText = buffer.str(); - PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), "", ErrorLogSeverity::Information); - return true; - } - else - { - PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), "", ErrorLogSeverity::Error); - } - return false; + std::ifstream file(settingsFilepath); + if (!file.fail()) { + std::stringstream buffer; + buffer << file.rdbuf(); + settingsText = buffer.str(); + PrintLogMessage("Loaded settings from ", settingsFilepath.c_str(), "", ErrorLogSeverity::Information); + return true; + } + else { + PrintLogMessage("Cannot read settings file ", settingsFilepath.c_str(), "", ErrorLogSeverity::Error); + } + return false; } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h index 2ef6edabed..b6178273ae 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimHUD/SimHUD.h @@ -5,35 +5,35 @@ class SimHUD { public: - typedef msr::airlib::ImageCaptureBase::ImageType ImageType; - typedef msr::airlib::AirSimSettings AirSimSettings; + typedef msr::airlib::ImageCaptureBase::ImageType ImageType; + typedef msr::airlib::AirSimSettings AirSimSettings; private: - void createSimMode(); - void initializeSettings(); - const std::vector& getSubWindowSettings() const; - std::vector& getSubWindowSettings(); - bool getSettingsText(std::string& settingsText); - bool readSettingsTextFromFile(std::string fileName, std::string& settingsText); - std::string getSimModeFromUser(); + void createSimMode(); + void initializeSettings(); + const std::vector& getSubWindowSettings() const; + std::vector& getSubWindowSettings(); + bool getSettingsText(std::string& settingsText); + bool readSettingsTextFromFile(std::string fileName, std::string& settingsText); + std::string getSimModeFromUser(); public: - SimHUD(std::string sime_mode_name, int port_number); - SimModeBase* GetSimMode(); - ImageType getSubwindowCameraType(int window_index); - void setSubwindowCameraType(int window_index, ImageType type); - bool getSubwindowVisible(int window_index); - void setSubwindowVisible(int window_index, bool is_visible); - virtual void BeginPlay(); - virtual void EndPlay(); - virtual void Tick(float DeltaSeconds); + SimHUD(std::string sime_mode_name, int port_number); + SimModeBase* GetSimMode(); + ImageType getSubwindowCameraType(int window_index); + void setSubwindowCameraType(int window_index, ImageType type); + bool getSubwindowVisible(int window_index); + void setSubwindowVisible(int window_index, bool is_visible); + virtual void BeginPlay(); + virtual void EndPlay(); + virtual void Tick(float DeltaSeconds); private: - typedef common_utils::Utils Utils; - SimModeBase* simmode_; - std::string sim_mode_name_; - int port_number_; + typedef common_utils::Utils Utils; + SimModeBase* simmode_; + std::string sim_mode_name_; + int port_number_; public: - bool server_started_Successfully_; + bool server_started_Successfully_; }; \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index 6bc978d05e..7326472065 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -5,86 +5,86 @@ #include "../PInvokeWrapper.h" #include "../WorldSimApi.h" -SimModeBase::SimModeBase(int port_number) : - port_number_(port_number) +SimModeBase::SimModeBase(int port_number) + : port_number_(port_number) { } void SimModeBase::BeginPlay() { - debug_reporter_.initialize(false); - debug_reporter_.reset(); - global_ned_transform_.reset(new NedTransform(GetVehicleStartTransform())); - world_sim_api_.reset(new WorldSimApi(this)); - api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get())); - setupClockSpeed(); - record_tick_count = 0; - setupVehiclesAndCamera(); + debug_reporter_.initialize(false); + debug_reporter_.reset(); + global_ned_transform_.reset(new NedTransform(GetVehicleStartTransform())); + world_sim_api_.reset(new WorldSimApi(this)); + api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get())); + setupClockSpeed(); + record_tick_count = 0; + setupVehiclesAndCamera(); } void SimModeBase::Tick(float DeltaSeconds) { - for (auto& api : getApiProvider()->getVehicleSimApis()) - static_cast(api)->pawnTick(DeltaSeconds); - showClockStats(); - updateDebugReport(debug_reporter_); + for (auto& api : getApiProvider()->getVehicleSimApis()) + static_cast(api)->pawnTick(DeltaSeconds); + showClockStats(); + updateDebugReport(debug_reporter_); } void SimModeBase::showClockStats() { - float clock_speed = getSettings().clock_speed; - if (clock_speed != 1) - { - PrintLogMessage("ClockSpeed config, actual: ", - Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()).c_str(), - "", ErrorLogSeverity::Information); - } + float clock_speed = getSettings().clock_speed; + if (clock_speed != 1) { + PrintLogMessage("ClockSpeed config, actual: ", + Utils::stringf("%f, %f", clock_speed, ClockFactory::get()->getTrueScaleWrtWallClock()).c_str(), + "", + ErrorLogSeverity::Information); + } } const NedTransform& SimModeBase::getGlobalNedTransform() { - return *global_ned_transform_; + return *global_ned_transform_; } void SimModeBase::EndPlay() { - world_sim_api_.reset(); - api_provider_.reset(); - api_server_.reset(); - global_ned_transform_.reset(); - vehicle_sim_apis_.clear(); + world_sim_api_.reset(); + api_provider_.reset(); + api_server_.reset(); + global_ned_transform_.reset(); + vehicle_sim_apis_.clear(); } bool SimModeBase::isPaused() const { - return false; + return false; } void SimModeBase::pause(bool is_paused) { - //should be overridden by derived class - unused(is_paused); - throw std::domain_error("Pause is not implemented by SimMode"); + //should be overridden by derived class + unused(is_paused); + throw std::domain_error("Pause is not implemented by SimMode"); } void SimModeBase::continueForTime(double seconds) { - //should be overridden by derived class - unused(seconds); - throw std::domain_error("continueForTime is not implemented by SimMode"); + //should be overridden by derived class + unused(seconds); + throw std::domain_error("continueForTime is not implemented by SimMode"); } void SimModeBase::setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst, - float celestial_clock_speed, float update_interval_secs, bool move_sun) + float celestial_clock_speed, float update_interval_secs, bool move_sun) { - unused(is_enabled); - unused(start_datetime); - unused(is_start_datetime_dst); - unused(celestial_clock_speed); - unused(update_interval_secs); - unused(move_sun); - //commenting this out for now to avoid unintentional Unity startup failure - //throw std::domain_error("setTimeOfDay is not implemented by SimMode"); + unused(is_enabled); + unused(start_datetime); + unused(is_start_datetime_dst); + unused(celestial_clock_speed); + unused(update_interval_secs); + unused(move_sun); + //commenting this out for now to avoid unintentional Unity startup failure + //throw std::domain_error("setTimeOfDay is not implemented by SimMode"); } void SimModeBase::setWind(const msr::airlib::Vector3r& wind) const @@ -96,170 +96,168 @@ void SimModeBase::setWind(const msr::airlib::Vector3r& wind) const std::unique_ptr SimModeBase::createApiServer() const { - //this will be the case when compilation with RPCLIB is disabled or simmode doesn't support APIs - return nullptr; + //this will be the case when compilation with RPCLIB is disabled or simmode doesn't support APIs + return nullptr; } void SimModeBase::setupClockSpeed() { - //default setup - this should be overridden in derived modes as needed + //default setup - this should be overridden in derived modes as needed - float clock_speed = getSettings().clock_speed; + float clock_speed = getSettings().clock_speed; - //setup clock in ClockFactory - std::string clock_type = getSettings().clock_type; + //setup clock in ClockFactory + std::string clock_type = getSettings().clock_type; - if (clock_type == "ScalableClock") - ClockFactory::get(std::make_shared(clock_speed == 1 ? 1 : 1 / clock_speed)); - else if (clock_type == "SteppableClock") - ClockFactory::get(std::make_shared( - static_cast(msr::airlib::SteppableClock::DefaultStepSize * clock_speed))); - else - throw std::invalid_argument(common_utils::Utils::stringf( - "clock_type %s is not recognized", clock_type.c_str())); + if (clock_type == "ScalableClock") + ClockFactory::get(std::make_shared(clock_speed == 1 ? 1 : 1 / clock_speed)); + else if (clock_type == "SteppableClock") + ClockFactory::get(std::make_shared( + static_cast(msr::airlib::SteppableClock::DefaultStepSize * clock_speed))); + else + throw std::invalid_argument(common_utils::Utils::stringf( + "clock_type %s is not recognized", clock_type.c_str())); } void SimModeBase::reset() { - for (auto& api : getApiProvider()->getVehicleSimApis()) { - api->reset(); - } + for (auto& api : getApiProvider()->getVehicleSimApis()) { + api->reset(); + } } std::string SimModeBase::getDebugReport() { - return debug_reporter_.getOutput(); + return debug_reporter_.getOutput(); } const msr::airlib::AirSimSettings& SimModeBase::getSettings() const { - return AirSimSettings::singleton(); + return AirSimSettings::singleton(); } //API server start/stop void SimModeBase::startApiServer() { - if (getSettings().enable_rpc) { + if (getSettings().enable_rpc) { #ifdef AIRLIB_NO_RPC - api_server_.reset(); + api_server_.reset(); #else - api_server_ = createApiServer(); + api_server_ = createApiServer(); #endif - try { - api_server_->start(false, vehicle_sim_apis_.size() + 4); //TODO: set thread for vehicle count - } - catch (std::exception& ex) { - PrintLogMessage("Cannot start RpcLib Server", ex.what(), "", ErrorLogSeverity::Error); - } - } - else - PrintLogMessage("API server is disabled in settings", "", "", ErrorLogSeverity::Information); - + try { + api_server_->start(false, vehicle_sim_apis_.size() + 4); //TODO: set thread for vehicle count + } + catch (std::exception& ex) { + PrintLogMessage("Cannot start RpcLib Server", ex.what(), "", ErrorLogSeverity::Error); + } + } + else + PrintLogMessage("API server is disabled in settings", "", "", ErrorLogSeverity::Information); } void SimModeBase::stopApiServer() { - if (api_server_ != nullptr) { - api_server_->stop(); - api_server_.reset(nullptr); - } + if (api_server_ != nullptr) { + api_server_->stop(); + api_server_.reset(nullptr); + } } bool SimModeBase::isApiServerStarted() { - return api_server_ != nullptr; + return api_server_ != nullptr; } void SimModeBase::updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter) { - debug_reporter.update(); - debug_reporter.setEnable(EnableReport); - - if (debug_reporter.canReport()) { - debug_reporter.clearReport(); - - for (auto& api : getApiProvider()->getVehicleSimApis()) { - PawnSimApi* vehicle_sim_api = static_cast(api); - msr::airlib::StateReporter& reporter = *debug_reporter.getReporter(); - std::string vehicle_name = vehicle_sim_api->getVehicleName(); - - reporter.writeHeading(std::string("Vehicle: ").append( - vehicle_name == "" ? "(default)" : vehicle_name)); - - const msr::airlib::Kinematics::State* kinematics = vehicle_sim_api->getGroundTruthKinematics(); - - reporter.writeValue("Position", kinematics->pose.position); - reporter.writeValue("Orientation", kinematics->pose.orientation); - reporter.writeValue("Lin-Vel", kinematics->twist.linear); - reporter.writeValue("Lin-Accl", kinematics->accelerations.linear); - reporter.writeValue("Ang-Vel", kinematics->twist.angular); - reporter.writeValue("Ang-Accl", kinematics->accelerations.angular); - } - } + debug_reporter.update(); + debug_reporter.setEnable(EnableReport); + + if (debug_reporter.canReport()) { + debug_reporter.clearReport(); + + for (auto& api : getApiProvider()->getVehicleSimApis()) { + PawnSimApi* vehicle_sim_api = static_cast(api); + msr::airlib::StateReporter& reporter = *debug_reporter.getReporter(); + std::string vehicle_name = vehicle_sim_api->getVehicleName(); + + reporter.writeHeading(std::string("Vehicle: ").append(vehicle_name == "" ? "(default)" : vehicle_name)); + + const msr::airlib::Kinematics::State* kinematics = vehicle_sim_api->getGroundTruthKinematics(); + + reporter.writeValue("Position", kinematics->pose.position); + reporter.writeValue("Orientation", kinematics->pose.orientation); + reporter.writeValue("Lin-Vel", kinematics->twist.linear); + reporter.writeValue("Lin-Accl", kinematics->accelerations.linear); + reporter.writeValue("Ang-Vel", kinematics->twist.angular); + reporter.writeValue("Ang-Accl", kinematics->accelerations.angular); + } + } } void SimModeBase::setupVehiclesAndCamera() { - //determine camera director camera default pose and spawn it - const auto& camera_director_setting = getSettings().camera_director; - for (auto const& vehicle_setting_pair : getSettings().vehicles) { - const auto& vehicle_setting = *vehicle_setting_pair.second; - const std::string& vehicle_name = vehicle_setting.vehicle_name; + //determine camera director camera default pose and spawn it + const auto& camera_director_setting = getSettings().camera_director; + for (auto const& vehicle_setting_pair : getSettings().vehicles) { + const auto& vehicle_setting = *vehicle_setting_pair.second; + const std::string& vehicle_name = vehicle_setting.vehicle_name; - UnityPawn* vehicle_pawn = GetVehiclePawn(vehicle_name); - const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(vehicle_name), getSettings().origin_geopoint); + UnityPawn* vehicle_pawn = GetVehiclePawn(vehicle_name); + const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(GetVehiclePosition(vehicle_name), getSettings().origin_geopoint); - PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name); - auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params); - auto vehicle_sim_api_p = vehicle_sim_api.get(); - auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); + PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name); + auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params); + auto vehicle_sim_api_p = vehicle_sim_api.get(); + auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); - getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p); + getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p); - if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "") - getApiProvider()->makeDefaultVehicle(vehicle_name); + if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "") + getApiProvider()->makeDefaultVehicle(vehicle_name); - vehicle_sim_apis_.push_back(std::move(vehicle_sim_api)); - } + vehicle_sim_apis_.push_back(std::move(vehicle_sim_api)); + } } const msr::airlib::Vector3r SimModeBase::GetVehiclePosition(const std::string& vehicle_name) { - AirSimPose airSimPose = GetPose(vehicle_name.c_str()); - msr::airlib::Vector3r vehiclePosition(airSimPose.position.x, airSimPose.position.y, airSimPose.position.z); - return vehiclePosition; + AirSimPose airSimPose = GetPose(vehicle_name.c_str()); + msr::airlib::Vector3r vehiclePosition(airSimPose.position.x, airSimPose.position.y, airSimPose.position.z); + return vehiclePosition; } UnityPawn* SimModeBase::GetVehiclePawn(const std::string& vehicle_name) { - return nullptr; + return nullptr; } bool SimModeBase::isVehicleTypeSupported(const std::string& vehicle_type) const { - //derived class should override this method to retrieve types of pawns they support - return false; + //derived class should override this method to retrieve types of pawns they support + return false; } std::unique_ptr SimModeBase::createVehicleSimApi( - const PawnSimApi::Params& pawn_sim_api_params) const + const PawnSimApi::Params& pawn_sim_api_params) const { - unused(pawn_sim_api_params); + unused(pawn_sim_api_params); auto sim_api = std::unique_ptr(); sim_api->initialize(); return sim_api; } msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, - const PawnSimApi* sim_api) const + const PawnSimApi* sim_api) const { - //derived class should override this method to retrieve types of pawns they support - return nullptr; + //derived class should override this method to retrieve types of pawns they support + return nullptr; } UnityTransform SimModeBase::GetVehicleStartTransform() { - //can we just take origin in Unity here? - UnityTransform unityTransform; - return unityTransform; + //can we just take origin in Unity here? + UnityTransform unityTransform; + return unityTransform; } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h index d749d05daf..655e79ae0b 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h @@ -12,78 +12,78 @@ class SimModeBase { private: - typedef common_utils::Utils Utils; - typedef msr::airlib::ClockFactory ClockFactory; - typedef msr::airlib::TTimePoint TTimePoint; - typedef msr::airlib::TTimeDelta TTimeDelta; + typedef common_utils::Utils Utils; + typedef msr::airlib::ClockFactory ClockFactory; + typedef msr::airlib::TTimePoint TTimePoint; + typedef msr::airlib::TTimeDelta TTimeDelta; protected: - typedef msr::airlib::AirSimSettings AirSimSettings; + typedef msr::airlib::AirSimSettings AirSimSettings; private: - const msr::airlib::Vector3r GetVehiclePosition(const std::string& vehicle_name); - UnityTransform GetVehicleStartTransform(); - void showClockStats(); + const msr::airlib::Vector3r GetVehiclePosition(const std::string& vehicle_name); + UnityTransform GetVehicleStartTransform(); + void showClockStats(); protected: - virtual std::unique_ptr createApiServer() const; - virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const; - virtual std::unique_ptr createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const; - virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const; - virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name); - virtual void setupVehiclesAndCamera(); - virtual void setupClockSpeed(); //called when SimMode should handle clock speed setting - virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter); - virtual const msr::airlib::AirSimSettings& getSettings() const; + virtual std::unique_ptr createApiServer() const; + virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const; + virtual std::unique_ptr createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const; + virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const; + virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name); + virtual void setupVehiclesAndCamera(); + virtual void setupClockSpeed(); //called when SimMode should handle clock speed setting + virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter); + virtual const msr::airlib::AirSimSettings& getSettings() const; public: - SimModeBase(int port_number); - virtual void BeginPlay(); - virtual void EndPlay(); - virtual void Tick(float DeltaSeconds) = 0; - virtual void reset(); - virtual std::string getDebugReport(); - virtual bool isPaused() const; - virtual void pause(bool is_paused); - virtual void continueForTime(double seconds); + SimModeBase(int port_number); + virtual void BeginPlay(); + virtual void EndPlay(); + virtual void Tick(float DeltaSeconds) = 0; + virtual void reset(); + virtual std::string getDebugReport(); + virtual bool isPaused() const; + virtual void pause(bool is_paused); + virtual void continueForTime(double seconds); virtual void setWind(const msr::airlib::Vector3r& wind) const; - void startApiServer(); - void stopApiServer(); - bool isApiServerStarted(); - const NedTransform& getGlobalNedTransform(); + void startApiServer(); + void stopApiServer(); + bool isApiServerStarted(); + const NedTransform& getGlobalNedTransform(); virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst, - float celestial_clock_speed, float update_interval_secs, bool move_sun); + float celestial_clock_speed, float update_interval_secs, bool move_sun); - msr::airlib::ApiProvider* getApiProvider() const - { - return api_provider_.get(); - } + msr::airlib::ApiProvider* getApiProvider() const + { + return api_provider_.get(); + } - const PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") const - { - return static_cast(api_provider_->getVehicleSimApi(vehicle_name)); - } + const PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") const + { + return static_cast(api_provider_->getVehicleSimApi(vehicle_name)); + } - PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") - { - return static_cast(api_provider_->getVehicleSimApi(vehicle_name)); - } + PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") + { + return static_cast(api_provider_->getVehicleSimApi(vehicle_name)); + } private: - TTimePoint tod_sim_clock_start_; - TTimePoint tod_last_update_; - std::time_t tod_start_time_; - std::unique_ptr global_ned_transform_; - std::unique_ptr world_sim_api_; - std::unique_ptr api_provider_; - std::unique_ptr api_server_; - msr::airlib::StateReporterWrapper debug_reporter_; - std::vector> vehicle_sim_apis_; + TTimePoint tod_sim_clock_start_; + TTimePoint tod_last_update_; + std::time_t tod_start_time_; + std::unique_ptr global_ned_transform_; + std::unique_ptr world_sim_api_; + std::unique_ptr api_provider_; + std::unique_ptr api_server_; + msr::airlib::StateReporterWrapper debug_reporter_; + std::vector> vehicle_sim_apis_; protected: - int record_tick_count; + int record_tick_count; public: - int port_number_; - bool EnableReport = false; + int port_number_; + bool EnableReport = false; }; \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp index 890214291d..b205478575 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp @@ -2,96 +2,92 @@ #include "SimModeWorldBase.h" #include "../PInvokeWrapper.h" -SimModeWorldBase::SimModeWorldBase(int port_number) : - SimModeBase(port_number) +SimModeWorldBase::SimModeWorldBase(int port_number) + : SimModeBase(port_number) { } void SimModeWorldBase::BeginPlay() { - SimModeBase::BeginPlay(); + SimModeBase::BeginPlay(); } void SimModeWorldBase::initializeForPlay() { - std::vector vehicles; - for (auto& api : getApiProvider()->getVehicleSimApis()) - vehicles.push_back(api); + std::vector vehicles; + for (auto& api : getApiProvider()->getVehicleSimApis()) + vehicles.push_back(api); - std::unique_ptr physics_engine = createPhysicsEngine(); - physics_engine_ = physics_engine.get(); - physics_world_.reset(new msr::airlib::PhysicsWorld(std::move(physics_engine), - vehicles, getPhysicsLoopPeriod())); + std::unique_ptr physics_engine = createPhysicsEngine(); + physics_engine_ = physics_engine.get(); + physics_world_.reset(new msr::airlib::PhysicsWorld(std::move(physics_engine), + vehicles, + getPhysicsLoopPeriod())); } void SimModeWorldBase::EndPlay() { - //remove everything that we created in BeginPlay - physics_world_.reset(); - SimModeBase::EndPlay(); + //remove everything that we created in BeginPlay + physics_world_.reset(); + SimModeBase::EndPlay(); } void SimModeWorldBase::startAsyncUpdator() { - physics_world_->startAsyncUpdator(); + physics_world_->startAsyncUpdator(); } void SimModeWorldBase::stopAsyncUpdator() { - physics_world_->stopAsyncUpdator(); + physics_world_->stopAsyncUpdator(); } long long SimModeWorldBase::getPhysicsLoopPeriod() const //nanoseconds { - return physics_loop_period_; + return physics_loop_period_; } -void SimModeWorldBase::setPhysicsLoopPeriod(long long period) +void SimModeWorldBase::setPhysicsLoopPeriod(long long period) { - physics_loop_period_ = period; + physics_loop_period_ = period; } std::unique_ptr SimModeWorldBase::createPhysicsEngine() { - std::unique_ptr physics_engine; - std::string physics_engine_name = getSettings().physics_engine_name; - if (physics_engine_name == "") - { - physics_engine.reset(); //no physics engine - } - else if (physics_engine_name == "FastPhysicsEngine") - { - msr::airlib::Settings fast_phys_settings; - if (msr::airlib::Settings::singleton().getChild("FastPhysicsEngine", fast_phys_settings)) - { - physics_engine.reset(new msr::airlib::FastPhysicsEngine(fast_phys_settings.getBool("EnableGroundLock", true))); - } - else - { - physics_engine.reset(new msr::airlib::FastPhysicsEngine()); - } - } - else - { - physics_engine.reset(); - PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), "", ErrorLogSeverity::Warnning); - } - return physics_engine; + std::unique_ptr physics_engine; + std::string physics_engine_name = getSettings().physics_engine_name; + if (physics_engine_name == "") { + physics_engine.reset(); //no physics engine + } + else if (physics_engine_name == "FastPhysicsEngine") { + msr::airlib::Settings fast_phys_settings; + if (msr::airlib::Settings::singleton().getChild("FastPhysicsEngine", fast_phys_settings)) { + physics_engine.reset(new msr::airlib::FastPhysicsEngine(fast_phys_settings.getBool("EnableGroundLock", true))); + } + else { + physics_engine.reset(new msr::airlib::FastPhysicsEngine()); + } + } + else { + physics_engine.reset(); + PrintLogMessage("Unrecognized physics engine name: ", physics_engine_name.c_str(), "", ErrorLogSeverity::Warnning); + } + return physics_engine; } bool SimModeWorldBase::isPaused() const { - return physics_world_->isPaused(); + return physics_world_->isPaused(); } void SimModeWorldBase::pause(bool is_paused) { - physics_world_->pause(is_paused); + physics_world_->pause(is_paused); } void SimModeWorldBase::continueForTime(double seconds) { - physics_world_->continueForTime(seconds); + physics_world_->continueForTime(seconds); } void SimModeWorldBase::setWind(const msr::airlib::Vector3r& wind) const @@ -101,38 +97,38 @@ void SimModeWorldBase::setWind(const msr::airlib::Vector3r& wind) const void SimModeWorldBase::updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter) { - unused(debug_reporter); - //we use custom debug reporting for this class + unused(debug_reporter); + //we use custom debug reporting for this class } void SimModeWorldBase::Tick(float DeltaSeconds) { - { //keep this lock as short as possible - physics_world_->lock(); + { //keep this lock as short as possible + physics_world_->lock(); - physics_world_->enableStateReport(EnableReport); - physics_world_->updateStateReport(); + physics_world_->enableStateReport(EnableReport); + physics_world_->updateStateReport(); - for (auto& api : getApiProvider()->getVehicleSimApis()) - api->updateRenderedState(DeltaSeconds); + for (auto& api : getApiProvider()->getVehicleSimApis()) + api->updateRenderedState(DeltaSeconds); - physics_world_->unlock(); - } + physics_world_->unlock(); + } - //perform any expensive rendering update outside of lock region - for (auto& api : getApiProvider()->getVehicleSimApis()) - api->updateRendering(DeltaSeconds); + //perform any expensive rendering update outside of lock region + for (auto& api : getApiProvider()->getVehicleSimApis()) + api->updateRendering(DeltaSeconds); - SimModeBase::Tick(DeltaSeconds); + SimModeBase::Tick(DeltaSeconds); } void SimModeWorldBase::reset() { - physics_world_->reset(); - //no need to call base reset because of our custom implementation + physics_world_->reset(); + //no need to call base reset because of our custom implementation } std::string SimModeWorldBase::getDebugReport() { - return physics_world_->getDebugReport(); + return physics_world_->getDebugReport(); } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h index 85100baabe..202426088c 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h @@ -7,47 +7,47 @@ class SimModeWorldBase : public SimModeBase { private: - typedef msr::airlib::UpdatableObject UpdatableObject; - typedef msr::airlib::PhysicsEngineBase PhysicsEngineBase; - typedef msr::airlib::ClockFactory ClockFactory; + typedef msr::airlib::UpdatableObject UpdatableObject; + typedef msr::airlib::PhysicsEngineBase PhysicsEngineBase; + typedef msr::airlib::ClockFactory ClockFactory; private: - //create the physics engine as needed from settings - std::unique_ptr createPhysicsEngine(); + //create the physics engine as needed from settings + std::unique_ptr createPhysicsEngine(); protected: - void startAsyncUpdator(); - void stopAsyncUpdator(); - virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter) override; - long long getPhysicsLoopPeriod() const; - void setPhysicsLoopPeriod(long long period); + void startAsyncUpdator(); + void stopAsyncUpdator(); + virtual void updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter) override; + long long getPhysicsLoopPeriod() const; + void setPhysicsLoopPeriod(long long period); - //should be called by derived class once all api_provider_ is ready to use - void initializeForPlay(); + //should be called by derived class once all api_provider_ is ready to use + void initializeForPlay(); public: - SimModeWorldBase(int port_number); - virtual void BeginPlay() override; - virtual void EndPlay() override; - virtual void Tick(float DeltaSeconds) override; - virtual void reset() override; - virtual std::string getDebugReport() override; - virtual bool isPaused() const override; - virtual void pause(bool is_paused) override; - virtual void continueForTime(double seconds) override; + SimModeWorldBase(int port_number); + virtual void BeginPlay() override; + virtual void EndPlay() override; + virtual void Tick(float DeltaSeconds) override; + virtual void reset() override; + virtual std::string getDebugReport() override; + virtual bool isPaused() const override; + virtual void pause(bool is_paused) override; + virtual void continueForTime(double seconds) override; virtual void setWind(const msr::airlib::Vector3r& wind) const override; private: - std::unique_ptr physics_world_; - PhysicsEngineBase* physics_engine_; + std::unique_ptr physics_world_; + PhysicsEngineBase* physics_engine_; - /* 300Hz seems to be minimum for non-aggressive flights + /* 300Hz seems to be minimum for non-aggressive flights 400Hz is needed for moderately aggressive flights (such as high yaw rate with simultaneous back move) 500Hz is recommended for more aggressive flights Lenovo P50 high-end config laptop seems to be topping out at 400Hz. HP Z840 desktop high-end config seems to be able to go up to 500Hz. To increase freq with limited CPU power, switch Barometer to constant ref mode. */ - long long physics_loop_period_ = 3000000LL; //3ms + long long physics_loop_period_ = 3000000LL; //3ms }; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp index f2a7fb05d6..2ce52a46c8 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.cpp @@ -2,6 +2,6 @@ void StartServerThread(std::string sim_mode_name, int port_number) { - key = new SimHUD(sim_mode_name, port_number); - key->BeginPlay(); + key = new SimHUD(sim_mode_name, port_number); + key->BeginPlay(); } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h index 503f3a665b..d34f0e9eed 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/UnityToAirSimCalls.h @@ -6,9 +6,9 @@ #include "Logger.h" #ifdef _WIN32 - #define EXPORT __declspec(dllexport) +#define EXPORT __declspec(dllexport) #else - #define EXPORT __attribute__((visibility("default"))) +#define EXPORT __attribute__((visibility("default"))) #endif static SimHUD* key = nullptr; @@ -17,44 +17,40 @@ void StartServerThread(std::string sim_mode_name, int port_number); extern "C" EXPORT bool StartServer(char* sim_mode_name, int port_number) { - LOGGER->WriteLog("Starting server for : " + std::string(sim_mode_name)); - std::thread server_thread(StartServerThread, sim_mode_name, port_number); - server_thread.detach(); - int waitCounter = 25; // waiting for maximum 5 seconds to start a server. - while ((key == nullptr || !key->server_started_Successfully_) && waitCounter > 0) - { - std::this_thread::sleep_for(std::chrono::milliseconds(200)); - waitCounter--; - } - return key->server_started_Successfully_; + LOGGER->WriteLog("Starting server for : " + std::string(sim_mode_name)); + std::thread server_thread(StartServerThread, sim_mode_name, port_number); + server_thread.detach(); + int waitCounter = 25; // waiting for maximum 5 seconds to start a server. + while ((key == nullptr || !key->server_started_Successfully_) && waitCounter > 0) { + std::this_thread::sleep_for(std::chrono::milliseconds(200)); + waitCounter--; + } + return key->server_started_Successfully_; } extern "C" EXPORT void StopServer() { - key->EndPlay(); - if (key != nullptr) - { - delete key; - key = nullptr; - } - LOGGER->WriteLog("Server stopped"); + key->EndPlay(); + if (key != nullptr) { + delete key; + key = nullptr; + } + LOGGER->WriteLog("Server stopped"); } extern "C" EXPORT void CallTick(float deltaSeconds) { - key->Tick(deltaSeconds); + key->Tick(deltaSeconds); } extern "C" EXPORT void InvokeCollisionDetection(char* vehicle_name, AirSimUnity::AirSimCollisionInfo collision_info) { - auto simMode = key->GetSimMode(); - if (simMode) - { - auto vehicleApi = simMode->getVehicleSimApi(vehicle_name); - if (vehicleApi) - { - msr::airlib::CollisionInfo collisionInfo = UnityUtilities::Convert_to_AirSimCollisioinInfo(collision_info); - vehicleApi->OnCollision(collisionInfo); - } - } + auto simMode = key->GetSimMode(); + if (simMode) { + auto vehicleApi = simMode->getVehicleSimApi(vehicle_name); + if (vehicleApi) { + msr::airlib::CollisionInfo collisionInfo = UnityUtilities::Convert_to_AirSimCollisioinInfo(collision_info); + vehicleApi->OnCollision(collisionInfo); + } + } } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp index d8c2873af9..e715d861c5 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp @@ -6,14 +6,12 @@ #include "../../UnityUtilities.hpp" #include "../../UnitySensors/UnitySensorFactory.h" - CarPawnSimApi::CarPawnSimApi(const Params& params, - const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name) - : PawnSimApi(params), params_(params), - keyboard_controls_(keyboard_controls), car_name_(car_name) + const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name) + : PawnSimApi(params), params_(params), keyboard_controls_(keyboard_controls), car_name_(car_name) { - createVehicleApi(static_cast(params.pawn), params.home_geopoint); - joystick_controls_ = msr::airlib::CarApiBase::CarControls(); + createVehicleApi(static_cast(params.pawn), params.home_geopoint); + joystick_controls_ = msr::airlib::CarApiBase::CarControls(); } void CarPawnSimApi::initialize() @@ -30,155 +28,146 @@ void CarPawnSimApi::createVehicleApi(CarPawn* pawn, const msr::airlib::GeoPoint& { std::shared_ptr sensor_factory = std::make_shared(car_name_, &getNedTransform()); - vehicle_api_ = CarApiFactory::createApi(getVehicleSetting(), sensor_factory, (*getGroundTruthKinematics()), - (*getGroundTruthEnvironment()), home_geopoint); + vehicle_api_ = CarApiFactory::createApi(getVehicleSetting(), sensor_factory, (*getGroundTruthKinematics()), (*getGroundTruthEnvironment()), home_geopoint); pawn_api_ = std::unique_ptr(new CarPawnApi(pawn, getGroundTruthKinematics(), car_name_, vehicle_api_.get())); } std::string CarPawnSimApi::getRecordFileLine(bool is_header_line) const { - std::string common_line = PawnSimApi::getRecordFileLine(is_header_line); - if (is_header_line) - { - return common_line + - "Throttle\tSteering\tBrake\tGear\tHandbrake\tRPM\tSpeed\t"; - } - - const msr::airlib::Kinematics::State* kinematics = getGroundTruthKinematics(); - const auto state = pawn_api_->getCarState(); - - common_line - .append(std::to_string(current_controls_.throttle)).append("\t") - .append(std::to_string(current_controls_.steering)).append("\t") - .append(std::to_string(current_controls_.brake)).append("\t") - .append(std::to_string(state.gear)).append("\t") - .append(std::to_string(state.handbrake)).append("\t") - .append(std::to_string(state.rpm)).append("\t") - .append(std::to_string(state.speed)).append("\t") - ; - - return common_line; + std::string common_line = PawnSimApi::getRecordFileLine(is_header_line); + if (is_header_line) { + return common_line + + "Throttle\tSteering\tBrake\tGear\tHandbrake\tRPM\tSpeed\t"; + } + + const msr::airlib::Kinematics::State* kinematics = getGroundTruthKinematics(); + const auto state = pawn_api_->getCarState(); + + common_line + .append(std::to_string(current_controls_.throttle)) + .append("\t") + .append(std::to_string(current_controls_.steering)) + .append("\t") + .append(std::to_string(current_controls_.brake)) + .append("\t") + .append(std::to_string(state.gear)) + .append("\t") + .append(std::to_string(state.handbrake)) + .append("\t") + .append(std::to_string(state.rpm)) + .append("\t") + .append(std::to_string(state.speed)) + .append("\t"); + + return common_line; } //these are called on render ticks void CarPawnSimApi::updateRenderedState(float dt) { - PawnSimApi::updateRenderedState(dt); + PawnSimApi::updateRenderedState(dt); - vehicle_api_->getStatusMessages(vehicle_api_messages_); + vehicle_api_->getStatusMessages(vehicle_api_messages_); - //TODO: do we need this for cars? - if (getRemoteControlID() >= 0) - vehicle_api_->setRCData(getRCData()); + //TODO: do we need this for cars? + if (getRemoteControlID() >= 0) + vehicle_api_->setRCData(getRCData()); } void CarPawnSimApi::updateRendering(float dt) { - PawnSimApi::updateRendering(dt); - updateCarControls(); - - for (auto i = 0; i < vehicle_api_messages_.size(); ++i) - { - PrintLogMessage(vehicle_api_messages_[i].c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information); - } - - try - { - vehicle_api_->sendTelemetry(dt); - } - catch (std::exception &e) - { - PrintLogMessage(e.what(), "LogDebugLevel::Failure", car_name_.c_str(), ErrorLogSeverity::Error); - } + PawnSimApi::updateRendering(dt); + updateCarControls(); + + for (auto i = 0; i < vehicle_api_messages_.size(); ++i) { + PrintLogMessage(vehicle_api_messages_[i].c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information); + } + + try { + vehicle_api_->sendTelemetry(dt); + } + catch (std::exception& e) { + PrintLogMessage(e.what(), "LogDebugLevel::Failure", car_name_.c_str(), ErrorLogSeverity::Error); + } } void CarPawnSimApi::updateCarControls() { - auto rc_data = getRCData(); - - if (rc_data.is_initialized) - { - if (!rc_data.is_valid) - { - PrintLogMessage("Control Mode: ", "[INVALID] Wheel/Joystick LogDebugLevel::Informational", car_name_.c_str(), ErrorLogSeverity::Information); - return; - } - PrintLogMessage("Control Mode: ", "Wheel/Joystick - LogDebugLevel::Informational", car_name_.c_str(), ErrorLogSeverity::Information); - - // Thrustmaster devices - if (rc_data.vendor_id == "VID_044F") { - joystick_controls_.steering = rc_data.yaw; - joystick_controls_.throttle = (-rc_data.right_z + 1) / 2; - joystick_controls_.brake = rc_data.throttle; - - auto car_state = vehicle_api_->getCarState(); - float rumble_strength = 0.66f + (car_state.rpm - / car_state.maxrpm) / 3.0f; - float auto_center = (1.0f - 1.0f / (std::abs(car_state.speed / 120) + 1.0f)) - * (rc_data.yaw / 3.0f); - } - // Anything else, typically Logitech G920 wheel - else - { - joystick_controls_.steering = (rc_data.throttle * 2 - 1) * 1.25f; - joystick_controls_.throttle = (-rc_data.roll + 1) / 2; - joystick_controls_.brake = -rc_data.right_z + 1; - } - - //Two steel levers behind wheel - joystick_controls_.handbrake = (rc_data.getSwitch(5)) | (rc_data.getSwitch(6)) ? 1 : 0; - - if ((rc_data.getSwitch(8)) | (rc_data.getSwitch(1))) - { //RSB button or B button - joystick_controls_.manual_gear = -1; - joystick_controls_.is_manual_gear = true; - joystick_controls_.gear_immediate = true; - } - else if ((rc_data.getSwitch(9)) | (rc_data.getSwitch(0))) - { //LSB button or A button - joystick_controls_.manual_gear = 0; - joystick_controls_.is_manual_gear = false; - joystick_controls_.gear_immediate = true; - } - - current_controls_ = joystick_controls_; - } - else - { - PrintLogMessage("Control Mode: ", "Keyboard", getVehicleName().c_str(), ErrorLogSeverity::Information); - current_controls_ = keyboard_controls_; - } - - //if API-client control is not active then we route keyboard/joystick control to car - if (!vehicle_api_->isApiControlEnabled()) - { - //all car controls from anywhere must be routed through API component - vehicle_api_->setCarControls(current_controls_); - pawn_api_->updateMovement(current_controls_); - } - else - { - PrintLogMessage("Control Mode: ", "API", getVehicleName().c_str(), ErrorLogSeverity::Information); - current_controls_ = vehicle_api_->getCarControls(); - pawn_api_->updateMovement(current_controls_); - } + auto rc_data = getRCData(); + + if (rc_data.is_initialized) { + if (!rc_data.is_valid) { + PrintLogMessage("Control Mode: ", "[INVALID] Wheel/Joystick LogDebugLevel::Informational", car_name_.c_str(), ErrorLogSeverity::Information); + return; + } + PrintLogMessage("Control Mode: ", "Wheel/Joystick - LogDebugLevel::Informational", car_name_.c_str(), ErrorLogSeverity::Information); + + // Thrustmaster devices + if (rc_data.vendor_id == "VID_044F") { + joystick_controls_.steering = rc_data.yaw; + joystick_controls_.throttle = (-rc_data.right_z + 1) / 2; + joystick_controls_.brake = rc_data.throttle; + + auto car_state = vehicle_api_->getCarState(); + float rumble_strength = 0.66f + (car_state.rpm / car_state.maxrpm) / 3.0f; + float auto_center = (1.0f - 1.0f / (std::abs(car_state.speed / 120) + 1.0f)) * (rc_data.yaw / 3.0f); + } + // Anything else, typically Logitech G920 wheel + else { + joystick_controls_.steering = (rc_data.throttle * 2 - 1) * 1.25f; + joystick_controls_.throttle = (-rc_data.roll + 1) / 2; + joystick_controls_.brake = -rc_data.right_z + 1; + } + + //Two steel levers behind wheel + joystick_controls_.handbrake = (rc_data.getSwitch(5)) | (rc_data.getSwitch(6)) ? 1 : 0; + + if ((rc_data.getSwitch(8)) | (rc_data.getSwitch(1))) { //RSB button or B button + joystick_controls_.manual_gear = -1; + joystick_controls_.is_manual_gear = true; + joystick_controls_.gear_immediate = true; + } + else if ((rc_data.getSwitch(9)) | (rc_data.getSwitch(0))) { //LSB button or A button + joystick_controls_.manual_gear = 0; + joystick_controls_.is_manual_gear = false; + joystick_controls_.gear_immediate = true; + } + + current_controls_ = joystick_controls_; + } + else { + PrintLogMessage("Control Mode: ", "Keyboard", getVehicleName().c_str(), ErrorLogSeverity::Information); + current_controls_ = keyboard_controls_; + } + + //if API-client control is not active then we route keyboard/joystick control to car + if (!vehicle_api_->isApiControlEnabled()) { + //all car controls from anywhere must be routed through API component + vehicle_api_->setCarControls(current_controls_); + pawn_api_->updateMovement(current_controls_); + } + else { + PrintLogMessage("Control Mode: ", "API", getVehicleName().c_str(), ErrorLogSeverity::Information); + current_controls_ = vehicle_api_->getCarControls(); + pawn_api_->updateMovement(current_controls_); + } } //*** Start: UpdatableState implementation ***// void CarPawnSimApi::resetImplementation() { - setPose(UnityUtilities::Convert_to_Pose(GetInitialPose()), false); - Reset(); + setPose(UnityUtilities::Convert_to_Pose(GetInitialPose()), false); + Reset(); - PawnSimApi::resetImplementation(); - pawn_api_->reset(); + PawnSimApi::resetImplementation(); + pawn_api_->reset(); } //physics tick void CarPawnSimApi::update() { - pawn_api_->update(); - PawnSimApi::update(); + pawn_api_->update(); + PawnSimApi::update(); } //void CarPawnSimApi::reportState(StateReporter& reporter) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp index 56d99508d0..b495dce679 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp @@ -5,99 +5,101 @@ #include "vehicles/car/api/CarRpcLibServer.hpp" #include "../../PInvokeWrapper.h" -SimModeCar::SimModeCar(int port_number) : SimModeBase(port_number) +SimModeCar::SimModeCar(int port_number) + : SimModeBase(port_number) { } void SimModeCar::BeginPlay() { - SimModeBase::BeginPlay(); - initializePauseState(); + SimModeBase::BeginPlay(); + initializePauseState(); } void SimModeCar::initializePauseState() { - pause_period_ = 0; - pause_period_start_ = 0; - pause(false); + pause_period_ = 0; + pause_period_start_ = 0; + pause(false); } bool SimModeCar::isPaused() const { - return current_clockspeed_ == 0; + return current_clockspeed_ == 0; } void SimModeCar::pause(bool is_paused) { - if (is_paused) - current_clockspeed_ = 0; - else - current_clockspeed_ = getSettings().clock_speed; + if (is_paused) + current_clockspeed_ = 0; + else + current_clockspeed_ = getSettings().clock_speed; - Pause(current_clockspeed_); + Pause(current_clockspeed_); } void SimModeCar::continueForTime(double seconds) { - pause_period_start_ = ClockFactory::get()->nowNanos(); - pause_period_ = seconds; - pause(false); + pause_period_start_ = ClockFactory::get()->nowNanos(); + pause_period_ = seconds; + pause(false); } void SimModeCar::setupClockSpeed() { - current_clockspeed_ = getSettings().clock_speed; + current_clockspeed_ = getSettings().clock_speed; } void SimModeCar::Tick(float DeltaSeconds) { - SimModeBase::Tick(DeltaSeconds); + SimModeBase::Tick(DeltaSeconds); - if (pause_period_start_ > 0) { - if (ClockFactory::get()->elapsedSince(pause_period_start_) >= pause_period_) { - if (!isPaused()) - pause(true); + if (pause_period_start_ > 0) { + if (ClockFactory::get()->elapsedSince(pause_period_start_) >= pause_period_) { + if (!isPaused()) + pause(true); - pause_period_start_ = 0; - } - } + pause_period_start_ = 0; + } + } } std::unique_ptr SimModeCar::createApiServer() const { #ifdef AIRLIB_NO_RPC - return ASimModeBase::createApiServer(); + return ASimModeBase::createApiServer(); #else - auto ptr = std::unique_ptr(new msr::airlib::CarRpcLibServer( - getApiProvider(), getSettings().api_server_address, port_number_)); + auto ptr = std::unique_ptr(new msr::airlib::CarRpcLibServer( + getApiProvider(), getSettings().api_server_address, port_number_)); - return ptr; + return ptr; #endif } bool SimModeCar::isVehicleTypeSupported(const std::string& vehicle_type) const { - return vehicle_type == AirSimSettings::kVehicleTypePhysXCar; + return vehicle_type == AirSimSettings::kVehicleTypePhysXCar; } UnityPawn* SimModeCar::GetVehiclePawn(const std::string& vehicle_name) { - return new CarPawn(vehicle_name); + return new CarPawn(vehicle_name); } std::unique_ptr SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const { - auto vehicle_pawn = static_cast(pawn_sim_api_params.pawn); + auto vehicle_pawn = static_cast(pawn_sim_api_params.pawn); - auto vehicle_sim_api = std::unique_ptr(new CarPawnSimApi(pawn_sim_api_params, - vehicle_pawn->getKeyBoardControls(), pawn_sim_api_params.vehicle_name)); + auto vehicle_sim_api = std::unique_ptr(new CarPawnSimApi(pawn_sim_api_params, + vehicle_pawn->getKeyBoardControls(), + pawn_sim_api_params.vehicle_name)); vehicle_sim_api->initialize(); - vehicle_sim_api->reset(); - return vehicle_sim_api; + vehicle_sim_api->reset(); + return vehicle_sim_api; } msr::airlib::VehicleApiBase* SimModeCar::getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, const PawnSimApi* sim_api) const { - const auto car_sim_api = static_cast(sim_api); - return car_sim_api->getVehicleApi(); + const auto car_sim_api = static_cast(sim_api); + return car_sim_api->getVehicleApi(); } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h index 88652ee80a..89d27c5193 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.h @@ -7,37 +7,37 @@ class SimModeCar : public SimModeBase { private: - typedef msr::airlib::ClockFactory ClockFactory; - typedef common_utils::Utils Utils; - typedef msr::airlib::TTimePoint TTimePoint; - typedef msr::airlib::TTimeDelta TTimeDelta; - typedef CarPawn TVehiclePawn; - typedef msr::airlib::VehicleSimApiBase VehicleSimApiBase; - typedef msr::airlib::VectorMath VectorMath; - typedef msr::airlib::Vector3r Vector3r; + typedef msr::airlib::ClockFactory ClockFactory; + typedef common_utils::Utils Utils; + typedef msr::airlib::TTimePoint TTimePoint; + typedef msr::airlib::TTimeDelta TTimeDelta; + typedef CarPawn TVehiclePawn; + typedef msr::airlib::VehicleSimApiBase VehicleSimApiBase; + typedef msr::airlib::VectorMath VectorMath; + typedef msr::airlib::Vector3r Vector3r; private: - void initializePauseState(); + void initializePauseState(); protected: - virtual void setupClockSpeed() override; - virtual std::unique_ptr createApiServer() const override; - virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const override; - virtual std::unique_ptr createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const override; - virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, - const PawnSimApi* sim_api) const override; + virtual void setupClockSpeed() override; + virtual std::unique_ptr createApiServer() const override; + virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const override; + virtual std::unique_ptr createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const override; + virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, + const PawnSimApi* sim_api) const override; public: - SimModeCar(int port_number); - virtual void BeginPlay() override; - virtual void Tick(float DeltaSeconds) override; - virtual bool isPaused() const override; - virtual void pause(bool is_paused) override; - virtual void continueForTime(double seconds) override; - virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; + SimModeCar(int port_number); + virtual void BeginPlay() override; + virtual void Tick(float DeltaSeconds) override; + virtual bool isPaused() const override; + virtual void pause(bool is_paused) override; + virtual void continueForTime(double seconds) override; + virtual UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; private: - std::atomic current_clockspeed_; - std::atomic pause_period_; - std::atomic pause_period_start_; + std::atomic current_clockspeed_; + std::atomic pause_period_; + std::atomic pause_period_start_; }; \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp index 7f4185aafb..3f5bca8b86 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp @@ -3,80 +3,76 @@ #include "MultirotorPawnSimApi.h" #include "vehicles/multirotor/api/MultirotorRpcLibServer.hpp" -SimModeWorldMultiRotor::SimModeWorldMultiRotor(int port_number) : - SimModeWorldBase(port_number) +SimModeWorldMultiRotor::SimModeWorldMultiRotor(int port_number) + : SimModeWorldBase(port_number) { } void SimModeWorldMultiRotor::BeginPlay() { - SimModeWorldBase::BeginPlay(); + SimModeWorldBase::BeginPlay(); - //let base class setup physics world - initializeForPlay(); + //let base class setup physics world + initializeForPlay(); } void SimModeWorldMultiRotor::Tick(float DeltaSeconds) { - SimModeWorldBase::Tick(DeltaSeconds); + SimModeWorldBase::Tick(DeltaSeconds); } void SimModeWorldMultiRotor::EndPlay() { - //stop physics thread before we dismantle - stopAsyncUpdator(); - SimModeWorldBase::EndPlay(); + //stop physics thread before we dismantle + stopAsyncUpdator(); + SimModeWorldBase::EndPlay(); } UnityPawn* SimModeWorldMultiRotor::GetVehiclePawn(const std::string& vehicle_name) { - return new FlyingPawn(vehicle_name); + return new FlyingPawn(vehicle_name); } void SimModeWorldMultiRotor::setupClockSpeed() { - typedef msr::airlib::ClockFactory ClockFactory; - float clock_speed = getSettings().clock_speed; - - //setup clock in ClockFactory - std::string clock_type = getSettings().clock_type; - - if (clock_type == "ScalableClock") - { - //scalable clock returns interval same as wall clock but multiplied by a scale factor - ClockFactory::get(std::make_shared(clock_speed == 1 ? 1 : 1 / clock_speed)); - } - else if (clock_type == "SteppableClock") - { - //steppable clock returns interval that is a constant number irrespective of wall clock - //we can either multiply this fixed interval by scale factor to speed up/down the clock - //but that would cause vehicles like quadrotors to become unstable - //so alternative we use here is instead to scale control loop frequency. The downside is that - //depending on compute power available, we will max out control loop frequency and therefore can no longer - //get increase in clock speed - - //Approach 1: scale clock period, no longer used now due to quadrotor instability - //ClockFactory::get(std::make_shared( - //static_cast(getPhysicsLoopPeriod() * 1E-9 * clock_speed))); - - //Approach 2: scale control loop frequency if clock is speeded up - if (clock_speed >= 1) - { - ClockFactory::get(std::make_shared( - static_cast(getPhysicsLoopPeriod() * 1E-9))); //no clock_speed multiplier - - setPhysicsLoopPeriod(getPhysicsLoopPeriod() / static_cast(clock_speed)); - } - else - { - //for slowing down, this don't generate instability - ClockFactory::get(std::make_shared( - static_cast(getPhysicsLoopPeriod() * 1E-9 * clock_speed))); - } - } - else - throw std::invalid_argument(common_utils::Utils::stringf( - "clock_type %s is not recognized", clock_type.c_str())); + typedef msr::airlib::ClockFactory ClockFactory; + float clock_speed = getSettings().clock_speed; + + //setup clock in ClockFactory + std::string clock_type = getSettings().clock_type; + + if (clock_type == "ScalableClock") { + //scalable clock returns interval same as wall clock but multiplied by a scale factor + ClockFactory::get(std::make_shared(clock_speed == 1 ? 1 : 1 / clock_speed)); + } + else if (clock_type == "SteppableClock") { + //steppable clock returns interval that is a constant number irrespective of wall clock + //we can either multiply this fixed interval by scale factor to speed up/down the clock + //but that would cause vehicles like quadrotors to become unstable + //so alternative we use here is instead to scale control loop frequency. The downside is that + //depending on compute power available, we will max out control loop frequency and therefore can no longer + //get increase in clock speed + + //Approach 1: scale clock period, no longer used now due to quadrotor instability + //ClockFactory::get(std::make_shared( + //static_cast(getPhysicsLoopPeriod() * 1E-9 * clock_speed))); + + //Approach 2: scale control loop frequency if clock is speeded up + if (clock_speed >= 1) { + ClockFactory::get(std::make_shared( + static_cast(getPhysicsLoopPeriod() * 1E-9))); //no clock_speed multiplier + + setPhysicsLoopPeriod(getPhysicsLoopPeriod() / static_cast(clock_speed)); + } + else { + //for slowing down, this don't generate instability + ClockFactory::get(std::make_shared( + static_cast(getPhysicsLoopPeriod() * 1E-9 * clock_speed))); + } + } + else + throw std::invalid_argument(common_utils::Utils::stringf( + "clock_type %s is not recognized", clock_type.c_str())); } //-------------------------------- overrides -----------------------------------------------// @@ -84,33 +80,33 @@ void SimModeWorldMultiRotor::setupClockSpeed() std::unique_ptr SimModeWorldMultiRotor::createApiServer() const { #ifdef AIRLIB_NO_RPC - return ASimModeBase::createApiServer(); + return ASimModeBase::createApiServer(); #else - auto ptr = std::unique_ptr(new msr::airlib::MultirotorRpcLibServer( - getApiProvider(), getSettings().api_server_address, port_number_)); + auto ptr = std::unique_ptr(new msr::airlib::MultirotorRpcLibServer( + getApiProvider(), getSettings().api_server_address, port_number_)); - return ptr; + return ptr; #endif } bool SimModeWorldMultiRotor::isVehicleTypeSupported(const std::string& vehicle_type) const { - return ((vehicle_type == AirSimSettings::kVehicleTypeSimpleFlight) || - (vehicle_type == AirSimSettings::kVehicleTypePX4)); + return ((vehicle_type == AirSimSettings::kVehicleTypeSimpleFlight) || + (vehicle_type == AirSimSettings::kVehicleTypePX4)); } std::unique_ptr SimModeWorldMultiRotor::createVehicleSimApi( - const PawnSimApi::Params& pawn_sim_api_params) const + const PawnSimApi::Params& pawn_sim_api_params) const { - auto vehicle_sim_api = std::unique_ptr(new MultirotorPawnSimApi(pawn_sim_api_params)); + auto vehicle_sim_api = std::unique_ptr(new MultirotorPawnSimApi(pawn_sim_api_params)); vehicle_sim_api->initialize(); //For multirotors the vehicle_sim_api are in PhysicsWOrld container and then get reseted when world gets reseted - return vehicle_sim_api; + return vehicle_sim_api; } msr::airlib::VehicleApiBase* SimModeWorldMultiRotor::getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, - const PawnSimApi* sim_api) const + const PawnSimApi* sim_api) const { - const auto multirotor_sim_api = static_cast(sim_api); - return multirotor_sim_api->getVehicleApi(); + const auto multirotor_sim_api = static_cast(sim_api); + return multirotor_sim_api->getVehicleApi(); } \ No newline at end of file diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h index 3f781efc66..672e8a3805 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.h @@ -6,21 +6,21 @@ class SimModeWorldMultiRotor : public SimModeWorldBase { protected: - virtual void setupClockSpeed() override; - virtual std::unique_ptr createApiServer() const override; - virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const override; - virtual std::unique_ptr createVehicleSimApi( - const PawnSimApi::Params& pawn_sim_api_params) const override; - virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, - const PawnSimApi* sim_api) const override; + virtual void setupClockSpeed() override; + virtual std::unique_ptr createApiServer() const override; + virtual bool isVehicleTypeSupported(const std::string& vehicle_type) const override; + virtual std::unique_ptr createVehicleSimApi( + const PawnSimApi::Params& pawn_sim_api_params) const override; + virtual msr::airlib::VehicleApiBase* getVehicleApi(const PawnSimApi::Params& pawn_sim_api_params, + const PawnSimApi* sim_api) const override; public: - SimModeWorldMultiRotor(int port_number); - virtual void BeginPlay() override; - virtual void EndPlay() override; - void Tick(float DeltaSeconds) override; - UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; + SimModeWorldMultiRotor(int port_number); + virtual void BeginPlay() override; + virtual void EndPlay() override; + void Tick(float DeltaSeconds) override; + UnityPawn* GetVehiclePawn(const std::string& vehicle_name) override; private: - typedef FlyingPawn TVehiclePawn; + typedef FlyingPawn TVehiclePawn; }; diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp index c02a5e4edf..8922e9f71e 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp @@ -4,90 +4,103 @@ #include "UnityUtilities.hpp" WorldSimApi::WorldSimApi(SimModeBase* simmode) - : simmode_(simmode) -{} + : simmode_(simmode) +{ +} WorldSimApi::~WorldSimApi() -{} +{ +} bool WorldSimApi::isPaused() const { - return simmode_->isPaused(); + return simmode_->isPaused(); } void WorldSimApi::reset() { - simmode_->reset(); + simmode_->reset(); } void WorldSimApi::pause(bool is_paused) { - simmode_->pause(is_paused); + simmode_->pause(is_paused); } void WorldSimApi::continueForTime(double seconds) { - simmode_->continueForTime(seconds); + simmode_->continueForTime(seconds); } void WorldSimApi::setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst, - float celestial_clock_speed, float update_interval_secs, bool move_sun) + float celestial_clock_speed, float update_interval_secs, bool move_sun) { - simmode_->setTimeOfDay(is_enabled, start_datetime, is_start_datetime_dst, - celestial_clock_speed, update_interval_secs, move_sun); + simmode_->setTimeOfDay(is_enabled, start_datetime, is_start_datetime_dst, celestial_clock_speed, update_interval_secs, move_sun); } bool WorldSimApi::setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex) { - return SetSegmentationObjectId(mesh_name.c_str(), object_id, is_name_regex); + return SetSegmentationObjectId(mesh_name.c_str(), object_id, is_name_regex); } int WorldSimApi::getSegmentationObjectID(const std::string& mesh_name) const { - return GetSegmentationObjectId(mesh_name.c_str()); + return GetSegmentationObjectId(mesh_name.c_str()); } void WorldSimApi::printLogMessage(const std::string& message, const std::string& message_param, unsigned char severity) { - PrintLogMessage(message.c_str(), message_param.c_str(), "", severity); + PrintLogMessage(message.c_str(), message_param.c_str(), "", severity); } std::unique_ptr> WorldSimApi::swapTextures(const std::string& tag, int tex_id, int component_id, int material_id) { std::unique_ptr> result; throw std::invalid_argument(common_utils::Utils::stringf( - "swapTextures is not supported on unity").c_str()); + "swapTextures is not supported on unity") + .c_str()); return result; } std::vector WorldSimApi::listSceneObjects(const std::string& name_regex) const { - std::vector result; - throw std::invalid_argument(common_utils::Utils::stringf( - "simListSceneObject is not supported on unity").c_str()); - return result; + std::vector result; + throw std::invalid_argument(common_utils::Utils::stringf( + "simListSceneObject is not supported on unity") + .c_str()); + return result; } WorldSimApi::Pose WorldSimApi::getObjectPose(const std::string& object_name) const { - AirSimUnity::AirSimPose airSimPose = GetPose(object_name.c_str()); - return UnityUtilities::Convert_to_Pose(airSimPose); + AirSimUnity::AirSimPose airSimPose = GetPose(object_name.c_str()); + return UnityUtilities::Convert_to_Pose(airSimPose); } -msr::airlib::Vector3r WorldSimApi::getObjectScale(const std::string& object_name) const { return Vector3r(); } -msr::airlib::Vector3r WorldSimApi::getObjectScaleInternal(const std::string& object_name) const { return Vector3r(); } -bool WorldSimApi::setObjectScale(const std::string& object_name, const Vector3r& scale) { return false; } +msr::airlib::Vector3r WorldSimApi::getObjectScale(const std::string& object_name) const +{ + return Vector3r(); +} +msr::airlib::Vector3r WorldSimApi::getObjectScaleInternal(const std::string& object_name) const +{ + return Vector3r(); +} +bool WorldSimApi::setObjectScale(const std::string& object_name, const Vector3r& scale) +{ + return false; +} bool WorldSimApi::setObjectPose(const std::string& object_name, const WorldSimApi::Pose& pose, bool teleport) { - AirSimUnity::AirSimPose airSimPose = UnityUtilities::Convert_to_AirSimPose(pose); - return SetPose(airSimPose, false, object_name.c_str()); + AirSimUnity::AirSimPose airSimPose = UnityUtilities::Convert_to_AirSimPose(pose); + return SetPose(airSimPose, false, object_name.c_str()); } bool WorldSimApi::runConsoleCommand(const std::string& command) { throw std::invalid_argument(common_utils::Utils::stringf( - "simrunConsoleCommand is not supported on unity").c_str()); + "simrunConsoleCommand is not supported on unity") + .c_str()); return false; } @@ -107,56 +120,65 @@ void WorldSimApi::setWeatherParameter(WeatherParameter param, float val) void WorldSimApi::simFlushPersistentMarkers() { throw std::invalid_argument(common_utils::Utils::stringf( - "simFlushPersistentMarkers is not supported on unity").c_str()); + "simFlushPersistentMarkers is not supported on unity") + .c_str()); } void WorldSimApi::simPlotPoints(const std::vector& points, const std::vector& color_rgba, float size, float duration, bool is_persistent) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotPoints is not supported on unity").c_str()); + "simPlotPoints is not supported on unity") + .c_str()); } void WorldSimApi::simPlotLineStrip(const std::vector& points, const std::vector& color_rgba, float thickness, float duration, bool is_persistent) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotLineStrip is not supported on unity").c_str()); + "simPlotLineStrip is not supported on unity") + .c_str()); } void WorldSimApi::simPlotLineList(const std::vector& points, const std::vector& color_rgba, float thickness, float duration, bool is_persistent) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotLineList is not supported on unity").c_str()); + "simPlotLineList is not supported on unity") + .c_str()); } void WorldSimApi::simPlotArrows(const std::vector& points_start, const std::vector& points_end, const std::vector& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotArrows is not supported on unity").c_str()); + "simPlotArrows is not supported on unity") + .c_str()); } void WorldSimApi::simPlotStrings(const std::vector& strings, const std::vector& positions, float scale, const std::vector& color_rgba, float duration) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotStrings is not supported on unity").c_str()); + "simPlotStrings is not supported on unity") + .c_str()); } void WorldSimApi::simPlotTransforms(const std::vector& poses, float scale, float thickness, float duration, bool is_persistent) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotTransforms is not supported on unity").c_str()); + "simPlotTransforms is not supported on unity") + .c_str()); } void WorldSimApi::simPlotTransformsWithNames(const std::vector& poses, const std::vector& names, float tf_scale, float tf_thickness, float text_scale, const std::vector& text_color_rgba, float duration) { throw std::invalid_argument(common_utils::Utils::stringf( - "simPlotTransformsWithNames is not supported on unity").c_str()); + "simPlotTransformsWithNames is not supported on unity") + .c_str()); } std::vector WorldSimApi::getMeshPositionVertexBuffers() const { std::vector result; throw std::invalid_argument(common_utils::Utils::stringf( - "getMeshPositionVertexBuffers is not supported on unity").c_str()); + "getMeshPositionVertexBuffers is not supported on unity") + .c_str()); return result; } @@ -164,19 +186,22 @@ std::vector WorldSimApi::getMesh void WorldSimApi::startRecording() { throw std::invalid_argument(common_utils::Utils::stringf( - "startRecording is not supported on unity").c_str()); + "startRecording is not supported on unity") + .c_str()); } void WorldSimApi::stopRecording() { throw std::invalid_argument(common_utils::Utils::stringf( - "stopRecording is not supported on unity").c_str()); + "stopRecording is not supported on unity") + .c_str()); } bool WorldSimApi::isRecording() const { throw std::invalid_argument(common_utils::Utils::stringf( - "isRecording is not supported on unity").c_str()); + "isRecording is not supported on unity") + .c_str()); return false; } diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h index ebd0c19f50..9ccc84abb2 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h @@ -7,40 +7,40 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase { public: - typedef msr::airlib::Pose Pose; + typedef msr::airlib::Pose Pose; typedef msr::airlib::Vector3r Vector3r; typedef msr::airlib::MeshPositionVertexBuffersResponse MeshPositionVertexBuffersResponse; - WorldSimApi(SimModeBase* simmode); - virtual ~WorldSimApi(); + WorldSimApi(SimModeBase* simmode); + virtual ~WorldSimApi(); // ------ Level setting apis ----- // virtual bool loadLevel(const std::string& level_name) { return false; }; virtual std::string spawnObject(std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled) { return ""; }; virtual bool destroyObject(const std::string& object_name) { return false; }; - virtual bool isPaused() const override; - virtual void reset() override; - virtual void pause(bool is_paused) override; - virtual void continueForTime(double seconds) override; + virtual bool isPaused() const override; + virtual void reset() override; + virtual void pause(bool is_paused) override; + virtual void continueForTime(double seconds) override; virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst, - float celestial_clock_speed, float update_interval_secs, bool move_sun) override; + float celestial_clock_speed, float update_interval_secs, bool move_sun) override; virtual void enableWeather(bool enable) override; virtual void setWeatherParameter(WeatherParameter param, float val) override; - virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override; - virtual int getSegmentationObjectID(const std::string& mesh_name) const override; - virtual void printLogMessage(const std::string& message, - const std::string& message_param = "", unsigned char severity = 0) override; + virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override; + virtual int getSegmentationObjectID(const std::string& mesh_name) const override; + virtual void printLogMessage(const std::string& message, + const std::string& message_param = "", unsigned char severity = 0) override; virtual std::unique_ptr> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) override; - virtual std::vector listSceneObjects(const std::string& name_regex) const override; - virtual Pose getObjectPose(const std::string& object_name) const override; + virtual std::vector listSceneObjects(const std::string& name_regex) const override; + virtual Pose getObjectPose(const std::string& object_name) const override; virtual Vector3r getObjectScale(const std::string& object_name) const override; Vector3r getObjectScaleInternal(const std::string& object_name) const; - virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override; + virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override; virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) override; virtual bool runConsoleCommand(const std::string& command) override; @@ -64,5 +64,5 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase virtual void setWind(const Vector3r& wind) const override; private: - SimModeBase * simmode_; + SimModeBase* simmode_; }; From 059277e55253d2ddcc526d83567984a98c37cff2 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 28 Jul 2021 21:18:40 +0200 Subject: [PATCH 10/13] remove stale code --- AirLib/include/common/AirSimSettings.hpp | 3 --- .../AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp | 2 -- 2 files changed, 5 deletions(-) diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp index b8701c8dc7..a54334bc9f 100644 --- a/AirLib/include/common/AirSimSettings.hpp +++ b/AirLib/include/common/AirSimSettings.hpp @@ -692,9 +692,6 @@ namespace airlib } } } - if (recording_setting.requests.size() == 0) - recording_setting.requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest( - "", ImageType::Scene, false, true)); } static void initializeCaptureSettings(std::map& capture_settings) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp index a9636c9974..391253ef51 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp @@ -88,8 +88,6 @@ UnityPawn* SimModeCar::GetVehiclePawn(const std::string& vehicle_name) std::unique_ptr SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const { - auto vehicle_pawn = static_cast(pawn_sim_api_params.pawn); - auto vehicle_sim_api = std::unique_ptr(new CarPawnSimApi(pawn_sim_api_params, pawn_sim_api_params.vehicle_name)); vehicle_sim_api->initialize(); From 65888ffb0b54d7c05e7ee6d3b79ee0564faf7298 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 28 Jul 2021 21:41:00 +0200 Subject: [PATCH 11/13] fix vehicle name reference --- Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp index 57b4e8d8e6..eb914793cb 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp @@ -55,7 +55,7 @@ int WorldSimApi::getSegmentationObjectID(const std::string& mesh_name) const void WorldSimApi::printLogMessage(const std::string& message, const std::string& message_param, unsigned char severity) { - PrintLogMessage(message.c_str(), message_param.c_str(), vehicle_name_.c_str(), severity); + PrintLogMessage(message.c_str(), message_param.c_str(), "", severity); } std::unique_ptr> WorldSimApi::swapTextures(const std::string& tag, int tex_id, int component_id, int material_id) From ddb57dc8f4ce32f83609077f2a06aa250c6f77e1 Mon Sep 17 00:00:00 2001 From: Yvo Keuter Date: Wed, 28 Jul 2021 23:02:59 +0200 Subject: [PATCH 12/13] add AirSimGlobal to multi drone demo scene --- .../Assets/Scenes/MultiDroneDemo.unity | 69 +++++++++++++++++++ 1 file changed, 69 insertions(+) diff --git a/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity b/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity index 0a6fe4eeab..9cc659950a 100644 --- a/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity +++ b/Unity/UnityDemo/Assets/Scenes/MultiDroneDemo.unity @@ -183,6 +183,75 @@ PrefabInstance: objectReference: {fileID: 0} m_RemovedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: f63bf11bc2a9a7146a4375d511e1425c, type: 3} +--- !u!1001 &84582270 +PrefabInstance: + m_ObjectHideFlags: 0 + serializedVersion: 2 + m_Modification: + m_TransformParent: {fileID: 0} + m_Modifications: + - target: {fileID: 8816652036562285266, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_Name + value: AirSimGlobal + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalPosition.x + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalPosition.y + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalPosition.z + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalRotation.x + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalRotation.y + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalRotation.z + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalRotation.w + value: 1 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_RootOrder + value: 6 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalEulerAnglesHint.x + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalEulerAnglesHint.y + value: 0 + objectReference: {fileID: 0} + - target: {fileID: 8816652036562285271, guid: b565de1eeeb33764b9c78ef5dccaa49d, + type: 3} + propertyPath: m_LocalEulerAnglesHint.z + value: 0 + objectReference: {fileID: 0} + m_RemovedComponents: [] + m_SourcePrefab: {fileID: 100100000, guid: b565de1eeeb33764b9c78ef5dccaa49d, type: 3} --- !u!1 &175834421 GameObject: m_ObjectHideFlags: 0 From 0af342b1f72ff2cb550767d9fa5c06372c751819 Mon Sep 17 00:00:00 2001 From: zimmy87 Date: Thu, 9 Sep 2021 10:36:06 -0700 Subject: [PATCH 13/13] addressing code review feedback --- .../AirsimWrapper/Source/SimMode/SimModeBase.cpp | 4 ++-- .../Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs | 1 - 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp index 6946118add..4d1b597d48 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp @@ -217,9 +217,9 @@ void SimModeBase::setupVehiclesAndCamera() PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(), home_geopoint, vehicle_name); auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params); auto vehicle_sim_api_p = vehicle_sim_api.get(); - auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); + auto vehicle_api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p); - getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p); + getApiProvider()->insert_or_assign(vehicle_name, vehicle_api, vehicle_sim_api_p); if ((!getApiProvider()->hasDefaultVehicle()) && vehicle_name != "") getApiProvider()->makeDefaultVehicle(vehicle_name); diff --git a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs index baac8a5a1a..7c6148a646 100644 --- a/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs +++ b/Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimServer.cs @@ -23,7 +23,6 @@ void Start() { #if UNITY_EDITOR EditorUtility.DisplayDialog("Problem in starting AirSim server!!!", "Please check logs for more information.", "Exit"); - //EditorApplication.Exit(1); #else Application.Quit(); #endif