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jonyMarinoLucasJSch
jonyMarino
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LucasJSch
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projectairsim runtime (#190)
Co-authored-by: Lucas Scheinkerman <lucas.scheinkerman@gmail.com>
1 parent 3c0df65 commit 9bc5f0c

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Lines changed: 733 additions & 91 deletions

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‎CMakeLists.txt‎

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@@ -873,6 +873,24 @@ add_subdirectory(unity)
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add_subdirectory(vehicle_apis)
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if(BUILD_TESTING)
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# Stage shared test runtime dependencies exactly once. Multiple PRE_LINK and
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# POST_BUILD copies to SIMLIBS_TEST_DIR can run concurrently under Ninja and
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# intermittently fail on Windows when they touch the same destination files.
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add_custom_target(simlibs_test_runtime_dependencies
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COMMAND ${CMAKE_COMMAND} -E make_directory "${SIMLIBS_TEST_DIR}"
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COMMAND ${CMAKE_COMMAND} -E copy_directory
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"${UE_PLUGIN_SIMLIBS_DIR}/shared_libs"
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"${SIMLIBS_TEST_DIR}"
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COMMAND ${CMAKE_COMMAND} -E copy_directory
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"${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>"
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"${SIMLIBS_TEST_DIR}"
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COMMENT "Staging SimLibs test runtime dependencies"
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)
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add_dependencies(simlibs_test_runtime_dependencies jsbsim-repo)
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if(UNIX)
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add_dependencies(simlibs_test_runtime_dependencies zlib-external)
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endif()
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set(SIMLIBS_UNIT_TEST_TARGETS
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core_sim_gtests
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physics_gtests
@@ -888,6 +906,7 @@ if(BUILD_TESTING)
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add_custom_target(simlibs_unit_tests)
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foreach(TEST_TARGET ${SIMLIBS_UNIT_TEST_TARGETS})
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if(TARGET ${TEST_TARGET})
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add_dependencies(${TEST_TARGET} simlibs_test_runtime_dependencies)
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add_dependencies(simlibs_unit_tests ${TEST_TARGET})
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endif()
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endforeach()

‎README.md‎

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@@ -84,6 +84,11 @@ See **[Installing system prerequisites](docs/system_specs.md#installing-system-p
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## Quick Start: Run from Source
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For controller, client, API, and physics iterations that do not need Unreal
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rendering or sensors, use **[Project AirSim Runtime](samples/projectairsim_runtime/README.md)**. It
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is the lightweight Project AirSim host and includes flat-ground collision
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response for Fast Physics vehicles and landing gear.
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Follow these steps to set up and run Project AirSim from source:
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### 1. Install Unreal Engine versions 5.2 or 5.7

‎client/python/example_user_scripts/airtaxi_dynamic_city_traj.py‎

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@@ -233,4 +233,4 @@ async def main(scenefile):
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if __name__ == "__main__":
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scene_to_run = "scene_quadtiltrotor_dfw_dynamic_city.jsonc"
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projectairsim_log().info('Using scene "' + scene_to_run + '"')
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asyncio.run(main(scene_to_run)) # Runner for async main function
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asyncio.run(main(scene_to_run)) # Runner for async main function

‎client/python/example_user_scripts/projectairsim_runtime/projectairsim_runtime_demo.py‎

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"""
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Copyright (C) 2025 IAMAI CONSULTING CORP
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MIT License.
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Runs a Project AirSim Runtime flight and displays it in the drone position viewer.
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Run from the repository root after starting Project AirSim Runtime. See
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samples/projectairsim_runtime/README.md for Windows and Linux build/run instructions.
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"""
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import asyncio
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import threading
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from pathlib import Path
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from projectairsim import ProjectAirSimClient, Drone, World
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from projectairsim.drone_position_viewer import DronePositionViewer
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from projectairsim.utils import projectairsim_log
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# Resolve the shared sim_config directory even when running from subfolders.
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SIM_CONFIG_PATH = str((Path(__file__).resolve().parent.parent / "sim_config").resolve())
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async def drone_sequence(drone):
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api_control_enabled = False
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armed = False
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try:
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# Set the drone to be ready to fly.
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drone.enable_api_control()
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api_control_enabled = True
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drone.arm()
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armed = True
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# Command the vehicle to take off and wait until completion.
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projectairsim_log().info("takeoff_async: starting")
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takeoff_task = await drone.takeoff_async()
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await takeoff_task
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projectairsim_log().info("takeoff_async: completed")
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# Move up at one meter per second in NED coordinates.
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move_up_task = await drone.move_by_velocity_async(
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v_north=0.0, v_east=0.0, v_down=-1.0, duration=2.0
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)
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projectairsim_log().info("Move-Up invoked")
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await move_up_task
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projectairsim_log().info("Move-Up completed")
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# Move diagonally while maintaining altitude.
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move_diagonal_task = await drone.move_by_velocity_async(
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v_north=-1.0, v_east=1.0, v_down=0.0, duration=3.0
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)
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projectairsim_log().info("Move diagonally invoked")
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await move_diagonal_task
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projectairsim_log().info("Move diagonally completed")
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# Descend and poll task completion to keep this flow explicit.
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move_down_task = await drone.move_by_velocity_async(
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v_north=0.0, v_east=0.0, v_down=1.0, duration=2.0
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)
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projectairsim_log().info("Move-Down invoked")
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while not move_down_task.done():
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await asyncio.sleep(0.005)
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projectairsim_log().info("Move-Down completed")
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finally:
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if armed:
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drone.disarm()
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if api_control_enabled:
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drone.disable_api_control()
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projectairsim_log().info("Project AirSim Runtime demo completed")
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def start_drone_thread(drone, completed_event, errors):
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def run_sequence():
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try:
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asyncio.run(drone_sequence(drone))
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except Exception as err:
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errors.append(err)
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finally:
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completed_event.set()
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thread = threading.Thread(
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target=run_sequence,
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daemon=True,
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)
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thread.start()
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return thread
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async def main():
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# Create a simulation client.
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client = ProjectAirSimClient()
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connected = False
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drone_thread = None
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demo_completed = threading.Event()
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drone_errors = []
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try:
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# Connect to simulation environment.
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client.connect()
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connected = True
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# Create a World object to interact with the sim world and load a scene.
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world = World(
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client,
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"scene_basic_drone.jsonc",
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delay_after_load_sec=2,
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sim_config_path=SIM_CONFIG_PATH,
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)
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# Create a Drone object to interact with a drone in the loaded sim world.
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drone = Drone(client, world, "Drone1")
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drone_thread = start_drone_thread(drone, demo_completed, drone_errors)
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# Tk must run on the main thread. The viewer closes when the flight ends.
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DronePositionViewer(drone, close_event=demo_completed)
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drone_thread.join()
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if drone_errors:
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raise drone_errors[0]
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except Exception as err:
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projectairsim_log().error(f"Exception occurred: {err}")
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raise
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finally:
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# Always disconnect to allow clean reconnection in the next run.
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if connected:
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client.disconnect()
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if drone_thread is not None and drone_thread.is_alive():
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drone_thread.join()
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if __name__ == "__main__":
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asyncio.run(main())

‎client/python/projectairsim/src/projectairsim/drone_position_viewer.py‎

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@@ -4,11 +4,6 @@
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import tkinter as tk
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import threading
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import time
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from projectairsim import ProjectAirSimClient, Drone, World
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from projectairsim.utils import projectairsim_log
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# -----------------------------------------------
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# Drone Position Viewer
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screen_y + self.dot_size
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)
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# ---------- ALTITUDE BAR UPDATE (SMOOTH + CLEAN LABELS) ----------
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# ---------- ALTITUDE BAR UPDATE (SMOOTH + CLEAN LABELS) ----------
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ALT_PIXELS = 100 # pixels per meter
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TICK_STEP = 0.05 # fine ticks every 0.05 m (smooth scrolling)
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VIEW_RANGE = 5.0 # ±5m window
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227222
def on_close(self):
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self.stop_event.set()
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if self.refresh_after_id is not None:
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self.root.after_cancel(self.refresh_after_id)
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self.root.destroy()

‎core_sim/test/CMakeLists.txt‎

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@@ -147,18 +147,6 @@ target_include_directories(${TARGET_NAME} PRIVATE "${ONNXRUNTIME_ROOTDIR}/includ
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target_link_directories(${TARGET_NAME} PRIVATE "${ONNX_LIB_DIR}")
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target_link_libraries(${TARGET_NAME} PRIVATE onnxruntime jsbsim)
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150-
add_custom_command(
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TARGET ${TARGET_NAME}
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PRE_LINK
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${UE_PLUGIN_SIMLIBS_DIR}/shared_libs/ ${SIMLIBS_TEST_DIR}
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)
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add_custom_command(
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TARGET ${TARGET_NAME}
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PRE_LINK
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/ ${SIMLIBS_TEST_DIR}
160-
)
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# Include CMake's GoogleTest module to use gtest_discover_tests() helper
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include(GoogleTest)
164152
gtest_discover_tests(${TARGET_NAME})

‎docs/changelog.md‎

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### Fixed
2020
- Coordinate conversion precision in the Python ROS bridge
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- GPU LiDAR behavior and standalone simulator builds on Unreal Engine 5.7
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- GPU LiDAR behavior and Project AirSim Runtime builds on Unreal Engine 5.7
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## [0.2.0] - 2026-05-29
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### Added

‎physics/test/CMakeLists.txt‎

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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E echo "Copying [${TARGET_NAME}] test data to ${SIMLIBS_TEST_DIR}/test_data"
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${TARGET_SOURCE_DIR}/test/test_data ${SIMLIBS_TEST_DIR}/test_data
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/ ${SIMLIBS_TEST_DIR}
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)
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# Include CMake's GoogleTest module to use gtest_discover_tests() helper

‎samples/CMakeLists.txt‎

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#
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# ---------------------------------------------------------------------------------------------------------------------
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18-
# add_subdirectory(standalone_sim)
19-
add_subdirectory(standalone_sim)
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add_subdirectory(projectairsim_runtime)

samples/standalone_sim/CMakeLists.txt renamed to samples/projectairsim_runtime/CMakeLists.txt

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#
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# ---------------------------------------------------------------------------------------------------------------------
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18-
set(TARGET_NAME standalone_sim)
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set(TARGET_NAME projectairsim-runtime)
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2020
add_executable(
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${TARGET_NAME}
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ground_collision_host.cpp
2223
main.cpp
2324
)
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@@ -94,3 +95,25 @@ else()
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dl # Required by static libcrypto (dlopen/dlsym)
9596
)
9697
endif()
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# Keep the standalone runtime self-contained. Both core_sim and physics use
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# shared third-party libraries, so launching the executable directly from its
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# documented output directory must not depend on a developer shell or PATH.
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if(WIN32)
103+
set(RUNTIME_ONNX_SHARED_LIB "${ONNX_LIB_DIR}/onnxruntime.dll")
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else()
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set(RUNTIME_ONNX_SHARED_LIB "${ONNXRUNTIME_LIBRARY}")
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set_target_properties(${TARGET_NAME} PROPERTIES BUILD_RPATH "$ORIGIN")
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endif()
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add_custom_command(
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TARGET ${TARGET_NAME}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_if_different
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"${JSBSIM_SHARED_LIB}"
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"$<TARGET_FILE_DIR:${TARGET_NAME}>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different
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"${RUNTIME_ONNX_SHARED_LIB}"
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"$<TARGET_FILE_DIR:${TARGET_NAME}>"
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COMMENT "Copying Project AirSim Runtime shared-library dependencies"
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)

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