update linux build

Author: admercs

.github/workflows/test_docs.yml

@@ -13,7 +13,7 @@
 #   Copyright © 2024 Nervosys, LLC
 #----------------------------------------------------------------------------------------
 
-name: "Build & Deploy: Documentation"
+name: "Build & Deploy: Docs"
 
 on:
   push:

README.md

@@ -43,7 +43,7 @@
 
 <p align="center" width="100%">
   <img src="https://img.shields.io/badge/Unreal-313131.svg?style=for-the-badge&logo=unrealengine&logoColor=white">
-  <img src="https://img.shields.io/badge/PowerShell-2CA5E0?style=for-the-badge&logo=powershell&logoColor=white">
+  <img src="https://img.shields.io/badge/PWSH-2CA5E0?style=for-the-badge&logo=powershell&logoColor=white">
   <img src="https://img.shields.io/badge/BASH-313131?style=for-the-badge&logo=gnu-bash&logoColor=white">
   <img src="https://img.shields.io/badge/C%2B%2B-00599C?style=for-the-badge&logo=c%2B%2B&logoColor=white">
   <img src="https://img.shields.io/badge/Python-3776AB?style=for-the-badge&logo=python&logoColor=white">

UnrealPlugin/Unreal/Environments/Blocks/scripts/clean.sh

@@ -1,20 +1,25 @@
 #!/bin/bash
 
-# Get path of current script
-SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
-pushd "$SCRIPT_DIR" > /dev/null
-
 set -e
 set -x
 
+# Get path of current script
+SCRIPT_DIR=$(realpath "${BASH_SOURCE[0]}")
+ENV_DIR="${SCRIPT_DIR}/.."
+
+echo "Script directory: ${SCRIPT_DIR}"
+echo "Environment directory: ${ENV_DIR}"
+
+pushd "${ENV_DIR}" >/dev/null
+
 # clean temporary unreal folders
-rm -rf Binaries
-rm -rf Intermediate
-rm -rf Saved
-rm -rf Plugins/AutonomySim/Binaries
-rm -rf Plugins/AutonomySim/Intermediate
-rm -rf Plugins/AutonomySim/Saved
-rm -f CMakeLists.txt
-rm -f Makefile
+rm -rf ./Binaries
+rm -rf ./Intermediate
+rm -rf ./Saved
+rm -rf ./Plugins/AutonomySim/Binaries
+rm -rf ./Plugins/AutonomySim/Intermediate
+rm -rf ./Plugins/AutonomySim/Saved
+rm -f ./CMakeLists.txt
+rm -f ./Makefile
 
-popd > /dev/null
+popd >/dev/null

UnrealPlugin/Unreal/Environments/Blocks/scripts/update_from_git.sh

@@ -1,15 +1,15 @@
-#! /bin/bash
+#!/bin/bash
 
 # get path of current script: https://stackoverflow.com/a/39340259/207661
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-pushd "$SCRIPT_DIR" >/dev/null
+#SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+#pushd "$SCRIPT_DIR" >/dev/null
 
 set -e
 set -x
 
-./clean.sh
+./scripts/clean.sh
 
 rsync -a  --exclude 'temp' --delete ../../Plugins/AutonomySim Plugins/
 rsync -a  --exclude 'temp' --delete ../../../AutonomyLib Plugins/AutonomySim/Source/
 
-popd >/dev/null
+#popd >/dev/null

scripts/build.sh

@@ -45,13 +45,16 @@ function version_less_than_equal_to {
 ### Variables
 ###
 
-# Script directory.
+# Directory paths.
+PROJECT_DIR="$(realpath $PWD)"
 SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
 
 # Static variables.
 DEBUG='false'
 GCC='false'
 
+GCC_VERSION='11'
+CLANG_VERSION='14'
 CMAKE_VERSION='3.10.2'
 EIGEN_VERSION='3.4.0'
 RPCLIB_VERSION='2.3.0'
@@ -86,8 +89,8 @@ done
 
 # Check for existing rpclib installation.
 if [ ! -d "./external/rpclib/rpclib-${RPCLIB_VERSION}" ]; then
-    echo "ERROR: new version of AutonomySim requires newer rpclib."
-    echo "please run setup.sh first and then run build.sh again."
+    echo "ERROR: rpclib version not found: ${RPCLIB_VERSION}"
+    echo 'Please run `setup.sh` and then `build.sh` again.'
     exit 1
 fi
 
@@ -115,11 +118,11 @@ if [ "$(uname)" = 'Darwin' ]; then
     export CXX="$(brew --prefix)/opt/llvm/bin/clang++"
 elif [ "$(uname)" = 'Linux' ]; then
     if [ "${GCC}" = 'true' ]; then
-        export CC="gcc-8"
-        export CXX="g++-8"
+        export CC="gcc"
+        export CXX="g++"
     else
-        export CC="clang-8"
-        export CXX="clang++-8"
+        export CC="clang"
+        export CXX="clang++"
     fi
 else
     echo 'ERROR: This build script only supports Linux and MacOS.'
@@ -132,58 +135,58 @@ if [ ! -d "./AutonomyLib/deps/eigen3/Eigen" ]; then
     exit 1
 fi
 
-echo "Moving build into ${build_dir} directory. To clean, delete the directory."
+echo "Moving build into directory: ${build_dir}"
 
 # Ensure CMake files will be built in our build directory.
 [ -f "./cmake/CMakeCache.txt" ] && rm "./cmake/CMakeCache.txt"
 [ -d "./cmake/CMakeFiles" ] && rm -rf "./cmake/CMakeFiles"
 [ ! -d "$build_dir" ] && mkdir -p "$build_dir"
 
+# Enter build directory.
+pushd "$build_dir"
+
 # Fix for Unreal on Apple/ARM silicon using x86_64 (Rosetta).
 CMAKE_VARS=''
 [ "$(uname)" = 'Darwin' ] && CMAKE_VARS='-DCMAKE_APPLE_SILICON_PROCESSOR=x86_64'
 
-pushd "$build_dir" >/dev/null  # push directory onto stack
-
 if [ "${DEBUG}" = 'true' ]; then
     folder_name='Debug'
-    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Debug $CMAKE_VARS || (popd && rm -r "$build_dir" && exit 1)
+    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Debug $CMAKE_VARS || (cd .. && rm -r "$build_dir" && exit 1)
 else
     folder_name='Release'
-    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release $CMAKE_VARS || (popd && rm -r "$build_dir" && exit 1)
+    "$CMAKE" ../cmake -DCMAKE_BUILD_TYPE=Release $CMAKE_VARS || (cd .. && rm -r "$build_dir" && exit 1)
 fi
 
-#popd >/dev/null                # pop directory from stack
-#pushd "$build_dir" >/dev/null  # push directory onto stack
-
-# final linking of the binaries can fail due to a missing libc++abi library
+# Final linking of the binaries can fail due to a missing libc++abi library
 # (happens on Fedora, see https://bugzilla.redhat.com/show_bug.cgi?id=1332306).
-# So we only build the libraries here for now
+# So we only build the libraries here for now.
 make -j"${SYSTEM_CPU_MAX}"
-popd > /dev/null  # pop directory from stack
 
-mkdir -p "AutonomyLib/lib/x64/${folder_name}"
-mkdir -p 'AutonomyLib/deps/rpclib/lib'
-mkdir -p 'AutonomyLib/deps/MavLinkCom/lib'
+# Drop back down into project directory.
+popd
 
-cp "${build_dir}/output/lib/libAutonomyLib.a AutonomyLib/lib"
-cp "${build_dir}/output/lib/libMavLinkCom.a AutonomyLib/deps/MavLinkCom/lib"
-cp "${build_dir}/output/lib/librpc.a AutonomyLib/deps/rpclib/lib/librpc.a"
+mkdir -p "./AutonomyLib/lib/x64/${folder_name}"
+mkdir -p './AutonomyLib/deps/rpclib/lib'
+mkdir -p './AutonomyLib/deps/MavLinkCom/lib'
+
+cp "./${build_dir}/output/lib/libAutonomyLib.a" ./AutonomyLib/lib
+cp "./${build_dir}/output/lib/libMavLinkCom.a" ./AutonomyLib/deps/MavLinkCom/lib
+cp "./${build_dir}/output/lib/librpc.a" ./AutonomyLib/deps/rpclib/lib/librpc.a
 
 # Update AutonomyLib/lib, AutonomyLib/deps, Plugins folders with new binaries
-rsync -a --delete "${build_dir}/output/lib/ AutonomyLib/lib/x64/${folder_name}"
-rsync -a --delete "external/rpclib/rpclib-${RPCLIB_VERSION}/include AutonomyLib/deps/rpclib"
-rsync -a --delete 'MavLinkCom/include AutonomyLib/deps/MavLinkCom'
-rsync -a --delete 'AutonomyLib Unreal/Plugins/AutonomySim/Source'
+rsync -a --delete "./${build_dir}/output/lib/" "./AutonomyLib/lib/x64/${folder_name}"
+rsync -a --delete "./external/rpclib/rpclib-${RPCLIB_VERSION}/include" ./AutonomyLib/deps/rpclib
+rsync -a --delete ./MavLinkCom/include ./AutonomyLib/deps/MavLinkCom
+rsync -a --delete ./AutonomyLib ./UnrealPlugin/Unreal/Plugins/AutonomySim/Source
 
-rm -rf 'Unreal/Plugins/AutonomySim/Source/AutonomyLib/src'
+rm -rf ./UnrealPlugin/Unreal/Plugins/AutonomySim/Source/AutonomyLib/src
 
 # Update all environment projects
-for d in ./Unreal/Environments/*; do
+for d in ./UnrealPlugin/Unreal/Environments/*; do
     [ -L "${d%/}" ] && continue
-    "${d}/clean.sh"
+    bash "${d}/scripts/clean.sh"
     mkdir -p "${d}/Plugins"
-    rsync -a --delete Unreal/Plugins/AutonomySim "${d}/Plugins"
+    rsync -a --delete ./UnrealPlugin/Unreal/Plugins/AutonomySim "${d}/Plugins"
 done
 
 set +x
@@ -196,6 +199,4 @@ echo ' For further info see:'
 echo '   https://github.com/nervosys/AutonomySim/blob/master/docs/build_linux.md'
 echo '-----------------------------------------------------------------------------------------'
 
-popd >/dev/null  # pop directory from stack
-
 exit 0

scripts/setup.sh

@@ -32,6 +32,7 @@ function brew_install {
     brew list "$1" &>/dev/null || brew install "$1"
 }
 
+# check version compatability
 function version_less_than_equal_to {
     test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"
 }
@@ -40,7 +41,8 @@ function version_less_than_equal_to {
 ### Variables
 ###
 
-# Script directory.
+# Directory paths.
+PROJECT_DIR="$(realpath $PWD)"
 SCRIPT_DIR="$(realpath ${BASH_SOURCE[0]})"
 
 # Ensure CMake supports CMAKE_APPLE_SILICON_PROCESSOR for MacOS.
@@ -58,6 +60,7 @@ UNREAL_ASSET_VERSION='1.2.0'
 
 # download high-polycount SUV model.
 HIGH_POLYCOUNT_SUV='false'
+HIGH_POLYCOUNT_SUV_URL='https://github.com/microsoft/AirSim/releases/download/v1.2.0/car_assets.zip'
 
 DEBUG="${DEBUG:-false}"
 
@@ -93,15 +96,16 @@ else
         rsync \
         software-properties-common \
         wget \
-        vulkan \
-        vulkan-utils \
+        vulkan-tools \
         libvulkan1
-    VERSION=$(lsb_release -rs | cut -d. -f1)
-    if [ "$VERSION" -lt '20' ]; then
-        wget -O - 'http://apt.llvm.org/llvm-snapshot.gpg.key' | sudo apt-key add -
-        sudo apt-get update -y
-    fi
-    sudo apt-get install -y clang-17 clang++-17 libc++-17-dev libc++abi-17-dev
+        # vulkan vulkan-utils
+    VERSION=$(lsb_release -rs | cut -d '.' -f1)
+    #if [ "$VERSION" -lt '20' ]; then
+    wget -qO- 'https://apt.llvm.org/llvm-snapshot.gpg.key' | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+    sudo apt-get update -y
+    #fi
+    CLANG_VERSION='14'
+    sudo apt-get install -y clang-${CLANG_VERSION} libc++-${CLANG_VERSION}-dev libc++abi-${CLANG_VERSION}-dev
 fi
 
 # Get/set CMake version.
@@ -112,8 +116,7 @@ else
 fi
 
 # Give user permissions to access USB port, not needed if not using PX4 HIL.
-# TODO: figure out how to do below in travis.
-# Install additional tools, CMake if required.
+# TODO: figure out how to do below in travis. Install additional tools, CMake if required.
 if [ "$(uname)" = 'Darwin' ]; then
     if [ -n "${whoami}" ]; then # travis
         sudo dseditgroup -o edit -a "$(whoami)" -t user dialout
@@ -134,28 +137,8 @@ else
     fi
     sudo apt-get install -y build-essential unzip
     if version_less_than_equal_to "$cmake_ver" "$CMAKE_VERSION_MIN"; then
-        if [ "$(lsb_release -rs)" = "18.04" ]; then
-            sudo apt-get -y install apt-transport-https ca-certificates gnupg
-            wget -O - 'https://apt.kitware.com/keys/kitware-archive-latest.asc' 2>/dev/null |
-                gpg --dearmor - |
-                sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-            sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
-            sudo apt-get -y install --no-install-recommends make cmake
-        else
-            # If CMake binary not found, build it from source.
-            if [ ! -d './cmake_build/bin' ]; then
-                echo 'Downloading CMake...'
-                wget "https://cmake.org/files/v${CMAKE_VERSION_MIN_MAJ_MIN}/cmake-${CMAKE_VERSION}.tar.gz" -O cmake.tar.gz
-                tar -xzf ./cmake.tar.gz
-                rm ./cmake.tar.gz
-                rm -rf ./cmake_build
-                mv "./cmake-${CMAKE_VERSION}" ./cmake_build
-                pushd cmake_build # push directory onto stack
-                ./bootstrap
-                make
-                popd # pop directory from stack
-            fi
-        fi
+        sudo apt-get -y install apt-transport-https ca-certificates gnupg
+        sudo apt-get -y install --no-install-recommends make cmake
     else
         echo "Compatible version of CMake already installed: $cmake_ver"
     fi
@@ -176,39 +159,37 @@ fi
 
 # Download and unpack high-polycount SUV asset for Unreal Engine.
 if [ "${HIGH_POLYCOUNT_SUV}" = 'true' ]; then
-    if [ ! -d './Unreal/Plugins/AutonomySim/Content/VehicleAdv' ]; then
-        mkdir -p './Unreal/Plugins/AutonomySim/Content/VehicleAdv'
+    if [ ! -d ./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv ]; then
+        mkdir -p ./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv
     fi
-    if [ ! -d "./Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV/v${UNREAL_ASSET_VERSION}" ]; then
+    if [ ! -d "./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV/v${UNREAL_ASSET_VERSION}" ]; then
         echo '-----------------------------------------------------------------------------------------'
         echo ' Downloading Unreal high-polycount SUV asset...'
         echo '-----------------------------------------------------------------------------------------'
-        if [ -d ./suv_download_tmp ]; then
-            rm -rf ./suv_download_tmp
+        if [ -d ./temp/suv ]; then
+            rm -rf ./temp/suv
         fi
-        mkdir -p ./suv_download_tmp
-        cd suv_download_tmp
-        wget 'https://github.com/microsoft/AirSim/releases/download/v2.0.0-beta.0/car_assets.zip'
-        if [ -d '../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV' ]; then
-            rm -rf ../Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV
+        mkdir -p ./temp/suv
+        wget "$HIGH_POLYCOUNT_SUV_URL" -P ./temp/suv
+        if [ -d ./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV ]; then
+            rm -rf ./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv/SUV
         fi
-        unzip -q ./car_assets.zip -d ../Unreal/Plugins/ASim/Content/VehicleAdv
-        cd ..
-        rm -rf ./suv_download_tmp
+        unzip -q ./temp/suv/car_assets.zip -d ./UnrealPlugin/Unreal/Plugins/AutonomySim/Content/VehicleAdv
+        rm -rf ./temp/suv
     fi
 else
     echo "Skipped: Download of Unreal high-polycount SUV asset. The default Unreal Engine vehicle will be used."
 fi
 
 # Download and unpack Eigen3 C++ library.
 if [ ! -d './AutonomyLib/deps/eigen3' ]; then
-    echo 'Installing Eigen3 C++ library. Downloading Eigen...'
-    wget -O eigen3.zip "https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.zip"
-    unzip -q eigen3.zip -d ./temp_eigen
+    echo 'Installing Eigen C++ library...'
+    mkdir -p ./temp/eigen
+    wget "https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.zip" -P ./temp/eigen
+    unzip -q "./temp/eigen/eigen-${EIGEN_VERSION}.zip" -d ./temp/eigen
     mkdir -p ./AutonomyLib/deps/eigen3
-    mv ./temp_eigen/eigen*/Eigen ./AutonomyLib/deps/eigen3
-    rm -rf temp_eigen
-    rm eigen3.zip
+    mv "./temp/eigen/eigen-${EIGEN_VERSION}/Eigen" ./AutonomyLib/deps/eigen3
+    rm -rf ./temp/eigen
 else
     echo "Skipped: Eigen is already installed."
 fi