Add OSX compiler support

[8W9aG]

This introduces some minor changes which enables AirSim to be compiled on OSX successfully.

Tested on:
Xcode 8.2.1
OSX 10.12.3

I have yet to test whether this works, but thought I'd get that going after this is in.

[msftclas]

Hi @8W9aG, I'm your friendly neighborhood Microsoft Pull Request Bot (You can call me MSBOT). Thanks for your contribution!

In order for us to evaluate and accept your PR, we ask that you sign a contribution license agreement. It's all electronic and will take just minutes. I promise there's no faxing. https://cla.microsoft.com.

TTYL, MSBOT;

[lovettchris]

Thanks!

[lovettchris]

Now you can test it by following these instructions: https://youtu.be/HNWdYrtw3f0

[lovettchris]

Hey can you also do the cla thing? Thanks.

[DJISDKUser]

Can you include the proper linking for OS X ?

1 warning generated.
[100%] Linking CXX executable DroneShell
ld: warning: ignoring file /tmp/AirSim/AirLib/deps/rpclib/lib/x64/linux/librpc.a, file was built for archive which is not the architecture being linked (x86_64): /tmp/AirSim/AirLib/deps/rpclib/lib/x64/linux/librpc.a
Undefined symbols for architecture x86_64:
"rpc::client::get_next_call_idx()", referenced from:
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, bool) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
...
"rpc::client::post(std::__1::shared_ptr<clmdep_msgpack::v1::sbuffer>, int, std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, std::__1::shared_ptr<std::__1::promise<clmdep_msgpack::v1::object_handle> >)", referenced from:
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, bool) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
...
"rpc::client::wait_conn()", referenced from:
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, bool) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, std::__1::vector<msr::airlib_rpclib::RpcLibAdapators::Vector3r, std::__1::allocatormsr::airlib_rpclib::RpcLibAdapators::Vector3r >, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
std::__1::future<clmdep_msgpack::v1::object_handle> rpc::client::async_call<float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float>(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, float, float, float, float, msr::airlib::DrivetrainType, msr::airlib_rpclib::RpcLibAdapators::YawMode, float, float) in libAirLib.a(RpcLibClient.cpp.o)
...
"rpc::client::client(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, unsigned short)", referenced from:
msr::airlib::RpcLibClient::impl::impl(std::__1::basic_string<char, std::__1::char_traits, std::__1::allocator > const&, unsigned short) in libAirLib.a(RpcLibClient.cpp.o)
"rpc::client::~client()", referenced from:
msr::airlib::RpcLibClient::impl::~impl() in libAirLib.a(RpcLibClient.cpp.o)
"typeinfo for rpc::rpc_error", referenced from:
main::$_0::operator()(std::exception&) const in main.cpp.o
GCC_except_table1287 in main.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [DroneShell/DroneShell] Error 1
make[1]: *** [DroneShell/CMakeFiles/DroneShell.dir/all] Error 2

[8W9aG]

Sorry about that I was just compiling the AirLib library, I'll fix the linking issues on the HelloDrone target pronto

[DJISDKUser]

Don't be sorry! Thanks for what you have done thus far. Seeing it hit 100% made me grin.

[8W9aG]

Fix here: #16

[lzl200102109]

I am trying to compile the code using cmake. I installed all the prerequisites and did a git submodule update to clone the external/rpclib.

But then when I ran build.sh under the cmake folder, it gives me an error saying that

CMake Error at CMakeLists.txt:4 (add_subdirectory):
  add_subdirectory given source "{AIRSIM_ROOT}/external/rpclib" which is not
  an existing directory.


CMake Error at CMakeLists.txt:5 (ADD_CUSTOM_COMMAND):
  No TARGET 'rpc' has been created in this directory.

Did anyone have this issue? How do I solve it?

[sytelus]

Aha... first you need to get rpclib submodule.

git submodule update --init --recursive

BTW, there is a bug in CMakeLists.txt. We need to make AirLib dependent on rpclib. Please feel free to change. I've get my Linux m/c ready for testing this first...

[lzl200102109]

@sytelus I followed your instruction and ran this line in a brand new clone of AirSim.

git submodule update --init --recursive

But I still get the same error as before. I have Eigen, Boost, and gcc/g++6 installed and detected properly.

And how do I fix the CMakeLists.txt, to make AirLib dependent on rpclib? I am not very good with cmake.

Thank you! I am very excited about this, and really want to try it out.

[lovettchris]

I'm working on fixing this right now, stay tuned...