Add simSetWind API

Author: rajat2004

AirLib/include/api/RpcLibClientBase.hpp

@@ -114,6 +114,8 @@ class RpcLibClientBase {
     void stopRecording();
     bool isRecording();
 
+    void simSetWind(const Vector3r& wind) const;
+
 protected:
     void* getClient();
     const void* getClient() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -70,6 +70,8 @@ class WorldSimApiBase {
     virtual void startRecording() = 0;
     virtual void stopRecording() = 0;
     virtual bool isRecording() const = 0;
+
+    virtual void setWind(const Vector3r& wind) const = 0;
 };
 
 

AirLib/src/api/RpcLibClientBase.cpp

@@ -432,6 +432,12 @@ bool RpcLibClientBase::isRecording()
     return pimpl_->client.call("isRecording").as<bool>();
 }
 
+void RpcLibClientBase::simSetWind(const Vector3r& wind) const
+{
+    RpcLibAdapatorsBase::Vector3r conv_wind(wind);
+    pimpl_->client.call("simSetWind", conv_wind);
+}
+
 void* RpcLibClientBase::getClient()
 {
     return &pimpl_->client;

AirLib/src/api/RpcLibServerBase.cpp

@@ -366,6 +366,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return getWorldSimApi()->isRecording();
     });
 
+    pimpl_->server.bind("simSetWind", [&](const RpcLibAdapatorsBase::Vector3r& wind) -> void {
+        getWorldSimApi()->setWind(wind.to());
+    });
+
     //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

@@ -699,6 +699,15 @@ def isRecording(self):
         """
         return self.client.call('isRecording')
 
+    def simSetWind(self, wind):
+        """
+        Set simulated wind, in World frame, NED direction, m/s
+
+        Args:
+            wind (Vector3r): Wind, in World frame, NED direction, in m/s 
+        """
+        self.client.call('simSetWind', wind)
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp

@@ -263,6 +263,13 @@ void ASimModeBase::continueForTime(double seconds)
     throw std::domain_error("continueForTime is not implemented by SimMode");
 }
 
+void ASimModeBase::setWind(const msr::airlib::Vector3r& wind) const
+{
+    // should be overridden by derived class
+    unused(wind);
+    throw std::domain_error("setWind not implemented by SimMode");
+}
+
 std::unique_ptr<msr::airlib::ApiServerBase> ASimModeBase::createApiServer() const
 {
     //this will be the case when compilation with RPCLIB is disabled or simmode doesn't support APIs

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h

@@ -62,6 +62,8 @@ class AIRSIM_API ASimModeBase : public AActor
     virtual void pause(bool is_paused);
     virtual void continueForTime(double seconds);
 
+    virtual void setWind(const msr::airlib::Vector3r& wind) const;
+
     virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
         float celestial_clock_speed, float update_interval_secs, bool move_sun);
 

Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp

@@ -100,7 +100,7 @@ void ASimModeWorldBase::continueForTime(double seconds)
     UGameplayStatics::SetGamePaused(this->GetWorld(), true);
 }
 
-void ASimModeWorldBase::setWind(const msr::airlib::Vector3r& wind)
+void ASimModeWorldBase::setWind(const msr::airlib::Vector3r& wind) const
 {
     physics_engine_->setWind(wind);
 }

Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h

@@ -31,7 +31,7 @@ class AIRSIM_API ASimModeWorldBase : public ASimModeBase
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
 
-    void setWind(const msr::airlib::Vector3r& wind);
+    virtual void setWind(const msr::airlib::Vector3r& wind) const override;
 
 protected:
     void startAsyncUpdator();

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -406,3 +406,9 @@ bool WorldSimApi::isRecording() const
 {
     return simmode_->isRecording();
 }
+
+
+void WorldSimApi::setWind(const Vector3r& wind) const
+{
+    simmode_->setWind(wind);
+}