remove hardcoded 127.0.0.1 as this doesn't work well with docker

rmouli · Jun 28, 2017 · 8df7dc7 · 8df7dc7
1 parent ea8bc43
commit 8df7dc7
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Showing 6 changed files with 45 additions and 9 deletions.
diff --git a/AirLib/include/rpc/RpcLibClient.hpp b/AirLib/include/rpc/RpcLibClient.hpp
@@ -15,7 +15,12 @@ namespace msr { namespace airlib {
 
 class RpcLibClient {
 public:
-    RpcLibClient(const string& ip_address = "127.0.0.1", uint16_t port = 41451);
+    enum class ConnectionState {
+        Initial, Connected, Disconnected, Reset, Unknown
+    };
+public:
+    RpcLibClient(const string& ip_address = "localhost", uint16_t port = 41451);
+    ConnectionState getConnectionState();
     bool ping();
     bool armDisarm(bool arm);
     void setOffboardMode(bool is_set);

diff --git a/AirLib/src/rpc/RpcLibClient.cpp b/AirLib/src/rpc/RpcLibClient.cpp
@@ -54,6 +54,17 @@ bool RpcLibClient::ping()
 {
     return pimpl_->client.call("ping").as<bool>();
 }
+RpcLibClient::ConnectionState RpcLibClient::getConnectionState()
+{
+    switch (pimpl_->client.get_connection_state()) {
+    case rpc::client::connection_state::connected: return ConnectionState::Connected;
+    case rpc::client::connection_state::disconnected: return ConnectionState::Disconnected;
+    case rpc::client::connection_state::initial: return ConnectionState::Initial;
+    case rpc::client::connection_state::reset: return ConnectionState::Reset;
+    default:
+        return ConnectionState::Unknown;
+    }
+}
 bool RpcLibClient::armDisarm(bool arm)
 {
     return pimpl_->client.call("armDisarm", arm).as<bool>();

diff --git a/AirLib/src/rpc/RpcLibServer.cpp b/AirLib/src/rpc/RpcLibServer.cpp
@@ -29,6 +29,10 @@ struct RpcLibServer::impl {
         : server(server_address, port)
     {}
 
+    impl(uint16_t port)
+        : server(port)
+    {}
+
     ~impl() {
     }
 
@@ -40,7 +44,10 @@ typedef msr::airlib_rpclib::RpcLibAdapators RpcLibAdapators;
 RpcLibServer::RpcLibServer(DroneControllerCancelable* drone, string server_address, uint16_t port)
         : drone_(drone)
 {
-    pimpl_.reset(new impl(server_address, port));
+    if (server_address == "")
+        pimpl_.reset(new impl(port));
+    else
+        pimpl_.reset(new impl(server_address, port));
     pimpl_->server.bind("ping", [&]() -> bool { return true; });
     pimpl_->server.bind("armDisarm", [&](bool arm) -> bool { return drone_->armDisarm(arm); });
     pimpl_->server.bind("setOffboardMode", [&](bool is_set) -> void { drone_->setOffboardMode(is_set); });

diff --git a/DroneShell/src/main.cpp b/DroneShell/src/main.cpp
@@ -27,7 +27,7 @@ using namespace common_utils;
 
 struct CommandContext {
 public:
-    CommandContext(const std::string& server_address = "127.0.0.1")
+    CommandContext(const std::string& server_address = "localhost")
         : client(server_address)
     {
     }
@@ -1312,25 +1312,32 @@ int main(int argc, const char *argv[]) {
     shell.showMessage(R"(
         Welcome to DroneShell 1.0.
         Type ? for help.
-        Microsoft Research (c) 2016.
+        Microsoft Research (c) 2017.
     )");
 
     // make sure we can talk to the DroneServer
     //std::cout << "Contacting DroneServer..." << std::flush;
     //command_context.client.ping();
     //std::cout << "DroneServer is responding." << std::endl;
+
+    std::cout << "Waiting for connection--" << std::flush;
+    const TTimeDelta pause_time = 1;
+    while (command_context.client.getConnectionState() != RpcLibClient::ConnectionState::Connected)
+    {
+        std::cout << "X" << std::flush;
+        command_context.sleep_for(pause_time); 
+    }
+    std::cout << "Connected!" << std::endl;
 
 	std::cout << "Waiting for drone to report a valid GPS location..." << std::flush;
-	const TTimeDelta pause_time = 1;
-
 	auto gps = command_context.client.getGpsLocation();
-	while (gps.latitude == 0 && gps.longitude == 0 && gps.altitude == 0)
+    int count = 0;
+	while (gps.latitude == 0 && gps.longitude == 0 && gps.altitude == 0 && count++ < 10)
 	{
 		std::cout << "." << std::flush;
         command_context.sleep_for(pause_time); 
 		gps = command_context.client.getGpsLocation();
 	}
-
 	std::cout << std::endl;
     std::cout << "Global position: lat=" << gps.latitude << ", lon=" << gps.longitude << ", alt=" << gps.altitude << std::endl;
 

diff --git a/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
@@ -207,7 +207,10 @@ void MultiRotorConnector::startApiServer()
             vehicle_.getController()));
         rpclib_server_.reset(new msr::airlib::RpcLibServer(controller_cancelable_.get(), api_server_address_));
         rpclib_server_->start();
+        UAirBlueprintLib::LogMessageString("API server started at ", api_server_address_, LogDebugLevel::Informational);
     }
+    else
+        UAirBlueprintLib::LogMessageString("API server is disabled in settings", "", LogDebugLevel::Informational);
 
 }
 void MultiRotorConnector::stopApiServer()

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -33,7 +33,10 @@ void ASimModeBase::BeginPlay()
 
     Settings& settings = Settings::singleton();
     enable_rpc = settings.getBool("RpcEnabled", true);
-    api_server_address = settings.getString("LocalHostIp", "127.0.0.1");
+    //by default we spawn server at local endpoint. Do not use 127.0.0.1 as default below
+    //because for docker container default is 0.0.0.0 and people get really confused why things
+    //don't work
+    api_server_address = settings.getString("LocalHostIp", "");
     is_record_ui_visible = settings.getBool("RecordUIVisible", true);
 
     std::string view_mode_string = settings.getString("ViewMode", "FlyWithMe");