added forest hilly levels

ctu-mrs · Aug 30, 2024 · 27d8ec1 · 27d8ec1
1 parent 2e4979f
commit 27d8ec1
Show file tree

Hide file tree

Showing 5 changed files with 60 additions and 5 deletions.
diff --git a/config/unreal_simulator.yaml b/config/unreal_simulator.yaml
@@ -27,10 +27,16 @@ ueds_graphics_settings_enum: 0
 ueds_world_level_name_enum: 2
 
 
-# Only Forest Procedural Generation settings
+############ Only Forest Procedural Generation settings ############
+
 # Choose cluttered difficulties from 1 [high] to 10 [low]
 ueds_forest_density: 6
 
+# Choose Hilly Level from 1 [totally flat] to 5 [the most hilly]
+ueds_forest_hilly_level: 3
+
+####################################################################
+
 sensors:
 
   lidar:

diff --git a/include/ueds_connector/game_mode_controller.h b/include/ueds_connector/game_mode_controller.h
@@ -40,6 +40,8 @@ class GameModeController : public SocketClient {
   bool SwitchWorldLevel(const Serializable::GameMode::WorldLevelEnum& worldLevelEnum);
 
   bool SetForestDensity(const int DensityLevel);
+
+  bool SetForestHillyLevel(const int HillyLevel);
 };
 
 }  // namespace ueds_connector
diff --git a/include/ueds_connector/serialization/serializable_shared.h b/include/ueds_connector/serialization/serializable_shared.h
@@ -879,7 +879,8 @@ enum MessageType : unsigned short
   get_api_version         = 9,
   set_graphics_settings   = 10,
   switch_world_level      = 11,
-  set_forest_density      = 12
+  set_forest_density      = 12,
+  set_forest_hilly_level  = 13
 };
 
 namespace GetDrones
@@ -927,6 +928,25 @@ struct Response : public Common::NetworkResponse
 };
 };  // namespace SetForestDensity
 
+namespace SetForestHillyLevel
+{
+struct Request : public Common::NetworkRequest
+{
+  Request() : Common::NetworkRequest(MessageType::set_forest_hilly_level){}
+  int Hilly_Level;
+
+  template <class Archive>
+  void serialize(Archive& archive) {
+    archive(cereal::base_class<Common::NetworkRequest>(this), Hilly_Level);
+  }
+};
+struct Response : public Common::NetworkResponse
+{
+  Response() : Common::NetworkResponse(static_cast<unsigned short>(MessageType::set_forest_hilly_level)){};
+  explicit Response(bool _status) : Common::NetworkResponse(MessageType::set_forest_hilly_level, _status){};
+};
+};  // namespace SetForestHilly  
+
 
 namespace SpawnDrone
 {

diff --git a/src/ueds_connector/game_mode_controller.cpp b/src/ueds_connector/game_mode_controller.cpp
@@ -55,7 +55,7 @@ bool GameModeController::RemoveDrone(const int port) {
 
 //}
 
-/* removeDrone() //{ */
+/* SetForestDensity() //{ */
 
 bool GameModeController::SetForestDensity(const int DensityLevel) {
 
@@ -71,6 +71,22 @@ bool GameModeController::SetForestDensity(const int DensityLevel) {
 
 //}
 
+/* SetForestHillyLevel() //{ */
+
+bool GameModeController::SetForestHillyLevel(const int HillyLevel) {
+
+  Serializable::GameMode::SetForestHillyLevel::Request request{};
+  request.Hilly_Level = HillyLevel;
+
+  Serializable::GameMode::SetForestHillyLevel::Response response{};
+  const auto                                    status  = Request(request, response);
+  const auto                                    success = status && response.status;
+
+  return success;
+}
+
+//}
+
 /* getCameraCaptureMode() //{ */
 
 std::pair<bool, CameraCaptureModeEnum> GameModeController::GetCameraCaptureMode() {

diff --git a/src/unreal_simulator.cpp b/src/unreal_simulator.cpp
@@ -244,7 +244,8 @@ class UnrealSimulator : public nodelet::Nodelet {
   double ueds_fps_                    = 0;
   int    ueds_world_level_name_enum_  = 2;
   int    ueds_graphics_settings_enum_ = 0;
-  int    ueds_forest_density_          = 5;
+  int    ueds_forest_density_         = 5;
+  int    ueds_forest_hilly_level_     = 3;
 
   std::vector<double> last_rgb_ue_stamp_;
   std::vector<double> last_rgb_seg_ue_stamp_;
@@ -294,6 +295,7 @@ void UnrealSimulator::onInit() {
   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("ueds_forest_density", ueds_forest_density_);
+  param_loader.loadParam("ueds_forest_hilly_level", ueds_forest_hilly_level_);
 
   param_loader.loadParam("simulation_rate", _simulation_rate_);
   param_loader.loadParam("realtime_factor", drs_params_.realtime_factor);
@@ -456,7 +458,7 @@ void UnrealSimulator::onInit() {
     ROS_ERROR("[UnrealSimulator]: Graphical Settings was not set succesfully to '%d'", graphicsSettings);
   }
 
-  // | --------------------- These graphical settings influence onle Forest Game World --------------------- |
+  // | --------------------- These graphical settings influence only Forest Game World --------------------- |
 
   res = ueds_game_controller_->SetForestDensity(ueds_forest_density_);
   if (res) {
@@ -465,6 +467,15 @@ void UnrealSimulator::onInit() {
     ROS_ERROR("[UnrealSimulator]: Forest Density wasn't set succesfully to '%d'", ueds_forest_density_);
   }
 
+  res = ueds_game_controller_->SetForestHillyLevel(ueds_forest_hilly_level_);
+  if (res) {
+    ROS_INFO("[UnrealSimulator]: Forest Hilly Level was set succesfully to '%d'", ueds_forest_hilly_level_);
+  } else {
+    ROS_ERROR("[UnrealSimulator]: Forest Hilly Level wasn't set succesfully to '%d'", ueds_forest_hilly_level_);
+  }
+
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+
   // | --------------------- Spawn the UAVs --------------------- |
 
   for (size_t i = 0; i < uav_names.size(); i++) {