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AutonomySimSettings.hpp
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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef autonomylib_common_AutonomySimSettings_hpp
#define autonomylib_common_AutonomySimSettings_hpp
#include <exception>
#include <functional>
#include <map>
#include <string>
#include <vector>
#include "CommonStructs.hpp"
#include "ImageCaptureBase.hpp"
#include "Settings.hpp"
#include "sensors/SensorBase.hpp"
#include "utils/Utils.hpp"
namespace nervosys {
namespace autonomylib {
struct AutonomySimSettings {
private:
typedef common_utils::Utils Utils;
typedef ImageCaptureBase::ImageType ImageType;
// fields
float settings_version_actual;
float settings_version_minimum = 1.2f;
public:
// types
static constexpr int kSubwindowCount = 3; // must be >= 3 for now
static constexpr char const *kVehicleTypePX4 = "px4multirotor";
static constexpr char const *kVehicleTypeArduCopterSolo = "arducoptersolo";
static constexpr char const *kVehicleTypeSimpleFlight = "simpleflight";
static constexpr char const *kVehicleTypeArduCopter = "arducopter";
static constexpr char const *kVehicleTypePhysXCar = "physxcar";
static constexpr char const *kVehicleTypeArduRover = "ardurover";
static constexpr char const *kVehicleTypeComputerVision = "computervision";
static constexpr char const *kVehicleInertialFrame = "VehicleInertialFrame";
static constexpr char const *kSensorLocalFrame = "SensorLocalFrame";
static constexpr char const *kSimModeTypeMultirotor = "Multirotor";
static constexpr char const *kSimModeTypeCar = "Car";
static constexpr char const *kSimModeTypeComputerVision = "ComputerVision";
struct SubwindowSetting {
int window_index;
ImageType image_type;
bool visible;
std::string camera_name;
std::string vehicle_name;
bool external;
SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene,
bool visible_val = false, const std::string &camera_name_val = "",
const std::string &vehicle_name_val = "", bool external_val = false)
: window_index(window_index_val), image_type(image_type_val), visible(visible_val),
camera_name(camera_name_val), vehicle_name(vehicle_name_val), external(external_val) {}
};
struct RecordingSetting {
bool record_on_move = false;
float record_interval = 0.05f;
std::string folder = "";
bool enabled = false;
std::map<std::string, std::vector<ImageCaptureBase::ImageRequest>> requests;
RecordingSetting() {}
RecordingSetting(bool record_on_move_val, float record_interval_val, const std::string &folder_val,
bool enabled_val)
: record_on_move(record_on_move_val), record_interval(record_interval_val), folder(folder_val),
enabled(enabled_val) {}
};
struct PawnPath {
std::string pawn_bp;
std::string slippery_mat;
std::string non_slippery_mat;
PawnPath(const std::string &pawn_bp_val = "",
const std::string &slippery_mat_val = "/AutonomySim/VehicleAdv/PhysicsMaterials/Slippery.Slippery",
const std::string &non_slippery_mat_val =
"/AutonomySim/VehicleAdv/PhysicsMaterials/NonSlippery.NonSlippery")
: pawn_bp(pawn_bp_val), slippery_mat(slippery_mat_val), non_slippery_mat(non_slippery_mat_val) {}
};
struct RCSettings {
int remote_control_id = -1;
bool allow_api_when_disconnected = false;
};
struct Rotation {
float yaw = 0;
float pitch = 0;
float roll = 0;
Rotation() {}
Rotation(float yaw_val, float pitch_val, float roll_val) : yaw(yaw_val), pitch(pitch_val), roll(roll_val) {}
static Rotation nanRotation() noexcept {
static const Rotation val(Utils::nan<float>(), Utils::nan<float>(), Utils::nan<float>());
return val;
}
};
struct GimbalSetting {
float stabilization = 0;
// bool is_world_frame = false;
Rotation rotation = Rotation::nanRotation();
};
struct CaptureSetting {
// below settings_json are obtained by using Unreal console command (press ~):
// ShowFlag.VisualizeHDR 1.
// to replicate camera settings_json to SceneCapture2D
// TODO: should we use UAutonomyBlueprintLib::GetDisplayGamma()?
static constexpr float kSceneTargetGamma = 1.4f;
int image_type = 0;
unsigned int width = 256, height = 144; // 960 X 540
float fov_degrees = Utils::nan<float>(); // 90.0f
int auto_exposure_method = -1; // histogram
float auto_exposure_speed = Utils::nan<float>(); // 100.0f;
float auto_exposure_bias = Utils::nan<float>(); // 0;
float auto_exposure_max_brightness = Utils::nan<float>(); // 0.64f;
float auto_exposure_min_brightness = Utils::nan<float>(); // 0.03f;
float auto_exposure_low_percent = Utils::nan<float>(); // 80.0f;
float auto_exposure_high_percent = Utils::nan<float>(); // 98.3f;
float auto_exposure_histogram_log_min = Utils::nan<float>(); // -8;
float auto_exposure_histogram_log_max = Utils::nan<float>(); // 4;
float motion_blur_amount = Utils::nan<float>();
float target_gamma =
Utils::nan<float>(); // 1.0f; //This would be reset to kSceneTargetGamma for scene as default
int projection_mode = 0; // ECameraProjectionMode::Perspective
float ortho_width = Utils::nan<float>();
};
struct NoiseSetting {
int ImageType = 0;
bool Enabled = false;
float RandContrib = 0.2f;
float RandSpeed = 100000.0f;
float RandSize = 500.0f;
float RandDensity = 2.0f;
float HorzWaveContrib = 0.03f;
float HorzWaveStrength = 0.08f;
float HorzWaveVertSize = 1.0f;
float HorzWaveScreenSize = 1.0f;
float HorzNoiseLinesContrib = 1.0f;
float HorzNoiseLinesDensityY = 0.01f;
float HorzNoiseLinesDensityXY = 0.5f;
float HorzDistortionContrib = 1.0f;
float HorzDistortionStrength = 0.002f;
};
struct PixelFormatOverrideSetting {
int pixel_format = 0;
};
struct UnrealEngineSetting {
std::map<int, PixelFormatOverrideSetting> pixel_format_override_settings;
};
using CaptureSettingsMap = std::map<int, CaptureSetting>;
using NoiseSettingsMap = std::map<int, NoiseSetting>;
struct CameraSetting {
// nan means keep the default values set in components
Vector3r position = VectorMath::nanVector();
Rotation rotation = Rotation::nanRotation();
GimbalSetting gimbal;
CaptureSettingsMap capture_settings;
NoiseSettingsMap noise_settings;
UnrealEngineSetting ue_setting;
CameraSetting() {
initializeCaptureSettings(capture_settings);
initializeNoiseSettings(noise_settings);
}
};
using CameraSettingMap = std::map<std::string, CameraSetting>;
struct CameraDirectorSetting {
Vector3r position = VectorMath::nanVector();
Rotation rotation = Rotation::nanRotation();
float follow_distance = Utils::nan<float>();
};
struct SensorSetting {
SensorBase::SensorType sensor_type;
std::string sensor_name;
bool enabled = true;
Settings settings; // imported json data that needs to be parsed by specific sensors.
};
struct BarometerSetting : SensorSetting {};
struct ImuSetting : SensorSetting {};
struct GpsSetting : SensorSetting {};
struct MagnetometerSetting : SensorSetting {};
struct DistanceSetting : SensorSetting {};
struct LidarSetting : SensorSetting {
enum class DataFrame { VehicleInertialFrame, SensorLocalFrame };
};
struct VehicleSetting {
// required
std::string vehicle_name;
std::string vehicle_type;
// optional
std::string default_vehicle_state;
std::string pawn_path;
bool allow_api_always = true;
bool auto_create = true;
bool enable_collision_passthrough = false;
bool enable_trace = false;
bool enable_collisions = true;
bool is_fpv_vehicle = false;
// nan means use player start
Vector3r position = VectorMath::nanVector(); // in global NED
Rotation rotation = Rotation::nanRotation();
CameraSettingMap cameras;
std::map<std::string, std::shared_ptr<SensorSetting>> sensors;
RCSettings rc;
VehicleSetting() {}
VehicleSetting(const std::string &vehicle_name_val, const std::string &vehicle_type_val)
: vehicle_name(vehicle_name_val), vehicle_type(vehicle_type_val) {}
};
struct MavLinkConnectionInfo {
/* Default values are requires so uninitialized instance doesn't have random values */
bool use_serial = true; // false means use UDP or TCP instead
// Used to connect via HITL: needed only if use_serial = true
std::string serial_port = "*";
int baud_rate = 115200;
// Used to connect to drone over UDP: needed only if use_serial = false and use_tcp == false
std::string udp_address = "127.0.0.1";
int udp_port = 14560;
// Used to accept connections from drone over TCP: needed only if use_tcp = true
bool lock_step = true;
bool use_tcp = false;
int tcp_port = 4560;
// The PX4 SITL app requires receiving drone commands over a different mavlink channel called
// the "ground control station" (or GCS) channel.
std::string control_ip_address = "127.0.0.1";
int control_port_local = 14540;
int control_port_remote = 14580;
// The log viewer can be on a different machine, so you can configure it's ip address and port here.
int logviewer_ip_port = 14388;
int logviewer_ip_sport = 14389; // for logging all messages we send to the vehicle.
std::string logviewer_ip_address = "";
// The QGroundControl app can be on a different machine, and AutonomySim can act as a proxy to forward
// the mavlink stream over to that machine if you configure it's ip address and port here.
int qgc_ip_port = 0;
std::string qgc_ip_address = "";
// mavlink vehicle identifiers
uint8_t sim_sysid = 142;
int sim_compid = 42;
uint8_t offboard_sysid = 134;
int offboard_compid = 1;
uint8_t vehicle_sysid = 135;
int vehicle_compid = 1;
// if you want to select a specific local network adapter so you can reach certain remote machines (e.g. wifi
// versus ethernet) then you will want to change the LocalHostIp accordingly. This default only works when log
// viewer and QGC are also on the same machine. Whatever network you choose it has to be the same one for
// external
std::string local_host_ip = "127.0.0.1";
std::string model = "Generic";
std::map<std::string, float> params;
std::string logs;
};
struct MavLinkVehicleSetting : public VehicleSetting {
MavLinkConnectionInfo connection_info;
};
struct SegmentationSetting {
enum class InitMethodType { None, CommonObjectsRandomIDs };
enum class MeshNamingMethodType { OwnerName, StaticMeshName };
InitMethodType init_method = InitMethodType::CommonObjectsRandomIDs;
bool override_existing = false;
MeshNamingMethodType mesh_naming_method = MeshNamingMethodType::OwnerName;
};
struct TimeOfDaySetting {
bool enabled = false;
std::string start_datetime = ""; // format: %Y-%m-%d %H:%M:%S
bool is_start_datetime_dst = false;
float celestial_clock_speed = 1;
float update_interval_secs = 60;
bool move_sun = true;
};
// fields
std::string simmode_name = "";
std::string level_name = "";
std::vector<SubwindowSetting> subwindow_settings;
RecordingSetting recording_setting;
SegmentationSetting segmentation_setting;
TimeOfDaySetting tod_setting;
std::vector<std::string> warning_messages;
std::vector<std::string> error_messages;
bool is_record_ui_visible = false;
int initial_view_mode = 2; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME
bool enable_rpc = true;
std::string api_server_address = "";
int api_port = RpcLibPort;
std::string physics_engine_name = "";
std::string clock_type = "";
float clock_speed = 1.0f;
bool engine_sound = false;
bool log_messages_visible = true;
bool show_los_debug_lines_ = false;
HomeGeoPoint origin_geopoint{
GeoPoint(47.641468, -122.140165, 122)}; // The geo-coordinate assigned to Unreal coordinate 0,0,0
std::map<std::string, PawnPath> pawn_paths; // path for pawn blueprint
std::map<std::string, std::unique_ptr<VehicleSetting>> vehicles;
CameraSetting camera_defaults;
CameraDirectorSetting camera_director;
float speed_unit_factor = 1.0f;
std::string speed_unit_label = "m\\s";
std::map<std::string, std::shared_ptr<SensorSetting>> sensor_defaults;
Vector3r wind = Vector3r::Zero();
Vector3r ext_force = Vector3r::Zero();
CameraSettingMap external_cameras;
std::string settings_text_ = "";
// methods
static AutonomySimSettings &singleton() {
static AutonomySimSettings instance;
return instance;
}
AutonomySimSettings() {
initializeSubwindowSettings(subwindow_settings);
initializePawnPaths(pawn_paths);
}
// returns number of warnings
void load(std::function<std::string(void)> simmode_getter) {
warning_messages.clear();
error_messages.clear();
const Settings &settings_json = Settings::singleton();
checkSettingsVersion(settings_json);
loadCoreSimModeSettings(settings_json, simmode_getter);
loadLevelSettings(settings_json);
loadDefaultCameraSetting(settings_json, camera_defaults);
loadCameraDirectorSetting(settings_json, camera_director, simmode_name);
loadSubWindowsSettings(settings_json, subwindow_settings);
loadViewModeSettings(settings_json);
loadSegmentationSetting(settings_json, segmentation_setting);
loadPawnPaths(settings_json, pawn_paths);
loadOtherSettings(settings_json);
loadDefaultSensorSettings(simmode_name, settings_json, sensor_defaults);
loadVehicleSettings(simmode_name, settings_json, vehicles, sensor_defaults, camera_defaults);
loadExternalCameraSettings(settings_json, external_cameras, camera_defaults);
// this should be done last because it depends on vehicles (and/or their type) we have
loadRecordingSetting(settings_json);
loadClockSettings(settings_json);
}
static void initializeSettings(const std::string &json_settings_text) {
singleton().settings_text_ = json_settings_text;
Settings &settings_json = Settings::loadJSonString(json_settings_text);
if (!settings_json.isLoadSuccess())
throw std::invalid_argument("Cannot parse JSON settings_json string.");
}
static void createDefaultSettingsFile() {
initializeSettings("{}");
Settings &settings_json = Settings::singleton();
// write some settings_json in new file otherwise the string "null" is written if all settings_json are empty
settings_json.setString("SeeDocsAt", "https://github.com/nervosys/AutonomySim/blob/master/docs/settings.md");
settings_json.setDouble("SettingsVersion", 1.2);
std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");
// TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only
// support Unreal 4.17
// https://answers.unrealengine.com/questions/664905/unreal-crashes-on-two-lines-of-extremely-simple-st.html
settings_json.saveJSonFile(settings_filename);
}
// This is for the case when a new vehicle is made on the fly, at runtime
void addVehicleSetting(const std::string &vehicle_name, const std::string &vehicle_type, const Pose &pose,
const std::string &pawn_path = "") {
// No Mavlink-type vehicles currently
auto vehicle_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting(vehicle_name, vehicle_type));
vehicle_setting->position = pose.position;
vehicle_setting->pawn_path = pawn_path;
vehicle_setting->sensors = sensor_defaults;
VectorMath::toEulerianAngle(pose.orientation, vehicle_setting->rotation.pitch, vehicle_setting->rotation.roll,
vehicle_setting->rotation.yaw);
vehicles[vehicle_name] = std::move(vehicle_setting);
}
const VehicleSetting *getVehicleSetting(const std::string &vehicle_name) const {
auto it = vehicles.find(vehicle_name);
if (it == vehicles.end())
// pre-existing flying pawns in Unreal Engine don't have name 'SimpleFlight'
it = vehicles.find("SimpleFlight");
return it->second.get();
}
static Vector3r createVectorSetting(const Settings &settings_json, const Vector3r &default_vec) {
return Vector3r(settings_json.getFloat("X", default_vec.x()), settings_json.getFloat("Y", default_vec.y()),
settings_json.getFloat("Z", default_vec.z()));
}
static Rotation createRotationSetting(const Settings &settings_json, const Rotation &default_rot) {
return Rotation(settings_json.getFloat("Yaw", default_rot.yaw),
settings_json.getFloat("Pitch", default_rot.pitch),
settings_json.getFloat("Roll", default_rot.roll));
}
private:
void checkSettingsVersion(const Settings &settings_json) {
bool has_default_settings = hasDefaultSettings(settings_json, settings_version_actual);
bool upgrade_required = settings_version_actual < settings_version_minimum;
if (upgrade_required) {
bool auto_upgrade = false;
// if we have default setting file not modified by user then we will
// just auto-upgrade it
if (has_default_settings) {
auto_upgrade = true;
} else {
// check if auto-upgrade is possible
if (settings_version_actual == 1) {
const std::vector<std::string> all_changed_keys = {"AdditionalCameras", "CaptureSettings",
"NoiseSettings", "UsageScenario",
"SimpleFlight", "PX4"};
std::stringstream detected_keys_ss;
for (const auto &changed_key : all_changed_keys) {
if (settings_json.hasKey(changed_key))
detected_keys_ss << changed_key << ",";
}
std::string detected_keys = detected_keys_ss.str();
if (detected_keys.length()) {
std::string error_message =
"You are using newer version of AutonomySim with older version of settings.json. "
"You can either delete your settings.json and restart AutonomySim or use the upgrade "
"instructions at https://git.io/vjefh. \n\n"
"Following keys in your settings.json needs updating: ";
error_messages.push_back(error_message + detected_keys);
} else
auto_upgrade = true;
} else
auto_upgrade = true;
}
if (auto_upgrade) {
warning_messages.push_back(
"You are using newer version of AutonomySim with older version of settings.json. "
"You should delete your settings.json file and restart AutonomySim.");
}
}
// else no action necessary
}
bool hasDefaultSettings(const Settings &settings_json, float &version) {
// if empty settings file
bool has_default = settings_json.size() == 0;
bool has_docs =
settings_json.getString("SeeDocsAt", "") != "" || settings_json.getString("see_docs_at", "") != "";
// we had spelling mistake so we are currently supporting SettingsVersion or SettingdVersion :(
version = settings_json.getFloat("SettingsVersion", settings_json.getFloat("SettingdVersion", 0));
// If we have pre-V1 settings and only element is docs link
has_default |= settings_json.size() == 1 && has_docs;
// if we have V1 settings and only elements are docs link and version
has_default |= settings_json.size() == 2 && has_docs && version > 0;
return has_default;
}
void loadCoreSimModeSettings(const Settings &settings_json, std::function<std::string(void)> simmode_getter) {
// get the simmode from user if not specified
simmode_name = settings_json.getString("SimMode", "");
if (simmode_name == "") {
if (simmode_getter)
simmode_name = simmode_getter();
else
throw std::invalid_argument("simmode_name is not expected empty in SimModeBase");
}
physics_engine_name = settings_json.getString("PhysicsEngineName", "");
if (physics_engine_name == "") {
if (simmode_name == kSimModeTypeMultirotor)
physics_engine_name = "FastPhysicsEngine";
else
physics_engine_name = "PhysX"; // this value is only informational for now
}
}
void loadLevelSettings(const Settings &settings_json) {
level_name = settings_json.getString("Default Environment", "");
}
void loadViewModeSettings(const Settings &settings_json) {
std::string view_mode_string = settings_json.getString("ViewMode", "");
if (view_mode_string == "") {
if (simmode_name == kSimModeTypeMultirotor)
view_mode_string = "FlyWithMe";
else if (simmode_name == kSimModeTypeComputerVision)
view_mode_string = "Fpv";
else
view_mode_string = "SpringArmChase";
}
if (view_mode_string == "Fpv")
initial_view_mode = 0; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FPV;
else if (view_mode_string == "GroundObserver")
initial_view_mode = 1; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_GROUND_OBSERVER;
else if (view_mode_string == "FlyWithMe")
initial_view_mode = 2; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME;
else if (view_mode_string == "Manual")
initial_view_mode = 3; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL;
else if (view_mode_string == "SpringArmChase")
initial_view_mode = 4; // ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE;
else if (view_mode_string == "Backup")
initial_view_mode = 5; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_BACKUP;
else if (view_mode_string == "NoDisplay")
initial_view_mode = 6; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_NODISPLAY;
else if (view_mode_string == "Front")
initial_view_mode = 7; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_FRONT;
else
error_messages.push_back("ViewMode setting is not recognized: " + view_mode_string);
}
static void loadRCSetting(const std::string &simmode_name, const Settings &settings_json, RCSettings &rc_setting) {
Settings rc_json;
if (settings_json.getChild("RC", rc_json)) {
rc_setting.remote_control_id =
rc_json.getInt("RemoteControlID", simmode_name == kSimModeTypeMultirotor ? 0 : -1);
rc_setting.allow_api_when_disconnected =
rc_json.getBool("AllowAPIWhenDisconnected", rc_setting.allow_api_when_disconnected);
}
}
static std::string getCameraName(const Settings &settings_json) {
return settings_json.getString(
"CameraName",
// TODO: below exist only due to legacy reason and can be replaced by "" in future
std::to_string(settings_json.getInt("CameraID", 0)));
}
void loadDefaultRecordingSettings() {
recording_setting.requests.clear();
// Add Scene image for each vehicle
for (const auto &vehicle : vehicles) {
recording_setting.requests[vehicle.first].push_back(
ImageCaptureBase::ImageRequest("", ImageType::Scene, false, true));
}
}
void loadRecordingSetting(const Settings &settings_json) {
loadDefaultRecordingSettings();
Settings recording_json;
if (settings_json.getChild("Recording", recording_json)) {
recording_setting.record_on_move = recording_json.getBool("RecordOnMove", recording_setting.record_on_move);
recording_setting.record_interval =
recording_json.getFloat("RecordInterval", recording_setting.record_interval);
recording_setting.folder = recording_json.getString("Folder", recording_setting.folder);
recording_setting.enabled = recording_json.getBool("Enabled", recording_setting.enabled);
Settings req_cameras_settings;
if (recording_json.getChild("Cameras", req_cameras_settings)) {
// If 'Cameras' field is present, clear defaults
recording_setting.requests.clear();
// Get name of the default vehicle to be used if "VehicleName" isn't specified
// Map contains a default vehicle if vehicles haven't been specified
std::string default_vehicle_name = vehicles.begin()->first;
for (size_t child_index = 0; child_index < req_cameras_settings.size(); ++child_index) {
Settings req_camera_settings;
if (req_cameras_settings.getChild(child_index, req_camera_settings)) {
std::string camera_name = getCameraName(req_camera_settings);
ImageType image_type = Utils::toEnum<ImageType>(req_camera_settings.getInt("ImageType", 0));
bool compress = req_camera_settings.getBool("Compress", true);
bool pixels_as_float = req_camera_settings.getBool("PixelsAsFloat", false);
std::string vehicle_name = req_camera_settings.getString("VehicleName", default_vehicle_name);
recording_setting.requests[vehicle_name].push_back(
ImageCaptureBase::ImageRequest(camera_name, image_type, pixels_as_float, compress));
}
}
}
}
}
static void initializeCaptureSettings(CaptureSettingsMap &capture_settings) {
capture_settings.clear();
for (int i = -1; i < Utils::toNumeric(ImageType::Count); ++i) {
capture_settings[i] = CaptureSetting();
}
capture_settings.at(Utils::toNumeric(ImageType::Scene)).target_gamma = CaptureSetting::kSceneTargetGamma;
}
static void loadCaptureSettings(const Settings &settings_json, CaptureSettingsMap &capture_settings) {
// We don't call initializeCaptureSettings here since it's already called in CameraSettings constructor
// And to avoid overwriting any defaults already set from CameraDefaults
Settings json_parent;
if (settings_json.getChild("CaptureSettings", json_parent)) {
for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) {
Settings json_settings_child;
if (json_parent.getChild(child_index, json_settings_child)) {
CaptureSetting capture_setting;
createCaptureSettings(json_settings_child, capture_setting);
capture_settings[capture_setting.image_type] = capture_setting;
}
}
}
}
static std::unique_ptr<VehicleSetting> createMavLinkVehicleSetting(const Settings &settings_json) {
// these settings_json are expected in same section, not in another child
std::unique_ptr<VehicleSetting> vehicle_setting_p =
std::unique_ptr<VehicleSetting>(new MavLinkVehicleSetting());
MavLinkVehicleSetting *vehicle_setting = static_cast<MavLinkVehicleSetting *>(vehicle_setting_p.get());
// TODO: we should be selecting remote if available else keyboard
// currently keyboard is not supported so use rc as default
vehicle_setting->rc.remote_control_id = 0;
MavLinkConnectionInfo &connection_info = vehicle_setting->connection_info;
connection_info.sim_sysid = static_cast<uint8_t>(settings_json.getInt("SimSysID", connection_info.sim_sysid));
connection_info.sim_compid = settings_json.getInt("SimCompID", connection_info.sim_compid);
connection_info.vehicle_sysid =
static_cast<uint8_t>(settings_json.getInt("VehicleSysID", connection_info.vehicle_sysid));
connection_info.vehicle_compid = settings_json.getInt("VehicleCompID", connection_info.vehicle_compid);
connection_info.offboard_sysid =
static_cast<uint8_t>(settings_json.getInt("OffboardSysID", connection_info.offboard_sysid));
connection_info.offboard_compid = settings_json.getInt("OffboardCompID", connection_info.offboard_compid);
connection_info.logviewer_ip_address =
settings_json.getString("LogViewerHostIp", connection_info.logviewer_ip_address);
connection_info.logviewer_ip_port = settings_json.getInt("LogViewerPort", connection_info.logviewer_ip_port);
connection_info.logviewer_ip_sport =
settings_json.getInt("LogViewerSendPort", connection_info.logviewer_ip_sport);
connection_info.qgc_ip_address = settings_json.getString("QgcHostIp", connection_info.qgc_ip_address);
connection_info.qgc_ip_port = settings_json.getInt("QgcPort", connection_info.qgc_ip_port);
connection_info.control_ip_address = settings_json.getString("ControlIp", connection_info.control_ip_address);
connection_info.control_port_local =
settings_json.getInt("ControlPort", connection_info.control_port_local); // legacy
connection_info.control_port_local =
settings_json.getInt("ControlPortLocal", connection_info.control_port_local);
connection_info.control_port_remote =
settings_json.getInt("ControlPortRemote", connection_info.control_port_remote);
std::string sitlip = settings_json.getString("SitlIp", connection_info.control_ip_address);
if (sitlip.size() > 0 && connection_info.control_ip_address.size() == 0) {
// backwards compat
connection_info.control_ip_address = sitlip;
}
if (settings_json.hasKey("SitlPort")) {
// backwards compat
connection_info.control_port_local = settings_json.getInt("SitlPort", connection_info.control_port_local);
}
connection_info.local_host_ip = settings_json.getString("LocalHostIp", connection_info.local_host_ip);
connection_info.use_serial = settings_json.getBool("UseSerial", connection_info.use_serial);
connection_info.udp_address = settings_json.getString("UdpIp", connection_info.udp_address);
connection_info.udp_port = settings_json.getInt("UdpPort", connection_info.udp_port);
connection_info.use_tcp = settings_json.getBool("UseTcp", connection_info.use_tcp);
connection_info.lock_step = settings_json.getBool("LockStep", connection_info.lock_step);
connection_info.tcp_port = settings_json.getInt("TcpPort", connection_info.tcp_port);
connection_info.serial_port = settings_json.getString("SerialPort", connection_info.serial_port);
connection_info.baud_rate = settings_json.getInt("SerialBaudRate", connection_info.baud_rate);
connection_info.model = settings_json.getString("Model", connection_info.model);
connection_info.logs = settings_json.getString("Logs", connection_info.logs);
Settings params;
if (settings_json.getChild("Parameters", params)) {
std::vector<std::string> keys;
params.getChildNames(keys);
for (auto key : keys) {
connection_info.params[key] = params.getFloat(key, 0);
}
}
return vehicle_setting_p;
}
static std::unique_ptr<VehicleSetting>
createVehicleSetting(const std::string &simmode_name, const Settings &settings_json, const std::string vehicle_name,
std::map<std::string, std::shared_ptr<SensorSetting>> &sensor_defaults,
const CameraSetting &camera_defaults) {
auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", ""));
std::unique_ptr<VehicleSetting> vehicle_setting;
if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypeArduCopterSolo ||
vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover)
vehicle_setting = createMavLinkVehicleSetting(settings_json);
// for everything else we don't need derived class yet
else {
vehicle_setting = std::unique_ptr<VehicleSetting>(new VehicleSetting());
if (vehicle_type == kVehicleTypeSimpleFlight) {
// TODO: we should be selecting remote if available else keyboard
// currently keyboard is not supported so use rc as default
vehicle_setting->rc.remote_control_id = 0;
}
}
vehicle_setting->vehicle_name = vehicle_name;
// required settings_json
vehicle_setting->vehicle_type = vehicle_type;
// optional settings_json
vehicle_setting->pawn_path = settings_json.getString("PawnPath", "");
vehicle_setting->default_vehicle_state = settings_json.getString("DefaultVehicleState", "");
vehicle_setting->allow_api_always = settings_json.getBool("AllowAPIAlways", vehicle_setting->allow_api_always);
vehicle_setting->auto_create = settings_json.getBool("AutoCreate", vehicle_setting->auto_create);
vehicle_setting->enable_collision_passthrough =
settings_json.getBool("EnableCollisionPassthrogh", vehicle_setting->enable_collision_passthrough);
vehicle_setting->enable_trace = settings_json.getBool("EnableTrace", vehicle_setting->enable_trace);
vehicle_setting->enable_collisions =
settings_json.getBool("EnableCollisions", vehicle_setting->enable_collisions);
vehicle_setting->is_fpv_vehicle = settings_json.getBool("IsFpvVehicle", vehicle_setting->is_fpv_vehicle);
loadRCSetting(simmode_name, settings_json, vehicle_setting->rc);
vehicle_setting->position = createVectorSetting(settings_json, vehicle_setting->position);
vehicle_setting->rotation = createRotationSetting(settings_json, vehicle_setting->rotation);
loadCameraSettings(settings_json, vehicle_setting->cameras, camera_defaults);
loadSensorSettings(settings_json, "Sensors", vehicle_setting->sensors, sensor_defaults);
return vehicle_setting;
}
static void createDefaultVehicle(const std::string &simmode_name,
std::map<std::string, std::unique_ptr<VehicleSetting>> &vehicles,
const std::map<std::string, std::shared_ptr<SensorSetting>> &sensor_defaults) {
vehicles.clear();
// NOTE: Do not set defaults for vehicle type here. If you do then make sure
// to sync code in createVehicleSetting() as well.
if (simmode_name == kSimModeTypeMultirotor) {
// create simple flight as default multirotor
auto simple_flight_setting =
std::unique_ptr<VehicleSetting>(new VehicleSetting("SimpleFlight", 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;
simple_flight_setting->sensors = sensor_defaults;
vehicles[simple_flight_setting->vehicle_name] = std::move(simple_flight_setting);
} else if (simmode_name == kSimModeTypeCar) {
// create PhysX as default car vehicle
auto physx_car_setting =
std::unique_ptr<VehicleSetting>(new VehicleSetting("PhysXCar", kVehicleTypePhysXCar));
physx_car_setting->sensors = sensor_defaults;
vehicles[physx_car_setting->vehicle_name] = std::move(physx_car_setting);
} else if (simmode_name == kSimModeTypeComputerVision) {
// create default computer vision vehicle
auto cv_setting =
std::unique_ptr<VehicleSetting>(new VehicleSetting("ComputerVision", kVehicleTypeComputerVision));
cv_setting->sensors = sensor_defaults;
vehicles[cv_setting->vehicle_name] = std::move(cv_setting);
} else {
throw std::invalid_argument(
Utils::stringf("Unknown SimMode: %s, failed to set default vehicle settings", simmode_name.c_str())
.c_str());
}
}
static void loadVehicleSettings(const std::string &simmode_name, const Settings &settings_json,
std::map<std::string, std::unique_ptr<VehicleSetting>> &vehicles,
std::map<std::string, std::shared_ptr<SensorSetting>> &sensor_defaults,
const CameraSetting &camera_defaults) {
createDefaultVehicle(simmode_name, vehicles, sensor_defaults);
nervosys::autonomylib::Settings vehicles_child;
if (settings_json.getChild("Vehicles", vehicles_child)) {
std::vector<std::string> keys;
vehicles_child.getChildNames(keys);
// remove default vehicles, if values are specified in settings
if (keys.size())
vehicles.clear();
for (const auto &key : keys) {
nervosys::autonomylib::Settings child;
vehicles_child.getChild(key, child);
vehicles[key] = createVehicleSetting(simmode_name, child, key, sensor_defaults, camera_defaults);
}
}
}
static void initializePawnPaths(std::map<std::string, PawnPath> &pawn_paths) {
pawn_paths.clear();
pawn_paths.emplace("BareboneCar",
PawnPath("Class'/AutonomySim/VehicleAdv/Vehicle/VehicleAdvPawn.VehicleAdvPawn_C'"));
pawn_paths.emplace("DefaultCar", PawnPath("Class'/AutonomySim/VehicleAdv/SUV/SuvCarPawn.SuvCarPawn_C'"));
pawn_paths.emplace("DefaultQuadrotor",
PawnPath("Class'/AutonomySim/Blueprints/BP_FlyingPawn.BP_FlyingPawn_C'"));
pawn_paths.emplace("DefaultComputerVision",
PawnPath("Class'/AutonomySim/Blueprints/BP_ComputerVisionPawn.BP_ComputerVisionPawn_C'"));
}
static void loadPawnPaths(const Settings &settings_json, std::map<std::string, PawnPath> &pawn_paths) {
initializePawnPaths(pawn_paths);
nervosys::autonomylib::Settings pawn_paths_child;
if (settings_json.getChild("PawnPaths", pawn_paths_child)) {
std::vector<std::string> keys;
pawn_paths_child.getChildNames(keys);
for (const auto &key : keys) {
nervosys::autonomylib::Settings child;
pawn_paths_child.getChild(key, child);
pawn_paths[key] = createPathPawn(child);
}
}
}
static PawnPath createPathPawn(const Settings &settings_json) {
auto paths = PawnPath();
paths.pawn_bp = settings_json.getString("PawnBP", "");
auto slippery_mat = settings_json.getString("SlipperyMat", "");
auto non_slippery_mat = settings_json.getString("NonSlipperyMat", "");
if (slippery_mat != "")
paths.slippery_mat = slippery_mat;
if (non_slippery_mat != "")
paths.non_slippery_mat = non_slippery_mat;
return paths;
}
static void loadSegmentationSetting(const Settings &settings_json, SegmentationSetting &segmentation_setting) {
Settings json_parent;
if (settings_json.getChild("SegmentationSettings", json_parent)) {
std::string init_method = Utils::toLower(json_parent.getString("InitMethod", ""));
if (init_method == "" || init_method == "commonobjectsrandomids")
segmentation_setting.init_method = SegmentationSetting::InitMethodType::CommonObjectsRandomIDs;
else if (init_method == "none")
segmentation_setting.init_method = SegmentationSetting::InitMethodType::None;
else
// TODO: below exception doesn't actually get raised right now because of issue in Unreal Engine?
throw std::invalid_argument(
std::string("SegmentationSetting init_method has invalid value in settings_json ") + init_method);
segmentation_setting.override_existing = json_parent.getBool("OverrideExisting", true);
std::string mesh_naming_method = Utils::toLower(json_parent.getString("MeshNamingMethod", ""));
if (mesh_naming_method == "" || mesh_naming_method == "ownername")
segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::OwnerName;
else if (mesh_naming_method == "staticmeshname")
segmentation_setting.mesh_naming_method = SegmentationSetting::MeshNamingMethodType::StaticMeshName;
else
throw std::invalid_argument(
std::string("SegmentationSetting MeshNamingMethod has invalid value in settings_json ") +
mesh_naming_method);
}
}
static void initializeNoiseSettings(NoiseSettingsMap &noise_settings) {
const int image_count = Utils::toNumeric(ImageType::Count);
noise_settings.clear();
for (int i = -1; i < image_count; ++i)
noise_settings[i] = NoiseSetting();
}
static void loadNoiseSettings(const Settings &settings_json, NoiseSettingsMap &noise_settings) {
// We don't call initializeNoiseSettings here since it's already called in CameraSettings constructor
// And to avoid overwriting any defaults already set from CameraDefaults
Settings json_parent;
if (settings_json.getChild("NoiseSettings", json_parent)) {
for (size_t child_index = 0; child_index < json_parent.size(); ++child_index) {
Settings json_settings_child;
if (json_parent.getChild(child_index, json_settings_child)) {
NoiseSetting noise_setting;
loadNoiseSetting(json_settings_child, noise_setting);
noise_settings[noise_setting.ImageType] = noise_setting;
}
}
}
}
static void loadNoiseSetting(const Settings &settings_json, NoiseSetting &noise_setting) {
noise_setting.Enabled = settings_json.getBool("Enabled", noise_setting.Enabled);
noise_setting.ImageType = settings_json.getInt("ImageType", noise_setting.ImageType);
noise_setting.HorzWaveStrength = settings_json.getFloat("HorzWaveStrength", noise_setting.HorzWaveStrength);
noise_setting.RandSpeed = settings_json.getFloat("RandSpeed", noise_setting.RandSpeed);
noise_setting.RandSize = settings_json.getFloat("RandSize", noise_setting.RandSize);
noise_setting.RandDensity = settings_json.getFloat("RandDensity", noise_setting.RandDensity);
noise_setting.RandContrib = settings_json.getFloat("RandContrib", noise_setting.RandContrib);
noise_setting.HorzWaveContrib = settings_json.getFloat("HorzWaveContrib", noise_setting.HorzWaveContrib);
noise_setting.HorzWaveVertSize = settings_json.getFloat("HorzWaveVertSize", noise_setting.HorzWaveVertSize);
noise_setting.HorzWaveScreenSize =
settings_json.getFloat("HorzWaveScreenSize", noise_setting.HorzWaveScreenSize);
noise_setting.HorzNoiseLinesContrib =
settings_json.getFloat("HorzNoiseLinesContrib", noise_setting.HorzNoiseLinesContrib);
noise_setting.HorzNoiseLinesDensityY =
settings_json.getFloat("HorzNoiseLinesDensityY", noise_setting.HorzNoiseLinesDensityY);
noise_setting.HorzNoiseLinesDensityXY =
settings_json.getFloat("HorzNoiseLinesDensityXY", noise_setting.HorzNoiseLinesDensityXY);
noise_setting.HorzDistortionStrength =
settings_json.getFloat("HorzDistortionStrength", noise_setting.HorzDistortionStrength);
noise_setting.HorzDistortionContrib =
settings_json.getFloat("HorzDistortionContrib", noise_setting.HorzDistortionContrib);
}
static GimbalSetting createGimbalSetting(const Settings &settings_json) {
GimbalSetting gimbal;
// capture_setting.gimbal.is_world_frame = settings_json.getBool("IsWorldFrame", false);
gimbal.stabilization = settings_json.getFloat("Stabilization", false);
gimbal.rotation = createRotationSetting(settings_json, gimbal.rotation);
return gimbal;
}
static void loadUnrealEngineSetting(const nervosys::autonomylib::Settings &settings_json,
UnrealEngineSetting &ue_setting) {
Settings ue_settings_json;
if (settings_json.getChild("UnrealEngine", ue_settings_json)) {
Settings pixel_format_override_settings_json;
ue_setting.pixel_format_override_settings.clear();
for (int i = 0; i < Utils::toNumeric(ImageType::Count); i++) {
PixelFormatOverrideSetting pixel_format_setting;
pixel_format_setting.pixel_format = 0; // EXPixelformat::PF_Unknown
ue_setting.pixel_format_override_settings[i] = pixel_format_setting;
}
if (ue_settings_json.getChild("PixelFormatOverride", pixel_format_override_settings_json)) {
for (size_t child_index = 0; child_index < pixel_format_override_settings_json.size(); ++child_index) {
Settings pixel_format_child_json;
if (pixel_format_override_settings_json.getChild(child_index, pixel_format_child_json)) {
int image_type = pixel_format_child_json.getInt("ImageType", 0);
PixelFormatOverrideSetting &pixel_format_setting =
ue_setting.pixel_format_override_settings.at(image_type);
pixel_format_setting.pixel_format =
pixel_format_child_json.getInt("PixelFormat", 0); // default to EXPixelformat::PF_Unknown
}
}
}
}
}