From ff2f29afb6ac1f06b549f09a45523f347e7526d4 Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Thu, 17 Dec 2020 11:32:18 +0530
Subject: [PATCH 1/4] Add Actions script to build and deploy to gh-pages

---
 .github/workflows/test_docs.yml | 47 +++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 .github/workflows/test_docs.yml

diff --git a/.github/workflows/test_docs.yml b/.github/workflows/test_docs.yml
new file mode 100644
index 0000000000..2499bc89db
--- /dev/null
+++ b/.github/workflows/test_docs.yml
@@ -0,0 +1,47 @@
+name: Documentation Build & Deploy
+
+# Controls when the action will run.
+on: [push, pull_request, workflow_dispatch]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.7'
+          architecture: 'x64'
+
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip
+          python3 -m pip install mkdocs pymdown-extensions    # Mkdocs requirements
+
+      - name: Build API reference docs
+        run: |
+          python3 -m venv .env                            # Virtual env to avoid dep. issues 
+          source .env/bin/activate
+          pip install Sphinx sphinx_rtd_theme numpy msgpack-rpc-python
+
+          pushd PythonClient >/dev/null
+          ./build_api_docs.sh
+          popd >/dev/null
+          cp -r PythonClient/docs/_build docs/api_docs/   # Copy generated files
+
+          deactivate
+
+      - name: Build AirSim Documentation
+        run: ./build_docs.sh
+
+      # Only on commits to 'master' branch
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+        with:
+          github_token: $
+          publish_dir: ./build_docs
+

From 66faf9c9d160dcae073846e8ace6276c6aa924b0 Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Thu, 17 Dec 2020 12:10:37 +0530
Subject: [PATCH 2/4] PythonClient: Only import cv2 when required

---
 PythonClient/airsim/utils.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/PythonClient/airsim/utils.py b/PythonClient/airsim/utils.py
index 665921db24..7f866d7d0a 100644
--- a/PythonClient/airsim/utils.py
+++ b/PythonClient/airsim/utils.py
@@ -6,7 +6,6 @@
 import inspect
 import types
 import re
-import cv2      # pip install opencv-python
 import logging
 
 from .types import *
@@ -202,6 +201,8 @@ def write_pfm(file, image, scale=1):
 def write_png(filename, image):
     """ image must be numpy array H X W X channels
     """
+    import cv2      # pip install opencv-python
+
     ret = cv2.imwrite(filename, image)
     if not ret:
         logging.error(f"Writing PNG file {filename} failed")

From 512d7082056a60d665aaece1d9de62b002284eac Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Thu, 17 Dec 2020 12:24:06 +0530
Subject: [PATCH 3/4] Update build_api_docs.sh script

---
 PythonClient/build_api_docs.sh | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/PythonClient/build_api_docs.sh b/PythonClient/build_api_docs.sh
index 548e7d9517..382c3122b7 100755
--- a/PythonClient/build_api_docs.sh
+++ b/PythonClient/build_api_docs.sh
@@ -1,2 +1,4 @@
-cd docs;
-make html;
+#!/bin/sh
+
+cd docs
+make html

From 05acb49c587b1ee4f1aa268a1e46399abb5ad82b Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Thu, 17 Dec 2020 16:51:54 +0530
Subject: [PATCH 4/4] PythonClient: Update simCreateVoxelGrid docstring

---
 PythonClient/airsim/client.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
index 4509b8fc46..30334213f5 100644
--- a/PythonClient/airsim/client.py
+++ b/PythonClient/airsim/client.py
@@ -796,10 +796,12 @@ def simCreateVoxelGrid(self, position, x, y, z, res, of):
 
         Args:
             position (Vector3r): Position around which voxel grid is centered in m
-            x, y, z (float): Size of each voxel grid dimension in m
+            x, y, z (int): Size of each voxel grid dimension in m
             res (float): Resolution of voxel grid in m
             of (str): Name of output file to save voxel grid as
 
+        Returns:
+            bool: True if output written to file successfully, else False
         """
         return self.client.call('simCreateVoxelGrid', position, x, y, z, res, of)