projectairsim runtime

CMakeLists.txt

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

README.md

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

client/python/example_user_scripts/airtaxi_dynamic_city_traj.py

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

client/python/example_user_scripts/projectairsim_runtime/projectairsim_runtime_demo.py

@@ -0,0 +1,136 @@
+"""
+Copyright (C) 2025 IAMAI CONSULTING CORP
+MIT License.
+
+Runs a Project AirSim Runtime flight and displays it in the drone position viewer.
+
+Run from the repository root after starting Project AirSim Runtime. See
+samples/projectairsim_runtime/README.md for Windows and Linux build/run instructions.
+"""
+
+import asyncio
+import threading
+from pathlib import Path
+
+from projectairsim import ProjectAirSimClient, Drone, World
+from projectairsim.drone_position_viewer import DronePositionViewer
+from projectairsim.utils import projectairsim_log
+
+# Resolve the shared sim_config directory even when running from subfolders.
+SIM_CONFIG_PATH = str((Path(__file__).resolve().parent.parent / "sim_config").resolve())
+
+
+async def drone_sequence(drone):
+    api_control_enabled = False
+    armed = False
+    try:
+        # Set the drone to be ready to fly.
+        drone.enable_api_control()
+        api_control_enabled = True
+        drone.arm()
+        armed = True
+
+        # Command the vehicle to take off and wait until completion.
+        projectairsim_log().info("takeoff_async: starting")
+        takeoff_task = await drone.takeoff_async()
+        await takeoff_task
+        projectairsim_log().info("takeoff_async: completed")
+
+        # Move up at one meter per second in NED coordinates.
+        move_up_task = await drone.move_by_velocity_async(
+            v_north=0.0, v_east=0.0, v_down=-1.0, duration=2.0
+        )
+        projectairsim_log().info("Move-Up invoked")
+
+        await move_up_task
+        projectairsim_log().info("Move-Up completed")
+
+        # Move diagonally while maintaining altitude.
+        move_diagonal_task = await drone.move_by_velocity_async(
+            v_north=-1.0, v_east=1.0, v_down=0.0, duration=3.0
+        )
+        projectairsim_log().info("Move diagonally invoked")
+
+        await move_diagonal_task
+        projectairsim_log().info("Move diagonally completed")
+
+        # Descend and poll task completion to keep this flow explicit.
+        move_down_task = await drone.move_by_velocity_async(
+            v_north=0.0, v_east=0.0, v_down=1.0, duration=2.0
+        )
+        projectairsim_log().info("Move-Down invoked")
+
+        while not move_down_task.done():
+            await asyncio.sleep(0.005)
+        projectairsim_log().info("Move-Down completed")
+    finally:
+        if armed:
+            drone.disarm()
+        if api_control_enabled:
+            drone.disable_api_control()
+
+    projectairsim_log().info("Project AirSim Runtime demo completed")
+
+
+def start_drone_thread(drone, completed_event, errors):
+    def run_sequence():
+        try:
+            asyncio.run(drone_sequence(drone))
+        except Exception as err:
+            errors.append(err)
+        finally:
+            completed_event.set()
+
+    thread = threading.Thread(
+        target=run_sequence,
+        daemon=True,
+    )
+    thread.start()
+    return thread
+
+
+async def main():
+    # Create a simulation client.
+    client = ProjectAirSimClient()
+    connected = False
+    drone_thread = None
+    demo_completed = threading.Event()
+    drone_errors = []
+
+    try:
+        # Connect to simulation environment.
+        client.connect()
+        connected = True
+
+        # Create a World object to interact with the sim world and load a scene.
+        world = World(
+            client,
+            "scene_basic_drone.jsonc",
+            delay_after_load_sec=2,
+            sim_config_path=SIM_CONFIG_PATH,
+        )
+
+        # Create a Drone object to interact with a drone in the loaded sim world.
+        drone = Drone(client, world, "Drone1")
+        drone_thread = start_drone_thread(drone, demo_completed, drone_errors)
+        # Tk must run on the main thread. The viewer closes when the flight ends.
+        DronePositionViewer(drone, close_event=demo_completed)
+
+        drone_thread.join()
+        if drone_errors:
+            raise drone_errors[0]
+
+    except Exception as err:
+        projectairsim_log().error(f"Exception occurred: {err}")
+        raise
+
+    finally:
+        # Always disconnect to allow clean reconnection in the next run.
+        if connected:
+            client.disconnect()
+        if drone_thread is not None and drone_thread.is_alive():
+            drone_thread.join()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

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

@@ -4,11 +4,6 @@
 
 import tkinter as tk
 import threading
-import time
-
-from projectairsim import ProjectAirSimClient, Drone, World
-from projectairsim.utils import projectairsim_log
-
 
 # -----------------------------------------------
 # Drone Position Viewer
@@ -158,7 +153,7 @@ def update_view(self, x, y, altitude):
             screen_y + self.dot_size
         )
 
-                # ---------- ALTITUDE BAR UPDATE (SMOOTH + CLEAN LABELS) ----------
+        # ---------- ALTITUDE BAR UPDATE (SMOOTH + CLEAN LABELS) ----------
         ALT_PIXELS = 100        # pixels per meter
         TICK_STEP = 0.05        # fine ticks every 0.05 m (smooth scrolling)
         VIEW_RANGE = 5.0        # ±5m window
@@ -226,4 +221,6 @@ def update_view(self, x, y, altitude):
 
     def on_close(self):
         self.stop_event.set()
+        if self.refresh_after_id is not None:
+            self.root.after_cancel(self.refresh_after_id)
         self.root.destroy()

core_sim/test/CMakeLists.txt

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

docs/changelog.md

@@ -18,7 +18,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Coordinate conversion precision in the Python ROS bridge
-- GPU LiDAR behavior and standalone simulator builds on Unreal Engine 5.7
+- GPU LiDAR behavior and Project AirSim Runtime builds on Unreal Engine 5.7
 
 ## [0.2.0] - 2026-05-29
 ### Added

physics/test/CMakeLists.txt

@@ -100,7 +100,6 @@ add_custom_command(TARGET ${TARGET_NAME}
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E echo "Copying [${TARGET_NAME}] test data to ${SIMLIBS_TEST_DIR}/test_data"
     COMMAND ${CMAKE_COMMAND} -E copy_directory ${TARGET_SOURCE_DIR}/test/test_data ${SIMLIBS_TEST_DIR}/test_data
-    COMMAND ${CMAKE_COMMAND} -E copy_directory ${JSBSIM_CORESIM_DIR}/lib/$<IF:$<CONFIG:Release>,Release,Debug>/ ${SIMLIBS_TEST_DIR}
 )
 
 # Include CMake's GoogleTest module to use gtest_discover_tests() helper

samples/CMakeLists.txt

@@ -15,5 +15,4 @@
 #
 # ---------------------------------------------------------------------------------------------------------------------
 
-# add_subdirectory(standalone_sim)
-add_subdirectory(standalone_sim)
+add_subdirectory(projectairsim_runtime)

samples/standalone_sim/CMakeLists.txt → samples/projectairsim_runtime/CMakeLists.txt

@@ -15,10 +15,11 @@
 #
 # ---------------------------------------------------------------------------------------------------------------------
 
-set(TARGET_NAME standalone_sim)
+set(TARGET_NAME projectairsim-runtime)
 
 add_executable(
     ${TARGET_NAME}
+    ground_collision_host.cpp
     main.cpp
 )
 
@@ -94,3 +95,25 @@ else()
         dl     # Required by static libcrypto (dlopen/dlsym)
 )
 endif()
+
+# Keep the standalone runtime self-contained. Both core_sim and physics use
+# shared third-party libraries, so launching the executable directly from its
+# documented output directory must not depend on a developer shell or PATH.
+if(WIN32)
+    set(RUNTIME_ONNX_SHARED_LIB "${ONNX_LIB_DIR}/onnxruntime.dll")
+else()
+    set(RUNTIME_ONNX_SHARED_LIB "${ONNXRUNTIME_LIBRARY}")
+    set_target_properties(${TARGET_NAME} PROPERTIES BUILD_RPATH "$ORIGIN")
+endif()
+
+add_custom_command(
+    TARGET ${TARGET_NAME}
+    POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E copy_if_different
+            "${JSBSIM_SHARED_LIB}"
+            "$<TARGET_FILE_DIR:${TARGET_NAME}>"
+    COMMAND ${CMAKE_COMMAND} -E copy_if_different
+            "${RUNTIME_ONNX_SHARED_LIB}"
+            "$<TARGET_FILE_DIR:${TARGET_NAME}>"
+    COMMENT "Copying Project AirSim Runtime shared-library dependencies"
+)

samples/projectairsim_runtime/README.md

@@ -0,0 +1,74 @@
+# Project AirSim Runtime
+
+`projectairsim-runtime` is a lightweight, engine-independent Project AirSim
+host by IAMAI for fast development iterations. It runs `SimServer`,
+controllers, and Project AirSim physics while providing a flat ground collision
+host without requiring Unreal Engine.
+
+Build the simulation libraries normally:
+
+```powershell
+build.cmd simlibs_debug
+```
+
+```bash
+./build.sh simlibs_debug
+```
+
+Replace `simlibs_debug` with `simlibs_release` for a release build.
+
+The debug executable is generated at
+`build/win64/Debug/samples/projectairsim_runtime/projectairsim-runtime.exe` on Windows
+and `build/linux64/Debug/samples/projectairsim_runtime/projectairsim-runtime` on Linux.
+For a release build, use the corresponding `build/win64/Release` or
+`build/linux64/Release` path.
+
+Start the Runtime from the repository root:
+
+```powershell
+.\build\win64\Debug\samples\projectairsim_runtime\projectairsim-runtime.exe
+```
+
+```bash
+./build/linux64/Debug/samples/projectairsim_runtime/projectairsim-runtime
+```
+
+With the Project AirSim Python client environment activated, run the demo in a
+second terminal:
+
+```bash
+python client/python/example_user_scripts/projectairsim_runtime/projectairsim_runtime_demo.py
+```
+
+The demo loads `scene_basic_drone.jsonc`, executes a short flight, displays the
+vehicle position and altitude, and closes the viewer when the flight completes.
+
+The collision lifecycle mirrors the Unreal plugin:
+
+1. Project AirSim physics calculates the next robot kinematics.
+2. Project AirSim Runtime evaluates the new pose against the ground plane.
+3. It writes `CollisionInfo` back to the robot.
+4. Fast Physics applies its existing landing or collision response.
+
+Project AirSim Runtime uses the root link's inertial body box and configured
+wheel links as contact geometry. For fixed landing gear that is not represented
+by wheel actuators, pass the distance from the robot origin to the gear contact
+point:
+
+```powershell
+projectairsim-runtime.exe --ground-clearance 1.25
+```
+
+On Linux:
+
+```bash
+./projectairsim-runtime --ground-clearance 1.25
+```
+
+The ground defaults to `z = 0` in the local NED frame. Change it with
+`--ground-height`. The existing positional topics and services port arguments
+remain supported.
+
+This host intentionally does not render or emulate Unreal sensors, world
+meshes, or robot-to-robot collision. It is intended for quick controller,
+client, API, and physics iteration with `fast-physics` robots.