fix recording for each simmode

Unreal/Plugins/AirSim/Source/Recording/RecordingFile.cpp

@@ -123,9 +123,21 @@ RecordingFile::~RecordingFile()
 void RecordingFile::startRecording(msr::airlib::VehicleSimApiBase* vehicle_sim_api, const std::string& folder)
 {
     try {
+        std::string vehicle_type_str;
+        const auto& vehicle_type = vehicle_sim_api->getVehicleSetting()->vehicle_type;
+        if (msr::airlib::AirSimSettings::isComputerVision(vehicle_type)) {
+            vehicle_type_str = "cv";
+        }
+        else if (msr::airlib::AirSimSettings::isCar(vehicle_type)) {
+            vehicle_type_str = "car";
+        }
+        else if (msr::airlib::AirSimSettings::isMultirotor(vehicle_type)) {
+            vehicle_type_str = "multirotor";
+        }
+
         std::string log_folderpath = common_utils::FileSystem::getLogFolderPath(true, folder);
         image_path_ = common_utils::FileSystem::ensureFolder(log_folderpath, "images");
-        std::string log_filepath = common_utils::FileSystem::getLogFileNamePath(log_folderpath, record_filename, "", ".txt", false);
+        std::string log_filepath = common_utils::FileSystem::getLogFileNamePath(log_folderpath, record_filename + vehicle_type_str, "", ".txt", false);
         if (log_filepath != "")
             createFile(log_filepath, vehicle_sim_api->getRecordFileLine(true));
         else {

Unreal/Plugins/AirSim/Source/Recording/RecordingFile.h

@@ -25,7 +25,7 @@ class RecordingFile
     bool isFileOpen() const;
 
 private:
-    std::string record_filename = "airsim_rec";
+    std::string record_filename = "airsim_rec_";
     std::string image_path_;
     bool is_recording_ = false;
     IFileHandle* log_file_handle_ = nullptr;

Unreal/Plugins/AirSim/Source/Recording/RecordingThread.cpp

@@ -7,13 +7,13 @@
 #include "RenderRequest.h"
 #include "PIPCamera.h"
 
-std::unique_ptr<FRecordingThread> FRecordingThread::running_instance_;
-std::unique_ptr<FRecordingThread> FRecordingThread::finishing_instance_;
-msr::airlib::WorkerThreadSignal FRecordingThread::finishing_signal_;
-bool FRecordingThread::first_ = true;
+//std::unique_ptr<FRecordingThread> FRecordingThread::running_instance_;
+//std::unique_ptr<FRecordingThread> FRecordingThread::finishing_instance_;
+//msr::airlib::WorkerThreadSignal FRecordingThread::finishing_signal_;
+//bool FRecordingThread::first_ = true;
 
 FRecordingThread::FRecordingThread()
-    : stop_task_counter_(0), recording_file_(nullptr), is_ready_(false)
+    : stop_task_counter_(0), recording_file_(nullptr), first_(true), is_ready_(false)
 {
     thread_.reset(FRunnableThread::Create(this, TEXT("FRecordingThread"), 0, TPri_BelowNormal)); // Windows default, possible to specify more priority
 }

Unreal/Plugins/AirSim/Source/Recording/RecordingThread.h

@@ -23,12 +23,12 @@ class FRecordingThread : public FRunnable
     FRecordingThread();
     virtual ~FRecordingThread();
 
-    static void init();
-    static void startRecording(const RecordingSetting& settings,
-                               const common_utils::UniqueValueMap<std::string, VehicleSimApiBase*>& vehicle_sim_apis);
-    static void stopRecording();
-    static void killRecording();
-    static bool isRecording();
+    void init();
+    void startRecording(const RecordingSetting& settings,
+                        const common_utils::UniqueValueMap<std::string, VehicleSimApiBase*>& vehicle_sim_apis);
+    void stopRecording();
+    void killRecording();
+    bool isRecording();
 
 protected:
     virtual bool Init() override;
@@ -39,10 +39,10 @@ class FRecordingThread : public FRunnable
 private:
     FThreadSafeCounter stop_task_counter_;
 
-    static std::unique_ptr<FRecordingThread> running_instance_;
-    static std::unique_ptr<FRecordingThread> finishing_instance_;
-    static msr::airlib::WorkerThreadSignal finishing_signal_;
-    static bool first_;
+    std::unique_ptr<FRecordingThread> running_instance_;
+    std::unique_ptr<FRecordingThread> finishing_instance_;
+    msr::airlib::WorkerThreadSignal finishing_signal_;
+    bool first_;
 
     static std::unique_ptr<FRecordingThread> instance_;
 

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

@@ -81,10 +81,10 @@ void ASimHUD::EndPlay(const EEndPlayReason::Type EndPlayReason)
 void ASimHUD::toggleRecordHandler()
 {
     // ToDo - alon differnet rec files, not default
-    //for (const auto& simmode : simmode_) {
-    //    simmode->toggleRecording();
-    //}
-    simmode_[0]->toggleRecording();
+    for (const auto& simmode : simmode_) {
+        simmode->toggleRecording();
+    }
+    //simmode_[0]->toggleRecording();
 }
 
 void ASimHUD::inputEventToggleRecording()

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

@@ -68,6 +68,8 @@ ASimModeBase::ASimModeBase()
     if (domain_rand_mat_finder.Succeeded()) {
         domain_rand_material_ = domain_rand_mat_finder.Object;
     }
+
+    recording_thread_ = new FRecordingThread();
 }
 
 void ASimModeBase::toggleLoadingScreen(bool is_visible)
@@ -141,7 +143,7 @@ void ASimModeBase::BeginPlay()
     UAirBlueprintLib::LogMessage(TEXT("Press F1 to see help"), TEXT(""), LogDebugLevel::Informational);
 
     setupVehiclesAndCamera();
-    FRecordingThread::init();
+    recording_thread_->init();
 
     if (getSettings().recording_setting.enabled)
         startRecording();
@@ -191,8 +193,8 @@ void ASimModeBase::setStencilIDs()
 
 void ASimModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
-    FRecordingThread::stopRecording();
-    FRecordingThread::killRecording();
+    recording_thread_->stopRecording();
+    recording_thread_->killRecording();
     world_sim_api_.reset();
     api_provider_.reset();
     api_server_.reset();
@@ -500,17 +502,17 @@ bool ASimModeBase::toggleRecording()
 
 void ASimModeBase::stopRecording()
 {
-    FRecordingThread::stopRecording();
+    recording_thread_->stopRecording();
 }
 
 void ASimModeBase::startRecording()
 {
-    FRecordingThread::startRecording(getSettings().recording_setting, getApiProvider()->getVehicleSimApis());
+    recording_thread_->startRecording(getSettings().recording_setting, getApiProvider()->getVehicleSimApis());
 }
 
 bool ASimModeBase::isRecording() const
 {
-    return FRecordingThread::isRecording();
+    return recording_thread_->isRecording();
 }
 
 void ASimModeBase::toggleTraceAll()

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

@@ -18,6 +18,8 @@
 #include "UnrealImageCapture.h"
 #include "SimModeBase.generated.h"
 
+class FRecordingThread;
+
 DECLARE_DYNAMIC_MULTICAST_DELEGATE(FLevelLoaded);
 
 UCLASS()
@@ -214,6 +216,8 @@ class AIRSIM_API ASimModeBase : public AActor
     bool lidar_draw_debug_points_ = false;
     static ASimModeBase* SIMMODE;
 
+    FRecordingThread* recording_thread_;
+
 private:
     void setStencilIDs();
     void initializeTimeOfDay();