API framework refactoring, Part 1: pawn wrapper provides API

qoo · Apr 24, 2018 · 9850a08 · 9850a08
1 parent 57de2f2
commit 9850a08
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Showing 18 changed files with 106 additions and 17 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -27,6 +27,7 @@
     <ClInclude Include="include\api\RpcLibClientBase.hpp" />
     <ClInclude Include="include\api\RpcLibServerBase.hpp" />
     <ClInclude Include="include\api\VehicleApiBase.hpp" />
+    <ClInclude Include="include\api\WorldApiBase.hpp" />
     <ClInclude Include="include\common\AirSimSettings.hpp" />
     <ClInclude Include="include\common\ClockBase.hpp" />
     <ClInclude Include="include\common\Common.hpp" />

diff --git a/AirLib/AirLib.vcxproj.filters b/AirLib/AirLib.vcxproj.filters
@@ -489,6 +489,9 @@
     <ClInclude Include="include\common\EarthCelestial.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\api\WorldApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

diff --git a/AirLib/include/api/SimModeApiBase.hpp b/AirLib/include/api/SimModeApiBase.hpp
@@ -0,0 +1,21 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef air_SimModeApiBase_hpp
+#define air_SimModeApiBase_hpp
+
+#include "common/CommonStructs.hpp"
+#include "VehicleApiBase.hpp"
+
+namespace msr { namespace airlib {
+
+
+class SimModeApiBase {
+public:
+    virtual VehicleApiBase* getVehicleApi() = 0;
+    virtual ~SimModeApiBase() = default;
+};
+
+
+}} //namespace
+#endif
diff --git a/PythonClient/PythonClient.pyproj b/PythonClient/PythonClient.pyproj
@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>hello_car.py</StartupFile>
+    <StartupFile>hello_drone.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>

diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp b/Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp
@@ -217,22 +217,27 @@ void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_se
 void ACarPawn::reset(bool disable_api_control)
 {
     keyboard_controls_ = joystick_controls_ = CarPawnApi::CarControls();
-    api_->reset();
+    wrapper_->setApi(std::unique_ptr<msr::airlib::CarApiBase>());
 
     if (disable_api_control)
-        api_->enableApiControl(false);
+        getApi()->enableApiControl(false);
+}
+
+msr::airlib::CarApiBase* ACarPawn::getApi() const
+{
+    return static_cast<msr::airlib::CarApiBase*>(wrapper_->getApi());
 }
 
 void ACarPawn::startApiServer(bool enable_rpc, const std::string& api_server_address)
 {
     if (enable_rpc) {
-        api_.reset(new CarPawnApi(getVehiclePawnWrapper(), this->GetVehicleMovement()));
-
+        wrapper_->setApi(std::unique_ptr<msr::airlib::CarApiBase>(
+            new CarPawnApi(getVehiclePawnWrapper(), this->GetVehicleMovement())));
 
 #ifdef AIRLIB_NO_RPC
         rpclib_server_.reset(new msr::airlib::DebugApiServer());
 #else
-        rpclib_server_.reset(new msr::airlib::CarRpcLibServer(api_.get(), api_server_address));
+        rpclib_server_.reset(new msr::airlib::CarRpcLibServer(getApi(), api_server_address));
 #endif
 
         rpclib_server_->start();
@@ -248,7 +253,7 @@ void ACarPawn::stopApiServer()
     if (rpclib_server_ != nullptr) {
         rpclib_server_->stop();
         rpclib_server_.reset(nullptr);
-        api_.reset(nullptr);
+        wrapper_->setApi(std::unique_ptr<msr::airlib::CarApiBase>());
     }
 }
 
@@ -451,13 +456,13 @@ void ACarPawn::updateCarControls()
     }
 
     //if API-client control is not active then we route keyboard/jostick control to car
-    if (!api_->isApiControlEnabled()) {
+    if (! getApi()->isApiControlEnabled()) {
         //all car controls from anywhere must be routed through API component
-        api_->setCarControls(current_controls_);
+        getApi()->setCarControls(current_controls_);
     }
     else {
         UAirBlueprintLib::LogMessageString("Control Mode: ", "API", LogDebugLevel::Informational);
-        current_controls_ = api_->getCarControls();
+        current_controls_ = getApi()->getCarControls();
     }
     UAirBlueprintLib::LogMessageString("Accel: ", std::to_string(current_controls_.throttle), LogDebugLevel::Informational);
     UAirBlueprintLib::LogMessageString("Break: ", std::to_string(current_controls_.brake), LogDebugLevel::Informational);

diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawn.h b/Unreal/Plugins/AirSim/Source/Car/CarPawn.h
@@ -133,6 +133,7 @@ class ACarPawn : public AWheeledVehicle
 
     std::string getLogString();
     void setupVehicleMovementComponent();
+    msr::airlib::CarApiBase* getApi() const;
 
 
 private:
@@ -141,7 +142,6 @@ class ACarPawn : public AWheeledVehicle
     UClass* pip_camera_class_;
 
     std::unique_ptr<msr::airlib::CarRpcLibServer> rpclib_server_;
-    std::unique_ptr<msr::airlib::CarApiBase> api_;
     std::unique_ptr<VehiclePawnWrapper> wrapper_;
     msr::airlib::Kinematics::State kinematics_;
 

diff --git a/Unreal/Plugins/AirSim/Source/Car/SimModeCar.h b/Unreal/Plugins/AirSim/Source/Car/SimModeCar.h
@@ -28,6 +28,7 @@ class AIRSIM_API ASimModeCar : public ASimModeBase
     virtual void reset() override;
     virtual std::string getReport() override;
 
+
 private:
     void setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles);
     void updateReport();

diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp
@@ -327,16 +327,22 @@ void MultiRotorConnector::setCameraOrientation(int camera_id, const Quaternionr&
     }, true);
 }
 
+msr::airlib::MultirotorApi* MultiRotorConnector::getApi() const
+{
+    return static_cast<msr::airlib::MultirotorApi*>(vehicle_pawn_wrapper_->getApi());
+}
+
 void MultiRotorConnector::startApiServer()
 {
     if (enable_rpc_) {
-        controller_cancelable_.reset(new msr::airlib::MultirotorApi(this));
+        vehicle_pawn_wrapper_->setApi(
+            std::unique_ptr<msr::airlib::VehicleApiBase>(new msr::airlib::MultirotorApi(this)));
 
 #ifdef AIRLIB_NO_RPC
     rpclib_server_.reset(new msr::airlib::DebugApiServer());
 #else
     rpclib_server_.reset(new msr::airlib::MultirotorRpcLibServer(
-        controller_cancelable_.get(), api_server_address_, api_server_port_));
+        getApi(), api_server_address_, api_server_port_));
 #endif
 
         rpclib_server_->start();
@@ -350,10 +356,10 @@ void MultiRotorConnector::startApiServer()
 void MultiRotorConnector::stopApiServer()
 {
     if (rpclib_server_ != nullptr) {
-        controller_cancelable_->cancelAllTasks();
+        getApi()->cancelAllTasks();
         rpclib_server_->stop();
         rpclib_server_.reset(nullptr);
-        controller_cancelable_.reset(nullptr);
+        vehicle_pawn_wrapper_->setApi(std::unique_ptr<msr::airlib::VehicleApiBase>());
     }
 }
 

diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h
@@ -73,6 +73,7 @@ class MultiRotorConnector : public msr::airlib::VehicleConnectorBase
     void detectUsbRc();
     const msr::airlib::RCData& getRCData();  
     void resetPrivate();
+    msr::airlib::MultirotorApi* getApi() const;
 
 private:
     MultiRotor vehicle_;
@@ -81,7 +82,6 @@ class MultiRotorConnector : public msr::airlib::VehicleConnectorBase
     VehiclePawnWrapper* vehicle_pawn_wrapper_;
 
     msr::airlib::MultiRotorParams* vehicle_params_;
-    std::unique_ptr<msr::airlib::MultirotorApi> controller_cancelable_;
     std::unique_ptr<msr::airlib::ControlServerBase> rpclib_server_;
 
     struct RotorInfo {

diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.cpp
@@ -93,6 +93,7 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
         }
     }
 
+
     //find all vehicle pawns
     {
         TArray<AActor*> pawns;
@@ -143,6 +144,7 @@ void ASimModeWorldMultiRotor::setupVehiclesAndCamera(std::vector<VehiclePtr>& ve
     CameraDirector->initializeForBeginPlay(getInitialViewMode(), fpv_vehicle_pawn_wrapper_, external_camera);
 }
 
+
 void ASimModeWorldMultiRotor::Tick(float DeltaSeconds)
 {
     Super::Tick(DeltaSeconds);

diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.h b/Unreal/Plugins/AirSim/Source/Multirotor/SimModeWorldMultiRotor.h
@@ -23,6 +23,7 @@ class AIRSIM_API ASimModeWorldMultiRotor : public ASimModeWorldBase
     VehiclePawnWrapper* getFpvVehiclePawnWrapper() const override;
     std::string getLogString() const;
 
+
 protected:
     typedef AFlyingPawn TMultiRotorPawn;
 

diff --git a/Unreal/Plugins/AirSim/Source/SimJoyStick/DirectInputJoyStick.cpp b/Unreal/Plugins/AirSim/Source/SimJoyStick/DirectInputJoyStick.cpp
@@ -14,7 +14,7 @@
 #pragma warning(pop)
 
 #include <dinputd.h>
-#include "UnrealMathUtility.h
+#include "UnrealMathUtility.h"
 
 // Stuff to filter out XInput devices
 #ifndef FALSE

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeApi.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeApi.cpp
@@ -0,0 +1,11 @@
+#include "SimModeApi.h"
+
+SimModeApi::SimModeApi(ASimModeBase* simmode)
+    : simmode_(simmode)
+{
+}
+
+msr::airlib::VehicleApiBase* SimModeApi::getVehicleApi()
+{
+    return simmode_->getVehicleApi();
+}
diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeApi.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeApi.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include "api/SimModeApiBase.hpp"
+#include "SimMode/SimModeBase.h"
+
+class SimModeApi : msr::airlib::SimModeApiBase  {
+public:
+    SimModeApi(ASimModeBase* simmode);
+    virtual msr::airlib::VehicleApiBase* getVehicleApi() override;
+
+private:
+    ASimModeBase* simmode_;
+};
diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -63,6 +63,7 @@ void ASimModeBase::EndPlay(const EEndPlayReason::Type EndPlayReason)
     Super::EndPlay(EndPlayReason);
 }
 
+
 void ASimModeBase::setupTimeOfDay()
 {
     sky_sphere_ = nullptr;
@@ -101,6 +102,14 @@ void ASimModeBase::setupTimeOfDay()
     //else ignore
 }
 
+msr::airlib::VehicleApiBase* ASimModeBase::getVehicleApi() const
+{
+    auto fpv_vehicle = getFpvVehiclePawnWrapper();
+    if (fpv_vehicle)
+        return fpv_vehicle->getApi();
+    else
+        return nullptr;
+}
 
 void ASimModeBase::setupClockSpeed()
 {

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
@@ -47,6 +47,7 @@ class AIRSIM_API ASimModeBase : public AActor
     //must be implemented by derived class
     //can't use pure virtual because of restriction with Unreal
     virtual VehiclePawnWrapper* getFpvVehiclePawnWrapper() const;
+    virtual msr::airlib::VehicleApiBase* getVehicleApi() const;
 
 
 protected:

diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
@@ -97,6 +97,16 @@ void VehiclePawnWrapper::setKinematics(const msr::airlib::Kinematics::State* kin
     kinematics_ = kinematics;
 }
 
+msr::airlib::VehicleApiBase* VehiclePawnWrapper::getApi() const
+{
+    return api_.get();
+}
+
+void VehiclePawnWrapper::setApi(std::unique_ptr<msr::airlib::VehicleApiBase> api)
+{
+    api_ = std::move(api);
+}
+
 void VehiclePawnWrapper::getRawVehicleSettings(msr::airlib::Settings& settings) const
 {
     typedef msr::airlib::AirSimSettings AirSimSettings;

diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h
@@ -9,6 +9,7 @@
 #include "PIPCamera.h"
 #include "physics/Kinematics.hpp"
 #include "NedTransform.h"
+#include "api/VehicleApiBase.hpp"
 #include "GameFramework/Pawn.h"
 
 class VehiclePawnWrapper
@@ -94,6 +95,9 @@ class VehiclePawnWrapper
 
     void possess();
 
+    msr::airlib::VehicleApiBase* getApi() const;
+    void setApi(std::unique_ptr<msr::airlib::VehicleApiBase> api);
+
 protected:
     UPROPERTY(VisibleAnywhere)
         UParticleSystem* collision_display_template;
@@ -120,6 +124,7 @@ class VehiclePawnWrapper
     std::string log_line_;
     WrapperConfig config_;
     NedTransform ned_transform_;
+    std::unique_ptr<msr::airlib::VehicleApiBase> api_;
 
     struct State {
         FVector start_location;