Merge branch 'saihv-master'

b-xiang · Sep 3, 2017 · 21c67cc · 21c67cc
2 parents d98acc1 + 20ffa49
commit 21c67cc
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Showing 2 changed files with 28 additions and 26 deletions.
diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldMultiRotor.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldMultiRotor.cpp
@@ -5,7 +5,7 @@
 #include "physics/PhysicsBody.hpp"
 #include <memory>
 #include "Logging/MessageLog.h"
-#include "vehicles/MultiRotorParamsFactory.hpp"
+#include "vehicles/MultiRotorParamsFactory.hpp"
 
 
 ASimModeWorldMultiRotor::ASimModeWorldMultiRotor()
@@ -42,10 +42,10 @@ void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
         fpv_vehicle_connector_->stopApiServer();
     }
 
-    if (isLoggingStarted)
-    {
-        FRecordingThread::Shutdown();
-        isLoggingStarted = false;
+    if (isLoggingStarted)
+    {
+        FRecordingThread::Shutdown();
+        isLoggingStarted = false;
     }
 
     //for (AActor* actor : spawned_actors_) {
@@ -60,9 +60,9 @@ void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
     Super::EndPlay(EndPlayReason);
 }
 
-AVehiclePawnBase* ASimModeWorldMultiRotor::getFpvVehiclePawn()
-{
-    return fpv_vehicle_pawn_;
+AVehiclePawnBase* ASimModeWorldMultiRotor::getFpvVehiclePawn()
+{
+    return fpv_vehicle_pawn_;
 }
 
 void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
@@ -118,11 +118,11 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
         }
 
         //set up vehicle pawns
-        for (AActor* pawn : pawns)
-        {
-            //initialize each vehicle pawn we found
-            TMultiRotorPawn* vehicle_pawn = static_cast<TMultiRotorPawn*>(pawn);
-            if (enable_collision_passthrough)
+        for (AActor* pawn : pawns)
+        {
+            //initialize each vehicle pawn we found
+            TMultiRotorPawn* vehicle_pawn = static_cast<TMultiRotorPawn*>(pawn);
+            if (enable_collision_passthrough)
                 vehicle_pawn->EnablePassthroughOnCollisons = true;    
             vehicle_pawn->initializeForBeginPlay();
 
@@ -150,18 +150,18 @@ void ASimModeWorldMultiRotor::Tick(float DeltaSeconds)
     if (fpv_vehicle_connector_ != nullptr && fpv_vehicle_connector_->isApiServerStarted() && getVehicleCount() > 0) {
 
         if (isRecording() && getRecordingFile().isRecording()) {
-            if (!isLoggingStarted)
-            {
-                FRecordingThread::ThreadInit(fpv_vehicle_connector_->getCamera(), & getRecordingFile(), 
-                    static_cast<msr::airlib::PhysicsBody*>(fpv_vehicle_connector_->getPhysicsBody()), recording_settings);
-                isLoggingStarted = true;
+            if (!isLoggingStarted)
+            {
+                FRecordingThread::ThreadInit(fpv_vehicle_connector_->getCamera(), & getRecordingFile(), 
+                    static_cast<msr::airlib::PhysicsBody*>(fpv_vehicle_connector_->getPhysicsBody()), recording_settings);
+                isLoggingStarted = true;
             }
         }
 
-        if (!isRecording() && isLoggingStarted)
-        {
-            FRecordingThread::Shutdown();
-            isLoggingStarted = false;
+        if (!isRecording() && isLoggingStarted)
+        {
+            FRecordingThread::Shutdown();
+            isLoggingStarted = false;
         }
     }
 
@@ -185,13 +185,15 @@ void ASimModeWorldMultiRotor::createVehicles(std::vector<VehiclePtr>& vehicles)
 
 ASimModeWorldBase::VehiclePtr ASimModeWorldMultiRotor::createVehicle(AFlyingPawn* vehicle_pawn)
 {
-    vehicle_params_ = MultiRotorParamsFactory::createConfig(
+    auto vehicle_params = MultiRotorParamsFactory::createConfig(
         vehicle_pawn->VehicleConfigName == "" ? default_vehicle_config 
         : std::string(TCHAR_TO_UTF8(* vehicle_pawn->VehicleConfigName)));
 
+	vehicle_params_.push_back(std::move(vehicle_params));
+
     auto vehicle = std::make_shared<MultiRotorConnector>(
-        vehicle_pawn, vehicle_params_.get(), enable_rpc, api_server_address, 
-        vehicle_params_->getParams().api_server_port, manual_pose_controller);
+        vehicle_pawn, vehicle_params_.back().get(), enable_rpc, api_server_address, 
+        vehicle_params_.back()->getParams().api_server_port, manual_pose_controller);
     return std::static_pointer_cast<VehicleConnectorBase>(vehicle);
 }
 

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldMultiRotor.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldMultiRotor.h
@@ -35,7 +35,7 @@ class AIRSIM_API ASimModeWorldMultiRotor : public ASimModeWorldBase
 private:    
 
     TArray<uint8> image_;
-    std::unique_ptr<msr::airlib::MultiRotorParams> vehicle_params_;
+    std::vector <std::unique_ptr<msr::airlib::MultiRotorParams> > vehicle_params_;
     bool isLoggingStarted;
 
     UClass* external_camera_class_;