Added handbrake to CarState

senakicir · Apr 20, 2018 · 04691ed · 04691ed
1 parent d620563
commit 04691ed
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Showing 3 changed files with 16 additions and 11 deletions.
diff --git a/AirLib/include/vehicles/car/api/CarApiBase.hpp b/AirLib/include/vehicles/car/api/CarApiBase.hpp
@@ -52,14 +52,15 @@ class CarApiBase : public VehicleApiBase  {
         int gear;
         float rpm;
         float maxrpm;
+		bool handbrake;
         CollisionInfo collision;
         Kinematics::State kinematics_true;
         uint64_t timestamp;
 
-        CarState(float speed_val, int gear_val, float rpm_val, float maxrpm_val, const CollisionInfo& collision_val, 
+        CarState(float speed_val, int gear_val, float rpm_val, float maxrpm_val, bool handbrake_val, const CollisionInfo& collision_val, 
             const Kinematics::State& kinematics_true_val, uint64_t timestamp_val)
             : speed(speed_val), gear(gear_val), collision(collision_val), kinematics_true(kinematics_true_val), timestamp(timestamp_val),
-            rpm(rpm_val), maxrpm(maxrpm_val)
+            rpm(rpm_val), maxrpm(maxrpm_val), handbrake(handbrake_val)
         {
         }
     };

diff --git a/AirLib/include/vehicles/car/api/CarRpcLibAdapators.hpp b/AirLib/include/vehicles/car/api/CarRpcLibAdapators.hpp
@@ -52,11 +52,12 @@ class CarRpcLibAdapators : public RpcLibAdapatorsBase {
         int gear;
         float rpm;
         float maxrpm;
+		bool handbrake;
         CollisionInfo collision;
         KinematicsState kinematics_true; //ground truth
         uint64_t timestamp;
 
-        MSGPACK_DEFINE_MAP(speed, gear, rpm, maxrpm, collision, kinematics_true, timestamp);
+        MSGPACK_DEFINE_MAP(speed, gear, rpm, maxrpm, handbrake, collision, kinematics_true, timestamp);
 
         CarState()
         {}
@@ -67,14 +68,15 @@ class CarRpcLibAdapators : public RpcLibAdapatorsBase {
             gear = s.gear;
             rpm = s.rpm;
             maxrpm = s.maxrpm;
+			handbrake = s.handbrake;
             collision = s.collision;
             kinematics_true = s.kinematics_true;
             timestamp = s.timestamp;
         }
         msr::airlib::CarApiBase::CarState to() const
         {
             return msr::airlib::CarApiBase::CarState(
-                speed, gear, rpm, maxrpm, collision.to(), kinematics_true.to(), timestamp);
+                speed, gear, rpm, maxrpm, handbrake, collision.to(), kinematics_true.to(), timestamp);
         }
     };
 };

diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp b/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp
@@ -57,7 +57,8 @@ void CarPawnApi::setCarControls(const CarApiBase::CarControls& controls)
 {
     if (api_control_enabled_)
         last_controls_ = controls;
-    //else don't save
+    //else only save handbrake state
+	else last_controls_.handbrake = controls.handbrake;
 
     if (!controls.is_manual_gear && movement_->GetTargetGear() < 0)
         movement_->SetTargetGear(0, true); //in auto gear we must have gear >= 0
@@ -101,12 +102,13 @@ void CarPawnApi::setCameraOrientation(int camera_id, const msr::airlib::Quaterni
 
 CarApiBase::CarState CarPawnApi::getCarState() const
 {
-    CarApiBase::CarState state(
-        movement_->GetForwardSpeed() / 100, //cm/s -> m/s
-        movement_->GetCurrentGear(),
-        movement_->GetEngineRotationSpeed(),
-        movement_->GetEngineMaxRotationSpeed(),
-        pawn_->getCollisionInfo(),
+	CarApiBase::CarState state(
+		movement_->GetForwardSpeed() / 100, //cm/s -> m/s
+		movement_->GetCurrentGear(),
+		movement_->GetEngineRotationSpeed(),
+		movement_->GetEngineMaxRotationSpeed(),
+		last_controls_.handbrake,
+		pawn_->getCollisionInfo(),
         *pawn_->getTrueKinematics(),
         msr::airlib::ClockFactory::get()->nowNanos()
     );