refactor and move common methods to pawn wrapper for multi-vehicle su…

…pport

Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp

@@ -178,10 +178,8 @@ void ACarPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other,
         HitNormal, NormalImpulse, Hit);
 }
 
-void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound, int remote_control_id)
+void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound)
 {
-    remote_control_id_ = remote_control_id;
-
     if (engine_sound)
         EngineSoundComponent->Activate();
     else
@@ -215,8 +213,8 @@ void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_se
     keyboard_controls_ = joystick_controls_ = CarPawnApi::CarControls();
 
     //joystick
-    if (remote_control_id_ >= 0) {
-        joystick_.getJoyStickState(remote_control_id_, joystick_state_);
+    if (wrapper_->getRemoteControlID() >= 0) {
+        joystick_.getJoyStickState(wrapper_->getRemoteControlID(), joystick_state_);
         if (joystick_state_.is_initialized)
             UAirBlueprintLib::LogMessageString("RC Controller on USB: ", joystick_state_.pid_vid == "" ?
                 "(Detected)" : joystick_state_.pid_vid, LogDebugLevel::Informational);
@@ -418,7 +416,7 @@ void ACarPawn::Tick(float Delta)
 void ACarPawn::updateCarControls()
 {
     const msr::airlib::CarApiBase::CarControls* current_controls = nullptr;
-    if (remote_control_id_ >= 0 && joystick_state_.is_initialized) {
+    if (wrapper_->getRemoteControlID() >= 0 && joystick_state_.is_initialized) {
         joystick_.getJoyStickState(0, joystick_state_);
 
         if ((joystick_state_.buttons & 4) | (joystick_state_.buttons & 1024)) { //X button or Start button

Unreal/Plugins/AirSim/Source/Car/CarPawn.h

@@ -88,7 +88,7 @@ class ACarPawn : public AWheeledVehicle
     virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
     VehiclePawnWrapper* getVehiclePawnWrapper();
-    void initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound, int remoteControlID);
+    void initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound);
 
     virtual void NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
         FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit) override;
@@ -161,8 +161,6 @@ class ACarPawn : public AWheeledVehicle
     CarPawnApi::CarControls keyboard_controls_;
     CarPawnApi::CarControls joystick_controls_;
 
-    int remote_control_id_ = -1;
-
     SimJoyStick joystick_;
     SimJoyStick::State joystick_state_;
 };

Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp

@@ -113,7 +113,7 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
             //chose first pawn as FPV if none is designated as FPV
             VehiclePawnWrapper* wrapper = vehicle_pawn->getVehiclePawnWrapper();
             vehicle_pawn->initializeForBeginPlay(getSettings().enable_rpc, 
-                getSettings().api_server_address, getSettings().engine_sound, getRemoteControlID(*wrapper));
+                getSettings().api_server_address, getSettings().engine_sound);
 
             if (getSettings().enable_collision_passthrough)
                 wrapper->getConfig().enable_passthrough_on_collisions = true;
@@ -125,19 +125,14 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
     CameraDirector->initializeForBeginPlay(getInitialViewMode(), fpv_vehicle_pawn_wrapper_, external_camera);
 }
 
-std::string ASimModeCar::getVehicleName(const VehiclePawnWrapper& pawn)
-{
-    return pawn.getConfig().vehicle_config_name == "" ? getSettings().default_vehicle_config
-        : pawn.getConfig().vehicle_config_name;
-}
 
 int ASimModeCar::getRemoteControlID(const VehiclePawnWrapper& pawn)
 {
     typedef msr::airlib::AirSimSettings AirSimSettings;
 
     //find out which RC we should use
     AirSimSettings::VehicleSettings vehicle_settings =
-        AirSimSettings::singleton().getVehicleSettings(getVehicleName(pawn));
+        AirSimSettings::singleton().getVehicleSettings(fpv_vehicle_pawn_wrapper_->getVehicleConfigName());
 
     msr::airlib::Settings settings;
     vehicle_settings.getRawSettings(settings);
@@ -189,7 +184,7 @@ void ASimModeCar::updateReport()
     for (VehiclePtr vehicle : vehicles_) {
         VehiclePawnWrapper* wrapper = vehicle->getVehiclePawnWrapper();
         msr::airlib::StateReporter& reporter = * report_wrapper_.getReporter();
-        std::string vehicle_name = getVehicleName(*wrapper);
+        std::string vehicle_name = fpv_vehicle_pawn_wrapper_->getVehicleConfigName();
 
         reporter.writeHeading(std::string("Vehicle: ").append(
             vehicle_name == "" ? "(default)" : vehicle_name));

Unreal/Plugins/AirSim/Source/Car/SimModeCar.h

@@ -32,7 +32,6 @@ class AIRSIM_API ASimModeCar : public ASimModeBase
     void setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles);
     void updateReport();
     int getRemoteControlID(const VehiclePawnWrapper& pawn);
-    std::string getVehicleName(const VehiclePawnWrapper& pawn);
 
 
 private:    

Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp

@@ -23,7 +23,7 @@ void ASimModeWorldMultiRotor::BeginPlay()
     Super::BeginPlay();
 
     //create control server
-    for (std::shared_ptr<VehicleConnectorBase>& vehicle_connector_ : fpv_vehicle_connector_) {
+    for (const std::shared_ptr<VehicleConnectorBase>& vehicle_connector_ : fpv_vehicle_connectors_) {
         try {
             vehicle_connector_->startApiServer();
         }
@@ -39,17 +39,15 @@ void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
     //stop physics thread before we dismental
     stopAsyncUpdator();
 
-    for (std::shared_ptr<VehicleConnectorBase>& vehicle_connector_ : fpv_vehicle_connector_)
+    for (const std::shared_ptr<VehicleConnectorBase>& vehicle_connector_ : fpv_vehicle_connectors_)
         vehicle_connector_->stopApiServer();
 
     //for (AActor* actor : spawned_actors_) {
     //    actor->Destroy();
     //}
     spawned_actors_.Empty();
-    if (CameraDirector != nullptr) {
-        fpv_vehicle_connector_.Empty();
-        CameraDirector = nullptr;
-    }
+    //fpv_vehicle_connectors_.Empty();
+    CameraDirector = nullptr;
 
     Super::EndPlay(EndPlayReason);
 }
@@ -113,8 +111,6 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
             pawns.Add(spawned_pawn);
         }
 
-        unsigned int vehicle_id = 0;
-
         //set up vehicle pawns
         for (AActor* pawn : pawns)
         {
@@ -134,8 +130,7 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
             VehiclePtr vehicle = createVehicle(wrapper);
             if (vehicle != nullptr) {
                 vehicles.push_back(vehicle);
-                fpv_vehicle_connector_.Add(vehicle);
-                vehicle_id++;
+                fpv_vehicle_connectors_.Add(vehicle);
             }
             //else we don't have vehicle for this pawn
         }
@@ -188,9 +183,7 @@ void ASimModeWorldMultiRotor::createVehicles(std::vector<VehiclePtr>& vehicles)
 
 ASimModeWorldBase::VehiclePtr ASimModeWorldMultiRotor::createVehicle(VehiclePawnWrapper* wrapper)
 {
-    auto vehicle_params = MultiRotorParamsFactory::createConfig(
-        wrapper->getConfig().vehicle_config_name == "" ? getSettings().default_vehicle_config
-        : wrapper->getConfig().vehicle_config_name);
+    auto vehicle_params = MultiRotorParamsFactory::createConfig(wrapper->getVehicleConfigName());
 
     vehicle_params_.push_back(std::move(vehicle_params));
 

Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.h

@@ -44,5 +44,5 @@ class AIRSIM_API ASimModeWorldMultiRotor : public ASimModeWorldBase
     TArray<AActor*> spawned_actors_;
 
     VehiclePawnWrapper* fpv_vehicle_pawn_wrapper_;
-    TArray <std::shared_ptr<VehicleConnectorBase> > fpv_vehicle_connector_;
+    TArray <std::shared_ptr<VehicleConnectorBase> > fpv_vehicle_connectors_;
 };

Unreal/Plugins/AirSim/Source/PIPCamera.cpp

@@ -18,8 +18,6 @@ APIPCamera::APIPCamera()
     else
         UAirBlueprintLib::LogMessageString("Cannot create noise material for the PIPCamera", 
             "", LogDebugLevel::Failure);
-
-    noise_materials_.AddZeroed(imageTypeCount() + 1);
 }
 
 void APIPCamera::PostInitializeComponents()
@@ -52,6 +50,8 @@ void APIPCamera::BeginPlay()
 {
     Super::BeginPlay();
 
+    noise_materials_.AddZeroed(imageTypeCount() + 1);
+
     //by default all image types are disabled
     camera_type_enabled_.assign(imageTypeCount(), false);
 
@@ -65,12 +65,14 @@ void APIPCamera::BeginPlay()
 
 void APIPCamera::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
-    for (unsigned int image_type = 0; image_type < imageTypeCount(); ++image_type) {
-        if (noise_materials_[image_type + 1])
-            captures_[image_type]->PostProcessSettings.RemoveBlendable(noise_materials_[image_type + 1]);
+    if (noise_materials_.Num()) {
+        for (unsigned int image_type = 0; image_type < imageTypeCount(); ++image_type) {
+            if (noise_materials_[image_type + 1])
+                captures_[image_type]->PostProcessSettings.RemoveBlendable(noise_materials_[image_type + 1]);
+        }
+        if (noise_materials_[0])
+            camera_->PostProcessSettings.RemoveBlendable(noise_materials_[0]);
     }
-    if (noise_materials_[0])
-        camera_->PostProcessSettings.RemoveBlendable(noise_materials_[0]);
 
     noise_material_static_ = nullptr;
     noise_materials_.Reset();

Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp

@@ -85,6 +85,28 @@ void VehiclePawnWrapper::setKinematics(const msr::airlib::Kinematics::State* kin
     kinematics_ = kinematics;
 }
 
+std::string VehiclePawnWrapper::getVehicleConfigName() const 
+{
+    return getConfig().vehicle_config_name == "" ? msr::airlib::AirSimSettings::singleton().default_vehicle_config
+        : getConfig().vehicle_config_name;
+}
+
+int VehiclePawnWrapper::getRemoteControlID() const
+{
+    typedef msr::airlib::AirSimSettings AirSimSettings;
+
+    //find out which RC we should use
+    AirSimSettings::VehicleSettings vehicle_settings =
+        AirSimSettings::singleton().getVehicleSettings(getVehicleConfigName());
+
+    msr::airlib::Settings settings;
+    vehicle_settings.getRawSettings(settings);
+
+    msr::airlib::Settings rc_settings;
+    settings.getChild("RC", rc_settings);
+    return rc_settings.getInt("RemoteControlID", -1);
+}
+
 void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>& cameras, const WrapperConfig& config)
 {
     pawn_ = pawn;

Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h

@@ -86,7 +86,9 @@ class VehiclePawnWrapper
 
     static VehiclePawnWrapper::Pose toPose(const FVector& u_position, const FQuat& u_quat);
     msr::airlib::Pose getActorPose(std::string actor_name);
+    std::string getVehicleConfigName() const;
 
+    int getRemoteControlID() const;
 
 protected:
     UPROPERTY(VisibleAnywhere)