remove fstream references from AirSimGameMode, consolidate recording_…

…file related code in to one file

AirLib/include/controllers/Settings.hpp

@@ -40,6 +40,29 @@ namespace msr {
                 return common_utils::FileSystem::combine(path, fileName);
             }
 
+            static Settings& loadJSonString(const std::string& json_str)
+            {
+                singleton().file_ = "(loaded from string)";
+                singleton().load_success_ = false;
+
+                if (json_str.length() > 0) {
+                    std::stringstream ss;
+                    ss << json_str;
+                    ss >> singleton().doc_;
+                    singleton().load_success_ = true;
+                }
+
+                return singleton();
+            }
+            std::string saveJSonString()
+            {
+                std::lock_guard<std::mutex> guard(getFileAccessMutex());
+                std::stringstream ss;
+                ss << std::setw(2) << singleton().doc_ << std::endl;
+
+                return ss.str();
+            }
+
             static Settings& loadJSonFile(std::string fileName)
             {
                 std::lock_guard<std::mutex> guard(getFileAccessMutex());
@@ -57,6 +80,7 @@ namespace msr {
 
                 return singleton();
             }
+
             bool isLoadSuccess()
             {
                 return load_success_;

Unreal/Environments/Blocks/Blocks.uproject

@@ -17,5 +17,6 @@
 			"Name": "AirSim",
 			"Enabled": true
 		}
-	]
+	],
+	"EngineAssociation": "4.15"
 }

Unreal/Plugins/AirSim/Source/AirSimGameMode.cpp

@@ -62,27 +62,40 @@ void AAirSimGameMode::initializeSettings()
     //load settings file if found
     typedef msr::airlib::Settings Settings;
     try {
-        Settings& settings = Settings::loadJSonFile("settings.json");
-        auto settings_filename = Settings::singleton().getFileName();
-        if (settings.isLoadSuccess()) {
-            UAirBlueprintLib::setLogMessagesHidden(! settings.getBool("LogMessagesVisible", true));
 
-            std::string msg = "Loaded settings from " + settings_filename;
-            UAirBlueprintLib::LogMessage(FString(msg.c_str()), TEXT(""), LogDebugLevel::Informational);
+        /******** CAUSION: Do not use std file/IO function. They cause segfault in Linux! ******************/
+
+        FString settings_filename = FString(Settings::getFullPath("settings.json").c_str());
+        FString json_fstring;
+        bool load_success = false;
+        bool file_found = FPaths::FileExists(settings_filename);
+        if (file_found) {
+            bool read_sucess = FFileHelper::LoadFileToString(json_fstring, * settings_filename);
+            if (read_sucess) {
+                Settings& settings = Settings::loadJSonString(TCHAR_TO_UTF8(*json_fstring));
+                if (settings.isLoadSuccess()) {
+                    UAirBlueprintLib::setLogMessagesHidden(! settings.getBool("LogMessagesVisible", true));
+                    UAirBlueprintLib::LogMessageString("Loaded settings from ", TCHAR_TO_UTF8(*settings_filename), LogDebugLevel::Informational);
+                    load_success = true;
+                }
+                else
+                    UAirBlueprintLib::LogMessageString("Possibly invalid json string in ", TCHAR_TO_UTF8(*settings_filename), LogDebugLevel::Failure);
+            }
+            else
+                UAirBlueprintLib::LogMessageString("Cannot read settings from ", TCHAR_TO_UTF8(*settings_filename), LogDebugLevel::Failure);
         }
-        else {
+
+        if (!load_success) {
+            //create default settings
+            Settings& settings = Settings::loadJSonString("{}");
             //write some settings in new file otherwise the string "null" is written if all settigs are empty
             settings.setString("see_docs_at", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md");
 
-            //settings.setBool("RpcEnabled", true);
-            //settings.setString("LocalHostIp", "127.0.0.1");
-            //Settings rosflight_child;
-            //rosflight_child.setInt("RemoteControlID", 0);
-            //settings.setChild("RosFlight", rosflight_child);
-
-            settings.saveJSonFile(settings_filename);
-            std::string msg = "Settings file " + settings_filename + " is created.";
-            UAirBlueprintLib::LogMessage(FString(msg.c_str()), TEXT("See docs at https://git.io/v9mYY"), LogDebugLevel::Informational);
+            if (!file_found) {
+                json_fstring = FString(settings.saveJSonString().c_str());
+                FFileHelper::SaveStringToFile(json_fstring, * settings_filename);
+                UAirBlueprintLib::LogMessageString("Created settings file at ", TCHAR_TO_UTF8(*settings_filename), LogDebugLevel::Informational);
+            }
         }
     }
     catch (std::exception ex) {

Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp

@@ -70,8 +70,8 @@ void MultiRotorConnector::beginPlay()
     }
     catch (std::exception ex) {
 
-        UAirBlueprintLib::LogMessage(FString("Vehicle controller cannot be started, please check your settings.json"), FString(ex.what()), LogDebugLevel::Failure, 180);
-        UAirBlueprintLib::LogMessage(FString(ex.what()), TEXT(""), LogDebugLevel::Failure, 180);
+        UAirBlueprintLib::LogMessage(FString("Vehicle controller cannot be started: "), FString(ex.what()), LogDebugLevel::Failure, 180);
+        UAirBlueprintLib::LogMessage("Tip: check settings.json: ", FString(ex.what()), LogDebugLevel::Failure, 180);
     }
 }
 

Unreal/Plugins/AirSim/Source/Recording/RecordingFile.cpp

@@ -0,0 +1,72 @@
+#include <AirSim.h>
+#include "ImageUtils.h"
+#include "common/ClockFactory.hpp"
+#include "common/common_utils/FileSystem.hpp"
+
+void RecordingFile::appendRecord(FString image_path, TArray<uint8>& compressedPng, const msr::airlib::PhysicsBody* physics_body)
+{
+    if (compressedPng.Num() == 0)
+        return;
+
+    FString filePath = image_path + FString::FromInt(images_saved_) + ".png";
+    bool imageSavedOk = FFileHelper::SaveArrayToFile(compressedPng, *filePath);
+
+    // If render command is complete, save image along with position and orientation
+
+    if (!imageSavedOk)
+        UAirBlueprintLib::LogMessage(TEXT("FAILED to save screenshot to:"), filePath, LogDebugLevel::Failure);
+    else {
+        auto kinematics = physics_body->getKinematics();
+
+        uint64_t timestamp_millis = static_cast<uint64_t>(msr::airlib::ClockFactory::get()->nowNanos() / 1.0E6);
+
+        record_file << timestamp_millis << "\t";
+        record_file << kinematics.pose.position.x() << "\t" << kinematics.pose.position.y() << "\t" << kinematics.pose.position.z() << "\t";
+        record_file << kinematics.pose.orientation.w() << "\t" << kinematics.pose.orientation.x() << "\t" << kinematics.pose.orientation.y() << "\t" << kinematics.pose.orientation.z() << "\t";
+        record_file << "\n";
+
+        UAirBlueprintLib::LogMessage(TEXT("Screenshot saved to:"), filePath, LogDebugLevel::Success);
+        images_saved_++;
+    }
+}
+
+void RecordingFile::startRecording()
+{
+    if (record_file.is_open()) {
+        record_file.close();
+        UAirBlueprintLib::LogMessage(TEXT("Recording Error"), TEXT("File was already open"), LogDebugLevel::Failure);
+    }
+
+    std::string fullPath = common_utils::FileSystem::getLogFileNamePath(record_filename, "", ".txt", true);
+    common_utils::FileSystem::createTextFile(fullPath, record_file);
+
+    if (record_file.is_open()) {
+        is_recording_ = true;
+
+        UAirBlueprintLib::LogMessage(TEXT("Recording"), TEXT("Started"), LogDebugLevel::Success);
+    }
+    else
+        UAirBlueprintLib::LogMessage("Error creating log file", fullPath.c_str(), LogDebugLevel::Failure);
+}
+
+void RecordingFile::stopRecording()
+{
+    is_recording_ = false;
+    if (!record_file.is_open()) {
+        UAirBlueprintLib::LogMessage(TEXT("Recording Error"), TEXT("File was not open"), LogDebugLevel::Failure);
+    }
+    else
+        record_file.close();
+
+    UAirBlueprintLib::LogMessage(TEXT("Recording"), TEXT("Stopped"), LogDebugLevel::Success);
+}
+
+bool RecordingFile::isRecording()
+{
+    return is_recording_;
+}
+
+void RecordingFile::initializeForPlay()
+{
+    is_recording_ = false;
+}

Unreal/Plugins/AirSim/Source/Recording/RecordingFile.h

@@ -0,0 +1,18 @@
+#include "AirBlueprintLib.h"
+#include "physics/PhysicsBody.hpp"
+
+
+class RecordingFile {
+public:
+    void appendRecord(FString image_path, TArray<uint8>& compressedPng, const msr::airlib::PhysicsBody* physics_body);
+    void startRecording();
+    void stopRecording();
+    bool isRecording();
+    void initializeForPlay();
+
+private:
+    std::ofstream record_file;
+    std::string record_filename = "airsim_rec";
+    unsigned int images_saved_ = 0;
+    bool is_recording_;
+};