From 763ea44ece4fe7d78f4ce74ff5c16dbd311c9848 Mon Sep 17 00:00:00 2001 From: Rajat Singhal Date: Wed, 9 Jun 2021 15:46:44 +0530 Subject: [PATCH] Apply clang-format --- AirLib/include/api/WorldSimApiBase.hpp | 8 +++---- AirLib/include/common/AirSimSettings.hpp | 11 ++++++---- AirLib/src/api/RpcLibServerBase.cpp | 19 ++++++---------- .../AirsimWrapper/Source/PawnSimApi.cpp | 2 -- .../AirsimWrapper/Source/WorldSimApi.cpp | 6 ++--- .../AirsimWrapper/Source/WorldSimApi.h | 6 ++--- Unreal/Plugins/AirSim/Source/PIPCamera.cpp | 2 +- Unreal/Plugins/AirSim/Source/PIPCamera.h | 8 ++++--- Unreal/Plugins/AirSim/Source/PawnSimApi.h | 17 +++++++++----- .../Plugins/AirSim/Source/SimHUD/SimHUD.cpp | 3 ++- .../AirSim/Source/SimMode/SimModeBase.cpp | 9 ++++---- .../AirSim/Source/SimMode/SimModeBase.h | 2 +- Unreal/Plugins/AirSim/Source/WorldSimApi.cpp | 22 +++++++++++-------- Unreal/Plugins/AirSim/Source/WorldSimApi.h | 8 +++---- 14 files changed, 65 insertions(+), 58 deletions(-) diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp index 4e5af35753..0f01e3ba43 100644 --- a/AirLib/include/api/WorldSimApiBase.hpp +++ b/AirLib/include/api/WorldSimApiBase.hpp @@ -87,7 +87,7 @@ namespace airlib virtual std::string getSettingsString() const = 0; // Image APIs - virtual CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external=false) const = 0; + virtual CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) const = 0; virtual void setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose, const std::string& vehicle_name = "", bool external = false) = 0; virtual void setCameraFoV(const std::string& camera_name, float fov_degrees, @@ -95,12 +95,12 @@ namespace airlib virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name = "", bool external = false) = 0; virtual std::vector getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "", - bool external = false) const = 0; + bool external = false) const = 0; virtual std::vector getImages(const std::vector& requests, - const std::string& vehicle_name = "", bool external = false) const = 0; + const std::string& vehicle_name = "", bool external = false) const = 0; virtual std::vector getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name = "", bool external = false) const = 0; + const std::string& vehicle_name = "", bool external = false) const = 0; }; } } //namespace diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp index 7522fc8db7..10a81d5c7a 100644 --- a/AirLib/include/common/AirSimSettings.hpp +++ b/AirLib/include/common/AirSimSettings.hpp @@ -53,9 +53,13 @@ namespace airlib 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) + 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) { } }; @@ -1346,7 +1350,6 @@ namespace airlib } } } - }; } } //namespace diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp index d62fd3d4b7..1af80f8f1f 100644 --- a/AirLib/src/api/RpcLibServerBase.cpp +++ b/AirLib/src/api/RpcLibServerBase.cpp @@ -144,10 +144,9 @@ namespace airlib return getWorldSimApi()->runConsoleCommand(command); }); - pimpl_->server.bind("simGetImages", [&](const std::vector& request_adapter, const std::string& vehicle_name, bool external) -> - vector { - const auto& response = getWorldSimApi()->getImages(RpcLibAdaptorsBase::ImageRequest::to(request_adapter), vehicle_name, external); - return RpcLibAdaptorsBase::ImageResponse::from(response); + pimpl_->server.bind("simGetImages", [&](const std::vector& request_adapter, const std::string& vehicle_name, bool external) -> vector { + const auto& response = getWorldSimApi()->getImages(RpcLibAdaptorsBase::ImageRequest::to(request_adapter), vehicle_name, external); + return RpcLibAdaptorsBase::ImageResponse::from(response); }); pimpl_->server.bind("simGetImage", [&](const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name, bool external) -> vector { @@ -258,23 +257,19 @@ namespace airlib return RpcLibAdaptorsBase::CameraInfo(camera_info); }); - pimpl_->server.bind("simSetDistortionParam", [&](const std::string& camera_name, const std::string& param_name, float value, - const std::string& vehicle_name, bool external) -> void { + pimpl_->server.bind("simSetDistortionParam", [&](const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name, bool external) -> void { getWorldSimApi()->setDistortionParam(camera_name, param_name, value, vehicle_name, external); }); - pimpl_->server.bind("simGetDistortionParams", [&](const std::string& camera_name, const std::string& vehicle_name, - bool external) -> std::vector { + pimpl_->server.bind("simGetDistortionParams", [&](const std::string& camera_name, const std::string& vehicle_name, bool external) -> std::vector { return getWorldSimApi()->getDistortionParams(camera_name, vehicle_name, external); }); - pimpl_->server.bind("simSetCameraPose", [&](const std::string& camera_name, const RpcLibAdaptorsBase::Pose& pose, - const std::string& vehicle_name, bool external) -> void { + pimpl_->server.bind("simSetCameraPose", [&](const std::string& camera_name, const RpcLibAdaptorsBase::Pose& pose, const std::string& vehicle_name, bool external) -> void { getWorldSimApi()->setCameraPose(camera_name, pose.to(), vehicle_name, external); }); - pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees, - const std::string& vehicle_name, bool external) -> void { + pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees, const std::string& vehicle_name, bool external) -> void { getWorldSimApi()->setCameraFoV(camera_name, fov_degrees, vehicle_name, external); }); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp index bbc030942c..e6b9e456af 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp @@ -124,7 +124,6 @@ const NedTransform& PawnSimApi::getNedTransform() const return ned_transform_; } - msr::airlib::RCData PawnSimApi::getRCData() const { AirSimRCData rcDataFromUnity = GetRCData(getVehicleName().c_str()); @@ -220,7 +219,6 @@ void PawnSimApi::allowPassthroughToggleInput() PrintLogMessage("enable_passthrough_on_collisions: ", state_.passthrough_enabled ? "true" : "false", params_.vehicle_name.c_str(), ErrorLogSeverity::Information); } - //parameters in NED frame PawnSimApi::Pose PawnSimApi::getPose() const { diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp index 2ff7e8ffa4..82220a153b 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp @@ -256,7 +256,7 @@ msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_nam } void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose, - const std::string& vehicle_name, bool external) + const std::string& vehicle_name, bool external) { if (external) throw std::invalid_argument(common_utils::Utils::stringf("external field is not supported on Unity Image APIs").c_str()); @@ -274,7 +274,7 @@ void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees } void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, - const std::string& vehicle_name, bool external) + const std::string& vehicle_name, bool external) { throw std::invalid_argument(common_utils::Utils::stringf("setDistortionParam is not supported on unity").c_str()); } @@ -297,7 +297,7 @@ std::vector WorldSimApi::getImages } std::vector WorldSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name, bool external) const + const std::string& vehicle_name, bool external) const { std::vector request{ ImageCaptureBase::ImageRequest(camera_name, image_type) }; const auto& response = getImages(request); diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h index 8d52c848ed..95ae3496e1 100644 --- a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h +++ b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h @@ -79,12 +79,12 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name = "", bool external = false) override; virtual std::vector getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "", - bool external = false) const override; + bool external = false) const override; virtual std::vector getImages(const std::vector& requests, - const std::string& vehicle_name = "", bool external = false) const override; + const std::string& vehicle_name = "", bool external = false) const override; virtual std::vector getImage(const std::string& camera_name, msr::airlib::ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name = "", bool external = false) const override; + const std::string& vehicle_name = "", bool external = false) const override; private: SimModeBase* simmode_; diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp index 29f6b75851..dce194f910 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp @@ -307,7 +307,7 @@ std::vector APIPCamera::getDistortionParams() const { std::vector param_values(5, 0.0); - auto getParamValue = [this](const auto &name, float &val) { + auto getParamValue = [this](const auto& name, float& val) { distortion_param_instance_->GetScalarParameterValue(FName(name), val); }; diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.h b/Unreal/Plugins/AirSim/Source/PIPCamera.h index 0d85951b74..17780bcdb2 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.h +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.h @@ -55,10 +55,12 @@ class AIRSIM_API APIPCamera : public ACameraActor UDetectionComponent* getDetectionComponent(const ImageType type, bool if_active) const; msr::airlib::Pose getPose() const; - + private: //members - UPROPERTY() UMaterialParameterCollection* distortion_param_collection_; - UPROPERTY() UMaterialParameterCollectionInstance* distortion_param_instance_; + UPROPERTY() + UMaterialParameterCollection* distortion_param_collection_; + UPROPERTY() + UMaterialParameterCollectionInstance* distortion_param_instance_; UPROPERTY() TArray captures_; diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h index 96024072d8..069c79418f 100644 --- a/Unreal/Plugins/AirSim/Source/PawnSimApi.h +++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.h @@ -53,12 +53,17 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase } Params(APawn* pawn_val, const NedTransform* global_transform_val, PawnEvents* pawn_events_val, - const common_utils::UniqueValueMap& cameras_val, UClass* pip_camera_class_val, - UParticleSystem* collision_display_template_val, const msr::airlib::GeoPoint& home_geopoint_val, - const std::string& vehicle_name_val) - : pawn(pawn_val), global_transform(global_transform_val), pawn_events(pawn_events_val), cameras(cameras_val), - pip_camera_class(pip_camera_class_val), collision_display_template(collision_display_template_val), - home_geopoint(home_geopoint_val), vehicle_name(vehicle_name_val) + const common_utils::UniqueValueMap& cameras_val, UClass* pip_camera_class_val, + UParticleSystem* collision_display_template_val, const msr::airlib::GeoPoint& home_geopoint_val, + const std::string& vehicle_name_val) + : pawn(pawn_val) + , global_transform(global_transform_val) + , pawn_events(pawn_events_val) + , cameras(cameras_val) + , pip_camera_class(pip_camera_class_val) + , collision_display_template(collision_display_template_val) + , home_geopoint(home_geopoint_val) + , vehicle_name(vehicle_name_val) { } }; diff --git a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp index 5589b3abc9..f6164ce9e8 100644 --- a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp +++ b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp @@ -338,7 +338,8 @@ void ASimHUD::initializeSubWindows() subwindow_cameras_[setting.window_index] = camera; else UAirBlueprintLib::LogMessageString("Invalid Camera settings in element", - std::to_string(setting.window_index), LogDebugLevel::Failure); + std::to_string(setting.window_index), + LogDebugLevel::Failure); } } diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp index 59432fa46d..b643d05915 100644 --- a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp +++ b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp @@ -472,7 +472,8 @@ void ASimModeBase::initializeExternalCameras() //get pose FVector position = transform.fromLocalNed(setting.position) - transform.fromLocalNed(Vector3r::Zero()); FTransform camera_transform(FRotator(setting.rotation.pitch, setting.rotation.yaw, setting.rotation.roll), - position, FVector(1., 1., 1.)); + position, + FVector(1., 1., 1.)); //spawn and attach camera to pawn camera_spawn_params.Name = FName(("external_" + camera_setting_pair.first).c_str()); @@ -512,14 +513,12 @@ bool ASimModeBase::isRecording() const const APIPCamera* ASimModeBase::getCamera(const std::string& camera_name, const std::string& vehicle_name, bool external) const { - return external ? getExternalCamera(camera_name) : - getVehicleSimApi(vehicle_name)->getCamera(camera_name); + return external ? getExternalCamera(camera_name) : getVehicleSimApi(vehicle_name)->getCamera(camera_name); } const UnrealImageCapture* ASimModeBase::getImageCapture(const std::string& vehicle_name, bool external) const { - return external ? external_image_capture_.get() : - getVehicleSimApi(vehicle_name)->getImageCapture(); + return external ? external_image_capture_.get() : getVehicleSimApi(vehicle_name)->getImageCapture(); } //API server start/stop diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h index 3965fb1c76..022763e067 100644 --- a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h +++ b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h @@ -103,7 +103,7 @@ class AIRSIM_API ASimModeBase : public AActor return const_cast( static_cast(this)->getExternalCamera(camera_name)); } - + APIPCamera* getCamera(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) { return const_cast( diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp index 0caffec6af..dab4118e96 100644 --- a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp +++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp @@ -628,25 +628,26 @@ std::string WorldSimApi::getSettingsString() const return msr::airlib::AirSimSettings::singleton().settings_text_; } - msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const { msr::airlib::CameraInfo info; const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); UAirBlueprintLib::RunCommandOnGameThread([camera, &info]() { info = camera->getCameraInfo(); - }, true); + }, + true); return info; } void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose, - const std::string& vehicle_name, bool external) + const std::string& vehicle_name, bool external) { auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); UAirBlueprintLib::RunCommandOnGameThread([camera, &pose]() { camera->setCameraPose(pose); - }, true); + }, + true); } void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees, @@ -655,16 +656,18 @@ void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); UAirBlueprintLib::RunCommandOnGameThread([camera, &fov_degrees]() { camera->setCameraFoV(fov_degrees); - }, true); + }, + true); } void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, - const std::string& vehicle_name, bool external) + const std::string& vehicle_name, bool external) { auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); UAirBlueprintLib::RunCommandOnGameThread([camera, ¶m_name, &value]() { camera->setDistortionParam(param_name, value); - }, true); + }, + true); } std::vector WorldSimApi::getDistortionParams(const std::string& camera_name, const std::string& vehicle_name, bool external) const @@ -673,7 +676,8 @@ std::vector WorldSimApi::getDistortionParams(const std::string& camera_na const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); UAirBlueprintLib::RunCommandOnGameThread([camera, ¶m_values]() { param_values = camera->getDistortionParams(); - }, true); + }, + true); return param_values; } @@ -690,7 +694,7 @@ std::vector WorldSimApi::getImages } std::vector WorldSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name, bool external) const + const std::string& vehicle_name, bool external) const { std::vector request{ ImageCaptureBase::ImageRequest(camera_name, image_type) }; const auto& response = getImages(request); diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h index 4ec28192dd..6212a81389 100644 --- a/Unreal/Plugins/AirSim/Source/WorldSimApi.h +++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.h @@ -84,12 +84,12 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name = "", bool external = false) override; virtual std::vector getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "", - bool external = false) const override; + bool external = false) const override; virtual std::vector getImages(const std::vector& requests, - const std::string& vehicle_name = "", bool external = false) const override; + const std::string& vehicle_name = "", bool external = false) const override; virtual std::vector getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name = "", bool external = false) const override; + const std::string& vehicle_name = "", bool external = false) const override; private: AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh); @@ -99,4 +99,4 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase ASimModeBase* simmode_; ULevelStreamingDynamic* current_level_; std::vector voxel_grid_; -}; \ No newline at end of file +};