Add AirSim simulator

examples/airsim/README.md

@@ -0,0 +1,102 @@
+# AirSim example
+
+This directory contains a minimal Scenic example for controlling a drone in
+[Microsoft AirSim](https://github.com/microsoft/AirSim).
+
+The example has been tested with AirSim 1.8.1 on Ubuntu 22.04. AirSim requires
+a graphical environment and is not supported on macOS.
+
+## Install the Python dependencies
+
+Create and activate a virtual environment, then install Scenic from the
+repository:
+
+```bash
+python3 -m venv .venv-airsim
+source .venv-airsim/bin/activate
+python -m pip install --upgrade pip wheel
+python -m pip install -e .
+```
+
+Install the AirSim client and its additional dependencies:
+
+```bash
+python -m pip install msgpack-rpc-python promise
+python -m pip install --no-build-isolation airsim==1.8.1
+```
+
+The following NumPy and OpenCV versions were used during testing:
+
+```bash
+python -m pip install --force-reinstall \
+  numpy==1.26.4 \
+  opencv-contrib-python==4.10.0.84
+```
+
+Check the resulting environment:
+
+```bash
+python -m pip check
+```
+
+## Start AirSim
+
+Download or build an AirSim environment. For example, launch the AirSim 1.8.1
+Blocks environment with the settings included in this directory:
+
+```bash
+/path/to/Blocks.sh \
+  -settings="/path/to/Scenic/examples/airsim/settings/simple_drone_settings.json" \
+  -windowed \
+  -ResX=640 \
+  -ResY=480 \
+  -NoVSync
+```
+
+These window settings are conservative defaults that work well on a remote
+desktop. They can be adjusted for the available display and hardware.
+
+Run AirSim from a graphical desktop session and leave it open while Scenic is
+running.
+
+## Generate world information
+
+The Scenic AirSim model requires information about the objects and assets in
+the selected AirSim environment.
+
+Start AirSim first. Then, from the Scenic repository, run:
+
+```bash
+python src/scenic/simulators/airsim/generators/generateWorldInfo.py \
+  --outputDirectory "/path/to/blocks-world-info"
+```
+
+The output directory must not already exist. Generating the meshes may take
+several minutes.
+
+The resulting directory contains:
+
+```text
+worldInfo.json
+objectMeshes/
+assets/
+```
+
+Keep this generated directory outside the Scenic repository. Pass its location
+to Scenic using the `worldInfoPath` parameter.
+
+## Run the patrol example
+
+With AirSim running, open another terminal, activate the Python environment,
+and run:
+
+```bash
+scenic examples/airsim/patrol.scenic \
+  --simulate \
+  --count 1 \
+  --time 30 \
+  --param worldInfoPath "/path/to/blocks-world-info"
+```
+
+The example creates one drone and sends it through a fixed sequence of patrol
+points.

examples/airsim/flyFromBlockToBlock.scenic

@@ -0,0 +1,25 @@
+param worldOffset = Vector(0, 0, 50)
+
+model scenic.simulators.airsim.model
+
+
+ground = getPrexistingObj("ground")
+centerArea = RectangularRegion(Vector(0, 0, 30), 0, 100, 100)
+
+platforms = []
+for i in range(10):
+    platforms.append(new StaticObj on ground,
+        contained in centerArea,
+        with assetName "Cone",
+        with width Range(3, 10),
+        with length Range(3, 10),
+        with height 10)
+
+points = []
+for platform in platforms:
+    platformRegion = platform.occupiedSpace.boundingPolygon
+    point = new Point on platformRegion
+    points.append(new Point at point.position + Vector(0, 0, 15))
+
+drone = new Drone at Uniform(*points) + Vector(0, 0, 5),
+    with behavior Patrol(points, True)

examples/airsim/followDrone.scenic

@@ -0,0 +1,28 @@
+import math
+
+param worldOffset = Vector(0, 0, 50)
+param timestep = 0.1
+
+model scenic.simulators.airsim.model
+
+
+def magnitude(v):
+    return math.hypot(v.x, v.y, v.z)
+
+
+behavior Follow(target, speed=5, tolerance=2, offset=(0, 0, 1)):
+    while True:
+        targetPosition = target.position + offset
+        velocity = targetPosition - self.position
+        distance = magnitude(velocity)
+        if distance > tolerance:
+            velocity = (velocity / distance) * speed
+            take SetVelocity(velocity)
+        wait
+
+
+drone1 = new Drone at (0, 0, 10),
+    with behavior Patrol([(0, 0, 10), (0, 10, 10), (10, 10, 10), (10, 0, 10)], True, speed=2)
+
+drone2 = new Drone at (0, 100, 10),
+    with behavior Follow(drone1, 5, 5, (0, 0, 0))

examples/airsim/functionalTerrain.scenic

@@ -0,0 +1,29 @@
+import math
+
+param worldOffset = Vector(0, 0, 50)
+param timestep = 0.1
+
+model scenic.simulators.airsim.model
+
+
+ground = getPrexistingObj("ground")
+
+ego = new StaticObj on ground,
+    with assetName "Cone",
+    with width 10,
+    with length 10,
+    with height 10
+
+positions = []
+for i in range(10):
+    pos = Vector(i * 3, math.cos(i) * Uniform(1, 3), 1)
+    positions.append(pos + Vector(0, 0, 3))
+
+    new StaticObj at pos + Vector(0, 0, 1),
+        with assetName "Cone",
+        with width 1,
+        with length 1,
+        with height 1
+
+drone = new Drone on positions[0],
+    with behavior Patrol(positions, smooth=False, speed=5)

examples/airsim/multiDrone.scenic

@@ -0,0 +1,8 @@
+param worldOffset = Vector(0, 0, 50)
+
+model scenic.simulators.airsim.model
+
+
+for i in range(3):
+    new Drone at (Range(-100, 100), Range(-100, 100), Range(0, 50)),
+        with behavior FlyToPosition((Range(-100, 100), Range(-100, 100), Range(0, 50)))

examples/airsim/patrol.scenic

@@ -0,0 +1,9 @@
+# NOTE: add your world info path here
+# param worldInfoPath = "[YOUR PATH HERE]"
+param worldOffset = Vector(0,0,50) # blocks world offset
+
+model scenic.simulators.airsim.model
+
+
+drone1 = new Drone at (0,0,10),
+    with behavior Patrol([(-10,20,10),(10,40,10),(-10,40,10),(-10,20,10),(10,20,10),(10,40,10),(-1,40,10)],True)