Merge branch 'master' of https://github.com/Microsoft/AirSim

.gitignore

@@ -357,11 +357,8 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
-/Unity/CarDemo/Library
-/Unity/DroneDemo/Library
-/Unity/CarDemo/Assembly-CSharp.csproj
-/Unity/CarDemo/CarDemo.sln
-/Unity/DroneDemo/DroneDemo.sln
-/Unity/DroneDemo/Assembly-CSharp.csproj
-/Unity/CarDemo/WrapperDllLog.txt
-/Unity/DroneDemo/WrapperDllLog.txt
+/Unity/UnityDemo/Library
+/Unity/UnityDemo/Assembly-CSharp.csproj
+/Unity/UnityDemo/UnityDemo.sln
+/Unity/UnityDemo/Logs/
+/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll

.travis.yml

@@ -16,6 +16,7 @@ matrix:
       sudo: required
       services:
         - docker
+    # - os: windows
 
     # OS X CMake
     #- os: osx
@@ -40,8 +41,10 @@ install:
       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 [[ "$TRAVIS_OS_NAME" == "osx" ]] && [[ "$TOOL" == "cmake" ]]; then
+    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:
@@ -56,6 +59,9 @@ script:
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
       docker exec -t xenial /build/setup.sh;
       docker exec -t xenial /build/build.sh;
+    elif [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
+      .\\build.cmd;
+      .\\Unity\\build.cmd;
     elif  [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
       git submodule update --init --recursive;
       ./setup.sh;

AUTHORS.md

@@ -0,0 +1,7 @@
+# Authors
+
+AirSim was originally created by [Shital Shah](https://github.com/sytelus) during late 2016. Shital authored physics engine, multirotor model, car model, environment models, sensor models, all Unreal Engine related code, APIs, SimpleFlight firmware, computer vision components, documentation etc.
+
+[Chris Lovett](https://github.com/lovettchris), another original author, contributed the MavLink communication library, PX4 related components, Settings system, build system, several important bug fixes and so on.
+
+List of all contributors since our first release in February 2017 can be [found here](https://github.com/Microsoft/AirSim/graphs/contributors).

AirLib/include/api/ApiServerBase.hpp

@@ -11,7 +11,7 @@ namespace msr { namespace airlib {
 
 class ApiServerBase {
 public:
-    virtual void start(bool block = false) = 0;
+    virtual void start(bool block, std::size_t thread_count) = 0;
     virtual void stop() = 0;
 
     virtual ~ApiServerBase() = default;

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -10,6 +10,7 @@
 #include "physics/Environment.hpp"
 #include "common/ImageCaptureBase.hpp"
 #include "safety/SafetyEval.hpp"
+#include "api/WorldSimApiBase.hpp"
 
 #include "common/common_utils/WindowsApisCommonPre.hpp"
 #include "rpc/msgpack.hpp"
@@ -469,8 +470,9 @@ class RpcLibAdapatorsBase {
 
         msr::airlib::TTimePoint time_stamp;    // timestamp
         std::vector<float> point_cloud;        // data
+        Pose pose;
 
-        MSGPACK_DEFINE_MAP(time_stamp, point_cloud);
+        MSGPACK_DEFINE_MAP(time_stamp, point_cloud, pose);
 
         LidarData()
         {}
@@ -483,6 +485,8 @@ class RpcLibAdapatorsBase {
             //TODO: remove bug workaround for https://github.com/rpclib/rpclib/issues/152
             if (point_cloud.size() == 0)
                 point_cloud.push_back(0);
+
+            pose = s.pose;
         }
 
         msr::airlib::LidarData to() const
@@ -491,6 +495,7 @@ class RpcLibAdapatorsBase {
 
             d.time_stamp = time_stamp;
             d.point_cloud = point_cloud;
+            d.pose = pose.to();
 
             return d;
         }
@@ -502,6 +507,6 @@ class RpcLibAdapatorsBase {
 MSGPACK_ADD_ENUM(msr::airlib::SafetyEval::SafetyViolationType_);
 MSGPACK_ADD_ENUM(msr::airlib::SafetyEval::ObsAvoidanceStrategy);
 MSGPACK_ADD_ENUM(msr::airlib::ImageCaptureBase::ImageType);
-
+MSGPACK_ADD_ENUM(msr::airlib::WorldSimApiBase::WeatherParameter);
 
 #endif

AirLib/include/api/RpcLibClientBase.hpp

@@ -9,6 +9,7 @@
 #include "common/ImageCaptureBase.hpp"
 #include "physics/Kinematics.hpp"
 #include "physics/Environment.hpp"
+#include "api/WorldSimApiBase.hpp"
 
 namespace msr { namespace airlib {
 
@@ -36,6 +37,12 @@ class RpcLibClientBase {
     void simPause(bool is_paused);
     void simContinueForTime(double seconds);
 
+    void simSetTimeOfDay(bool is_enabled, const string& start_datetime = "", bool is_start_datetime_dst = false,
+        float celestial_clock_speed = 1, float update_interval_secs = 60, bool move_sun = true);
+
+    void simEnableWeather(bool enable);
+    void simSetWeatherParameter(WorldSimApiBase::WeatherParameter param, float val);
+
     Pose simGetObjectPose(const std::string& object_name) const;
     bool simSetObjectPose(const std::string& object_name, const Pose& pose, bool teleport = true);
 

AirLib/include/api/RpcLibServerBase.hpp

@@ -17,7 +17,7 @@ class RpcLibServerBase : public ApiServerBase {
     RpcLibServerBase(ApiProvider* api_provider, const std::string& server_address, uint16_t port = 41451);
     virtual ~RpcLibServerBase() override;
 
-    virtual void start(bool block = false) override;
+    virtual void start(bool block, std::size_t thread_count) override;
     virtual void stop() override;
 
     class ApiNotSupported : public std::runtime_error {

AirLib/include/api/WorldSimApiBase.hpp

@@ -11,13 +11,31 @@ namespace msr { namespace airlib {
 
 class WorldSimApiBase {
 public:
+    enum class WeatherParameter {
+        Rain = 0,
+        Roadwetness = 1,
+        Snow = 2,
+        RoadSnow = 3,
+        MapleLeaf = 4,
+        RoadLeaf = 5,
+        Dust = 6,
+        Fog = 7,
+        Enabled = 8
+    };
+
     virtual ~WorldSimApiBase() = default;
 
     virtual bool isPaused() const = 0;
     virtual void reset() = 0;
     virtual void pause(bool is_paused) = 0;
     virtual void continueForTime(double seconds) = 0;
 
+    virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
+        float celestial_clock_speed, float update_interval_secs, bool move_sun) = 0;
+
+    virtual void enableWeather(bool enable) = 0;
+    virtual void setWeatherParameter(WeatherParameter param, float val) = 0;
+
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) = 0;
     virtual int getSegmentationObjectID(const std::string& mesh_name) const = 0;
 

AirLib/include/common/AirSimSettings.hpp

@@ -29,7 +29,8 @@ struct AirSimSettings {
     static constexpr char const * kVehicleTypePhysXCar = "physxcar";
     static constexpr char const * kVehicleTypeComputerVision = "computervision";
 
-
+    static constexpr char const * kVehicleInertialFrame = "VehicleInertialFrame";
+    static constexpr char const * kSensorLocalFrame = "SensorLocalFrame";
 
     struct SubwindowSetting {
         int window_index;
@@ -206,6 +207,8 @@ struct AirSimSettings {
         real_T range = 10000.0f / 100;                    // meters
         uint points_per_second = 100000;
         uint horizontal_rotation_frequency = 10;          // rotations/sec
+        float horizontal_FOV_start = 0;                   // degrees
+        float horizontal_FOV_end = 359;                   // degrees
 
         // defaults specific to a mode
         float vertical_FOV_upper = Utils::nan<float>();   // drones -15, car +10
@@ -214,6 +217,7 @@ struct AirSimSettings {
         Rotation rotation = Rotation::nanRotation();
 
         bool draw_debug_points = false;
+        std::string data_frame = AirSimSettings::kVehicleInertialFrame;
     };
 
     struct VehicleSetting {
@@ -307,6 +311,7 @@ struct AirSimSettings {
         bool is_start_datetime_dst = false;
         float celestial_clock_speed = 1;
         float update_interval_secs = 60;
+        bool move_sun = true;
     };
 
 private: //fields
@@ -1013,6 +1018,7 @@ struct AirSimSettings {
                 tod_setting.celestial_clock_speed = tod_settings_json.getFloat("CelestialClockSpeed", tod_setting.celestial_clock_speed);
                 tod_setting.is_start_datetime_dst = tod_settings_json.getBool("StartDateTimeDst", tod_setting.is_start_datetime_dst);
                 tod_setting.update_interval_secs = tod_settings_json.getFloat("UpdateIntervalSecs", tod_setting.update_interval_secs);
+                tod_setting.move_sun = tod_settings_json.getBool("MoveSun", tod_setting.move_sun);
             }
         }
     }
@@ -1131,9 +1137,12 @@ struct AirSimSettings {
         lidar_setting.points_per_second = settings_json.getInt("PointsPerSecond", lidar_setting.points_per_second);
         lidar_setting.horizontal_rotation_frequency = settings_json.getInt("RotationsPerSecond", lidar_setting.horizontal_rotation_frequency);
         lidar_setting.draw_debug_points = settings_json.getBool("DrawDebugPoints", lidar_setting.draw_debug_points);
+        lidar_setting.data_frame = settings_json.getString("DataFrame", lidar_setting.data_frame);
 
         lidar_setting.vertical_FOV_upper = settings_json.getFloat("VerticalFOVUpper", lidar_setting.vertical_FOV_upper);
         lidar_setting.vertical_FOV_lower = settings_json.getFloat("VerticalFOVLower", lidar_setting.vertical_FOV_lower);
+        lidar_setting.horizontal_FOV_start = settings_json.getFloat("HorizontalFOVStart", lidar_setting.horizontal_FOV_start);
+        lidar_setting.horizontal_FOV_end = settings_json.getFloat("HorizontalFOVEnd", lidar_setting.horizontal_FOV_end);
 
         lidar_setting.position = createVectorSetting(settings_json, lidar_setting.position);
         lidar_setting.rotation = createRotationSetting(settings_json, lidar_setting.rotation);

AirLib/include/common/CommonStructs.hpp

@@ -299,6 +299,7 @@ struct LidarData {
 
     TTimePoint time_stamp = 0;
     vector<real_T> point_cloud;
+    Pose pose;
 
     LidarData()
     {}

AirLib/include/common/VectorMath.hpp

@@ -186,6 +186,8 @@ class VectorMathT {
     static QuaternionT rotateQuaternion(const QuaternionT& q, const QuaternionT& ref, bool assume_unit_quat)
     {
         if (assume_unit_quat) {
+            // conjugate and inverse are equivalent for unit-length quaternions, 
+            // but the conjugate is less expensive to compute
             QuaternionT ref_n = ref;
             QuaternionT ref_n_i = ref.conjugate();
             return ref_n * q * ref_n_i;
@@ -198,9 +200,16 @@ class VectorMathT {
 
     static QuaternionT rotateQuaternionReverse(const QuaternionT& q, const QuaternionT& ref, bool assume_unit_quat)
     {
-        QuaternionT ref_n = assume_unit_quat ? ref : ref.normalized();
-        QuaternionT ref_n_i = assume_unit_quat ? ref.conjugate() : ref.inverse();
-        return ref_n_i * q * ref_n;
+        if (assume_unit_quat) {
+            QuaternionT ref_n = ref;
+            QuaternionT ref_n_i = ref.conjugate();
+            return ref_n_i * q * ref_n;
+        }
+        else {
+            QuaternionT ref_n = ref.normalized();
+            QuaternionT ref_n_i = ref.inverse();
+            return ref_n_i * q * ref_n;
+        }
     }
 
 	static Vector3T transformToBodyFrame(const Vector3T& v_world, const QuaternionT& q_world, bool assume_unit_quat = true)
@@ -278,7 +287,9 @@ class VectorMathT {
 		, RealT& pitch, RealT& roll, RealT& yaw)
 	{
 		//z-y-x rotation convention (Tait-Bryan angles) 
+        //Apply yaw, pitch and roll in order to front vector (+X)
 		//http://www.sedris.org/wg8home/Documents/WG80485.pdf
+        //http://www.ctralie.com/Teaching/COMPSCI290/Materials/EulerAnglesViz/
 
 		RealT ysqr = q.y() * q.y();
 
@@ -477,6 +488,16 @@ class VectorMathT {
 			return angle;
 	}
 
+    // assumes that angles are in 0-360 range
+    static bool isAngleBetweenAngles(RealT angle, RealT start_angle, RealT end_angle)
+    {
+        if (start_angle < end_angle) {
+            return (start_angle <= angle && angle <= end_angle);
+        }
+        else
+            return (start_angle <= angle || angle <= end_angle);
+    }
+
 	/**
 	* \brief Extracts the yaw part from a quaternion, using RPY / euler (z-y'-z'') angles.
 	* RPY rotates about the fixed axes in the order x-y-z,
@@ -564,6 +585,8 @@ class VectorMathT {
     static void getPlaneOrthoVectors(const Vector3T& from, const Vector3T& to, bool assume_normalized,
         Vector3T& from_ortho, Vector3T& to_ortho, RealT& dot)
     {
+        unused(from);
+
         Vector3T to_n = to;
 
         if (!assume_normalized) {

AirLib/include/common/common_utils/type_utils.hpp

@@ -44,12 +44,14 @@ namespace common_utils { namespace type_utils {
 
             template <typename C> static no & f(...);
 
-            template <typename C>
+            // using template parameter symbol 'D' instead of 'C' as a workaround for
+            // VS2017 compiler issue (internal compiler error) starting 15.9.X releases.
+            template <typename D>
             static yes & g(typename std::enable_if<
-                std::is_same<decltype(static_cast<typename C::const_iterator(C::*)() const>(&C::end)),
-                             typename C::const_iterator(C::*)() const>::value, void>::type*);
+                std::is_same<decltype(static_cast<typename D::const_iterator(D::*)() const>(&D::end)),
+                             typename D::const_iterator(D::*)() const>::value, void>::type*);
 
-            template <typename C> static no & g(...);
+            template <typename D> static no & g(...);
 
         public:
             static bool const beg_value = sizeof(f<T>(nullptr)) == sizeof(yes);

AirLib/include/sensors/distance/DistanceSimpleParams.hpp

@@ -5,6 +5,7 @@
 #define msr_airlib_DistanceSimpleParams_hpp
 
 #include "common/Common.hpp"
+#include "common/AirSimSettings.hpp"
 
 
 namespace msr { namespace airlib {

AirLib/include/sensors/lidar/LidarSimple.hpp

@@ -80,6 +80,15 @@ class LidarSimple : public LidarBase {
 
         const GroundTruth& ground_truth = getGroundTruth();
 
+        // calculate the pose before obtaining the point-cloud. Before/after is a bit arbitrary
+        // decision here. If the pose can change while obtaining the point-cloud (could happen for drones)
+        // then the pose won't be very accurate either way.
+        //
+        // TODO: Seems like pose is in vehicle inertial-frame (NOT in Global NED frame).
+        //    That could be a bit unintuitive but seems consistent with the position/orientation returned as part of 
+        //    ImageResponse for cameras and pose returned by getCameraInfo API.
+        //    Do we need to convert pose to Global NED frame before returning to clients?
+        Pose lidar_pose = params_.relative_pose + ground_truth.kinematics->pose;
         getPointCloud(params_.relative_pose, // relative lidar pose
             ground_truth.kinematics->pose,   // relative vehicle pose
             delta_time, 
@@ -88,6 +97,7 @@ class LidarSimple : public LidarBase {
         LidarData output;
         output.point_cloud = point_cloud_;
         output.time_stamp = clock()->nowNanos();
+        output.pose = lidar_pose;            
 
         last_time_ = output.time_stamp;
 

AirLib/include/sensors/lidar/LidarSimpleParams.hpp

@@ -5,6 +5,7 @@
 #define msr_airlib_LidarSimpleParams_hpp
 
 #include "common/Common.hpp"
+#include "common/AirSimSettings.hpp"
 
 namespace msr { namespace airlib {
 
@@ -20,6 +21,8 @@ struct LidarSimpleParams {
     real_T range = 10000.0f / 100;            // meters
     uint points_per_second = 100000;  
     uint horizontal_rotation_frequency = 10;  // rotations/sec
+    real_T horizontal_FOV_start = 0;
+    real_T horizontal_FOV_end = 359;
     real_T vertical_FOV_upper = -15;             // drones -15, car +10
     real_T vertical_FOV_lower = -45;             // drones -45, car -10
 
@@ -29,6 +32,7 @@ struct LidarSimpleParams {
         };                       
 
     bool draw_debug_points = false;
+    std::string data_frame = AirSimSettings::kVehicleInertialFrame;
 
     real_T update_frequency = 10;             // Hz
     real_T startup_delay = 0;                 // sec
@@ -42,6 +46,9 @@ struct LidarSimpleParams {
         points_per_second = settings.points_per_second;
         horizontal_rotation_frequency = settings.horizontal_rotation_frequency;
 
+        horizontal_FOV_start = settings.horizontal_FOV_start;
+        horizontal_FOV_end = settings.horizontal_FOV_end;
+
         // By default, for multirotors the lidars FOV point downwards;
         // for cars, the lidars FOV is more forward facing.
         vertical_FOV_upper = settings.vertical_FOV_upper;
@@ -82,6 +89,7 @@ struct LidarSimpleParams {
             Utils::degreesToRadians(yaw));    //yaw   - rotation around Z axis
 
         draw_debug_points = settings.draw_debug_points;
+        data_frame = settings.data_frame;
     }
 };