[sensor/docs] API docs, example in hello_drone.py

microsoft · Apr 30, 2019 · 2baab3f · 2baab3f
1 parent a9468e9
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diff --git a/AirLib/include/api/RpcLibAdapatorsBase.hpp b/AirLib/include/api/RpcLibAdapatorsBase.hpp
@@ -636,7 +636,6 @@ class RpcLibAdapatorsBase {
         GnssReport gnss;
         bool is_valid = false;
 
-
         MSGPACK_DEFINE_MAP(time_stamp, gnss, is_valid);
 
         GpsData()

diff --git a/PythonClient/airsim/types.py b/PythonClient/airsim/types.py
@@ -369,7 +369,7 @@ class BarometerData(MsgpackMixin):
     pressure = Vector3r()
     qnh = Vector3r()
 
-class Magnetometer(MsgpackMixin):
+class MagnetometerData(MsgpackMixin):
     time_stamp = np.uint64(0)
     magnetic_field_body = Vector3r()
     magnetic_field_covariance = 0.0

diff --git a/PythonClient/multirotor/hello_drone.py b/PythonClient/multirotor/hello_drone.py
@@ -17,6 +17,22 @@
 s = pprint.pformat(state)
 print("state: %s" % s)
 
+imu_data = client.getImuData()
+s = pprint.pformat(imu_data)
+print("imu_data: %s" % s)
+
+barometer_data = client.getBarometerData()
+s = pprint.pformat(barometer_data)
+print("barometer_data: %s" % s)
+
+magnetometer_data = client.getMagnetometerData()
+s = pprint.pformat(magnetometer_data)
+print("magnetometer_data: %s" % s)
+
+gps_data = client.getGpsData()
+s = pprint.pformat(gps_data)
+print("gps_data: %s" % s)
+
 airsim.wait_key('Press any key to takeoff')
 client.takeoffAsync().join()
 

diff --git a/README.md b/README.md
@@ -16,6 +16,7 @@ Cars in AirSim
 
 ## What's New
 
+* [Added sensor APIs for Barometer, IMU, GPS, Magnetometer, Distance Sensor](https://microsoft.github.io/AirSim/docs/sensors.md) 
 * Added support for [docker in ubuntu](https://microsoft.github.io/AirSim/docs/docker_ubuntu) 
 * Added Weather Effects and [APIs](https://microsoft.github.io/AirSim/docs/apis#weather-apis)
 * Added [Time of Day API](https://microsoft.github.io/AirSim/docs/apis#time-of-day-api)

diff --git a/docs/sensors.md b/docs/sensors.md
@@ -1,73 +1,82 @@
 # Sensors in AirSim
 
-AirSim currently supports the following sensors:
-* Camera
-* Imu
-* Magnetometer
-* Gps
-* Barometer
-* Distance
-* Lidar
+AirSim currently supports the following sensors.    
+Each sensor is associated with a integer enum specifying its sensor type.
 
-The cameras are currently configured a bit differently than other sensors. The camera configuration and apis are covered in other documents, e.g., [general settings](settings.md) and [image API](image_apis.md).
+* Camera
+* Barometer = 1
+* Imu = 2
+* Gps = 3
+* Magnetometer = 4
+* Distance Sensor = 5 
+* Lidar = 6
 
-This document focuses on the configuration of other sensors.
+**Note** :  Cameras are configured differently than the other sensors and do not have an enum associated with them.    Look at [general settings](settings.md) and [image API](image_apis.md) for camera config and API. 
 
 ## Default sensors
 
-If not sensors are specified in the settings json, the the following sensors are enabled by default based on the simmode.
+If no sensors are specified in the `settings json`, the the following sensors are enabled by default based on the sim mode.
 
 ### Multirotor
 * Imu
 * Magnetometer
 * Gps
 * Barometer
+
 ### Car
 * Gps
+
 ### ComputerVision
 * None
 
-Please see 'createDefaultSensorSettings' method in [AirSimSettings.hpp](https://github.com/Microsoft/AirSim/tree/master/AirLib//include/common/) 
+Behind the scenes, 'createDefaultSensorSettings' method in [AirSimSettings.hpp](https://github.com/Microsoft/AirSim/blob/master/AirLib/include/common/AirSimSettings.hpp) which sets up the above sensors with their default parameters, depending on the sim mode specified in the `settings.json` file. 
 
-## Configuration of Default Sensor list
+## Configuring the default sensor list
 
-A default sensor list can be configured in settings json.
-e.g.,
-```
-    "DefaultSensors": {
-        "Barometer": {
-             "SensorType": 1,
-             "Enabled" : true
-        },
-        "Gps": {
-             "SensorType": 1,
-             "Enabled" : true
-        },
-        "Lidar1": { 
-             "SensorType": 6,
-             "Enabled" : true,
-             "NumberOfChannels": 16,
-             "PointsPerSecond": 10000
-        },
-        "Lidar2": { 
-             "SensorType": 6,
-             "Enabled" : false,
-             "NumberOfChannels": 4,
-             "PointsPerSecond": 10000
-        }
+The default sensor list can be configured in settings json:
+
+```JSON
+"DefaultSensors": {
+    "Barometer": {
+         "SensorType": 1,
+         "Enabled" : true
+    },
+    "Imu": {
+         "SensorType": 2,
+         "Enabled" : true
+    },
+    "Gps": {
+         "SensorType": 3,
+         "Enabled" : true
     },
+    "Magnetometer": {
+         "SensorType": 4,
+         "Enabled" : true
+    },
+    "Distance": {
+         "SensorType": 5,
+         "Enabled" : true
+    },
+    "Lidar2": { 
+         "SensorType": 6,
+         "Enabled" : true,
+         "NumberOfChannels": 4,
+         "PointsPerSecond": 10000
+    }
+},
 ```
 
-## Configuration of vehicle specific sensor settings
+## Configuring vehicle-specific sensor list
 
+If a vehicle provides its sensor list, it **must** provide the whole list. Selective add/remove/update of the default sensor list is **NOT** supported.   
 A vehicle specific sensor list can be specified in the vehicle settings part of the json.
 e.g.,
 
 ```
     "Vehicles": {
 
         "Drone1": {
-            "VehicleType": "simpleflight",
+            "VehicleType": "SimpleFlight",
             "AutoCreate": true,
             ...
             "Sensors": {
@@ -92,29 +101,69 @@ e.g.,
    }
 ```
 
-If a vehicle provides its sensor list, it must provide the whole list. Selective add/remove/update of the default sensor list is NOT supported.
-
-## Configuration of sensor settings
-
-### Shared settings
-There are two shared settings:
-* SensorType
-        An integer representing the sensor-type [SensorBase.hpp](https://github.com/Microsoft/AirSim/tree/master/AirLib//include/sensors/)
-```
-        enum class SensorType : uint {
-            Barometer = 1,
-            Imu = 2,
-            Gps = 3,
-            Magnetometer = 4,
-            Distance = 5,
-            Lidar = 6
-        };
-```
-* Enabled
-    Boolean
-
 ### Sensor specific settings
-Each sensor-type has its own set of settings as well. Please see [lidar](lidar.md) for example of Lidar specific settings.
-
-## Sensor APIs
-Each sensor-type has its own set of APIs currently. Please see [lidar](lidar.md) for example of Lidar specific APIs.
+Each sensor-type has its own set of settings as well.   
+Please see [lidar](lidar.md) for example of Lidar specific settings.
+
+## Sensor APIs 
+Go to `hello_drone.py` for example usage, or follow below for the full API. 
+
+- Barometer
+
+    C++
+    ```cpp
+    msr::airlib::BarometerBase::Output getBarometerData(const std::string& barometer_name, const std::string& vehicle_name);
+    ```
+
+    Python
+    ```python
+    barometer_data = getBarometerData(barometer_name = "", vehicle_name = "")
+    ```
+
+- IMU
+
+C++
+    ```cpp
+    msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "");
+    ```
+
+    Python
+    ```python
+    imu_data = getImuData(imu_name = "", vehicle_name = "")
+    ```
+
+- GPS
+
+    C++
+    ```cpp
+    msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "");
+    ```
+    Python
+    ```python
+    gps_data = getGpsData(gps_name = "", vehicle_name = "")
+    ```
+
+- Magnetometer
+
+    C++
+    ```cpp
+    msr::airlib::MagnetometerBase::Output getMagnetometerData(const std::string& magnetometer_name = "", const std::string& vehicle_name = "");
+    ```
+    Python
+    ```python
+    magnetometer_data = getMagnetometerData(magnetometer_name = "", vehicle_name = "")
+    ```
+
+- Distance sensor
+
+    C++
+    ```cpp
+    msr::airlib::DistanceBase::Output getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "");
+    ```
+    Python
+    ```python
+    distance_sensor_name = getDistanceSensorData(distance_sensor_name = "", vehicle_name = "")
+    ```
+
+- Lidar   
+    See [lidar](lidar.md) for Lidar API.