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Enabling multi-drone control #706

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saihv wants to merge 3 commits into from
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Enabling multi-drone control #706

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44bfd00
Enable multi-drone control by creating an array of VehicleConnector p…
Dec 25, 2017
26f84cf
Made indentation consistent
Dec 25, 2017
2042b9b
Remove hardcoding of API ports, add ID to config name
Dec 25, 2017
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35 changes: 21 additions & 14 deletions Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,16 @@ void ASimModeWorldMultiRotor::BeginPlay()
{
Super::BeginPlay();

if (fpv_vehicle_connector_ != nullptr) {
//create its control server
try {
fpv_vehicle_connector_->startApiServer();
}
catch (std::exception& ex) {
UAirBlueprintLib::LogMessageString("Cannot start RpcLib Server", ex.what(), LogDebugLevel::Failure);
}
if (fpv_vehicle_connector_.Num() >0) {
//create its control server
for (std::shared_ptr<VehicleConnectorBase> vehicle_connector_ : fpv_vehicle_connector_) {
try {
vehicle_connector_->startApiServer();
}
catch (std::exception& ex) {
UAirBlueprintLib::LogMessageString("Cannot start RpcLib Server", ex.what(), LogDebugLevel::Failure);
}
}
}

}
Expand All @@ -39,9 +41,10 @@ void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
//stop physics thread before we dismental
stopAsyncUpdator();

if (fpv_vehicle_connector_ != nullptr) {
fpv_vehicle_connector_->stopApiServer();
fpv_vehicle_pawn_wrapper_ = nullptr;
if (fpv_vehicle_connector_.Num() > 0) {
for (std::shared_ptr<VehicleConnectorBase> vehicle_connector_ : fpv_vehicle_connector_) {
vehicle_connector_->stopApiServer();
}
}

//for (AActor* actor : spawned_actors_) {
Expand Down Expand Up @@ -115,6 +118,8 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
pawns.Add(spawned_pawn);
}

unsigned int vehicle_id = 0;

//set up vehicle pawns
for (AActor* pawn : pawns)
{
Expand All @@ -124,6 +129,9 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve

//chose first pawn as FPV if none is designated as FPV
VehiclePawnWrapper* wrapper = vehicle_pawn->getVehiclePawnWrapper();

wrapper->getConfig().vehicle_config_name = default_vehicle_config + "_" + std::to_string(vehicle_id);

if (enable_collision_passthrough)
wrapper->getConfig().enable_passthrough_on_collisions = true;
if (wrapper->getConfig().is_fpv_vehicle || fpv_vehicle_pawn_wrapper_ == nullptr)
Expand All @@ -133,9 +141,8 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
VehiclePtr vehicle = createVehicle(wrapper);
if (vehicle != nullptr) {
vehicles.push_back(vehicle);

if (fpv_vehicle_pawn_wrapper_ == wrapper)
fpv_vehicle_connector_ = vehicle;
fpv_vehicle_connector_.Add(vehicle);
vehicle_id++;
}
//else we don't have vehicle for this pawn
}
Expand Down
2 changes: 1 addition & 1 deletion Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.h
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Expand Up @@ -44,5 +44,5 @@ class AIRSIM_API ASimModeWorldMultiRotor : public ASimModeWorldBase
TArray<AActor*> spawned_actors_;

VehiclePawnWrapper* fpv_vehicle_pawn_wrapper_;
std::shared_ptr<VehicleConnectorBase> fpv_vehicle_connector_;
TArray <std::shared_ptr<VehicleConnectorBase> > fpv_vehicle_connector_;
};