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AirMap Platform SDK

CircleCI

The AirMap Platform SDK is the representation of AirMap's services on the client side, ranging from desktop machines running a ground-control station to drones featuring a companion computer. From a high-level point of view, The AirMap Platform SDK

  • exposes the AirMap services to client applications
  • constitutes a representation of AirMap on drones, taking on mission control and data acquisition tasks

The following diagram illustrate both perspectives:

diagrams

This project has two main deliverables:

  • the executable airmap featuring a git-like layout of subcommands
  • the shared library libairmap (with a platform-specific suffix)

Integration With Other Projects

This section describes the steps to integrate and use the AirMap Platform SDK in the scope of another project, e.g., a mission planner. Please note that our primary development and deployment targets are Linux and MacOS at this point in time. We are actively working on builds for:

  • MS Windows
  • iOS
  • Android

The following steps provide you with a set of libraries and headers ready for consumption in your project:

  • Install build dependencies following the guidelines in section 'Setup & Dependencies'
  • Clone the platform-sdk repo: git clone https://github.com/airmap/platform-sdk.git
  • Build & install the AirMap Platform SDK: mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=/choose/the/install/path .. && make && make doc && make install
  • Find the API documentation in build/doc/html/index.html

Adjust the build configuration of your project:

  • Add /choose/the/install/path/include to your include paths
  • Add /choose/the/install/path/lib/${ARCHITECTURE_TRIPLET_IF_REQUIRED}/{libairmap-qt.*.so,libairmap-cpp.*.so} to your linker configuration
    • Note that you only need to add libairmap-qt.*.so if you intend to consume the qt-specific functionality in include/airmap/qt

Pull in airmap services and functionality following the examples given in:

  • examples/qt/client.cpp: Illustrates use of the Qt binding layer
  • src/airmap/cmds/airmap/cmd/simulate_scenario.{h,cpp}: Illustrates the complete flow of:
    • authenticating with AirMap
    • creating a flight
    • querying flight status
    • starting the flight and telemetry submission
    • submitting telemetry and receiving traffic information
    • stopping and properly ending the flight

Source Code Layout

The public facing API of the AirMap Platform SDK can be found in ${PLATFORM_SDK_ROOT}/include/airmap. At this point in time, the interface structure closely resembles the current ReST API exposed by AirMap. Going forward, the client-facing API will change, though, and expose higher-level concepts.

The implementation is structured as followed:

  • src/airmap: General implementation, most importantly:
    • ${PLATFORM_SDK_ROOT}/src/airmap/daemon.h and ${PLATFORM_SDK_ROOT}/src/airmap/daemon.cpp implementing the AirMap Platform SDK
  • src/airmap/boost: Point-of-entry to the boost-based implementation of core platform components
  • src/airmap/cmds: Command-line executables
  • src/airmap/codec: Encoding and decoding of core data types and structures into different formats
  • src/airmap/net: Network-specific infrastructure goes here
  • src/airmap/mavlink: MavLink-specific for reading and writing MavLink-messages over arbitrary transports
  • src/airmap/platform: Platform-specific interfaces and implementations go here
  • src/airmap/rest: An implementation of the public-facing API, using the existing ReST-APIs exposed by AirMap
  • src/airmap/util: Utility classes and helpers

Development Workflow

The AirMap Platform SDK uses CMake for building and testing. We envision the following development workflow:

git clone --recursive https://github.com/airmap/platform-sdk.git
# Update Submodules
cd platform-sdk && git submodule update --init --recursive
# Please execute these commands at the root of the source tree (DON'T FOLLOW the commands below if you intend to build the AirMap Platform SDK in Ubuntu/Docker)
mkdir build
cd build && cmake .. && make
# Do some changes, iterate, be happy, get ready to issue a PR
make format

Setup & Dependencies:

Ubuntu

Run the following commands from the top-level the AirMap Platform SDK folder:

tools/ubuntu/setup.dev.sh
mkdir build
cd build
cmake ..
make

Docker with Ubuntu

Make sure that you start with a clean environment (fresh clone of the AirMap Platform SDK and no attempts to build outside of docker) Run the following commands from the top-level platform-sdk folder:

docker run -v $(pwd):/platform-sdk -w /platform-sdk -it ubuntu:18.04 bash
tools/ubuntu/setup.dev.sh
mkdir build
cd build
cmake ..
make

Raspberry Pi

We provide the AirMap Platform SDK as a docker image to the Raspberry Pi. Building the docker container requires a linux host as we rely on qemu to cross-build on x86 machines. Run the following commands from the top-level AirMap Platform SDK folder:

tools/rpi/build-docker-image.sh

macOS - homebrew

Run the following commands:

brew tap airmap/platform-sdk https://github.com/airmap/platform-sdk.git
brew install platform-sdk

Please note that the recent updates to macOS and XCode (in 9.2017) break the cmake brew formula in version 3.9.3 (see https://gitlab.kitware.com/cmake/cmake/issues/17101 for the details). Please downgrade your brew cmake installation to 3.9.2 or 3.9.1 (whichever is available). This can be accomplished with brew switch.

brew list --versions cmake
brew switch cmake 3.9.1

macOS - Build Manually

Run the following commands from the top-level the AirMap Platform SDK folder:

tools/osx/setup.sh
mkdir build
cd build
cmake ..
make

Configuration

The main configuration of the airmap executable lives in the file ~/.config/airmap/${AIRMAP_SERVICE_VERSION}/config.json (on UNIX-like platforms, including macOS). The file has the following structure:

{
  "host": "api.airmap.com",
  "version": "production",
  "sso": {
    "host": "sso.airmap.io",
    "port": 443
  },
  "telemetry": {
    "host": "api-udp-telemetry.airmap.com",
    "port": 16060
  },
  "traffic": {
    "host": "mqtt-prod.airmap.io",
    "port": 8883
  },
  "credentials": {
    "api-key": "your api key should go here",
    "oauth": {
      "client-id": "your client id should go here",
      "device-id": "your device id should go here, or generate one with uuid-gen",
      "username": "your AirMap username should go here",
      "password": "your AirMap password should go here"
    }
  }
}

Bootstrap a configuration by running:

airmap init

If you have a default text editor configured (e.g., by setting $VISUAL or $EDITOR), the configuration file will be opened for editing for you. If not, you need to open the file ~/.config/airmap/production/config.json in your favorite editor and fill in your actual credentials for accessing the AirMap services.

Authentication

Authenticate with the AirMap services by running:

airmap login

This will place the resulting token into ~/.config/airmap/production/token.json. If you have a proper AirMap account and authenticated previously, you can renew your authentication token by running:

airmap login --renew=true