[Unity] Fix Car API working

Set API enabled so that it uses API controls rather than keyboard
microsoft · Sep 27, 2020 · be2b917 · be2b917
1 parent 1aa8a93
commit be2b917
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Showing 3 changed files with 15 additions and 4 deletions.
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp
@@ -14,6 +14,11 @@ void CarPawnApi::updateMovement(const msr::airlib::CarApiBase::CarControls& cont
 	SetCarApiControls(controls, car_name_.c_str());
 }
 
+void CarPawnApi::enableApi(bool enable)
+{
+    SetEnableApi(enable, car_name_.c_str());
+}
+
 msr::airlib::CarApiBase::CarState CarPawnApi::getCarState() const
 {
 	AirSimCarState carState = GetCarState(car_name_.c_str());

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h
@@ -15,6 +15,7 @@ class CarPawnApi
 
     void updateMovement(const msr::airlib::CarApiBase::CarControls& controls);
     msr::airlib::CarApiBase::CarState getCarState() const;
+    void enableApi(bool enable);
 
     void reset();
     void update();

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -149,19 +149,24 @@ void CarPawnSimApi::updateCarControls()
 		current_controls_ = keyboard_controls_;
 	}
 
+    bool api_enabled = vehicle_api_->isApiControlEnabled();
+
 	//if API-client control is not active then we route keyboard/joystick control to car
-	if (!vehicle_api_->isApiControlEnabled())
+	if (!api_enabled)
 	{
-		//all car controls from anywhere must be routed through API component
+		// This is so that getCarControls API works correctly
 		vehicle_api_->setCarControls(current_controls_);
-		pawn_api_->updateMovement(current_controls_);
 	}
 	else
 	{
 		PrintLogMessage("Control Mode: ", "API", getVehicleName().c_str(), ErrorLogSeverity::Information);
+        // API is enabled, so we use the controls set by API
 		current_controls_ = vehicle_api_->getCarControls();
-		pawn_api_->updateMovement(current_controls_);
 	}
+
+    // Update whether to use API controls or keyboard controls
+    pawn_api_->enableApi(api_enabled);
+    pawn_api_->updateMovement(current_controls_);
 }
 
 //*** Start: UpdatableState implementation ***//