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Support for multiple drones in Unity #3128

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merged 15 commits into from
Sep 9, 2021
Merged

Support for multiple drones in Unity #3128

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f5d5581
fixes cleaned
ykeuter Nov 3, 2020
751fea5
changes to unity scripts
ykeuter Nov 3, 2020
9542cb5
fixes
ykeuter Nov 4, 2020
98cbc43
fixes for default vehicle
ykeuter Nov 4, 2020
31ae2ea
fix bool flag
ykeuter Nov 4, 2020
2aed014
added multi drone demo
ykeuter Nov 4, 2020
aae7f54
start thread per vehicle
ykeuter Nov 4, 2020
cdbb2ba
code style changes
ykeuter Nov 4, 2020
3979e6a
apply style from clang-format
ykeuter Jun 4, 2021
284313a
Merge branch 'master' into multi-drone
ykeuter Jul 28, 2021
f8055ee
Merge branch 'master' into multi-drone
ykeuter Jul 28, 2021
059277e
remove stale code
ykeuter Jul 28, 2021
65888ff
fix vehicle name reference
ykeuter Jul 28, 2021
ddb57dc
add AirSimGlobal to multi drone demo scene
ykeuter Jul 28, 2021
0af342b
addressing code review feedback
zimmy87 Sep 9, 2021
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fixes for default vehicle
  • Loading branch information
@ykeuter
ykeuter committed Nov 4, 2020
commit 98cbc43c92d040b1d71051560e15d53a77ce7ed8
53 changes: 30 additions & 23 deletions AirLib/include/common/AirSimSettings.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -378,7 +378,7 @@ struct AirSimSettings {
{
initializeSubwindowSettings(subwindow_settings);
initializePawnPaths(pawn_paths);
initializeVehicleSettings(vehicles);
//initializeVehicleSettings(vehicles);
}

//returns number of warnings
Expand Down Expand Up @@ -768,39 +768,46 @@ struct AirSimSettings {
return vehicle_setting;
}

static void initializeVehicleSettings(std::map<std::string, std::unique_ptr<VehicleSetting>>& vehicles)
static void initializeVehicleSettings(const std::string& simmode_name, std::map<std::string, std::unique_ptr<VehicleSetting>>& vehicles)
{
vehicles.clear();

//NOTE: Do not set defaults for vehicle type here. If you do then make sure
//to sync code in createVehicleSetting() as well.

//create simple flight as default multirotor
auto simple_flight_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
simple_flight_setting->vehicle_name = "SimpleFlight";
simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight;
//TODO: we should be selecting remote if available else keyboard
//currently keyboard is not supported so use rc as default
simple_flight_setting->rc.remote_control_id = 0;
vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting);

//create default car vehicle
auto physx_car_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
physx_car_setting->vehicle_name = "PhysXCar";
physx_car_setting->vehicle_type = kVehicleTypePhysXCar;
vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting);

//create default computer vision vehicle
auto cv_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
cv_setting->vehicle_name = "ComputerVision";
cv_setting->vehicle_type = kVehicleTypeComputerVision;
vehicles[cv_setting->vehicle_name] = std::move(cv_setting);
if (simmode_name == "Multirotor")
{
//create simple flight as default multirotor
auto simple_flight_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
simple_flight_setting->vehicle_name = "SimpleFlight";
simple_flight_setting->vehicle_type = kVehicleTypeSimpleFlight;
//TODO: we should be selecting remote if available else keyboard
//currently keyboard is not supported so use rc as default
simple_flight_setting->rc.remote_control_id = 0;
vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting);
}
else if (simmode_name == "Car")
{
//create default car vehicle
auto physx_car_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
physx_car_setting->vehicle_name = "PhysXCar";
physx_car_setting->vehicle_type = kVehicleTypePhysXCar;
vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting);
}
else
{
//create default computer vision vehicle
auto cv_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
cv_setting->vehicle_name = "ComputerVision";
cv_setting->vehicle_type = kVehicleTypeComputerVision;
vehicles[cv_setting->vehicle_name] = std::move(cv_setting);
}
}

static void loadVehicleSettings(const std::string& simmode_name, const Settings& settings_json,
std::map<std::string, std::unique_ptr<VehicleSetting>>& vehicles)
{
initializeVehicleSettings(vehicles);
initializeVehicleSettings(simmode_name, vehicles);

msr::airlib::Settings vehicles_child;
if (settings_json.getChild("Vehicles", vehicles_child)) {
Expand Down
5 changes: 2 additions & 3 deletions Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -261,8 +261,7 @@ msr::airlib::VehicleApiBase* SimModeBase::getVehicleApi(const PawnSimApi::Params

UnityTransform SimModeBase::GetVehicleStartTransform()
{
//take first vehicle as default
const std::string& vehicle_name = getSettings().vehicles.begin()->first;
UnityTransform unityTransform = GetTransformFromUnity(vehicle_name.c_str());
//can we just take origin in Unity here?
UnityTransform unityTransform;
return unityTransform;
}