set time api

ctu-mrs · Nov 15, 2024 · 0ac97ba · 0ac97ba
1 parent 122a608
commit 0ac97ba
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Showing 3 changed files with 24 additions and 10 deletions.
diff --git a/config/unreal_simulator.yaml b/config/unreal_simulator.yaml
@@ -36,7 +36,11 @@ ueds_world_level_name_enum: 3
 #  {"sand_dust_storm", 7},
 #  {"snow", 8},
 #  {"snow_blizzards", 9}
-weather_type: "snow_blizzards"
+weather_type: "rain"
+
+daytime:
+  hour: 7
+  minute: 30
 
 ############ Only Forest Procedural Generation settings ############
 

diff --git a/src/unreal_simulator.cpp b/src/unreal_simulator.cpp
@@ -274,6 +274,7 @@ class UnrealSimulator : public nodelet::Nodelet {
   int            ueds_forest_density_         = 5;
   int            ueds_forest_hilly_level_     = 3;
   std::string    weather_type_;
+  ueds_connector::Daytime daytime_;
 
   std::vector<double> last_rgb_ue_stamp_;
   std::vector<double> last_rgb_seg_ue_stamp_;
@@ -325,6 +326,8 @@ void UnrealSimulator::onInit() {
   param_loader.loadParam("ueds_forest_density", ueds_forest_density_);
   param_loader.loadParam("ueds_forest_hilly_level", ueds_forest_hilly_level_);
   param_loader.loadParam("weather_type", weather_type_);
+  param_loader.loadParam("daytime/hour", daytime_.hour);
+  param_loader.loadParam("daytime/minute", daytime_.minute);
 
   param_loader.loadParam("simulation_rate", _simulation_rate_);
   param_loader.loadParam("realtime_factor", drs_params_.realtime_factor);
@@ -503,6 +506,20 @@ void UnrealSimulator::onInit() {
     ROS_ERROR("[UnrealSimulator]: Graphical Settings was not set succesfully to '%d'", graphicsSettings);
   }
 
+  res = ueds_game_controller_->SetWeather(ueds_connector::WeatherType::Type2Id().at(weather_type_));
+  if (res) {
+     ROS_INFO("[UnrealSimulator]: SetWeather successful.");
+  } else {
+     ROS_ERROR("[UnrealSimulator]: SetWeather error");
+  }  
+
+  res = ueds_game_controller_->SetDatetime(daytime_.hour, daytime_.minute);
+  if (res) {
+     ROS_INFO("[UnrealSimulator]: SetDatetime successful.");
+  } else {
+     ROS_ERROR("[UnrealSimulator]: SetDatetime error");
+  }  
+
 
   // | --------------------- These graphical settings influence only Forest Game World --------------------- |
 
@@ -520,13 +537,6 @@ void UnrealSimulator::onInit() {
     ROS_ERROR("[UnrealSimulator]: Forest Hilly Level wasn't set succesfully to '%d'", ueds_forest_hilly_level_);
   }
 
-  res = ueds_game_controller_->SetWeather(ueds_connector::WeatherType::Type2Id().at(weather_type_));
-  if (res) {
-     ROS_INFO("[UnrealSimulator]: SetWeather successful.");
-  } else {
-     ROS_INFO("[UnrealSimulator]: SetWeather error !!!");
-  }  
-
   std::this_thread::sleep_for(std::chrono::seconds(1));
 
   // | --------------------- Spawn the UAVs --------------------- |

diff --git a/tmux/one_drone/config/simulator.yaml b/tmux/one_drone/config/simulator.yaml
@@ -3,8 +3,8 @@ uav_names: [
 ]
 
 ueds_graphics_settings_enum: 2
-ueds_world_level_name_enum: 1
-ueds_forest_hilly_level: 4
+ueds_world_level_name_enum: 2
+ueds_forest_hilly_level: 2
 
 uav1:
   frame: "x500"