Plugin refactoring to sync with AirLib (Part 2)

AirLib/AirLib.vcxproj

@@ -50,6 +50,7 @@
     <ClInclude Include="include\common\common_utils\ProsumerQueue.hpp" />
     <ClInclude Include="include\common\common_utils\RandomGenerator.hpp" />
     <ClInclude Include="include\common\common_utils\ScheduledExecutor.hpp" />
+    <ClInclude Include="include\common\common_utils\Signal.hpp" />
     <ClInclude Include="include\common\common_utils\sincos.hpp" />
     <ClInclude Include="include\common\common_utils\StrictMode.hpp" />
     <ClInclude Include="include\common\common_utils\Timer.hpp" />

AirLib/AirLib.vcxproj.filters

@@ -429,6 +429,9 @@
     <ClInclude Include="include\api\ApiProvider.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\common\common_utils\Signal.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

AirLib/include/api/ApiProvider.hpp

@@ -53,11 +53,23 @@ public:
     {
         return vehicle_apis_;
     }
-    const std::map<std::string, VehicleSimApiBase*>& getVehicleSimApis()
+    const std::map<std::string, VehicleSimApiBase*>& geVehicleSimApis()
     {
         return vehicle_sim_apis_;
     }
 
+    bool hasDefaultVehicle() const
+    {
+        return Utils::findOrDefault<std::string, VehicleApiBase*>(vehicle_apis_, "") == nullptr &&
+            Utils::findOrDefault<std::string, VehicleSimApiBase*>(vehicle_sim_apis_, "") == nullptr;
+    }
+
+    void makeDefaultVehicle(const std::string& vehicle_name)
+    {
+        vehicle_apis_[""] = vehicle_apis_[vehicle_name];
+        vehicle_sim_apis_[""] = vehicle_sim_apis_[vehicle_name];
+    }
+
 private:
     WorldSimApiBase* world_sim_api_;
 

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -264,19 +264,19 @@ public:
     };
 
     struct ImageRequest {
-        uint8_t camera_id;
+        std::string camera_name;
         msr::airlib::ImageCaptureBase::ImageType image_type;
         bool pixels_as_float;
         bool compress;
 
-        MSGPACK_DEFINE_MAP(camera_id, image_type, pixels_as_float, compress);
+        MSGPACK_DEFINE_MAP(camera_name, image_type, pixels_as_float, compress);
 
         ImageRequest()
         {}
 
         ImageRequest(const msr::airlib::ImageCaptureBase::ImageRequest& s)
         {
-            camera_id = s.camera_id;
+            camera_name = s.camera_name;
             image_type = s.image_type;
             pixels_as_float = s.pixels_as_float;
             compress = s.compress;
@@ -285,7 +285,7 @@ public:
         msr::airlib::ImageCaptureBase::ImageRequest to() const
         {
             msr::airlib::ImageCaptureBase::ImageRequest d;
-            d.camera_id = camera_id;
+            d.camera_name = camera_name;
             d.image_type = image_type;
             d.pixels_as_float = pixels_as_float;
             d.compress = compress;

AirLib/include/api/RpcLibClientBase.hpp

@@ -45,7 +45,7 @@ public:
     Pose simGetObjectPose(const std::string& object_name) const;
 
     vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request);
-    vector<uint8_t> simGetImage(int camera_id, ImageCaptureBase::ImageType type);
+    vector<uint8_t> simGetImage(const std::string& camera_name, ImageCaptureBase::ImageType type);
 
     CollisionInfo simGetCollisionInfo() const;
 
@@ -53,8 +53,8 @@ public:
     int simGetSegmentationObjectID(const std::string& mesh_name) const;
     void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
-    CameraInfo simGetCameraInfo(int camera_id) const;
+    CameraInfo simGetCameraInfo(const std::string& camera_name) const;
-    void simSetCameraOrientation(int camera_id, const Quaternionr& orientation);
+    void simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation);
 
     //task management APIs
     void cancelLastTask();

AirLib/include/api/VehicleSimApiBase.hpp

@@ -50,10 +50,13 @@ public:
     virtual RCData getRCData() const = 0; //get reading from RC from simulator
     virtual std::string getVehicleName() const = 0;
     virtual std::string getLogLine() const = 0;
+    virtual void setLogLine(std::string line) = 0;
+    virtual void toggleTrace() = 0;
 
-    const AirSimSettings::VehicleSetting& getVehicleSetting() const
+    //use pointer here because of derived classes for VehicleSetting
+    const AirSimSettings::VehicleSetting* getVehicleSetting() const
     {
-        return *(AirSimSettings::singleton().getVehicleSetting(getVehicleName()));
+        return AirSimSettings::singleton().getVehicleSetting(getVehicleName());
     }
 
 };

AirLib/include/common/AirSimSettings.hpp

@@ -31,10 +31,10 @@ public: //types
         int window_index;
         ImageType image_type;
         bool visible;
-        int camera_id;
+        std::string camera_name;
 
-        SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, bool visible_val = false, int camera_id_val = 0)
+        SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, bool visible_val = false, const std::string& camera_name_val = 0)
-            : window_index(window_index_val), image_type(image_type_val), visible(visible_val), camera_id(camera_id_val)
+            : window_index(window_index_val), image_type(image_type_val), visible(visible_val), camera_name(camera_name_val)
         {
         }
     };
@@ -848,7 +848,7 @@ private:
                     subwindow_setting.image_type = Utils::toEnum<ImageType>(
                         json_settings_child.getInt("ImageType", 0));
                     subwindow_setting.visible = json_settings_child.getBool("Visible", false);
-                    subwindow_setting.camera_id = json_settings_child.getInt("CameraID", 0);
+                    subwindow_setting.camera_name = json_settings_child.getString("CameraName", "");
                 }
             }
         }

AirLib/include/common/ImageCaptureBase.hpp

@@ -13,7 +13,7 @@ namespace msr { namespace airlib {
 class ImageCaptureBase
 {
 public: //types
-    enum class ImageType : uint { //this indexes to array
+    enum class ImageType : int { //this indexes to array, -1 is special to indicate main camera
         Scene = 0, 
         DepthPlanner, 
         DepthPerspective,

AirLib/include/common/common_utils/Signal.hpp

@@ -0,0 +1,101 @@
+#ifndef common_utils_Signal_hpp
+#define common_utils_Signal_hpp
+
+#include <functional>
+#include <map>
+
+// A signal object may call multiple slots with the
+// same signature. You can connect functions to the signal
+// which will be called when the emit() method on the
+// signal object is invoked. Any argument passed to emit()
+// will be passed to the given functions.
+
+/*
+//USAGE:
+
+#include "Signal.hpp"
+#include <iostream>
+
+int main() {
+
+// create new signal
+Signal<std::string, int> signal;
+
+// attach a slot
+signal.connect([](std::string arg1, int arg2) {
+std::cout << arg1 << " " << arg2 << std::endl;
+});
+
+signal.emit("The answer:", 42);
+
+return 0;
+}
+
+*/
+
+namespace common_utils {
+
+
+template <typename... Args>
+class Signal {
+
+public:
+
+    Signal() : current_id_(0) {}
+
+    // copy creates new signal
+    Signal(Signal const& other) : current_id_(0) {}
+
+    // connects a member function to this Signal
+    template <typename T>
+    int connect_member(T *inst, void (T::*func)(Args...)) {
+        return connect([=](Args... args) {
+            (inst->*func)(args...);
+        });
+    }
+
+    // connects a const member function to this Signal
+    template <typename T>
+    int connect_member(T *inst, void (T::*func)(Args...) const) {
+        return connect([=](Args... args) {
+            (inst->*func)(args...);
+        });
+    }
+
+    // connects a std::function to the signal. The returned
+    // value can be used to disconnect the function again
+    int connect(std::function<void(Args...)> const& slot) const {
+        slots_.insert(std::make_pair(++current_id_, slot));
+        return current_id_;
+    }
+
+    // disconnects a previously connected function
+    void disconnect(int id) const {
+        slots_.erase(id);
+    }
+
+    // disconnects all previously connected functions
+    void disconnect_all() const {
+        slots_.clear();
+    }
+
+    // calls all connected functions
+    void emit(Args... p) {
+        for (auto it : slots_) {
+            it.second(p...);
+        }
+    }
+
+    // assignment creates new Signal
+    Signal& operator=(Signal const& other) {
+        disconnect_all();
+    }
+
+private:
+    mutable std::map<int, std::function<void(Args...)>> slots_;
+    mutable int current_id_;
+};
+
+}
+
+#endif /* common_utils_Signal_hpp */

AirLib/include/common/common_utils/Utils.hpp

@@ -127,13 +127,21 @@ public:
     }
 
     template <template<class, class, class...> class TContainer, typename TKey, typename TVal, typename... Args>
-    static TVal findOrDefault(const TContainer<TKey, TVal, Args...>& m, TKey const& key, const TVal & default_val)
+    static TVal findOrDefault(const TContainer<TKey, TVal, Args...>& m, TKey const& key, const TVal& default_val)
     {
         typename TContainer<TKey, TVal, Args...>::const_iterator it = m.find(key);
         if (it == m.end())
             return default_val;
         return it->second;
     }
+    template <typename TKey, typename TVal>
+    static TVal findOrDefault(const std::map<TKey, TVal>& m, TKey const& key, const TVal& default_val = TVal())
+    {
+        typename TContainer<TKey, TVal>::const_iterator it = m.find(key);
+        if (it == m.end())
+            return default_val;
+        return it->second;
+    }
 
     static Logger* getSetLogger(Logger* logger = nullptr)
     {

AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp

@@ -28,7 +28,7 @@ public:
     SimpleFlightApi(const MultiRotorParams* vehicle_params, const AirSimSettings::VehicleSetting* vehicle_setting)
         : vehicle_params_(vehicle_params)
     {
-        readSettings(vehicle_setting);
+        readSettings(*vehicle_setting);
 
         //TODO: set below properly for better high speed safety
         safety_params_.vel_to_breaking_dist = safety_params_.min_breaking_dist = 0;
@@ -127,6 +127,8 @@ public: //MultirotorApiBase implementation
         else { //else we don't have RC data
             board_->setIsRcConnected(false);
         }
+
+        return true;
     }
 
 protected: 
@@ -280,14 +282,14 @@ private:
         return static_cast<uint16_t>(1000.0f * switchVal / maxSwitchVal + 1000.0f);
     }
 
-    void readSettings(const AirSimSettings::VehicleSetting* vehicle_setting)
+    void readSettings(const AirSimSettings::VehicleSetting& vehicle_setting)
     {
         params_.default_vehicle_state = simple_flight::VehicleState::fromString(
-            vehicle_setting->default_vehicle_state == "" ? "Armed" : vehicle_setting->default_vehicle_state);
+            vehicle_setting.default_vehicle_state == "" ? "Armed" : vehicle_setting.default_vehicle_state);
 
-        remote_control_id_ = vehicle_setting->rc.remote_control_id;
+        remote_control_id_ = vehicle_setting.rc.remote_control_id;
-        params_.rc.allow_api_when_disconnected = vehicle_setting->rc.allow_api_when_disconnected;
+        params_.rc.allow_api_when_disconnected = vehicle_setting.rc.allow_api_when_disconnected;
-        params_.rc.allow_api_always = vehicle_setting->allow_api_always;
+        params_.rc.allow_api_always = vehicle_setting.allow_api_always;
     }
 
 private:

AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightQuadXParams.hpp

@@ -68,7 +68,7 @@ protected:
 
 private:
     vector<unique_ptr<SensorBase>> sensor_storage_;
-    const AirSimSettings::VehicleSetting* vehicle_setting_;
+    const AirSimSettings::VehicleSetting* vehicle_setting_; //store as pointer because of derived classes
     std::shared_ptr<const SensorFactory> sensor_factory_;
 };
 

AirLib/src/api/RpcLibClientBase.cpp

@@ -179,9 +179,9 @@ vector<ImageCaptureBase::ImageResponse> RpcLibClientBase::simGetImages(vector<Im
 
     return RpcLibAdapatorsBase::ImageResponse::to(response_adaptor);
 }
-vector<uint8_t> RpcLibClientBase::simGetImage(int camera_id, ImageCaptureBase::ImageType type)
+vector<uint8_t> RpcLibClientBase::simGetImage(const std::string& camera_name, ImageCaptureBase::ImageType type)
 {
-    vector<uint8_t> result = pimpl_->client.call("simGetImage", camera_id, type).as<vector<uint8_t>>();
+    vector<uint8_t> result = pimpl_->client.call("simGetImage", camera_name, type).as<vector<uint8_t>>();
     if (result.size() == 1) {
         // rpclib has a bug with serializing empty vectors, so we return a 1 byte vector instead.
         result.clear();
@@ -214,13 +214,13 @@ msr::airlib::Pose RpcLibClientBase::simGetObjectPose(const std::string& object_n
     return pimpl_->client.call("simGetObjectPose", object_name).as<RpcLibAdapatorsBase::Pose>().to();
 }
 
-CameraInfo RpcLibClientBase::simGetCameraInfo(int camera_id) const
+CameraInfo RpcLibClientBase::simGetCameraInfo(const std::string& camera_name) const
 {
-    return pimpl_->client.call("simGetCameraInfo", camera_id).as<RpcLibAdapatorsBase::CameraInfo>().to();
+    return pimpl_->client.call("simGetCameraInfo", camera_name).as<RpcLibAdapatorsBase::CameraInfo>().to();
 }
-void RpcLibClientBase::simSetCameraOrientation(int camera_id, const Quaternionr& orientation)
+void RpcLibClientBase::simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation)
 {
-    pimpl_->client.call("simSetCameraOrientation", camera_id, RpcLibAdapatorsBase::Quaternionr(orientation));
+    pimpl_->client.call("simSetCameraOrientation", camera_name, RpcLibAdapatorsBase::Quaternionr(orientation));
 }
 
 void RpcLibClientBase::cancelLastTask()

AirLib/src/api/RpcLibServerBase.cpp

@@ -81,8 +81,8 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         const auto& response = getVehicleSimApi()->getImages(RpcLibAdapatorsBase::ImageRequest::to(request_adapter));
         return RpcLibAdapatorsBase::ImageResponse::from(response);
     });
-    pimpl_->server.bind("simGetImage", [&](uint8_t camera_id, ImageCaptureBase::ImageType type) -> vector<uint8_t> {
+    pimpl_->server.bind("simGetImage", [&](const std::string& camera_name, ImageCaptureBase::ImageType type) -> vector<uint8_t> {
-        auto result = getVehicleSimApi()->getImage(camera_id, type);
+        auto result = getVehicleSimApi()->getImage(camera_name, type);
         if (result.size() == 0) {
             // rpclib has a bug with serializing empty vectors, so we return a 1 byte vector instead.
             result.push_back(0);
@@ -125,13 +125,13 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::GeoPoint(geo_point);
     });
 
-    pimpl_->server.bind("simGetCameraInfo", [&](int camera_id) -> RpcLibAdapatorsBase::CameraInfo {
+    pimpl_->server.bind("simGetCameraInfo", [&](const std::string& camera_name) -> RpcLibAdapatorsBase::CameraInfo {
-        const auto& camera_info = getVehicleSimApi()->getCameraInfo(camera_id);
+        const auto& camera_info = getVehicleSimApi()->getCameraInfo(camera_name);
         return RpcLibAdapatorsBase::CameraInfo(camera_info);
     });
 
-    pimpl_->server.bind("simSetCameraOrientation", [&](int camera_id, const RpcLibAdapatorsBase::Quaternionr& orientation) -> void {
+    pimpl_->server.bind("simSetCameraOrientation", [&](const std::string& camera_name, const RpcLibAdapatorsBase::Quaternionr& orientation) -> void {
-        getVehicleSimApi()->setCameraOrientation(camera_id, orientation.to());
+        getVehicleSimApi()->setCameraOrientation(camera_name, orientation.to());
     });
 
     pimpl_->server.bind("simGetCollisionInfo", [&]() -> RpcLibAdapatorsBase::CollisionInfo { 

AirLibUnitTests/SimpleFlightTest.hpp

@@ -28,9 +28,7 @@ public:
             std::make_shared<SensorFactory>());
         auto api = params->createMultirotorApi();
 
-        std::unique_ptr<Environment> environment;
+        MultiRotor vehicle(params.get(), api.get(), Pose());
-        MultiRotor vehicle(params.get(), api.get(), Pose(),
-            GeoPoint(), environment);
 
         std::vector<UpdatableObject*> vehicles = { &vehicle };
         std::unique_ptr<PhysicsEngineBase> physics_engine(new FastPhysicsEngine());

DroneServer/main.cpp

@@ -81,7 +81,7 @@ int main(int argc, const char* argv[])
 
 
     ApiProvider api_provider(nullptr);
-    api_provider.insert_or_assign("", &api);
+    api_provider.insert_or_assign("", &api, nullptr);
     msr::airlib::MultirotorRpcLibServer server(&api_provider, connection_info.local_host_ip);
     
     //start server in async mode

Examples/StereoImageGenerator.hpp

@@ -61,9 +61,9 @@ public:
                 auto start_nanos = clock->nowNanos();
 
                 std::vector<ImageRequest> request = { 
-                    ImageRequest(0, ImageType::Scene), 
+                    ImageRequest("0", ImageType::Scene), 
-                    ImageRequest(1, ImageType::Scene),
+                    ImageRequest("1", ImageType::Scene),
-                    ImageRequest(1, ImageType::DisparityNormalized, true)
+                    ImageRequest("1", ImageType::DisparityNormalized, true)
                 };
                 const std::vector<ImageResponse>& response = client.simGetImages(request);
                 if (response.size() != 3) {

HelloCar/main.cpp

@@ -34,9 +34,9 @@ int main()
         client.confirmConnection();
 
         std::cout << "Press Enter to get FPV image" << std::endl; std::cin.get();
-        vector<ImageRequest> request = { ImageRequest(0, ImageType::Scene), ImageRequest(1, ImageType::DepthPlanner, true) };
+        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
         const vector<ImageResponse>& response = client.simGetImages(request);
-        std::cout << "# of images recieved: " << response.size() << std::endl;
+        std::cout << "# of images received: " << response.size() << std::endl;
 
         if (response.size() > 0) {
             std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl; 

HelloDrone/main.cpp

@@ -30,9 +30,9 @@ int main()
         client.confirmConnection();
 
         std::cout << "Press Enter to get FPV image" << std::endl; std::cin.get();
-        vector<ImageRequest> request = { ImageRequest(0, ImageType::Scene), ImageRequest(1, ImageType::DepthPlanner, true) };
+        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
         const vector<ImageResponse>& response = client.simGetImages(request);
-        std::cout << "# of images recieved: " << response.size() << std::endl;
+        std::cout << "# of images received: " << response.size() << std::endl;
 
         if (response.size() > 0) {
             std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl; 

Unreal/Plugins/AirSim/Source/Car/CarPawn.h

@@ -107,7 +107,7 @@ public:
     void onHandbrakePressed();
     /** Handle handbrake released */
     void onHandbrakeReleased();
-    /** Handle pressiong footbrake */
+    /** Handle processing footbrake */
     void FootBrake(float Val);
     /** Handle Reverse pressed */
     void onReversePressed();
@@ -115,7 +115,7 @@ public:
     void onReverseReleased();
     /** Handle Handbrake pressed */
 
-    /** Setup the strings used on the hud */
+    /** Setup the strings used on the HUD */
     void updateInCarHUD();
 
     /** update the physics material used by the vehicle mesh */
@@ -137,7 +137,7 @@ private:
 
     UClass* pip_camera_class_;
 
-    VehicleSimApiBase* vehicle_sim_api_;
+    msr::airlib::VehicleSimApiBase* vehicle_sim_api_;
     msr::airlib::Kinematics::State kinematics_;
 
     CarPawnApi::CarControls keyboard_controls_;

Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp

@@ -95,7 +95,7 @@ void ASimModeCar::setupClockSpeed()
     UAirBlueprintLib::LogMessageString("Clock Speed: ", std::to_string(current_clockspeed_), LogDebugLevel::Informational);
 }
 
-void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
+void ASimModeCar::setupVehiclesAndCamera(std::vector<TVehiclePawn*>& vehicles)
 {
     //get player controller
     APlayerController* player_controller = this->GetWorld()->GetFirstPlayerController();
@@ -204,7 +204,7 @@ int ASimModeCar::getRemoteControlID(const VehicleSimApi& pawn) const
     return fpv_vehicle_sim_api_->getRemoteControlID();
 }
 
-void ASimModeCar::createVehicles(std::vector<VehiclePtr>& vehicles)
+void ASimModeCar::createVehicles(std::vector<TVehiclePawn*>& vehicles)
 {
     //find vehicles and cameras available in environment
     //if none available then we will create one
@@ -247,7 +247,7 @@ void ASimModeCar::Tick(float DeltaSeconds)
 
 void ASimModeCar::updateDebugReport()
 {
-    for (VehiclePtr vehicle : vehicles_) {
+    for (TVehiclePawn* vehicle : vehicles_) {
         VehicleSimApi* vehicle_sim_api = vehicle->getVehicleSimApi();
         msr::airlib::StateReporter& reporter = *debug_reporter_.getReporter();
         std::string vehicle_name = fpv_vehicle_sim_api_->getVehicleSetting()->vehicle_name;

Unreal/Plugins/AirSim/Source/Car/SimModeCar.h

@@ -16,9 +16,6 @@ class AIRSIM_API ASimModeCar : public ASimModeBase
     GENERATED_BODY()
 
 public:
-    typedef ACarPawn* VehiclePtr;
-    typedef ACarPawn TVehiclePawn;
-
     ASimModeCar();
     virtual void BeginPlay() override;
     virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
@@ -31,29 +28,32 @@ public:
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
 
-private:
-    void setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles);
-    void updateDebugReport();
-    int getRemoteControlID(const VehicleSimApi& pawn) const;
-    void initializePauseState();
-
-protected:
-    virtual void setupClockSpeed() override;
-    virtual std::unique_ptr<msr::airlib::ApiServerBase> createApiServer() const override;
-    virtual void createVehicles(std::vector<VehiclePtr>& vehicles);
-
 private:
     typedef msr::airlib::ClockFactory ClockFactory;
     typedef common_utils::Utils Utils;
     typedef msr::airlib::TTimePoint TTimePoint;
     typedef msr::airlib::TTimeDelta TTimeDelta;
+    typedef ACarPawn TVehiclePawn;
 
+private:
+    void setupVehiclesAndCamera(std::vector<TVehiclePawn*>& vehicles);
+    void updateDebugReport();
+    int getRemoteControlID(const VehicleSimApi& pawn) const;
+    void initializePauseState();
+    void createVehicles(std::vector<TVehiclePawn*>& vehicles);
+
+protected:
+    virtual void setupClockSpeed() override;
+    virtual std::unique_ptr<msr::airlib::ApiServerBase> createApiServer() const override;
+
+private:
     UClass* external_camera_class_;
     UClass* camera_director_class_;
 
-    TArray<AActor*> spawned_actors_;
+    UPROPERTY()
-    std::vector<VehiclePtr> vehicles_;
+    TArray<AActor*> spawned_actors_; //keep refs alive from Unreal GC
-    VehicleSimApiBase* fpv_vehicle_sim_api_;
+
+    std::vector<TVehiclePawn*> vehicles_;
     float follow_distance_;
     msr::airlib::StateReporterWrapper debug_reporter_;
 

Unreal/Plugins/AirSim/Source/Multirotor/FlyingPawn.cpp

@@ -1,33 +1,21 @@
 #include "FlyingPawn.h"
 #include "Components/StaticMeshComponent.h"
-#include "Engine/World.h"
 #include "AirBlueprintLib.h"
 #include "common/CommonStructs.hpp"
 #include "common/Common.hpp"
-#include "VehicleSimApi.h"
 
-AFlyingPawn::AFlyingPawn()
-{
-    static ConstructorHelpers::FClassFinder<APIPCamera> pip_camera_class(TEXT("Blueprint'/AirSim/Blueprints/BP_PIPCamera'"));
-    pip_camera_class_ = pip_camera_class.Succeeded() ? pip_camera_class.Class : nullptr;
-}
 
 void AFlyingPawn::BeginPlay()
 {
     Super::BeginPlay();
-}
+
-void AFlyingPawn::EndPlay(const EEndPlayReason::Type EndPlayReason)
+    for (auto i = 0; i < rotor_count; ++i) {
-{
+        rotating_movements_[i] = UAirBlueprintLib::GetActorComponent<URotatingMovementComponent>(this, TEXT("Rotation") + FString::FromInt(i));
-    vehicle_sim_api_.reset();
+    }
-    cameras_.clear();
-    Super::EndPlay(EndPlayReason);
 }
 
-void AFlyingPawn::initializeForBeginPlay(const NedTransform& global_transform, const std::string& vehicle_name)
+void AFlyingPawn::initializeForBeginPlay()
 {    
-    cameras_.clear();
-    vehicle_sim_api_.reset(new VehicleSimApi(this, &cameras_, global_transform, vehicle_name));
-
     //get references of existing camera
     fpv_camera_front_right_ = Cast<APIPCamera>(
         (UAirBlueprintLib::GetActorComponent<UChildActorComponent>(this, TEXT("FrontRightCamera")))->GetChildActor());
@@ -39,46 +27,36 @@ void AFlyingPawn::initializeForBeginPlay(const NedTransform& global_transform, c
         (UAirBlueprintLib::GetActorComponent<UChildActorComponent>(this, TEXT("BackCenterCamera")))->GetChildActor());
     fpv_camera_bottom_center_ = Cast<APIPCamera>(
         (UAirBlueprintLib::GetActorComponent<UChildActorComponent>(this, TEXT("BottomCenterCamera")))->GetChildActor());
+}
 
-    cameras_["0"] = cameras_["front_center"] = fpv_camera_front_center_;
+void AFlyingPawn::EndPlay(const EEndPlayReason::Type EndPlayReason)
-    cameras_["1"] = cameras_["front_right"] = fpv_camera_front_right_;
+{
-    cameras_["2"] = cameras_["front_left"] = fpv_camera_front_left_;
+    fpv_camera_front_right_ = nullptr;
-    cameras_["3"] = cameras_["bottom_center"] = fpv_camera_bottom_center_;
+    fpv_camera_front_left_ = nullptr;
-    cameras_["4"] = cameras_["back_center"] = fpv_camera_back_center_;
+    fpv_camera_front_center_ = nullptr;
+    fpv_camera_back_center_ = nullptr;
+    fpv_camera_bottom_center_ = nullptr;
 
-    //UStaticMeshComponent* bodyMesh = UAirBlueprintLib::GetActorComponent<UStaticMeshComponent>(this, TEXT("BodyMesh"));
+    Super::EndPlay(EndPlayReason);
-    USceneComponent* bodyMesh = GetRootComponent();
+}
-    FActorSpawnParameters camera_spawn_params;
-    camera_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
 
-    const auto& transform = vehicle_sim_api_->getNedTransform();
+std::map<std::string, APIPCamera*> AFlyingPawn::getCameras() const
-    for (const auto& camera_setting_pair : vehicle_sim_api_->getVehicleSettings().cameras) {
+{
-        const auto& setting = camera_setting_pair.second;
+    std::map<std::string, APIPCamera*> cameras;
 
-        FVector position = transform.fromLocalNed(
+    cameras["0"] = cameras["front_center"] = fpv_camera_front_center_;
-            NedTransform::Vector3r(setting.position.x, setting.position.y, setting.position.z))
+    cameras["1"] = cameras["front_right"] = fpv_camera_front_right_;
-            - transform.fromLocalNed(NedTransform::Vector3r(0.0, 0.0, 0.0));
+    cameras["2"] = cameras["front_left"] = fpv_camera_front_left_;
+    cameras["3"] = cameras["bottom_center"] = fpv_camera_bottom_center_;
+    cameras["4"] = cameras["back_center"] = fpv_camera_back_center_;
 
-        FTransform camera_transform(FRotator(setting.rotation.pitch, setting.rotation.yaw, setting.rotation.roll),
+    return cameras;
-            position, FVector(1., 1., 1.));
-
-        APIPCamera* camera = this->GetWorld()->SpawnActor<APIPCamera>(pip_camera_class_, camera_transform, camera_spawn_params);
-        camera->AttachToComponent(bodyMesh, FAttachmentTransformRules::KeepRelativeTransform);
-
-        cameras_[camera_setting_pair.first] = camera;
-    }
-
-    for (auto i = 0; i < rotor_count; ++i) {
-        rotating_movements_[i] = UAirBlueprintLib::GetActorComponent<URotatingMovementComponent>(this, TEXT("Rotation") + FString::FromInt(i));
-    }
-
-    vehicle_sim_api_->setupCamerasFromSettings();
 }
 
 void AFlyingPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation, 
     FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit)
 {
-    vehicle_sim_api_->onCollision(MyComp, Other, OtherComp, bSelfMoved, HitLocation,
+    collision_signal_.emit(MyComp, Other, OtherComp, bSelfMoved, HitLocation,
         HitNormal, NormalImpulse, Hit);
 }
 

Unreal/Plugins/AirSim/Source/Multirotor/FlyingPawn.h

@@ -1,11 +1,9 @@
 #pragma once
 
-#include "VehicleSimApi.h"
 #include "GameFramework/RotatingMovementComponent.h"
 #include <memory>
-#include "vehicles/multirotor/api/MultirotorCommon.hpp"
 #include "PIPCamera.h"
-#include "api/VehicleSimApiBase.hpp"
+#include "common/common_utils/Signal.hpp"
 #include "FlyingPawn.generated.h"
 
 UCLASS()
@@ -14,28 +12,27 @@ class AIRSIM_API AFlyingPawn : public APawn
     GENERATED_BODY()
 
 public:
-    AFlyingPawn();
+    typedef common_utils::Signal<class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
+        FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit> CollisionSignal;
 
     UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Debugging")
     float RotatorFactor = 1.0f;
 
-    void setRotorSpeed(int rotor_index, float radsPerSec);
-    void initializeForBeginPlay(const NedTransform& global_transform, const std::string& vehicle_name);
-
     virtual void BeginPlay() override;
     virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
     virtual void NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
         FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit) override;
 
-    msr::airlib::VehicleSimApiBase* getVehicleSimApi()
+    //interface
-    {
+    void initializeForBeginPlay();
-        return vehicle_sim_api_.get();
+    std::map<std::string, APIPCamera*> getCameras() const;
-    }
+    CollisionSignal& getCollisionSignal();
+    //called by API to set rotor speed
+    void setRotorSpeed(int rotor_index, float radsPerSec);
+
 
 private: //variables
-    UPROPERTY() UClass* pip_camera_class_;
+    //Unreal components
-
-         //Unreal components
     static constexpr size_t rotor_count = 4;
     UPROPERTY() APIPCamera* fpv_camera_front_left_;
     UPROPERTY() APIPCamera* fpv_camera_front_right_;
@@ -45,6 +42,5 @@ private: //variables
 
     UPROPERTY() URotatingMovementComponent* rotating_movements_[rotor_count];
 
-    std::map<std::string, APIPCamera*> cameras_;
+    CollisionSignal collision_signal_;
-    std::_Unique_ptr_base<msr::airlib::VehicleSimApiBase> vehicle_sim_api_;
 };

Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorSimApi.cpp

@@ -1,16 +1,16 @@
 #include "MultirotorSimApi.h"
-#include "FlyingPawn.h" 
 #include "AirBlueprintLib.h"
+#include "vehicles/multirotor/MultiRotorParamsFactory.hpp"
+#include "UnrealSensors/UnrealSensorFactory.h"
 #include <exception>
 
 using namespace msr::airlib;
 
-MultirotorSimApi::MultirotorSimApi(msr::airlib::MultirotorApiBase* vehicle_api, msr::airlib::MultiRotorParams* vehicle_params,
+MultirotorSimApi::MultirotorSimApi(APawn* pawn, const NedTransform& global_transform, CollisionSignal& collision_signal,
-    UManualPoseController* manual_pose_controller, 
+    const std::map<std::string, APIPCamera*>& cameras,
-    APawn* pawn, const std::map<std::string, APIPCamera*>* cameras, const NedTransform& global_transform,
+    UManualPoseController* manual_pose_controller)
-    const std::string& vehicle_name)
+    : VehicleSimApi(pawn, global_transform, collision_signal, cameras),
-    : VehicleSimApi(pawn, cameras, global_transform, vehicle_name), vehicle_api_(vehicle_api),
+      manual_pose_controller_(manual_pose_controller)
-      vehicle_params_(vehicle_params), manual_pose_controller_(manual_pose_controller)
 {
     //reset roll & pitch of vehicle as multirotors required to be on plain surface at start
     Pose pose = getPose();
@@ -19,6 +19,8 @@ MultirotorSimApi::MultirotorSimApi(msr::airlib::MultirotorApiBase* vehicle_api,
     pose.orientation = VectorMath::toQuaternion(0, 0, yaw);
     setPose(pose, false);
 
+    createVehicleApi();
+
     //setup physics vehicle
     phys_vehicle_ = std::unique_ptr<MultiRotor>(new MultiRotor(vehicle_params_, vehicle_api_, 
         getPose()));
@@ -32,6 +34,19 @@ MultirotorSimApi::MultirotorSimApi(msr::airlib::MultirotorApiBase* vehicle_api,
     did_reset_ = false;
 }
 
+void MultirotorSimApi::createVehicleApi()
+{
+    //create vehicle params
+    std::shared_ptr<UnrealSensorFactory> sensor_factory = std::make_shared<UnrealSensorFactory>(getPawn(), &getNedTransform());
+    vehicle_params_ = MultiRotorParamsFactory::createConfig(getVehicleSetting(), sensor_factory);
+    vehicle_api_ = vehicle_params_->createMultirotorApi();
+}
+
+const msr::airlib::Kinematics::State* MultirotorSimApi::getGroundTruthKinematics() const
+{
+    return & phys_vehicle_->getKinematics();
+}
+
 void MultirotorSimApi::updateRenderedState(float dt)
 {
     //Utils::log("------Render tick-------");

Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorSimApi.h

@@ -8,8 +8,6 @@
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
 #include "ManualPoseController.h"
-#include <chrono>
-#include <future>
 
 
 class MultirotorSimApi : public VehicleSimApi
@@ -28,10 +26,9 @@ public:
 
     //VehicleSimApiBase interface
     //implements game interface to update pawn
-    MultirotorSimApi(msr::airlib::MultirotorApiBase* vehicle_api, msr::airlib::MultiRotorParams* vehicle_params,
+    MultirotorSimApi(APawn* pawn, const NedTransform& global_transform, CollisionSignal& collision_signal,
-        UManualPoseController* manual_pose_controller,
+        const std::map<std::string, APIPCamera*>& cameras,
-        APawn* pawn, const std::map<std::string, APIPCamera*>* cameras, const NedTransform& global_transform,
+        UManualPoseController* manual_pose_controller);
-        const std::string& vehicle_name);
     virtual void updateRenderedState(float dt) override;
     virtual void updateRendering(float dt) override;
 
@@ -43,10 +40,19 @@ public:
     virtual UpdatableObject* getPhysicsBody() override;
 
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
+    virtual const msr::airlib::Kinematics::State* getGroundTruthKinematics() const override;
+
+    msr::airlib::MultirotorApiBase* getVehicleApi()
+    {
+        return vehicle_api_.get();
+    }
 
 private:
-    msr::airlib::MultirotorApiBase* vehicle_api_;
+    void createVehicleApi();
-    msr::airlib::MultiRotorParams* vehicle_params_;
+
+private:
+    std::unique_ptr<msr::airlib::MultirotorApiBase> vehicle_api_;
+    std::unique_ptr<msr::airlib::MultiRotorParams> vehicle_params_;
     UManualPoseController* manual_pose_controller_;
 
     std::unique_ptr<MultiRotor> phys_vehicle_;

Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp

@@ -6,11 +6,11 @@
 
 #include "AirBlueprintLib.h"
 #include "vehicles/multirotor/api/MultirotorApiBase.hpp"
+#include "MultirotorSimApi.h"
 #include "physics/PhysicsBody.hpp"
 #include "common/ClockFactory.hpp"
 #include <memory>
-#include "vehicles/multirotor/MultiRotorParamsFactory.hpp"
+
-#include "UnrealSensors/UnrealSensorFactory.h"
 
 #ifndef AIRLIB_NO_RPC
 
@@ -38,16 +38,11 @@ ASimModeWorldMultiRotor::ASimModeWorldMultiRotor()
 void ASimModeWorldMultiRotor::BeginPlay()
 {
     Super::BeginPlay();
-}
 
-std::unique_ptr<msr::airlib::ApiServerBase> ASimModeWorldMultiRotor::createApiServer() const
+    setupVehiclesAndCamera();
-{
+
-#ifdef AIRLIB_NO_RPC
+    //let base class setup physics world
-    return ASimModeBase::createApiServer();
+    initializeForPlay();
-#else
-    return std::unique_ptr<msr::airlib::ApiServerBase>(new msr::airlib::MultirotorRpcLibServer(
-        getApiProvider(), getSettings().api_server_address));
-#endif
 }
 
 void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
@@ -55,26 +50,21 @@ void ASimModeWorldMultiRotor::EndPlay(const EEndPlayReason::Type EndPlayReason)
     //stop physics thread before we dismantle
     stopAsyncUpdator();
 
-    //for (AActor* actor : spawned_actors_) {
+    external_camera_class_ = nullptr;
-    //    actor->Destroy();
+    camera_director_class_ = nullptr;
-    //}
+
-    spawned_actors_.Empty();
+    vehicle_sim_apis_.clear();
-    //fpv_vehicle_connectors_.Empty();
+    spawned_actors_.RemoveAll();
-    CameraDirector = nullptr;
 
     Super::EndPlay(EndPlayReason);
 }
 
-VehicleSimApi* ASimModeWorldMultiRotor::getFpvVehicleSimApi() const
+void ASimModeWorldMultiRotor::setupVehiclesAndCamera()
 {
-    return fpv_vehicle_sim_api_;
+    //get UU origin of global NED frame
-}
-
-void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
-{
-    //put camera little bit above vehicle
-    //TODO: allow setting camera pose from settings
     FVector uu_origin = getGlobalNedTransform().getLocalOffset();
+
+    //TODO:make this configurable
     FTransform camera_transform(uu_origin + FVector(-300, 0, 200));
 
     //we will either find external camera if it already exist in environment or create one
@@ -111,9 +101,12 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
         TArray<AActor*> pawns;
         UAirBlueprintLib::FindAllActor<TMultiRotorPawn>(this, pawns);
 
+        TMultiRotorPawn* fpv_pawn = nullptr;
+
         //add vehicles from settings
         for (auto const& vehicle_setting_pair : getSettings().vehicles)
         {
+            //if vehicle is of multirotor type and auto creatable
             const auto& vehicle_setting = *vehicle_setting_pair.second;
             if (vehicle_setting.auto_create &&
                 ((vehicle_setting.vehicle_type == AirSimSettings::kVehicleTypeSimpleFlight) ||
@@ -124,15 +117,7 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
                 if (pawn_path == "")
                     pawn_path = "DefaultQuadrotor";
 
-                //create vehicle pawn
+                //compute initial pose
-                FActorSpawnParameters pawn_spawn_params;
-                pawn_spawn_params.Name = FName(vehicle_setting.vehicle_name.c_str());
-                pawn_spawn_params.SpawnCollisionHandlingOverride =
-                    ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
-
-                auto vehicle_bp_class = UAirBlueprintLib::LoadClass(
-                    getSettings().pawn_paths.at("DefaultQuadrotor").pawn_bp);
-
                 FVector spawn_position = uu_origin;
                 FRotator spawn_rotation = FRotator::ZeroRotator;
                 Vector3r settings_position = vehicle_setting.position;
@@ -145,51 +130,76 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
                     spawn_rotation.Pitch = rotation.pitch;
                 if (!std::isnan(rotation.roll))
                     spawn_rotation.Roll = rotation.roll;
+
+                //spawn vehicle pawn
+                FActorSpawnParameters pawn_spawn_params;
+                pawn_spawn_params.Name = FName(vehicle_setting.vehicle_name.c_str());
+                pawn_spawn_params.SpawnCollisionHandlingOverride =
+                    ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
+                auto vehicle_bp_class = UAirBlueprintLib::LoadClass(
+                    getSettings().pawn_paths.at("DefaultQuadrotor").pawn_bp);
                 TMultiRotorPawn* spawned_pawn = this->GetWorld()->SpawnActor<TMultiRotorPawn>(
                     vehicle_bp_class, FTransform(spawn_rotation, spawn_position), pawn_spawn_params);
 
                 spawned_actors_.Add(spawned_pawn);
                 pawns.Add(spawned_pawn);
+
+                if (vehicle_setting.is_fpv_vehicle)
+                    fpv_pawn = spawned_pawn;
             }
         }
 
-        //set up vehicle pawns
+        //create API objects for each pawn we have
-        fpv_vehicle_sim_api_ = nullptr;
         for (AActor* pawn : pawns)
         {
-            //initialize each vehicle pawn we found
+            //initialize the pawn
             TMultiRotorPawn* vehicle_pawn = static_cast<TMultiRotorPawn*>(pawn);
-            vehicle_pawn->initializeForBeginPlay(getGlobalNedTransform(), std::string(TCHAR_TO_UTF8(*this->GetName())));
+            vehicle_pawn->initializeForBeginPlay();
-            const auto* vehicle_sim_api = vehicle_pawn->getVehicleSimApi();
-            //chose first pawn as FPV if none is designated as FPV
-            if (vehicle_sim_api->getVehicleSetting().is_fpv_vehicle || fpv_vehicle_sim_api_ == nullptr)
-                fpv_vehicle_sim_api_ = vehicle_sim_api;
 
-            //now create the connector for each pawn
+            //create vehicle sim api
-            VehiclePtr vehicle = createVehicle(vehicle_sim_api);
+            auto vehicle_sim_api = std::unique_ptr<MultirotorSimApi>(new MultirotorSimApi(
-            if (vehicle != nullptr) {
+                vehicle_pawn, getGlobalNedTransform(),
-                vehicles.push_back(vehicle);
+                vehicle_pawn->getCollisionSignal(), vehicle_pawn->getCameras(),
-                fpv_vehicle_connectors_.Add(vehicle);
+                manual_pose_controller));
-            }
+
-            //else we don't have vehicle for this pawn
+            std::string vehicle_name = vehicle_sim_api->getVehicleName();
+
+            getApiProvider()->insert_or_assign(vehicle_name, vehicle_sim_api->getVehicleApi(),
+                vehicle_sim_api.get());
+            if ((fpv_pawn == vehicle_pawn || !getApiProvider()->hasDefaultVehicle()) && vehicle_name != "")
+                getApiProvider()->makeDefaultVehicle(vehicle_name);
+
+            vehicle_sim_apis_.push_back(std::move(vehicle_sim_api));
         }
     }
 
-    fpv_vehicle_sim_api_->possess();
+    if (getApiProvider()->hasDefaultVehicle()) {
-    CameraDirector->initializeForBeginPlay(getInitialViewMode(), fpv_vehicle_sim_api_, external_camera);
+        //TODO: better handle no FPV vehicles scenario
+        getVehicleSimApi()->possess();
+        CameraDirector->initializeForBeginPlay(getInitialViewMode(), getVehicleSimApi(), external_camera);
+    }
 }
 
-
 void ASimModeWorldMultiRotor::Tick(float DeltaSeconds)
 {
     Super::Tick(DeltaSeconds);
 
-    getFpvVehicleSimApi()->setLogLine(getLogString());
+    getVehicleSimApi()->setLogLine(getLogString());
+}
+
+std::unique_ptr<msr::airlib::ApiServerBase> ASimModeWorldMultiRotor::createApiServer() const
+{
+#ifdef AIRLIB_NO_RPC
+    return ASimModeBase::createApiServer();
+#else
+    return std::unique_ptr<msr::airlib::ApiServerBase>(new msr::airlib::MultirotorRpcLibServer(
+        getApiProvider(), getSettings().api_server_address));
+#endif
 }
 
 std::string ASimModeWorldMultiRotor::getLogString() const
 {
-    const msr::airlib::Kinematics::State* kinematics = getFpvVehicleSimApi()->getGroundTruthKinematics();
+    const msr::airlib::Kinematics::State* kinematics = getVehicleSimApi()->getGroundTruthKinematics();
     uint64_t timestamp_millis = static_cast<uint64_t>(msr::airlib::ClockFactory::get()->nowNanos() / 1.0E6);
 
     //TODO: because this bug we are using alternative code with stringstream
@@ -215,31 +225,10 @@ std::string ASimModeWorldMultiRotor::getLogString() const
     //return ss.str();
 }
 
-void ASimModeWorldMultiRotor::createVehicles(std::vector<VehiclePtr>& vehicles)
-{
-    //find vehicles and cameras available in environment
-    //if none available then we will create one
-    setupVehiclesAndCamera(vehicles);
-}
-
-ASimModeWorldBase::VehiclePtr ASimModeWorldMultiRotor::createVehicle(VehicleSimApi* vehicle_sim_api)
-{
-    std::shared_ptr<UnrealSensorFactory> sensor_factory = std::make_shared<UnrealSensorFactory>(vehicle_sim_api->getPawn(), &vehicle_sim_api->getNedTransform());
-    auto vehicle_params = MultiRotorParamsFactory::createConfig(vehicle_sim_api->getVehicleSetting(), sensor_factory);
-
-    vehicle_params_.push_back(std::move(vehicle_params));
-
-    std::shared_ptr<MultirotorSimApi> vehicle = std::make_shared<MultirotorSimApi>(
-        vehicle_sim_api, vehicle_params_.back().get(), manual_pose_controller);
-
-    if (vehicle->getPhysicsBody() != nullptr)
-        vehicle_sim_api->setKinematics(&(static_cast<PhysicsBody*>(vehicle->getPhysicsBody())->getKinematics()));
-
-    return std::static_pointer_cast<VehicleSimApiBase>(vehicle);
-}
-
 void ASimModeWorldMultiRotor::setupClockSpeed()
 {
+    typedef msr::airlib::ClockFactory ClockFactory;
+
     float clock_speed = getSettings().clock_speed;
 
     //setup clock in ClockFactory

Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.h

@@ -4,10 +4,7 @@
 
 #include "FlyingPawn.h"
 #include "common/Common.hpp"
-#include "MultirotorSimApi.h"
-#include "vehicles/multirotor/MultiRotorParams.hpp"
 #include "SimMode/SimModeWorldBase.h"
-#include "VehicleSimApi.h"
 #include "SimModeWorldMultiRotor.generated.h"
 
 
@@ -22,32 +19,26 @@ public:
 
     virtual void Tick( float DeltaSeconds ) override;
     virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
-    VehicleSimApi* getFpvVehicleSimApi() const override;
     std::string getLogString() const;
 
 
 protected:
     typedef AFlyingPawn TMultiRotorPawn;
 
-    virtual void createVehicles(std::vector<VehiclePtr>& vehicles) override;
+
-    VehiclePtr createVehicle(VehicleSimApi* vehicle_sim_api);
     virtual void setupClockSpeed() override;
     virtual std::unique_ptr<msr::airlib::ApiServerBase> createApiServer() const override;
 
 private:
-    void setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles);
+    void setupVehiclesAndCamera();
 
 private:    
-    typedef msr::airlib::ClockFactory ClockFactory;
+    //assets loaded in constructor
-
-    TArray<uint8> image_;
-    std::vector <std::unique_ptr<msr::airlib::MultiRotorParams> > vehicle_params_;
-
     UClass* external_camera_class_;
     UClass* camera_director_class_;
 
-    TArray<AActor*> spawned_actors_;
+    std::vector<std::unique_ptr<VehicleSimApiBase>>& vehicle_sim_apis_;
 
-    VehicleSimApi* fpv_vehicle_pawn_wrapper_;
+    UPROPERTY()
-    TArray <std::shared_ptr<VehicleSimApiBase> > fpv_vehicle_connectors_;
+    TArray<AActor*> spawned_actors_; //keep refs alive from Unreal GC
 };

Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp

@@ -86,7 +86,7 @@ void ASimHUD::inputEventToggleHelp()
 
 void ASimHUD::inputEventToggleTrace()
 {
-    simmode_->getFpvVehicleSimApi()->toggleTrace();
+    simmode_->getVehicleSimApi()->toggleTrace();
 }
 
 ASimHUD::ImageType ASimHUD::getSubwindowCameraType(int window_index)
@@ -291,7 +291,7 @@ void ASimHUD::createSimMode()
 
 void ASimHUD::initializeSubWindows()
 {
-    auto vehicle_sim_api = simmode_->getFpvVehicleSimApi();
+    auto vehicle_sim_api = simmode_->getVehicleSimApi();
     auto camera_count = vehicle_sim_api->getCameraCount();
 
     //setup defaults

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp

@@ -92,6 +92,8 @@ void ASimModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
     FRecordingThread::stopRecording();
     world_sim_api_.reset(nullptr);
+    CameraDirector = nullptr;
+
     Super::EndPlay(EndPlayReason);
 }
 
@@ -259,13 +261,6 @@ void ASimModeBase::reset()
     //Should be overridden by derived classes
 }
 
-msr::airlib::VehicleSimApiBase* ASimModeBase::getFpvVehicleSimApi()
-{
-    //Should be overridden by derived classes
-    return nullptr;
-}
-
-
 std::string ASimModeBase::getDebugReport()
 {
     static const std::string empty_string = std::string();
@@ -307,9 +302,9 @@ void ASimModeBase::stopRecording()
 
 void ASimModeBase::startRecording()
 {
-    FRecordingThread::startRecording(getFpvVehicleSimApi()->getImageCapture(),
+    FRecordingThread::startRecording(getVehicleSimApi()->getImageCapture(),
-        getFpvVehicleSimApi()->getGroundTruthKinematics(), getSettings().segmentation_setting,
+        getVehicleSimApi()->getGroundTruthKinematics(), getSettings().recording_setting ,
-        getFpvVehicleSimApi());
+        getVehicleSimApi());
 }
 
 bool ASimModeBase::isRecording() const
@@ -325,7 +320,7 @@ void ASimModeBase::startApiServer()
 #ifdef AIRLIB_NO_RPC
         api_server_.reset();
 #else
-        api_provider_.reset(new msr::airlib::ApiProvider(world_sim_api_.get()));
+        api_provider_.reset(new msr::airlib::ApiProvider<VehicleSimApi>(world_sim_api_.get()));
         api_server_ = createApiServer();
 #endif
 

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h

@@ -11,7 +11,7 @@
 #include "common/ClockFactory.hpp"
 #include "api/ApiServerBase.hpp"
 #include "api/ApiProvider.hpp"
-#include "api/VehicleSimApiBase.hpp"
+#include "VehicleSimApi.h"
 #include "SimModeBase.generated.h"
 
 
@@ -41,8 +41,6 @@ public:
     //additional overridable methods
     virtual void reset();
     virtual std::string getDebugReport();
-    msr::airlib::VehicleSimApiBase* ASimModeBase::getFpvVehicleSimApi();
-
     virtual ECameraDirectorMode getInitialViewMode() const;
 
     virtual bool isPaused() const;
@@ -59,6 +57,20 @@ public:
 
     const NedTransform& getGlobalNedTransform();
 
+    msr::airlib::ApiProvider* getApiProvider() const
+    {
+        return api_provider_.get();
+    }
+
+    const VehicleSimApi* getVehicleSimApi(const std::string& vehicle_name = "") const
+    {
+        return static_cast<VehicleSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
+    }
+    VehicleSimApi* getVehicleSimApi(const std::string& vehicle_name = "")
+    {
+        return static_cast<VehicleSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
+    }
+
 protected:
     virtual void setupInputBindings();
     virtual const msr::airlib::AirSimSettings& getSettings() const;
@@ -67,10 +79,6 @@ protected:
     virtual void setupClockSpeed();
 
     virtual std::unique_ptr<msr::airlib::ApiServerBase> createApiServer() const;
-    msr::airlib::ApiProvider* getApiProvider() const
-    {
-        return api_provider_.get();
-    }
 
 protected:
     typedef msr::airlib::AirSimSettings AirSimSettings;

Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp

@@ -9,27 +9,25 @@ void ASimModeWorldBase::BeginPlay()
 
     manual_pose_controller = NewObject<UManualPoseController>();
     setupInputBindings();
+}
 
-    //call virtual method in derived class
+void ASimModeWorldBase::initializeForPlay()
-    createVehicles(vehicles_);
+{
-
     physics_world_.reset(new msr::airlib::PhysicsWorld(
         createPhysicsEngine(), toUpdatableObjects(vehicles_), 
         getPhysicsLoopPeriod()));
 
     if (getSettings().usage_scenario == kUsageScenarioComputerVision) {
         manual_pose_controller->initializeForPlay();
-        manual_pose_controller->setActor(getFpvVehicleSimApi()->getPawn());
+        manual_pose_controller->setActor(getVehicleSimApi()->getPawn());
     }
 }
 
-
 void ASimModeWorldBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
     //remove everything that we created in BeginPlay
     physics_world_.reset();
     physics_engine_.reset();
-    vehicles_.clear();
     manual_pose_controller = nullptr;
 
     Super::EndPlay(EndPlayReason);
@@ -98,11 +96,6 @@ void ASimModeWorldBase::continueForTime(double seconds)
 
 }
 
-size_t ASimModeWorldBase::getVehicleCount() const
-{
-    return vehicles_.size();
-}
-
 void ASimModeWorldBase::Tick(float DeltaSeconds)
 {
     { //keep this lock as short as possible
@@ -111,15 +104,15 @@ void ASimModeWorldBase::Tick(float DeltaSeconds)
         physics_world_->enableStateReport(EnableReport);
         physics_world_->updateStateReport();
 
-        for (auto& vehicle : vehicles_)
+        for (auto& pair : getApiProvider()->getVehicleSimApis())
-            vehicle->updateRenderedState(DeltaSeconds);
+            pair.second->updateRenderedState(DeltaSeconds);
 
         physics_world_->unlock();
     }
 
-    //perfom any expensive rendering update outside of lock region
+    //perform any expensive rendering update outside of lock region
-    for (auto& vehicle : vehicles_)
+    for (auto& pair : getApiProvider()->getVehicleSimApis())
-        vehicle->updateRendering(DeltaSeconds);
+        pair.second->updateRendering(DeltaSeconds);
 
     Super::Tick(DeltaSeconds);
 }
@@ -138,9 +131,4 @@ std::string ASimModeWorldBase::getDebugReport()
     return physics_world_->getDebugReport();
 }
 
-void ASimModeWorldBase::createVehicles(std::vector<VehiclePtr>& vehicles)
-{
-    //should be overridden by derived class
-    //Unreal doesn't allow pure abstract methods in actors
-}
 

Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h

@@ -33,27 +33,26 @@ public:
     virtual void continueForTime(double seconds) override;
 
 protected:
-    typedef std::shared_ptr<msr::airlib::VehicleSimApiBase> VehiclePtr;
-    virtual void createVehicles(std::vector<VehiclePtr>& vehicles);
-    size_t getVehicleCount() const;
-
     UPROPERTY() UManualPoseController* manual_pose_controller;
 
     void startAsyncUpdator();
     void stopAsyncUpdator();
 
+    //should be called by derived class once all api_provider_ is ready to use
+    void initializeForPlay();
+
 private:
     typedef msr::airlib::UpdatableObject UpdatableObject;
     typedef msr::airlib::PhysicsEngineBase PhysicsEngineBase;
     typedef msr::airlib::ClockFactory ClockFactory;
 
+    //create the physics engine as needed from settings
     PhysicsEngineBase* createPhysicsEngine();
+
+
     static std::vector<UpdatableObject*> toUpdatableObjects(const std::vector<VehiclePtr>& vehicles);
 
 private:
     std::unique_ptr<msr::airlib::PhysicsWorld> physics_world_;
-    
     std::unique_ptr<PhysicsEngineBase> physics_engine_;
-
-    std::vector<VehiclePtr> vehicles_;
 };

Unreal/Plugins/AirSim/Source/VehicleSimApi.cpp

@@ -1,22 +1,27 @@
 #include "VehicleSimApi.h"
+#include "Engine/World.h"
 #include "Kismet/KismetSystemLibrary.h"
 #include "Kismet/GameplayStatics.h"
 #include "Particles/ParticleSystemComponent.h"
 #include "ConstructorHelpers.h"
+
 #include "AirBlueprintLib.h"
 #include "common/ClockFactory.hpp"
+#include "PIPCamera.h"
 #include "NedTransform.h"
 #include "common/EarthUtils.hpp"
 
-VehicleSimApi::VehicleSimApi(APawn* pawn, const std::map<std::string, APIPCamera*>* cameras, const NedTransform& global_transform,
+VehicleSimApi::VehicleSimApi(APawn* pawn, const NedTransform& global_transform, CollisionSignal& collision_signal,
-    const std::string& vehicle_name)
+    const std::map<std::string, APIPCamera*>& cameras)
-    : pawn_(pawn), cameras_(cameras), vehicle_name_(vehicle_name), ned_transform_(pawn, global_transform)
+    : pawn_(pawn), vehicle_name_(TCHAR_TO_UTF8(*pawn->GetName())), ned_transform_(pawn, global_transform)
 {
     static ConstructorHelpers::FObjectFinder<UParticleSystem> collision_display(TEXT("ParticleSystem'/AirSim/StarterContent/Particles/P_Explosion.P_Explosion'"));
     if (!collision_display.Succeeded())
         collision_display_template = collision_display.Object;
     else
         collision_display_template = nullptr;
+    static ConstructorHelpers::FClassFinder<APIPCamera> pip_camera_class(TEXT("Blueprint'/AirSim/Blueprints/BP_PIPCamera'"));
+    pip_camera_class_ = pip_camera_class.Succeeded() ? pip_camera_class.Class : nullptr;
 
     image_capture_.reset(new UnrealImageCapture(cameras_));
 
@@ -36,9 +41,9 @@ VehicleSimApi::VehicleSimApi(APawn* pawn, const std::map<std::string, APIPCamera
     Vector3r nedWrtOrigin = ned_transform_.toGlobalNed(getUUPosition());
     home_geo_point_ = msr::airlib::EarthUtils::nedToGeodetic(nedWrtOrigin, AirSimSettings::singleton().origin_geopoint);
 
-    initial_state_.tracing_enabled = getVehicleSetting().enable_trace;
+    initial_state_.tracing_enabled = getVehicleSetting()->enable_trace;
-    initial_state_.collisions_enabled = getVehicleSetting().enable_collisions;
+    initial_state_.collisions_enabled = getVehicleSetting()->enable_collisions;
-    initial_state_.passthrough_enabled = getVehicleSetting().enable_collision_passthrough;
+    initial_state_.passthrough_enabled = getVehicleSetting()->enable_collision_passthrough;
 
     initial_state_.collision_info = CollisionInfo();
 
@@ -48,6 +53,10 @@ VehicleSimApi::VehicleSimApi(APawn* pawn, const std::map<std::string, APIPCamera
     //setup RC
     if (getRemoteControlID() >= 0)
         detectUsbRc();
+
+    setupCamerasFromSettings(cameras);
+    //add listener for pawn's collision event
+    collision_signal.connect(this, &VehicleSimApi::onCollision);
 }
 
 void VehicleSimApi::detectUsbRc()
@@ -63,20 +72,54 @@ void VehicleSimApi::detectUsbRc()
             std::to_string(joystick_state_.connection_error_code), LogDebugLevel::Informational);
 }
 
-void VehicleSimApi::setupCamerasFromSettings()
+void VehicleSimApi::setupCamerasFromSettings(const std::map<std::string, APIPCamera*>& cameras)
 {
+    //add cameras that already exists in pawn
+    cameras_.clear();
+    for (const auto& p : cameras)
+        cameras_[p.first] = p.second;
+
+    //create or replace cameras specified in settings
+    createCamerasFromSettings();
+
+    //setup individual cameras
     typedef msr::airlib::AirSimSettings AirSimSettings;
-
-    const auto& vehicle_setting = AirSimSettings::singleton().getVehicleSetting(vehicle_name_);
     const auto& camera_defaults = AirSimSettings::singleton().camera_defaults;
-
+    for (auto& pair : cameras_) {
-    for (auto& pair : *cameras_) {
+        const auto& camera_setting = Utils::findOrDefault(getVehicleSetting()->cameras, pair.first, camera_defaults);
-        const auto& camera_setting = Utils::findOrDefault(vehicle_setting->cameras, pair.first, camera_defaults);
         APIPCamera* camera = pair.second;
         camera->setupCameraFromSettings(camera_setting, getNedTransform());
     }
 }
 
+void VehicleSimApi::createCamerasFromSettings()
+{
+    //UStaticMeshComponent* bodyMesh = UAirBlueprintLib::GetActorComponent<UStaticMeshComponent>(this, TEXT("BodyMesh"));
+    USceneComponent* bodyMesh = pawn_->GetRootComponent();
+    FActorSpawnParameters camera_spawn_params;
+    camera_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
+    const auto& transform = getNedTransform();
+
+    //for each camera in settings
+    for (const auto& camera_setting_pair : getVehicleSetting()->cameras) {
+        const auto& setting = camera_setting_pair.second;
+
+        //get pose
+        FVector position = transform.fromLocalNed(
+            NedTransform::Vector3r(setting.position.x, setting.position.y, setting.position.z))
+            - transform.fromLocalNed(NedTransform::Vector3r(0.0, 0.0, 0.0));
+        FTransform camera_transform(FRotator(setting.rotation.pitch, setting.rotation.yaw, setting.rotation.roll),
+            position, FVector(1., 1., 1.));
+
+        //spawn and attach camera to pawn
+        APIPCamera* camera = pawn_->GetWorld()->SpawnActor<APIPCamera>(pip_camera_class_, camera_transform, camera_spawn_params);
+        camera->AttachToComponent(bodyMesh, FAttachmentTransformRules::KeepRelativeTransform);
+
+        //add on to our collection
+        cameras_[camera_setting_pair.first] = camera;
+    }
+}
+
 void VehicleSimApi::onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation, 
     FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit)
 {
@@ -208,7 +251,7 @@ void VehicleSimApi::setGroundTruthKinematics(const msr::airlib::Kinematics::Stat
 
 int VehicleSimApi::getRemoteControlID() const
 {
-    return getVehicleSetting().rc.remote_control_id;
+    return getVehicleSetting()->rc.remote_control_id;
 }
 
 const APIPCamera* VehicleSimApi::getCamera(const std::string& camera_name) const

Unreal/Plugins/AirSim/Source/VehicleSimApi.h

@@ -7,6 +7,7 @@
 #include <memory>
 #include "UnrealImageCapture.h"
 #include "common/Common.hpp"
+#include "common/common_utils/Signal.hpp"
 #include "common/CommonStructs.hpp"
 #include "PIPCamera.h"
 #include "physics/Kinematics.hpp"
@@ -28,7 +29,8 @@ public: //types
     typedef msr::airlib::Utils Utils;
     typedef msr::airlib::AirSimSettings::VehicleSetting VehicleSetting;
     typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
-
+    typedef common_utils::Signal<class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
+        FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit> CollisionSignal;
 
 public: //implementation of VehicleSimApiBase
     virtual void reset() override;
@@ -48,14 +50,12 @@ public: //implementation of VehicleSimApiBase
         return vehicle_name_;
     }
     virtual std::string getLogLine() const override;
+    virtual void setLogLine(std::string line) override;
+    virtual void toggleTrace() override;
 
 public: //Unreal specific methods
-    VehicleSimApi(APawn* pawn, const std::map<std::string, APIPCamera*>* cameras, const NedTransform& global_transform,
+    VehicleSimApi(APawn* pawn, const NedTransform& global_transform, CollisionSignal& collision_signal,
-        const std::string& vehicle_name);
+        const std::map<std::string, APIPCamera*>& cameras);
-
-    //on collision, pawns should update this
-    void onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, 
-        bool bSelfMoved, FVector HitLocation, FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit);
 
     //returns one of the cameras attached to the pawn
     const APIPCamera* getCamera(const std::string& camera_name) const;
@@ -72,29 +72,29 @@ public: //Unreal specific methods
     //parameters in NED frame
     void setDebugPose(const Pose& debug_pose);
 
-    void setLogLine(std::string line);
-
     FVector getUUPosition() const;
     FRotator getUUOrientation() const;
 
     const NedTransform& getNedTransform() const;
 
     void possess();
-    void setupCamerasFromSettings();
 
-    void toggleTrace();
+    //allows setting ground truth from physics engine
+    void setGroundTruthKinematics(const msr::airlib::Kinematics::State* kinematics);
 
 protected:
     UPROPERTY(VisibleAnywhere)
         UParticleSystem* collision_display_template;
 
-    //allows setting ground truth from physics engine
-    void setGroundTruthKinematics(const msr::airlib::Kinematics::State* kinematics);
-
 private: //methods
     bool canTeleportWhileMove()  const;
     void allowPassthroughToggleInput();
     void detectUsbRc();
+    void setupCamerasFromSettings(const std::map<std::string, APIPCamera*>& cameras);
+    void createCamerasFromSettings();
+    //on collision, pawns should update this
+    void onCollision(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp,
+        bool bSelfMoved, FVector HitLocation, FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit);
 
     //these methods are for future usage
     void plot(std::istream& s, FColor color, const Vector3r& offset);
@@ -103,8 +103,11 @@ private: //methods
 private: //vars
     typedef msr::airlib::AirSimSettings AirSimSettings;
 
+    UPROPERTY() UClass* pip_camera_class_;
+
     APawn* pawn_;
-    const std::map<std::string, APIPCamera*>* cameras_;
+    //TODO: should below be TMap to keep refs alive?
+    std::map<std::string, APIPCamera*> cameras_;
     std::string vehicle_name_;
     NedTransform ned_transform_;
 

UnrealPluginFiles.vcxproj

@@ -80,8 +80,8 @@
     <ClCompile Include="unreal\plugins\airsim\source\car\SimModeCar.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\ManualPoseController.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\multirotor\FlyingPawn.cpp" />
-    <ClCompile Include="unreal\plugins\airsim\source\multirotor\MultiRotorConnector.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\Multirotor\MultirotorSimApi.cpp" />
-    <ClCompile Include="unreal\plugins\airsim\source\multirotor\SimModeWorldMultiRotor.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\Multirotor\SimModeWorldMultirotor.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\NedTransform.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\PIPCamera.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\recording\RecordingFile.cpp" />
@@ -93,9 +93,12 @@
     <ClCompile Include="unreal\plugins\airsim\source\simjoystick\SimJoyStick.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\simmode\SimModeBase.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\simmode\SimModeWorldBase.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealImageCapture.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealDistanceSensor.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealSensorFactory.cpp" />
     <ClCompile Include="unreal\plugins\airsim\source\VehicleCameraConnector.cpp" />
-    <ClCompile Include="unreal\plugins\airsim\source\VehicleConnectorBase.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\VehicleSimApi.cpp" />
-    <ClCompile Include="unreal\plugins\airsim\source\VehiclePawnWrapper.cpp" />
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\WorldSimApi.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="unreal\plugins\airsim\source\AirBlueprintLib.h" />
@@ -109,6 +112,7 @@
     <ClInclude Include="unreal\plugins\airsim\source\ManualPoseController.h" />
     <ClInclude Include="unreal\plugins\airsim\source\multirotor\FlyingPawn.h" />
     <ClInclude Include="unreal\plugins\airsim\source\multirotor\MultiRotorConnector.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\Multirotor\MultirotorSimApi.h" />
     <ClInclude Include="unreal\plugins\airsim\source\multirotor\SimModeWorldMultiRotor.h" />
     <ClInclude Include="unreal\plugins\airsim\source\NedTransform.h" />
     <ClInclude Include="unreal\plugins\airsim\source\PIPCamera.h" />
@@ -121,8 +125,17 @@
     <ClInclude Include="unreal\plugins\airsim\source\simjoystick\SimJoyStick.h" />
     <ClInclude Include="unreal\plugins\airsim\source\simmode\SimModeBase.h" />
     <ClInclude Include="unreal\plugins\airsim\source\simmode\SimModeWorldBase.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealImageCapture.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealDistanceSensor.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealSensorFactory.h" />
     <ClInclude Include="unreal\plugins\airsim\source\VehicleCameraConnector.h" />
     <ClInclude Include="unreal\plugins\airsim\source\VehiclePawnWrapper.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\VehicleSimApi.h" />
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\WorldSimApi.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Unreal\Plugins\AirSim\Source\AirSim.Build.4.15.cs" />
+    <None Include="Unreal\Plugins\AirSim\Source\AirSim.Build.cs" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">

UnrealPluginFiles.vcxproj.filters

@@ -42,12 +42,6 @@
     <ClCompile Include="unreal\plugins\airsim\source\VehicleCameraConnector.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="unreal\plugins\airsim\source\VehicleConnectorBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="unreal\plugins\airsim\source\VehiclePawnWrapper.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="unreal\plugins\airsim\source\car\CarPawn.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -63,12 +57,6 @@
     <ClCompile Include="unreal\plugins\airsim\source\multirotor\FlyingPawn.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="unreal\plugins\airsim\source\multirotor\MultiRotorConnector.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="unreal\plugins\airsim\source\multirotor\SimModeWorldMultiRotor.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="unreal\plugins\airsim\source\recording\RecordingFile.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -93,6 +81,27 @@
     <ClCompile Include="unreal\plugins\airsim\source\simmode\SimModeWorldBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealImageCapture.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\VehicleSimApi.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\WorldSimApi.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealDistanceSensor.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealSensorFactory.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\Multirotor\MultirotorSimApi.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Unreal\Plugins\AirSim\Source\Multirotor\SimModeWorldMultirotor.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="unreal\plugins\airsim\source\AirBlueprintLib.h">
@@ -170,5 +179,31 @@
     <ClInclude Include="unreal\plugins\airsim\source\simmode\SimModeWorldBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealImageCapture.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\VehicleSimApi.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\WorldSimApi.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealDistanceSensor.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\UnrealSensors\UnrealSensorFactory.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Unreal\Plugins\AirSim\Source\Multirotor\MultirotorSimApi.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Unreal\Plugins\AirSim\Source\AirSim.Build.4.15.cs">
+      <Filter>Source Files</Filter>
+    </None>
+    <None Include="Unreal\Plugins\AirSim\Source\AirSim.Build.cs">
+      <Filter>Source Files</Filter>
+    </None>
   </ItemGroup>
 </Project>