AimSim 代码学习记录

逃离我推掉我的手 2022-11-11 05:48 67阅读 0赞

1、获得UClass方法：

#include "Runtime/CoreUObject/Public/UObject/ConstructorHelpers.h"
    static ConstructorHelpers::FClassFinder<UUserWidget> hud_widget_class(TEXT("WidgetBlueprint'/AirSim/Blueprints/BP_SimHUDWidget'"));
    UClass* widget_class_ = hud_widget_class.Succeeded() ? hud_widget_class.Class : nullptr;

2、生成Widget

USimHUDWidget* widget_ = CreateWidget<USimHUDWidget>(player_controller, widget_class_);
    widget_->AddToViewport();

3、创建对话框

UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, std::string("Error at startup: ") + ex.what(), "Error");
    
    EAppReturnType::Type UAirBlueprintLib::ShowMessage(EAppMsgType::Type message_type, const std::string& message, const std::string& title)
    {
        FText title_text = FText::FromString(title.c_str());
    
        return FMessageDialog::Open(message_type,
            FText::FromString(message.c_str()),
            &title_text);
    }

4、代码方式执行console，设置参数。

//use two different methods to set console var because sometime it doesn't seem to work
        static const auto custom_depth_var = IConsoleManager::Get().FindConsoleVariable(TEXT("r.CustomDepth"));
        custom_depth_var->Set(3);
    
        //Equivalent to enabling Custom Stencil in Project > Settings > Rendering > Postprocessing
        UKismetSystemLibrary::ExecuteConsoleCommand(GetWorld(), FString("r.CustomDepth 3"));
    
        //during startup we init stencil IDs to random hash and it takes long time for large environments
        //we get error that GameThread has timed out after 30 sec waiting on render thread
        static const auto render_timeout_var = IConsoleManager::Get().FindConsoleVariable(TEXT("g.TimeoutForBlockOnRenderFence"));
        render_timeout_var->Set(300000);

5、代码方式开启GameViewport（）的各项参数。

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GetWorld()->GetGameViewport()->GetEngineShowFlags()->SetMotionBlur(false);

6、屏幕输出：

UENUM(BlueprintType)
    enum class LogDebugLevel : uint8 {
        Informational UMETA(DisplayName = "Informational"),
        Success UMETA(DisplayName = "Success"),
        Failure UMETA(DisplayName = "Failure"),
        Unimportant  UMETA(DisplayName = "Unimportant")
    };
    
    void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix, LogDebugLevel level, float persist_sec)
    {
        if (log_messages_hidden_)
            return;
    
    
        static TMap<FString, int> loggingKeys;
        static int counter = 1;
    
        int key = loggingKeys.FindOrAdd(prefix);
        if (key == 0) {
            key = counter++;
            loggingKeys[prefix] = key;
        }
    
        FColor color;
        switch (level) {
        case LogDebugLevel::Informational:
            color = FColor(147, 231, 237);
            //UE_LOG(LogTemp, Log, TEXT("%s%s"), *prefix, *suffix);
            break;
        case LogDebugLevel::Success:
            color = FColor(156, 237, 147);
            //UE_LOG(LogTemp, Log, TEXT("%s%s"), *prefix, *suffix);
            break;
        case LogDebugLevel::Failure:
            color = FColor(237, 147, 168);
            //UE_LOG(LogAirSim, Error, TEXT("%s%s"), *prefix, *suffix); 
            break;
        case LogDebugLevel::Unimportant:
            color = FColor(237, 228, 147);
            //UE_LOG(LogTemp, Verbose, TEXT("%s%s"), *prefix, *suffix); 
            break;
        default: color = FColor::Black; break;
        }
        if (GEngine) {
            GEngine->AddOnScreenDebugMessage(key, persist_sec, color, prefix + suffix);
        }
        //GEngine->AddOnScreenDebugMessage(key + 10, 60.0f, color, FString::FromInt(key));
    }

7, 遍历world中所有Actor，并挑选目标Actor

typedef AUrdfBotPawn TVehiclePawn;
    
    void ASimModeUrdfBot::getExistingVehiclePawns(TArray<AirsimVehicle*>& pawns) const
    {
        for (TActorIterator<TVehiclePawn> it(this->GetWorld()); it; ++it)
        {
            pawns.Add(static_cast<AirsimVehicle*>(*it));
        }
    }

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