Add simSetWind API

microsoft · Jul 21, 2020 · 578fff0 · 578fff0
1 parent 82cf932
commit 578fff0
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Showing 11 changed files with 42 additions and 3 deletions.
diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -106,6 +106,8 @@ class RpcLibClientBase {
 
 	std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
 
+    void simSetWind(const Vector3r& wind) const;
+
 protected:
     void* getClient();
     const void* getClient() const;

diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -58,6 +58,8 @@ class WorldSimApiBase {
 
 	virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
     virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
+
+    virtual void setWind(const Vector3r& wind) const = 0;
 };
 
 

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -399,6 +399,12 @@ RpcLibClientBase* RpcLibClientBase::waitOnLastTask(bool* task_result, float time
     return this;
 }
 
+void RpcLibClientBase::simSetWind(const Vector3r& wind) const
+{
+    RpcLibAdapatorsBase::Vector3r conv_wind(wind);
+    pimpl_->client.call("simSetWind", conv_wind);
+}
+
 void* RpcLibClientBase::getClient()
 {
     return &pimpl_->client;

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -313,6 +313,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
 		return *getWorldSimApi()->swapTextures(tag, tex_id, component_id, material_id);
 	});
 
+    pimpl_->server.bind("simSetWind", [&](const RpcLibAdapatorsBase::Vector3r& wind) -> void {
+        getWorldSimApi()->setWind(wind.to());
+    });
+
     //if we don't suppress then server will bomb out for exceptions raised by any method
     pimpl_->server.suppress_exceptions(true);
 }

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -675,6 +675,15 @@ def waitOnLastTask(self, timeout_sec = float('nan')):
         """
         return self.client.call('waitOnLastTask', timeout_sec)
 
+    def simSetWind(self, wind):
+        """
+        Set simulated wind, in World frame, NED direction, m/s
+
+        Args:
+            wind (Vector3r): Wind, in World frame, NED direction, in m/s 
+        """
+        self.client.call('simSetWind', wind)
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -229,6 +229,13 @@ void ASimModeBase::continueForTime(double seconds)
     throw std::domain_error("continueForTime is not implemented by SimMode");
 }
 
+void ASimModeBase::setWind(const msr::airlib::Vector3r& wind) const
+{
+    // should be overridden by derived class
+    unused(wind);
+    throw std::domain_error("setWind not implemented by SimMode");
+}
+
 std::unique_ptr<msr::airlib::ApiServerBase> ASimModeBase::createApiServer() const
 {
     //this will be the case when compilation with RPCLIB is disabled or simmode doesn't support APIs

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
@@ -50,6 +50,8 @@ class AIRSIM_API ASimModeBase : public AActor
     virtual void pause(bool is_paused);
     virtual void continueForTime(double seconds);
 
+    virtual void setWind(const msr::airlib::Vector3r& wind) const;
+
     virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
         float celestial_clock_speed, float update_interval_secs, bool move_sun);
 

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp
@@ -100,7 +100,7 @@ void ASimModeWorldBase::continueForTime(double seconds)
     UGameplayStatics::SetGamePaused(this->GetWorld(), true);
 }
 
-void ASimModeWorldBase::setWind(const msr::airlib::Vector3r& wind)
+void ASimModeWorldBase::setWind(const msr::airlib::Vector3r& wind) const
 {
     physics_engine_->setWind(wind);
 }

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h
@@ -31,7 +31,7 @@ class AIRSIM_API ASimModeWorldBase : public ASimModeBase
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
 
-    void setWind(const msr::airlib::Vector3r& wind);
+    virtual void setWind(const msr::airlib::Vector3r& wind) const override;
 
 protected:
     void startAsyncUpdator();

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -237,4 +237,9 @@ std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMesh
 		responses = UAirBlueprintLib::GetStaticMeshComponents();
 	}, true);
 	return responses;
-}
+}
+
+void WorldSimApi::setWind(const Vector3r& wind) const
+{
+    simmode_->setWind(wind);
+}
diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -48,6 +48,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
 	virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
 
+    virtual void setWind(const Vector3r& wind) const override;
+
 private:
     ASimModeBase* simmode_;
 };