squashing last 3 commits to get rid of visuallint

.gitignore

@@ -44,6 +44,9 @@ DerivedDataCache/
 UnrealHeaderTool/
 UnrealPak/
 obj/
+.vs/
+.vscode/
+.visuallint/
 *.VC.opendb
 *.VC.db
 *.opensdf

AirLib/AirLib.vcxproj

@@ -128,7 +128,7 @@
     <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp" />
     <ClInclude Include="include\safety\SafetyEval.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.h" />
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp" />
     <ClInclude Include="include\common\Settings.hpp" />
     <ClInclude Include="include\safety\SphereGeoFence.hpp" />
     <ClInclude Include="include\common\Waiter.hpp" />

AirLib/AirLib.vcxproj.filters

@@ -348,9 +348,6 @@
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\RpcLibClientBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\api\RpcLibServerBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -408,9 +405,6 @@
     <ClInclude Include="include\api\VehicleApiBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\api\VehicleConnectorBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -429,6 +423,12 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\api\RpcLibClientBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorApiBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

AirLib/include/api/RpcLibClientBase.hpp

@@ -18,16 +18,14 @@ class RpcLibClientBase {
         Initial = 0, Connected, Disconnected, Reset, Unknown
     };
 public:
-    RpcLibClientBase(const string& ip_address = "localhost", uint16_t port = 41451, uint timeout_ms = 60000);
+    RpcLibClientBase(const string& ip_address = "localhost", uint16_t port = 41451, float timeout_sec = 60);
     virtual ~RpcLibClientBase();    //required for pimpl
 
     void confirmConnection();
     bool isApiControlEnabled() const;
     void enableApiControl(bool is_enabled);
-    void resetVehicle();
-    void simResetWorld();
+    void reset();
     bool armDisarm(bool arm);
-    void cancelPendingTasks();
 
     ConnectionState getConnectionState();
     bool ping();
@@ -55,9 +53,12 @@ class RpcLibClientBase {
     int simGetSegmentationObjectID(const std::string& mesh_name) const;
     void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
-    CameraInfo getCameraInfo(int camera_id) const;
-    void setCameraOrientation(int camera_id, const Quaternionr& orientation);
+    CameraInfo simGetCameraInfo(int camera_id) const;
+    void simSetCameraOrientation(int camera_id, const Quaternionr& orientation);
 
+    //task management APIs
+    void cancelLastTask();
+    virtual bool waitOnLastTask(float timeout_sec = Utils::nan<float>());
 
 protected:
     void* getClient();

AirLib/include/api/VehicleApiBase.hpp

@@ -28,7 +28,7 @@ class VehicleApiBase : public UpdatableObject {
     virtual void enableApiControl(bool is_enabled) = 0;
     virtual bool isApiControlEnabled() const = 0;
     virtual bool armDisarm(bool arm) = 0;
-    virtual void cancelPendingTasks() = 0;
+    virtual void cancelLastTask() = 0;
     virtual GeoPoint getHomeGeoPoint() const = 0;
 
     virtual bool isReady(std::string& message) const

AirLib/include/common/AirSimSettings.hpp

@@ -77,6 +77,7 @@ struct AirSimSettings {
         std::string pawn_path;
         bool allow_api_always = true;
         bool auto_create = true;
+        Vector3r home_geo_point = Vector3r::Zero();
 
         RCSettings rc;
     };
@@ -100,7 +101,7 @@ struct AirSimSettings {
     };
 
     struct CaptureSetting {
-        //below settinsg are obtained by using Unreal console command (press ~):
+        //below settings are obtained by using Unreal console command (press ~):
         // ShowFlag.VisualizeHDR 1.
         //to replicate camera settings to SceneCapture2D
         //TODO: should we use UAirBlueprintLib::GetDisplayGamma()?
@@ -334,7 +335,7 @@ struct AirSimSettings {
     {
         std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");
         Settings& settings = Settings::loadJSonString("{}");
-        //write some settings in new file otherwise the string "null" is written if all settigs are empty
+        //write some settings in new file otherwise the string "null" is written if all settings are empty
         settings.setString("SeeDocsAt", "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md");
         settings.setDouble("SettingsVersion", 1.0);
 
@@ -376,7 +377,7 @@ struct AirSimSettings {
         }
     }
 
-    RCSettings loadRCSetting(const Settings& settings)
+    RCSettings getRCSetting(const Settings& settings) const
     {
         RCSettings rc_setting;
         rc_setting.remote_control_id = settings.getInt("RemoteControlID", rc_setting.remote_control_id);
@@ -497,7 +498,7 @@ struct AirSimSettings {
         }
     }
 
-    std::unique_ptr<VehicleSetting> createPX4VehicleSetting(const Settings& settings)
+    std::unique_ptr<VehicleSetting> createPX4VehicleSetting(const Settings& settings) const
     {
         //these settings are expected in same section, not in another child
         auto vehicle_setting = std::unique_ptr<PX4VehicleSetting>(new PX4VehicleSetting());
@@ -535,8 +536,12 @@ struct AirSimSettings {
         return vehicle_setting;
     }
 
+    Vector3r getVectorSetting(const Settings& settings) const
+    {
+        return Vector3r(settings.getFloat("x", 0), settings.getFloat("y", 0), settings.getFloat("z", 0));
+    }
 
-    std::unique_ptr<VehicleSetting> createVehicleSetting(const Settings& settings, const std::string vehicle_name)
+    std::unique_ptr<VehicleSetting> createVehicleSetting(const Settings& settings, const std::string vehicle_name) const
     {
         auto vehicle_type = Utils::toLower(settings.getString("VehicleType", ""));
 
@@ -560,7 +565,12 @@ struct AirSimSettings {
 
         Settings rc_json;
         if (settings.getChild("RC", rc_json)) {
-            vehicle_setting->rc = loadRCSetting(rc_json);
+            vehicle_setting->rc = getRCSetting(rc_json);
+        }
+
+        Settings homepoint_json;
+        if (settings.getChild("HomePoint", homepoint_json)) {
+            vehicle_setting->home_geo_point = getVectorSetting(homepoint_json);
         }
 
         return vehicle_setting;
@@ -816,7 +826,7 @@ struct AirSimSettings {
         {   //load origin geopoint
             Settings origin_geopoint_json;
             if (settings.getChild("OriginGeopoint", origin_geopoint_json)) {
-                GeoPoint origin = origin_geopoint.home_point;
+                GeoPoint origin = origin_geopoint.home_geo_point;
                 origin.latitude = origin_geopoint_json.getDouble("Latitude", origin.latitude);
                 origin.longitude = origin_geopoint_json.getDouble("Longitude", origin.longitude);
                 origin.altitude = origin_geopoint_json.getFloat("Altitude", origin.altitude);

AirLib/include/common/CancelToken.hpp

@@ -14,13 +14,14 @@ namespace msr { namespace airlib {
 class CancelToken {
 public:
     CancelToken()
-        : is_cancelled_(false), recursion_count_(0)
+        : is_cancelled_(false), is_complete_(false), recursion_count_(0)
     {
     }
 
     void reset()
     {
         is_cancelled_ = false;
+        is_complete_ = false;
         recursion_count_ = 0;
     }
 
@@ -55,6 +56,16 @@ class CancelToken {
         return !isCancelled();
     }
 
+    void complete(bool is_complete = true)
+    {
+        is_complete_ = is_complete;
+    }
+
+    bool isComplete()  const
+    {
+        return is_complete_;
+    }
+
     int getRecursionCount()
     {
         return recursion_count_;
@@ -83,8 +94,10 @@ class CancelToken {
 
 private:
     std::atomic<bool> is_cancelled_;
-    std::recursive_mutex wait_mutex_;
+    std::atomic<bool> is_complete_;
     std::atomic<int> recursion_count_;
+
+    std::recursive_mutex wait_mutex_;
 };
 
 }} //namespace

AirLib/include/common/CommonStructs.hpp

@@ -173,21 +173,21 @@ struct GeoPoint {
 };
 
 struct HomeGeoPoint {
-    GeoPoint home_point;
+    GeoPoint home_geo_point;
     double lat_rad, lon_rad;
     double cos_lat, sin_lat;
 
     HomeGeoPoint()
     {}
-    HomeGeoPoint(const GeoPoint& home_point_val)
+    HomeGeoPoint(const GeoPoint& home_geo_point_val)
     {
-        initialize(home_point_val);
+        initialize(home_geo_point_val);
     }
-    void initialize(const GeoPoint& home_point_val)
+    void initialize(const GeoPoint& home_geo_point_val)
     {
-        home_point = home_point_val;
-        lat_rad = Utils::degreesToRadians(home_point.latitude);
-        lon_rad = Utils::degreesToRadians(home_point.longitude);
+        home_geo_point = home_geo_point_val;
+        lat_rad = Utils::degreesToRadians(home_geo_point.latitude);
+        lon_rad = Utils::degreesToRadians(home_geo_point.longitude);
         cos_lat = cos(lat_rad);
         sin_lat = sin(lat_rad);
     }

AirLib/include/common/EarthUtils.hpp

@@ -298,9 +298,9 @@ class EarthUtils {
                 atan2(y_rad * sin_c, c * home_geo_point.cos_lat * cos_c - x_rad * home_geo_point.sin_lat * sin_c));
 
             return GeoPoint(Utils::radiansToDegrees(lat_rad), Utils::radiansToDegrees(lon_rad), 
-                home_geo_point.home_point.altitude - v.z());
+                home_geo_point.home_geo_point.altitude - v.z());
         } else
-            return GeoPoint(home_geo_point.home_point.latitude, home_geo_point.home_point.longitude, home_geo_point.home_point.altitude - v.z());
+            return GeoPoint(home_geo_point.home_geo_point.latitude, home_geo_point.home_geo_point.longitude, home_geo_point.home_geo_point.altitude - v.z());
     }
 
     //below are approximate versions and would produce errors of more than 10m for points farther than 1km

AirLib/include/common/Waiter.hpp

@@ -14,44 +14,58 @@
 namespace msr { namespace airlib {
 
 class Waiter {
-private:
-    TTimePoint proc_start_;
-    TTimePoint loop_start_;
-
-    TTimeDelta sleep_duration_, timeout_duration_;
-
 public:
-    Waiter(TTimeDelta sleep_duration_seconds, TTimeDelta timeout_duration = std::numeric_limits<TTimeDelta>::max())
-        : sleep_duration_(sleep_duration_seconds), timeout_duration_(timeout_duration)
+    Waiter(TTimeDelta sleep_duration_seconds, TTimeDelta timeout_sec, CancelToken& cancelable_action)
+        : sleep_duration_(sleep_duration_seconds), timeout_sec_(timeout_sec), 
+          cancelable_action_(cancelable_action), is_complete_(false)
     {
         proc_start_ = loop_start_ = clock()->nowNanos();
     }
 
-    virtual bool sleep(CancelToken& cancelable_action)
+    bool sleep()
     {
         // Sleeps for the time needed to get current running time up to the requested sleep_duration_.
         // So this can be used to "throttle" any loop to check something every sleep_duration_ seconds.
+
+        if (isComplete())
+            throw std::domain_error("Process was already complete. This instance of Waiter shouldn't be reused!");
+        if (isTimeout())
+            return false;
+
+        //measure time spent since last iteration
         TTimeDelta running_time = clock()->elapsedSince(loop_start_);
         double remaining = sleep_duration_ - running_time;
-        bool completed = cancelable_action.sleep(remaining);
+        bool done = cancelable_action_.sleep(remaining);
         loop_start_ = clock()->nowNanos();
-        return completed;
+        return done;
     }
 
-    void resetSleep()
+    //call this mark process as complete
+    void complete()
     {
-    	loop_start_ = clock()->nowNanos();
+        is_complete_ = true;
     }
-    void resetTimeout()
+
+    bool isComplete() const
     {
-    	proc_start_ = clock()->nowNanos();
+        return is_complete_;
     }
 
-    bool is_timeout() const
+    bool isTimeout() const
     {
-    	return clock()->elapsedSince(proc_start_) >= timeout_duration_;
+        if (isComplete())
+            return false;
+        else
+    	    return clock()->elapsedSince(proc_start_) >= timeout_sec_;
     }
 private:
+    TTimeDelta sleep_duration_, timeout_sec_;
+    CancelToken& cancelable_action_;
+    bool is_complete_; //each waiter should maintain its own complete status
+
+    TTimePoint proc_start_;
+    TTimePoint loop_start_;
+
     static ClockBase* clock()
     {
         return ClockFactory::get();