Use stringstream to construct record line

microsoft · Feb 26, 2021 · 36654e3 · 36654e3
1 parent e90f9a0
commit 36654e3
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Showing 2 changed files with 19 additions and 40 deletions.
diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -581,32 +581,17 @@ std::string PawnSimApi::getRecordFileLine(bool is_header_line) const
         return "VehicleName\tTimeStamp\tPOS_X\tPOS_Y\tPOS_Z\tQ_W\tQ_X\tQ_Y\tQ_Z\t";
     }
 
-    const Kinematics::State* kinematics = 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
-    //https://answers.unrealengine.com/questions/664905/unreal-crashes-on-two-lines-of-extremely-simple-st.html
-
-    std::string line;
-    line.append(getVehicleName()).append("\t")
-        .append(std::to_string(timestamp_millis)).append("\t")
-        .append(std::to_string(kinematics->pose.position.x())).append("\t")
-        .append(std::to_string(kinematics->pose.position.y())).append("\t")
-        .append(std::to_string(kinematics->pose.position.z())).append("\t")
-        .append(std::to_string(kinematics->pose.orientation.w())).append("\t")
-        .append(std::to_string(kinematics->pose.orientation.x())).append("\t")
-        .append(std::to_string(kinematics->pose.orientation.y())).append("\t")
-        .append(std::to_string(kinematics->pose.orientation.z())).append("\t")
-        ;
-
-    return line;
-
-    //std::stringstream ss;
-    //ss << timestamp_millis << "\t";
-    //ss << kinematics.pose.position.x() << "\t" << kinematics.pose.position.y() << "\t" << kinematics.pose.position.z() << "\t";
-    //ss << kinematics.pose.orientation.w() << "\t" << kinematics.pose.orientation.x() << "\t" << kinematics.pose.orientation.y() << "\t" << kinematics.pose.orientation.z() << "\t";
-    //ss << "\n";
-    //return ss.str();
+    const auto* kinematics = getGroundTruthKinematics();
+    const uint64_t timestamp_millis = static_cast<uint64_t>(clock()->nowNanos() / 1.0E6);
+
+    std::ostringstream ss;
+    ss << getVehicleName() << "\t";
+    ss << timestamp_millis << "\t";
+    ss << kinematics->pose.position.x() << "\t" << kinematics->pose.position.y() << "\t" << kinematics->pose.position.z() << "\t";
+    ss << kinematics->pose.orientation.w() << "\t" << kinematics->pose.orientation.x() << "\t"
+        << kinematics->pose.orientation.y() << "\t" << kinematics->pose.orientation.z() << "\t";
+
+    return ss.str();
 }
 
 msr::airlib::VehicleApiBase* PawnSimApi::getVehicleApiBase() const

diff --git a/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -41,20 +41,14 @@ std::string CarPawnSimApi::getRecordFileLine(bool is_header_line) const
                "Throttle\tSteering\tBrake\tGear\tHandbrake\tRPM\tSpeed\t";
     }
 
-    const msr::airlib::Kinematics::State* kinematics = getGroundTruthKinematics();
-    const auto state = pawn_api_->getCarState();
-
-    common_line
-        .append(std::to_string(current_controls_.throttle)).append("\t")
-        .append(std::to_string(current_controls_.steering)).append("\t")
-        .append(std::to_string(current_controls_.brake)).append("\t")
-        .append(std::to_string(state.gear)).append("\t")
-        .append(std::to_string(state.handbrake)).append("\t")
-        .append(std::to_string(state.rpm)).append("\t")
-        .append(std::to_string(state.speed)).append("\t")
-        ;
-
-    return common_line;
+    const auto& state = pawn_api_->getCarState();
+
+    std::ostringstream ss;
+    ss << common_line;
+    ss << current_controls_.throttle << "\t" << current_controls_.steering << "\t" << current_controls_.brake << "\t";
+    ss << state.gear << "\t" << state.handbrake << "\t" << state.rpm << "\t" << state.speed << "\t";
+
+    return ss.str();
 }
 
 //these are called on render ticks