支持空地一体模拟

AirLib/update_mavlibkcom.bat

@@ -1,3 +1,27 @@
-robocopy /MIR ..\MavLinkCom\SDK\Includes deps\MavLinkCom\include  /XD temp *. /njh /njs /ndl /np
-robocopy /MIR ..\MavLinkCom\SDK\Libraries deps\MavLinkCom\lib  /XD temp *. /njh /njs /ndl /np
-pause
+@echo off
+setlocal
+
+set "MAVLINKCOM_ROOT=..\MavLinkCom"
+set "INCLUDE_SRC=%MAVLINKCOM_ROOT%\SDK\Includes"
+set "LIB_SRC=%MAVLINKCOM_ROOT%\SDK\Libraries"
+
+if exist "%MAVLINKCOM_ROOT%\include" set "INCLUDE_SRC=%MAVLINKCOM_ROOT%\include"
+if exist "%MAVLINKCOM_ROOT%\lib" set "LIB_SRC=%MAVLINKCOM_ROOT%\lib"
+
+if not exist "%INCLUDE_SRC%" (
+    echo [update_mavlibkcom] Include source not found: %INCLUDE_SRC%
+    exit /b 1
+)
+
+if not exist "%LIB_SRC%" (
+    echo [update_mavlibkcom] Library source not found: %LIB_SRC%
+    exit /b 1
+)
+
+robocopy /MIR "%INCLUDE_SRC%" deps\MavLinkCom\include /XD temp *. /njh /njs /ndl /np
+if %errorlevel% geq 8 exit /b %errorlevel%
+
+robocopy /MIR "%LIB_SRC%" deps\MavLinkCom\lib /XD temp *. /njh /njs /ndl /np
+if %errorlevel% geq 8 exit /b %errorlevel%
+
+exit /b 0

MavLinkCom/common_utils/Utils.hpp

@@ -28,6 +28,13 @@
 #include <limits.h> // needed for CHAR_BIT used below
 #endif
 
+#ifdef min
+#undef min
+#endif
+#ifdef max
+#undef max
+#endif
+
 //Stubs for C++17 optional type
 #if (defined __cplusplus) && (__cplusplus >= 201700L)
 #include <optional>
@@ -80,11 +87,14 @@ __attribute__((__format__(__printf__, 1, 0))) static int _vscprintf(const char*
 #endif
 
 // Call this on a function parameter to suppress the unused paramter warning
+#ifndef AIRSIM_UNUSED_HELPER_DEFINED
+#define AIRSIM_UNUSED_HELPER_DEFINED
 template <class T>
 inline void unused(T const& result)
 {
     static_cast<void>(result);
 }
+#endif
 
 namespace mavlink_utils
 {

Unreal/Plugins/AirSim/AirSim.uplugin

@@ -22,6 +22,10 @@
     }
   ],
   "Plugins": [
+	  {
+		  "Name": "Carla",
+		  "Enabled": true
+	  },
 	  {
 		  "Name": "PhysXVehicles",
 		  "Enabled": true

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -9,6 +9,7 @@
 #include "Components/StaticMeshComponent.h"
 #include "EngineUtils.h"
 #include "Runtime/Engine/Classes/Engine/StaticMesh.h"
+#include "Runtime/Engine/Classes/Engine/LevelStreamingDynamic.h"
 #include "UObject/UObjectIterator.h"
 #include "Camera/CameraComponent.h"
 #include "Runtime/Engine/Classes/GameFramework/PlayerStart.h"
@@ -20,6 +21,7 @@
 #include "Misc/ObjectThumbnail.h"
 #include "Engine/Engine.h"
 #include "Engine/World.h"
+#include <CineCameraComponent.h>
 #include <exception>
 #include "common/common_utils/Utils.hpp"
 #include "Modules/ModuleManager.h"
@@ -34,6 +36,7 @@ Methods -> CamelCase
 parameters -> camel_case
 */
 
+ULevelStreamingDynamic* UAirBlueprintLib::CURRENT_LEVEL = nullptr;
 bool UAirBlueprintLib::log_messages_hidden_ = false;
 msr::airlib::AirSimSettings::SegmentationSetting::MeshNamingMethodType UAirBlueprintLib::mesh_naming_method_ =
     msr::airlib::AirSimSettings::SegmentationSetting::MeshNamingMethodType::OwnerName;
@@ -74,23 +77,18 @@ void UAirBlueprintLib::setSimulatePhysics(AActor* actor, bool simulate_physics)
     }
 }
 
-bool UAirBlueprintLib::loadLevel(UObject* context, const FString& level_name)
+ULevelStreamingDynamic* UAirBlueprintLib::loadLevel(UObject* context, const FString& level_name)
 {
-
     bool success{ false };
-    // Get name of current level
-    auto currMap = context->GetWorld()->GetMapName();
-    currMap.RemoveFromStart(context->GetWorld()->StreamingLevelsPrefix);
-    // Only load new level if different from current level
-    if (!currMap.Equals(level_name)) {
-        FString LongPackageName;
-        success = FPackageName::SearchForPackageOnDisk(level_name, &LongPackageName);
-        if (success) {
-            context->GetWorld()->SetNewWorldOrigin(FIntVector(0, 0, 0));
-            UGameplayStatics::OpenLevel(context->GetWorld(), FName(*LongPackageName), true);
-        }
+    context->GetWorld()->SetNewWorldOrigin(FIntVector(0, 0, 0));
+    ULevelStreamingDynamic* new_level = UAirsimLevelStreaming::LoadAirsimLevelInstance(
+        context->GetWorld(), level_name, FVector(0, 0, 0), FRotator(0, 0, 0), success);
+    if (success) {
+        if (CURRENT_LEVEL != nullptr && CURRENT_LEVEL->IsValidLowLevel())
+            CURRENT_LEVEL->SetShouldBeLoaded(false);
+        CURRENT_LEVEL = new_level;
     }
-    return success;
+    return CURRENT_LEVEL;
 }
 
 bool UAirBlueprintLib::spawnPlayer(UWorld* context)
@@ -316,6 +314,7 @@ template USceneCaptureComponent2D* UAirBlueprintLib::GetActorComponent(AActor*,
 template UStaticMeshComponent* UAirBlueprintLib::GetActorComponent(AActor*, FString);
 template URotatingMovementComponent* UAirBlueprintLib::GetActorComponent(AActor*, FString);
 template UCameraComponent* UAirBlueprintLib::GetActorComponent(AActor*, FString);
+template UCineCameraComponent* UAirBlueprintLib::GetActorComponent(AActor*, FString);
 template UDetectionComponent* UAirBlueprintLib::GetActorComponent(AActor*, FString);
 
 bool UAirBlueprintLib::IsInGameThread()
@@ -458,12 +457,8 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
 
         //Various checks if there is even a valid mesh
         if (!comp->GetStaticMesh()) continue;
-        if (!comp->GetStaticMesh()->HasValidRenderData()) continue;
-#if ((ENGINE_MAJOR_VERSION > 4) || (ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION >= 27))
-        if (comp->GetStaticMesh()->GetRenderData()->LODResources.Num() == 0) continue;
-#else
+        if (!comp->GetStaticMesh()->RenderData) continue;
         if (comp->GetStaticMesh()->RenderData->LODResources.Num() == 0) continue;
-#endif
 
         msr::airlib::MeshPositionVertexBuffersResponse mesh;
         mesh.name = name;
@@ -478,11 +473,7 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
         mesh.orientation.y() = att.Y;
         mesh.orientation.z() = att.Z;
 
-#if ((ENGINE_MAJOR_VERSION > 4) || (ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION >= 27))
-        FPositionVertexBuffer* vertex_buffer = &comp->GetStaticMesh()->GetRenderData()->LODResources[0].VertexBuffers.PositionVertexBuffer;
-#else
         FPositionVertexBuffer* vertex_buffer = &comp->GetStaticMesh()->RenderData->LODResources[0].VertexBuffers.PositionVertexBuffer;
-#endif
         if (vertex_buffer) {
             const int32 vertex_count = vertex_buffer->VertexBufferRHI->GetSize();
             TArray<FVector> vertices;
@@ -497,11 +488,7 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
                     RHIUnlockVertexBuffer(vertex_buffer->VertexBufferRHI);
                 });
 
-#if ((ENGINE_MAJOR_VERSION > 4) || (ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION >= 27))
-            FStaticMeshLODResources& lod = comp->GetStaticMesh()->GetRenderData()->LODResources[0];
-#else
             FStaticMeshLODResources& lod = comp->GetStaticMesh()->RenderData->LODResources[0];
-#endif
             FRawStaticIndexBuffer* IndexBuffer = &lod.IndexBuffer;
             int num_indices = IndexBuffer->IndexBufferRHI->GetSize() / IndexBuffer->IndexBufferRHI->GetStride();
 

Unreal/Plugins/AirSim/Source/AirBlueprintLib.h

@@ -19,12 +19,15 @@
 #include "Engine/World.h"
 #include "Runtime/Landscape/Classes/LandscapeComponent.h"
 #include "Runtime/Engine/Classes/Kismet/GameplayStatics.h"
+#include "AirsimLevelStreaming.h"
 #include "Runtime/Core/Public/HAL/FileManager.h"
 #include "common/AirSimSettings.hpp"
 #include <string>
 #include <regex>
 #include "AirBlueprintLib.generated.h"
 
+class ULevelStreamingDynamic;
+
 UENUM(BlueprintType)
 enum class LogDebugLevel : uint8
 {
@@ -71,9 +74,11 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
         UGameplayStatics::GetAllActorsOfClass(context, T::StaticClass(), foundActors);
     }
 
+    static ULevelStreamingDynamic* CURRENT_LEVEL;
+
     static std::vector<std::string> ListMatchingActors(const UObject* context, const std::string& name_regex);
     UFUNCTION(BlueprintCallable, Category = "AirSim|LevelAPI")
-    static bool loadLevel(UObject* context, const FString& level_name);
+    static ULevelStreamingDynamic* loadLevel(UObject* context, const FString& level_name);
     UFUNCTION(BlueprintCallable, Category = "AirSim|LevelAPI")
     static bool spawnPlayer(UWorld* context);
     UFUNCTION(BlueprintPure, Category = "AirSim|LevelAPI")

Unreal/Plugins/AirSim/Source/AirSim.Build.cs

@@ -79,15 +79,17 @@ public AirSim(ReadOnlyTargetRules Target) : base(Target)
         bEnableExceptions = true;
 
         PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "ImageWrapper", "RenderCore", "RHI", "AssetRegistry", "PhysicsCore", "PhysXVehicles", "PhysXVehicleLib", "PhysX", "APEX", "Landscape", "CinematicCamera" });
-        PrivateDependencyModuleNames.AddRange(new string[] { "UMG", "Slate", "SlateCore" });
+        PrivateDependencyModuleNames.AddRange(new string[] { "UMG", "Slate", "SlateCore", "Carla", "Foliage" });
 
         //suppress VC++ proprietary warnings
         PublicDefinitions.Add("_SCL_SECURE_NO_WARNINGS=1");
         PublicDefinitions.Add("_CRT_SECURE_NO_WARNINGS=1");
         PublicDefinitions.Add("HMD_MODULE_INCLUDED=0");
+        PublicDefinitions.Add("NOMINMAX");
 
         PublicIncludePaths.Add(Path.Combine(AirLibPath, "include"));
         PublicIncludePaths.Add(Path.Combine(AirLibPath, "deps", "eigen3"));
+        PublicIncludePaths.Add(Path.Combine(ModulePath, "MavLinkCom", "common_utils"));
         AddOSLibDependencies(Target);
 
         SetupCompileMode(CompileMode.HeaderOnlyWithRpc, Target);

Unreal/Plugins/AirSim/Source/AirSim.cpp

@@ -5,6 +5,12 @@
 #include "Misc/Paths.h"
 #include "Modules/ModuleManager.h"
 #include "Modules/ModuleInterface.h"
+#if WITH_EDITOR
+#include <compiler/disable-ue4-macros.h>
+#include <carla/Exception.h>
+#include <compiler/enable-ue4-macros.h>
+#include <exception>
+#endif
 
 class FAirSim : public IModuleInterface
 {
@@ -23,4 +29,17 @@ void FAirSim::StartupModule()
 void FAirSim::ShutdownModule()
 {
     //plugin shutdown
-}
+}
+
+#if WITH_EDITOR
+namespace carla
+{
+
+void throw_exception(const std::exception& e)
+{
+    UE_LOG(LogTemp, Fatal, TEXT("Carla exception forwarded via AirSim: %s"), UTF8_TO_TCHAR(e.what()));
+    std::terminate();
+}
+
+} // namespace carla
+#endif

Unreal/Plugins/AirSim/Source/AirsimLevelStreaming.cpp

@@ -0,0 +1,48 @@
+#pragma once
+
+#include "AirsimLevelStreaming.h"
+#include "Engine/World.h"
+
+int32 UAirsimLevelStreaming::LevelInstanceId = 0;
+
+UAirsimLevelStreaming* UAirsimLevelStreaming::LoadAirsimLevelInstance(UWorld* WorldContextObject, FString LevelName, FVector Location, FRotator Rotation, bool& bOutSuccess)
+{
+    if (!WorldContextObject) {
+        return nullptr;
+    }
+
+    // Check whether requested map exists, this could be very slow if LevelName is a short package name
+    FString LongPackageName;
+    bool success = FPackageName::SearchForPackageOnDisk(LevelName, &LongPackageName);
+    if (!success) {
+        bOutSuccess = false;
+        return nullptr;
+    }
+
+    // Create Unique Name for sub-level package
+    const FString ShortPackageName = FPackageName::GetShortName(LongPackageName);
+    const FString PackagePath = FPackageName::GetLongPackagePath(LongPackageName);
+    FString UniqueLevelPackageName = PackagePath + TEXT("/") + WorldContextObject->StreamingLevelsPrefix + ShortPackageName;
+    UniqueLevelPackageName += TEXT("_LevelInstance_") + FString::FromInt(++LevelInstanceId);
+
+    // Setup streaming level object that will load specified map
+    ULevelStreamingDynamic* level_pointer = NewObject<ULevelStreamingDynamic>(WorldContextObject, ULevelStreamingDynamic::StaticClass(), NAME_None, RF_Transient, NULL);
+    level_pointer->SetWorldAssetByPackageName(FName(*UniqueLevelPackageName));
+    level_pointer->LevelColor = FColor::MakeRandomColor();
+    level_pointer->SetShouldBeLoaded(true);
+    level_pointer->SetShouldBeVisible(true);
+    level_pointer->bShouldBlockOnLoad = true;
+    level_pointer->bInitiallyLoaded = true;
+    level_pointer->bInitiallyVisible = true;
+
+    // Transform
+    level_pointer->LevelTransform = FTransform(Rotation, Location);
+    // Map to Load
+    level_pointer->PackageNameToLoad = FName(*LongPackageName);
+    // Add the new level to world.
+    WorldContextObject->AddStreamingLevel(level_pointer);
+
+    bOutSuccess = true;
+
+    return dynamic_cast<UAirsimLevelStreaming*>(level_pointer);
+}

Unreal/Plugins/AirSim/Source/AirsimLevelStreaming.h

@@ -0,0 +1,11 @@
+#pragma once
+#include "Runtime/Engine/Classes/Engine/LevelStreamingDynamic.h"
+
+class UAirsimLevelStreaming : public ULevelStreamingDynamic
+{
+public:
+    static UAirsimLevelStreaming* LoadAirsimLevelInstance(UWorld* WorldContextObject, FString LevelName, FVector Location, FRotator Rotation, bool& bOutSuccess);
+
+private:
+    static int32 LevelInstanceId;
+};

Unreal/Plugins/AirSim/Source/CameraDirector.cpp

@@ -29,7 +29,8 @@ void ACameraDirector::Tick(float DeltaTime)
     Super::Tick(DeltaTime);
 
     if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL) {
-        manual_pose_controller_->updateActorPose(DeltaTime);
+        if (manual_pose_controller_)
+            manual_pose_controller_->updateActorPose(DeltaTime);
     }
     else if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE) {
         //do nothing, spring arm is pulling the camera with it
@@ -56,6 +57,7 @@ void ACameraDirector::initializeForBeginPlay(ECameraDirectorMode view_mode,
     setupInputBindings();
 
     mode_ = view_mode;
+    mode_before_front_ = view_mode; // default restore target = initial view
 
     follow_actor_ = follow_actor;
     fpv_camera_ = fpv_camera;
@@ -151,7 +153,7 @@ void ACameraDirector::setMode(ECameraDirectorMode mode)
 
         //Remove any existing key bindings for manual mode
         if (mode != ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL) {
-            if (ExternalCamera != nullptr && manual_pose_controller_->getActor() == ExternalCamera) {
+            if (ExternalCamera != nullptr && manual_pose_controller_ && manual_pose_controller_->getActor() == ExternalCamera) {
 
                 manual_pose_controller_->setActor(nullptr);
             }
@@ -286,13 +288,40 @@ void ACameraDirector::inputEventBackupView()
 
 void ACameraDirector::inputEventFrontView()
 {
+    // Toggle: if already in Front view → restore the view that was active before pressing I
+    if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT || mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FPV) {
+        // Restore previous mode
+        switch (mode_before_front_) {
+        case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_GROUND_OBSERVER:
+            inputEventGroundView();
+            break;
+        case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL:
+            inputEventManualView();
+            break;
+        case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE:
+            inputEventSpringArmChaseView();
+            break;
+        case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_BACKUP:
+            inputEventBackupView();
+            break;
+        default:
+            // FLY_WITH_ME or anything else
+            inputEventFlyWithView();
+            break;
+        }
+        return;
+    }
+
+    // Save current mode before switching to front view
+    mode_before_front_ = mode_;
+
     if (front_camera_) {
         setMode(ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT);
         front_camera_->showToScreen();
         disableCameras(true, true, true, false);
     }
     else
-        UAirBlueprintLib::LogMessageString("Camera is not available: ", "backup_camera", LogDebugLevel::Failure);
+        UAirBlueprintLib::LogMessageString("Camera is not available: ", "front_camera", LogDebugLevel::Failure);
 
     notifyViewModeChanged();
 }

Unreal/Plugins/AirSim/Source/CameraDirector.h

@@ -82,6 +82,7 @@ class AIRSIM_API ACameraDirector : public AActor
     USceneComponent* last_parent_ = nullptr;
 
     ECameraDirectorMode mode_;
+    ECameraDirectorMode mode_before_front_; // saved mode before I-key toggle
     UPROPERTY()
     UManualPoseController* manual_pose_controller_;