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Fixes and improvements to world API (#2898)
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* Use a TMap for asset registry

* Handle UE's garbage collection delays when spawning. Don't force particular names

* Print message when asset registry is ready

* Working version of TMap

* Use TMap for scene actors

* Appease UE Linux with a specific include

* Add missing variable from lambda scope
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Sai Vemprala authored Sep 2, 2020
1 parent 8daab49 commit 4c1bedc
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Showing 5 changed files with 95 additions and 19 deletions.
40 changes: 40 additions & 0 deletions Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
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Expand Up @@ -24,6 +24,8 @@
#include <exception>
#include "common/common_utils/Utils.hpp"
#include "Modules/ModuleManager.h"
#include "ARFilter.h"
#include "AssetRegistryModule.h"

/*
//TODO: change naming conventions to same as other files?
Expand Down Expand Up @@ -239,6 +241,44 @@ void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix,
//GEngine->AddOnScreenDebugMessage(key + 10, 60.0f, color, FString::FromInt(key));
}

void UAirBlueprintLib::GenerateAssetRegistryMap(const UObject* context, TMap<FString, FAssetData>& asset_map)
{
UAirBlueprintLib::RunCommandOnGameThread([context, &asset_map]() {
FARFilter Filter;
Filter.ClassNames.Add(UStaticMesh::StaticClass()->GetFName());
Filter.bRecursivePaths = true;

auto world = context->GetWorld();
TArray<FAssetData> AssetData;

// Find mesh in /Game and /AirSim asset registry. When more plugins are added this function will have to change
FAssetRegistryModule &AssetRegistryModule = FModuleManager::LoadModuleChecked<FAssetRegistryModule>("AssetRegistry");
AssetRegistryModule.Get().GetAssets(Filter, AssetData);

UObject *LoadObject = NULL;
for (auto asset : AssetData)
{
FString asset_name = asset.AssetName.ToString();
asset_map.Add(asset_name, asset);
}

LogMessageString("Asset database ready", "!", LogDebugLevel::Informational);
}, true);
}


void UAirBlueprintLib::GenerateActorMap(const UObject* context, TMap<FString, AActor*>& scene_object_map) {
auto world = context->GetWorld();
for (TActorIterator<AActor> actorIterator(world); actorIterator; ++actorIterator)
{
AActor* actor = *actorIterator;
FString name = *actor->GetName();

scene_object_map.Add(name, actor);
}
}


void UAirBlueprintLib::setUnrealClockSpeed(const AActor* context, float clock_speed)
{
UAirBlueprintLib::RunCommandOnGameThread([context, clock_speed]() {
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3 changes: 3 additions & 0 deletions Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
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Expand Up @@ -69,6 +69,7 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
return nullptr;
}


template<typename T>
static void FindAllActor(const UObject* context, TArray<AActor*>& foundActors)
{
Expand All @@ -85,6 +86,8 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
UFUNCTION(BlueprintPure, Category = "AirSim|LevelAPI")
static TArray<FName> ListWorldsInRegistry();
static UObject* GetMeshFromRegistry(const std::string& load_object);
static void GenerateAssetRegistryMap(const UObject* context, TMap<FString, FAssetData>& asset_map);
static void GenerateActorMap(const UObject* context, TMap<FString, AActor*>& scene_object_map);

static bool HasObstacle(const AActor* actor, const FVector& start, const FVector& end,
const AActor* ignore_actor = nullptr, ECollisionChannel collision_channel = ECC_Visibility);
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3 changes: 3 additions & 0 deletions Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,8 @@ void ASimModeBase::BeginPlay()
global_ned_transform_.reset(new NedTransform(player_start_transform,
UAirBlueprintLib::GetWorldToMetersScale(this)));

UAirBlueprintLib::GenerateAssetRegistryMap(this, asset_map);

world_sim_api_.reset(new WorldSimApi(this));
api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get()));

Expand Down Expand Up @@ -126,6 +128,7 @@ void ASimModeBase::BeginPlay()
UWeatherLib::initWeather(World, spawned_actors_);
//UWeatherLib::showWeatherMenu(World);
}
UAirBlueprintLib::GenerateActorMap(this, scene_object_map);

loading_screen_widget_->AddToViewport();
loading_screen_widget_->SetVisibility(ESlateVisibility::Hidden);
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3 changes: 3 additions & 0 deletions Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,9 @@ class AIRSIM_API ASimModeBase : public AActor
return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
}

TMap<FString, FAssetData> asset_map;
TMap<FString, AActor*> scene_object_map;

protected: //must overrides
typedef msr::airlib::AirSimSettings AirSimSettings;

Expand Down
65 changes: 46 additions & 19 deletions Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
#include "common/common_utils/Utils.hpp"
#include "Weather/WeatherLib.h"
#include "DrawDebugHelpers.h"
#include "Runtime/Engine/Classes/Engine/Engine.h"
#include <cstdlib>
#include <ctime>

Expand Down Expand Up @@ -73,6 +74,10 @@ bool WorldSimApi::destroyObject(const std::string& object_name)
actor->Destroy();
result = actor->IsPendingKill();
}
if (result)
simmode_->scene_object_map.Remove(FString(object_name.c_str()));

GEngine->ForceGarbageCollection(true);
}, true);
return result;
}
Expand All @@ -81,12 +86,16 @@ std::string WorldSimApi::spawnObject(std::string& object_name, const std::string
{
// Create struct for Location and Rotation of actor in Unreal
FTransform actor_transform = simmode_->getGlobalNedTransform().fromGlobalNed(pose);
bool found_object;
UAirBlueprintLib::RunCommandOnGameThread([this, load_object, &object_name, &actor_transform, &found_object, &scale, &physics_enabled]() {
// Find mesh in /Game and /AirSim asset registry. When more plugins are added this function will have to change
UStaticMesh* LoadObject = dynamic_cast<UStaticMesh*>(UAirBlueprintLib::GetMeshFromRegistry(load_object));
if (LoadObject)

bool found_object = false, spawned_object = false;
UAirBlueprintLib::RunCommandOnGameThread([this, load_object, &object_name, &actor_transform, &found_object, &spawned_object, &scale, &physics_enabled]() {
FString asset_name = FString(load_object.c_str());
FAssetData *LoadAsset = simmode_->asset_map.Find(asset_name);

if (LoadAsset)
{
found_object = true;
UStaticMesh* LoadObject = dynamic_cast<UStaticMesh*>(LoadAsset->GetAsset());
std::vector<std::string> matching_names = UAirBlueprintLib::ListMatchingActors(simmode_->GetWorld(), ".*"+object_name+".*");
if (matching_names.size() > 0)
{
Expand All @@ -104,8 +113,14 @@ std::string WorldSimApi::spawnObject(std::string& object_name, const std::string
}
FActorSpawnParameters new_actor_spawn_params;
new_actor_spawn_params.Name = FName(object_name.c_str());
new_actor_spawn_params.NameMode = FActorSpawnParameters::ESpawnActorNameMode::Required_ReturnNull;
AActor* NewActor = this->createNewActor(new_actor_spawn_params, actor_transform, scale, LoadObject);
found_object = true;

if (NewActor)
{
spawned_object = true;
simmode_->scene_object_map.Add(FString(object_name.c_str()), NewActor);
}

UAirBlueprintLib::setSimulatePhysics(NewActor, physics_enabled);
}
Expand All @@ -120,21 +135,29 @@ std::string WorldSimApi::spawnObject(std::string& object_name, const std::string
throw std::invalid_argument(
"There were no objects with name " + load_object + " found in the Registry");
}
if (!spawned_object)
{
throw std::invalid_argument(
"Engine could not spawn " + load_object + " because of a stale reference of same name");
}
return object_name;
}

AActor* WorldSimApi::createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh)
{
AActor* NewActor = simmode_->GetWorld()->SpawnActor<AActor>(AActor::StaticClass(), FVector::ZeroVector, FRotator::ZeroRotator, spawn_params); // new
UStaticMeshComponent* ObjectComponent = NewObject<UStaticMeshComponent>(NewActor);
ObjectComponent->SetStaticMesh(static_mesh);
ObjectComponent->SetRelativeLocation(FVector(0, 0, 0));
ObjectComponent->SetWorldScale3D(FVector(scale[0], scale[1], scale[2]));
ObjectComponent->SetHiddenInGame(false, true);
ObjectComponent->RegisterComponent();
NewActor->SetRootComponent(ObjectComponent);
NewActor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), false, nullptr, ETeleportType::TeleportPhysics);
AActor* NewActor = simmode_->GetWorld()->SpawnActor<AActor>(AActor::StaticClass(), FVector::ZeroVector, FRotator::ZeroRotator, spawn_params);

if (NewActor)
{
UStaticMeshComponent* ObjectComponent = NewObject<UStaticMeshComponent>(NewActor);
ObjectComponent->SetStaticMesh(static_mesh);
ObjectComponent->SetRelativeLocation(FVector(0, 0, 0));
ObjectComponent->SetWorldScale3D(FVector(scale[0], scale[1], scale[2]));
ObjectComponent->SetHiddenInGame(false, true);
ObjectComponent->RegisterComponent();
NewActor->SetRootComponent(ObjectComponent);
NewActor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), false, nullptr, ETeleportType::TeleportPhysics);
}
return NewActor;
}

Expand Down Expand Up @@ -204,7 +227,8 @@ WorldSimApi::Pose WorldSimApi::getObjectPose(const std::string& object_name) con
{
Pose result;
UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &result]() {
AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
// AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
AActor* actor = simmode_->scene_object_map.FindRef(FString(object_name.c_str()));
result = actor ? simmode_->getGlobalNedTransform().toGlobalNed(FTransform(actor->GetActorRotation(), actor->GetActorLocation()))
: Pose::nanPose();
}, true);
Expand All @@ -216,7 +240,8 @@ WorldSimApi::Vector3r WorldSimApi::getObjectScale(const std::string& object_name
{
Vector3r result;
UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &result]() {
AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
// AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
AActor* actor = simmode_->scene_object_map.FindRef(FString(object_name.c_str()));
result = actor ? Vector3r(actor->GetActorScale().X, actor->GetActorScale().Y, actor->GetActorScale().Z)
: Vector3r::Zero();
}, true);
Expand All @@ -228,7 +253,8 @@ bool WorldSimApi::setObjectPose(const std::string& object_name, const WorldSimAp
bool result;
UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &pose, teleport, &result]() {
FTransform actor_transform = simmode_->getGlobalNedTransform().fromGlobalNed(pose);
AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
// AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
AActor* actor = simmode_->scene_object_map.FindRef(FString(object_name.c_str()));
if (actor) {
if (teleport)
result = actor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), false, nullptr, ETeleportType::TeleportPhysics);
Expand All @@ -245,7 +271,8 @@ bool WorldSimApi::setObjectScale(const std::string& object_name, const Vector3r&
{
bool result;
UAirBlueprintLib::RunCommandOnGameThread([this, &object_name, &scale, &result]() {
AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
// AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
AActor* actor = simmode_->scene_object_map.FindRef(FString(object_name.c_str()));
if (actor) {
actor->SetActorScale3D(FVector(scale[0], scale[1], scale[2]));
result = true;
Expand Down

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