Bug fixes for connecting remote drone shell.

rmouli · Feb 17, 2017 · 7eee3d4 · 7eee3d4
1 parent 7c0bb3f
commit 7eee3d4
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Showing 4 changed files with 10 additions and 8 deletions.
diff --git a/AirLib/src/control/MavLinkHelper.cpp b/AirLib/src/control/MavLinkHelper.cpp
@@ -175,7 +175,8 @@ struct MavLinkHelper::impl {
         if (LogViewerHostIp.size() > 0) {
             logviewer_proxy_ = createProxy("LogViewer", LogViewerHostIp, LogViewerPort);
             if (!sendTestMessage(logviewer_proxy_)) {
-                // error talking to log viewer, so don't keep trying!
+                // error talking to log viewer, so don't keep trying, and close the connection also.
+                logviewer_proxy_->getConnection()->close();
                 logviewer_proxy_ = nullptr;
             }
         }
@@ -187,7 +188,8 @@ struct MavLinkHelper::impl {
         if (QgcHostIp.size() > 0) {
             qgc_proxy_ = createProxy("QGC", QgcHostIp, QgcPort);
             if (!sendTestMessage(qgc_proxy_)) {
-                // error talking to QGC, so don't keep trying!
+                // error talking to QGC, so don't keep trying, and close the connection also.
+                qgc_proxy_->getConnection()->close();
                 qgc_proxy_ = nullptr;
             }
         }
@@ -213,7 +215,7 @@ struct MavLinkHelper::impl {
 
         // it is ok to reuse the simulator sysid and compid here because this node is only used to send a few messages directly to this endpoint
         // and all other messages are funnelled through from PX4 via the Join method below.
-        auto node = std::make_shared<MavLinkNode>(SimSysID, SimCompID); //TODO: use -1 to autoset sys id on first heartbeat)
+        auto node = std::make_shared<MavLinkNode>(SimSysID, SimCompID);
         node->connect(connection);
 
         // now join the main connection to this one, this causes all PX4 messages to be sent to the proxy and all messages from the proxy will be
@@ -273,7 +275,7 @@ struct MavLinkHelper::impl {
     {
         close();
         connection_ = MavLinkConnection::connectLocalUdp("hil", ip, port);
-        main_node_ = std::make_shared<MavLinkNode>(SimSysID, SimCompID); //TODO: use -1 to autoset sys id on first heartbeat
+        main_node_ = std::make_shared<MavLinkNode>(SimSysID, SimCompID); 
         main_node_->connect(connection_);
     }
 
@@ -287,7 +289,7 @@ struct MavLinkHelper::impl {
         }
 
         connection_ = MavLinkConnection::connectSerial("hil", port_name_auto, baud_rate);
-        main_node_ = std::make_shared<MavLinkNode>(SimSysID, SimCompID); //TODO: use -1 to autoset sys id on first heartbeat
+        main_node_ = std::make_shared<MavLinkNode>(SimSysID, SimCompID);
         main_node_->connect(connection_);
     }
 

diff --git a/AirLib/src/control/RpcLibServer.cpp b/AirLib/src/control/RpcLibServer.cpp
@@ -41,7 +41,6 @@ RpcLibServer::RpcLibServer(DroneControlServer* drone, string server_address, uin
     pimpl_->server.bind("armDisarm", [&](bool arm) -> bool { return drone_->armDisarm(arm); });
     pimpl_->server.bind("requestControl", [&]() -> bool { return drone_->requestControl(); });
     pimpl_->server.bind("releaseControl", [&]() -> bool { return drone_->releaseControl(); });
-    pimpl_->server.bind("releaseControl", [&]() -> bool { return drone_->releaseControl(); });
     pimpl_->server.bind("takeoff", [&](float max_wait_seconds) -> bool { return drone_->takeoff(max_wait_seconds); });
     pimpl_->server.bind("land", [&]() -> bool { return drone_->land(); });
     pimpl_->server.bind("goHome", [&]() -> bool { return drone_->goHome(); });

diff --git a/DroneServer/main.cpp b/DroneServer/main.cpp
@@ -37,6 +37,7 @@ bool parseCommandLine(int argc, const char* argv[])
 
 void printUsage() {
     cout << "Usage: DroneServer [-ipaddress 127.0.0.1]" << endl;
+    cout << "The optional ipaddress argument specifies the RPC local IP address to use." << endl;
 }
 
 int main(int argc, const char* argv[])
@@ -47,7 +48,6 @@ int main(int argc, const char* argv[])
     }
 
     MavLinkDroneControl::Parameters params;
-    params.udpAddress = server_address;
     MavLinkDroneControl mav(params);
     DroneControlServer server_wrapper(&mav);
     msr::airlib::RpcLibServer server(&server_wrapper, server_address);

diff --git a/Unreal/Plugins/AirSim/Source/SimModeWorldMultiRotor.cpp b/Unreal/Plugins/AirSim/Source/SimModeWorldMultiRotor.cpp
@@ -14,7 +14,8 @@ void ASimModeWorldMultiRotor::BeginPlay()
     if (fpv_vehicle_ != nullptr) {
         //create its control server
         drone_control_server_.reset(new msr::airlib::DroneControlServer(fpv_vehicle_->createOrGetDroneControl()));
-        rpclib_server_.reset(new msr::airlib::RpcLibServer(drone_control_server_.get()));
+        std::string server_address = Settings::singleton().getString("LocalHostIp", "127.0.0.1");
+        rpclib_server_.reset(new msr::airlib::RpcLibServer(drone_control_server_.get(), server_address));
         rpclib_server_->start();
     }
 }