numpy example, docs update PythonClient->AirSimClient rename, reset API

AirLib/AirLib.vcxproj

@@ -63,7 +63,7 @@
     <ClInclude Include="include\common\VectorMath.hpp" />
     <ClInclude Include="include\common\common_utils\AsyncTasker.hpp" />
     <ClInclude Include="include\controllers\VehicleCameraBase.hpp" />
-    <ClInclude Include="include\vehicles\car\controllers\CarControllerBase.hpp" />
+    <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdapators.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp" />

AirLib/AirLib.vcxproj.filters

@@ -450,7 +450,7 @@
     <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\car\controllers\CarControllerBase.hpp">
+    <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
@@ -473,9 +473,6 @@
     <ClCompile Include="src\vehicles\car\api\CarRpcLibServer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\controllers\DroneControllerBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>

AirLib/include/vehicles/car/controllers/CarControllerBase.hpp → AirLib/include/vehicles/car/api/CarApiBase.hpp

@@ -1,16 +1,16 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef air_CarControllerBase_hpp
-#define air_CarControllerBase_hpp
+#ifndef air_CarApiBase_hpp
+#define air_CarApiBase_hpp
 
 #include "controllers/VehicleCameraBase.hpp"
 #include "common/VectorMath.hpp"
 #include "common/CommonStructs.hpp"
 
 namespace msr { namespace airlib {
 
-class CarControllerBase {
+class CarApiBase {
 public:
     struct CarControls {
         float throttle = 0; /* 1 to -1 */
@@ -67,8 +67,9 @@ class CarControllerBase {
     virtual GeoPoint getHomeGeoPoint() = 0;
     virtual void enableApiControl(bool is_enabled) = 0;
     virtual bool isApiControlEnabled() = 0;
+    virtual void reset() = 0;
 
-    virtual ~CarControllerBase() = default;
+    virtual ~CarApiBase() = default;
 };
 
 

AirLib/include/vehicles/car/api/CarRpcLibAdapators.hpp

@@ -8,7 +8,7 @@
 #include "common/CommonStructs.hpp"
 #include "api/RpcLibAdapatorsBase.hpp"
 #include "controllers/VehicleCameraBase.hpp"
-#include "vehicles/car/controllers/CarControllerBase.hpp"
+#include "vehicles/car/api/CarApiBase.hpp"
 #include "rpc/msgpack.hpp"
 
 
@@ -30,7 +30,7 @@ class CarRpcLibAdapators : public RpcLibAdapatorsBase {
         CarControls()
         {}
 
-        CarControls(const msr::airlib::CarControllerBase::CarControls& s)
+        CarControls(const msr::airlib::CarApiBase::CarControls& s)
         {
             throttle = s.throttle;
             steering = s.steering;
@@ -40,9 +40,9 @@ class CarRpcLibAdapators : public RpcLibAdapatorsBase {
             manual_gear = s.manual_gear;
             gear_immediate = s.gear_immediate;
         }
-        msr::airlib::CarControllerBase::CarControls to() const
+        msr::airlib::CarApiBase::CarControls to() const
         {
-            return msr::airlib::CarControllerBase::CarControls(throttle, steering, brake, handbrake,
+            return msr::airlib::CarApiBase::CarControls(throttle, steering, brake, handbrake,
                 is_manual_gear, manual_gear, gear_immediate);
         }
     };
@@ -59,17 +59,17 @@ class CarRpcLibAdapators : public RpcLibAdapatorsBase {
         CarState()
         {}
 
-        CarState(const msr::airlib::CarControllerBase::CarState& s)
+        CarState(const msr::airlib::CarApiBase::CarState& s)
         {
             speed = s.speed;
             gear = s.gear;
             position = s.position;
             velocity = s.velocity;
             orientation = s.orientation;
         }
-        msr::airlib::CarControllerBase::CarState to() const
+        msr::airlib::CarApiBase::CarState to() const
         {
-            return msr::airlib::CarControllerBase::CarState(
+            return msr::airlib::CarApiBase::CarState(
                 speed, gear, position.to(), velocity.to(), orientation.to());
         }
     };

AirLib/include/vehicles/car/api/CarRpcLibClient.hpp

@@ -7,7 +7,7 @@
 #include "common/Common.hpp"
 #include <functional>
 #include "common/CommonStructs.hpp"
-#include "vehicles/car/controllers/CarControllerBase.hpp"
+#include "vehicles/car/api/CarApiBase.hpp"
 #include "controllers/VehicleCameraBase.hpp"
 
 
@@ -25,8 +25,8 @@ class CarRpcLibClient {
 
     vector<VehicleCameraBase::ImageResponse> simGetImages(vector<VehicleCameraBase::ImageRequest> request);
     vector<uint8_t> simGetImage(int camera_id, VehicleCameraBase::ImageType type);
-    void setCarControls(const CarControllerBase::CarControls& controls);
-    CarControllerBase::CarState getCarState();
+    void setCarControls(const CarApiBase::CarControls& controls);
+    CarApiBase::CarState getCarState();
     msr::airlib::GeoPoint getHomeGeoPoint();
 
     void confirmConnection();

AirLib/include/vehicles/car/api/CarRpcLibServer.hpp

@@ -7,18 +7,18 @@
 #include "common/Common.hpp"
 #include <functional>
 #include "api/ControlServerBase.hpp"
-#include "vehicles/car/controllers/CarControllerBase.hpp"
+#include "vehicles/car/api/CarApiBase.hpp"
 
 namespace msr { namespace airlib {
 
 class CarRpcLibServer : public ControlServerBase {
 public:
-    CarRpcLibServer(CarControllerBase* vehicle, string server_address, uint16_t port = 42451);
+    CarRpcLibServer(CarApiBase* vehicle, string server_address, uint16_t port = 42451);
     virtual void start(bool block = false) override;
     virtual void stop() override;
     virtual ~CarRpcLibServer() override;
 private:
-    CarControllerBase* vehicle_;
+    CarApiBase* vehicle_;
     struct impl;
     std::unique_ptr<impl> pimpl_;
 };

AirLib/src/vehicles/car/api/CarRpcLibClient.cpp

@@ -90,12 +90,12 @@ vector<uint8_t> CarRpcLibClient::simGetImage(int camera_id, VehicleCameraBase::I
     return result;
 }
 
-void CarRpcLibClient::setCarControls(const CarControllerBase::CarControls& controls)
+void CarRpcLibClient::setCarControls(const CarApiBase::CarControls& controls)
 {
     pimpl_->client.call("setCarControls", CarRpcLibAdapators::CarControls(controls));
 }
 
-CarControllerBase::CarState CarRpcLibClient::getCarState()
+CarApiBase::CarState CarRpcLibClient::getCarState()
 {
     return pimpl_->client.call("getCarState").as<CarRpcLibAdapators::CarState>().to();
 

AirLib/src/vehicles/car/api/CarRpcLibServer.cpp

@@ -45,7 +45,7 @@ struct CarRpcLibServer::impl {
 
 typedef msr::airlib_rpclib::CarRpcLibAdapators CarRpcLibAdapators;
 
-CarRpcLibServer::CarRpcLibServer(CarControllerBase* vehicle, string server_address, uint16_t port)
+CarRpcLibServer::CarRpcLibServer(CarApiBase* vehicle, string server_address, uint16_t port)
     : vehicle_(vehicle)
 {
     if (server_address == "")

AirSim.sln

@@ -3,74 +3,6 @@ Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio 14
 VisualStudioVersion = 14.0.25420.1
 MinimumVisualStudioVersion = 10.0.40219.1
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Unreal", "Unreal", "{04B515C0-07BC-4CE8-8A16-F0D70E86C7C9}"
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Plugins", "Plugins", "{A3E13CC1-566C-46BD-B46C-45FC31CF12CF}"
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "AirSim", "AirSim", "{6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Plugins\AirSim\Source\AirBlueprintLib.cpp = Unreal\Plugins\AirSim\Source\AirBlueprintLib.cpp
-		Unreal\Plugins\AirSim\Source\AirBlueprintLib.h = Unreal\Plugins\AirSim\Source\AirBlueprintLib.h
-		Unreal\Plugins\AirSim\Source\AirSim.Build.cs = Unreal\Plugins\AirSim\Source\AirSim.Build.cs
-		Unreal\Plugins\AirSim\Source\AirSim.cpp = Unreal\Plugins\AirSim\Source\AirSim.cpp
-		Unreal\Plugins\AirSim\Source\AirSim.h = Unreal\Plugins\AirSim\Source\AirSim.h
-		Unreal\Plugins\AirSim\AirSim.uplugin = Unreal\Plugins\AirSim\AirSim.uplugin
-		Unreal\Plugins\AirSim\Source\AirSimGameMode.cpp = Unreal\Plugins\AirSim\Source\AirSimGameMode.cpp
-		Unreal\Plugins\AirSim\Source\AirSimGameMode.h = Unreal\Plugins\AirSim\Source\AirSimGameMode.h
-		Unreal\Plugins\AirSim\Source\CameraDirector.cpp = Unreal\Plugins\AirSim\Source\CameraDirector.cpp
-		Unreal\Plugins\AirSim\Source\CameraDirector.h = Unreal\Plugins\AirSim\Source\CameraDirector.h
-		Unreal\Plugins\AirSim\Source\FlyingPawn.cpp = Unreal\Plugins\AirSim\Source\FlyingPawn.cpp
-		Unreal\Plugins\AirSim\Source\FlyingPawn.h = Unreal\Plugins\AirSim\Source\FlyingPawn.h
-		Unreal\Plugins\AirSim\Source\ManualPoseController.cpp = Unreal\Plugins\AirSim\Source\ManualPoseController.cpp
-		Unreal\Plugins\AirSim\Source\ManualPoseController.h = Unreal\Plugins\AirSim\Source\ManualPoseController.h
-		Unreal\Plugins\AirSim\Source\MultiRotorConnector.cpp = Unreal\Plugins\AirSim\Source\MultiRotorConnector.cpp
-		Unreal\Plugins\AirSim\Source\MultiRotorConnector.h = Unreal\Plugins\AirSim\Source\MultiRotorConnector.h
-		Unreal\Plugins\AirSim\Source\NedTransform.cpp = Unreal\Plugins\AirSim\Source\NedTransform.cpp
-		Unreal\Plugins\AirSim\Source\NedTransform.h = Unreal\Plugins\AirSim\Source\NedTransform.h
-		Unreal\Plugins\AirSim\Source\PIPCamera.cpp = Unreal\Plugins\AirSim\Source\PIPCamera.cpp
-		Unreal\Plugins\AirSim\Source\PIPCamera.h = Unreal\Plugins\AirSim\Source\PIPCamera.h
-		Unreal\Plugins\AirSim\Source\RenderRequest.cpp = Unreal\Plugins\AirSim\Source\RenderRequest.cpp
-		Unreal\Plugins\AirSim\Source\RenderRequest.h = Unreal\Plugins\AirSim\Source\RenderRequest.h
-		Unreal\Plugins\AirSim\Source\VehicleCameraConnector.cpp = Unreal\Plugins\AirSim\Source\VehicleCameraConnector.cpp
-		Unreal\Plugins\AirSim\Source\VehicleCameraConnector.h = Unreal\Plugins\AirSim\Source\VehicleCameraConnector.h
-		Unreal\Plugins\AirSim\Source\VehicleConnectorBase.cpp = Unreal\Plugins\AirSim\Source\VehicleConnectorBase.cpp
-		Unreal\Plugins\AirSim\Source\VehicleConnectorBase.h = Unreal\Plugins\AirSim\Source\VehicleConnectorBase.h
-		Unreal\Plugins\AirSim\Source\VehiclePawnBase.cpp = Unreal\Plugins\AirSim\Source\VehiclePawnBase.cpp
-		Unreal\Plugins\AirSim\Source\VehiclePawnBase.h = Unreal\Plugins\AirSim\Source\VehiclePawnBase.h
-	EndProjectSection
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "SimJoystick", "SimJoystick", "{275DB4C1-B933-4D75-85B3-18D3F93439F3}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Plugins\AirSim\Source\SimJoyStick\SimJoyStick.cpp = Unreal\Plugins\AirSim\Source\SimJoyStick\SimJoyStick.cpp
-		Unreal\Plugins\AirSim\Source\SimJoyStick\SimJoyStick.h = Unreal\Plugins\AirSim\Source\SimJoyStick\SimJoyStick.h
-	EndProjectSection
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "SimHUD", "SimHUD", "{95E2FEEF-3F34-4255-BB56-EF77466EFE7C}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Plugins\AirSim\Source\SimHUD\SimHUD.cpp = Unreal\Plugins\AirSim\Source\SimHUD\SimHUD.cpp
-		Unreal\Plugins\AirSim\Source\SimHUD\SimHUD.h = Unreal\Plugins\AirSim\Source\SimHUD\SimHUD.h
-		Unreal\Plugins\AirSim\Source\SimHUD\SimHUDWidget.cpp = Unreal\Plugins\AirSim\Source\SimHUD\SimHUDWidget.cpp
-		Unreal\Plugins\AirSim\Source\SimHUD\SimHUDWidget.h = Unreal\Plugins\AirSim\Source\SimHUD\SimHUDWidget.h
-	EndProjectSection
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "SimMode", "SimMode", "{6175579D-2920-406D-A36B-2A0A56AA7892}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeBase.cpp = Unreal\Plugins\AirSim\Source\SimMode\SimModeBase.cpp
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeBase.h = Unreal\Plugins\AirSim\Source\SimMode\SimModeBase.h
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldBase.cpp = Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldBase.cpp
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldBase.h = Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldBase.h
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldMultiRotor.cpp = Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldMultiRotor.cpp
-		Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldMultiRotor.h = Unreal\Plugins\AirSim\Source\SimMode\SimModeWorldMultiRotor.h
-	EndProjectSection
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Recording", "Recording", "{66DAD5E7-6925-4266-8E04-91F19052623A}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Plugins\AirSim\Source\Recording\RecordingFile.cpp = Unreal\Plugins\AirSim\Source\Recording\RecordingFile.cpp
-		Unreal\Plugins\AirSim\Source\Recording\RecordingFile.h = Unreal\Plugins\AirSim\Source\Recording\RecordingFile.h
-		Unreal\Plugins\AirSim\Source\Recording\RecordingThread.cpp = Unreal\Plugins\AirSim\Source\Recording\RecordingThread.cpp
-		Unreal\Plugins\AirSim\Source\Recording\RecordingThread.h = Unreal\Plugins\AirSim\Source\Recording\RecordingThread.h
-	EndProjectSection
-EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DroneShell", "DroneShell\DroneShell.vcxproj", "{9FE9234B-373A-4D5A-AD6B-FB0B593312DD}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "AirLib", "AirLib\AirLib.vcxproj", "{4BFB7231-077A-4671-BD21-D3ADE3EA36E7}"
@@ -103,27 +35,10 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Solution Items", "Solution
 		setup.sh = setup.sh
 	EndProjectSection
 EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Environments", "Environments", "{00D55ED5-8214-4EC6-8828-5146D757BE46}"
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Blocks", "Blocks", "{C7F74F18-FD02-4044-98AB-F771DF882A2F}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Environments\Blocks\.gitignore = Unreal\Environments\Blocks\.gitignore
-		Unreal\Environments\Blocks\Blocks.uproject = Unreal\Environments\Blocks\Blocks.uproject
-		Unreal\Environments\Blocks\clean.bat = Unreal\Environments\Blocks\clean.bat
-		Unreal\Environments\Blocks\clean.sh = Unreal\Environments\Blocks\clean.sh
-		Unreal\Environments\Blocks\update_from_git.bat = Unreal\Environments\Blocks\update_from_git.bat
-		Unreal\Environments\Blocks\update_from_git.sh = Unreal\Environments\Blocks\update_from_git.sh
-		Unreal\Environments\Blocks\update_to_git.bat = Unreal\Environments\Blocks\update_to_git.bat
-	EndProjectSection
-EndProject
-Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Source", "Source", "{7F07A6E9-396C-47F7-A18D-DE1A3A84BC8E}"
-	ProjectSection(SolutionItems) = preProject
-		Unreal\Environments\Blocks\Source\Blocks.Target.cs = Unreal\Environments\Blocks\Source\Blocks.Target.cs
-		Unreal\Environments\Blocks\Source\BlocksEditor.Target.cs = Unreal\Environments\Blocks\Source\BlocksEditor.Target.cs
-	EndProjectSection
-EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HelloCar", "HelloCar\HelloCar.vcxproj", "{4358ED90-CCA1-47A8-8D68-A260F212931E}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "UnrealPluginFiles", "UnrealPluginFiles.vcxproj", "{39683523-C864-4D47-8350-33FC3EC0F00F}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -230,19 +145,14 @@ Global
 		{4358ED90-CCA1-47A8-8D68-A260F212931E}.Release|x64.Build.0 = Release|x64
 		{4358ED90-CCA1-47A8-8D68-A260F212931E}.Release|x86.ActiveCfg = Release|Win32
 		{4358ED90-CCA1-47A8-8D68-A260F212931E}.Release|x86.Build.0 = Release|Win32
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Debug|x64.ActiveCfg = Debug|x64
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Debug|x86.ActiveCfg = Debug|Win32
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Release|Any CPU.ActiveCfg = Release|Win32
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Release|x64.ActiveCfg = Release|x64
+		{39683523-C864-4D47-8350-33FC3EC0F00F}.Release|x86.ActiveCfg = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
 	EndGlobalSection
-	GlobalSection(NestedProjects) = preSolution
-		{A3E13CC1-566C-46BD-B46C-45FC31CF12CF} = {04B515C0-07BC-4CE8-8A16-F0D70E86C7C9}
-		{6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC} = {A3E13CC1-566C-46BD-B46C-45FC31CF12CF}
-		{275DB4C1-B933-4D75-85B3-18D3F93439F3} = {6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC}
-		{95E2FEEF-3F34-4255-BB56-EF77466EFE7C} = {6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC}
-		{6175579D-2920-406D-A36B-2A0A56AA7892} = {6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC}
-		{66DAD5E7-6925-4266-8E04-91F19052623A} = {6B69410D-51EA-4DD2-94EF-4EB4CEB67CEC}
-		{00D55ED5-8214-4EC6-8828-5146D757BE46} = {04B515C0-07BC-4CE8-8A16-F0D70E86C7C9}
-		{C7F74F18-FD02-4044-98AB-F771DF882A2F} = {00D55ED5-8214-4EC6-8828-5146D757BE46}
-		{7F07A6E9-396C-47F7-A18D-DE1A3A84BC8E} = {C7F74F18-FD02-4044-98AB-F771DF882A2F}
-	EndGlobalSection
 EndGlobal

HelloCar/main.cpp

@@ -64,7 +64,7 @@ int main()
 
         //enable API control
         client.enableApiControl(true);
-        CarControllerBase::CarControls controls;
+        CarApiBase::CarControls controls;
 
         std::cout << "Press enter to drive forward" << std::endl; std::cin.get();
         controls.throttle = 0.5f;
@@ -84,7 +84,7 @@ int main()
         client.setCarControls(controls);
 
         std::cout << "Press Enter to stop" << std::endl; std::cin.get();
-        client.setCarControls(CarControllerBase::CarControls());
+        client.setCarControls(CarApiBase::CarControls());
     }
     catch (rpc::rpc_error&  e) {
         std::string msg = e.get_error().as<std::string>();