Sim run console command (#2996)

* double fixed build.cmd * Created API for running console commands. Unreal has many useful console commands, and user can create their own in the level blueprint. * Delete AirSim.props * Added docstring and example script. * add collision view to consol cmd script, move weather and markers to environment/ dir * bla * more collision cmds in example script * Added stub for new API in Unity. * fix typo in unity non impl * fix docstring syntax Co-authored-by: Nicholas Gyde <[email protected]> Co-authored-by: Ratnesh Madaan <[email protected]>
microsoft · Sep 2, 2020 · 8d80ccd · 8d80ccd
1 parent 045766d
commit 8d80ccd
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diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -78,6 +78,8 @@ class RpcLibClientBase {
 
     msr::airlib::GeoPoint getHomeGeoPoint(const std::string& vehicle_name = "") const;
 
+    bool simRunConsoleCommand(const std::string& command);
+
     // sensor APIs
     msr::airlib::LidarData getLidarData(const std::string& lidar_name = "", const std::string& vehicle_name = "") const;
     msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "") const;

diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -61,6 +61,7 @@ class WorldSimApiBase {
     virtual Pose getObjectPose(const std::string& object_name) const = 0;
     virtual Vector3r getObjectScale(const std::string& object_name) const = 0;
     virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) = 0;
+    virtual bool runConsoleCommand(const std::string& command) = 0;
     virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) = 0;
 
 	virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -412,6 +412,11 @@ void RpcLibClientBase::cancelLastTask(const std::string& vehicle_name)
     pimpl_->client.call("cancelLastTask", vehicle_name);
 }
 
+bool RpcLibClientBase::simRunConsoleCommand(const std::string& command)
+{
+    return pimpl_->client.call("simRunConsoleCommand", command).as<bool>();
+}
+
 //return value of last task. It should be true if task completed without
 //cancellation or timeout
 RpcLibClientBase* RpcLibClientBase::waitOnLastTask(bool* task_result, float timeout_sec)

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -130,6 +130,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return getVehicleApi(vehicle_name)->armDisarm(arm);
     });
 
+    pimpl_->server.bind("simRunConsoleCommand", [&](const std::string& command) -> bool {
+        return getWorldSimApi()->runConsoleCommand(command);
+    });
+
     pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdapatorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name) -> 
         vector<RpcLibAdapatorsBase::ImageResponse> {
             const auto& response = getVehicleSimApi(vehicle_name)->getImages(RpcLibAdapatorsBase::ImageRequest::to(request_adapter));

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -254,6 +254,20 @@ 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 simRunConsoleCommand(self, command):
+        """
+        Allows the client to execute a command in Unreal's native console, via an API.
+        Affords access to the countless built-in commands such as "stat unit", "stat fps", "open [map]", adjust any config settings, etc. etc.
+        Allows the user to create bespoke APIs very easily, by adding a custom event to the level blueprint, and then calling the console command "ce MyEventName [args]". No recompilation of AirSim needed!
+
+        Args:
+            command ([string]): Desired Unreal Engine Console command to run
+
+        Returns:
+            [bool]: Success
+        """
+	    return self.client.call('simRunConsoleCommand', command)
 
     # gets the static meshes in the unreal scene
     def simGetMeshPositionVertexBuffers(self):

diff --git a/PythonClient/computer_vision/plot_markers.py → PythonClient/environment/plot_markers.py b/PythonClient/computer_vision/plot_markers.py → PythonClient/environment/plot_markers.py
diff --git a/PythonClient/environment/unreal_console_commands.py b/PythonClient/environment/unreal_console_commands.py
@@ -0,0 +1,29 @@
+import airsim
+import time
+
+def RunConsoleCmd(client, cmd):
+    client.simRunConsoleCommand(cmd)
+    print(f"Running Unreal Console cmd '{cmd}' and sleeping for 1 second")
+    time.sleep(1.0)
+
+def RunCmdList(client):
+    RunConsoleCmd(client, 'stat fps')
+    RunConsoleCmd(client, 'stat unit')
+    RunConsoleCmd(client, 'stat unitGraph')
+    RunConsoleCmd(client, 'show COLLISION')
+    RunConsoleCmd(client, 'show CollisionVisibility')
+    RunConsoleCmd(client, 'stat game')
+    RunConsoleCmd(client, 'show COLLISION')
+    RunConsoleCmd(client, 'show CollisionVisibility')
+    RunConsoleCmd(client, 'stat game')
+    RunConsoleCmd(client, 'stat unitGraph')
+    RunConsoleCmd(client, 'stat unit')
+    RunConsoleCmd(client, 'stat fps')
+
+def main():
+    client = airsim.client.MultirotorClient()
+    client.confirmConnection()
+    RunCmdList(client)
+
+if __name__ == "__main__":
+    main()
diff --git a/PythonClient/computer_vision/weather.py → PythonClient/environment/weather.py b/PythonClient/computer_vision/weather.py → PythonClient/environment/weather.py
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -84,6 +84,13 @@ bool WorldSimApi::setObjectPose(const std::string& object_name, const WorldSimAp
 	return SetPose(airSimPose, false, object_name.c_str());
 }
 
+bool WorldSimApi::runConsoleCommand(const std::string& command)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simrunConsoleCommand is not supported on unity").c_str());
+    return false;
+}
+
 void WorldSimApi::enableWeather(bool enable)
 {
     unused(enable);

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -43,6 +43,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 	virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
     virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) override;
 
+    virtual bool runConsoleCommand(const std::string& command) override;
+
     //----------- Plotting APIs ----------/
     virtual void simFlushPersistentMarkers() override;
     virtual void simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent) override;

diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
@@ -624,6 +624,14 @@ UObject* UAirBlueprintLib::GetMeshFromRegistry(const std::string& load_object)
     return LoadObject;
 }
 
+bool UAirBlueprintLib::RunConsoleCommand(const AActor* context, const FString& command)
+{
+    auto* playerController = UGameplayStatics::GetPlayerController(context->GetWorld(), 0);;
+    if (playerController != nullptr)
+        playerController->ConsoleCommand(command, true);
+    return playerController != nullptr;
+}
+
 bool UAirBlueprintLib::HasObstacle(const AActor* actor, const FVector& start, const FVector& end, const AActor* ignore_actor, ECollisionChannel collision_channel)
 {
     FCollisionQueryParams trace_params;

diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
@@ -89,6 +89,9 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
     static void GenerateAssetRegistryMap(const UObject* context, TMap<FString, FAssetData>& asset_map);
     static void GenerateActorMap(const UObject* context, TMap<FString, AActor*>& scene_object_map);
 
+    UFUNCTION(BlueprintCallable, Category = "AirSim")
+    static bool RunConsoleCommand(const AActor* context, const FString& command);
+
     static bool HasObstacle(const AActor* actor, const FVector& start, const FVector& end,
         const AActor* ignore_actor = nullptr, ECollisionChannel collision_channel = ECC_Visibility);
     static bool GetObstacle(const AActor* actor, const FVector& start, const FVector& end,

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -223,6 +223,16 @@ std::vector<std::string> WorldSimApi::listSceneObjects(const std::string& name_r
     return result;
 }
 
+bool WorldSimApi::runConsoleCommand(const std::string& command)
+{
+    bool succeeded = false;
+    UAirBlueprintLib::RunCommandOnGameThread([this, &command, &succeeded]() {
+        FString fStringCommand(command.c_str());
+        succeeded = UAirBlueprintLib::RunConsoleCommand(simmode_, fStringCommand);
+    }, true);
+    return succeeded;
+}
+
 WorldSimApi::Pose WorldSimApi::getObjectPose(const std::string& object_name) const
 {
     Pose result;

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -44,6 +44,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
     virtual Pose getObjectPose(const std::string& object_name) const override;
     virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
+    virtual bool runConsoleCommand(const std::string& command) override;
     virtual Vector3r getObjectScale(const std::string& object_name) const override;
     virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) override;