Merge remote-tracking branch 'upstream/master' into add-ros2-ci

deepsea-l · Mar 29, 2022 · cf97e20 · cf97e20
2 parents 8ad4654 + 78d8cf7
commit cf97e20
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Showing 35 changed files with 516 additions and 253 deletions.
diff --git a/.github/workflows/test_docs.yml b/.github/workflows/test_docs.yml
@@ -20,12 +20,14 @@ jobs:
         run: |
           python3 -m pip install --upgrade pip
           python3 -m pip install mkdocs pymdown-extensions    # Mkdocs requirements
-
+          python3 -m pip install jinja2==3.0.3
+          
       - name: Build API reference docs
         run: |
           python3 -m venv .env                            # Virtual env to avoid dep. issues 
           source .env/bin/activate
           pip install Sphinx sphinx_rtd_theme numpy msgpack-rpc-python
+          
 
           pushd PythonClient >/dev/null
           ./build_api_docs.sh

diff --git a/.github/workflows/test_macos.yml b/.github/workflows/test_macos.yml
@@ -5,7 +5,10 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [macos-10.15, macos-11]
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:

diff --git a/.github/workflows/test_windows.yml b/.github/workflows/test_windows.yml
@@ -5,14 +5,14 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: windows-latest
+    runs-on: windows-2019
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       - uses: actions/checkout@v2
 
       - name: Enable Developer Command Prompt
-        uses: ilammy/msvc-dev-cmd@v1.4.1
+        uses: ilammy/msvc-dev-cmd@v1
 
       - name: Build AirLib
         shell: cmd

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
@@ -183,6 +183,16 @@ namespace airlib
             float HorzDistortionStrength = 0.002f;
         };
 
+        struct PixelFormatOverrideSetting
+        {
+            int pixel_format = 0;
+        };
+
+        struct UnrealEngineSetting
+        {
+            std::map<int, PixelFormatOverrideSetting> pixel_format_override_settings;
+        };
+
         struct CameraSetting
         {
             //nan means keep the default values set in components
@@ -193,6 +203,8 @@ namespace airlib
             std::map<int, CaptureSetting> capture_settings;
             std::map<int, NoiseSetting> noise_settings;
 
+            UnrealEngineSetting ue_setting;
+
             CameraSetting()
             {
                 initializeCaptureSettings(capture_settings);
@@ -1020,6 +1032,32 @@ namespace airlib
             return gimbal;
         }
 
+        static void loadUnrealEngineSetting(const msr::airlib::Settings& settings_json, UnrealEngineSetting& ue_setting)
+        {
+            Settings ue_settings_json;
+            if (settings_json.getChild("UnrealEngine", ue_settings_json)) {
+                Settings pixel_format_override_settings_json;
+                ue_setting.pixel_format_override_settings.clear();
+
+                for (int i = 0; i < Utils::toNumeric(ImageType::Count); i++) {
+                    PixelFormatOverrideSetting pixel_format_setting;
+                    pixel_format_setting.pixel_format = 0; // EXPixelformat::PF_Unknown
+                    ue_setting.pixel_format_override_settings[i] = pixel_format_setting;
+                }
+
+                if (ue_settings_json.getChild("PixelFormatOverride", pixel_format_override_settings_json)) {
+                    for (size_t child_index = 0; child_index < pixel_format_override_settings_json.size(); ++child_index) {
+                        Settings pixel_format_child_json;
+                        if (pixel_format_override_settings_json.getChild(child_index, pixel_format_child_json)) {
+                            int image_type = pixel_format_child_json.getInt("ImageType", 0);
+                            PixelFormatOverrideSetting& pixel_format_setting = ue_setting.pixel_format_override_settings.at(image_type);
+                            pixel_format_setting.pixel_format = pixel_format_child_json.getInt("PixelFormat", 0); // default to EXPixelformat::PF_Unknown
+                        }
+                    }
+                }
+            }
+        }
+
         static CameraSetting createCameraSetting(const Settings& settings_json)
         {
             CameraSetting setting;
@@ -1033,6 +1071,8 @@ namespace airlib
             if (settings_json.getChild("Gimbal", json_gimbal))
                 setting.gimbal = createGimbalSetting(json_gimbal);
 
+            loadUnrealEngineSetting(settings_json, setting.ue_setting);
+
             return setting;
         }
 

diff --git a/Examples/StandAloneSensors.hpp b/Examples/StandAloneSensors.hpp
@@ -37,7 +37,7 @@ namespace airlib
                 output_stream << output.angular_velocity.x() << "\t" << output.angular_velocity.y() << "\t" << output.angular_velocity.z() << "\t";
                 output_stream << output.linear_acceleration.x() << "\t" << output.linear_acceleration.y() << "\t" << output.linear_acceleration.z() << "\n";
 
-                std::this_thread::sleep_for(std::chrono::duration<double>(period - (Utils::getTimeSinceEpochSecs() - last)));
+                std::this_thread::sleep_for(std::chrono::duration<double>(static_cast<double>(period) - (Utils::getTimeSinceEpochSecs() - last)));
 
                 last = Utils::getTimeSinceEpochSecs();
                 environment.update();
@@ -67,7 +67,7 @@ namespace airlib
                 output_stream << Utils::getTimeSinceEpochSecs() << "\t";
                 output_stream << output.pressure << "\t" << output.altitude << std::endl;
 
-                std::this_thread::sleep_for(std::chrono::duration<double>(period - (Utils::getTimeSinceEpochSecs() - last)));
+                std::this_thread::sleep_for(std::chrono::duration<double>(static_cast<double>(period) - (Utils::getTimeSinceEpochSecs() - last)));
 
                 last = Utils::getTimeSinceEpochSecs();
                 environment.update();
@@ -99,7 +99,7 @@ namespace airlib
                     output_stream << Utils::getTimeSinceEpochSecs() << "\t";
                     output_stream << output.pressure << "\t" << output.altitude << "\t" << environment.getState().geo_point.altitude << std::endl;
 
-                    std::this_thread::sleep_for(std::chrono::duration<double>(period - (Utils::getTimeSinceEpochSecs() - last)));
+                    std::this_thread::sleep_for(std::chrono::duration<double>(static_cast<double>(period) - (Utils::getTimeSinceEpochSecs() - last)));
 
                     last = Utils::getTimeSinceEpochSecs();
                     environment.update();
@@ -147,7 +147,7 @@ namespace airlib
                     output_stream << output.magnetic_field_body.x() << "\t" << output.magnetic_field_body.y() << "\t" << output.magnetic_field_body.z();
                     output_stream << std::endl;
 
-                    std::this_thread::sleep_for(std::chrono::duration<double>(period - (Utils::getTimeSinceEpochSecs() - last)));
+                    std::this_thread::sleep_for(std::chrono::duration<double>(static_cast<double>(period) - (Utils::getTimeSinceEpochSecs() - last)));
                     last = Utils::getTimeSinceEpochSecs();
                     environment.update();
                     mag.update();
@@ -196,7 +196,7 @@ namespace airlib
                             output_stream << "\t" << kinematics.pose.orientation.w() << "\t" << kinematics.pose.orientation.x() << "\t" << kinematics.pose.orientation.y() << "\t" << kinematics.pose.orientation.z();
                             output_stream << std::endl;
 
-                            std::this_thread::sleep_for(std::chrono::duration<double>(period - (Utils::getTimeSinceEpochSecs() - last)));
+                            std::this_thread::sleep_for(std::chrono::duration<double>(static_cast<double>(period) - (Utils::getTimeSinceEpochSecs() - last)));
                             last = Utils::getTimeSinceEpochSecs();
                             environment.update();
                             mag.update();

diff --git a/Examples/main.cpp b/Examples/main.cpp
@@ -5,14 +5,12 @@
 #include "GaussianMarkovTest.hpp"
 #include "DepthNav/DepthNavCost.hpp"
 #include "DepthNav/DepthNavThreshold.hpp"
-#include "DepthNav/DepthNavOptAStar.hpp"
 #include <iostream>
 #include <string>
-#include <sys/stat.h>
 #ifndef _USE_MATH_DEFINES
 #define _USE_MATH_DEFINES
 #endif
-#include <math.h>
+#include <cmath>
 
 int runStandAloneSensors(int argc, const char* argv[])
 {
@@ -40,8 +38,8 @@ int runStandAloneSensors(int argc, const char* argv[])
     //marymoore park
     //GeoPoint testLocation(47.662804385, -122.1167039875, 9.93f);
 
-    GeoPoint testLocation(47.7631699747, -122.0685655406, 9.93f); // woodinville
-    float yawOffset = 0; // static_cast<float>(91.27622  * M_PI / 180.0); // I was aligned with the road...
+    const GeoPoint testLocation(47.7631699747, -122.0685655406, 9.93f); // woodinville
+    constexpr float yawOffset = 0; // static_cast<float>(91.27622  * M_PI / 180.0); // I was aligned with the road...
 
     std::ofstream out_file(argv[1]);
     StandALoneSensors::generateImuStaticData(out_file, period, total_duration);
@@ -62,25 +60,26 @@ int runStandAlonePhysics(int argc, const char* argv[])
     return 0;
 }
 
-void runDataCollectorSGM(int num_samples, std::string storage_path)
+void runDataCollectorSGM(const int num_samples, const std::string storage_path)
 {
     DataCollectorSGM gen(storage_path);
     gen.generate(num_samples);
 }
 
-void runDataCollectorSGM(int argc, const char* argv[])
+void runDataCollectorSGM(const int argc, const char* argv[])
 {
     runDataCollectorSGM(argc < 2 ? 5000 : std::stoi(argv[1]), argc < 3 ? common_utils::FileSystem::combine(common_utils::FileSystem::getAppDataFolder(), "data_sgm") : std::string(argv[2]));
 }
-void runSteroImageGenerator(int num_samples, std::string storage_path)
+
+void runStereoImageGenerator(const int num_samples, const std::string storage_path)
 {
     StereoImageGenerator gen(storage_path);
     gen.generate(num_samples);
 }
 
-void runSteroImageGenerator(int argc, const char* argv[])
+void runStereoImageGenerator(const int argc, const char* argv[])
 {
-    runSteroImageGenerator(argc < 2 ? 50000 : std::stoi(argv[1]), argc < 3 ? common_utils::FileSystem::combine(common_utils::FileSystem::getAppDataFolder(), "stereo_gen") : std::string(argv[2]));
+    runStereoImageGenerator(argc < 2 ? 50000 : std::stoi(argv[1]), argc < 3 ? common_utils::FileSystem::combine(common_utils::FileSystem::getAppDataFolder(), "stereo_gen") : std::string(argv[2]));
 }
 
 void runGaussianMarkovTest()
@@ -96,7 +95,7 @@ void runDepthNavGT()
     typedef ImageCaptureBase::ImageRequest ImageRequest;
     typedef ImageCaptureBase::ImageType ImageType;
 
-    std::vector<ImageRequest> request = {
+    const std::vector<ImageRequest> request{
         ImageRequest("front_left", ImageType::DepthPlanar, true) /*,
         ImageRequest("front_left", ImageType::Scene),
         ImageRequest("front_left", ImageType::DisparityNormalized, true) */
@@ -126,7 +125,7 @@ void runDepthNavSGM()
     typedef ImageCaptureBase::ImageRequest ImageRequest;
     typedef ImageCaptureBase::ImageType ImageType;
 
-    std::vector<ImageRequest> request = {
+    const std::vector<ImageRequest> request{
         ImageRequest("front_left", ImageType::Scene, false, false),
         ImageRequest("front_right", ImageType::Scene, false, false), /*
         ImageRequest("front_left", ImageType::DepthPlanar, true),
@@ -150,23 +149,20 @@ void runDepthNavSGM()
     depthNav.initialize(client, request);
 
     SGMOptions params;
-    CStateStereo* p_state;
+    CStateStereo p_state;
 
-    if (params.maxImageDimensionWidth != (int)depthNav.params_.depth_width)
+    if (params.maxImageDimensionWidth != static_cast<int>(depthNav.params_.depth_width))
         printf("WARNING: Width Mismatch between SGM and DepthNav. Overwriting parameters.\n");
-    params.maxImageDimensionWidth = depthNav.params_.depth_width;
+    params.maxImageDimensionWidth = static_cast<int>(depthNav.params_.depth_width);
 
     params.Print();
-    p_state = new CStateStereo();
-    p_state->Initialize(params, depthNav.params_.depth_height, depthNav.params_.depth_width);
 
-    depthNav.gotoGoalSGM(goalPose, client, request, p_state);
+    p_state.Initialize(params, static_cast<int>(depthNav.params_.depth_height), static_cast<int>(depthNav.params_.depth_width));
 
-    //Cleanup
-    delete p_state;
+    depthNav.gotoGoalSGM(goalPose, client, request, &p_state);
 }
 
-int main(int argc, const char* argv[])
+int main(const int argc, const char* argv[])
 {
     //runDepthNavGT();
     //runDepthNavSGM();

diff --git a/HelloCar/main.cpp b/HelloCar/main.cpp
@@ -12,7 +12,6 @@ STRICT_MODE_ON
 #include "vehicles/car/api/CarRpcLibClient.hpp"
 #include "common/common_utils/FileSystem.hpp"
 #include <iostream>
-#include <chrono>
 
 int main()
 {
@@ -34,11 +33,11 @@ int main()
 
         std::cout << "Press Enter to get FPV image" << std::endl;
         std::cin.get();
-        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
-        const vector<ImageResponse>& response = client.simGetImages(request);
+        const std::vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
+        const std::vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 
-        if (response.size() > 0) {
+        if (!response.size()) {
             std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
             std::string path;
             std::getline(std::cin, path);
@@ -90,7 +89,7 @@ int main()
         client.setCarControls(CarApiBase::CarControls());
     }
     catch (rpc::rpc_error& e) {
-        std::string msg = e.get_error().as<std::string>();
+        const auto msg = e.get_error().as<std::string>();
         std::cout << "Exception raised by the API, something went wrong." << std::endl
                   << msg << std::endl;
         std::cin.get();

diff --git a/HelloDrone/main.cpp b/HelloDrone/main.cpp
@@ -29,11 +29,11 @@ int main()
 
         std::cout << "Press Enter to get FPV image" << std::endl;
         std::cin.get();
-        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
-        const vector<ImageResponse>& response = client.simGetImages(request);
+        const std::vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
+        const std::vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 
-        if (response.size() > 0) {
+        if (!response.size()) {
             std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
             std::string path;
             std::getline(std::cin, path);
@@ -109,9 +109,9 @@ int main()
 
         auto position = client.getMultirotorState().getPosition();
         float z = position.z(); // current position (NED coordinate system).
-        const float speed = 3.0f;
-        const float size = 10.0f;
-        const float duration = size / speed;
+        constexpr float speed = 3.0f;
+        constexpr float size = 10.0f;
+        constexpr float duration = size / speed;
         DrivetrainType drivetrain = DrivetrainType::ForwardOnly;
         YawMode yaw_mode(true, 0);
 
@@ -139,7 +139,7 @@ int main()
         client.armDisarm(false);
     }
     catch (rpc::rpc_error& e) {
-        std::string msg = e.get_error().as<std::string>();
+        const auto msg = e.get_error().as<std::string>();
         std::cout << "Exception raised by the API, something went wrong." << std::endl
                   << msg << std::endl;
     }