Support for Logitech G920 whel, physics tuning for car

sytelus · sytelus · commit 39aae016f1fc · 2017-12-01T01:15:46.000-08:00
diff --git a/Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap b/Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap
diff --git a/Unreal/Plugins/AirSim/AirSim.uplugin b/Unreal/Plugins/AirSim/AirSim.uplugin
@@ -1,7 +1,7 @@
 {
   "FileVersion" : 3,
-  "Version" : "1.1.5",
-  "VersionName": "1.1.5",
+  "Version" : "1.1.7",
+  "VersionName": "1.1.7",
   "FriendlyName": "AirSim",
   "Description": "AirSim - Autonomous Aerial Vehicles Simulator Plugin",
   "Category" : "Science",
diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp b/Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp
@@ -178,8 +178,10 @@ 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)
+void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound, int remote_control_id)
 {
+    remote_control_id_ = remote_control_id;
+
     if (engine_sound)
         EngineSoundComponent->Activate();
     else
@@ -209,17 +211,25 @@ void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_se
 
     startApiServer(enable_rpc, api_server_address);
 
+    //TODO: should do reset() here?
+    keyboard_controls_ = joystick_controls_ = CarPawnApi::CarControls();
+
     //joystick
-    joystick_.getJoyStickState(0, joystick_state_);
-    if (joystick_state_.is_initialized)
-        UAirBlueprintLib::LogMessageString("RC Controller on USB: ", joystick_state_.pid_vid, LogDebugLevel::Informational);
-    else
-        UAirBlueprintLib::LogMessageString("RC Controller on USB not detected: ", 
-            std::to_string(joystick_state_.connection_error_code), LogDebugLevel::Informational);
+    if (remote_control_id_ >= 0) {
+        joystick_.getJoyStickState(remote_control_id_, joystick_state_);
+        if (joystick_state_.is_initialized)
+            UAirBlueprintLib::LogMessageString("RC Controller on USB: ", joystick_state_.pid_vid == "" ?
+                "(Detected)" : joystick_state_.pid_vid, LogDebugLevel::Informational);
+        else
+            UAirBlueprintLib::LogMessageString("RC Controller on USB not detected: ", 
+                std::to_string(joystick_state_.connection_error_code), LogDebugLevel::Informational);
+    }
+
 }
 
 void ACarPawn::reset(bool disable_api_control)
 {
+    keyboard_controls_ = joystick_controls_ = CarPawnApi::CarControls();
     api_->reset();
 
     if (disable_api_control)
@@ -385,22 +395,7 @@ void ACarPawn::Tick(float Delta)
 {
     Super::Tick(Delta);
 
-    const msr::airlib::CarApiBase::CarControls* current_controls = &keyboard_controls_;
-    if (!api_->isApiControlEnabled()) {
-        UAirBlueprintLib::LogMessageString("Control Mode: ", "Keyboard", LogDebugLevel::Informational);
-        api_->setCarControls(keyboard_controls_);
-    }
-    else {
-        UAirBlueprintLib::LogMessageString("Control Mode: ", "API", LogDebugLevel::Informational);
-        current_controls = & api_->getCarControls();
-    }
-    UAirBlueprintLib::LogMessageString("Accel: ", std::to_string(current_controls->throttle), LogDebugLevel::Informational);
-    UAirBlueprintLib::LogMessageString("Break: ", std::to_string(current_controls->brake), LogDebugLevel::Informational);
-    UAirBlueprintLib::LogMessageString("Steering: ", std::to_string(current_controls->steering), LogDebugLevel::Informational);
-    UAirBlueprintLib::LogMessageString("Handbreak: ", std::to_string(current_controls->handbrake), LogDebugLevel::Informational);
-    UAirBlueprintLib::LogMessageString("Target Gear: ", std::to_string(current_controls->manual_gear), LogDebugLevel::Informational);
-
-
+    updateCarControls();
 
     updateKinematics(Delta);
 
@@ -420,6 +415,57 @@ void ACarPawn::Tick(float Delta)
     getVehiclePawnWrapper()->setLogLine(getLogString());
 }
 
+void ACarPawn::updateCarControls()
+{
+    const msr::airlib::CarApiBase::CarControls* current_controls = nullptr;
+    if (remote_control_id_ >= 0 && joystick_state_.is_initialized) {
+        joystick_.getJoyStickState(0, joystick_state_);
+
+        if ((joystick_state_.buttons & 4) | (joystick_state_.buttons & 1024)) { //X button or Start button
+            reset();
+            return;
+        }
+
+        joystick_controls_.steering = joystick_state_.left_y * 1.25;
+        joystick_controls_.throttle = (-joystick_state_.right_x + 1) / 2;
+        joystick_controls_.brake = -joystick_state_.right_z + 1;
+
+        //Two steel levers behind wheel
+        joystick_controls_.handbrake = (joystick_state_.buttons & 32) | (joystick_state_.buttons & 64) ? 1 : 0;
+
+        if ((joystick_state_.buttons & 256) | (joystick_state_.buttons & 2)) { //RSB button or B button
+            joystick_controls_.manual_gear = -1;
+            joystick_controls_.is_manual_gear = true;
+            joystick_controls_.gear_immediate = true;
+        }
+        else if ((joystick_state_.buttons & 512) | (joystick_state_.buttons & 1)) { //LSB button or A button
+            joystick_controls_.manual_gear = 0;
+            joystick_controls_.is_manual_gear = false;
+            joystick_controls_.gear_immediate = true;
+        }
+
+        UAirBlueprintLib::LogMessageString("Control Mode: ", "Wheel/Joystick", LogDebugLevel::Informational);
+        current_controls = &joystick_controls_;
+    }
+    else {
+        UAirBlueprintLib::LogMessageString("Control Mode: ", "Keyboard", LogDebugLevel::Informational);
+        current_controls = &keyboard_controls_;
+    }
+
+    if (!api_->isApiControlEnabled()) {
+        api_->setCarControls(* current_controls);
+    }
+    else {
+        UAirBlueprintLib::LogMessageString("Control Mode: ", "API", LogDebugLevel::Informational);
+        current_controls = & api_->getCarControls();
+    }
+    UAirBlueprintLib::LogMessageString("Accel: ", std::to_string(current_controls->throttle), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessageString("Break: ", std::to_string(current_controls->brake), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessageString("Steering: ", std::to_string(current_controls->steering), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessageString("Handbreak: ", std::to_string(current_controls->handbrake), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessageString("Target Gear: ", std::to_string(current_controls->manual_gear), LogDebugLevel::Informational);
+}
+
 void ACarPawn::BeginPlay()
 {
     Super::BeginPlay();
@@ -450,6 +496,8 @@ void ACarPawn::UpdateHUDStrings()
 
     UAirBlueprintLib::LogMessage(TEXT("Speed: "), SpeedDisplayString.ToString(), LogDebugLevel::Informational);
     UAirBlueprintLib::LogMessage(TEXT("Gear: "), GearDisplayString.ToString(), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessage(TEXT("RPM: "), FText::AsNumber(GetVehicleMovement()->GetEngineRotationSpeed()).ToString(), LogDebugLevel::Informational);
+
 
 }
 
diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawn.h b/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);
+    void initializeForBeginPlay(bool enable_rpc, const std::string& api_server_address, bool engine_sound, int remoteControlID);
 
     virtual void NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
         FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit) override;
@@ -131,6 +131,8 @@ class ACarPawn : public AWheeledVehicle
     void stopApiServer();
     bool isApiServerStarted();
     void updateKinematics(float delta);
+    void updateCarControls();
+
     std::string getLogString();
 
     /* Are we on a 'slippery' surface */
@@ -157,6 +159,9 @@ class ACarPawn : public AWheeledVehicle
     msr::airlib::Kinematics::State kinematics_;
 
     CarPawnApi::CarControls keyboard_controls_;
+    CarPawnApi::CarControls joystick_controls_;
+
+    int remote_control_id_ = -1;
 
     SimJoyStick joystick_;
     SimJoyStick::State joystick_state_;
diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp b/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp
@@ -97,9 +97,14 @@ CarApiBase::CarState CarPawnApi::getCarState()
 
 void CarPawnApi::reset()
 {
+    last_controls_ = CarControls();
     UAirBlueprintLib::RunCommandOnGameThread([this]() {
         pawn_->reset();
+        //movement_->ResetMoveState();
+        //movement_->SetActive(false);
+        //movement_->SetActive(true, true);
         setCarControls(CarControls());
+        
     }, true);
 }
 
diff --git a/Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp b/Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp
@@ -1,6 +1,7 @@
 #include "SimModeCar.h"
 #include "ConstructorHelpers.h"
 #include "AirBlueprintLib.h"
+#include "controllers/Settings.hpp"
 #include "Car/CarPawn.h"
 
 ASimModeCar::ASimModeCar()
@@ -111,13 +112,14 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
             //initialize each vehicle pawn we found
             TVehiclePawn* vehicle_pawn = static_cast<TVehiclePawn*>(pawn);
             vehicles.push_back(vehicle_pawn);
-            vehicle_pawn->initializeForBeginPlay(enable_rpc, api_server_address, engine_sound);
 
             //chose first pawn as FPV if none is designated as FPV
             VehiclePawnWrapper* wrapper = vehicle_pawn->getVehiclePawnWrapper();
+            vehicle_pawn->initializeForBeginPlay(enable_rpc, api_server_address, engine_sound, getRemoteControlID(*wrapper));
+
             if (enable_collision_passthrough)
-                wrapper->config.enable_passthrough_on_collisions = true;
-            if (wrapper->config.is_fpv_vehicle || fpv_vehicle_pawn_wrapper_ == nullptr)
+                wrapper->getConfig().enable_passthrough_on_collisions = true;
+            if (wrapper->getConfig().is_fpv_vehicle || fpv_vehicle_pawn_wrapper_ == nullptr)
                 fpv_vehicle_pawn_wrapper_ = wrapper;
         }
     }
@@ -126,6 +128,18 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
 }
 
 
+int ASimModeCar::getRemoteControlID(const VehiclePawnWrapper& pawn)
+{
+    //find out which RC we should use
+    msr::airlib::Settings settings;
+    msr::airlib::Settings::singleton().getChild(pawn.getConfig().vehicle_config_name == "" ? default_vehicle_config
+        : pawn.getConfig().vehicle_config_name, settings);
+
+    msr::airlib::Settings rc_settings;
+    settings.getChild("RC", rc_settings);
+    return rc_settings.getInt("RemoteControlID", -1);
+}
+
 void ASimModeCar::createVehicles(std::vector<VehiclePtr>& vehicles)
 {
     //find vehicles and cameras available in environment
@@ -168,7 +182,7 @@ void ASimModeCar::updateReport()
     for (VehiclePtr vehicle : vehicles_) {
         VehiclePawnWrapper* wrapper = vehicle->getVehiclePawnWrapper();
         msr::airlib::StateReporter& reporter = * report_wrapper_.getReporter();
-        std::string vehicle_name = std::string(TCHAR_TO_UTF8(* wrapper->config.vehicle_config_name));
+        std::string vehicle_name = wrapper->getConfig().vehicle_config_name;
 
         reporter.writeHeading(std::string("Vehicle: ").append(
             vehicle_name == "" ? "(default)" : vehicle_name));
diff --git a/Unreal/Plugins/AirSim/Source/Car/SimModeCar.h b/Unreal/Plugins/AirSim/Source/Car/SimModeCar.h
@@ -31,6 +31,8 @@ class AIRSIM_API ASimModeCar : public ASimModeBase
 private:
     void setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles);
     void updateReport();
+    int getRemoteControlID(const VehiclePawnWrapper& pawn);
+
 
 private:    
     UClass* external_camera_class_;
diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp
@@ -125,8 +125,8 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
             //chose first pawn as FPV if none is designated as FPV
             VehiclePawnWrapper* wrapper = vehicle_pawn->getVehiclePawnWrapper();
             if (enable_collision_passthrough)
-                wrapper->config.enable_passthrough_on_collisions = true;
-            if (wrapper->config.is_fpv_vehicle || fpv_vehicle_pawn_wrapper_ == nullptr)
+                wrapper->getConfig().enable_passthrough_on_collisions = true;
+            if (wrapper->getConfig().is_fpv_vehicle || fpv_vehicle_pawn_wrapper_ == nullptr)
                 fpv_vehicle_pawn_wrapper_ = wrapper;
 
             //now create the connector for each pawn
@@ -189,8 +189,8 @@ void ASimModeWorldMultiRotor::createVehicles(std::vector<VehiclePtr>& vehicles)
 ASimModeWorldBase::VehiclePtr ASimModeWorldMultiRotor::createVehicle(VehiclePawnWrapper* wrapper)
 {
     auto vehicle_params = MultiRotorParamsFactory::createConfig(
-        wrapper->config.vehicle_config_name == "" ? default_vehicle_config
-        : std::string(TCHAR_TO_UTF8(*wrapper->config.vehicle_config_name)));
+        wrapper->getConfig().vehicle_config_name == "" ? default_vehicle_config
+        : wrapper->getConfig().vehicle_config_name);
 
     vehicle_params_.push_back(std::move(vehicle_params));
 
diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -93,7 +93,7 @@ void ASimModeBase::readSettings()
         if (simmode_name == "Multirotor")
             default_vehicle_config = "SimpleFlight";
         else if (simmode_name == "Car")
-            default_vehicle_config = "PhysXCar4x4";
+            default_vehicle_config = "PhysXCar";
         else         
             UAirBlueprintLib::LogMessageString("SimMode is not valid: ", simmode_name, LogDebugLevel::Failure);
     }
diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
@@ -114,10 +114,11 @@ void VehiclePawnWrapper::setKinematics(const msr::airlib::Kinematics::State* kin
     kinematics_ = kinematics;
 }
 
-void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>& cameras)
+void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>& cameras, const WrapperConfig& config)
 {
     pawn_ = pawn;
     cameras_ = cameras;
+    config_ = config;
 
     for (auto camera : cameras_) {
         camera_connectors_.push_back(std::unique_ptr<VehicleCameraConnector>(new VehicleCameraConnector(camera)));
@@ -153,6 +154,15 @@ void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>&
     setupCamerasFromSettings();
 }
 
+VehiclePawnWrapper::WrapperConfig& VehiclePawnWrapper::getConfig()
+{
+    return config_;
+}
+
+const VehiclePawnWrapper::WrapperConfig& VehiclePawnWrapper::getConfig() const
+{
+    return config_;
+}
 
 APIPCamera* VehiclePawnWrapper::getCamera(int index)
 {
@@ -176,7 +186,10 @@ int VehiclePawnWrapper::getCameraCount()
 void VehiclePawnWrapper::reset()
 {
     state_ = initial_state_;
-
+    //if (pawn_->GetRootPrimitiveComponent()->IsAnySimulatingPhysics()) {
+    //    pawn_->GetRootPrimitiveComponent()->SetSimulatePhysics(false);
+    //    pawn_->GetRootPrimitiveComponent()->SetSimulatePhysics(true);
+    //}
     pawn_->SetActorLocationAndRotation(state_.start_location, state_.start_rotation, false, nullptr, ETeleportType::TeleportPhysics);
 
     //TODO: delete below
diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h
@@ -26,20 +26,20 @@ class VehiclePawnWrapper
 public:
     struct WrapperConfig {
         bool is_fpv_vehicle = false; 
-        FString vehicle_config_name = ""; //use the default config name
+        std::string vehicle_config_name = ""; //use the default config name
         bool enable_collisions = true; 
         bool enable_passthrough_on_collisions = false; 
         float home_lattitude = 47.641468;
         float home_longitude = -122.140165;
         float home_altitude = 122;
         bool enable_trace = false;
-    } config;
+    };
 
     void toggleTrace();
 
 public: //interface
     VehiclePawnWrapper();
-    void initialize(APawn* pawn, const std::vector<APIPCamera*>& cameras);
+    void initialize(APawn* pawn, const std::vector<APIPCamera*>& cameras, const WrapperConfig& config = WrapperConfig());
 
     void reset();
     void onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, 
@@ -70,6 +70,8 @@ class VehiclePawnWrapper
 
     void printLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
+    WrapperConfig& getConfig();
+    const WrapperConfig& getConfig() const;
 
 protected:
     UPROPERTY(VisibleAnywhere)
@@ -95,6 +97,7 @@ class VehiclePawnWrapper
     std::vector<std::unique_ptr<VehicleCameraConnector>> camera_connectors_;
     const msr::airlib::Kinematics::State* kinematics_;
     std::string log_line_;
+    WrapperConfig config_;
 
     struct State {
         FVector start_location;
diff --git a/build.cmd b/build.cmd
@@ -24,7 +24,7 @@ IF %ERRORLEVEL% NEQ 0 (
 
 REM //---------- get High PolyCount SUV Car Model ------------
 IF NOT EXIST Unreal\Plugins\AirSim\Content\VehicleAdv mkdir Unreal\Plugins\AirSim\Content\VehicleAdv
-IF NOT EXIST Unreal\Plugins\AirSim\Content\VehicleAdv\SUV\v1.1.4 (
+IF NOT EXIST Unreal\Plugins\AirSim\Content\VehicleAdv\SUV\v1.1.7 (
     IF NOT DEFINED noFullPolyCar (
         REM //leave some blank lines because powershell shows download banner at top of console
         ECHO(   
@@ -38,9 +38,9 @@ IF NOT EXIST Unreal\Plugins\AirSim\Content\VehicleAdv\SUV\v1.1.4 (
         IF EXIST suv_download_tmp rmdir suv_download_tmp /q /s
         mkdir suv_download_tmp
         @echo on
-        REM powershell -command "& { Start-BitsTransfer -Source https://github.com/Microsoft/AirSim/releases/download/v1.1.4/car_assets.zip -Destination suv_download_tmp\car_assets.zip }"
-        REM powershell -command "& { (New-Object System.Net.WebClient).DownloadFile('https://github.com/Microsoft/AirSim/releases/download/v1.1.4/car_assets.zip', 'suv_download_tmp\car_assets.zip') }"
-        powershell -command "& { iwr https://github.com/Microsoft/AirSim/releases/download/v1.1.4/car_assets.zip -OutFile suv_download_tmp\car_assets.zip }"
+        REM powershell -command "& { Start-BitsTransfer -Source https://github.com/Microsoft/AirSim/releases/download/v1.1.7/car_assets.zip -Destination suv_download_tmp\car_assets.zip }"
+        REM powershell -command "& { (New-Object System.Net.WebClient).DownloadFile('https://github.com/Microsoft/AirSim/releases/download/v1.1.7/car_assets.zip', 'suv_download_tmp\car_assets.zip') }"
+        powershell -command "& { iwr https://github.com/Microsoft/AirSim/releases/download/v1.1.7/car_assets.zip -OutFile suv_download_tmp\car_assets.zip }"
         @echo off
 		rmdir /S /Q Unreal\Plugins\AirSim\Content\VehicleAdv\SUV
         powershell -command "& { Expand-Archive -Path suv_download_tmp\car_assets.zip -DestinationPath Unreal\Plugins\AirSim\Content\VehicleAdv }"
diff --git a/setup.sh b/setup.sh

Original file line number	Diff line number	Diff line change
`@@ -97,9 +97,14 @@ CarApiBase::CarState CarPawnApi::getCarState()`
`97`	`97`
`98`	`98`	`void CarPawnApi::reset()`
`99`	`99`	`{`
	`100`	`+ last_controls_ = CarControls();`
`100`	`101`	`UAirBlueprintLib::RunCommandOnGameThread([this]() {`
`101`	`102`	`pawn_->reset();`
	`103`	`+ //movement_->ResetMoveState();`
	`104`	`+ //movement_->SetActive(false);`
	`105`	`+ //movement_->SetActive(true, true);`
`102`	`106`	`setCarControls(CarControls());`
	`107`	`+`
`103`	`108`	`}, true);`
`104`	`109`	`}`
`105`	`110`
Original file line number	Diff line number	Diff line change
`@@ -93,7 +93,7 @@ void ASimModeBase::readSettings()`
`93`	`93`	`if (simmode_name == "Multirotor")`
`94`	`94`	`default_vehicle_config = "SimpleFlight";`
`95`	`95`	`else if (simmode_name == "Car")`
`96`		`- default_vehicle_config = "PhysXCar4x4";`
	`96`	`+ default_vehicle_config = "PhysXCar";`
`97`	`97`	`else`
`98`	`98`	`UAirBlueprintLib::LogMessageString("SimMode is not valid: ", simmode_name, LogDebugLevel::Failure);`
`99`	`99`	`}`