update line of sight APIs to use GeoPoint parameters

convert all occurrences of sets of lon, lat, alt parameters used in line of sight APIs to use the GeoPoint struct instead
huangwen0907 · Jun 18, 2021 · 6ce5d4f · 6ce5d4f
1 parent dfc1901
commit 6ce5d4f
Show file tree

Hide file tree

Showing 11 changed files with 31 additions and 42 deletions.
diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -111,8 +111,8 @@ namespace airlib
         vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request, const std::string& vehicle_name = "");
         vector<uint8_t> simGetImage(const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name = "");
 
-        bool simTestLineOfSightToPoint(double lat, double lon, float alt, const std::string& vehicle_name = "");
-        bool simTestLineOfSightBetweenPoints(double lat1, double lon1, float alt1, double lat2, double lon2, float alt2);
+        bool simTestLineOfSightToPoint(const msr::airlib::GeoPoint& point, const std::string& vehicle_name = "");
+        bool simTestLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2);
         vector<msr::airlib::GeoPoint> simGetWorldExtents();
 
         vector<MeshPositionVertexBuffersResponse> simGetMeshPositionVertexBuffers();

diff --git a/AirLib/include/api/VehicleSimApiBase.hpp b/AirLib/include/api/VehicleSimApiBase.hpp
@@ -52,9 +52,9 @@ namespace airlib
         virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& request) const = 0;
         virtual std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type) const = 0;
 
-        virtual bool testLineOfSightToPoint(GeoPoint& point) const = 0;
-        virtual bool testLineOfSightBetweenPoints(GeoPoint& point1, GeoPoint& point2) const = 0;
-        virtual void getWorldExtents(msr::airlib::GeoPoint& min, msr::airlib::GeoPoint& max) const = 0;
+        virtual bool testLineOfSightToPoint(const GeoPoint& point) const = 0;
+        virtual bool testLineOfSightBetweenPoints(const GeoPoint& point1, const GeoPoint& point2) const = 0;
+        virtual void getWorldExtents(GeoPoint& min, GeoPoint& max) const = 0;
 
         virtual Pose getPose() const = 0;
         virtual void setPose(const Pose& pose, bool ignore_collision) = 0;

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -271,14 +271,14 @@ __pragma(warning(disable : 4239))
         }
 
         // Minor TODO: consider msgpack magic for GeoPoint, so we can have one arg instead of three
-        bool RpcLibClientBase::simTestLineOfSightToPoint(double lat, double lon, float alt, const std::string& vehicle_name)
+        bool RpcLibClientBase::simTestLineOfSightToPoint(const msr::airlib::GeoPoint& point, const std::string& vehicle_name)
         {
-            return pimpl_->client.call("simTestLineOfSightToPoint", lat, lon, alt, vehicle_name).as<bool>();
+            return pimpl_->client.call("simTestLineOfSightToPoint", RpcLibAdaptorsBase::GeoPoint(point), vehicle_name).as<bool>();
         }
 
-        bool RpcLibClientBase::simTestLineOfSightBetweenPoints(double lat1, double lon1, float alt1, double lat2, double lon2, float alt2)
+        bool RpcLibClientBase::simTestLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2)
         {
-            return pimpl_->client.call("simTestLineOfSightBetweenPoints", lat1, lon1, alt1, lat2, lon2, alt2).as<bool>();
+            return pimpl_->client.call("simTestLineOfSightBetweenPoints", RpcLibAdaptorsBase::GeoPoint(point1), RpcLibAdaptorsBase::GeoPoint(point2)).as<bool>();
         }
 
         vector<msr::airlib::GeoPoint> RpcLibClientBase::simGetWorldExtents()

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -153,17 +153,12 @@ namespace airlib
             return getVehicleSimApi(vehicle_name)->getImage(camera_name, type);
         });
 
-        pimpl_->server.bind("simTestLineOfSightToPoint", [&](double lat, double lon, float alt, const std::string& vehicle_name) -> bool {
-            GeoPoint point(lat, lon, alt);
-
-            return getVehicleSimApi(vehicle_name)->testLineOfSightToPoint(point);
+        pimpl_->server.bind("simTestLineOfSightToPoint", [&](const RpcLibAdaptorsBase::GeoPoint& point, const std::string& vehicle_name) -> bool {
+            return getVehicleSimApi(vehicle_name)->testLineOfSightToPoint(point.to());
         });
 
-        pimpl_->server.bind("simTestLineOfSightBetweenPoints", [&](double lat1, double lon1, float alt1, double lat2, double lon2, float alt2) -> bool {
-            GeoPoint point1(lat1, lon1, alt1);
-            GeoPoint point2(lat2, lon2, alt2);
-
-            return getVehicleSimApi("")->testLineOfSightBetweenPoints(point1, point2);
+        pimpl_->server.bind("simTestLineOfSightBetweenPoints", [&](const RpcLibAdaptorsBase::GeoPoint& point1, const RpcLibAdaptorsBase::GeoPoint& point2) -> bool {
+            return getVehicleSimApi("")->testLineOfSightBetweenPoints(point1.to(), point2.to());
         });
 
         pimpl_->server.bind("simGetWorldExtents", [&]() -> vector<RpcLibAdaptorsBase::GeoPoint> {

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -264,37 +264,31 @@ def simGetImages(self, requests, vehicle_name = ''):
         responses_raw = self.client.call('simGetImages', requests, vehicle_name)
         return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]
 
-    def simTestLineOfSightToPoint(self, lat, lon, alt, vehicle_name = ''):
+    def simTestLineOfSightToPoint(self, point, vehicle_name = ''):
         """
         Returns whether the target point is visible from the perspective of the inputted vehicle
 
         Args:
-            lat (double): latitude of target point
-            lon (double): longitude of target point
-            alt (float): altitude of target point
+            point (GeoPoint): target point
             vehicle_name (str, optional): Name of vehicle
 
         Returns:
             [bool]: Success
         """
-        return self.client.call('simTestLineOfSightToPoint', lat, lon, alt, vehicle_name)
+        return self.client.call('simTestLineOfSightToPoint', point, vehicle_name)
 
-    def simTestLineOfSightBetweenPoints(self, lat1, lon1, alt1, lat2, lon2, alt2):
+    def simTestLineOfSightBetweenPoints(self, point1, point2):
         """
         Returns whether the target point is visible from the perspective of the source point
 
         Args:
-            lat1 (double): latitude of source point
-            lon1 (double): longitude of source point
-            alt1 (float): altitude of source point
-            lat2 (double): latitude of target point
-            lon2 (double): longitude of target point
-            alt2 (float): altitude of target point
+            point1 (GeoPoint): source point
+            point2 (GeoPoint): target point
 
         Returns:
             [bool]: Success
         """
-        return self.client.call('simTestLineOfSightBetweenPoints', lat1, lon1, alt1, lat2, lon2, alt2)
+        return self.client.call('simTestLineOfSightBetweenPoints', point1, point2)
 
     def simGetWorldExtents(self):
         """

diff --git a/PythonClient/multirotor/line_of_sight.py b/PythonClient/multirotor/line_of_sight.py
@@ -18,10 +18,10 @@
 target = home
 target.latitude -= 1
 
-result = client.simTestLineOfSightToPoint(target.latitude, target.longitude, target.altitude)
+result = client.simTestLineOfSightToPoint(target)
 print("test line of sight from vehicle to\n%s\n\t:%s" %(target, result))
 
-result = client.simTestLineOfSightBetweenPoints(home.latitude, home.longitude, home.altitude, target.latitude, target.longitude, target.altitude)
+result = client.simTestLineOfSightBetweenPoints(home, target)
 print("test line of sight from home to\n%s\n\t:%s" %(target, result))
 
 result = client.simGetWorldExtents()

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -103,7 +103,7 @@ std::vector<PawnSimApi::DetectionInfo> PawnSimApi::getDetections(const std::stri
     return std::vector<DetectionInfo>();
 }
 
-bool PawnSimApi::testLineOfSightToPoint(msr::airlib::GeoPoint& point) const
+bool PawnSimApi::testLineOfSightToPoint(const msr::airlib::GeoPoint& point) const
 {
     unused(point);
 
@@ -114,7 +114,7 @@ bool PawnSimApi::testLineOfSightToPoint(msr::airlib::GeoPoint& point) const
     return false;
 }
 
-bool PawnSimApi::testLineOfSightBetweenPoints(msr::airlib::GeoPoint& point1, msr::airlib::GeoPoint& point2) const
+bool PawnSimApi::testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2) const
 {
     unused(point1);
     unused(point2);

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
@@ -103,8 +103,8 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual void clearDetectionMeshNames(const std::string& camera_name, ImageCaptureBase::ImageType image_type) override;
     virtual std::vector<DetectionInfo> getDetections(const std::string& camera_name, ImageCaptureBase::ImageType image_type) const override;
 
-    virtual bool testLineOfSightToPoint(GeoPoint& point) const override;
-    virtual bool testLineOfSightBetweenPoints(GeoPoint& point1, GeoPoint& point2) const override;
+    virtual bool testLineOfSightToPoint(const msr::airlib::GeoPoint& point) const override;
+    virtual bool testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2) const override;
     virtual void getWorldExtents(msr::airlib::GeoPoint& min, msr::airlib::GeoPoint& max) const override;
 
 private:

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -288,7 +288,7 @@ int PawnSimApi::getCameraCount()
     return cameras_.valsSize();
 }
 
-bool PawnSimApi::testLineOfSightToPoint(GeoPoint& lla) const
+bool PawnSimApi::testLineOfSightToPoint(const msr::airlib::GeoPoint& lla) const
 {
     bool hit;
 
@@ -331,7 +331,7 @@ bool PawnSimApi::testLineOfSightToPoint(GeoPoint& lla) const
     return !hit;
 }
 
-bool PawnSimApi::testLineOfSightBetweenPoints(GeoPoint& lla1, GeoPoint& lla2) const
+bool PawnSimApi::testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& lla1, const msr::airlib::GeoPoint& lla2) const
 {
     bool hit;
 

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -122,8 +122,8 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     APIPCamera* getCamera(const std::string& camera_name);
     int getCameraCount();
 
-    virtual bool testLineOfSightToPoint(GeoPoint& point) const;
-    virtual bool testLineOfSightBetweenPoints(GeoPoint& point1, GeoPoint& point2) const;
+    virtual bool testLineOfSightToPoint(const msr::airlib::GeoPoint& point) const;
+    virtual bool testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& point1, const msr::airlib::GeoPoint& point2) const;
     virtual void getWorldExtents(msr::airlib::GeoPoint& min, msr::airlib::GeoPoint& max) const;
 
     //if enabled, this would show some flares

diff --git a/docs/apis.md b/docs/apis.md
@@ -151,7 +151,7 @@ The `is_enabled` parameter must be `True` to enable time of day effect. If it is
 Other parameters are same as in [settings](settings.md#timeofday).
 
 ### Line-of-sight and world extent APIs
-To test line-of-sight in the sim from a vehicle to a point or between two points, see simTestLineOfSightToPoint(lat, lon, alt, vehicle_name) and simTestLineOfSightBetweenPoints(lat1, lon1, alt1, lat2, lon2, alt2), respectively.
+To test line-of-sight in the sim from a vehicle to a point or between two points, see simTestLineOfSightToPoint(point, vehicle_name) and simTestLineOfSightBetweenPoints(point1, point2), respectively.
 Sim world extent, in the form of a vector of two GeoPoints, can be retrieved using simGetWorldExtents().
 
 ### Weather APIs