Unity: Placeholder functions for compilation

.gitignore

@@ -358,11 +358,14 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
+# Unity
 /Unity/UnityDemo/Library
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
 /Unity/UnityDemo/Logs/
 /Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll
+/Unity/UnityDemo/Assets/Plugins/libAirsimWrapper.so
+/Unity/linux-build/
 
 # ROS
 ros/.catkin_tools/

.travis.yml

@@ -28,7 +28,7 @@ before_install:
       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 [[ "$TRAVIS_OS_NAME" == "osx" ]] && [[ "$TOOL" == "cmake" ]]; then
+    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";
@@ -39,7 +39,8 @@ script:
   - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
       ./setup.sh;
       ./build.sh;
-      cd Unity && ./build.sh 2> Unity_error.txt || (tail -n 100 Unity_error.txt && exit 1);
+      echo "Starting Unity Build!";
+      cd Unity && ./build.sh 2> Unity_error.txt || ((cat Unity_error.txt | grep -i "error:" -B 10 -A 10) && exit 1);
     elif [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
       export PATH=$MSBUILD_PATH:$PATH_FIX:$PATH;
       cmd.exe //C 'C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Auxiliary\Build\vcvarsall.bat' amd64 '&&'
@@ -48,5 +49,6 @@ script:
     elif  [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
       ./setup.sh;
       ./build.sh;
-      cd Unity && ./build.sh 2> Unity_error.txt || (tail -n 100 Unity_error.txt && exit 1);
+      echo "Starting Unity Build!";
+      cd Unity && ./build.sh 2> Unity_error.txt || ((cat Unity_error.txt | grep -i "error:" -B 10 -A 10) && exit 1);
     fi

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp

@@ -52,6 +52,14 @@ void WorldSimApi::printLogMessage(const std::string& message, const std::string&
 	PrintLogMessage(message.c_str(), message_param.c_str(), vehicle_name_.c_str(), severity);
 }
 
+std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::string& tag, int tex_id, int component_id, int material_id)
+{
+    std::unique_ptr<std::vector<std::string>> result;
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "swapTextures is not supported on unity").c_str());
+    return result;
+}
+
 std::vector<std::string> WorldSimApi::listSceneObjects(const std::string& name_regex) const
 {
 	std::vector<std::string> result;
@@ -84,4 +92,61 @@ void WorldSimApi::setWeatherParameter(WeatherParameter param, float val)
     //TODO: implement weather for Unity
 }
 
+//----------------Plotting APIs-----------/
+void WorldSimApi::simFlushPersistentMarkers()
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simFlushPersistentMarkers is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotPoints is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotLineStrip(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotLineStrip is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotLineList(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotLineList is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotArrows(const std::vector<Vector3r>& points_start, const std::vector<Vector3r>& points_end, const std::vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotArrows is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotStrings(const std::vector<std::string>& strings, const std::vector<Vector3r>& positions, float scale, const std::vector<float>& color_rgba, float duration)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotStrings is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotTransforms(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotTransforms is not supported on unity").c_str());
+}
+
+void WorldSimApi::simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simPlotTransformsWithNames is not supported on unity").c_str());
+}
+
+std::vector<WorldSimApi::MeshPositionVertexBuffersResponse> WorldSimApi::getMeshPositionVertexBuffers() const
+{
+    std::vector<MeshPositionVertexBuffersResponse> result;
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "getMeshPositionVertexBuffers is not supported on unity").c_str());
+    return result;
+}
+
 #pragma endregion

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h

@@ -8,29 +8,42 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 {
 public:
 	typedef msr::airlib::Pose Pose;
+    typedef msr::airlib::Vector3r Vector3r;
+    typedef msr::airlib::MeshPositionVertexBuffersResponse MeshPositionVertexBuffersResponse;
 
-public:
 	WorldSimApi(SimModeBase* simmode, std::string vehicle_name);
 	virtual ~WorldSimApi();
 	virtual bool isPaused() const override;
 	virtual void reset() override;
 	virtual void pause(bool is_paused) override;
 	virtual void continueForTime(double seconds) override;
-        virtual void setTimeOfDay(bool is_enabled, const std::string& start_datetime, bool is_start_datetime_dst,
+    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);
 
-    virtual void enableWeather(bool enable);
-    virtual void setWeatherParameter(WeatherParameter param, float val);
+    virtual void enableWeather(bool enable) override;
+    virtual void setWeatherParameter(WeatherParameter param, float val) override;
 
 	virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override;
 	virtual int getSegmentationObjectID(const std::string& mesh_name) const override;
 	virtual void printLogMessage(const std::string& message,
 		const std::string& message_param = "", unsigned char severity = 0) override;
 
+    virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) override;
 	virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
 	virtual Pose getObjectPose(const std::string& object_name) const override;
 	virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
 
+    //----------- Plotting APIs ----------/
+    virtual void simFlushPersistentMarkers() override;
+    virtual void simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent) override;
+    virtual void simPlotLineStrip(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;
+    virtual void simPlotLineList(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;
+    virtual void simPlotArrows(const std::vector<Vector3r>& points_start, const std::vector<Vector3r>& points_end, const std::vector<float>& color_rgba, float thickness, float arrow_size, float duration, bool is_persistent) override;
+    virtual void simPlotStrings(const std::vector<std::string>& strings, const std::vector<Vector3r>& positions, float scale, const std::vector<float>& color_rgba, float duration) override;
+    virtual void simPlotTransforms(const std::vector<Pose>& poses, float scale, float thickness, float duration, bool is_persistent) override;
+    virtual void simPlotTransformsWithNames(const std::vector<Pose>& poses, const std::vector<std::string>& names, float tf_scale, float tf_thickness, float text_scale, const std::vector<float>& text_color_rgba, float duration) override;
+    virtual std::vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const override;
+
 private:
 	SimModeBase * simmode_;
 	std::string vehicle_name_;

Unity/README.md

@@ -28,38 +28,39 @@ This project is still in early development, expect some rough edges. We are work
 * Additionally, there is a free environment `Windridge City` which you can download from [Unity Asset Store](https://assetstore.unity.com/packages/3d/environments/roadways/windridge-city-132222). And, of course, you can always create your own environment.
 
 ## Linux
-#### Necessary Packages
-The linux wrapper requires Boost filesystem, which you can install by running the following command:
+#### Dependencies
 ```
 sudo apt-get install libboost-all-dev
 ```
 #### Download and Install Unity for Linux
 <span style="color:red">Warning:</span> Unity Editor for Linux is still in Beta. Expect some rough edges.
 
-[Unity Editor](https://forum.unity.com/threads/unity-on-linux-release-notes-and-known-issues.350256/#post-2556301)
-* Download the editor by doing one of the following:
-	1. Navigate to the latest post on [this thread](https://forum.unity.com/threads/unity-on-linux-release-notes-and-known-issues.350256/#post-2556301) and click the download link
-	2. Open a terminal window and enter the following command:
-		```
-		wget https://beta.unity3d.com/download/dad990bf2728/UnitySetup-2018.2.7f1
-		```
-* Install The editor
+* **Download** Unity editor version `2019.1.0f2`
+	```shell
+	wget https://beta.unity3d.com/download/292b93d75a2c/UnitySetup-2019.1.0f2
+	```
+	Note: While the latest version of linux build of Unity can be found on the last post of [this thread](https://forum.unity.com/threads/unity-on-linux-release-notes-and-known-issues.350256/page-2#post-4458286), we recommend `2019.1.0f2`.
+
+* **Install** the editor
+	```shell
+	chmod +x UnitySetup-2019.1.0f2
+	./UnitySetup-2019.1.0f2
+	```
+
+#### Build Airsim
 ```
-chmod +x UnitySetup-2018.2.7f1
-./UnitySetup-2018.2.7f1
+git clone https://github.com/Microsoft/AirSim.git;
+cd AirSim;
+./setup.sh;
+./build.sh
 ```
 
-#### Build Airsim in Linux
-* Open a new terminal window on your linux machine
-* Clone the repo: `git clone https://github.com/Microsoft/AirSim.git`, and go the AirSim directory by `cd AirSim`. 
-* Run `setup.sh ` and subsequently `build.sh` from the the terminal.
-
 #### Generate AirsimWrapper Shared Library
-* On your linux machine, navigate to your AirSim repository, and run the following commands in a terminal window:
-	```
-	cd Unity
-	./build.sh
-	```
+```
+cd AirSim/Unity
+./build.sh
+```
+
 This will generate the necessary shared library and copy it to the UnityDemo Plugins folder.
 
 ## Usage