Merge pull request #3536 from rajat2004/ros-settings

ROS: Use the same settings as AirSim

AirLib/include/api/RpcLibClientBase.hpp

@@ -120,6 +120,8 @@ class RpcLibClientBase {
 
     void simSetWind(const Vector3r& wind) const;
 
+    std::string getSettingsString() const;
+
 protected:
     void* getClient();
     const void* getClient() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -79,6 +79,8 @@ class WorldSimApiBase {
     virtual bool isRecording() const = 0;
 
     virtual void setWind(const Vector3r& wind) const = 0;
+
+    virtual std::string getSettingsString() const = 0;
 };
 
 

AirLib/include/common/AirSimSettings.hpp

@@ -377,6 +377,8 @@ struct AirSimSettings {
     std::map<std::string, std::unique_ptr<SensorSetting>> sensor_defaults;
     Vector3r wind = Vector3r::Zero();
 
+    std::string settings_text_ = "";
+
 public: //methods
     static AirSimSettings& singleton()
     {
@@ -417,19 +419,22 @@ struct AirSimSettings {
 
     static void initializeSettings(const std::string& json_settings_text)
     {
+        singleton().settings_text_ = json_settings_text;
         Settings& settings_json = Settings::loadJSonString(json_settings_text);
         if (! settings_json.isLoadSuccess())
             throw std::invalid_argument("Cannot parse JSON settings_json string.");
     }
 
     static void createDefaultSettingsFile()
     {
-        std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");
-        Settings& settings_json = Settings::loadJSonString("{}");
+        initializeSettings("{}");
+
+        Settings& settings_json = Settings::singleton();
         //write some settings_json in new file otherwise the string "null" is written if all settings_json are empty
         settings_json.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md");
         settings_json.setDouble("SettingsVersion", 1.2);
 
+        std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");
         //TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only support Unreal 4.17
         //https://answers.unrealengine.com/questions/664905/unreal-crashes-on-two-lines-of-extremely-simple-st.html
         settings_json.saveJSonFile(settings_filename);

AirLib/src/api/RpcLibClientBase.cpp

@@ -470,6 +470,11 @@ void RpcLibClientBase::simSetWind(const Vector3r& wind) const
     pimpl_->client.call("simSetWind", conv_wind);
 }
 
+std::string RpcLibClientBase::getSettingsString() const
+{
+    return pimpl_->client.call("getSettingsString").as<std::string>();
+}
+
 void* RpcLibClientBase::getClient()
 {
     return &pimpl_->client;

AirLib/src/api/RpcLibServerBase.cpp

@@ -383,6 +383,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         getWorldSimApi()->setWind(wind.to());
     });
 
+    pimpl_->server.bind("getSettingsString", [&]() -> std::string {
+        return getWorldSimApi()->getSettingsString();
+    });
+
     //if we don't suppress then server will bomb out for exceptions raised by any method
     pimpl_->server.suppress_exceptions(true);
 }

PythonClient/airsim/client.py

@@ -872,6 +872,15 @@ def simAddVehicle(self, vehicle_name, vehicle_type, pose, pawn_path = ""):
         """
         return self.client.call('simAddVehicle', vehicle_name, vehicle_type, pose, pawn_path)
 
+    def getSettingsString(self):
+        """
+        Fetch the settings text being used by AirSim
+
+        Returns:
+            str: Settings text in JSON format
+        """
+        return self.client.call('getSettingsString')
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp

@@ -202,5 +202,10 @@ bool WorldSimApi::addVehicle(const std::string& vehicle_name, const std::string&
     return false;
 }
 
+std::string WorldSimApi::getSettingsString() const
+{
+    return msr::airlib::AirSimSettings::singleton().settings_text_;
+}
+
 
 #pragma endregion

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h

@@ -66,6 +66,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) override;
     virtual bool addVehicle(const std::string& vehicle_name, const std::string& vehicle_type, const Pose& pose, const std::string& pawn_path = "") override;
 
+    virtual std::string getSettingsString() const override;
+
 private:
 	SimModeBase * simmode_;
 	std::string vehicle_name_;

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -573,3 +573,8 @@ void WorldSimApi::setWind(const Vector3r& wind) const
 {
     simmode_->setWind(wind);
 }
+
+std::string WorldSimApi::getSettingsString() const
+{
+    return msr::airlib::AirSimSettings::singleton().settings_text_;
+}

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -70,6 +70,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual void setWind(const Vector3r& wind) const override;
     virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) override;
 
+    virtual std::string getSettingsString() const override;
+
 private:
     AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
     void spawnPlayer();

ros/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h

@@ -319,7 +319,6 @@ class AirsimROSWrapper
     msr::airlib::GeoPoint origin_geo_point_;// gps coord of unreal origin 
     airsim_ros_pkgs::GPSYaw origin_geo_point_msg_; // todo duplicate
 
-    std::vector<VehicleSetting> vehicle_setting_vec_;
     AirSimSettingsParser airsim_settings_parser_;
     std::unordered_map< std::string, std::unique_ptr< VehicleROS > > vehicle_name_ptr_map_;
     static const std::unordered_map<int, std::string> image_type_int_to_string_map_;

ros/src/airsim_ros_pkgs/include/airsim_settings_parser.h

@@ -17,20 +17,19 @@ class AirSimSettingsParser
 {
 public:
     typedef msr::airlib::AirSimSettings AirSimSettings;
-    typedef msr::airlib::AirSimSettings::VehicleSetting VehicleSetting;
 
 public:
-    AirSimSettingsParser();
+    AirSimSettingsParser(const std::string& host_ip);
     ~AirSimSettingsParser() {};
 
     bool success();
 
 private:
     std::string getSimMode();
-    bool readSettingsTextFromFile(std::string settingsFilepath, std::string& settingsText);
-    bool getSettingsText(std::string& settingsText);
+    bool getSettingsText(std::string& settings_text) const;
     bool initializeSettings();
 
     bool success_;
-    std::string settingsText_;
+    std::string settings_text_;
+    std::string host_ip_;
 };

ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp

@@ -34,13 +34,14 @@ AirsimROSWrapper::AirsimROSWrapper(const ros::NodeHandle& nh, const ros::NodeHan
     host_ip_(host_ip),
     airsim_client_images_(host_ip),
     airsim_client_lidar_(host_ip),
+    airsim_settings_parser_(host_ip),
     tf_listener_(tf_buffer_)
 {
     ros_clock_.clock.fromSec(0);
     is_used_lidar_timer_cb_queue_ = false;
     is_used_img_timer_cb_queue_ = false;
 
-    if (AirSimSettings::singleton().simmode_name != "Car")
+    if (AirSimSettings::singleton().simmode_name != AirSimSettings::kSimModeTypeCar)
     {
         airsim_mode_ = AIRSIM_MODE::DRONE;
         ROS_INFO("Setting ROS wrapper to DRONE mode");
@@ -68,7 +69,7 @@ void AirsimROSWrapper::initialize_airsim()
         }
         else
         {
-            airsim_client_ = std::move(std::unique_ptr<msr::airlib::RpcLibClientBase>(new msr::airlib::CarRpcLibClient(host_ip_)));
+            airsim_client_ = std::unique_ptr<msr::airlib::RpcLibClientBase>(new msr::airlib::CarRpcLibClient(host_ip_));
         }
         airsim_client_->confirmConnection();
         airsim_client_images_.confirmConnection();
@@ -189,7 +190,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
         {
             auto& camera_setting = curr_camera_elem.second;
             auto& curr_camera_name = curr_camera_elem.first;
-            // vehicle_setting_vec_.push_back(*vehicle_setting.get());
+
             set_nans_to_zeros_in_pose(*vehicle_setting, camera_setting);
             append_static_camera_tf(vehicle_ros.get(), curr_camera_name, camera_setting);
             // camera_setting.gimbal

ros/src/airsim_ros_pkgs/src/airsim_settings_parser.cpp

@@ -1,6 +1,7 @@
 #include "airsim_settings_parser.h"
 
-AirSimSettingsParser::AirSimSettingsParser()
+AirSimSettingsParser::AirSimSettingsParser(const std::string& host_ip)
+    : host_ip_(host_ip)
 {
     success_ = initializeSettings();
 }
@@ -10,52 +11,34 @@ bool AirSimSettingsParser::success()
     return success_;
 }
 
-bool AirSimSettingsParser::readSettingsTextFromFile(std::string settingsFilepath, std::string& settingsText) 
+bool AirSimSettingsParser::getSettingsText(std::string& settings_text) const
 {
-    // check if path exists
-    bool found = std::ifstream(settingsFilepath.c_str()).good(); 
-    if (found)
-    {
-        std::ifstream ifs(settingsFilepath);
-        std::stringstream buffer;
-        buffer << ifs.rdbuf();
-        // todo airsim's simhud.cpp does error checking here
-        settingsText = buffer.str(); // todo convert to utf8 as done in simhud.cpp?
-    }
+    msr::airlib::RpcLibClientBase airsim_client(host_ip_);
+    airsim_client.confirmConnection();
 
-    return found;
-}
+    settings_text = airsim_client.getSettingsString();
 
-bool AirSimSettingsParser::getSettingsText(std::string& settingsText) 
-{
-    bool success = readSettingsTextFromFile(msr::airlib::Settings::Settings::getUserDirectoryFullPath("settings.json"), settingsText);
-    return success;
+    return !settings_text.empty();
 }
 
 std::string AirSimSettingsParser::getSimMode()
 {
-    Settings& settings_json = Settings::loadJSonString(settingsText_);
+    Settings& settings_json = Settings::loadJSonString(settings_text_);
     return settings_json.getString("SimMode", "");
 }
 
 // mimics void ASimHUD::initializeSettings()
 bool AirSimSettingsParser::initializeSettings()
 {
-    if (getSettingsText(settingsText_))
+    if (getSettingsText(settings_text_))
     {
-        AirSimSettings::initializeSettings(settingsText_);
-
-        // not sure where settings_json initialized in AirSimSettings::initializeSettings() is actually used
-        Settings& settings_json = Settings::loadJSonString(settingsText_);
-        std::string simmode_name = settings_json.getString("SimMode", "");
-        std::cout << "simmode_name: " << simmode_name << std::endl; 
+        AirSimSettings::initializeSettings(settings_text_);
 
         AirSimSettings::singleton().load(std::bind(&AirSimSettingsParser::getSimMode, this));
+        std::cout << "SimMode: " << AirSimSettings::singleton().simmode_name << std::endl;
 
         return true;
     }
-    else
-    {
-        return false;
-    }
+
+    return false;
 }