Rename RemoteGuiInput to RemoteClientState.

examples/hitl/pick_throw_vr/pick_throw_vr.py

@@ -156,12 +156,12 @@ def _try_grasp_remote(self):
         assert not self._held_target_obj_idx
         self._recent_reach_pos = None
         self._recent_hand_idx = None
-        remote_gui_input = self._app_service.remote_gui_input
+        remote_client_state = self._app_service.remote_client_state
 
         hand_positions = []
         num_hands = 2
         for i in range(num_hands):
-            hand_pos, _ = remote_gui_input.get_hand_pose(i)
+            hand_pos, _ = remote_client_state.get_hand_pose(i)
             if hand_pos:
                 hand_positions.append(hand_pos)
         if len(hand_positions) == 0:
@@ -170,7 +170,7 @@ def _try_grasp_remote(self):
 
         grasped_objects_idxs = get_grasped_objects_idxs(self.get_sim())
 
-        remote_button_input = remote_gui_input.get_gui_input()
+        remote_button_input = remote_client_state.get_gui_input()
 
         found_obj_idx = None
         found_hand_idx = None
@@ -229,8 +229,8 @@ def _update_held_and_try_throw_remote(self):
         assert self._held_target_obj_idx is not None
         assert self._remote_held_hand_idx is not None
 
-        remote_gui_input = self._app_service.remote_gui_input
-        remote_button_input = remote_gui_input.get_gui_input()
+        remote_client_state = self._app_service.remote_client_state
+        remote_button_input = remote_client_state.get_gui_input()
 
         do_throw = False
         for key in self.get_grasp_keys_by_hand(self._remote_held_hand_idx):
@@ -244,18 +244,18 @@ def _update_held_and_try_throw_remote(self):
             rom_obj.collidable = True
 
             hand_idx = self._remote_held_hand_idx
-            history_len = remote_gui_input.get_history_length()
+            history_len = remote_client_state.get_history_length()
             assert history_len >= 2
             history_offset = 1
-            pos1, _ = remote_gui_input.get_hand_pose(
+            pos1, _ = remote_client_state.get_hand_pose(
                 hand_idx, history_index=history_offset
             )
-            pos0, _ = remote_gui_input.get_hand_pose(
+            pos0, _ = remote_client_state.get_hand_pose(
                 hand_idx, history_index=history_len - 1
             )
             if pos0 and pos1:
                 vel = (pos1 - pos0) / (
-                    remote_gui_input.get_history_timestep()
+                    remote_client_state.get_history_timestep()
                     * (history_len - history_offset)
                 )
                 rom_obj.linear_velocity = vel
@@ -266,7 +266,7 @@ def _update_held_and_try_throw_remote(self):
             self._remote_held_hand_idx = None
         else:
             # snap to hand
-            hand_pos, hand_rotation = remote_gui_input.get_hand_pose(
+            hand_pos, hand_rotation = remote_client_state.get_hand_pose(
                 self._remote_held_hand_idx
             )
             assert hand_pos is not None
@@ -287,7 +287,7 @@ def _update_grasping_and_set_act_hints_remote(self):
             walk_dir,
             distance_multiplier,
             forward_dir,
-        ) = self._nav_helper.get_humanoid_walk_hints_from_remote_gui_input(
+        ) = self._nav_helper.get_humanoid_walk_hints_from_remote_client_state(
             visualize_path=False
         )
 
@@ -651,7 +651,7 @@ def sim_update(self, dt, post_sim_update_dict):
                 self._app_service.gui_input.get_key_down(GuiInput.KeyNS.T)
                 or (
                     not self._is_remote_active_toggle
-                    and self._app_service.remote_gui_input.get_gui_input().get_any_key_down()
+                    and self._app_service.remote_client_state.get_gui_input().get_any_key_down()
                 )
             )
         ):

habitat-hitl/habitat_hitl/_internal/hitl_driver.py

@@ -32,7 +32,7 @@
 from habitat_hitl.app_states.app_state_abc import AppState
 from habitat_hitl.core.client_message_manager import ClientMessageManager
 from habitat_hitl.core.hydra_utils import omegaconf_to_object
-from habitat_hitl.core.remote_gui_input import RemoteGuiInput
+from habitat_hitl.core.remote_client_state import RemoteClientState
 from habitat_hitl.core.serialize_utils import (
     BaseRecorder,
     NullRecorder,
@@ -195,7 +195,7 @@ def local_end_episode(do_reset=False):
             config=config,
             hitl_config=self._hitl_config,
             gui_input=gui_input,
-            remote_gui_input=self._remote_gui_input,
+            remote_client_state=self._remote_client_state,
             line_render=line_render,
             text_drawer=text_drawer,
             get_anim_fraction=lambda: self._viz_anim_fraction,
@@ -231,7 +231,7 @@ def network_server_enabled(self) -> bool:
         return self._hitl_config.networking.enable
 
     def _check_init_server(self, line_render):
-        self._remote_gui_input = None
+        self._remote_client_state = None
         self._interprocess_record = None
         if self.network_server_enabled:
             # How many frames we can simulate "ahead" of what keyframes have been sent.
@@ -243,7 +243,7 @@ def _check_init_server(self, line_render):
                 self._hitl_config.networking, max_steps_ahead
             )
             launch_networking_process(self._interprocess_record)
-            self._remote_gui_input = RemoteGuiInput(
+            self._remote_client_state = RemoteClientState(
                 self._interprocess_record, line_render
             )
 
@@ -360,7 +360,7 @@ def _reset_environment(self):
         self._obs, self._metrics = self.gym_habitat_env.reset(return_info=True)
 
         if self.network_server_enabled:
-            self._remote_gui_input.clear_history()
+            self._remote_client_state.clear_history()
 
         # todo: fix duplicate calls to self.ctrl_helper.on_environment_reset() here
         if self.ctrl_helper:
@@ -457,8 +457,8 @@ def _set_cursor_style(self, cursor_style):
     def sim_update(self, dt):
         post_sim_update_dict: Dict[str, Any] = {}
 
-        if self._remote_gui_input:
-            self._remote_gui_input.update()
+        if self._remote_client_state:
+            self._remote_client_state.update()
 
         # _viz_anim_fraction goes from 0 to 1 over time and then resets to 0
         self._viz_anim_fraction = (
@@ -516,8 +516,8 @@ def depth_to_rgb(obs):
             np.flipud(image) for image in debug_images
         ]
 
-        if self._remote_gui_input:
-            self._remote_gui_input.on_frame_end()
+        if self._remote_client_state:
+            self._remote_client_state.on_frame_end()
 
         if self.network_server_enabled:
             if (

habitat-hitl/habitat_hitl/app_states/app_service.py

@@ -12,7 +12,7 @@
 from habitat.tasks.rearrange.rearrange_sim import RearrangeSim
 from habitat_hitl.core.client_message_manager import ClientMessageManager
 from habitat_hitl.core.gui_input import GuiInput
-from habitat_hitl.core.remote_gui_input import RemoteGuiInput
+from habitat_hitl.core.remote_client_state import RemoteClientState
 from habitat_hitl.core.serialize_utils import BaseRecorder
 from habitat_hitl.core.text_drawer import AbstractTextDrawer
 from habitat_hitl.environment.controllers.controller_abc import GuiController
@@ -28,7 +28,7 @@ def __init__(
         config,
         hitl_config,
         gui_input: GuiInput,
-        remote_gui_input: RemoteGuiInput,
+        remote_client_state: RemoteClientState,
         line_render: DebugLineRender,
         text_drawer: AbstractTextDrawer,
         get_anim_fraction: Callable,
@@ -46,7 +46,7 @@ def __init__(
         self._config = config
         self._hitl_config = hitl_config
         self._gui_input = gui_input
-        self._remote_gui_input = remote_gui_input
+        self._remote_client_state = remote_client_state
         self._line_render = line_render
         self._text_drawer = text_drawer
         self._get_anim_fraction = get_anim_fraction
@@ -74,8 +74,8 @@ def gui_input(self) -> GuiInput:
         return self._gui_input
 
     @property
-    def remote_gui_input(self) -> RemoteGuiInput:
-        return self._remote_gui_input
+    def remote_client_state(self) -> RemoteClientState:
+        return self._remote_client_state
 
     @property
     def line_render(self) -> DebugLineRender:

habitat-hitl/habitat_hitl/core/client_helper.py

@@ -37,7 +37,7 @@ def _update_idle_kick(self, is_user_idle_this_frame):
         self._show_idle_kick_warning = False
 
         connection_records = (
-            self._app_service.remote_gui_input.get_new_connection_records()
+            self._app_service.remote_client_state.get_new_connection_records()
         )
         if len(connection_records):
             assert (
@@ -76,7 +76,7 @@ def _update_idle_kick(self, is_user_idle_this_frame):
 
     def _update_frame_counter_and_display_latency(self, server_sps):
         recent_server_keyframe_id = (
-            self._app_service.remote_gui_input.pop_recent_server_keyframe_id()
+            self._app_service.remote_client_state.pop_recent_server_keyframe_id()
         )
         if recent_server_keyframe_id is not None:
             new_avg = self._client_frame_latency_avg_helper.add(

habitat-hitl/habitat_hitl/core/client_message_manager.py

@@ -82,7 +82,7 @@ def signal_app_ready(self):
 
     def signal_kick_client(self, connection_id):
         r"""
-        Signal NetworkManager to kick a client identified by connection_id. See also RemoteGuiInput.get_new_connection_records()[i]["connectionId"]. Sloppy: this is a message to NetworkManager, not the client.
+        Signal NetworkManager to kick a client identified by connection_id. See also RemoteClientState.get_new_connection_records()[i]["connectionId"]. Sloppy: this is a message to NetworkManager, not the client.
         """
         self._message["kickClient"] = connection_id
 

habitat-hitl/habitat_hitl/core/remote_gui_input.py → habitat-hitl/habitat_hitl/core/remote_client_state.py

@@ -14,8 +14,7 @@
 from habitat_hitl.core.gui_input import GuiInput
 
 
-# todo: rename to RemoteClientState
-class RemoteGuiInput:
+class RemoteClientState:
     def __init__(self, interprocess_record, debug_line_render):
         self._recent_client_states = []
         self._interprocess_record = interprocess_record

habitat-hitl/habitat_hitl/environment/gui_navigation_helper.py

@@ -92,7 +92,7 @@ def _viz_humanoid_walk_path(self, path):
             path_points, path_endpoint_radius, path_color
         )
 
-    def get_humanoid_walk_hints_from_remote_gui_input(
+    def get_humanoid_walk_hints_from_remote_client_state(
         self, visualize_path=True
     ):
         walk_dir = None
@@ -101,7 +101,7 @@ def get_humanoid_walk_hints_from_remote_gui_input(
         (
             target_pos,
             target_rot_quat,
-        ) = self._app_service.remote_gui_input.get_head_pose()
+        ) = self._app_service.remote_client_state.get_head_pose()
 
         forward_dir = None
         if target_pos and target_rot_quat: