added switch world API && world can be setuped in YAML

config/unreal_simulator.yaml

@@ -10,6 +10,21 @@ dynamic_rtf: true
 # TODO describe
 collisions: true
 
+#  0 - LOW
+#  1 - MEDIUM
+#  2 - HIGH
+#  4 - EPIC
+#  5 - CINEMATIC
+ueds_graphics_settings_enum: 0
+
+# 0 -  VALLEY,
+# 1 -  FOREST,
+# 2 -  INFINITE_FOREST,
+# 3 -  WAREHOUSE,
+# 4 -  CAVE,
+# 5 -  ERDING_AIRBASE
+ueds_world_level_name_enum: 2
+
 sensors:
 
   lidar:

include/ueds_connector/game_mode_controller.h

@@ -36,6 +36,8 @@ class GameModeController : public SocketClient {
   std::pair<bool, double> GetTime();
 
   bool SetGraphicsSettings(const Serializable::GameMode::GraphicsSettingsEnum& graphicsSettings);
+
+  bool SwitchWorldLevel(const Serializable::GameMode::WorldLevelEnum& worldLevelEnum);
 };
 
 }  // namespace ueds_connector

include/ueds_connector/serialization/serializable_shared.h

@@ -1023,7 +1023,7 @@ namespace SetGraphicsSettings
     template <class Archive>
     void serialize(Archive& archive) {
     archive(cereal::base_class<Common::NetworkRequest>(this), graphicsSettings);
-  }
+    }
   };
 
   struct Response : public Common::NetworkResponse
@@ -1034,6 +1034,37 @@ namespace SetGraphicsSettings
 
 }// namespace SetGraphicsSettings
 
+enum WorldLevelEnum : unsigned short
+{
+  VALLEY,
+  FOREST,
+  INFINITE_FOREST,
+  WAREHOUSE,
+  CAVE,
+  ERDING_AIRBASE
+};
+
+namespace SwitchWorldLevel
+{
+  struct Request : public Common::NetworkRequest
+  {
+    Request() : Common::NetworkRequest(MessageType::switch_world_level){};
+
+    WorldLevelEnum worldLevelEnum;
+
+    template <class Archive>
+    void serialize(Archive& archive) {
+    archive(cereal::base_class<Common::NetworkRequest>(this), worldLevelEnum);
+    }
+  };
+
+  struct Response : public Common::NetworkResponse
+  {
+    Response() : Common::NetworkResponse(static_cast<unsigned short>(MessageType::switch_world_level)){};
+    explicit Response(bool _status) : Common::NetworkResponse(MessageType::switch_world_level, _status){};
+  };
+}// namespace SwitchWorldLevel
+
 namespace GetFps
 {
 struct Request : public Common::NetworkRequest

src/ueds_connector/game_mode_controller.cpp

@@ -105,6 +105,20 @@ bool GameModeController::SetGraphicsSettings(const Serializable::GameMode::Graph
 }
 //}
 
+/* SwitchWorldLevel() {*/
+bool GameModeController::SwitchWorldLevel(const Serializable::GameMode::WorldLevelEnum& worldLevelEnum){
+
+  Serializable::GameMode::SwitchWorldLevel::Request request{};
+  request.worldLevelEnum = static_cast<Serializable::GameMode::WorldLevelEnum>(worldLevelEnum);
+
+  Serializable::GameMode::SwitchWorldLevel::Response response{};
+  const auto                                             status  = Request(request, response);
+  const auto                                             success = status && response.status;
+
+  return success;
+}
+//}
+
 /* getFps() //{ */
 
 std::pair<bool, float> GameModeController::GetFps() {

src/unreal_simulator.cpp

@@ -242,6 +242,8 @@ class UnrealSimulator : public nodelet::Nodelet {
   std::mutex    mutex_wall_time_offset_;
 
   double ueds_fps_ = 0;
+  int ueds_world_level_name_enum_ = 2U;
+  int ueds_graphics_settings_enum_ = 0U;
 
   std::vector<double> last_rgb_ue_stamp_;
   std::vector<double> last_rgb_seg_ue_stamp_;
@@ -288,6 +290,9 @@ void UnrealSimulator::onInit() {
   param_loader.addYamlFileFromParam("config");
   param_loader.addYamlFileFromParam("config_uavs");
 
+  param_loader.loadParam("ueds_graphics_settings_enum", ueds_graphics_settings_enum_);
+  param_loader.loadParam("ueds_world_level_name_enum", ueds_world_level_name_enum_);
+
   param_loader.loadParam("simulation_rate", _simulation_rate_);
   param_loader.loadParam("realtime_factor", drs_params_.realtime_factor);
   param_loader.loadParam("dynamic_rtf", drs_params_.dynamic_rtf);
@@ -406,7 +411,41 @@ void UnrealSimulator::onInit() {
     ros::shutdown();
   }
 
-  Serializable::GameMode::GraphicsSettingsEnum graphicsSettings = Serializable::GameMode::GraphicsSettingsEnum::LOW;
+  // | --------------------- Set graphical settings and choose World Level --------------------- |
+
+  Serializable::GameMode::WorldLevelEnum worldLevelEnum = Serializable::GameMode::WorldLevelEnum(ueds_world_level_name_enum_);
+  res = ueds_game_controller_->SwitchWorldLevel(worldLevelEnum);
+  if(res){
+    ROS_INFO("[UnrealSimulator] World was switched succesfully.");
+  }else{
+    ROS_ERROR("[UnrealSimulator] World was not switched succesfully.");
+  }
+
+  res = ueds_game_controller_->Disconnect();
+  if(res){
+    ROS_INFO("[UnrealSimulator] ueds_game_controller_ was Disconnected succesfully.");
+  }else{
+    ROS_ERROR("[UnrealSimulator] ueds_game_controller_ was not Disconnected succesfully.");
+  }
+
+  ROS_WARN("SLEEP START");
+  //ros::Duration(1.0).sleep();
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+  ROS_WARN("SLEEP STOP");
+
+  //ueds_game_controller_ = std::make_unique<ueds_connector::GameModeController>(LOCALHOST, 8000);
+  while (true) {
+    bool connect_result = ueds_game_controller_->Connect();
+    if (connect_result != 1) {
+      ROS_ERROR("[UnrealSimulator]: Error connecting to Unreal's game mode controller, connect_result was %d", connect_result);
+    } else {
+      break;
+    }
+    //ros::Duration(1.0).sleep();
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+
+  Serializable::GameMode::GraphicsSettingsEnum graphicsSettings = Serializable::GameMode::GraphicsSettingsEnum(ueds_graphics_settings_enum_);
   res = ueds_game_controller_->SetGraphicsSettings(graphicsSettings);
 
   if(res){
@@ -421,6 +460,7 @@ void UnrealSimulator::onInit() {
 
     const std::string uav_name = uav_names[i];
 
+    ROS_INFO("[UnrealSimulator]: %s spawning .......", uav_name.c_str());
     const auto [resSpawn, port] = ueds_game_controller_->SpawnDrone();
 
     if (!resSpawn) {

tmux/one_drone/session.yml

@@ -5,7 +5,7 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500 #; source ~/workspace/devel/setup.bash
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500; source ~/workspace/devel/setup.bash
 startup_window: goto
 windows:
   - roscore: