test windows build

.github/workflows/test_macos.yml

@@ -38,13 +38,13 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - name: "Install BASH (macOS version > 10.14 uses Zsh by default)"
-        run: brew install bash
-
       - name: "Remove Python 3 for Python 3.11 symbolic link"
         shell: bash
         run: brew unlink python@3.11 && brew link --overwrite python@3.11 && brew unlink python@3.10 && brew link --overwrite python@3.10
 
+      # - name: "Install BASH (macOS version > 10.14 uses Zsh by default)"
+      #   run: brew install bash
+
       - name: "Install Dependencies"
         shell: bash
         run: bash ./scripts/setup.sh

.github/workflows/test_windows.yml

@@ -43,7 +43,7 @@ jobs:
 
       - name: "Build AutonomyLib"
         shell: cmd
-        run: build.cmd
+        run: scripts\cmd\build.cmd
 
       # - name: "Add MSBuild to PATH"
       #   uses: microsoft/setup-msbuild@v2

build.cmd → scripts/cmd/build.cmd

@@ -2,6 +2,7 @@
 
 REM //---------- Set variables ----------
 setlocal
+
 REM set PROJECT_DIR=%~dp0  REM %~dp0 = directory path of the batch file (AutonomySim/scripts)
 REM %cd%  = current working directory path (AutonomySim)
 set PROJECT_DIR=%cd%
@@ -11,78 +12,78 @@ set CPU_COUNT_MAX=12
 set PLATFORM=x64
 
 REM // Check command line arguments
-set "fullPolyCar="
-set "buildMode="
+set fullPolyCar=""
+set buildMode=""
 
 REM // Check Visual Studio version
-if "%VisualStudioVersion%" == "" (
+if %VisualStudioVersion% == "" (
     echo.
-    echo ERROR: command must be run from VS2022 Developer Command Prompt or Developer PowerShell.
+    echo "ERROR: command must be run from VS2022 Developer Command Prompt or Developer PowerShell."
     goto :buildfailed_nomsg
 )
 
-if "%VisualStudioVersion%" lss "17.0" (
+if %VisualStudioVersion% lss 17.0 (
     echo.
-    echo AutonomySim supports up to Unreal Engine 5.3 and Visual Studio 2022.
-    echo Here are few easy steps to perform the upgrade:
-    echo    https://github.com/nervosys/AutonomySim/blob/main/docs/unreal_upgrade.md
+    echo "AutonomySim supports up to Unreal Engine 5.3 and Visual Studio 2022."
+    echo "Here are few easy steps to perform the upgrade:"
+    echo "  https://github.com/nervosys/AutonomySim/blob/main/docs/unreal_upgrade.md"
     goto :buildfailed_nomsg
 )
 
 REM //---------- Parse arguments ----------
-if "%1"=="" goto noargs
-if "%1"=="--full-poly-car" set "fullPolyCar=y"
-if "%1"=="--Debug" set "buildMode=Debug"
-if "%1"=="--Release" set "buildMode=Release"
-if "%1"=="--RelWithDebInfo" set "buildMode=RelWithDebInfo"
+if %1 == "" goto noargs
+if %1 == --full-poly-car set "fullPolyCar=y"
+if %1 == --Debug set "buildMode=Debug"
+if %1 == --Release set "buildMode=Release"
+if %1 == --RelWithDebInfo set "buildMode=RelWithDebInfo"
 
-if "%2"=="" goto noargs
-if "%2"=="--Debug" set "buildMode=Debug"
-if "%2"=="--Release" set "buildMode=Release"
-if "%2"=="--RelWithDebInfo" set "buildMode=RelWithDebInfo"
+if %2 == "" goto noargs
+if %2 == --Debug set "buildMode=Debug"
+if %2 == --Release set "buildMode=Release"
+if %2 == --RelWithDebInfo set "buildMode=RelWithDebInfo"
 
 :noargs
 set powershell=powershell
 where powershell > nul 2>&1
-if ERRORLEVEL 1 goto :pwsh
-echo Found `powershell` command. && goto start
+if %ERRORLEVEL% == 1 goto :pwsh
+echo "Found `powershell` command." && goto start
 
 :pwsh
 set powershell=pwsh
 where pwsh > nul 2>&1
-if ERRORLEVEL 1 goto :nopwsh
+if %ERRORLEVEL% == 1 goto :nopwsh
 set PWSHV7=1
-echo Found `pwsh` command. && goto start
+echo "Found `pwsh` command." && goto start
 
 :nopwsh
-echo PowerShell or `pwsh` not found, please install it: `winget install --id Microsoft.Powershell --source winget`
+echo "PowerShell or `pwsh` not found, please install it: `winget install --id Microsoft.Powershell --source winget`"
 goto :eof
 
 :start
 cd %PROJECT_DIR%
 
 echo.
-echo -----------------------------------------------------------------------------------------
-echo Parameters
-echo -----------------------------------------------------------------------------------------
-echo Project directory:  %PROJECT_DIR%
-echo Script directory:   %SCRIPT_DIR%
-echo RPClib version:     %RPCLIB_VERSION%
-echo Full-polycount car: %fullPolyCar%
-echo Build mode:         %buildMode%
-echo Platform:           %PLATFORM%
-echo CPU count max:      %CPU_COUNT_MAX%
-echo PowerShell command: %powershell%
-echo -----------------------------------------------------------------------------------------
+echo "-----------------------------------------------------------------------------------------"
+echo " Parameters"
+echo "-----------------------------------------------------------------------------------------"
+echo " Project directory:   %PROJECT_DIR%"
+echo " Script directory:    %SCRIPT_DIR%"
+echo " RPClib version:      %RPCLIB_VERSION%"
+echo " Full-polycount car:  %fullPolyCar%"
+echo " Build mode:          %buildMode%"
+echo " Platform:            %PLATFORM%"
+echo " CPU count max:       %CPU_COUNT_MAX%"
+echo " PowerShell command:  %powershell%"
+echo "-----------------------------------------------------------------------------------------"
 echo.
 
 REM //---------- Check cmake version ----------
-call scripts\check_cmake.cmd
-if ERRORLEVEL 1 (
-  call scripts\check_cmake.cmd
-  if ERRORLEVEL 1 (
-    echo(
-    echo ERROR: CMake not installed correctly.
+call scripts\cmd\check_cmake.cmd
+if %ERRORLEVEL% == 1 (
+  call scripts\cmd\check_cmake.cmd
+  if %ERRORLEVEL% == 1 (
+    echo.
+    echo "ERROR: CMake not installed correctly."
     goto :buildfailed
   )
 )
@@ -93,19 +94,17 @@ if not exist external mkdir external
 
 REM //---------- Get rpclib ----------
 REM if not exist external\rpclib mkdir external\rpclib
-
 if not exist external\rpclib\rpclib-%RPCLIB_VERSION% (
+
     REM // Leave some blank lines because %powershell% shows download banner at top of console
     echo.
-    echo.
-    echo.
-    echo -----------------------------------------------------------------------------------------
-    echo Downloading rpclib
-    echo -----------------------------------------------------------------------------------------
+    echo "-----------------------------------------------------------------------------------------"
+    echo " Downloading rpclib..."
+    echo "-----------------------------------------------------------------------------------------"
     echo.
 
     @echo on
-    if "%PWSHV7%" == "" (
+    if %PWSHV7% == "" (
         %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://github.com/rpclib/rpclib/archive/v2.3.0.zip -OutFile tmp\rpclib.zip }"
     ) else (
         %powershell% -command "iwr https://github.com/rpclib/rpclib/archive/v2.3.0.zip -OutFile tmp\rpclib.zip"
@@ -120,28 +119,28 @@ if not exist external\rpclib\rpclib-%RPCLIB_VERSION% (
 
     REM // Fail the build if unable to download rpclib
     if not exist external\rpclib\rpclib-%RPCLIB_VERSION% (
-        echo ERROR: Unable to download rpclib. Stopping build.
+        echo "ERROR: Unable to download rpclib. Stopping build."
         goto :buildfailed
     )
 )
 
 REM //---------- Build rpclib binaries ------------
-echo Building rpclib with CMake...
+echo "Building rpclib with CMake..."
 if not exist external\rpclib\rpclib-%RPCLIB_VERSION%\build mkdir external\rpclib\rpclib-%RPCLIB_VERSION%\build
 cd external\rpclib\rpclib-%RPCLIB_VERSION%\build
 
 cmake -G"Visual Studio 17 2022" ..
 
-if "%buildMode%" == "" (
+if %buildMode% == "" (
     cmake --build .
     cmake --build . --config Release
 ) else (
     cmake --build . --config %buildMode%
 )
 
-if ERRORLEVEL 1 goto :buildfailed
+if %ERRORLEVEL% == 1 goto :buildfailed
 cd %PROJECT_DIR%
-echo Current directory: %PROJECT_DIR%
+echo "Current directory: %PROJECT_DIR%"
 
 REM //---------- Copy rpclib binaries and include folder inside AutonomyLib folder ----------
 set RPCLIB_TARGET_LIB=AutonomyLib\deps\rpclib\lib\x64
@@ -150,7 +149,7 @@ set RPCLIB_TARGET_INCLUDE=AutonomyLib\deps\rpclib\include
 if not exist %RPCLIB_TARGET_INCLUDE% mkdir %RPCLIB_TARGET_INCLUDE%
 robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\include %RPCLIB_TARGET_INCLUDE%
 
-if "%buildMode%" == "" (
+if %buildMode% == "" (
     robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\build\Debug %RPCLIB_TARGET_LIB%\Debug
     robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\build\Release %RPCLIB_TARGET_LIB%\Release
 ) else (
@@ -160,23 +159,21 @@ if "%buildMode%" == "" (
 REM //---------- Get High-polycount Car Model ------------
 if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv mkdir Unreal\Plugins\AutonomySim\Content\VehicleAdv
 if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV\v1.2.0 (
-    if %fullPolyCar% == 'y' or %fullPolyCar% == 'yes' (
+    if %fullPolyCar% == y or %fullPolyCar% == yes (
         REM //leave some blank lines because %powershell% shows download banner at top of console
         echo.
+        echo "-----------------------------------------------------------------------------------------"
+        echo " Downloading ~37MB of high-poly car assets..."
+        echo " To perform the installation without these assets, run `build.cmd --no-full-poly-car`"
+        echo "-----------------------------------------------------------------------------------------"
         echo.
-        echo.
-        echo -----------------------------------------------------------------------------------------
-        echo Downloading ~37MB of high-poly car assets...
-        echo To perform the installation without these assets, run `build.cmd --no-full-poly-car`
-        echo -----------------------------------------------------------------------------------------
-        echo.
-
+        REM 
         if exist tmp\suv_download rmdir tmp\suv_download /q /s
         mkdir tmp\suv_download
         @echo on
         REM %powershell% -command "& { Start-BitsTransfer -Source https://github.com/nervosys/AutonomySim/releases/download/v1.2.0/car_assets.zip -Destination tmp\suv_download\car_assets.zip }"
         REM %powershell% -command "& { (New-Object System.Net.WebClient).DownloadFile('https://github.com/nervosys/AutonomySim/releases/download/v1.2.0/car_assets.zip', tmp\suv_download\car_assets.zip) }"
-        if "%PWSHV7%" == "" (
+        if %PWSHV7% == "" (
             %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://github.com/nervosys/AutonomySim/releases/download/v2.0.0-beta.0/car_assets.zip -OutFile tmp\suv_download\car_assets.zip }"
         ) else (
             %powershell% -command "iwr https://github.com/nervosys/AutonomySim/releases/download/v2.0.0-beta.0/car_assets.zip -OutFile tmp\suv_download\car_assets.zip"
@@ -188,16 +185,18 @@ if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV\v1.2.0 (
 
         REM //Don't fail the build if the high-poly car is unable to be downloaded
         REM //Instead, just notify users that the gokart will be used.
-        if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV echo "Download of high-polycount SUV failed. Your AutonomySim build will use the default vehicle instead."
+        if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV (
+            echo "Download of high-polycount SUV failed. Your AutonomySim build will use the default vehicle instead."
+        )
     ) else (
-        echo Skipping download of high-poly car asset. Default Unreal Engine vehicle will be used.
+        echo "Skipping download of high-poly car asset. Default Unreal Engine vehicle will be used."
     )
 )
 
 REM //---------- Get Eigen library ----------
 if not exist AutonomyLib\deps mkdir AutonomyLib\deps
 if not exist AutonomyLib\deps\eigen3 (
-    if "%PWSHV7%" == "" (
+    if %PWSHV7% == "" (
         %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip -OutFile tmp\eigen3.zip }"
     ) else (
         %powershell% -command "iwr https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip -OutFile tmp\eigen3.zip"
@@ -213,14 +212,14 @@ if not exist AutonomyLib\deps\eigen3 (
 if not exist AutonomyLib\deps\eigen3 goto :buildfailed
 
 REM //---------- We now have all dependencies to compile AutonomySim.sln, which will also compile MavLinkCom ----------
-if "%buildMode%" == "" (
+if %buildMode% == "" (
     msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=Debug AutonomySim.sln
-    if ERRORLEVEL 1 goto :buildfailed
-    msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=Release AutonomySim.sln 
-    if ERRORLEVEL 1 goto :buildfailed
+    if %ERRORLEVEL% == 1 goto :buildfailed
+    msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=Release AutonomySim.sln
+    if %ERRORLEVEL% == 1 goto :buildfailed
 ) else (
     msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=%buildMode% AutonomySim.sln
-    if ERRORLEVEL 1 goto :buildfailed
+    if %ERRORLEVEL% == 1 goto :buildfailed
 )
 
 REM //---------- Copy binaries and includes for MavLinkCom in deps ----------
@@ -249,11 +248,11 @@ exit /b 0
 REM //---------- Fail and cleanup ----------
 :buildfailed
 echo.
-echo ERROR: build failed! Review previous log messages. 1>&2
+echo "ERROR: build failed! Review previous log messages." 1>&2
 goto :cleanup
 
 :buildfailed_nomsg
-cd %PROJECT_DIR% 
+cd %PROJECT_DIR%
 goto :cleanup
 
 :cleanup

scripts/cmd/build_all_ue_projects.cmd

@@ -0,0 +1,76 @@
+@echo off
+
+REM //---------- set up variable ----------
+setlocal
+
+set ROOT_DIR=%cd%
+
+REM should rebuild?
+set RebuildAutonomySim=%1
+REM root folder containing all Unreal projects you want to build
+set UnrealProjsPath=%2
+REM Output folder where the builds would be stored
+set OutputPath=%3
+REM folder containing AutonomySim repo
+set AutonomySimPath=%4
+REM path for UE toolset
+set ToolPath=%5
+
+REM set defaults if ars are not supplied
+if %UnrealProjsPath% == "" set "UnrealProjsPath=D:\vso\msresearch\Theseus"
+if %AutonomySimPath% == "" set "AutonomySimPath=C:\GitHubSrc\AutonomySim"
+if %OutputPath% == "" set "OutputPath=%ROOT_DIR%build"
+if %RebuildAutonomySim% == "" set "RebuildAutonomySim=true"
+
+REM re-build AutonomySim
+if %RebuildAutonomySim% == true (
+  cd /D %AutonomySimPath%
+  call clean
+  call build
+  if errorlevel 1 goto :failed
+  cd /D %ROOT_DIR%
+)
+
+if not exist %OutputPath% mkdir %OutputPath%
+
+call:doOneProject "TalkingHeads"
+call:doOneProject "ZhangJiaJie"
+call:doOneProject "AutonomySimEnvNH"
+call:doOneProject "SimpleMaze"
+call:doOneProject "LandscapeMountains"
+call:doOneProject "Africa_001" "Africa"
+call:doOneProject "Forest"
+call:doOneProject "Coastline"
+call:doOneProject "TrapCamera"
+call:doOneProject "CityEnviron"
+call:doOneProject "Warehouse"
+call:doOneProject "Plains" "" 4.19
+
+goto :done
+
+:doOneProject
+REM args: OutputPath ToolPath UEVer
+if %~2 == "" (
+  cd /D %UnrealProjsPath%\%~1
+) else (
+  cd /D %UnrealProjsPath%\%~2
+)
+if %ERRORLEVEL% == 1 goto :failed
+
+robocopy %AutonomySimPath%\Unreal\Environments\Blocks . *.cmd  /njh /njs /ndl /np
+
+call update_from_git.cmd %AutonomySimPath%
+if %ERRORLEVEL% == 1 goto :failed
+
+call package.cmd %OutputPath% %ToolPath% %~3
+if %ERRORLEVEL% == 1 goto :failed
+
+goto :done
+
+:failed
+echo "Error occured while building all UE projects"
+exit /b 1
+
+:done
+cd %ROOT_DIR%
+if %1 == "" pause