Fix compile errors in Linux

Source/CarlaServer/CMakeLists.txt

@@ -1,6 +1,10 @@
 cmake_minimum_required (VERSION 2.6)
 project (CarlaServer)
 
+SET(CMAKE_CXX_COMPILER clang++)
+SET(CMAKE_CXX_STANDARD 14)
+SET(CMAKE_CXX_STANDARD_REQUIRED 14)
+
 # Boost configuration
 SET(Boost_USE_STATIC_LIBS ON)
 find_package(Boost REQUIRED system date_time regex)

Source/CarlaServer/Makefile

@@ -3,6 +3,9 @@ BUILD_FOLDER=build
 vsproject:
 	cmake -H. -B$(BUILD_FOLDER) -G "Visual Studio 14 2015 Win64"
 
+stproject:
+	cmake -H. -B$(BUILD_FOLDER) -G "Sublime Text 2 - Ninja"
+
 clean:
 	rm -Rf build CMakeFiles
 

Source/CarlaServer/source/carla/server/CarlaCommunication.cpp

@@ -3,7 +3,7 @@
 #include <iostream>
 
 namespace carla {
-	namespace server {
+namespace server {
   // -- Static methods ---------------------------------------------------------
 
   template <typename ERROR_CODE>
@@ -13,7 +13,7 @@ namespace carla {
 
 
   // This is the thread that sends a string over the TCP socket.
-		static void serverWorkerThread(TCPServer &server, std::string &message) {
+  static void serverWorkerThread(TCPServer &server, const std::string &message) {
     TCPServer::error_code error;
     //message = message.size.c_ + message;
 
@@ -63,7 +63,7 @@ namespace carla {
 
   }
 
-		static void worldSendThread(TCPServer &server, std::string &message) {
+  static void worldSendThread(TCPServer &server, const std::string &message) {
     TCPServer::error_code error;
     //message = message.size + message;
 
@@ -83,13 +83,16 @@ namespace carla {
     _world(worldPort),
     _server(writePort),
     _client(readPort),
-			_worldThread([this]() {return worldReceiveThread(this->_world); },
-				[this](std::string &msg) { worldSendThread(this->_world, msg); },
-				[this]() {Connect(this->_world); }),
-			_serverThread([this](std::string &str) { serverWorkerThread(this->_server, str); },
-				[this]() {Connect(this->_server); }),
-			_clientThread([this]() { return clientWorkerThread(this->_client); },
-				[this]() {Connect(this->_client); })
+    _worldThread{
+        [this]() { return worldReceiveThread(this->_world); },
+        [this](const std::string &msg) { worldSendThread(this->_world, msg); },
+        [this]() { Connect(this->_world); }},
+    _serverThread{
+        [this](const std::string &str) { serverWorkerThread(this->_server, str); },
+        [this]() { Connect(this->_server); }},
+    _clientThread{
+        [this]() { return clientWorkerThread(this->_client); },
+        [this]() { Connect(this->_client); }}
     {
 
     /*std::cout << "WorldPort: " << worldPort << std::endl;
@@ -138,5 +141,6 @@ namespace carla {
   bool CarlaCommunication::tryReadWorldInfo(std::string &info) {
     return _worldThread.tryPop(info);
   }
-	}
+
+}
 }

Source/CarlaServer/source/carla/server/CarlaCommunication.h

@@ -3,12 +3,13 @@
 #include "carla/server/Protocol.h"
 #include "carla/server/TCPServer.h"
 
+#include "carla/thread/AsyncReadWriteJobQueue.h"
 #include "carla/thread/AsyncReaderJobQueue.h"
 #include "carla/thread/AsyncWriterJobQueue.h"
-#include "carla/thread/AsyncReadWriteJobQueue.h"
 
 namespace carla {
-	namespace server {
+namespace server {
+
   class CarlaCommunication : private NonCopyable {
   public:
 
@@ -39,7 +40,7 @@ namespace carla {
     thread::AsyncWriterJobQueue<std::string> _clientThread;
 
     thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread;
-
   };
-	}
+
+}
 }

Source/CarlaServer/source/carla/server/CarlaServer.cpp

@@ -7,7 +7,6 @@
 #include <memory>
 
 namespace carla {
-
 namespace server {
 
   // -- CarlaServer ------------------------------------------------------------

Source/CarlaServer/source/carla/server/CarlaServer.h

@@ -13,7 +13,6 @@
 namespace carla {
 namespace server {
 
-
   struct Color {
     char red;
     char green;
@@ -41,13 +40,14 @@ namespace server {
 
   struct Scene_Values {
     std::vector<Position> _possible_Positions;
-		std::vector<const float*> _projection_Matrix;
+    std::vector<const float *> _projection_Matrix;
   };
 
   enum Mode {
     MONO = 0,
     STEREO = 1
   };
+
   /// Asynchronous TCP server. Uses two ports, one for sending messages (write)
   /// and one for receiving messages (read).
   ///
@@ -85,27 +85,27 @@ namespace server {
     ////Try to read if the client has selected an end & start point. Return false if the queue is empty
     bool tryReadEpisodeStart(float &start_index, float &end_index);
 
-
-
     int GetModesCount() const;
+
     int GetScenesCount() const;
 
     void setMode(Mode mode);
+
     Mode GetMode() const;
 
     void SetScene(int scene);
+
     int GetScene() const;
 
     void SetReset(bool reset);
-	bool Reset() const;
 
+    bool Reset() const;
 
   private:
 
-	
     //std::mutex _mutex;
 
-	std::atomic<Mode> _mode = MONO;
+    std::atomic<Mode> _mode {MONO};
     std::atomic_int _scene;
     std::atomic_bool _reset;
 
@@ -115,7 +115,6 @@ namespace server {
     const std::unique_ptr<CarlaCommunication> _communication;
 
     const std::unique_ptr<Protocol> _proto;
-
   };
 
 } // namespace server

Source/CarlaServer/source/carla/server/TCPConnection.cpp

@@ -1,47 +0,0 @@
-#include "Carla.h"
-#include <boost/asio.hpp>
-#include <boost\bind.hpp>
-
-namespace carla {
-	namespace server {
-
-		class TCPConnection : public boost::enable_shared_from_this<TCPConnection>
-		{
-
-		public:
-
-			typedef boost::shared_ptr<TCPConnection> pointer;
-
-			static pointer create(boost::asio::io_service &io_service) {
-				return pointer(new TCPConnection(io_service));
-			}
-
-			boost::asio::ip::tcp::socket& socket() {
-				return socket_;
-			}
-
-			void Send(const std::string &message) {
-				message_ = message;
-				boost::asio::async_write(socket_, boost::asio::buffer(message_),
-					boost::bind(&TCPConnection::handle_write, shared_from_this()));
-			}
-
-
-		private:
-
-			TCPConnection(boost::asio::io_service& io_service)
-				: socket_(io_service)
-			{
-			}
-
-			void handle_write(const boost::system::error_code& /*error*/,
-				size_t /*bytes_transferred*/)
-			{
-			}
-
-
-			std::string message_;
-			boost::asio::ip::tcp::socket socket_;
-		};
-	}
-}

Source/CarlaServer/source/carla/thread/AsyncReadWriteJobQueue.h

@@ -13,7 +13,7 @@ namespace thread {
 
   /// Executes the given job asynchronously. Every item that the job returns is
   /// added to the queue.
-  template <typename W, typename R>
+  template<typename W, typename R>
   class CARLA_API AsyncReadWriteJobQueue {
   public:
 
@@ -21,7 +21,10 @@ namespace thread {
     using ReadingJob = std::function<void(R)>;
     using ConnectJob = std::function<void()>;
 
-	explicit AsyncReadWriteJobQueue(WritingJob &&writingJob, ReadingJob &&readingJob, ConnectJob &&connectJob) :
+    explicit AsyncReadWriteJobQueue(
+        WritingJob && writingJob,
+        ReadingJob && readingJob,
+        ConnectJob && connectJob) :
       _done(false),
       _writeJob(std::move(writingJob)),
       _readJob(std::move(readingJob)),

Source/CarlaServer/source/test/async_server.cpp

@@ -30,7 +30,7 @@ static std::string daytimeString() {
   return str;
 }
 
-int main(int argc, char* argv[]) {
+int main(int argc, char *argv[]) {
   try {
     if (argc != 6) {
       std::cerr << "Usage: server <send-port> <read-port>" << std::endl;
@@ -44,7 +44,6 @@ int main(int argc, char* argv[]) {
 
     // Let's simulate the game loop.
 
-
     Color c1;
     c1.red = 255;
     c1.green = 0;
@@ -70,7 +69,7 @@ int main(int argc, char* argv[]) {
     //c4.alpha = 0;
 
     std::vector<Color> img;
-	for (int i=0; i < 1024; ++i) img.push_back(c1);
+    for (int i = 0; i < 1024; ++i) img.push_back(c1);
 
     std::vector<Color> img_2;
     for (int i = 0; i < 1024; ++i) img_2.push_back(c2);
@@ -101,7 +100,6 @@ int main(int argc, char* argv[]) {
     testData.depth_1 = depth_1;
     testData.depth_2 = depth_2;
 
-	
     std::cout << "Server send World" << std::endl;
     server.sendWorld();
 
@@ -111,16 +109,16 @@ int main(int argc, char* argv[]) {
     std::cout << "Server wait scene init" << std::endl;
     do {
       end = server.tryReadSceneInit(mode, scene);
-	}while (!end);
+    } while (!end);
 
     std::vector<Position> positions;
-	std::vector<const float*> pMatrix;
+    std::vector<const float *> pMatrix;
 
-	positions.push_back(Position{ 0.0f, 0.0f });
-	positions.push_back(Position{ 1.0f, 2.0f });
-	positions.push_back(Position{ 3.0f, 4.0f });
+    positions.push_back(Position { 0.0f, 0.0f });
+    positions.push_back(Position { 1.0f, 2.0f });
+    positions.push_back(Position { 3.0f, 4.0f });
 
-	float list[16] = { 10.0, 10.0,10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0 };
+    float list[16] = { 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0 };
 
     pMatrix.push_back(list);
 
@@ -141,8 +139,7 @@ int main(int argc, char* argv[]) {
     do {
 
       end = server.tryReadEpisodeStart(startPoint, endPoint);
-	}
-	while (!end);
+    } while (!end);
 
     std::cout << "Server send end reset" << std::endl;
 
@@ -156,22 +153,22 @@ int main(int argc, char* argv[]) {
         std::cout << "------> RESET <------" << std::endl;
         std::cout << " --> Start: " << startPoint << " End: " << endPoint << std::endl;
         server.sendEndReset();
-		}
-		else {
+      } else {
 
         if (wait_control && server.tryReadControl(steer, gas)) {
           std::cout << "Steer: " << steer << "Gas: " << gas << std::endl;
           wait_control = false;
-			}
-			else if (!wait_control) {
+        } else if (!wait_control) {
           server.sendReward(testData);
           wait_control = true;
         }
 
       }
 
-		Sleep(100);
-
+      {
+        using namespace std::chrono_literals;
+        std::this_thread::sleep_for(100ms);
+      }
     }
 
   } catch (const std::exception &e) {