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<title>esmini user guide – Hello World programming tutorial</title>
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<div id="toc" class="toc2">
<div id="toctitle">Table of Contents</div>
<ul class="sectlevel1">
<li><a href="#_hello_world_programming_tutorial">Hello World programming tutorial</a>
<ul class="sectlevel2">
<li><a href="#preparations">Preparations</a></li>
<li><a href="#_how_to_build_run_and_debug_hello_world">How to build, run and debug "Hello World"</a></li>
<li><a href="#_examples">Examples</a></li>
<li><a href="#_python_binding">Python binding</a></li>
<li><a href="#_c_binding">C# binding</a></li>
</ul>
</li>
</ul>
</div>
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<p><a href="toc.html">Table of contents</a> | <a href="getting-started.html">Getting started</a> | <a href="tools-overview.html">Tools overview</a> | <a href="use-cases.html">Use cases</a> | <a href="scenario-features.html">Scenario features</a> | <a href="positioning.html">Positioning</a> | <a href="controllers.html">Controllers</a> | <a href="openscenegraph-3d-models.html">OpenSceneGraph and 3D models</a> | <a href="support-qa.html">Support / Q&A</a> | <a href="command-reference.html">Command reference</a> | <a href="known-deviations.html">Known deviations from standards</a> | <a href="build-guide.html">Build guide</a> | <a href="developers-contributors.html">For esmini developers and contributors</a> | <a href="inner-workings.html">Inner workings</a> | <a href="esmini-lib-programming.html">esmini lib programming</a> | <a href="#">Hello World programming tutorial</a> | <a href="scenario-construction-tips.html">Scenario construction tips</a> | <a href="run-asam-examples.html">Run ASAM OpenSCENARIO examples</a> | <a href="about-this-document.html">About this document</a> | <a href="version.html">Version</a> | <a href="monolith.html">Single page document</a></p>
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<div class="sect1">
<h2 id="_hello_world_programming_tutorial">Hello World programming tutorial</h2>
<div class="sectionbody">
<!-- toc disabled -->
<div class="paragraph">
<p>This tutorial shows how to utilize esmini as a shared (dynamically loaded) library for use in a custom application. It can be used with or without esmini embedded viewer.</p>
</div>
<div class="sect2">
<h3 id="preparations">Preparations</h3>
<div class="paragraph">
<p>The simplest preparation is to get the demo package from <a href="https://github.com/esmini/esmini/releases/latest">the latest relase</a> and then head on to the steps below.</p>
</div>
<div class="paragraph">
<p>But, of course, if you already have checked out the esmini project from GitHub and compiled it you should already be set.</p>
</div>
<div class="paragraph">
<p>Just make sure that the shared library is available in the <code>bin</code> or <code>lib</code> folder, which should be available directly under esmini root. Exact filename depends on the platform as follows:</p>
</div>
<div class="hdlist">
<table>
<tr>
<td class="hdlist1">
<strong>Windows:</strong>
</td>
<td class="hdlist2">
<p>esminiLib.dll</p>
</td>
</tr>
<tr>
<td class="hdlist1">
<strong>Linux:</strong>
</td>
<td class="hdlist2">
<p>libesminiLib.so</p>
</td>
</tr>
<tr>
<td class="hdlist1">
<strong>Mac:</strong>
</td>
<td class="hdlist2">
<p>libesminiLib.dylib</p>
</td>
</tr>
</table>
</div>
</div>
<div class="sect2">
<h3 id="_how_to_build_run_and_debug_hello_world">How to build, run and debug "Hello World"</h3>
<div class="sect3">
<h4 id="_windowsvisual_studio">Windows/Visual Studio</h4>
<div class="sect4">
<h5 id="_first_step_create_the_solution_file">First step: Create the solution file</h5>
<div class="paragraph">
<p>Run from <code>Hello-World_coding-example</code> root folder:<br>
<code>mkdir build</code><br>
<code>cd build</code><br>
<code>cmake ..</code> (will generate solution for multiple variants, including Release and Debug)</p>
</div>
</div>
<div class="sect4">
<h5 id="_build_and_run_the_application_from_command_line">Build and run the application from command line</h5>
<div class="sect5">
<h6 id="_build">Build</h6>
<div class="paragraph">
<p><code>cmake --build . --config Release</code> (release variant), or<br>
<code>cmake --build . --config Debug</code> (debug variant)<br></p>
</div>
</div>
<div class="sect5">
<h6 id="_run">Run</h6>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>open a command shell and put yourself in <code>Hello-World_coding-example/build</code> folder</p>
</li>
<li>
<p>add shared library location to the environment path variable, e.g:<br>
CMD: <code>set path=../../bin;%path%</code><br>
PowerShell: <code>$env:path+=";../../bin"</code><br>
bash: <code>PATH=$PATH:../../bin</code><br></p>
</li>
<li>
<p>Launch application<br>
CMD:<br>
<code>.\Debug\esmini-player.exe</code> or<br>
<code>.\Release\esmini-player.exe</code> (depending on variant)<br>
PowerShell or bash:<br>
<code>./Debug/esmini-player.exe</code> or<br>
<code>./Release/esmini-player.exe</code></p>
</li>
</ol>
</div>
</div>
</div>
<div class="sect4">
<h5 id="_build_run_and_debug_the_application_from_visual_studio">Build, run and debug the application from Visual Studio</h5>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Open <code>esmini-player.sln</code> in Visual Studio</p>
</li>
<li>
<p>Build as usual (Ctrl-F7 or <code>Build</code> → <code>Build Solution</code>)</p>
</li>
<li>
<p>Set as startup project</p>
<div class="ulist">
<ul>
<li>
<p>Right click on esmini-player in Solution Explorer</p>
</li>
<li>
<p>Click on <code>Set as Startup Project</code></p>
</li>
</ul>
</div>
</li>
<li>
<p>Tell the system where to find the shared library</p>
<div class="ulist">
<ul>
<li>
<p>Right click on esmini-player in Solution Explorer</p>
</li>
<li>
<p>Click on <code>Properties</code></p>
</li>
<li>
<p>Select Configuration → <code>All Configurations</code></p>
</li>
<li>
<p>In <code>Configuration Properties</code> → <code>Debugging</code> → <code>Environment</code> write:
<code>path=$(ProjectDir)/../../bin</code><br>
or any other folder containing the esmini library</p>
</li>
</ul>
</div>
</li>
<li>
<p>Run</p>
<div class="ulist">
<ul>
<li>
<p><code>Ctrl-F5</code> to run without debug</p>
</li>
<li>
<p><code>F5</code> to debug</p>
</li>
</ul>
</div>
</li>
</ol>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_linux">Linux</h4>
<div class="sect4">
<h5 id="_first_step_create_the_makefile">First step: Create the Makefile</h5>
<div class="paragraph">
<p>Run from <code>Hello-World_coding-example</code> root folder:<br>
<code>mkdir build</code><br>
<code>cd build</code><br>
then:<br>
<code>cmake .. -DCMAKE_BUILD_TYPE=Release</code> for Release variant, or<br>
<code>cmake .. -DCMAKE_BUILD_TYPE=Debug</code> for Debug variant<br></p>
</div>
</div>
<div class="sect4">
<h5 id="_build_and_run_from_command_line">Build and run from command line</h5>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Build<br>
<code>cmake --build .</code> or just<br>
<code>make</code><br></p>
</li>
<li>
<p>Tell system where to look for esmini shared library (maybe not necessary)<br>
<code>export LD_LIBRARY_PATH=../../bin</code> (on macOS: DYLD_LIBRARY_PATH)</p>
</li>
<li>
<p>Launch application<br>
<code>./esmini-player</code></p>
</li>
</ol>
</div>
</div>
<div class="sect4">
<h5 id="_build_run_and_debug_from_visual_studio_code">Build, run and debug from Visual Studio Code</h5>
<div class="paragraph">
<p>Prerequisites: Install the following VS Code extensions:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>C/C++</p>
</li>
<li>
<p>CMake Tools</p>
</li>
</ul>
</div>
<div class="sect5">
<h6 id="_build_2">Build</h6>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Open visual studio as Hello-World_coding-example as root folder</p>
</li>
<li>
<p>Open the Command Palette (Ctrl+Shift+P) and run <code>CMake: Select a Kit</code>. Select the compiler you want to use. For example GCC 11.3.0</p>
</li>
<li>
<p>Open the Command Palette (Ctrl+Shift+P) run the <code>CMake: Select Variant</code> command. Select Debug.</p>
</li>
<li>
<p>Open the Command Palette (Ctrl+Shift+P) run the <code>CMake:Set Build Target</code>. Select esmini-player.</p>
</li>
<li>
<p>Open the Command Palette (Ctrl+Shift+P) and run the <code>CMake: Build</code> command, or select the build button from the Status bar.</p>
</li>
</ol>
</div>
<div class="paragraph">
<p>Open main.cpp file in the Hello-World_coding-example folder and optionally introduce break points.</p>
</div>
</div>
<div class="sect5">
<h6 id="_run_2">Run</h6>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Open the Command Palette (Ctrl+Shift+P) and run the <code>CMake: Run Without Debugging</code> command, or</p>
</li>
<li>
<p>Use play button in the status bar, or</p>
</li>
<li>
<p>Shift-F5</p>
</li>
</ol>
</div>
</div>
<div class="sect5">
<h6 id="_debug">Debug</h6>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Open the Command Palette (Ctrl+Shift+P) and run the <code>CMake: Debug</code> command, or</p>
</li>
<li>
<p>Use debug button in the status bar, or</p>
</li>
<li>
<p>Ctrl-F5</p>
</li>
</ol>
</div>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_next_step">Next step</h4>
<div class="paragraph">
<p>Now that you can build and run Hello World, it’s time to explore some functionality of esmini. Next section presents a few code examples to try out, e.g. by modifying main.cpp.</p>
</div>
</div>
</div>
<div class="sect2">
<h3 id="_examples">Examples</h3>
<div class="sect3">
<h4 id="_hello_world_load_and_play_a_scenario">Hello world - load and play a scenario</h4>
<div class="listingblock">
<div class="title">Example 1. <a href="https://github.com/esmini/esmini/tree/master/Hello-World_coding-example/main.cpp">Hello-World_coding-example/main.cpp</a></div>
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="preprocessor">#include</span> <span class="include">"esminiLib.hpp"</span>
<span class="predefined-type">int</span> main(<span class="predefined-type">int</span> argc, <span class="predefined-type">char</span>* argv[])
{
SE_Init(<span class="string"><span class="delimiter">"</span><span class="content">../../resources/xosc/cut-in.xosc</span><span class="delimiter">"</span></span>, <span class="integer">0</span>, <span class="integer">1</span>, <span class="integer">0</span>, <span class="integer">0</span>);
<span class="keyword">for</span> (<span class="predefined-type">int</span> i = <span class="integer">0</span>; i < <span class="integer">500</span>; i++)
{
SE_Step();
}
SE_Close();
<span class="keyword">return</span> <span class="integer">0</span>;
}</code></pre>
</div>
</div>
<div class="paragraph">
<p>Exercise: Change scenario to pedestrian.xosc, then compile and run the program again.</p>
</div>
</div>
<div class="sect3">
<h4 id="_add_optional_argument_to_load_any_scenario">Add optional argument to load any scenario</h4>
<div class="listingblock">
<div class="title">Example 2. <a href="https://github.com/esmini/esmini/tree/master/EnvironmentSimulator/code-examples/hello_world/hw2_arguments.cpp">EnvironmentSimulator/code-examples/hello_world/hw2_arguments.cpp</a></div>
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="preprocessor">#include</span> <span class="include">"esminiLib.hpp"</span>
<span class="predefined-type">int</span> main(<span class="predefined-type">int</span> argc, <span class="predefined-type">char</span>* argv[])
{
<span class="keyword">if</span> (argc > <span class="integer">1</span>)
{
SE_InitWithArgs(argc, <span class="keyword">const_cast</span><<span class="directive">const</span> <span class="predefined-type">char</span>**>(argv));
}
<span class="keyword">else</span>
{
SE_Init(<span class="string"><span class="delimiter">"</span><span class="content">../resources/xosc/cut-in.xosc</span><span class="delimiter">"</span></span>, <span class="integer">0</span>, <span class="integer">1</span>, <span class="integer">0</span>, <span class="integer">0</span>);
}
<span class="keyword">for</span> (<span class="predefined-type">int</span> i = <span class="integer">0</span>; i < <span class="integer">500</span>; i++)
{
SE_Step();
}
SE_Close();
<span class="keyword">return</span> <span class="integer">0</span>;
}</code></pre>
</div>
</div>
<div class="paragraph">
<p>You can now specify esmini arguments according to <a href="https://github.com/esmini/esmini/blob/master/docs/commands.txt">esmini launch commands</a>.</p>
</div>
<div class="paragraph">
<p>Example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre>./esmini-player --window 60 60 1000 500 --osc ../resources/xosc/pedestrian.xosc --trails</pre>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_fetch_state_of_scenario_objects">Fetch state of scenario objects</h4>
<div class="paragraph">
<p>This example shows how to retrieve the state of scenario objects.</p>
</div>
<div class="paragraph">
<p>We also check the return code from the initialization and react on any error.</p>
</div>
<div class="listingblock">
<div class="title">Example 3. <a href="https://github.com/esmini/esmini/tree/master/EnvironmentSimulator/code-examples/hello_world/hw3_fetch_states.cpp">EnvironmentSimulator/code-examples/hello_world/hw3_fetch_states.cpp</a></div>
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="preprocessor">#include</span> <span class="include">"stdio.h"</span>
<span class="preprocessor">#include</span> <span class="include">"esminiLib.hpp"</span>
<span class="predefined-type">int</span> main(<span class="predefined-type">int</span> argc, <span class="predefined-type">char</span>* argv[])
{
(<span class="directive">void</span>)argc;
(<span class="directive">void</span>)argv;
<span class="keyword">if</span> (SE_Init(<span class="string"><span class="delimiter">"</span><span class="content">../resources/xosc/cut-in.xosc</span><span class="delimiter">"</span></span>, <span class="integer">0</span>, <span class="integer">1</span>, <span class="integer">0</span>, <span class="integer">0</span>) != <span class="integer">0</span>)
{
printf(<span class="string"><span class="delimiter">"</span><span class="content">Failed to initialize scenario</span><span class="char">\n</span><span class="delimiter">"</span></span>);
<span class="keyword">return</span> -<span class="integer">1</span>;
}
<span class="keyword">for</span> (<span class="predefined-type">int</span> i = <span class="integer">0</span>; i < <span class="integer">500</span>; i++)
{
SE_Step();
<span class="keyword">for</span> (<span class="predefined-type">int</span> j = <span class="integer">0</span>; j < SE_GetNumberOfObjects(); j++)
{
SE_ScenarioObjectState state;
SE_GetObjectState(SE_GetId(j), &state);
printf(<span class="string"><span class="delimiter">"</span><span class="content">time [%.2f] object[%d] id %d pos[%.2f, %.2f] %.2f %.2f odometer: %.2f</span><span class="char">\n</span><span class="delimiter">"</span></span>,
state.timestamp,
j,
SE_GetId(j),
state.x,
state.y,
state.wheel_angle,
state.wheel_rot,
SE_GetObjectOdometer(SE_GetId(j)));
}
}
SE_Close();
<span class="keyword">return</span> <span class="integer">0</span>;
}</code></pre>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_external_control_of_ego">External control of Ego</h4>
<div class="paragraph">
<p>A silly example showing how you can just take control over vehicle state via the API. The Ego car will move one meter along the Y-axis for each frame while rotating…​</p>
</div>
<div class="paragraph">
<p>Now we will also introduce the quit_flag, which lets you quit by pressing 'Esc' key.</p>
</div>
<div class="paragraph">
<p>In addition we’ll try out the alignment feature. By default objects will be aligned to road surface. This behavior can be controlled with alignment settings. In below example, the Ego vehicle will be aligned to road surface except during iterations 100-200 where it will obey the reported Z coordinate and move accordingly to elevation/Z = 10 meter.</p>
</div>
<div class="listingblock">
<div class="title">Example 4. <a href="https://github.com/esmini/esmini/tree/master//EnvironmentSimulator/code-examples/hello_world/hw4_external_ego_control.cpp">EnvironmentSimulator/code-examples/hello_world/hw4_external_ego_control.cpp</a></div>
<div class="content">
<pre class="CodeRay highlight"><code data-lang="c++"><span class="preprocessor">#include</span> <span class="include">"esminiLib.hpp"</span>
<span class="preprocessor">#include</span> <span class="include"><stdio.h></span>
<span class="predefined-type">int</span> main(<span class="predefined-type">int</span> argc, <span class="predefined-type">char</span>* argv[])
{
<span class="directive">const</span> <span class="predefined-type">char</span>* filename = argc > <span class="integer">1</span> ? argv[<span class="integer">1</span>] : <span class="string"><span class="delimiter">"</span><span class="content">../resources/xosc/cut-in_external.xosc</span><span class="delimiter">"</span></span>;
SE_ScenarioObjectState state;
<span class="predefined-type">double</span> z = <span class="float">0</span><span class="float">.0</span>;
<span class="keyword">if</span> (SE_Init(filename, <span class="integer">0</span>, <span class="integer">1</span>, <span class="integer">0</span>, <span class="integer">0</span>) != <span class="integer">0</span>)
{
<span class="keyword">return</span> -<span class="integer">1</span>;
}
<span class="keyword">for</span> (<span class="predefined-type">int</span> i = <span class="integer">0</span>; i < <span class="integer">500</span> && SE_GetQuitFlag() != <span class="integer">1</span>; i++)
{
SE_ReportObjectPos(SE_GetId(<span class="integer">0</span>), <span class="float">8</span><span class="float">.0</span>, i, z, <span class="float">1</span><span class="float">.57</span> + <span class="float">0</span><span class="float">.01</span> * i, <span class="float">0</span><span class="float">.0</span>, <span class="float">0</span><span class="float">.0</span>);
SE_Step();
<span class="comment">// fetch position in terms of road coordinates</span>
SE_GetObjectState(SE_GetId(<span class="integer">0</span>), &state);
printf(<span class="string"><span class="delimiter">"</span><span class="content">road_id: %d s: %.3f lane_id %d lane_offset: %.3f z: %.2f</span><span class="char">\n</span><span class="delimiter">"</span></span>, state.roadId, state.s, state.laneId, state.laneOffset, state.z);
<span class="keyword">if</span> (i == <span class="integer">100</span>)
{
z = <span class="integer">1</span><span class="float">0</span><span class="float">.0</span>;