Add SCRIMMAGE support to GAMS #84
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…s in SCRIMMAGE setup.sh
…running bug where switching environments will cause the dependencies to be installed in different locations
… fact that gams was already cloned and installed on a PC. Now, if the present working directory name is gams, it will not do so
…s in SCRIMMAGE setup.sh
…GE inside base build
… super annoying when trying to develop
…readed and non threaded via KB/CLI scripts
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Fixes are in.. builds are building! |
jredmondson
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Apr 7, 2020
* * Making changes to the build scripts for Windows fixes and also upgrading to 0.7.0 of capnp * * Beginning to attempt to bring GAMS back into Windows compilability * Added capnp feature, similar to the one added to MADARA * Fixed warnings about conversions in several places * Updated base_build.bat script to be slightly better for windows building but still requires forcing installation of capnp or other tools. I may have to give up on .bat scripting and just use perl or something else here to properly set variables and dictate installation flow. * * Fixed template issues in VS 2017 * Fixed some external linking issues involving usage of GAMS_EXPORT * Fixed OSC linking on Windows * Only current issue that needs looking into is a set of C4244 warnings involving xutility * * Forcing using c++ 14 to allow for capnp features * * Synchronizing recent changes to GAMS windows_fixes. There still appears to be a linking error in clang for gams_controller involving MADARA linking * * Updated capnp to be a feature so we can disable/enable the compilation on Linux and Windows * * Updated CI tests to do a capnp optional with clang and g++ * * Updated GAMS CI to only call test_types if capnp is enabled * * Separating capnp_files format in MPC from the feature of including it * * Integrated capnp feature into the base_build.sh feature enabling process for building * * Fixing some issues with the passthrough of capnp feature in the CI * * Updating CI to include capnp in Android builds, since Java support currently has capnp baked in with no feature enabling * * Fixed shadow warning in Epsilon.h * Updated base_build.sh to use latest Eigen and clang 6.0 * * Updating GAMS build scripts to also build capnproto-java, though I'm not entirely sure it's necessary at this point to support the Java and capnp build anymore * * Updated Multicontroller to no longer fail when resizing after a default constructor call * * Added patch file for capnpc-java * Updated base_build.sh to respect the CC and CXX that is passed to the script as environment variables * Updated travis.yml to force clang-5.0++ * * Updated Multicontroller to initialize variables in a resize by default. This allows for the creation of appropriate self_ variables within platforms without needing to call init_variables after an init_platform call * * Fixed capnp types issues in GAMS * Updated .travis.yml to include types checks on test_any test * * Attempting to fix issues in Travis CI * * Updated using_boost for latest boost versions with VS 2017 (required by UE) * * Added explicit clang-suffix options for base_build.sh * Can invoke specific installation and compilation with clang-5, clang-6, clang-8, and clang-9 * * Fixing issue in last commit with special clang instructions to base_build.sh * * Added support for the clang-SUFFIX build options to also affect all prereqs and not just MADARA and GAMS * * Fixed issues with clang installation when you haven't set CLANG_SUFFIX or any of the FORCE_CC/CXX options in your bashrc. It should automatically do things now for clang-8 or clang-9 * * Updated base_build.bat to echo a .gams\env.bat that should set variables from command line * * Added a set environment option to the base_build.bat script (setenv) * * Updated base_build.bat for both VS2017 and VS2019 to be more seamless in installation process * * Removing capnp from python and protecting some code with ifdefs for CAPNP * * Fixed allow_failures issues in Travis CI * Updated Travis CI config with updated jobs/exclude keywords * * Removing clang-5 explicit call in Ubuntu Travis CI * * Reverting change to force cc/c++ compiler clang-5 in ubuntu * * Removed OSX clang zmq as zmq is no longer building on Mac * * Adding zmq android build back to allow_failures * * Added height differentiation and movement to FormationSync * * Updated FormationSync to use Pose from_container to be more portable * * Adding brew install for llvm 5, 6, 8 and 9 * * [skip ci] * Adding Mac build instructions for clang into it's own section * [skip ci] * Updating Mac build * * Updated mac/base_build.sh to attempt to reference the local directory instead of the GAMS_ROOT environment variable (which may not be set yet) * * Fixed clang-8, clang-9, etc. support for Mac builds. This is needed to help with supporting Unreal Engine on Mac and future build features * * Changed resize in Multicontroller to allow for only setting swarm.size instead of requiring all variables to be initialized in swarm vars * Added refresh_vars to Multicontroller * Reduced memory footprint for large swarms substantially in Multicontroller * * Added installation option for opencv on Windows * * Added opencv installation option for Linux * * Updated gpc.pl to generate a project that is compilable on Windows * * Added cmake support for base gams library and gams_controller * * Windows script is now stable. Installs MADARA and GAMS with cmake * Updated Cmake to install Boost and MADARA through find_package * Added configuration and cmake system for GAMS * * Fixed a scalability issue in gams_controller. The multicontroller was creating swarm variables, when it should just init_vars with the id to start with for populating self_ variables * * Updated Windows installation to set PATH appropriately * Updated MADARA and GAMS installation so linkage * * Removed warnings in compilation with Cmake and stricter settings on Linux * Updated CMakeLists.txt to build on Linux * * Removed versioning from dlls in CMake process * * Added gams_version * Fixed incompatibilities between Cmake Windows, Linux, Mac * * Added feature option for osc since UnrealGAMS is not primary simulator * * Updated test_utility to properly feature-enable OSC * * Add default feature of 0 for OSC * * Adjusting osc feature-enable in base_build.sh for linux/mac * * Reverted changes to Follow concerning the ReferenceFrame retrieval * * Implemented initial hive controller * * Added HiveController sanity checks * Added test for HiveController * Added default installs for tests and programs in cmake * * Updated get_kb and refresh_vars to work with offsets in Hivecontroller * * Fixed bugs in HiveController * Added exists function to PlatformFactoryRepository to check if an alias is already assigned for a platform factory * Added more debugging to test_hivecontroller when errors occur * * Fixed clang warnings in cmake builds * * Reduced codeowners to 1 user * Add SCRIMMAGE support to GAMS (#84) * Added updated base build script which includes scrimmage * Change from SCRIMMAGE_ROOT to SCRIMMAGE_GIT_ROOT because of collisions in SCRIMMAGE setup.sh * Copy pasta file for linking * Added cleanenv option which resets the environment. Fixes a longtime running bug where switching environments will cause the dependencies to be installed in different locations * Add scrimmage feature * Added building and linking files for scrimmage * Small fix * Starting work for integrating the build of a SCRIMMAGE plugin * Fixing long standing bug where GAMS re-clones itself disregarding the fact that gams was already cloned and installed on a PC. Now, if the present working directory name is gams, it will not do so * Upd * Fix cleanenv * Fix circular dependency * Fix plugin path setting to happen after GAMS_ROOT is set * Add plugin stubs to test if plugin is loading * Added xml files and fixed using_scrimmage for include paths * Small bug fixes to build process. Trying to debug missing headers for plugin linking * Fix ordering in base build * Numerous changes and SCRIMMAGE_ROOT fixes * Added fix for endif in GAMSAutonomy * Fixed build files, temporarily forcing use of c++14 so it compiles. * Added updated gams.pc * Added updated base build script which includes scrimmage * Change from SCRIMMAGE_ROOT to SCRIMMAGE_GIT_ROOT because of collisions in SCRIMMAGE setup.sh * Merge capnp and scrimmage changes in basebuild * Added building and linking files for scrimmage * Small fix * Starting work for integrating the build of a SCRIMMAGE plugin * Fix circular dependency * Fix plugin path setting to happen after GAMS_ROOT is set * Small bug fixes to build process. Trying to debug missing headers for plugin linking * Fix ordering in base build * Numerous changes and SCRIMMAGE_ROOT fixes * Add path to GAMSAutonomy.xml to scrimmage plugin path * Add changes so that the plugin loads in. Though missing some variables, but loads in SCRIMMAGE * Add default variables for car controller plugin? * Add empty functions, still need to modify controller * Lots of updates, added in scrimmage, still bugs for linking but mostly works * Divided plugin and the full gams integration, compiles * Fix 2 bugs with segfaults in gams_controller * gams controller can now run a scrimmage instance and control its loops, as well as spawn in agents. more to come * Fix missing env vars, works after a cleanenv now * Runs and works tested with 1 agent now. * Runs with 200 agents * Change default world to just be a quadrotor base so we can control it with GAMS easy * Some changes to scrimmage code * Lots of changes, it runs now, just need to figure out how to get a madara file properly setting a KB through a gams controller * Update * Added temporary placement of scrimmage.mf * Compiles and runs for now. No segfaults. But more coding to do as next position is not set * Now moves * Remove accidentally added scrimmage dir, now inside .gitignore * Hooked up GAMSAutonomy plugin, now we're talking! * Now moves exactly towards the positions given by GAMS * Small changes * Update * Cleaning up of the GAMS repo with extra files/removal of non essential changes * Add demo shell scripts * Revert default world back to working model * Spawning multiple agents programmatically now * Now spawns at runtime, pending bugfix on scrimmage side * Updated with most recent demo code * Fixed off by 1 bug, agents move accordingly * Fix multiple frame bugs and touch up some debug lines * Add orientation function but there's a double orientation set bug atm * Orientation setup needs to be rethough due to the way the scrimmage sim handles setting orientation * Added run threaded support for super efficient running * Update * Add fixes to the pathing for mission path and plugin path for SCRIMMAGE inside base build * Add change to prevent GAMS from being pulled from jredmondson master, super annoying when trying to develop * Fix scrimmage mission path bug * Add arg to print statement in Multicontroller * Fix cleanenv params for paths * Added singleton pattern and support for options for run_simcontrol_threaded and non threaded via KB/CLI scripts * Added run threaded option as static var * Fix exception in Follow bug after missed revert causing same bug again * Update * Add multiple types and passing of world file via madara mf/kb * Add fixed wing support to GAMS scrimmage * Add some function descriptions: * Added log detailed statements * Add demo scripts * set SCRIMMAGE in base_build.sh * Revert adding double line, already there. * add $SCRIMMAGE support to testing * Add #ifdef to SCRIMMAGEBasePlatform.cpp * Add in #ifdef to SCRIMMAGEBasePlatform.h * Remove simcontrol pointer in Multicontroller.h * Remove simcontrol object use from Multicontroller.cpp * Add auto yes option to PPA for SCRIMMAGE * * Updated to version 1.3.0 * Adding notes to changes to discuss with Devon about Scrimmage support * Made sure to add the GAMS_SCRIMMAGE ifdefs in files where appropriate to prevent compilation in cmake and any other build system * Added debug warnings for hive not being set in HiveController Co-authored-by: TheDash <noobaca2@gmail.com>
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Add SCRIMMAGE support to GAMS: