Intermediate update for API refactoring

CodexLabsLLC · May 21, 2018 · e42870a · e42870a
1 parent 4955485
commit e42870a
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Showing 56 changed files with 2,212 additions and 2,563 deletions.
diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
@@ -27,10 +27,12 @@
     <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp" />
     <ClInclude Include="include\api\RpcLibClientBase.hpp" />
     <ClInclude Include="include\api\RpcLibServerBase.hpp" />
-    <ClInclude Include="include\api\SimModeApiBase.hpp" />
+    <ClInclude Include="include\api\WorldSimApiBase.hpp" />
     <ClInclude Include="include\api\VehicleApiBase.hpp" />
+    <ClInclude Include="include\api\VehicleSimApiBase.hpp" />
     <ClInclude Include="include\api\WorldApiBase.hpp" />
     <ClInclude Include="include\common\AirSimSettings.hpp" />
+    <ClInclude Include="include\common\CancelToken.hpp" />
     <ClInclude Include="include\common\ClockBase.hpp" />
     <ClInclude Include="include\common\Common.hpp" />
     <ClInclude Include="include\common\CommonStructs.hpp" />
@@ -53,7 +55,7 @@
     <ClInclude Include="include\common\common_utils\Timer.hpp" />
     <ClInclude Include="include\common\common_utils\type_utils.hpp" />
     <ClInclude Include="include\common\common_utils\Utils.hpp" />
-    <ClInclude Include="include\common\common_utils\WorkerThread.hpp" />
+    <ClInclude Include="include\common\WorkerThread.hpp" />
     <ClInclude Include="include\common\EarthCelestial.hpp" />
     <ClInclude Include="include\common\SteppableClock.hpp" />
     <ClInclude Include="include\common\DelayLine.hpp" />
@@ -71,13 +73,14 @@
     <ClInclude Include="include\common\VectorMath.hpp" />
     <ClInclude Include="include\common\common_utils\AsyncTasker.hpp" />
     <ClInclude Include="include\common\ImageCaptureBase.hpp" />
-    <ClInclude Include="include\controllers\VehicleConnectorBase.hpp" />
+    <ClInclude Include="include\api\VehicleConnectorBase.hpp" />
     <ClInclude Include="include\sensors\SensorFactory.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.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\api\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" />
@@ -137,20 +140,17 @@
     <ClInclude Include="include\physics\PhysicsBodyWorld.hpp" />
     <ClInclude Include="include\physics\PhysicsWorld.hpp" />
     <ClInclude Include="include\safety\CubeGeoFence.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneCommon.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneControllerBase.hpp" />
     <ClInclude Include="include\safety\IGeoFence.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\controllers\MavLinkDroneController.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\api\MavLinkMultirotorApi.hpp" />
     <ClInclude Include="include\safety\ObstacleMap.hpp" />
-    <ClInclude Include="include\controllers\PidController.hpp" />
+    <ClInclude Include="include\common\PidController.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarRpcLibAdapators.hpp" />
     <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\api\MultirotorApi.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.h" />
     <ClInclude Include="include\common\Settings.hpp" />
     <ClInclude Include="include\safety\SphereGeoFence.hpp" />
-    <ClInclude Include="include\controllers\VehicleControllerBase.hpp" />
     <ClInclude Include="include\common\Waiter.hpp" />
     <ClInclude Include="include\physics\Environment.hpp" />
     <ClInclude Include="include\physics\FastPhysicsEngine.hpp" />
@@ -174,7 +174,6 @@
     <ClInclude Include="include\sensors\SensorBase.hpp" />
     <ClInclude Include="include\sensors\SensorCollection.hpp" />
     <ClInclude Include="include\vehicles\multirotor\configs\Px4MultiRotor.hpp" />
-    <ClInclude Include="include\controllers\ControllerBase.hpp" />
     <ClInclude Include="include\vehicles\multirotor\configs\RosFlightQuadX.hpp" />
     <ClInclude Include="include\vehicles\multirotor\configs\SimpleFlightQuadX.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp" />
@@ -186,7 +185,7 @@
   <ItemGroup>
     <ClCompile Include="src\api\RpcLibClientBase.cpp" />
     <ClCompile Include="src\api\RpcLibServerBase.cpp" />
-    <ClCompile Include="src\vehicles\multirotor\controllers\DroneControllerBase.cpp" />
+    <ClCompile Include="src\vehicles\multirotor\controllers\MultirotorControllerApiBase.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
@@ -165,15 +165,6 @@
     <ClInclude Include="include\common\common_utils\StrictMode.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\controllers\ControllerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\controllers\PidController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\controllers\VehicleControllerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\safety\CubeGeoFence.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -204,9 +195,6 @@
     <ClInclude Include="include\common\common_utils\Timer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\common\common_utils\WorkerThread.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\physics\DebugPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -405,15 +393,6 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightDroneController.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneCommon.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\controllers\DroneControllerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\controllers\MavLinkDroneController.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\vehicles\car\api\CarRpcLibAdapators.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -441,21 +420,9 @@
     <ClInclude Include="include\api\RpcLibClientBase.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>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApi.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\common\AirSimSettings.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -489,10 +456,40 @@
     <ClInclude Include="include\api\WorldApiBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\SimModeApiBase.hpp">
+    <ClInclude Include="include\api\ApiServerBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\ApiServerBase.hpp">
+    <ClInclude Include="include\api\VehicleSimApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\WorldSimApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorCommon.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\common\CancelToken.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\common\WorkerThread.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\VehicleApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\MavLinkMultirotorApi.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\RealMultirotorConnector.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\VehicleConnectorBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\common\PidController.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
@@ -524,7 +521,7 @@
     <ClCompile Include="src\api\RpcLibServerBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="src\vehicles\multirotor\controllers\DroneControllerBase.cpp">
+    <ClCompile Include="src\vehicles\multirotor\controllers\MultirotorControllerApiBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>

diff --git a/AirLib/include/api/ApiServerBase.hpp b/AirLib/include/api/ApiServerBase.hpp
@@ -4,16 +4,42 @@
 #ifndef air_ApiServerBase_hpp
 #define air_ApiServerBase_hpp
 
-#include "common/Common.hpp"
 #include <functional>
-
+#include "common/Common.hpp"
+#include "VehicleApiBase.hpp"
+#include "WorldSimApiBase.hpp"
 
 namespace msr { namespace airlib {
 
 class ApiServerBase {
 public:
     virtual void start(bool block = false) = 0;
     virtual void stop() = 0;
+
+    virtual const VehicleApiBase* getVehicleApi(const std::string& vehicle_name = "") const = 0;
+    virtual VehicleApiBase* getVehicleApi(const std::string& vehicle_name = "")
+    {
+        return const_cast<VehicleApiBase*>(getVehicleApi(vehicle_name));
+    }
+
+    virtual const WorldSimApiBase* getWorldSimApi() const = 0;
+    virtual WorldSimApiBase* getWorldSimApi()
+    {
+        return const_cast<WorldSimApiBase*>(getWorldSimApi());
+    }
+
+    virtual const VehicleSimApiBase* getVehicleSimApi(const std::string& vehicle_name = "") const = 0;
+    virtual VehicleSimApiBase* getVehicleSimApi(const std::string& vehicle_name = "")
+    {
+        auto* world_sim_api = getWorldSimApi();
+        if (world_sim_api) {
+            auto* vehicle_sim_api = getWorldSimApi()->getVehicleSimApi(vehicle_name);
+            return const_cast<VehicleSimApiBase*>(vehicle_sim_api);
+        }
+        return nullptr;
+    }
+
+
     virtual ~ApiServerBase() = default;
 };
 

diff --git a/AirLib/include/api/DebugApiServer.hpp b/AirLib/include/api/DebugApiServer.hpp
@@ -19,6 +19,20 @@ namespace msr { namespace airlib {
         {
             common_utils::Utils::log("Debug server stopped");
         }
+
+        virtual const VehicleApiBase* getVehicleApi() const
+        {
+            //not supported
+            return nullptr;
+        }
+
+        virtual const WorldSimApiBase* getWorldSimApi() const
+        {
+            //not supported
+            return nullptr;
+        }
+
+
         virtual ~DebugApiServer() = default;
     };
 

diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -11,52 +11,59 @@
 
 namespace msr { namespace airlib {
 
+//common methods for RCP clients of different vehicles
 class RpcLibClientBase {
 public:
     enum class ConnectionState : uint {
         Initial = 0, Connected, Disconnected, Reset, Unknown
     };
 public:
     RpcLibClientBase(const string& ip_address = "localhost", uint16_t port = 41451, uint timeout_ms = 60000);
+    virtual ~RpcLibClientBase();    //required for pimpl
+
+    void confirmConnection();
+    bool isApiControlEnabled() const;
+    void enableApiControl(bool is_enabled);
+    void resetVehicle();
+    void simResetWorld();
+    bool armDisarm(bool arm);
+
     ConnectionState getConnectionState();
     bool ping();
     int getClientVersion() const;
     int getServerVersion() const;
     int getMinRequiredServerVersion() const;
     int getMinRequiredClientVersion() const;
 
+    bool simIsPaused() const;
+    void simPause(bool is_paused);
+    void simContinueForTime(double seconds);
 
-    vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request);
-    vector<uint8_t> simGetImage(int camera_id, ImageCaptureBase::ImageType type);
-    msr::airlib::GeoPoint getHomeGeoPoint();
+    msr::airlib::GeoPoint getHomeGeoPoint() const;
 
-    void simSetPose(const Pose& pose, bool ignore_collision);
-    Pose simGetPose();
+    Pose simGetVehiclePose() const;
+    void simSetVehiclePose(const Pose& pose, bool ignore_collision);
+    Pose simGetObjectPose(const std::string& object_name) const;
 
-    void confirmConnection();
-    bool isApiControlEnabled();
-    void enableApiControl(bool is_enabled);
-    void reset();
-    bool armDisarm(bool arm);
+    vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request);
+    vector<uint8_t> simGetImage(int camera_id, ImageCaptureBase::ImageType type);
 
-    CollisionInfo getCollisionInfo();
+    CollisionInfo simGetCollisionInfo() const;
 
     bool simSetSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false);
-    int simGetSegmentationObjectID(const std::string& mesh_name);
+    int simGetSegmentationObjectID(const std::string& mesh_name) const;
     void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
-    Pose simGetObjectPose(const std::string& object_name);
-    CameraInfo getCameraInfo(int camera_id);
+    CameraInfo getCameraInfo(int camera_id) const;
     void setCameraOrientation(int camera_id, const Quaternionr& orientation);
 
-    bool simIsPaused();
-    void simPause(bool is_paused);
-    void simContinueForTime(double seconds);
-
-    virtual ~RpcLibClientBase();    //required for pimpl
 
 protected:
-    void* getClient();
+    const void* getClient() const;
+    void* getClient()
+    {
+        return const_cast<void*>(getClient());
+    }
 
 private:
     struct impl;

diff --git a/AirLib/include/api/RpcLibServerBase.hpp b/AirLib/include/api/RpcLibServerBase.hpp
@@ -6,28 +6,24 @@
 
 #include "common/Common.hpp"
 #include "api/ApiServerBase.hpp"
-#include "api/SimModeApiBase.hpp"
+#include "api/WorldSimApiBase.hpp"
 
 
 namespace msr { namespace airlib {
 
 
 class RpcLibServerBase : public ApiServerBase {
 public:
-    RpcLibServerBase(SimModeApiBase* simmode_api, string server_address, uint16_t port);
+    RpcLibServerBase(const std::string& server_address, uint16_t port);
+    virtual ~RpcLibServerBase() override;
+
     virtual void start(bool block = false) override;
     virtual void stop() override;
-    virtual ~RpcLibServerBase() override;
 
 protected:
     void* getServer() const;
-    SimModeApiBase* getSimModeApi() const;
-
-private:
-    VehicleApiBase* getVehicleApi() const;
 
 private:
-    SimModeApiBase* simmode_api_;
     struct impl;
     std::unique_ptr<impl> pimpl_;
 };