sync with MS

AirLib/AirLib.vcxproj

@@ -22,11 +22,14 @@
     </ProjectConfiguration>
   </ItemGroup>
   <ItemGroup>
+    <ClInclude Include="include\api\ApiServerBase.hpp" />
     <ClInclude Include="include\api\DebugApiServer.hpp" />
     <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\VehicleApiBase.hpp" />
+    <ClInclude Include="include\api\WorldApiBase.hpp" />
     <ClInclude Include="include\common\AirSimSettings.hpp" />
     <ClInclude Include="include\common\ClockBase.hpp" />
     <ClInclude Include="include\common\Common.hpp" />
@@ -131,7 +134,6 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\firmware\VelocityController.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightDroneController.hpp" />
     <ClInclude Include="include\physics\DebugPhysicsBody.hpp" />
-    <ClInclude Include="include\api\ControlServerBase.hpp" />
     <ClInclude Include="include\physics\PhysicsBodyWorld.hpp" />
     <ClInclude Include="include\physics\PhysicsWorld.hpp" />
     <ClInclude Include="include\safety\CubeGeoFence.hpp" />
@@ -208,26 +210,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v141</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v141</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v140</PlatformToolset>
+    <PlatformToolset>v141</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

AirLib/AirLib.vcxproj.filters

@@ -210,9 +210,6 @@
     <ClInclude Include="include\physics\DebugPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\ControlServerBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\api\DebugApiServer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -489,6 +486,15 @@
     <ClInclude Include="include\common\EarthCelestial.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\api\WorldApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\SimModeApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\api\ApiServerBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

AirLib/include/api/ControlServerBase.hpp → AirLib/include/api/ApiServerBase.hpp

@@ -1,20 +1,20 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef air_ControlServerBase_hpp
-#define air_ControlServerBase_hpp
+#ifndef air_ApiServerBase_hpp
+#define air_ApiServerBase_hpp
 
 #include "common/Common.hpp"
 #include <functional>
 
 
 namespace msr { namespace airlib {
 
-class ControlServerBase {
+class ApiServerBase {
 public:
     virtual void start(bool block = false) = 0;
     virtual void stop() = 0;
-    virtual ~ControlServerBase() = default;
+    virtual ~ApiServerBase() = default;
 };
 
 }} //namespace

AirLib/include/api/DebugApiServer.hpp

@@ -4,12 +4,12 @@
 #ifndef air_DebugApiServer_hpp
 #define air_DebugApiServer_hpp
 
-#include "ControlServerBase.hpp"
+#include "ApiServerBase.hpp"
 #include "common/common_utils/Utils.hpp"
 
 namespace msr { namespace airlib {
 
-    class DebugApiServer : public ControlServerBase {
+    class DebugApiServer : public ApiServerBase {
     public:
         virtual void start(bool block = false) override
         {

AirLib/include/api/RpcLibClientBase.hpp

@@ -23,8 +23,7 @@ class RpcLibClientBase {
 
     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 getGpsLocation();
+    msr::airlib::GeoPoint getHomeGeoPoint();
 
     void simSetPose(const Pose& pose, bool ignore_collision);
     Pose simGetPose();
@@ -33,6 +32,7 @@ class RpcLibClientBase {
     bool isApiControlEnabled();
     void enableApiControl(bool is_enabled);
     void reset();
+    bool armDisarm(bool arm);
 
     CollisionInfo getCollisionInfo();
 
@@ -44,6 +44,10 @@ class RpcLibClientBase {
     CameraInfo getCameraInfo(int camera_id);
     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:

AirLib/include/api/RpcLibServerBase.hpp

@@ -5,26 +5,29 @@
 #define air_RpcLibServerBase_hpp
 
 #include "common/Common.hpp"
-#include "api/ControlServerBase.hpp"
-#include "api/VehicleApiBase.hpp"
+#include "api/ApiServerBase.hpp"
+#include "api/SimModeApiBase.hpp"
 
 
 namespace msr { namespace airlib {
 
 
-class RpcLibServerBase : public ControlServerBase {
+class RpcLibServerBase : public ApiServerBase {
 public:
-    RpcLibServerBase(VehicleApiBase* vehicle, string server_address, uint16_t port);
+    RpcLibServerBase(SimModeApiBase* simmode_api, string server_address, uint16_t port);
     virtual void start(bool block = false) override;
     virtual void stop() override;
     virtual ~RpcLibServerBase() override;
 
 protected:
-    void* getServer();
-    VehicleApiBase* getVehicleApi();
+    void* getServer() const;
+    SimModeApiBase* getSimModeApi() const;
 
 private:
-    VehicleApiBase* vehicle_;
+    VehicleApiBase* getVehicleApi() const;
+
+private:
+    SimModeApiBase* simmode_api_;
     struct impl;
     std::unique_ptr<impl> pimpl_;
 };

AirLib/include/api/SimModeApiBase.hpp

@@ -0,0 +1,25 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef air_SimModeApiBase_hpp
+#define air_SimModeApiBase_hpp
+
+#include "common/CommonStructs.hpp"
+#include "VehicleApiBase.hpp"
+
+namespace msr { namespace airlib {
+
+
+class SimModeApiBase {
+public:
+    virtual VehicleApiBase* getVehicleApi() = 0;
+    virtual bool isPaused() const = 0;
+    virtual void reset() = 0;
+    virtual void pause(bool is_paused) = 0;
+    virtual void continueForTime(double seconds) = 0;
+    virtual ~SimModeApiBase() = default;
+};
+
+
+}} //namespace
+#endif

AirLib/include/api/VehicleApiBase.hpp

@@ -12,26 +12,27 @@ namespace msr { namespace airlib {
 
 class VehicleApiBase {
 public:
-	virtual GeoPoint getHomeGeoPoint() = 0;
-	virtual GeoPoint getGpsLocation() = 0;
-	virtual void enableApiControl(bool is_enabled) = 0;
+    virtual GeoPoint getHomeGeoPoint() const = 0;
+    virtual void enableApiControl(bool is_enabled) = 0;
+    virtual bool armDisarm(bool arm) = 0;
     virtual bool isApiControlEnabled() const = 0;
     virtual void reset() = 0;
 
-    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& request) = 0;
-    virtual vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) = 0;
+    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& request) const = 0;
+    virtual vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) const = 0;
 
     virtual void simSetPose(const Pose& pose, bool ignore_collision) = 0;
-    virtual Pose simGetPose() = 0;
+    virtual Pose simGetPose() const = 0;
 
     virtual bool simSetSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) = 0;
-    virtual int simGetSegmentationObjectID(const std::string& mesh_name) = 0;
+    virtual int simGetSegmentationObjectID(const std::string& mesh_name) const = 0;
 
-    virtual void simPrintLogMessage(const std::string& message, const std::string& message_param = "", unsigned char severity = 0) = 0;
+    virtual void simPrintLogMessage(const std::string& message, 
+        const std::string& message_param = "", unsigned char severity = 0) = 0;
 
-    virtual CollisionInfo getCollisionInfo() = 0;
+    virtual CollisionInfo getCollisionInfo() const = 0;
 
-    virtual Pose simGetObjectPose(const std::string& object_name) = 0;
+    virtual Pose simGetObjectPose(const std::string& object_name) const = 0;
 
     virtual CameraInfo getCameraInfo(int camera_id) const = 0;
     virtual void setCameraOrientation(int camera_id, const Quaternionr& orientation) = 0;