[Unity] Remove unused CarPawn references

microsoft · Mar 7, 2021 · 456e71c · 456e71c
1 parent 5c8f9d8
commit 456e71c
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Showing 5 changed files with 15 additions and 26 deletions.
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp
@@ -2,9 +2,9 @@
 #include "../../PInvokeWrapper.h"
 
 
-CarPawnApi::CarPawnApi(CarPawn* pawn, const msr::airlib::Kinematics::State* pawn_kinematics,
+CarPawnApi::CarPawnApi(const msr::airlib::Kinematics::State* pawn_kinematics,
 	const std::string car_name, msr::airlib::CarApiBase* vehicle_api)
-	: pawn_(pawn), pawn_kinematics_(pawn_kinematics), car_name_(car_name), vehicle_api_(vehicle_api)
+	: pawn_kinematics_(pawn_kinematics), car_name_(car_name), vehicle_api_(vehicle_api)
 {
 }
 

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h
@@ -2,15 +2,14 @@
 
 #include "vehicles/car/api/CarApiBase.hpp"
 #include "physics/Kinematics.hpp"
-#include "CarPawn.h"
 
 class CarPawnApi
 {
 public:
     typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
 public:
-    CarPawnApi(CarPawn* pawn, const msr::airlib::Kinematics::State* pawn_kinematics, 
+    CarPawnApi(const msr::airlib::Kinematics::State* pawn_kinematics, 
                const std::string car_name, msr::airlib::CarApiBase* vehicle_api);
 
     void updateMovement(const msr::airlib::CarApiBase::CarControls& controls);
@@ -24,7 +23,6 @@ class CarPawnApi
 
 private:
     msr::airlib::CarApiBase::CarControls last_controls_;
-    CarPawn* pawn_;
     const msr::airlib::Kinematics::State* pawn_kinematics_;
     std::string car_name_;
     msr::airlib::CarApiBase* vehicle_api_;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -7,32 +7,28 @@
 #include "../../UnitySensors/UnitySensorFactory.h"
 
 
-CarPawnSimApi::CarPawnSimApi(const Params& params,
-	const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name)
-	: PawnSimApi(params), params_(params),
-	keyboard_controls_(keyboard_controls), car_name_(car_name)
+CarPawnSimApi::CarPawnSimApi(const Params& params, std::string car_name)
+	: PawnSimApi(params), params_(params), car_name_(car_name)
 {
-	createVehicleApi(static_cast<CarPawn*>(params.pawn), params.home_geopoint);
-	joystick_controls_ = msr::airlib::CarApiBase::CarControls();
 }
 
 void CarPawnSimApi::initialize()
 {
     PawnSimApi::initialize();
 
-    createVehicleApi(static_cast<CarPawn*>(params_.pawn), params_.home_geopoint);
+    createVehicleApi(params_.home_geopoint);
 
     //TODO: should do reset() here?
     joystick_controls_ = msr::airlib::CarApiBase::CarControls();
 }
 
-void CarPawnSimApi::createVehicleApi(CarPawn* pawn, const msr::airlib::GeoPoint& home_geopoint)
+void CarPawnSimApi::createVehicleApi(const msr::airlib::GeoPoint& home_geopoint)
 {
     std::shared_ptr<UnitySensorFactory> sensor_factory = std::make_shared<UnitySensorFactory>(car_name_, &getNedTransform());
 
     vehicle_api_ = CarApiFactory::createApi(getVehicleSetting(), sensor_factory, (*getGroundTruthKinematics()),
                                             (*getGroundTruthEnvironment()), home_geopoint);
-    pawn_api_ = std::unique_ptr<CarPawnApi>(new CarPawnApi(pawn, getGroundTruthKinematics(), car_name_, vehicle_api_.get()));
+    pawn_api_ = std::unique_ptr<CarPawnApi>(new CarPawnApi(getGroundTruthKinematics(), car_name_, vehicle_api_.get()));
 }
 
 std::string CarPawnSimApi::getRecordFileLine(bool is_header_line) const
@@ -77,9 +73,9 @@ void CarPawnSimApi::updateRendering(float dt)
 	PawnSimApi::updateRendering(dt);
 	updateCarControls();
 
-	for (auto i = 0; i < vehicle_api_messages_.size(); ++i)
+	for (const auto& message : vehicle_api_messages_)
 	{
-		PrintLogMessage(vehicle_api_messages_[i].c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information);
+		PrintLogMessage(message.c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information);
 	}
 
 	try
@@ -146,7 +142,7 @@ void CarPawnSimApi::updateCarControls()
 	else
 	{
 		PrintLogMessage("Control Mode: ", "Keyboard", getVehicleName().c_str(), ErrorLogSeverity::Information);
-		current_controls_ = keyboard_controls_;
+		// current_controls_ = keyboard_controls_;
 	}
 
     bool api_enabled = vehicle_api_->isApiControlEnabled();

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "CarPawn.h"
 #include "CarPawnApi.h"
 #include "../../PawnSimApi.h"
 #include "vehicles/car/api/CarApiBase.hpp"
@@ -15,12 +14,12 @@ class CarPawnSimApi : public PawnSimApi
 	typedef msr::airlib::Pose Pose;
 
 private:
-	void createVehicleApi(CarPawn* pawn, const msr::airlib::GeoPoint& home_geopoint);
+	void createVehicleApi(const msr::airlib::GeoPoint& home_geopoint);
 	void updateCarControls();
 
 public:
     virtual void initialize() override;
-    CarPawnSimApi(const Params& params, const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name);
+    CarPawnSimApi(const Params& params, std::string car_name);
 	virtual ~CarPawnSimApi() = default;
 
 	virtual void update() override;
@@ -46,7 +45,4 @@ class CarPawnSimApi : public PawnSimApi
 	msr::airlib::CarApiBase::CarControls joystick_controls_;
 	msr::airlib::CarApiBase::CarControls current_controls_;
 	std::string car_name_;
-
-	//storing reference from pawn
-	const msr::airlib::CarApiBase::CarControls& keyboard_controls_;
 };
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
@@ -87,10 +87,9 @@ UnityPawn* SimModeCar::GetVehiclePawn()
 
 std::unique_ptr<PawnSimApi> SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const
 {
-	auto vehicle_pawn = static_cast<TVehiclePawn*>(pawn_sim_api_params.pawn);
+	// auto vehicle_pawn = static_cast<TVehiclePawn*>(pawn_sim_api_params.pawn);
 
-	auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params,
-		vehicle_pawn->getKeyBoardControls(), vehicle_name_));
+	auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params, vehicle_name_));
     vehicle_sim_api->initialize();
 	vehicle_sim_api->reset();
 	return vehicle_sim_api;