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Bartok9Bartok9
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salvage: prompt image save path only when images received
Invert empty-check so HelloDrone asks for a save path when simGetImages actually returned frames (not when the vector is empty). Salvage of #4658 by @webshared — rebased onto current main and re-verified. Spec: tools/aerial-drone-pr-campaign/specs/airsim/2026-07-16-salvage.md
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Lines changed: 148 additions & 148 deletions

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‎HelloDrone/main.cpp‎

Lines changed: 148 additions & 148 deletions
Original file line numberDiff line numberDiff line change
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// Copyright (c) Microsoft Corporation. All rights reserved.
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// Licensed under the MIT License.
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#include "common/common_utils/StrictMode.hpp"
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STRICT_MODE_OFF
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#ifndef RPCLIB_MSGPACK
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#define RPCLIB_MSGPACK clmdep_msgpack
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#endif // !RPCLIB_MSGPACK
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#include "rpc/rpc_error.h"
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STRICT_MODE_ON
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#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"
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#include "common/common_utils/FileSystem.hpp"
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#include <iostream>
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#include <chrono>
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int main()
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{
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using namespace msr::airlib;
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msr::airlib::MultirotorRpcLibClient client;
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typedef ImageCaptureBase::ImageRequest ImageRequest;
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typedef ImageCaptureBase::ImageResponse ImageResponse;
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typedef ImageCaptureBase::ImageType ImageType;
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typedef common_utils::FileSystem FileSystem;
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try {
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client.confirmConnection();
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std::cout << "Press Enter to get FPV image" << std::endl;
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std::cin.get();
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const std::vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
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const std::vector<ImageResponse>& response = client.simGetImages(request);
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std::cout << "# of images received: " << response.size() << std::endl;
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if (!response.size()) {
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std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
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std::string path;
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std::getline(std::cin, path);
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for (const ImageResponse& image_info : response) {
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std::cout << "Image uint8 size: " << image_info.image_data_uint8.size() << std::endl;
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std::cout << "Image float size: " << image_info.image_data_float.size() << std::endl;
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if (path != "") {
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std::string file_path = FileSystem::combine(path, std::to_string(image_info.time_stamp));
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if (image_info.pixels_as_float) {
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Utils::writePFMfile(image_info.image_data_float.data(), image_info.width, image_info.height, file_path + ".pfm");
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}
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else {
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std::ofstream file(file_path + ".png", std::ios::binary);
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file.write(reinterpret_cast<const char*>(image_info.image_data_uint8.data()), image_info.image_data_uint8.size());
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file.close();
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}
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}
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}
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}
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std::cout << "Press Enter to arm the drone" << std::endl;
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std::cin.get();
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client.enableApiControl(true);
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client.armDisarm(true);
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auto barometer_data = client.getBarometerData();
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std::cout << "Barometer data \n"
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<< "barometer_data.time_stamp \t" << barometer_data.time_stamp << std::endl
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<< "barometer_data.altitude \t" << barometer_data.altitude << std::endl
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<< "barometer_data.pressure \t" << barometer_data.pressure << std::endl
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<< "barometer_data.qnh \t" << barometer_data.qnh << std::endl;
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auto imu_data = client.getImuData();
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std::cout << "IMU data \n"
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<< "imu_data.time_stamp \t" << imu_data.time_stamp << std::endl
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<< "imu_data.orientation \t" << imu_data.orientation << std::endl
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<< "imu_data.angular_velocity \t" << imu_data.angular_velocity << std::endl
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<< "imu_data.linear_acceleration \t" << imu_data.linear_acceleration << std::endl;
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auto gps_data = client.getGpsData();
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std::cout << "GPS data \n"
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<< "gps_data.time_stamp \t" << gps_data.time_stamp << std::endl
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<< "gps_data.gnss.time_utc \t" << gps_data.gnss.time_utc << std::endl
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<< "gps_data.gnss.geo_point \t" << gps_data.gnss.geo_point << std::endl
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<< "gps_data.gnss.eph \t" << gps_data.gnss.eph << std::endl
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<< "gps_data.gnss.epv \t" << gps_data.gnss.epv << std::endl
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<< "gps_data.gnss.velocity \t" << gps_data.gnss.velocity << std::endl
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<< "gps_data.gnss.fix_type \t" << gps_data.gnss.fix_type << std::endl;
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auto magnetometer_data = client.getMagnetometerData();
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std::cout << "Magnetometer data \n"
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<< "magnetometer_data.time_stamp \t" << magnetometer_data.time_stamp << std::endl
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<< "magnetometer_data.magnetic_field_body \t" << magnetometer_data.magnetic_field_body << std::endl;
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// << "magnetometer_data.magnetic_field_covariance" << magnetometer_data.magnetic_field_covariance // not implemented in sensor
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std::cout << "Press Enter to takeoff" << std::endl;
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std::cin.get();
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float takeoff_timeout = 5;
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client.takeoffAsync(takeoff_timeout)->waitOnLastTask();
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// switch to explicit hover mode so that this is the fall back when
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// move* commands are finished.
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std::this_thread::sleep_for(std::chrono::duration<double>(5));
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client.hoverAsync()->waitOnLastTask();
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std::cout << "Press Enter to fly in a 10m box pattern at 3 m/s velocity" << std::endl;
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std::cin.get();
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// moveByVelocityZ is an offboard operation, so we need to set offboard mode.
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client.enableApiControl(true);
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auto position = client.getMultirotorState().getPosition();
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float z = position.z(); // current position (NED coordinate system).
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constexpr float speed = 3.0f;
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constexpr float size = 10.0f;
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constexpr float duration = size / speed;
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DrivetrainType drivetrain = DrivetrainType::ForwardOnly;
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YawMode yaw_mode(true, 0);
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std::cout << "moveByVelocityZ(" << speed << ", 0, " << z << "," << duration << ")" << std::endl;
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client.moveByVelocityZAsync(speed, 0, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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std::cout << "moveByVelocityZ(0, " << speed << "," << z << "," << duration << ")" << std::endl;
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client.moveByVelocityZAsync(0, speed, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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std::cout << "moveByVelocityZ(" << -speed << ", 0, " << z << "," << duration << ")" << std::endl;
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client.moveByVelocityZAsync(-speed, 0, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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std::cout << "moveByVelocityZ(0, " << -speed << "," << z << "," << duration << ")" << std::endl;
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client.moveByVelocityZAsync(0, -speed, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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client.hoverAsync()->waitOnLastTask();
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std::cout << "Press Enter to land" << std::endl;
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std::cin.get();
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client.landAsync()->waitOnLastTask();
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std::cout << "Press Enter to disarm" << std::endl;
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std::cin.get();
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client.armDisarm(false);
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}
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catch (rpc::rpc_error& e) {
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const auto msg = e.get_error().as<std::string>();
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std::cout << "Exception raised by the API, something went wrong." << std::endl
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<< msg << std::endl;
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}
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return 0;
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}
1+
// Copyright (c) Microsoft Corporation. All rights reserved.
2+
// Licensed under the MIT License.
3+
4+
#include "common/common_utils/StrictMode.hpp"
5+
STRICT_MODE_OFF
6+
#ifndef RPCLIB_MSGPACK
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#define RPCLIB_MSGPACK clmdep_msgpack
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#endif // !RPCLIB_MSGPACK
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#include "rpc/rpc_error.h"
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STRICT_MODE_ON
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#include "vehicles/multirotor/api/MultirotorRpcLibClient.hpp"
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#include "common/common_utils/FileSystem.hpp"
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#include <iostream>
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#include <chrono>
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int main()
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{
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using namespace msr::airlib;
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msr::airlib::MultirotorRpcLibClient client;
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typedef ImageCaptureBase::ImageRequest ImageRequest;
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typedef ImageCaptureBase::ImageResponse ImageResponse;
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typedef ImageCaptureBase::ImageType ImageType;
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typedef common_utils::FileSystem FileSystem;
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try {
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client.confirmConnection();
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std::cout << "Press Enter to get FPV image" << std::endl;
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std::cin.get();
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const std::vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
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const std::vector<ImageResponse>& response = client.simGetImages(request);
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std::cout << "# of images received: " << response.size() << std::endl;
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if (response.size()) {
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std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
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std::string path;
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std::getline(std::cin, path);
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for (const ImageResponse& image_info : response) {
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std::cout << "Image uint8 size: " << image_info.image_data_uint8.size() << std::endl;
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std::cout << "Image float size: " << image_info.image_data_float.size() << std::endl;
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if (path != "") {
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std::string file_path = FileSystem::combine(path, std::to_string(image_info.time_stamp));
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if (image_info.pixels_as_float) {
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Utils::writePFMfile(image_info.image_data_float.data(), image_info.width, image_info.height, file_path + ".pfm");
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}
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else {
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std::ofstream file(file_path + ".png", std::ios::binary);
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file.write(reinterpret_cast<const char*>(image_info.image_data_uint8.data()), image_info.image_data_uint8.size());
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file.close();
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}
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}
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}
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}
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std::cout << "Press Enter to arm the drone" << std::endl;
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std::cin.get();
61+
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client.enableApiControl(true);
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client.armDisarm(true);
64+
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auto barometer_data = client.getBarometerData();
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std::cout << "Barometer data \n"
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<< "barometer_data.time_stamp \t" << barometer_data.time_stamp << std::endl
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<< "barometer_data.altitude \t" << barometer_data.altitude << std::endl
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<< "barometer_data.pressure \t" << barometer_data.pressure << std::endl
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<< "barometer_data.qnh \t" << barometer_data.qnh << std::endl;
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auto imu_data = client.getImuData();
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std::cout << "IMU data \n"
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<< "imu_data.time_stamp \t" << imu_data.time_stamp << std::endl
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<< "imu_data.orientation \t" << imu_data.orientation << std::endl
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<< "imu_data.angular_velocity \t" << imu_data.angular_velocity << std::endl
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<< "imu_data.linear_acceleration \t" << imu_data.linear_acceleration << std::endl;
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auto gps_data = client.getGpsData();
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std::cout << "GPS data \n"
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<< "gps_data.time_stamp \t" << gps_data.time_stamp << std::endl
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<< "gps_data.gnss.time_utc \t" << gps_data.gnss.time_utc << std::endl
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<< "gps_data.gnss.geo_point \t" << gps_data.gnss.geo_point << std::endl
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<< "gps_data.gnss.eph \t" << gps_data.gnss.eph << std::endl
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<< "gps_data.gnss.epv \t" << gps_data.gnss.epv << std::endl
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<< "gps_data.gnss.velocity \t" << gps_data.gnss.velocity << std::endl
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<< "gps_data.gnss.fix_type \t" << gps_data.gnss.fix_type << std::endl;
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auto magnetometer_data = client.getMagnetometerData();
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std::cout << "Magnetometer data \n"
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<< "magnetometer_data.time_stamp \t" << magnetometer_data.time_stamp << std::endl
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<< "magnetometer_data.magnetic_field_body \t" << magnetometer_data.magnetic_field_body << std::endl;
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// << "magnetometer_data.magnetic_field_covariance" << magnetometer_data.magnetic_field_covariance // not implemented in sensor
94+
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std::cout << "Press Enter to takeoff" << std::endl;
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std::cin.get();
97+
float takeoff_timeout = 5;
98+
client.takeoffAsync(takeoff_timeout)->waitOnLastTask();
99+
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// switch to explicit hover mode so that this is the fall back when
101+
// move* commands are finished.
102+
std::this_thread::sleep_for(std::chrono::duration<double>(5));
103+
client.hoverAsync()->waitOnLastTask();
104+
105+
std::cout << "Press Enter to fly in a 10m box pattern at 3 m/s velocity" << std::endl;
106+
std::cin.get();
107+
// moveByVelocityZ is an offboard operation, so we need to set offboard mode.
108+
client.enableApiControl(true);
109+
110+
auto position = client.getMultirotorState().getPosition();
111+
float z = position.z(); // current position (NED coordinate system).
112+
constexpr float speed = 3.0f;
113+
constexpr float size = 10.0f;
114+
constexpr float duration = size / speed;
115+
DrivetrainType drivetrain = DrivetrainType::ForwardOnly;
116+
YawMode yaw_mode(true, 0);
117+
118+
std::cout << "moveByVelocityZ(" << speed << ", 0, " << z << "," << duration << ")" << std::endl;
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client.moveByVelocityZAsync(speed, 0, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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std::cout << "moveByVelocityZ(0, " << speed << "," << z << "," << duration << ")" << std::endl;
122+
client.moveByVelocityZAsync(0, speed, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
124+
std::cout << "moveByVelocityZ(" << -speed << ", 0, " << z << "," << duration << ")" << std::endl;
125+
client.moveByVelocityZAsync(-speed, 0, z, duration, drivetrain, yaw_mode);
126+
std::this_thread::sleep_for(std::chrono::duration<double>(duration));
127+
std::cout << "moveByVelocityZ(0, " << -speed << "," << z << "," << duration << ")" << std::endl;
128+
client.moveByVelocityZAsync(0, -speed, z, duration, drivetrain, yaw_mode);
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std::this_thread::sleep_for(std::chrono::duration<double>(duration));
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client.hoverAsync()->waitOnLastTask();
132+
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std::cout << "Press Enter to land" << std::endl;
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std::cin.get();
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client.landAsync()->waitOnLastTask();
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std::cout << "Press Enter to disarm" << std::endl;
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std::cin.get();
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client.armDisarm(false);
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}
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catch (rpc::rpc_error& e) {
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const auto msg = e.get_error().as<std::string>();
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std::cout << "Exception raised by the API, something went wrong." << std::endl
144+
<< msg << std::endl;
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}
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return 0;
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}

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