patch.diff

diff --git a/.gitignore b/.gitignore
index 785b5da6..b17d9aac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -358,11 +358,14 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
+# Unity 
 /Unity/UnityDemo/Library
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
 /Unity/UnityDemo/Logs/
-/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll
+/Unity/linux-build
+/Unity/UnityDemo/Assets/Plugins
+/Unity/UnityDemo/Packages
 
 # ROS
 ros/.catkin_tools/
diff --git a/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt b/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
index 140772d5..5972d2c6 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
+++ b/Unity/AirLibWrapper/AirsimWrapper/CMakeLists.txt
@@ -22,12 +22,23 @@ IncludeEigen()
 
 project(AirsimWrapper VERSION 0)
 
+find_package(Boost REQUIRED COMPONENTS filesystem)
+if(Boost_FOUND)
+    MESSAGE("Boost information:") 
+    MESSAGE("  Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}") 
+    MESSAGE("  Boost_LIBRARIES: ${Boost_LIBRARIES}") 
+    MESSAGE("  Boost_LIBRARY_DIRS: ${Boost_LIBRARY_DIRS}") 
+    MESSAGE("  Boost_FILESYSTEM_LIBRARY: ${boost_filesystem_DIR}")
+endif()
+
+include_directories(${Boost_INCLUDE_DIRS})
+
 # RPC includes & source files
 BuildRpc()
 # MavLink source files
 BuildMavLink()
 #AirLib source files
-BuildAirlib()
+BuildAirLib()
 #AirsimWrapper source files
 BuildAirsimWrapper()
 
@@ -53,8 +64,7 @@ else ()
     )
 endif ()
 
-target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lstdc++ -lpthread -lboost_filesystem)
-
+ target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}  -lstdc++ -lpthread ${Boost_LIBRARIES}) 
 
 
 ##################### Build Options #############################3
diff --git a/Unity/AirLibWrapper/AirsimWrapper/cmake/airlib-setup.cmake b/Unity/AirLibWrapper/AirsimWrapper/cmake/airlib-setup.cmake
index d6a11bb9..f6a27c4e 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/cmake/airlib-setup.cmake
+++ b/Unity/AirLibWrapper/AirsimWrapper/cmake/airlib-setup.cmake
@@ -10,8 +10,7 @@ file(GLOB_RECURSE AIRLIB_LIBRARY_SOURCE_FILES
   ${AIRSIM_ROOT}/AirLib/src/api/*.cpp
   ${AIRSIM_ROOT}/AirLib/src/common/common_utils/*.cpp
   ${AIRSIM_ROOT}/AirLib/src/safety/*.cpp
-  ${AIRSIM_ROOT}/AirLib/src/vehicles/car/api/*.cpp
-  ${AIRSIM_ROOT}/AirLib/src/vehicles/multirotor/api/*.cpp
+  ${AIRSIM_ROOT}/AirLib/src/vehicles/car/*.cpp 
   ${AIRSIM_ROOT}/AirLib/src/vehicles/multirotor/*.cpp
 )
 
diff --git a/Unity/AirLibWrapper/AirsimWrapper/cmake/rpc-setup.cmake b/Unity/AirLibWrapper/AirsimWrapper/cmake/rpc-setup.cmake
index 82b7daf1..0fba5ad4 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/cmake/rpc-setup.cmake
+++ b/Unity/AirLibWrapper/AirsimWrapper/cmake/rpc-setup.cmake
@@ -275,7 +275,7 @@ if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
     set(UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED)
     check_warning_flag("unused-lambda-capture" UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED)
     if(${UNUSED_LAMBDA_CAPTURE_WARN_SUPPORTED})
-      list(APPEND RPCLIB_BUILD_FLAGS -Wno-no-unused-lambda-capture)
+      list(APPEND RPCLIB_BUILD_FLAGS -Wno-unused-lambda-capture) 
     endif()
 
     check_warning_flag("zero-as-null-pointer-constant" ZERO_AS_NULL_POINTER_CONSTANT_WARN_SUPPORTED)
diff --git a/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll.meta b/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll.meta
deleted file mode 100644
index 7ea7266f..00000000
--- a/Unity/UnityDemo/Assets/Plugins/AirsimWrapper.dll.meta
+++ /dev/null
@@ -1,24 +0,0 @@
-fileFormatVersion: 2
-guid: 989e56d442859a04eb455dc6046f3394
-PluginImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  iconMap: {}
-  executionOrder: {}
-  isPreloaded: 0
-  isOverridable: 0
-  platformData:
-  - first:
-      Any: 
-    second:
-      enabled: 1
-      settings: {}
-  - first:
-      Editor: Editor
-    second:
-      enabled: 0
-      settings:
-        DefaultValueInitialized: true
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
diff --git a/Unity/build.sh b/Unity/build.sh
index 0418d37a..4ac93623 100755
--- a/Unity/build.sh
+++ b/Unity/build.sh
@@ -1,36 +1,54 @@
+#! /bin/bash
+
+set -x
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR" >/dev/null
+
+# check for rpclib
 if [ ! -f ../external/rpclib/rpclib-2.2.1/rpclib.pc.in ]; then
-    >&2 echo "error, rpc.pc.in not found"
+    >&2 echo "error, rpc.pc.in not found, please run setup.sh first and then run build.sh again"
 fi
+
 cp ../external/rpclib/rpclib-2.2.1/rpclib.pc.in AirLibWrapper/AirsimWrapper/rpclib.pc.in
 
 if [ ! -d "linux-build" ]; then
-    mkdir linux-build;
+    mkdir linux-build
 fi
 
 
-cd linux-build;
-export CC="clang-5.0"
-export CXX="clang++-5.0"
+cd linux-build
+export LLVM_DIR="llvm-bin"
+export CC=${SCRIPT_DIR}/../${LLVM_DIR}/bin/clang
+export CXX=${SCRIPT_DIR}/../${LLVM_DIR}/bin/clang++
+#export CC="clang-5.0"
+#export CXX="clang++-5.0"
 
-if [ "$(uname)" == "Darwin" ]; then
-    CMAKE="$(greadlink -f ../../cmake_build/bin/cmake)"
+# check for local cmake build created by setup.sh
+if [ -d "../../cmake_build" ]; then
+    if [ "$(uname)" = "Darwin" ]; then
+        CMAKE="$(greadlink -f ../../cmake_build/bin/cmake)"
+    else
+        CMAKE="$(readlink -f ../../cmake_build/bin/cmake)"
+    fi
 else
-    CMAKE="$(readlink -f ../../cmake_build/bin/cmake)"
+    CMAKE=$(which cmake)
 fi
 
-"$CMAKE" ../../cmake ../AirLibWrapper/AirsimWrapper;
-make -j`nproc`;
+"$CMAKE" -DCMAKE_C_COMPILER=${CC} -DCMAKE_CXX_COMPILER=${CXX} ../../cmake ../AirLibWrapper/AirsimWrapper
+make -j`nproc`
 if [ ! -d "../UnityDemo/Assets/Plugins" ]; then
-	mkdir ../ UnityDemo/Assets/Plugins;
+    mkdir ../UnityDemo/Assets/Plugins
 fi
 
-if [ "$(uname)" == "Darwin" ]; then
-	cp AirsimWrapper.bundle ../UnityDemo/Assets/Plugins;
+if [ "$(uname)" = "Darwin" ]; then
+    cp -r AirsimWrapper.bundle ../UnityDemo/Assets/Plugins
 else
-	cp libAirsimWrapper.so ../UnityDemo/Assets/Plugins;
+    cp libAirsimWrapper.so ../UnityDemo/Assets/Plugins
 fi
 
 cd ..
 if [ -f AirLibWrapper/AirsimWrapper/rpclib.pc.in ]; then
-	rm AirLibWrapper/AirsimWrapper/rpclib.pc.in
+    rm AirLibWrapper/AirsimWrapper/rpclib.pc.in
 fi
diff --git a/build.sh b/build.sh
index 94aa1b3e..4e1c6d43 100755
--- a/build.sh
+++ b/build.sh
@@ -48,7 +48,7 @@ if $gccBuild; then
     build_dir=build_gcc_debug
     # gcc tools
     gcc_ver=$(gcc -dumpfullversion)
-    gcc_path=$(which cmake)
+    gcc_path=$(which gcc) 
     if [[ "$gcc_path" == "" ]] ; then
         echo "ERROR: run setup.sh to install a good version of gcc."
         exit 1
@@ -83,8 +83,14 @@ else
     # variable for build output
     build_dir=build_debug
     if [ "$(uname)" == "Darwin" ]; then
-        export CC=/usr/local/opt/llvm-5.0/bin/clang-5.0
-        export CXX=/usr/local/opt/llvm-5.0/bin/clang++-5.0
+        export LLVM_DIR="llvm-bin"
+        if [[ -n $LLVM_DIR ]]; then
+            export CC=${LLVM_DIR}/bin/clang
+            export CXX=${LLVM_DIR}/bin/clang++
+        else
+            export CC=/usr/local/opt/llvm-5.0/bin/clang-5.0
+            export CXX=/usr/local/opt/llvm-5.0/bin/clang++-5.0
+        fi
     else
         export CC="clang-5.0"
         export CXX="clang++-5.0"
diff --git a/setup.sh b/setup.sh
index 123318a9..5ad604ff 100755
--- a/setup.sh
+++ b/setup.sh
@@ -58,14 +58,23 @@ if $gccBuild; then
 else
     # llvm tools
     if [ "$(uname)" == "Darwin" ]; then # osx
-        brew update
-
-        # brew install llvm@3.9
-        brew tap llvm-hs/homebrew-llvm
-        brew install llvm-5.0
-        export C_COMPILER=/usr/local/opt/llvm-5.0/bin/clang-5.0
-        export COMPILER=/usr/local/opt/llvm-5.0/bin/clang++-5.0
-
+        export LLVM_DIR="llvm-bin"
+        if [[ -d $LLVM_DIR ]]; then
+          echo "llvm directory exists already."
+        else
+          echo "llvm bin directory not found, downloading and extracting llvm."
+          LLVM_PACKAGE="clang+llvm-5.0.2-x86_64-apple-darwin"
+          #wget http://releases.llvm.org/5.0.2/${LLVM_PACKAGE}.tar.xz;
+          mkdir -p ${LLVM_DIR}
+          tar -xf ${LLVM_PACKAGE}.tar.xz -C ${LLVM_DIR} --strip-components=1
+        fi
+        # CMAKE requires CC and CXX to be absolute paths
+        export C_COMPILER=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang
+        export COMPILER=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang++
+        export CMAKE_C_COMPILER=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang
+        export CMAKE_CXX_COMPILER=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang++
+        export CC=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang
+        export CXX=${SCRIPT_DIR}/${LLVM_DIR}/bin/clang++
     else #linux
         #install clang and build tools
 
@@ -92,6 +101,7 @@ if [ "$(uname)" == "Darwin" ]; then # osx
     brew install wget
     brew install coreutils
     brew install cmake  # should get cmake 3.8
+    CMAKE=$(which cmake)
 
 else #linux
     if [[ ! -z "${whoami}" ]]; then #this happens when running in travis