Merge branch 'master' into bug_fixes/rpclib

.gitignore

@@ -358,15 +358,29 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
-/Unity/UnityDemo/Library
+# Unity
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
-/Unity/UnityDemo/Logs/
-/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll
+/Unity/linux-build
+/Unity/UnityDemo/Assets/Plugins/
+/Unity/UnityDemo/[Ll]ibrary/
+/Unity/UnityDemo/[Tt]emp/
+/Unity/UnityDemo/[Oo]bj/
+/Unity/UnityDemo/[Bb]uild/
+/Unity/UnityDemo/[Bb]uilds/
+/Unity/UnityDemo/[Ll]ogs/
+/Unity/UnityDemo/[Uu]ser[Ss]ettings/
 
 # ROS
 ros/.catkin_tools/
 ros/devel/
 ros/logs/
 ros/.catkin_workspace
 ros/src/CMakeLists.txt
+
+# docs
+docs/README.md
+build_docs/
+
+# api docs
+PythonClient/docs/_build

.travis.yml

@@ -1,73 +1,58 @@
 language: cpp
-#git:
-# shorten this if we can nail down submodule depth
-#  depth: 3
 
-fast_finish: false
+jobs:
+  include:
+    - name: Ubuntu 18.04
+      os: linux
+      dist: bionic
 
-matrix:
-  allow_failures:
-    - env: ALLOW_FAILURES=true
+    - name: Ubuntu 16.04
+      os: linux
+      dist: xenial
 
-  include:
-    # linux version have unique dependencies, so we set them up individually
-    - os: linux
-      dist: trusty
-      sudo: required
-      services:
-        - docker
-    #- os: windows
-    # dotnet: 2.1.5
-    # services:
-    #   - docker
-
+    - name: Windows 10
+      os: windows
+      env:
+        - MSBUILD_PATH="c:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\MSBuild\16.0\Bin"
+        - PATH_FIX="C:\Windows\System32"
 
-    # OS X CMake
-    #- os: osx
-    #  sudo: required
-    #  osx_image: xcode8.2
-    #  compiler:
-    #    - clang
-    #  env:
-    #    - TOOL="cmake"
-    #    - DESCRIPTION="OS X build/test via CMake"
+    - name: MacOS
+      os: osx
+      osx_image: xcode11.4
 
-# docker exec xenial apt-get -y install clang libclang-3.8-dev;
-install:
-  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
-      docker pull ubuntu:xenial;
-      docker run -d --name xenial -dti ubuntu:xenial bash;
-      docker ps -a;
-      docker exec xenial mkdir /build;
-      docker cp . xenial:/build;
-      docker exec xenial apt-get update;
-      docker exec xenial apt-get -y upgrade;
-      docker exec xenial apt-get -y install git wget unzip sudo;
-      docker exec xenial apt-get -y install build-essential software-properties-common cmake;
-      docker exec xenial apt-get update;
-    elif [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
-      echo "No install osx actions--using repo";
-    elif [[ "$TRAVIS_OS_NAME" == "osx" ]] && [[ "$TOOL" == "cmake" ]]; then
-      echo "No install Windows actions--using repo";
-    fi
 
 before_install:
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
-      echo "No pre-install linux actions--using docker";
-    elif [[ "$TRAVIS_OS_NAME" == "osx" ]] && [[ "$TOOL" == "cmake" ]]; then
-      echo "No pre-install osx actions";
+      sudo apt-get update;
+      sudo apt-get -y install git wget unzip;
+      sudo apt-get -y install build-essential software-properties-common cmake rsync libboost-all-dev;
+    elif [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+      echo "No before_install actions for OSX";
+    elif [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
+      choco install visualstudio2019buildtools --package-parameters "--includeRecommended --includeOptional";
+      choco install visualstudio2019-workload-vctools;
     fi
 
-#docker exec xenial /bin/sh -c "export EIGEN3_INCLUDE_DIR=/build/eigen/eigen3 && cd /build/cmake && sh ./build.sh && cmake . && make";
 script:
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
-      docker exec -t xenial /build/setup.sh;
-      docker exec -t xenial /build/build.sh;
+      ./setup.sh;
+      ./build.sh || travis_terminate 1;
+      echo "Starting Unity Build!";
+      (cd Unity && ./build.sh || travis_terminate 1);
     elif [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
-      .\\build.cmd;
-      .\\Unity\\build.cmd;
+      export PATH=$MSBUILD_PATH:$PATH_FIX:$PATH;
+      cmd.exe //C 'C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Auxiliary\Build\vcvarsall.bat' amd64 '&&'
+      build.cmd '&&'
+      cd Unity '&&' build.cmd;
     elif  [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
-      git submodule update --init --recursive;
       ./setup.sh;
-      ./build.sh;
+      ./build.sh || travis_terminate 1;
+      echo "Starting Unity Build!";
+      (cd Unity && ./build.sh || travis_terminate 1);
+    fi
+
+  # Test ROS wrapper compilation
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
+      ./tools/install_ros_deps.sh;
+      (cd ros && source ~/.bashrc && catkin build -DCMAKE_C_COMPILER=gcc-8 -DCMAKE_CXX_COMPILER=g++-8);
     fi

AirLib/AirLib.vcxproj

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+<Project DefaultTargets="Build" ToolsVersion="16.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <Import Project="$([MSBuild]::GetDirectoryNameOfFileAbove($(MSBuildThisFileDirectory), AirSim.props))\AirSim.props" />
   <PropertyGroup>
     <ShowAllFiles>true</ShowAllFiles>
@@ -45,6 +45,7 @@
     <ClInclude Include="include\common\common_utils\ExceptionUtils.hpp" />
     <ClInclude Include="include\common\common_utils\FileSystem.hpp" />
     <ClInclude Include="include\common\common_utils\json.hpp" />
+    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp" />
     <ClInclude Include="include\common\common_utils\UniqueValueMap.hpp" />
     <ClInclude Include="include\common\common_utils\MedianFilter.hpp" />
     <ClInclude Include="include\common\common_utils\MinWinDefines.hpp" />
@@ -164,10 +165,10 @@
     <ClInclude Include="include\sensors\SensorCollection.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\Px4MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\SimpleFlightQuadXParams.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp" />
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp" />
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp" />
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp" />
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp" />
   </ItemGroup>
   <ItemGroup>
@@ -196,26 +197,26 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v142</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
@@ -267,6 +268,7 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -292,6 +294,7 @@
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
       <DisableSpecificWarnings>4100;4505;4820;4464;4514;4710;4571;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -318,6 +321,7 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -346,6 +350,7 @@
       <AdditionalIncludeDirectories>include;deps\eigen3;deps\rpclib\include;$(ProjectDir)..\MavLinkCom\include</AdditionalIncludeDirectories>
       <TreatWarningAsError>true</TreatWarningAsError>
       <AdditionalOptions>/w34263 /w34266 %(AdditionalOptions)</AdditionalOptions>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>

AirLib/AirLib.vcxproj.filters

@@ -213,7 +213,7 @@
     <ClInclude Include="include\common\common_utils\MinWinDefines.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\MultiRotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\MultiRotorPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParams.hpp">
@@ -222,7 +222,7 @@
     <ClInclude Include="include\vehicles\multirotor\MultiRotorParamsFactory.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\Rotor.hpp">
+    <ClInclude Include="include\vehicles\multirotor\RotorActuator.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\RotorParams.hpp">
@@ -453,6 +453,9 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\common\common_utils\SmoothingFilter.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -672,7 +672,7 @@ class RpcLibAdapatorsBase {
         DistanceSensorData()
         {}
 
-        DistanceSensorData(const msr::airlib::DistanceBase::Output& s)
+        DistanceSensorData(const msr::airlib::DistanceSensorData& s)
         {
             time_stamp = s.time_stamp;
             distance = s.distance;
@@ -681,9 +681,9 @@ class RpcLibAdapatorsBase {
             relative_pose = s.relative_pose;
         }
 
-        msr::airlib::DistanceBase::Output to() const
+        msr::airlib::DistanceSensorData to() const
         {
-            msr::airlib::DistanceBase::Output d;
+            msr::airlib::DistanceSensorData d;
 
             d.time_stamp = time_stamp;
             d.distance = distance;
@@ -694,6 +694,68 @@ class RpcLibAdapatorsBase {
             return d;
         }
     };
+
+    struct MeshPositionVertexBuffersResponse {
+        Vector3r position;
+        Quaternionr orientation;
+
+        std::vector<float> vertices;
+        std::vector<uint32_t> indices;
+        std::string name;
+
+        MSGPACK_DEFINE_MAP(position, orientation, vertices, indices, name);
+
+        MeshPositionVertexBuffersResponse()
+        {}
+
+        MeshPositionVertexBuffersResponse(const msr::airlib::MeshPositionVertexBuffersResponse& s)
+        {
+            position = Vector3r(s.position);
+            orientation = Quaternionr(s.orientation);
+
+            vertices = s.vertices;
+            indices = s.indices;
+
+            if (vertices.size() == 0)
+                vertices.push_back(0);
+            if (indices.size() == 0)
+                indices.push_back(0);
+
+            name = s.name;
+        }
+
+        msr::airlib::MeshPositionVertexBuffersResponse to() const
+        {
+            msr::airlib::MeshPositionVertexBuffersResponse d;
+            d.position = position.to();
+            d.orientation = orientation.to();
+            d.vertices = vertices;
+            d.indices = indices;
+            d.name = name;
+
+            return d;
+        }
+
+        static std::vector<msr::airlib::MeshPositionVertexBuffersResponse> to(
+            const std::vector<MeshPositionVertexBuffersResponse>& response_adapter) {
+            std::vector<msr::airlib::MeshPositionVertexBuffersResponse> response;
+            for (const auto& item : response_adapter)
+                response.push_back(item.to());
+
+            return response;
+        }
+
+        static std::vector<MeshPositionVertexBuffersResponse> from(
+            const std::vector<msr::airlib::MeshPositionVertexBuffersResponse>& response) {
+            std::vector<MeshPositionVertexBuffersResponse> response_adapter;
+            for (const auto& item : response)
+                response_adapter.push_back(MeshPositionVertexBuffersResponse(item));
+
+            return response_adapter;
+        }
+    };
+
+
 };
 
 }} //namespace