API refactor, simSetPose, simGetPose, reset for drones

phildue · Oct 15, 2017 · 213ffe3 · 213ffe3
1 parent cc75906
commit 213ffe3
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Showing 35 changed files with 577 additions and 465 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -25,6 +25,8 @@
     <ClInclude Include="include\api\DebugApiServer.hpp" />
     <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp" />
     <ClInclude Include="include\api\RpcLibClientBase.hpp" />
+    <ClInclude Include="include\api\RpcLibServerBase.hpp" />
+    <ClInclude Include="include\api\VehicleApiBase.hpp" />
     <ClInclude Include="include\common\ClockBase.hpp" />
     <ClInclude Include="include\common\Common.hpp" />
     <ClInclude Include="include\common\CommonStructs.hpp" />
@@ -64,10 +66,12 @@
     <ClInclude Include="include\common\VectorMath.hpp" />
     <ClInclude Include="include\common\common_utils\AsyncTasker.hpp" />
     <ClInclude Include="include\controllers\VehicleCameraBase.hpp" />
+    <ClInclude Include="include\controllers\VehicleConnectorBase.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" />
+    <ClInclude Include="include\vehicles\multirotor\controllers\RealMultirotorConnector.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\ros_flight\AirSimRosFlightBoard.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\ros_flight\AirSimRosFlightCommLink.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\ros_flight\firmware\board.hpp" />
@@ -134,7 +138,7 @@
     <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp" />
     <ClInclude Include="include\safety\SafetyEval.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneControllerCancelable.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\api\DroneApi.hpp" />
     <ClInclude Include="include\controllers\Settings.hpp" />
     <ClInclude Include="include\safety\SphereGeoFence.hpp" />
     <ClInclude Include="include\controllers\VehicleControllerBase.hpp" />
@@ -172,7 +176,8 @@
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\api\RpcLibClientBase.cpp" />
-    <ClCompile Include="src\controllers\DroneControllerBase.cpp" />
+    <ClCompile Include="src\api\RpcLibServerBase.cpp" />
+    <ClCompile Include="src\vehicles\multirotor\controllers\DroneControllerBase.cpp" />
     <ClCompile Include="src\safety\ObstacleMap.cpp" />
     <ClCompile Include="src\safety\SafetyEval.cpp" />
     <ClCompile Include="src\common\common_utils\FileSystem.cpp" />

diff --git a/AirLib/AirLib.vcxproj.filters b/AirLib/AirLib.vcxproj.filters
@@ -423,9 +423,6 @@
     <ClInclude Include="include\vehicles\multirotor\controllers\DroneControllerBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneControllerCancelable.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\controllers\MavLinkDroneController.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -456,6 +453,21 @@
     <ClInclude Include="include\api\RpcLibClientBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\DroneApi.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\VehicleApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\RpcLibServerBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\controllers\VehicleConnectorBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\controllers\RealMultirotorConnector.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">
@@ -479,10 +491,13 @@
     <ClCompile Include="src\vehicles\multirotor\api\MultirotorRpcLibClient.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\controllers\DroneControllerBase.cpp">
+    <ClCompile Include="src\api\RpcLibClientBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\api\RpcLibClientBase.cpp">
+    <ClCompile Include="src\api\RpcLibServerBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="src\vehicles\multirotor\controllers\DroneControllerBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>

diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -31,6 +31,7 @@ class RpcLibClientBase {
     void confirmConnection();
     bool isApiControlEnabled();
     void enableApiControl(bool is_enabled);
+    void reset();
 
     virtual ~RpcLibClientBase();    //required for pimpl
 

diff --git a/AirLib/include/api/RpcLibServerBase.hpp b/AirLib/include/api/RpcLibServerBase.hpp
@@ -0,0 +1,34 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef air_RpcLibServerBase_hpp
+#define air_RpcLibServerBase_hpp
+
+#include "common/Common.hpp"
+#include "api/ControlServerBase.hpp"
+#include "api/VehicleApiBase.hpp"
+
+
+namespace msr { namespace airlib {
+
+
+class RpcLibServerBase : public ControlServerBase {
+public:
+    RpcLibServerBase(VehicleApiBase* vehicle, string server_address, uint16_t port);
+    virtual void start(bool block = false) override;
+    virtual void stop() override;
+    virtual ~RpcLibServerBase() override;
+
+protected:
+    void* getServer();
+    VehicleApiBase* getVehicleApi();
+
+private:
+    VehicleApiBase* vehicle_;
+    struct impl;
+    std::unique_ptr<impl> pimpl_;
+};
+
+
+}} //namespace
+#endif
diff --git a/AirLib/include/api/VehicleApiBase.hpp b/AirLib/include/api/VehicleApiBase.hpp
@@ -0,0 +1,31 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef air_VehicleApiBase_hpp
+#define air_VehicleApiBase_hpp
+
+#include "common/CommonStructs.hpp"
+#include "controllers/VehicleCameraBase.hpp"
+
+namespace msr { namespace airlib {
+
+
+class VehicleApiBase {
+public:
+    virtual GeoPoint getHomeGeoPoint() = 0;
+    virtual void enableApiControl(bool is_enabled) = 0;
+    virtual bool isApiControlEnabled() = 0;
+    virtual void reset() = 0;
+
+    virtual vector<VehicleCameraBase::ImageResponse> simGetImages(const vector<VehicleCameraBase::ImageRequest>& request) = 0;
+    virtual vector<uint8_t> simGetImage(uint8_t camera_id, VehicleCameraBase::ImageType image_type) = 0;
+
+    virtual void simSetPose(const Pose& pose, bool ignore_collison) = 0;
+    virtual Pose simGetPose() = 0;
+
+    virtual ~VehicleApiBase() = default;
+};
+
+
+}} //namespace
+#endif
diff --git a/AirLib/include/controllers/VehicleCameraBase.hpp b/AirLib/include/controllers/VehicleCameraBase.hpp
@@ -8,56 +8,57 @@
 #include "common/common_utils/EnumFlags.hpp"
 
 namespace msr { namespace airlib {
-        // This is an abstraction for cameras associated with a vehicle.  Each camera has a unique id.
-        class VehicleCameraBase
-        {
-        public: //types
-            enum class ImageType : uint { //this indexes to array
-                Scene = 0, 
-                DepthPlanner, 
-                DepthPerspective,
-                DepthVis, 
-                DisparityNormalized,
-                Segmentation,
-                SurfaceNormals,
-                Count //must be last
-            };
 
-            struct ImageRequest {
-                uint8_t camera_id;
-                VehicleCameraBase::ImageType image_type;
-                bool pixels_as_float;
-                bool compress;
+// This is an abstraction for cameras associated with a vehicle.  Each camera has a unique id.
+class VehicleCameraBase
+{
+public: //types
+    enum class ImageType : uint { //this indexes to array
+        Scene = 0, 
+        DepthPlanner, 
+        DepthPerspective,
+        DepthVis, 
+        DisparityNormalized,
+        Segmentation,
+        SurfaceNormals,
+        Count //must be last
+    };
+
+    struct ImageRequest {
+        uint8_t camera_id;
+        VehicleCameraBase::ImageType image_type;
+        bool pixels_as_float;
+        bool compress;
 
-                ImageRequest()
-                {}
+        ImageRequest()
+        {}
 
-                ImageRequest(uint8_t camera_id_val, VehicleCameraBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
-                {
-                    camera_id = camera_id_val;
-                    image_type = image_type_val;
-                    pixels_as_float = pixels_as_float_val;
-                    compress = compress_val;
-                }
-            };
+        ImageRequest(uint8_t camera_id_val, VehicleCameraBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
+        {
+            camera_id = camera_id_val;
+            image_type = image_type_val;
+            pixels_as_float = pixels_as_float_val;
+            compress = compress_val;
+        }
+    };
 
-            struct ImageResponse {
-                vector<uint8_t> image_data_uint8;
-                vector<float> image_data_float;
+    struct ImageResponse {
+        vector<uint8_t> image_data_uint8;
+        vector<float> image_data_float;
 
-                Vector3r camera_position = Vector3r::Zero();
-                Quaternionr camera_orientation = Quaternionr::Identity();
-                TTimePoint time_stamp = 0;
-                std::string message;
-                bool pixels_as_float = false;
-                bool compress = true;
-                int width = 0, height = 0;
-                ImageType image_type;
-            };
+        Vector3r camera_position = Vector3r::Zero();
+        Quaternionr camera_orientation = Quaternionr::Identity();
+        TTimePoint time_stamp = 0;
+        std::string message;
+        bool pixels_as_float = false;
+        bool compress = true;
+        int width = 0, height = 0;
+        ImageType image_type;
+    };
 
-        public: //methods
-            virtual ImageResponse getImage(ImageType image_type, bool pixels_as_float, bool compress) = 0;
-        };
+public: //methods
+    virtual ImageResponse getImage(ImageType image_type, bool pixels_as_float, bool compress) = 0;
+};
 
 
 }} //namespace

diff --git a/AirLib/include/controllers/VehicleConnectorBase.hpp b/AirLib/include/controllers/VehicleConnectorBase.hpp
@@ -0,0 +1,35 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef air_VehicleConnectorBase_hpp
+#define air_VehicleConnectorBase_hpp
+
+#include "VehicleControllerBase.hpp"
+#include "VehicleCameraBase.hpp"
+#include "common/UpdatableObject.hpp"
+
+namespace msr { namespace airlib {
+
+class VehicleConnectorBase : public UpdatableObject
+{
+public:
+    //pure abstract methods in addition to UpdatableObject
+
+    //called when physics gets updated (must be fast, avoid rendering)
+    virtual void updateRenderedState() = 0;
+    //called when render changes are required
+    virtual void updateRendering(float dt) = 0;
+
+    //opens up channel to talk to vehicle via APIs
+    virtual void startApiServer() = 0;
+    virtual void stopApiServer() = 0;
+    virtual bool isApiServerStarted() = 0;
+    virtual VehicleControllerBase* getController() = 0;
+    virtual VehicleCameraBase* getCamera(unsigned int index) = 0;
+    virtual void setPose(const Pose& pose, bool ignore_collison) = 0;
+    virtual Pose getPose() = 0;
+};
+
+
+}} //namespace
+#endif
diff --git a/AirLib/include/vehicles/car/api/CarApiBase.hpp b/AirLib/include/vehicles/car/api/CarApiBase.hpp
@@ -7,10 +7,11 @@
 #include "controllers/VehicleCameraBase.hpp"
 #include "common/VectorMath.hpp"
 #include "common/CommonStructs.hpp"
+#include "api/VehicleApiBase.hpp"
 
 namespace msr { namespace airlib {
 
-class CarApiBase {
+class CarApiBase : public VehicleApiBase  {
 public:
     struct CarControls {
         float throttle = 0; /* 1 to -1 */
@@ -62,16 +63,8 @@ class CarApiBase {
         }
     };
 
-    virtual vector<VehicleCameraBase::ImageResponse> simGetImages(const vector<VehicleCameraBase::ImageRequest>& request) = 0;
-    virtual vector<uint8_t> simGetImage(uint8_t camera_id, VehicleCameraBase::ImageType image_type) = 0;
     virtual void setCarControls(const CarControls& controls) = 0;
     virtual CarState getCarState() = 0;
-    virtual GeoPoint getHomeGeoPoint() = 0;
-    virtual void enableApiControl(bool is_enabled) = 0;
-    virtual bool isApiControlEnabled() = 0;
-    virtual void reset() = 0;
-    virtual void simSetPose(const Pose& pose, bool ignore_collison) = 0;
-    virtual Pose simGetPose() = 0;
     virtual ~CarApiBase() = default;
 };
 

diff --git a/AirLib/include/vehicles/car/api/CarRpcLibServer.hpp b/AirLib/include/vehicles/car/api/CarRpcLibServer.hpp
@@ -6,22 +6,18 @@
 
 #include "common/Common.hpp"
 #include <functional>
-#include "api/ControlServerBase.hpp"
+#include "api/RpcLibServerBase.hpp"
 #include "vehicles/car/api/CarApiBase.hpp"
 
 namespace msr { namespace airlib {
 
-class CarRpcLibServer : public ControlServerBase {
+class CarRpcLibServer : public RpcLibServerBase {
 public:
     CarRpcLibServer(CarApiBase* vehicle, string server_address, uint16_t port = 42451);
-    virtual void start(bool block = false) override;
-    virtual void stop() override;
-    virtual ~CarRpcLibServer() override;
+    virtual ~CarRpcLibServer();
 
 private:
-    CarApiBase* vehicle_;
-    struct impl;
-    std::unique_ptr<impl> pimpl_;
+    CarApiBase* getCarApi();
 };
 
 }} //namespace