Update docs structure

.gitignore

@@ -376,3 +376,24 @@ env/
 # Simulink cache
 **/slprj
 *.slxc
+
+# Jsbsim repository files
+core_sim/jsbsim/
+
+# temporary for Jonathan
+physics/test/CMakeLists.txt
+core_sim/test/CMakeLists.txt
+unreal/Blocks/Plugins/InternalDevUseContent/
+unreal/Blocks/Plugins/ProjectAirSim/SDK/
+unreal/Blocks/Samples/
+
+# Compilation with Visual Studio
+# TODO: Make this cleaner. This is a temporary fix.
+CMakeFiles/
+CMakeCache.txt
+CTestTestfile.cmake
+*.vcxproj
+*.filters
+*.cmake
+DartConfiguration.tcl
+ProjectAirSimLibs.sln

CMakeLists.txt

@@ -45,6 +45,7 @@ set(SIMLIBS_TEST_DIR ${CMAKE_BINARY_DIR}/unit_tests)
 set(UE_PLUGIN_SIMLIBS_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/ProjectAirSim/SimLibs)
 set(UNITY_WRAPPER_DLL_DIR ${CMAKE_SOURCE_DIR}/unity/BlocksUnity/Assets/Plugins)
 set(MATLAB_PHYSICS_DIR ${CMAKE_SOURCE_DIR}/physics/matlab_sfunc)
+set(JSBSIM_CORESIM_DIR ${CMAKE_SOURCE_DIR}/core_sim/jsbsim)
 set(MATLAB_CONTROL_DIR ${CMAKE_SOURCE_DIR}/vehicle_apis/multirotor_api/matlab_sfunc)
 # set(UE_PLUGIN_CESIUM_NATIVE_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/ProjectAirSim/SimLibs)
 # set(UE_CESIUM_PLUGIN_DIR ${CMAKE_SOURCE_DIR}/unreal/Blocks/Plugins/CesiumForUnreal/)
@@ -72,6 +73,66 @@ elseif(UNIX)
     # set(CESIUM_LINUX_TOOLCHAIN ${UE_CESIUM_PLUGIN_DIR}/extern/unreal-linux-toolchain.cmake)
 endif()
 
+# Set up dependency: jsbsim
+message("Setting up [jsbsim] dependency as an external project...")
+# CMake external projects don't adopt the parent's CMAKE_MSVC_RUNTIME_LIBRARY setting,
+# so to force /MD non-debug CRT to match UE, build Debug config as Relwithdebinfo and
+# build Release as Release.
+set(JSBSIM_BUILD_TYPE $<IF:$<CONFIG:Debug>,Relwithdebinfo,Release>)
+set(JSBSIM_SRC_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim/src/jsbsim-repo)
+set(JSBSIM_SHARED_LIB_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/bin)
+set(JSBSIM_STATIC_LIB_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/lib)
+set(JSBSIM_INCLUDE_DIR ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/include/JSBSim ${CMAKE_BINARY_DIR}/_deps/jsbsim-install/include/JSBSim/math)
+ExternalProject_Add(jsbsim-repo
+    GIT_REPOSITORY  https://github.com/JSBSim-Team/jsbsim
+    GIT_TAG         "v1.1.12"
+    GIT_CONFIG      "advice.detachedHead=false"
+    PREFIX          ${CMAKE_BINARY_DIR}/_deps/jsbsim
+    BUILD_COMMAND   ${CMAKE_COMMAND} --build <BINARY_DIR> --config ${JSBSIM_BUILD_TYPE}
+    INSTALL_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> --config ${JSBSIM_BUILD_TYPE} --target install
+    UPDATE_COMMAND  ""  # disable update step
+    CMAKE_ARGS
+    #    -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
+        -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
+        -DCMAKE_POSITION_INDEPENDENT_CODE=True
+        -DCMAKE_BUILD_TYPE:STRING=${JSBSIM_BUILD_TYPE}
+        -DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_BINARY_DIR}/_deps/jsbsim-install
+        -DBUILD_SHARED_LIBS=ON
+        -DBUILD_PYTHON_MODULE=OFF
+        -DBUILD_DOCS=OFF
+    TEST_COMMAND    ""  # disable test step
+    BUILD_BYPRODUCTS ${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll ${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib 
+    BUILD_ALWAYS 1
+)
+ExternalProject_Add_Step(jsbsim-repo post-install
+    COMMAND ${CMAKE_COMMAND} -E echo "Copying [jsbsim] library to ${JSBSIM_CORESIM_DIR}"
+    COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll" "${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.dll"
+    COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib" "${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.lib"
+    #COMMAND ${CMAKE_COMMAND} -E copy "${JSBSIM_LIB_DIR}/JSBSim.pdb" "${JSBSIM_PHYSICS_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/JSBSim.pdb"
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_INCLUDE_DIR}" "${JSBSIM_CORESIM_DIR}/include"
+    # Copy JSBSim models
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/aircraft" "${JSBSIM_CORESIM_DIR}/models/aircraft"
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/engine" "${JSBSIM_CORESIM_DIR}/models/engine"
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/systems" "${JSBSIM_CORESIM_DIR}/models/systems"
+    # TODO: take out if we are not going to use JSBSim scripts
+    COMMAND ${CMAKE_COMMAND} -E copy_directory "${JSBSIM_SRC_DIR}/scripts" "${JSBSIM_CORESIM_DIR}/models/scripts"
+    DEPENDEES install
+)
+# add jsbsim shared library
+add_library(jsbsim SHARED IMPORTED)
+if(WIN32)
+    set_target_properties(jsbsim PROPERTIES
+        IMPORTED_LOCATION ${JSBSIM_SHARED_LIB_DIR}/JSBSim.dll
+        IMPORTED_IMPLIB ${JSBSIM_STATIC_LIB_DIR}/JSBSim.lib
+    )
+else()
+    set_target_properties(jsbsim PROPERTIES
+        IMPORTED_LOCATION ${JSBSIM_SHARED_LIB_DIR}/libjsbsim.so
+        IMPORTED_IMPLIB ${JSBSIM_STATIC_LIB_DIR}/libjsbsim.a
+    )
+endif()
+
+
 
 # Set up dependency: nlohmann JSON
 # Directly download single include file json.hpp

client/python/example_user_scripts/hello_fixed_wing.py

@@ -0,0 +1,151 @@
+"""
+Copyright (C) Microsoft Corporation. All rights reserved.
+
+Demonstrates flying a quadrotor drone with camera sensors.
+"""
+
+import asyncio
+import math
+
+from projectairsim import ProjectAirSimClient, Drone, World
+from projectairsim.utils import projectairsim_log
+from projectairsim.image_utils import ImageDisplay
+
+
+# Async main function to wrap async drone commands
+async def main():
+    # Create a Project AirSim client
+    client = ProjectAirSimClient()
+
+    # Initialize an ImageDisplay object to display camera sub-windows
+    image_display = ImageDisplay()
+
+    try:
+        # Connect to simulation environment
+        client.connect()
+
+        # Create a World object to interact with the sim world and load a scene
+        world = World(client, "scene_basic_fixed_wing.jsonc", delay_after_load_sec=2)
+
+        # Create a Drone object to interact with a drone in the loaded sim world
+        drone = Drone(client, world, "x8")
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## Subscribe to chase camera sensor as a client-side pop-up window
+        #chase_cam_window = "ChaseCam"
+        #image_display.add_chase_cam(chase_cam_window)
+        #client.subscribe(
+        #    drone.sensors["DownCamera"]["scene_camera"],
+        #    lambda _, chase: image_display.receive(chase, chase_cam_window),
+        #)
+#
+        ## Subscribe to the downward-facing camera sensor's RGB and Depth images
+        #rgb_name = "RGB-Image"
+        #image_display.add_image(rgb_name, subwin_idx=0)
+        #client.subscribe(
+        #    drone.sensors["DownCamera"]["scene_camera"],
+        #    lambda _, rgb: image_display.receive(rgb, rgb_name),
+        #)
+#
+        #depth_name = "Depth-Image"
+        #image_display.add_image(depth_name, subwin_idx=2)
+        #client.subscribe(
+        #    drone.sensors["DownCamera"]["depth_camera"],
+        #    lambda _, depth: image_display.receive(depth, depth_name),
+        #)
+#
+        #image_display.start()
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## Set the drone to be ready to fly
+        ## JSBSim robot currently does not support control the drone at runtime
+        #drone.enable_api_control()
+        ##set brakes to 1
+        #drone.set_brakes(1)
+        #drone.arm()
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## set takeoff z to 120 meters
+        #drone.set_take_off_z(-120)
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## Sleep for two seconds to
+        #await asyncio.sleep(2)
+        #
+        ## release brakes
+        #drone.set_brakes(0)
+#
+        #projectairsim_log().info("takeoff_async: starting")
+        #takeoff_task = (
+        #    await drone.takeoff_async(timeout_sec=1200)
+        #)  # schedule an async task to start the command
+#
+        #await takeoff_task
+        #projectairsim_log().info("takeoff_async: completed")
+#
+        #projectairsim_log().info("Waiting to stabilize altitude... (10 seconds)")
+        #await asyncio.sleep(10)
+#
+        ## ------------------------------------------------------------------------------
+        #
+        ## Command the drone to move to position 1000,1000,-200
+        #move_up_task = await drone.move_to_position_async(
+        #    north=1000, east=1000, down=-200, velocity=33.0, lookahead=100, timeout_sec=60
+        #)
+        #projectairsim_log().info("Move to position 1000,1000,-200 invoked")
+#
+        #await move_up_task
+        #projectairsim_log().info("Move to position completed")
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## Command vehicle to fly at a specific heading and speed
+        #projectairsim_log().info("Heading 90 invoked")
+        #heading_45_task = await drone.move_by_heading_async(
+        #    heading=math.radians(90.0), speed=20.0, duration=10
+        #)
+        #await heading_45_task
+        #projectairsim_log().info("Heading 90 complete.")
+#
+        ## ------------------------------------------------------------------------------
+#
+        ## Command the drone to move to position 0,0,-100
+        #move_up_task = await drone.move_to_position_async(
+        #    north=0, east=0, down=-100, velocity=33.0, lookahead=100, timeout_sec=60
+        #)
+        #projectairsim_log().info("Move to position 0,0,-100 invoked")
+#
+        #await move_up_task
+        #projectairsim_log().info("Move to position completed")
+        ## ------------------------------------------------------------------------------
+#
+        #projectairsim_log().info("land_async: starting")
+        #land_task = await drone.land_async()
+        #await land_task
+        #projectairsim_log().info("land_async: completed")
+        ## set brakes to 50%
+        #drone.set_brakes(0.5)
+
+        # ------------------------------------------------------------------------------
+
+        # Shut down the drone
+        drone.disarm()
+        drone.disable_api_control()
+
+    # logs exception on the console
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
+
+    finally:
+        # Always disconnect from the simulation environment to allow next connection
+        client.disconnect()
+
+        image_display.stop()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())  # Runner for async main function

client/python/example_user_scripts/hello_helicopter.py

@@ -0,0 +1,133 @@
+"""
+Copyright (C) Microsoft Corporation. All rights reserved.
+
+Demonstrates flying a quadrotor drone with camera sensors.
+"""
+
+import asyncio
+
+from projectairsim import ProjectAirSimClient, Drone, World
+from projectairsim.utils import projectairsim_log
+from projectairsim.image_utils import ImageDisplay
+
+
+# Async main function to wrap async drone commands
+async def main():
+    # Create a Project AirSim client
+    client = ProjectAirSimClient()
+
+    # Initialize an ImageDisplay object to display camera sub-windows
+    image_display = ImageDisplay()
+
+    try:
+        # Connect to simulation environment
+        client.connect()
+
+        # Create a World object to interact with the sim world and load a scene
+        world = World(client, "scene_basic_helicopter.jsonc", delay_after_load_sec=2)
+
+        # Create a Drone object to interact with a drone in the loaded sim world
+        drone = Drone(client, world, "Drone1")
+
+        # ------------------------------------------------------------------------------
+
+        # Subscribe to chase camera sensor as a client-side pop-up window
+        chase_cam_window = "ChaseCam"
+        image_display.add_chase_cam(chase_cam_window)
+        client.subscribe(
+            drone.sensors["Chase"]["scene_camera"],
+            lambda _, chase: image_display.receive(chase, chase_cam_window),
+        )
+
+        # Subscribe to the downward-facing camera sensor's RGB and Depth images
+        rgb_name = "RGB-Image"
+        image_display.add_image(rgb_name, subwin_idx=0)
+        client.subscribe(
+            drone.sensors["DownCamera"]["scene_camera"],
+            lambda _, rgb: image_display.receive(rgb, rgb_name),
+        )
+
+        depth_name = "Depth-Image"
+        image_display.add_image(depth_name, subwin_idx=2)
+        client.subscribe(
+            drone.sensors["DownCamera"]["depth_camera"],
+            lambda _, depth: image_display.receive(depth, depth_name),
+        )
+
+        image_display.start()
+
+        # ------------------------------------------------------------------------------
+
+        # Set the drone to be ready to fly
+        # JSBSim robot currently does not support control the drone at runtime
+        # drone.enable_api_control()
+        # drone.arm()
+
+        # # ------------------------------------------------------------------------------
+
+        # projectairsim_log().info("takeoff_async: starting")
+        # takeoff_task = (
+        #     await drone.takeoff_async()
+        # )  # schedule an async task to start the command
+
+        # # Example 1: Wait on the result of async operation using 'await' keyword
+        # await takeoff_task
+        # projectairsim_log().info("takeoff_async: completed")
+
+        # # ------------------------------------------------------------------------------
+
+        # # Command the drone to move up in NED coordinate system at 1 m/s for 4 seconds
+        # move_up_task = await drone.move_by_velocity_async(
+        #     v_north=0.0, v_east=0.0, v_down=-1.0, duration=4.0
+        # )
+        # projectairsim_log().info("Move-Up invoked")
+
+        # await move_up_task
+        # projectairsim_log().info("Move-Up completed")
+
+        # # ------------------------------------------------------------------------------
+
+        # # Command the Drone to move down in NED coordinate system at 1 m/s for 4 seconds
+        # move_down_task = await drone.move_by_velocity_async(
+        #     v_north=0.0, v_east=0.0, v_down=1.0, duration=4.0
+        # )  # schedule an async task to start the command
+        # projectairsim_log().info("Move-Down invoked")
+
+        # # Example 2: Wait for move_down_task to complete before continuing
+        # while not move_down_task.done():
+        #     await asyncio.sleep(0.005)
+        # projectairsim_log().info("Move-Down completed")
+
+        # # ------------------------------------------------------------------------------
+
+        # projectairsim_log().info("land_async: starting")
+        # land_task = await drone.land_async()
+        # await land_task
+        # projectairsim_log().info("land_async: completed")
+
+        # # # ------------------------------------------------------------------------------
+
+
+
+        # ------------------------------------------------------------------------------
+        # sleep for 5 minutes to contiue seeing the camera images
+        await asyncio.sleep(300)
+
+
+        # Shut down the drone
+        #drone.disarm()
+        #drone.disable_api_control()
+
+    # logs exception on the console
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}", exc_info=True)
+
+    finally:
+        # Always disconnect from the simulation environment to allow next connection
+        client.disconnect()
+
+        image_display.stop()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())  # Runner for async main function

client/python/example_user_scripts/jsbsim_env_actor.py

@@ -16,7 +16,6 @@
 """
 from projectairsim import ProjectAirSimClient, World, EnvActor
 from projectairsim.utils import projectairsim_log
-import asyncio
 
 
 async def env_actor_motion_plan(env_actor: EnvActor, world: World):