Merge pull request #29 from tud-cor/fix_nil_vehicle

Make sure the player is in the vehicle before running rosPubMsg
tud-cor · Jun 4, 2021 · 3b2540e · 3b2540e
2 parents 180bdd2 + 2cd5c6a
commit 3b2540e
Showing 1 changed file with 36 additions and 29 deletions.
diff --git a/modROS.lua b/modROS.lua
@@ -110,7 +110,8 @@ function ModROS:update(dt)
 
     if self.doPubMsg then
         -- avoid writing to the pipe if it isn't actually open
-        if self.file_pipe then
+        -- avoid publishing data if one is not inside a vehicle
+        if self.file_pipe and g_currentMission.controlledVehicle ~= nil then
             self:publish_sim_time_func()
             self:publish_veh_func()
             self:publish_laser_scan_func()
@@ -507,37 +508,43 @@ function ModROS:rosPubMsg(flag)
             return
         end
 
+        -- raycastNode initialization
         local vehicle = g_currentMission.controlledVehicle
-        self.instance_veh = VehicleCamera:new(vehicle, ModROS)
-        local xml_path = self.instance_veh.vehicle.configFileName
-        local xmlFile = loadXMLFile("vehicle", xml_path)
-        -- index 0 is outdoor camera; index 1 is indoor camera
-        -- local cameraKey = string.format("vehicle.enterable.cameras.camera(%d)", 0)
-
-        --  get the cameraRaycast node 2(on top of ) which is 0 index .raycastNode(0)
-        --  get the cameraRaycast node 3 (in the rear) which is 1 index .raycastNode(1)
-
-        local cameraKey = string.format("vehicle.enterable.cameras.camera(%d).raycastNode(0)", 0)
-        XMLUtil.checkDeprecatedXMLElements(xmlFile, xml_path, cameraKey .. "#index", "#node") -- FS17 to FS19
-        local camIndexStr = getXMLString(xmlFile, cameraKey .. "#node")
-        self.instance_veh.cameraNode =
-            I3DUtil.indexToObject(
-            self.instance_veh.vehicle.components,
-            camIndexStr,
-            self.instance_veh.vehicle.i3dMappings
-        )
-        if self.instance_veh.cameraNode == nil then
-            print("nil camera")
-        -- else
-        --     print(instance_veh.cameraNode)
+        -- if the player is not in the vehicle, print error and return
+        if not vehicle then
+            print("You are not inside any vehicle, come on! Enter 'e' to hop in one next to you!")
+            return
+        else
+            self.instance_veh = VehicleCamera:new(vehicle, ModROS)
+            local xml_path = self.instance_veh.vehicle.configFileName
+            local xmlFile = loadXMLFile("vehicle", xml_path)
+            -- index 0 is outdoor camera; index 1 is indoor camera
+            -- local cameraKey = string.format("vehicle.enterable.cameras.camera(%d)", 0)
+
+            --  get the cameraRaycast node 2(on top of ) which is 0 index .raycastNode(0)
+            --  get the cameraRaycast node 3 (in the rear) which is 1 index .raycastNode(1)
+
+            local cameraKey = string.format("vehicle.enterable.cameras.camera(%d).raycastNode(0)", 0)
+            XMLUtil.checkDeprecatedXMLElements(xmlFile, xml_path, cameraKey .. "#index", "#node") -- FS17 to FS19
+            local camIndexStr = getXMLString(xmlFile, cameraKey .. "#node")
+            self.instance_veh.cameraNode =
+                I3DUtil.indexToObject(
+                self.instance_veh.vehicle.components,
+                camIndexStr,
+                self.instance_veh.vehicle.i3dMappings
+            )
+            if self.instance_veh.cameraNode == nil then
+                print("nil camera")
+            -- else
+            --     print(instance_veh.cameraNode)
+            end
+            -- create self.laser_frame_1 attached to raycastNode (x left, y up, z into the page)
+            -- and apply a transform to the self.laser_frame_1
+            local tran_x, tran_y, tran_z = mod_config.laser_scan.laser_transform.translation.x, mod_config.laser_scan.laser_transform.translation.y, mod_config.laser_scan.laser_transform.translation.z
+            local rot_x, rot_y, rot_z = mod_config.laser_scan.laser_transform.rotation.x, mod_config.laser_scan.laser_transform.rotation.y, mod_config.laser_scan.laser_transform.rotation.z
+            self.laser_frame_1 = frames.create_attached_node(self.instance_veh.cameraNode, "self.laser_frame_1", tran_x, tran_y, tran_z, rot_x, rot_y, rot_z)
         end
 
-        -- create self.laser_frame_1 attached to raycastNode (x left, y up, z into the page)
-        -- and apply a transform to the self.laser_frame_1
-        local tran_x, tran_y, tran_z = mod_config.laser_scan.laser_transform.translation.x, mod_config.laser_scan.laser_transform.translation.y, mod_config.laser_scan.laser_transform.translation.z
-        local rot_x, rot_y, rot_z = mod_config.laser_scan.laser_transform.rotation.x, mod_config.laser_scan.laser_transform.rotation.y, mod_config.laser_scan.laser_transform.rotation.z
-        self.laser_frame_1 = frames.create_attached_node(self.instance_veh.cameraNode, "self.laser_frame_1", tran_x, tran_y, tran_z, rot_x, rot_y, rot_z)
-
     elseif flag == nil or flag == "" or flag == "false" then
         self.doPubMsg = false
         print("stop publishing data, set true, if you want to publish Pose")