Fix unix build.

.gitignore

@@ -293,3 +293,13 @@ deps/
 /boost
 /eigen
 /build_debug
+/cmake/CPackSourceConfig.cmake
+/cmake/CPackConfig.cmake
+/cmake/arch.c
+/cmake/rpclib/version.h
+/cmake/rpclib/Makefile
+/cmake/rpclib
+/cmake/output/lib/libMavLinkCom.a
+/cmake/output/lib/libAirSim-rpclib.a
+/cmake/output/lib/libAirLib.a
+/cmake/output/lib

AirLib/src/controllers/MavLinkDroneController.cpp

@@ -737,7 +737,7 @@ struct MavLinkDroneController::impl {
     {
         if (connection_ != nullptr) {
             //TODO: can we do this?
-            throw std::exception("Cannot call setSimulationMode after connection was already established for MavLink");
+            throw std::domain_error("Cannot call setSimulationMode after connection was already established for MavLink");
         }
 
         is_simulation_mode_ = is_set;

MavLinkCom/common_utils/ThreadUtils.cpp

@@ -20,7 +20,7 @@ bool CurrentThread::setMaximumPriority()
 		return false;
 	}
 	return true;
-#elif __APPLE__
+#elif defined(__APPLE__)
     // TODO: How to handle POSIX thread priorities on OSX?
     return true;
 #else

cmake/AirLib/CMakeLists.txt

@@ -20,7 +20,7 @@ include_directories(
   ${AIRSIM_ROOT}/AirLib/
   ${AIRSIM_ROOT}/AirLib/include
   ${AIRSIM_ROOT}/MavLinkCom/include
-  ${AIRSIM_ROOT}/external/rpclib/include
+  ${RPC_LIB_INCLUDES}
 )
 
 add_library(AirLib STATIC
@@ -34,7 +34,7 @@ add_library(AirLib STATIC
 			)
 
 ## Add these to your app that links this library:			
-target_link_libraries(${PROJECT_NAME} ${CMAKE_PROJECT_NAME}-${RPCLIB_NAME_SUFFIX})
+target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
 
 #string(SUBSTRING ${CMAKE_STATIC_LINKER_FLAGS} 9 -1 "BUILD_PLATFORM")
 #find_package(Threads REQUIRED)

cmake/CMakeLists.txt

@@ -1,11 +1,16 @@
 cmake_minimum_required(VERSION 3.2.2)
 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("AirLib")
 add_subdirectory("MavLinkCom")
 add_subdirectory("HelloDrone")
 add_subdirectory("DroneShell")
 add_subdirectory("DroneServer")
+

cmake/DroneServer/CMakeLists.txt

@@ -28,7 +28,7 @@ ENDIF()
 include_directories(
   ${AIRSIM_ROOT}/DroneServer
   ${AIRSIM_ROOT}/MavLinkCom/include
-  ${AIRSIM_ROOT}/AirLib/deps/rpclib/include;
+  ${RPC_LIB_INCLUDES}
   ${AIRSIM_ROOT}/AirLib/include
   ${Boost_INCLUDE_DIRS}
 )
@@ -39,11 +39,10 @@ add_executable(DroneServer
 			${AIRSIM_ROOT}/DroneServer/main.cpp
 			)
 
-find_package(Threads REQUIRED)
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries(${PROJECT_NAME} AirLib)
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
-target_link_libraries(${PROJECT_NAME} ${CMAKE_PROJECT_NAME}-${RPCLIB_NAME_SUFFIX})
+target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
 IF(UNIX)
 target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
 ENDIF()

cmake/DroneShell/CMakeLists.txt

@@ -28,7 +28,7 @@ ENDIF()
 # include_directories(include)
 include_directories(
   ${AIRSIM_ROOT}/DroneShell
-  ${AIRSIM_ROOT}/AirLib/deps/rpclib/include;
+  ${RPC_LIB_INCLUDES}
   ${AIRSIM_ROOT}/DroneShell/include;
   ${AIRSIM_ROOT}/AirLib/include
   ${AIRSIM_ROOT}/MavLinkCom/include
@@ -41,11 +41,10 @@ add_executable(DroneShell
 			${AIRSIM_ROOT}/DroneShell/src/main.cpp
 			)
 
-find_package(Threads REQUIRED)
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries(${PROJECT_NAME} AirLib)
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
-target_link_libraries(${PROJECT_NAME} ${CMAKE_PROJECT_NAME}-${RPCLIB_NAME_SUFFIX})
+target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
 IF(UNIX)
 target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
 ENDIF()

cmake/HelloDrone/CMakeLists.txt

@@ -26,7 +26,7 @@ ENDIF()
 include_directories(
   ${AIRSIM_ROOT}/HelloDrone
   ${AIRSIM_ROOT}/AirLib/include
-  ${AIRSIM_ROOT}/AirLib/deps/rpclib/include
+  ${RPC_LIB_INCLUDES}
   ${AIRSIM_ROOT}/MavLinkCom/include
   ${AIRSIM_ROOT}/MavLinkCom/common_utils
   ${Boost_INCLUDE_DIRS}
@@ -38,11 +38,10 @@ add_executable(HelloDrone
 			${AIRSIM_ROOT}/HelloDrone/main.cpp
 			)
 
-find_package(Threads REQUIRED)
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
 target_link_libraries(${PROJECT_NAME} AirLib)
-target_link_libraries(${PROJECT_NAME} ${CMAKE_PROJECT_NAME}-${RPCLIB_NAME_SUFFIX})
+target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
 IF(UNIX)
 target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
 ENDIF()

cmake/MavLinkCom/MavLinkTest/CMakeLists.txt

@@ -35,7 +35,6 @@ add_executable(MavLinkTest
 			${AIRSIM_ROOT}/MavLinkCom/MavLinkTest/main.cpp
 			)
 
-find_package(Threads REQUIRED)
 target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
 IF(UNIX)

cmake/build.sh

@@ -27,3 +27,13 @@ fi
 cmake $GCCARGS CMakeLists.txt
 
 make
+
+pushd ..
+mkdir -p AirLib/lib/x64/Debug
+mkdir -p AirLib/deps/rpclib
+mkdir -p AirLib/deps/MavLinkCom
+cp -p cmake/output/lib/* AirLib/lib/x64/Debug
+cp -rp external/rpclib/include AirLib/deps/rpclib
+cp -rp MavLinkCom/include AirLib/deps/MavLinkCom
+cp -rp AirLib Unreal/Plugins/AirSim/Source
+popd

cmake/cmake-modules/CommonSetup.cmake

@@ -6,21 +6,22 @@ macro(CommonSetup)
     find_path(AIRSIM_ROOT NAMES AirSim.sln PATHS ".." "../.." "../../.." "../../../.." "../../../../.." "../../../../../..")
     message(STATUS "found AIRSIM_ROOT=${AIRSIM_ROOT}")
 
-    SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib) 
+    SET(LIBRARY_OUTPUT_PATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}) 
+	SET(EXECUTABLE_OUTPUT_PATH ${AIRSIM_ROOT}/cmake/output/bin) 
 
     IF(UNIX)
         ## I had to remove the following for Eigen to build properly: -Wlogical-op -Wsign-promo 
         ## boost does not built cleam, so I had to disable these checks:
-        set(BOOST_OVERRIDES " -Wno-error=undef  -Wno-error=ctor-dtor-privacy -Wno-error=old-style-cast  -Wno-error=shadow -Wno-error=redundant-decls -Wno-error=missing-field-initializers  -Wno-error=unused-parameter") 
+        set(BOOST_OVERRIDES " -Wno-error=undef -Wno-error=ctor-dtor-privacy -Wno-error=old-style-cast  -Wno-error=shadow -Wno-error=redundant-decls -Wno-error=missing-field-initializers  -Wno-error=unused-parameter") 
         ## Mavlink requires turning off -pedantic  and -Wno-error=switch-default 
         set(MAVLINK_OVERRIDES "-Wno-error=switch-default ") 
         set(RPC_LIB_DEFINES "-D MSGPACK_PP_VARIADICS_MSVC=0")
         if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "AppleClang")
             set(CMAKE_CXX_STANDARD 14)
         else ()
 		    ##TODO: Werror removed temporarily. It should be added back after Linux build is stable
-            set(CMAKE_CXX_FLAGS "-std=c++14 -stdlib=libc++ -ggdb -Wall -Wextra  -Wstrict-aliasing -fmax-errors=2 -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy -Wdisabled-optimization -Wformat=2 -Winit-self -Wmissing-include-dirs -Wnoexcept -Wold-style-cast -Woverloaded-virtual -Wredundant-decls -Wshadow -Wstrict-null-sentinel -Wstrict-overflow=5 -Wswitch-default -Wundef -Wno-unused -Wno-variadic-macros -Wno-parentheses -fdiagnostics-show-option ${MAVLINK_OVERRIDES} ${BOOST_OVERRIDES} ${RPC_LIB_DEFINES} -ldl ${CMAKE_CXX_FLAGS}")
-            set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -stdlib=libc++ -lc++ -lc++abi")
+            set(CMAKE_CXX_FLAGS "-std=c++14 -ggdb -lpthread -Wall -Wextra -Wstrict-aliasing -fmax-errors=2 -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy -Wdisabled-optimization -Wformat=2 -Winit-self -Wmissing-include-dirs -Wnoexcept -Wold-style-cast -Woverloaded-virtual -Wredundant-decls -Wshadow -Wstrict-null-sentinel -Wstrict-overflow=5 -Wswitch-default -Wundef -Wno-unused -Wno-variadic-macros -Wno-parentheses -fdiagnostics-show-option ${MAVLINK_OVERRIDES} ${BOOST_OVERRIDES} ${RPC_LIB_DEFINES} -ldl ${CMAKE_CXX_FLAGS}")
+            set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ")
         endif ()
         set(BUILD_PLATFORM "x64")
         set(CMAKE_POSITION_INDEPENDENT_CODE ON)
@@ -44,7 +45,7 @@ macro(CommonSetup)
 
     IF(UNIX)
         set(BUILD_TYPE "linux")
-        set(RPC_LIB "${AIRSIM_ROOT}/AirLib/deps/rpclib/lib/${BUILD_PLATFORM}/${BUILD_TYPE}/librpc.a")
+
     ELSE()
         string( TOLOWER "${CMAKE_BUILD_TYPE}" BUILD_TYPE)
         if("${BUILD_TYPE}" STREQUAL "debug")
@@ -54,9 +55,11 @@ macro(CommonSetup)
         else()
           message(FATAL_ERROR "Please specify '-D CMAKE_BUILD_TYPE=Debug' or Release on the cmake command line")
         endif()
-        set(RPC_LIB "${AIRSIM_ROOT}/AirLib/deps/rpclib/lib/${BUILD_PLATFORM}/${BUILD_TYPE}/rpc")
     endif() 
-
-
+
+	set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/include") 
+	set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/lib)
+	set(RPC_LIB ${CMAKE_PROJECT_NAME}-${RPCLIB_NAME_SUFFIX})
+	set(RPC_BIN_NAME "${AIRSIM_ROOT}/cmake/${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/lib${RPC_LIB}.a")
 endmacro(CommonSetup)
 

cmake/cmake-modules/FindEigen3.cmake

@@ -74,7 +74,7 @@ else (EIGEN3_INCLUDE_DIR)
   find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
       PATHS
       $ENV{EIGEN_ROOT}
-      PATH_SUFFIXES eigen3 eigen
+      PATH_SUFFIXES Eigen3 Eigen eigen3 eigen
       NO_DEFAULT_PATH
     )