Merge pull request #2700 from secondlife/maxim/lua-autopilot-dev

Lua api for autopilot functions

8 files changed, 158 insertions, 46 deletions

diff --git a/indra/llcommon/lua_function.cpp b/indra/llcommon/lua_function.cpp
index a9f88f3170..33666964f7 100644
--- a/indra/llcommon/lua_function.cpp
+++ b/indra/llcommon/lua_function.cpp
@@ -1150,7 +1150,7 @@ lua_function(check_stop, "check_stop(): ensure that a Lua script responds to vie
 *   help()
 *****************************************************************************/
 lua_function(help,
-             "LL.help(): list viewer's Lua functions\n"
+             "help(): list viewer's Lua functions\n"
              "LL.help(function): show help string for specific function")
 {
     auto& luapump{ LLEventPumps::instance().obtain("lua output") };
@@ -1210,7 +1210,7 @@ lua_function(help,
 *****************************************************************************/
 lua_function(
     leaphelp,
-    "LL.leaphelp(): list viewer's LEAP APIs\n"
+    "leaphelp(): list viewer's LEAP APIs\n"
     "LL.leaphelp(api): show help for specific api string name")
 {
     LLSD request;
diff --git a/indra/newview/llagentlistener.cpp b/indra/newview/llagentlistener.cpp
index d9002bf073..14e443ec4e 100644
--- a/indra/newview/llagentlistener.cpp
+++ b/indra/newview/llagentlistener.cpp
@@ -87,33 +87,34 @@ LLAgentListener::LLAgentListener(LLAgent &agent)
     add("startAutoPilot",
         "Start the autopilot system using the following parameters:\n"
         "[\"target_global\"]: array of target global {x, y, z} position\n"
-        "[\"stop_distance\"]: target maxiumum distance from target [default: autopilot guess]\n"
+        "[\"stop_distance\"]: maximum stop distance from target [default: autopilot guess]\n"
         "[\"target_rotation\"]: array of [x, y, z, w] quaternion values [default: no target]\n"
         "[\"rotation_threshold\"]: target maximum angle from target facing rotation [default: 0.03 radians]\n"
-        "[\"behavior_name\"]: name of the autopilot behavior [default: \"\"]"
-        "[\"allow_flying\"]: allow flying during autopilot [default: True]",
-        //"[\"callback_pump\"]: pump to send success/failure and callback data to [default: none]\n"
-        //"[\"callback_data\"]: data to send back during a callback [default: none]",
-        &LLAgentListener::startAutoPilot);
+        "[\"behavior_name\"]: name of the autopilot behavior [default: \"\"]\n"
+        "[\"allow_flying\"]: allow flying during autopilot [default: True]\n"
+        "event with [\"success\"] flag is sent to 'LLAutopilot' event pump, when auto pilot is terminated",
+        &LLAgentListener::startAutoPilot,
+        llsd::map("target_global", LLSD()));
     add("getAutoPilot",
         "Send information about current state of the autopilot system to [\"reply\"]:\n"
         "[\"enabled\"]: boolean indicating whether or not autopilot is enabled\n"
         "[\"target_global\"]: array of target global {x, y, z} position\n"
         "[\"leader_id\"]: uuid of target autopilot is following\n"
-        "[\"stop_distance\"]: target maximum distance from target\n"
+        "[\"stop_distance\"]: maximum stop distance from target\n"
         "[\"target_distance\"]: last known distance from target\n"
         "[\"use_rotation\"]: boolean indicating if autopilot has a target facing rotation\n"
         "[\"target_facing\"]: array of {x, y} target direction to face\n"
         "[\"rotation_threshold\"]: target maximum angle from target facing rotation\n"
         "[\"behavior_name\"]: name of the autopilot behavior",
         &LLAgentListener::getAutoPilot,
-        LLSDMap("reply", LLSD()));
+        llsd::map("reply", LLSD()));
     add("startFollowPilot",
         "[\"leader_id\"]: uuid of target to follow using the autopilot system (optional with avatar_name)\n"
         "[\"avatar_name\"]: avatar name to follow using the autopilot system (optional with leader_id)\n"
         "[\"allow_flying\"]: allow flying during autopilot [default: True]\n"
-        "[\"stop_distance\"]: target maxiumum distance from target [default: autopilot guess]",
-        &LLAgentListener::startFollowPilot);
+        "[\"stop_distance\"]: maximum stop distance from target [default: autopilot guess]",
+        &LLAgentListener::startFollowPilot,
+        llsd::map("reply", LLSD()));
     add("setAutoPilotTarget",
         "Update target for currently running autopilot:\n"
         "[\"target_global\"]: array of target global {x, y, z} position",
@@ -205,7 +206,7 @@ void LLAgentListener::requestSit(LLSD const & event_data) const
     //mAgent.getAvatarObject()->sitOnObject();
     // shamelessly ripped from llviewermenu.cpp:handle_sit_or_stand()
     // *TODO - find a permanent place to share this code properly.
-
+    Response response(LLSD(), event_data);
     LLViewerObject *object = NULL;
     if (event_data.has("obj_uuid"))
     {
@@ -214,7 +215,13 @@ void LLAgentListener::requestSit(LLSD const & event_data) const
     else if (event_data.has("position"))
     {
         LLVector3 target_position = ll_vector3_from_sd(event_data["position"]);
-        object = findObjectClosestTo(target_position);
+        object = findObjectClosestTo(target_position, true);
+    }
+    else
+    {
+        //just sit on the ground
+        mAgent.setControlFlags(AGENT_CONTROL_SIT_ON_GROUND);
+        return;
     }
 
     if (object && object->getPCode() == LL_PCODE_VOLUME)
@@ -231,8 +238,7 @@ void LLAgentListener::requestSit(LLSD const & event_data) const
     }
     else
     {
-        LL_WARNS() << "LLAgent requestSit could not find the sit target: "
-            << event_data << LL_ENDL;
+        response.error("requestSit could not find the sit target");
     }
 }
 
@@ -242,7 +248,7 @@ void LLAgentListener::requestStand(LLSD const & event_data) const
 }
 
 
-LLViewerObject * LLAgentListener::findObjectClosestTo( const LLVector3 & position ) const
+LLViewerObject * LLAgentListener::findObjectClosestTo(const LLVector3 & position, bool sit_target) const
 {
     LLViewerObject *object = NULL;
 
@@ -253,8 +259,13 @@ LLViewerObject * LLAgentListener::findObjectClosestTo( const LLVector3 & positio
     while (cur_index < num_objects)
     {
         LLViewerObject * cur_object = gObjectList.getObject(cur_index++);
-        if (cur_object)
-        {   // Calculate distance from the target position
+        if (cur_object && !cur_object->isAttachment())
+        {
+            if(sit_target && (cur_object->getPCode() != LL_PCODE_VOLUME))
+            {
+                continue;
+            }
+            // Calculate distance from the target position
             LLVector3 target_diff = cur_object->getPositionRegion() - position;
             F32 distance_to_target = target_diff.length();
             if (distance_to_target < min_distance)
@@ -354,14 +365,13 @@ void LLAgentListener::getPosition(const LLSD& event_data) const
 
 void LLAgentListener::startAutoPilot(LLSD const & event_data)
 {
-    LLQuaternion target_rotation_value;
     LLQuaternion* target_rotation = NULL;
     if (event_data.has("target_rotation"))
     {
-        target_rotation_value = ll_quaternion_from_sd(event_data["target_rotation"]);
+        LLQuaternion target_rotation_value = ll_quaternion_from_sd(event_data["target_rotation"]);
         target_rotation = &target_rotation_value;
     }
-    // *TODO: Use callback_pump and callback_data
+
     F32 rotation_threshold = 0.03f;
     if (event_data.has("rotation_threshold"))
     {
@@ -381,13 +391,24 @@ void LLAgentListener::startAutoPilot(LLSD const & event_data)
         stop_distance = (F32)event_data["stop_distance"].asReal();
     }
 
+    std::string behavior_name = LLCoros::getName();
+    if (event_data.has("behavior_name"))
+    {
+        behavior_name = event_data["behavior_name"].asString();
+    }
+
     // Clear follow target, this is doing a path
     mFollowTarget.setNull();
 
+    auto finish_cb = [](bool success, void*)
+    {
+        LLEventPumps::instance().obtain("LLAutopilot").post(llsd::map("success", success));
+    };
+
     mAgent.startAutoPilotGlobal(ll_vector3d_from_sd(event_data["target_global"]),
-                                event_data["behavior_name"],
+                                behavior_name,
                                 target_rotation,
-                                NULL, NULL,
+                                finish_cb, NULL,
                                 stop_distance,
                                 rotation_threshold,
                                 allow_flying);
@@ -395,7 +416,7 @@ void LLAgentListener::startAutoPilot(LLSD const & event_data)
 
 void LLAgentListener::getAutoPilot(const LLSD& event_data) const
 {
-    LLSD reply = LLSD::emptyMap();
+    Response reply(LLSD(), event_data);
 
     LLSD::Boolean enabled = mAgent.getAutoPilot();
     reply["enabled"] = enabled;
@@ -424,12 +445,11 @@ void LLAgentListener::getAutoPilot(const LLSD& event_data) const
     reply["rotation_threshold"] = mAgent.getAutoPilotRotationThreshold();
     reply["behavior_name"] = mAgent.getAutoPilotBehaviorName();
     reply["fly"] = (LLSD::Boolean) mAgent.getFlying();
-
-    sendReply(reply, event_data);
 }
 
 void LLAgentListener::startFollowPilot(LLSD const & event_data)
 {
+    Response response(LLSD(), event_data);
     LLUUID target_id;
 
     bool allow_flying = true;
@@ -463,6 +483,10 @@ void LLAgentListener::startFollowPilot(LLSD const & event_data)
             }
         }
     }
+    else
+    {
+        return response.error("'leader_id' or 'avatar_name' should be specified");
+    }
 
     F32 stop_distance = 0.f;
     if (event_data.has("stop_distance"))
@@ -470,13 +494,16 @@ void LLAgentListener::startFollowPilot(LLSD const & event_data)
         stop_distance = (F32)event_data["stop_distance"].asReal();
     }
 
-    if (target_id.notNull())
+    if (!gObjectList.findObject(target_id))
     {
-        mAgent.setFlying(allow_flying);
-        mFollowTarget = target_id;  // Save follow target so we can report distance later
-
-        mAgent.startFollowPilot(target_id, allow_flying, stop_distance);
+        std::string target_info = event_data.has("leader_id") ? event_data["leader_id"] : event_data["avatar_name"];
+        return response.error(stringize("Target ", std::quoted(target_info), " was not found"));
     }
+
+    mAgent.setFlying(allow_flying);
+    mFollowTarget = target_id;  // Save follow target so we can report distance later
+
+    mAgent.startFollowPilot(target_id, allow_flying, stop_distance);
 }
 
 void LLAgentListener::setAutoPilotTarget(LLSD const & event_data) const
diff --git a/indra/newview/llagentlistener.h b/indra/newview/llagentlistener.h
index 2765bb5b66..05724ff443 100644
--- a/indra/newview/llagentlistener.h
+++ b/indra/newview/llagentlistener.h
@@ -67,7 +67,7 @@ private:
     void stopAnimation(LLSD const &event_data);
     void getAnimationInfo(LLSD const &event_data);
 
-    LLViewerObject * findObjectClosestTo( const LLVector3 & position ) const;
+    LLViewerObject * findObjectClosestTo( const LLVector3 & position, bool sit_target = false ) const;
 
 private:
     LLAgent &   mAgent;
diff --git a/indra/newview/scripts/lua/require/LLAgent.lua b/indra/newview/scripts/lua/require/LLAgent.lua
index 5cee998fcd..4a1132fe7e 100644
--- a/indra/newview/scripts/lua/require/LLAgent.lua
+++ b/indra/newview/scripts/lua/require/LLAgent.lua
@@ -80,4 +80,64 @@ function LLAgent.teleport(...)
     return leap.request('LLTeleportHandler', args).message
 end
 
+-- Call with no arguments to sit on the ground.
+-- Otherwise specify "obj_uuid" to sit on,
+-- or region "position" {x, y, z} where to find closest object to sit on.
+-- For example: LLAgent.requestSit{position=LLAgent.getRegionPosition()}
+-- Your avatar should be close enough to the object you want to sit on
+function LLAgent.requestSit(...)
+    local args = mapargs('obj_uuid,position', ...)
+    args.op = 'requestSit'
+    return leap.request('LLAgent', args)
+end
+
+function LLAgent.requestStand()
+    leap.send('LLAgent', {op = 'requestStand'})
+end
+
+-- ***************************************************************************
+--  Autopilot
+-- ***************************************************************************
+LLAgent.autoPilotPump = "LLAutopilot"
+
+-- Start the autopilot to move to "target_global" location using specified parameters
+-- LLAgent.startAutoPilot{ target_global       array of target global {x, y, z} position
+--                      [, allow_flying]       allow flying during autopilot [default: true]
+--                      [, stop_distance]      target maximum distance from target [default: autopilot guess]
+--                      [, behavior_name]      name of the autopilot behavior [default: (script name)]
+--                      [, target_rotation]    array of [x, y, z, w] quaternion values [default: no target]
+--                      [, rotation_threshold] target maximum angle from target facing rotation [default: 0.03 radians]
+-- an event with "success" flag is sent to "LLAutopilot" event pump, when auto pilot is terminated
+function LLAgent.startAutoPilot(...)
+    local args = mapargs('target_global,allow_flying,stop_distance,behavior_name,target_rotation,rotation_threshold', ...)
+    args.op = 'startAutoPilot'
+    leap.send('LLAgent', args)
+end
+
+-- Update target location for currently running autopilot
+function LLAgent.setAutoPilotTarget(target_global)
+    leap.send('LLAgent', {op = 'setAutoPilotTarget', target_global=target_global})
+end
+
+-- Start the autopilot to move to the specified target location
+-- either "leader_id" (uuid of target) or "avatar_name" (avatar full name: use just first name for 'Resident') should be specified
+-- "allow_flying" [default: true], "stop_distance" [default: autopilot guess]
+function LLAgent.startFollowPilot(...)
+    local args = mapargs('leader_id,avatar_name,allow_flying,stop_distance', ...)
+    args.op = 'startFollowPilot'
+    return leap.request('LLAgent', args)
+end
+
+-- Stop the autopilot system: "user_cancel" indicates whether or not to act as though user canceled autopilot [default: false]
+function LLAgent.stopAutoPilot(...)
+    local args = mapargs('user_cancel', ...)
+    args.op = 'stopAutoPilot'
+    leap.send('LLAgent', args)
+end
+
+-- Get information about current state of the autopilot
+function LLAgent.getAutoPilot()
+    return leap.request('LLAgent', {op = 'getAutoPilot'})
+end
+
 return LLAgent
diff --git a/indra/newview/scripts/lua/require/LLChat.lua b/indra/newview/scripts/lua/require/LLChat.lua
index bc0fc86d22..3ac3bab746 100644
--- a/indra/newview/scripts/lua/require/LLChat.lua
+++ b/indra/newview/scripts/lua/require/LLChat.lua
@@ -5,6 +5,7 @@ local LLChat = {}
 -- ***************************************************************************
 --  Nearby chat
 -- ***************************************************************************
+LLChat.nearbyChatPump = "LLNearbyChat"
 
 -- 0 is public nearby channel, other channels are used to communicate with LSL scripts
 function LLChat.sendNearby(msg, channel)
diff --git a/indra/newview/scripts/lua/require/LLChatListener.lua b/indra/newview/scripts/lua/require/LLListener.lua
index 82b28966ce..b05f966097 100644
--- a/indra/newview/scripts/lua/require/LLChatListener.lua
+++ b/indra/newview/scripts/lua/require/LLListener.lua
@@ -3,29 +3,31 @@ local inspect = require 'inspect'
 local leap = require 'leap'
 local util = require 'util'
 
-local LLChatListener = {}
+local LLListener = {}
 local waitfor = {}
 local listener_name = {}
 
-function LLChatListener:new()
+function LLListener:new(pump_name)
     local obj = setmetatable({}, self)
     self.__index = self
-    obj.name = 'Chat_listener'
+    obj.name = 'Listener:' .. pump_name
+    obj._pump = pump_name
 
     return obj
 end
 
-util.classctor(LLChatListener)
+util.classctor(LLListener)
 
-function LLChatListener:handleMessages(event_data)
+function LLListener:handleMessages(event_data)
     print(inspect(event_data))
     return true
 end
 
-function LLChatListener:start()
+function LLListener:start()
+    _pump = self._pump
     waitfor = leap.WaitFor(-1, self.name)
     function waitfor:filter(pump, data)
-        if pump == "LLNearbyChat" then
+        if _pump == pump then
           return data
         end
     end
@@ -37,12 +39,12 @@ function LLChatListener:start()
         end
     end)
 
-    listener_name = leap.request(leap.cmdpump(), {op='listen', source='LLNearbyChat', listener="ChatListener", tweak=true}).listener
+    listener_name = leap.request(leap.cmdpump(), {op='listen', source=_pump, listener="LLListener", tweak=true}).listener
 end
 
-function LLChatListener:stop()
-    leap.send(leap.cmdpump(), {op='stoplistening', source='LLNearbyChat', listener=listener_name})
+function LLListener:stop()
+    leap.send(leap.cmdpump(), {op='stoplistening', source=self._pump, listener=listener_name})
     waitfor:close()
 end
 
-return LLChatListener
+return LLListener
diff --git a/indra/newview/scripts/lua/test_LLChatListener.lua b/indra/newview/scripts/lua/test_LLChatListener.lua
index 4a4d40bee5..0f269b54e6 100644
--- a/indra/newview/scripts/lua/test_LLChatListener.lua
+++ b/indra/newview/scripts/lua/test_LLChatListener.lua
@@ -1,4 +1,4 @@
-local LLChatListener = require 'LLChatListener'
+local LLListener = require 'LLListener'
 local LLChat = require 'LLChat'
 local UI = require 'UI'
 
@@ -22,7 +22,7 @@ function openOrEcho(message)
     end
 end
 
-local listener = LLChatListener()
+local listener = LLListener(LLChat.nearbyChatPump)
 
 function listener:handleMessages(event_data)
     if string.find(event_data.message, '[LUA]') then
diff --git a/indra/newview/scripts/lua/test_autopilot.lua b/indra/newview/scripts/lua/test_autopilot.lua
new file mode 100644
index 0000000000..09c85c140a
--- /dev/null
+++ b/indra/newview/scripts/lua/test_autopilot.lua
@@ -0,0 +1,22 @@
+local LLAgent = require 'LLAgent'
+local LLListener = require 'LLListener'
+
+local pos = LLAgent.getGlobalPosition()
+pos[1]+=10 -- delta x
+pos[2]+=5  -- delta y
+LLAgent.requestStand()
+LLAgent.startAutoPilot{target_global=pos,allow_flying=false,stop_distance=1}
+
+local listener = LLListener(LLAgent.autoPilotPump)
+
+function listener:handleMessages(event_data)
+    if event_data.success then
+      print('Destination is reached')
+      LLAgent.requestSit()
+    else
+      print('Failed to reach destination')
+    end
+    return false
+end
+
+listener:start()