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Fix UnityDemo build #3343

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Merged
David Zimmermann (zimmy87) merged 5 commits into from
Feb 2, 2021
Merged

Fix UnityDemo build #3343

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188708f
fix UnityDemo build
zimmy87 Jan 25, 2021
e1c46ab
Merge remote-tracking branch 'upstream/master'
zimmy87 Jan 25, 2021
a7dbed8
Response to CR feedback
zimmy87 Feb 2, 2021
8f4922e
Merge remote-tracking branch 'upstream/master'
zimmy87 Feb 2, 2021
59fe9db
Merge remote-tracking branch 'upstream/master'
zimmy87 Feb 2, 2021
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5 changes: 3 additions & 2 deletions Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/PInvokeWrapper.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,9 @@ public static class PInvokeWrapper {
[DllImport(DLL_NAME)]
public static extern void InitVehicleManager(IntPtr SetPose, IntPtr GetPose, IntPtr GetCollisionInfo, IntPtr GetRCData,
IntPtr GetSimImages, IntPtr SetRotorSpeed, IntPtr SetEnableApi, IntPtr SetCarApiControls, IntPtr GetCarState,
IntPtr GetCameraInfo, IntPtr SetCameraPose, IntPtr SetCameraFoV, IntPtr SetSegmentationObjectid, IntPtr GetSegmentationObjectId,
IntPtr PrintLogMessage, IntPtr GetTransformFromUnity, IntPtr Reset, IntPtr GetVelocity, IntPtr GetRayCastHit, IntPtr Pause);
IntPtr GetCameraInfo, IntPtr SetCameraPose, IntPtr SetCameraFoV, IntPtr SetDistortionParam, IntPtr GetDistortionParams,
IntPtr SetSegmentationObjectId, IntPtr GetSegmentationObjectId, IntPtr PrintLogMessage, IntPtr GetTransformFromUnity,
IntPtr Reset, IntPtr GetVelocity, IntPtr GetRayCastHit, IntPtr Pause);

[DllImport(DLL_NAME)]
public static extern KinemticState GetKinematicState(string vehicleName);
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4 changes: 4 additions & 0 deletions Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/IVehicleInterface.cs
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Expand Up @@ -37,6 +37,10 @@ public interface IVehicleInterface {

bool SetCameraFoV(string cameraName, float fov_degrees);

bool SetDistortionParam(string cameraName, string paramName, float value);

bool GetDistortionParams(string cameraName);

bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity);

void ResetVehicle();
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12 changes: 12 additions & 0 deletions Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/Vehicle.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -284,6 +284,18 @@ public bool SetCameraFoV(string cameraName, float fov_degrees) {
return false;
}

public bool SetDistortionParam(string cameraName, string paramName, float value)
{
// not implemented
return false;
}

public bool GetDistortionParams(string cameraName)
{
// not implemented
return false;
}

public bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) {

if (!print_log_messages_)
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10 changes: 9 additions & 1 deletion Unity/UnityDemo/Assets/AirSimAssets/Scripts/Vehicles/VehicleCompanion.cs
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Expand Up @@ -95,6 +95,8 @@ private static void InitDelegators() {
Marshal.GetFunctionPointerForDelegate(new Func<string, string, CameraInfo>(GetCameraInfo)),
Marshal.GetFunctionPointerForDelegate(new Func<string, AirSimPose, string, bool>(SetCameraPose)),
Marshal.GetFunctionPointerForDelegate(new Func<string, float, string, bool>(SetCameraFoV)),
Marshal.GetFunctionPointerForDelegate(new Func<string, string, float, string, bool>(SetDistortionParam)),
Marshal.GetFunctionPointerForDelegate(new Func<string, string, bool>(GetDistortionParams)),
Marshal.GetFunctionPointerForDelegate(new Func<string, int, bool, bool>(SetSegmentationObjectId)),
Marshal.GetFunctionPointerForDelegate(new Func<string, int>(GetSegmentationObjectId)),
Marshal.GetFunctionPointerForDelegate(new Func<string, string, string, int, bool>(PrintLogMessage)),
Expand Down Expand Up @@ -196,7 +198,13 @@ private static bool SetCameraFoV(string cameraName, float fov_degrees, string ve

private static bool SetDistortionParam(string cameraName, string paramName, float value, string vehicleName) {
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
return vehicle.VehicleInterface.SetDistortionParam(cameraName, fov_degrees);
return vehicle.VehicleInterface.SetDistortionParam(cameraName, paramName, value);
}

private static bool GetDistortionParams(string cameraName, string vehicleName)
{
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
return vehicle.VehicleInterface.GetDistortionParams(cameraName);
}

private static bool PrintLogMessage(string message, string messageParams, string vehicleName, int severity) {
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