Merge with upstream

.gitignore

@@ -294,6 +294,7 @@ deps/
 
 /boost
 /eigen
+/Eigen3
 /build_debug
 /cmake/CPackSourceConfig.cmake
 /cmake/CPackConfig.cmake
@@ -309,3 +310,5 @@ deps/
 /AirLib/include/controllers/latex
 /Eigen3
 /AirLib/lib/libAirLib.a
+
+

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -174,10 +174,9 @@ void UAirBlueprintLib::FollowActor(AActor* follower, const AActor* followee, con
 
 template<class UserClass>
 FInputActionBinding& UAirBlueprintLib::BindActionToKey(const FName action_name, const FKey in_key, UserClass* actor, 
-    typename FInputActionHandlerSignature::TUObjectMethodDelegate<UserClass>::FMethodPtr func,
-    bool shift_key, bool control_key, bool alt_key, bool command_key)
+    typename FInputActionHandlerSignature::TUObjectMethodDelegate<UserClass>::FMethodPtr func)
 {
-    FInputActionKeyMapping action(action_name, in_key, shift_key, control_key, alt_key, command_key);
+    FInputActionKeyMapping action(action_name, in_key);
 
     APlayerController* controller = actor->GetWorld()->GetFirstPlayerController();
 

Unreal/Plugins/AirSim/Source/AirBlueprintLib.h

@@ -52,8 +52,7 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
 
     template<class UserClass>
     static FInputActionBinding& BindActionToKey(const FName action_name, const FKey in_key, UserClass* actor,
-        typename FInputActionHandlerSignature::TUObjectMethodDelegate< UserClass >::FMethodPtr func,
-        bool shift_key = false, bool control_key = false, bool alt_key = false, bool command_key = false);
+        typename FInputActionHandlerSignature::TUObjectMethodDelegate< UserClass >::FMethodPtr func);
 
     template<class UserClass>
     static FInputAxisBinding& BindAxisToKey(const FName axis_name, const FKey in_key, UserClass* actor,

Unreal/Plugins/AirSim/Source/AirSim.Build.cs

@@ -54,7 +54,7 @@ private void SetupCompileMode(CompileMode mode, TargetInfo Target)
     public AirSim(TargetInfo Target)
     {
         UEBuildConfiguration.bForceEnableExceptions = true;
-        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "RenderCore" });
+        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "RenderCore", "RHI" });
         PrivateDependencyModuleNames.AddRange(new string[] { "UMG", "Slate", "SlateCore" });
 
         //suppress VC++ proprietary warnings

Unreal/Plugins/AirSim/Source/CameraDirector.cpp

@@ -1,3 +1,4 @@
+<<<<<<< HEAD
 #include "AirSim.h"
 #include "CameraDirector.h"
 #include "AirBlueprintLib.h"

Unreal/Plugins/AirSim/Source/CameraDirector.h

@@ -5,16 +5,6 @@
 #include "GameFramework/Actor.h"
 #include "CameraDirector.generated.h"
 
-
-UENUM(BlueprintType)
-enum class ECameraDirectorMode : uint8
-{
-    CAMERA_DIRECTOR_MODE_FPV = 1	UMETA(DisplayName="FPV"),
-    CAMERA_DIRECTOR_MODE_GROUND_OBSERVER = 2	UMETA(DisplayName="GroundObserver"),
-    CAMERA_DIRECTOR_MODE_FLY_WITH_ME = 3	UMETA(DisplayName="FlyWithMe"),
-    CAMERA_DIRECTOR_MODE_MANUAL = 4	UMETA(DisplayName="Manual")
-};
-
 UCLASS()
 class AIRSIM_API ACameraDirector : public AActor
 {
@@ -31,8 +21,6 @@ class AIRSIM_API ACameraDirector : public AActor
     void InputEventFpvView();
     UFUNCTION(BlueprintImplementableEvent, meta = (DisplayName = "InputEventGroundView"))
     void InputEventGroundView();
-    UFUNCTION(BlueprintImplementableEvent, meta = (DisplayName = "InputEventManualView"))
-    void InputEventManualView();
     UFUNCTION(BlueprintImplementableEvent, meta = (DisplayName = "InputEventFlyWithView"))
     void InputEventFlyWithView();
 
@@ -53,33 +41,7 @@ class AIRSIM_API ACameraDirector : public AActor
     virtual void BeginPlay() override;
     virtual void Tick( float DeltaSeconds ) override;
 
-    UFUNCTION(BlueprintCallable, Category = "Modes")
-    ECameraDirectorMode getMode();
-    UFUNCTION(BlueprintCallable, Category = "Modes")
-    void setMode(ECameraDirectorMode mode);
-
 private:
     void setupInputBindings();	
     bool checkCameraRefs();
-    void enableManualBindings(bool enable);
-
-    void inputManualLeft(float val);
-    void inputManualRight(float val);
-    void inputManualForward(float val);
-    void inputManualBackward(float val);
-    void inputManualMoveUp(float val);
-    void inputManualDown(float val);
-    void inputManualLeftYaw(float val);
-    void inputManualUpPitch(float val);
-    void inputManualRightYaw(float val);
-    void inputManualDownPitch(float val);
-
-private:
-    ECameraDirectorMode mode_;
-    FInputAxisBinding *left_binding_, *right_binding_, *up_binding_, *down_binding_;
-    FInputAxisBinding *forward_binding_, *backward_binding_, *left_yaw_binding_, *up_pitch_binding_;
-    FInputAxisBinding *right_yaw_binding_, *down_pitch_binding_;
-
-    FVector camera_location_manual_;
-    FRotator camera_rotation_manual_;
 };

Unreal/Plugins/AirSim/Source/FlyingPawn.cpp

@@ -8,87 +8,120 @@
 
 void AFlyingPawn::initialize()
 {
-    Super::initialize();
+	Super::initialize();
 }
 
 void AFlyingPawn::initializeForPlay()
 {
-    //get references of components so we can use later
-    setupComponentReferences();
+	//get references of components so we can use later
+	setupComponentReferences();
 
-    //set stencil IDs
-    setStencilIDs();
+	//set stencil IDs
+	setStencilIDs();
 
-    setupInputBindings();
+	setupInputBindings();
 
-    detectUsbRc();
+	detectUsbRc();
 }
 
 void AFlyingPawn::detectUsbRc()
 {
-    joystick_.getJoyStickState(0, joystick_state_);
-
-    rc_data_.is_connected = joystick_state_.is_connected;
-
-    if (rc_data_.is_connected)
-        UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB: "), "Detected", LogDebugLevel::Informational);
-    else
-        UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB: "), "Not detected", LogDebugLevel::Informational);
+	std::string vehicleName = AFlyingPawn::getVehicleName();
+
+	if (vehicleName.compare(std::string("Quad1")) == 0)
+	{
+		joystick_.getJoyStickState(0, joystick_state_);
+		rc_data_.is_connected = joystick_state_.is_connected;
+
+		if (rc_data_.is_connected)
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB for vehicle 1: "), "Detected", LogDebugLevel::Informational);
+		else
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB: "), "Not detected", LogDebugLevel::Informational);
+	}
+
+	if (vehicleName.compare(std::string("Quad2")) == 0)
+	{
+		joystick_.getJoyStickState(1, joystick_state_);
+		rc_data_.is_connected = joystick_state_.is_connected;
+
+		if (rc_data_.is_connected)
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB for vehicle 2: "), "Detected", LogDebugLevel::Informational);
+		else
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB: "), "Not detected", LogDebugLevel::Informational);
+	}
+
+	if (vehicleName.compare(std::string("Quad3")) == 0)
+	{
+		joystick_.getJoyStickState(2, joystick_state_);
+		rc_data_.is_connected = joystick_state_.is_connected;
+
+		if (rc_data_.is_connected)
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB for vehicle 3: "), "Detected", LogDebugLevel::Informational);
+		else
+			UAirBlueprintLib::LogMessage(TEXT("RC Controller on USB for vehicle 3: "), "Not detected", LogDebugLevel::Informational);
+	}
 }
 
 void AFlyingPawn::setStencilIDs()
 {
-    TArray<AActor*> foundActors;
-    UAirBlueprintLib::FindAllActor<AActor>(this, foundActors);
-    TArray<UStaticMeshComponent*> components;
-    int stencil = 0;
-    for (AActor* actor : foundActors) {
-        actor->GetComponents(components);
-        if (components.Num() == 1) {
-            components[0]->SetRenderCustomDepth(true);
-            components[0]->CustomDepthStencilValue = (stencil++) % 256;
-            components[0]->MarkRenderStateDirty();
-        }
-    }
+	TArray<AActor*> foundActors;
+	UAirBlueprintLib::FindAllActor<AActor>(this, foundActors);
+	TArray<UStaticMeshComponent*> components;
+	int stencil = 0;
+	for (AActor* actor : foundActors) {
+		actor->GetComponents(components);
+		if (components.Num() == 1) {
+			components[0]->SetRenderCustomDepth(true);
+			components[0]->CustomDepthStencilValue = (stencil++) % 256;
+			components[0]->MarkRenderStateDirty();
+		}
+	}
 }
 
 const AFlyingPawn::RCData& AFlyingPawn::getRCData()
 {
-    joystick_.getJoyStickState(0, joystick_state_);
+	std::string vehicleName = AFlyingPawn::getVehicleName();
 
-    rc_data_.is_connected = joystick_state_.is_connected;
+	if (vehicleName.compare(std::string("Quad1")) == 0)
+		joystick_.getJoyStickState(0, joystick_state_);
+	else if (vehicleName.compare(std::string("Quad2")) == 0)
+		joystick_.getJoyStickState(1, joystick_state_);
+	else if (vehicleName.compare(std::string("Quad3")) == 0)
+		joystick_.getJoyStickState(2, joystick_state_);
 
-    if (rc_data_.is_connected) {
-        rc_data_.throttle = joyStickToRC(joystick_state_.left_y);
-        rc_data_.yaw = joyStickToRC(joystick_state_.left_x);
-        rc_data_.roll = joyStickToRC(joystick_state_.right_x);
-        rc_data_.pitch = joyStickToRC(joystick_state_.right_y);
+	rc_data_.is_connected = joystick_state_.is_connected;
 
-        rc_data_.switch1 = joystick_state_.left_trigger ? 1 : 0;
-        rc_data_.switch2 = joystick_state_.right_trigger ? 1 : 0;
-    }
-    //else don't waste time
-
-    return rc_data_;
+	if (rc_data_.is_connected) {
+		rc_data_.throttle = joyStickToRC(joystick_state_.left_y);
+		rc_data_.yaw = joyStickToRC(joystick_state_.left_x);
+		rc_data_.roll = joyStickToRC(joystick_state_.right_x);
+		rc_data_.pitch = joyStickToRC(joystick_state_.right_y);
+
+		rc_data_.switch1 = joystick_state_.left_trigger ? 1 : 0;
+		rc_data_.switch2 = joystick_state_.right_trigger ? 1 : 0;
+	}
+	//else don't waste time
+
+	return rc_data_;
 }
 
 float AFlyingPawn::joyStickToRC(int16_t val)
 {
-    float valf = static_cast<float>(val);
-    return (valf - Utils::min<int16_t>()) / Utils::max<uint16_t>();
+	float valf = static_cast<float>(val);
+	return (valf) / (Utils::max<uint16_t>()/2);
 }
 
 void AFlyingPawn::reset()
 {
-    Super::reset();
+	Super::reset();
 
-    rc_data_ = RCData();
+	rc_data_ = RCData();
 }
 
 
 APIPCamera* AFlyingPawn::getFpvCamera()
 {
-    return fpv_camera_;
+	return fpv_camera_;
 }
 
 void AFlyingPawn::setRotorSpeed(int rotor_index, float radsPerSec)
@@ -103,27 +136,27 @@ void AFlyingPawn::setRotorSpeed(int rotor_index, float radsPerSec)
 
 std::string AFlyingPawn::getVehicleName()
 {
-    return std::string(TCHAR_TO_UTF8(*VehicleName));
+	return std::string(TCHAR_TO_UTF8(*VehicleName));
 }
 
 void AFlyingPawn::setupComponentReferences()
 {
-    fpv_camera_ = Cast<APIPCamera>(
-        (UAirBlueprintLib::GetActorComponent<UChildActorComponent>(this, TEXT("LeftPIPCamera")))->GetChildActor());
+	fpv_camera_ = Cast<APIPCamera>(
+		(UAirBlueprintLib::GetActorComponent<UChildActorComponent>(this, TEXT("LeftPIPCamera")))->GetChildActor());
 
-    for (auto i = 0; i < 4; ++i) {
-        rotating_movements_[i] = UAirBlueprintLib::GetActorComponent<URotatingMovementComponent>(this, TEXT("Rotation") + FString::FromInt(i));
-    }
+	for (auto i = 0; i < 4; ++i) {
+		rotating_movements_[i] = UAirBlueprintLib::GetActorComponent<URotatingMovementComponent>(this, TEXT("Rotation") + FString::FromInt(i));
+	}
 }
 
 
 void AFlyingPawn::setupInputBindings()
 {
-    //this->EnableInput(this->GetWorld()->GetFirstPlayerController());
+	//this->EnableInput(this->GetWorld()->GetFirstPlayerController());
 
-    //UAirBlueprintLib::BindAxisToKey("InputEventThrottle", EKeys::Gamepad_LeftY, this, &AFlyingPawn::inputEventThrottle);
-    //UAirBlueprintLib::BindAxisToKey("InputEventYaw", EKeys::Gamepad_LeftX, this, &AFlyingPawn::inputEventYaw);
-    //UAirBlueprintLib::BindAxisToKey("InputEventPitch", EKeys::Gamepad_RightY, this, &AFlyingPawn::inputEventPitch);
-    //UAirBlueprintLib::BindAxisToKey("InputEventRoll", EKeys::Gamepad_RightX, this, &AFlyingPawn::inputEventRoll);
-    //UAirBlueprintLib::BindActionToKey("InputEventArmDisArm", EKeys::Gamepad_LeftTrigger, this, &AFlyingPawn::inputEventArmDisArm);
+	//UAirBlueprintLib::BindAxisToKey("InputEventThrottle", EKeys::Gamepad_LeftY, this, &AFlyingPawn::inputEventThrottle);
+	//UAirBlueprintLib::BindAxisToKey("InputEventYaw", EKeys::Gamepad_LeftX, this, &AFlyingPawn::inputEventYaw);
+	//UAirBlueprintLib::BindAxisToKey("InputEventPitch", EKeys::Gamepad_RightY, this, &AFlyingPawn::inputEventPitch);
+	//UAirBlueprintLib::BindAxisToKey("InputEventRoll", EKeys::Gamepad_RightX, this, &AFlyingPawn::inputEventRoll);
+	//UAirBlueprintLib::BindActionToKey("InputEventArmDisArm", EKeys::Gamepad_LeftTrigger, this, &AFlyingPawn::inputEventArmDisArm);
 }

Unreal/Plugins/AirSim/Source/FlyingPawn.h

@@ -12,18 +12,18 @@ class AIRSIM_API AFlyingPawn : public AVehiclePawnBase
 	GENERATED_BODY()
 
 public: //interface
-    typedef msr::airlib::RCData RCData;
+	typedef msr::airlib::RCData RCData;
 
 	void setRotorSpeed(int rotor_index, float radsPerSec);
-    std::string getVehicleName();
+	std::string getVehicleName();
 
-    const RCData& getRCData();
+	const RCData& getRCData();
 
 public:
-    //overrides from VehiclePawnBase
-    virtual APIPCamera* getFpvCamera() override;
-    virtual void initialize() override;
-    virtual void reset() override;
+	//overrides from VehiclePawnBase
+	virtual APIPCamera* getFpvCamera() override;
+	virtual void initialize() override;
+	virtual void reset() override;
 
 public: //blueprint
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Debugging")
@@ -33,23 +33,23 @@ class AIRSIM_API AFlyingPawn : public AVehiclePawnBase
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "HIL")
 		FString VehicleName = "Pixhawk";
 
-    UFUNCTION(BlueprintCallable, Category = "Init")
-        void initializeForPlay();
+	UFUNCTION(BlueprintCallable, Category = "Init")
+		void initializeForPlay();
 
 private: //methods
 	void setupComponentReferences();
 	void setStencilIDs();
-    void setupInputBindings();
-    void detectUsbRc();
-    static float joyStickToRC(int16_t val);
+	void setupInputBindings();
+	void detectUsbRc();
+	static float joyStickToRC(int16_t val);
 
 private: //variables
 		 //Unreal components
 	static constexpr size_t rotor_count = 4;
 	UPROPERTY() APIPCamera* fpv_camera_;
 	UPROPERTY() URotatingMovementComponent* rotating_movements_[rotor_count];
 
-    SimJoyStick joystick_;
-    SimJoyStick::State joystick_state_;
-    RCData rc_data_;
-};
+	SimJoyStick joystick_;
+	SimJoyStick::State joystick_state_;
+	RCData rc_data_;
+};