Added RpcLibPort to change rpc port easily (#1711)

AirLib/include/api/RpcLibClientBase.hpp

@@ -25,7 +25,7 @@ class RpcLibClientBase {
         Initial = 0, Connected, Disconnected, Reset, Unknown
     };
 public:
-    RpcLibClientBase(const string& ip_address = "localhost", uint16_t port = 41451, float timeout_sec = 60);
+    RpcLibClientBase(const string& ip_address = "localhost", uint16_t port = RpcLibPort, float timeout_sec = 60);
     virtual ~RpcLibClientBase();    //required for pimpl
 
     void confirmConnection();

AirLib/include/api/RpcLibServerBase.hpp

@@ -14,7 +14,7 @@ namespace msr { namespace airlib {
 
 class RpcLibServerBase : public ApiServerBase {
 public:
-    RpcLibServerBase(ApiProvider* api_provider, const std::string& server_address, uint16_t port = 41451);
+    RpcLibServerBase(ApiProvider* api_provider, const std::string& server_address, uint16_t port = RpcLibPort);
     virtual ~RpcLibServerBase() override;
 
     virtual void start(bool block, std::size_t thread_count) override;

AirLib/include/common/AirSimSettings.hpp

@@ -329,6 +329,7 @@ struct AirSimSettings {
     int initial_view_mode = 3; //ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME
     bool enable_rpc = true;
     std::string api_server_address = "";
+	uint16_t api_port = RpcLibPort;
     std::string physics_engine_name = "";
 
     std::string clock_type = "";
@@ -988,6 +989,7 @@ struct AirSimSettings {
         //because for docker container default is 0.0.0.0 and people get really confused why things
         //don't work
         api_server_address = settings_json.getString("LocalHostIp", "");
+		api_port = settings_json.getInt("ApiServerPort", RpcLibPort);
         is_record_ui_visible = settings_json.getBool("RecordUIVisible", true);
         engine_sound = settings_json.getBool("EngineSound", false);
         enable_rpc = settings_json.getBool("EnableRpc", enable_rpc);

AirLib/include/common/Common.hpp

@@ -19,6 +19,8 @@
 #define _CRT_SECURE_NO_WARNINGS 1
 #endif
 
+#define RpcLibPort 41451
+
 namespace msr { namespace airlib {
 
 //numericals

AirLib/include/vehicles/car/api/CarRpcLibClient.hpp

@@ -16,7 +16,7 @@ namespace msr { namespace airlib {
 
 class CarRpcLibClient : public RpcLibClientBase {
 public:
-    CarRpcLibClient(const string& ip_address = "localhost", uint16_t port = 41451, float timeout_sec = 60);
+    CarRpcLibClient(const string& ip_address = "localhost", uint16_t port = RpcLibPort, float timeout_sec = 60);
 
     void setCarControls(const CarApiBase::CarControls& controls, const std::string& vehicle_name = "");
     CarApiBase::CarState getCarState(const std::string& vehicle_name = "");

AirLib/include/vehicles/car/api/CarRpcLibServer.hpp

@@ -11,11 +11,12 @@
 #include "api/RpcLibServerBase.hpp"
 #include "vehicles/car/api/CarApiBase.hpp"
 
+
 namespace msr { namespace airlib {
 
 class CarRpcLibServer : public RpcLibServerBase {
 public:
-    CarRpcLibServer(ApiProvider* api_provider, string server_address, uint16_t port = 41451);
+    CarRpcLibServer(ApiProvider* api_provider, string server_address, uint16_t port = RpcLibPort);
     virtual ~CarRpcLibServer();
 
 protected:

AirLib/include/vehicles/multirotor/api/MultirotorRpcLibClient.hpp

@@ -12,11 +12,12 @@
 #include "api/RpcLibClientBase.hpp"
 #include "vehicles/multirotor/api/MultirotorCommon.hpp"
 
+
 namespace msr { namespace airlib {
 
 class MultirotorRpcLibClient : public RpcLibClientBase {
 public:
-    MultirotorRpcLibClient(const string& ip_address = "localhost", uint16_t port = 41451, float timeout_sec = 60);
+    MultirotorRpcLibClient(const string& ip_address = "localhost", uint16_t port = RpcLibPort, float timeout_sec = 60);
 
     MultirotorRpcLibClient* takeoffAsync(float timeout_sec = 20, const std::string& vehicle_name = "");
     MultirotorRpcLibClient* landAsync(float timeout_sec = 60, const std::string& vehicle_name = "");

AirLib/include/vehicles/multirotor/api/MultirotorRpcLibServer.hpp

@@ -14,7 +14,7 @@ namespace msr { namespace airlib {
 
 class MultirotorRpcLibServer : public RpcLibServerBase {
 public:
-    MultirotorRpcLibServer(ApiProvider* api_provider, string server_address, uint16_t port = 41451);
+    MultirotorRpcLibServer(ApiProvider* api_provider, string server_address, uint16_t port = RpcLibPort);
     virtual ~MultirotorRpcLibServer();
 
 protected:

AirLib/src/api/RpcLibServerBase.cpp

@@ -56,10 +56,12 @@ typedef msr::airlib_rpclib::RpcLibAdapatorsBase RpcLibAdapatorsBase;
 RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string& server_address, uint16_t port)
     : api_provider_(api_provider)
 {
+
     if (server_address == "")
         pimpl_.reset(new impl(port));
     else
         pimpl_.reset(new impl(server_address, port));
+
     pimpl_->server.bind("ping", [&]() -> bool { return true; });
     pimpl_->server.bind("getServerVersion", []() -> int {
         return 1;

Unreal/Plugins/AirSim/Source/Vehicles/Car/SimModeCar.cpp

@@ -77,7 +77,7 @@ std::unique_ptr<msr::airlib::ApiServerBase> ASimModeCar::createApiServer() const
     return ASimModeBase::createApiServer();
 #else
     return std::unique_ptr<msr::airlib::ApiServerBase>(new msr::airlib::CarRpcLibServer(
-        getApiProvider(), getSettings().api_server_address));
+        getApiProvider(), getSettings().api_server_address, getSettings().api_port));
 #endif
 }
 

Unreal/Plugins/AirSim/Source/Vehicles/ComputerVision/SimModeComputerVision.cpp

@@ -23,7 +23,7 @@ std::unique_ptr<msr::airlib::ApiServerBase> ASimModeComputerVision::createApiSer
     return ASimModeBase::createApiServer();
 #else
     return std::unique_ptr<msr::airlib::ApiServerBase>(new msr::airlib::RpcLibServerBase(
-        getApiProvider(), getSettings().api_server_address));
+        getApiProvider(), getSettings().api_server_address, getSettings().api_port));
 #endif
 }
 

Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/SimModeWorldMultiRotor.cpp

@@ -83,7 +83,7 @@ std::unique_ptr<msr::airlib::ApiServerBase> ASimModeWorldMultiRotor::createApiSe
     return ASimModeBase::createApiServer();
 #else
     return std::unique_ptr<msr::airlib::ApiServerBase>(new msr::airlib::MultirotorRpcLibServer(
-        getApiProvider(), getSettings().api_server_address));
+        getApiProvider(), getSettings().api_server_address, getSettings().api_port));
 #endif
 }