Linux setup.sh, build.sh, cmake rewrites, fix various warnings, updat…

…e docs

AirLib/include/common/SimClock.hpp

@@ -15,6 +15,7 @@ class SimClock : public ClockBase {
         : scale_(scale), latency_(latency)
     {
         offset_ = latency * (scale_ - 1);
+        unused(latency_);
     }
 
     virtual TTimePoint nowNanos() const override

AirLib/include/common/common_utils/StrictMode.hpp

@@ -43,6 +43,7 @@
     _Pragma("clang diagnostic ignored \"-Wstrict-overflow\"")         \
     _Pragma("clang diagnostic ignored \"-Wswitch-default\"")          \
     _Pragma("clang diagnostic ignored \"-Wundef\"")                   \
+    _Pragma("clang diagnostic ignored \"-Wunused-variable\"")         \
     _Pragma("clang diagnostic ignored \"-Wunused-parameter\"")
 
 /* Addition options that can be enabled
@@ -72,6 +73,7 @@ _Pragma("clang diagnostic ignored \"-Wunused-variable\"")         \
     _Pragma("GCC diagnostic ignored \"-Wstrict-overflow\"")         \
     _Pragma("GCC diagnostic ignored \"-Wswitch-default\"")          \
     _Pragma("GCC diagnostic ignored \"-Wundef\"")                   \
+    _Pragma("GCC diagnostic ignored \"-Wunused-variable\"")         \
     _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")
 
 /* Addition options that can be enabled

AirLib/include/controllers/DroneControllerBase.hpp

@@ -55,6 +55,7 @@ class DroneControllerBase : public VehicleControllerBase {
         StatusLock(DroneControllerBase* drone)
             : drone_(drone), lock_(drone->status_mutex_)
         {
+            unused(drone_);
         }
 
     private:

AirLib/include/controllers/MavLinkDroneController.hpp

@@ -1007,7 +1007,7 @@ struct MavLinkDroneController::impl {
         bool rc = false;
         checkVehicle();
         mavlinkcom::AsyncResult<bool> result = mav_vehicle_->loiter();
-        auto start_time = std::chrono::system_clock::now();
+        //auto start_time = std::chrono::system_clock::now();
         while (!cancelable_action.isCancelled())
         {
             if (result.wait(100, &rc))

AirLib/include/controllers/ros_flight/firmware/estimator.hpp

@@ -75,6 +75,9 @@ class Estimator {
 
 void Estimator::init(Params* _params, bool use_matrix_exponential, bool use_quadratic_integration, bool use_accelerometer)
 {
+    unused(board);
+    unused(_adaptive_gyro_bias);
+
     params = _params;
 
     mat_exp = use_matrix_exponential;

AirLib/include/controllers/ros_flight/firmware/mode.hpp

@@ -45,6 +45,8 @@ class Mode {
 /************************************************** Implementation ***************************************************************/
 void Mode::init(Board* _board, CommLink* _comm_link, CommonState* _common_state, Sensors* _sensors, RC* _rc, Params* _params)
 {
+    unused(_error_state);
+
     board = _board;
     comm_link = _comm_link;
     params = _params;

AirLib/include/controllers/ros_flight/firmware/sensors.hpp

@@ -88,6 +88,10 @@ class Sensors {
 
 void Sensors::init(CommonState* _common_state, Board* _board, Estimator* _estimator, Params* _params, CommLink* _comm_link)
 {
+    unused(accel_status);
+    unused(gyro_status);
+    unused(temp_status);
+
     common_state = _common_state;
     estimator = _estimator;
     params = _params;

AirLib/include/controllers/simple_flight/firmware/AngleStabilizer.hpp

@@ -19,6 +19,7 @@ class AngleStabilizer {
         pid_angle_yaw_(clock, 
             PidController<float>::Config(params->p_yaw_angle, 0, 0))
     {
+        unused(params_);
     }
 
     void reset()

AirLib/include/controllers/simple_flight/firmware/RateStabilizer.hpp

@@ -19,6 +19,7 @@ class RateStabilizer {
           pid_rate_yaw_(clock, 
               PidController<float>::Config(params->p_yaw_rate, 0, 0))
     {
+        unused(params_);
     }
 
     void reset()

AirLib/include/controllers/simple_flight/firmware/Stabilizer.hpp

@@ -12,6 +12,7 @@ class Stabilizer {
           angle_estimator_(angle_estimator),
           rate_stabilizer_(params, clock), angle_stabilizer_(params, clock)
     {
+        unused(clock_);
     }
 
     void reset()

AirLib/include/vehicles/configs/RosFlightQuadX.hpp

@@ -28,7 +28,7 @@ class RosFlightQuadX : public MultiRotorParams {
         //set up mass
         params.mass = 2.856f;
         real_T motor_assembly_weight = 0.0800f;  //weight for MT2212 motor for F450 frame
-        real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
+        //real_T box_mass = params.mass - params.rotor_count * motor_assembly_weight;
 
         //set up dimensions of core body box
         params.body_box.x() = 0.35f; params.body_box.y() = 0.20f; params.body_box.z() = 0.22f;

AirLib/src/controllers/DroneControllerBase.cpp

@@ -413,7 +413,7 @@ bool DroneControllerBase::setSafety(SafetyEval::SafetyViolationType enable_reaso
 
 bool DroneControllerBase::moveByManual(float vx_max, float vy_max, float z_min, float duration, DrivetrainType drivetrain, const YawMode& yaw_mode, CancelableBase& cancelable_action)
 {
-    const float kMaxMessageAge = 0.1f /* 0.1 sec */, kMaxVelocity = 2, trim_duration = 1, kMinCountForTrim = 10, kMaxTrim = 100, kMaxRCValue = 10000;
+    const float kMaxMessageAge = 0.1f /* 0.1 sec */, kTrimduration = 1, kMinCountForTrim = 10, kMaxTrim = 100, kMaxRCValue = 10000;
 
     if (duration <= 0)
         return true;
@@ -422,7 +422,7 @@ bool DroneControllerBase::moveByManual(float vx_max, float vy_max, float z_min,
     Quaternionr starting_quaternion = getOrientation();
 
     //get trims
-    Waiter waiter_trim(getCommandPeriod(), trim_duration);
+    Waiter waiter_trim(getCommandPeriod(), kTrimduration);
     RCData rc_data_trims;
     uint count = 0;
     do {

AirLibUnitTests/AirLibUnitTests.cpp

@@ -11,6 +11,7 @@ using namespace msr::airlib;
 int main()
 {
 	Settings& settings = Settings::loadJSonFile("settings.json");
+	unused(settings);
 
 	TestVehicles test1;
 	test1.Run();

MavLinkCom/MavLinkTest/main.cpp

@@ -42,7 +42,7 @@ static const int pixhawkVendorId = 9900;   ///< Vendor ID for Pixhawk board (V2
 static const int pixhawkFMUV4ProductId = 18;     ///< Product ID for Pixhawk V2 board
 static const int pixhawkFMUV2ProductId = 17;     ///< Product ID for Pixhawk V2 board
 static const int pixhawkFMUV2OldBootloaderProductId = 22;     ///< Product ID for Bootloader on older Pixhawk V2 boards
-static const int pixhawkFMUV1ProductId = 16;     ///< Product ID for PX4 FMU V1 board
+//static const int pixhawkFMUV1ProductId = 16;     ///< Product ID for PX4 FMU V1 board
 
 #define MAV_AUTOPILOT_ENUM_END (static_cast<uint8_t>(MAV_AUTOPILOT::MAV_AUTOPILOT_ASLUAV)+1)
 #define MAV_TYPE_ENUM_END (static_cast<uint8_t>(MAV_TYPE::MAV_TYPE_ADSB)+1)
@@ -771,7 +771,7 @@ bool ParseCommandLine(int argc, const char* argv[])
 {
     const char* logDirOption = "logdir";
     const char* logformatOption = "logformat";
-    const char* outLogFileOption = "outlogfile";
+    //const char* outLogFileOption = "outlogfile";
     const char* wifiOption = "wifi";
     const char* initOption = "init";
     const char* filterOption = "filter";

README.md

@@ -28,10 +28,8 @@ There are two ways to get AirSim working on your machine. Click on below links a
 2.  [Use the precompiled binaries](docs/use_precompiled.md)
 
 ## Linux
-Kerry Snyder has created [Docker container for AirSim](https://github.com/kersny/airsim_nvidia_docker)! If you are using Linux, give it a try.
+[Build AirSim on Ubuntu 16.04](docs/linux_build.md)
 
-Several people have reported that they have been running in Linux as well as OSX successfully. Please check [conversations on Linux](https://github.com/microsoft/airsim/issues?utf8=%E2%9C%93&q=linux). 
-You can find our experimental [Linux build instruction here](docs/linux_build.md). Our official binary release for Ubuntu 16.04 is now just around the corner. 
 
 # How to Use It
 

Unreal/Environments/Blocks/clean.sh

@@ -1,7 +1,17 @@
+#! /bin/bash
+
+# get path of current script: https://stackoverflow.com/a/39340259/207661
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR"
+
+set -e
+
+# clean temporary unreal folders
 rm -rf Binaries
 rm -rf Intermediate
 rm -rf Saved
 rm -rf Plugins/AirSim/Binaries
 rm -rf Plugins/AirSim/Intermediate
 rm -rf Plugins/AirSim/Saved
 
+popd

build.sh

@@ -2,48 +2,36 @@
 
 # get path of current script: https://stackoverflow.com/a/39340259/207661
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-cd "$SCRIPT_DIR"
+pushd "$SCRIPT_DIR"
 
 set -e
+set +x
 
 # update any git submodules, currently rpclib
 git submodule update --init --recursive 
 
-# check for clang compiler, if not installed then instruct user to install it
-#!/bin/bash
-if [[ !(-f "/usr/bin/clang") || !(-f "/usr/bin/clang++") ]]; then
-	echo "ERROR: clang++ 3.9 is necessary to compile AirSim and run it in Unreal"
-	echo "       please run : sudo apt-get install clang++-3.9"
-	echo "       followed by: sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-3.9 60 --slave /usr/bin/clang++ clang++ /usr/bin/clang++-3.9 "
-
-  echo "       We need to use clang because the Unreal Engine is built with clang as well and"
-  echo "       there are some symbol inconsistencies in the C++ library with regard to C++11"
-  echo "       (see GCC Dual ABI: # https://gcc.gnu.org/onlinedocs/libstdc++/manual/using_dual_abi.html)"
-
+# check for libc++
+if [[ !(-d "./llvm-build/output/lib") ]]; then
+	echo "ERROR: clang++ 3.9 and libc++ is necessary to compile AirSim and run it in Unreal 4.15"
+	echo "please run setup.sh first."
 	exit 1
 fi
 
 # set up paths of clang compiler
-export CC=/usr/bin/clang
-export CXX=/usr/bin/clang++
+export CC=/usr/bin/clang-3.9
+export CXX=/usr/bin/clang++-3.9
 
-# if eigen env var not found then install eigen in current directory
-if [[ ! -d "$EIGEN_ROOT" ]]; then 
-	echo "EIGEN_ROOT variable is not set."
+#install EIGEN library
+if [[ -z "${EIGEN_ROOT}" ]]; then 
+	echo "EIGEN_ROOT variable is not set"
 	if [[ ! -d eigen ]]; then
-		echo "downloading eigen..."
-		wget http://bitbucket.org/eigen/eigen/get/3.3.2.zip
-		unzip 3.3.2.zip -d eigen
-		pushd eigen
-		mv eigen* eigen3
-		echo "3.3.2" > version
-		popd &>/dev/null
-		rm 3.3.2.zip
+		echo "eigen is not installed. Please run setup.sh first."
+		exit 1
 	fi
 	export EIGEN_ROOT="$(pwd)/eigen"
-	echo "export EIGEN_ROOT=\"$(pwd)/eigen\"" >> ~/.bashrc
 fi
 
+
 # variable for build output
 build_dir=build_debug
 echo "putting build in build_debug folder, to clean, just delete the directory..."
@@ -79,11 +67,15 @@ mkdir -p AirLib/deps/MavLinkCom/lib
 cp $build_dir/output/lib/libAirLib.a AirLib/lib
 cp $build_dir/output/lib/libMavLinkCom.a AirLib/deps/MavLinkCom/lib
 cp $build_dir/output/lib/libAirSim-rpclib.a AirLib/deps/rpclib/lib/librpc.a
+
+# Update AirLib/lib, AirLib/deps, Plugins folders with new binaries
 rsync -a --delete $build_dir/output/lib/ AirLib/lib/x64/Debug
 rsync -a --delete external/rpclib/include AirLib/deps/rpclib
 rsync -a --delete MavLinkCom/include AirLib/deps/MavLinkCom
 rsync -a --delete AirLib Unreal/Plugins/AirSim/Source
 
+# Update Blocks project
+Unreal/Environments/Blocks/clean.sh
 rsync -a --delete Unreal/Plugins Unreal/Environments/Blocks
 
 echo ""
@@ -94,8 +86,8 @@ echo "If you are using Blocks environment, its already updated."
 echo "If you are using your own environment, update blugin with this:"
 echo "rsync -t -r Unreal/Plugins path/to/MyUnrealProject"
 echo ""
-echo "Make sure EIGEN_ROOT variable is set! (.bashrc should have it now)"
-echo "export EIGEN_ROOT=\"$EIGEN_ROOT\""
+echo "For help see https://github.com/Microsoft/AirSim/blob/master/docs/linux_build.md"
 echo "=================================================================="
 
 
+popd

clean.sh

@@ -1,2 +1,13 @@
+#! /bin/bash
+
+# get path of current script: https://stackoverflow.com/a/39340259/207661
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR"
+
+set -e
+
 rm -rf build_debug
-rm -rf build_release
+rm -rf build_release
+rm -rf cmake/output
+
+popd

cmake/AirLib/CMakeLists.txt

@@ -1,39 +1,25 @@
-cmake_minimum_required(VERSION 3.2.2)
+cmake_minimum_required(VERSION 3.5.0)
 project(AirLib)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 
 INCLUDE("${CMAKE_CURRENT_LIST_DIR}/../cmake-modules/CommonSetup.cmake")
 CommonSetup()
 
-## System dependencies are found with CMake's conventions
-find_package(Eigen3 3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
+IncludeEigen()
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
   ${AIRSIM_ROOT}/AirLib/
   ${AIRSIM_ROOT}/AirLib/include
   ${AIRSIM_ROOT}/MavLinkCom/include
   ${RPC_LIB_INCLUDES}
 )
 
-add_library(AirLib STATIC
-  ${AIRSIM_ROOT}/AirLib/src/controllers/DroneControllerBase.cpp
-  ${AIRSIM_ROOT}/AirLib/src/controllers/FileSystem.cpp  
-  ${AIRSIM_ROOT}/AirLib/src/safety/ObstacleMap.cpp
-  ${AIRSIM_ROOT}/AirLib/src/safety/SafetyEval.cpp
-  ${AIRSIM_ROOT}/AirLib/src/rpc/RpcLibClient.cpp
-  ${AIRSIM_ROOT}/AirLib/src/rpc/RpcLibServer.cpp
-			)
+file(GLOB_RECURSE ${PROJECT_NAME}_sources ${AIRSIM_ROOT}/${PROJECT_NAME}/src/*.cpp)
+add_library(${PROJECT_NAME} STATIC ${${PROJECT_NAME}_sources})
 
-## Add these to your app that links this library:			
+CommonTargetLink()
 target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
+target_link_libraries(${PROJECT_NAME} MavLinkCom)
 
 #string(SUBSTRING ${CMAKE_STATIC_LINKER_FLAGS} 9 -1 "BUILD_PLATFORM")
 #find_package(Threads REQUIRED)

cmake/AirLibUnitTests/CMakeLists.txt

@@ -1,41 +1,23 @@
-cmake_minimum_required(VERSION 3.2.2)
+cmake_minimum_required(VERSION 3.5.0)
 project(AirLibUnitTests)
 
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 
 INCLUDE("${CMAKE_CURRENT_LIST_DIR}/../cmake-modules/CommonSetup.cmake")
 CommonSetup()
 
-## System dependencies are found with CMake's conventions
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../cmake-modules") 
-find_package(Eigen3 3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
-
-IF(UNIX)
-ELSE()
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /D_CONSOLE ")
-    set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /SUBSYSTEM:CONSOLE")
-ENDIF()
+IncludeEigen()
 
-###########
-## Build ##
-###########
+SetupConsoleBuild()
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
   ${AIRSIM_ROOT}/AirLibUnitTests
   ${AIRSIM_ROOT}/AirLib/include
   ${AIRSIM_ROOT}/MavLinkCom/include
 )
 
+AddExecutableSource()
 
-## Declare the executable
-add_executable(AirLibUnitTests 
-			${AIRSIM_ROOT}/AirLibUnitTests/AirLibUnitTests.cpp
-			)
-
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
+CommonTargetLink()
 target_link_libraries(${PROJECT_NAME} AirLib)
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
 target_link_libraries(${PROJECT_NAME} ${RPC_LIB})

cmake/CMakeLists.txt

@@ -1,13 +1,7 @@
-cmake_minimum_required(VERSION 3.2.2)
+cmake_minimum_required(VERSION 3.5.0)
 project(AirSim)
-set(RPCLIB_NAME_SUFFIX rpclib)
-
-LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake-modules") 
-INCLUDE("${CMAKE_CURRENT_LIST_DIR}/cmake-modules/CommonSetup.cmake")
-CommonSetup()
-
-add_subdirectory("${AIRSIM_ROOT}/external/rpclib" "${CMAKE_CURRENT_BINARY_DIR}/rpclib")
 
+add_subdirectory("rpclib_wrapper")
 add_subdirectory("AirLib")
 add_subdirectory("MavLinkCom")
 add_subdirectory("AirLibUnitTests")