Replace Linux build system
This commit is contained in:
nsubiron
parent
3cf91c54f2
commit
0b90c448bf
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@ -1,31 +1,38 @@
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Build
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Dist
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Dist
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Doxygen
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Doxygen
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PythonClient/dist
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PythonClient/dist
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Util/Build
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Util/Build
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Install
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*.VC.db
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*.VC.db
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*.VC.opendb
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*.VC.opendb
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*.a
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*.egg-info
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*.egg-info
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*.kdev4
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*.kdev4
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*.log
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*.log
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*.pb.cc
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*.pb.cc
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*.pb.h
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*.pb.h
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*.o
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*.pid
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*.pid
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*.pri
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*.pri
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*.pro
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*.pro
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*.py[cod]
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*.py[cod]
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*.sln
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*.sln
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*.so
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*.stackdump
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*.stackdump
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*.sublime-workspace
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*.sublime-workspace
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*.workspace
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*.workspace
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*CodeCompletionFolders.txt
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*CodeCompletionFolders.txt
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*CodeLitePreProcessor.txt
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*CodeLitePreProcessor.txt
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.codelite
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.codelite
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.gdb_history
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.tags*
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.tags*
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.vs
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.vs
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__pycache__
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__pycache__
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_benchmarks_results
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_benchmarks_results
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_images*
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_images*
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_out
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_out*
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_site
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_site
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core
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core
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profiler.csv
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17
.travis.yml
17
.travis.yml
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@ -17,14 +17,15 @@ script:
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matrix:
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matrix:
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include:
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include:
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- env: TEST="CppCheck"
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# CppCheck does not support C++17.
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install: true
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# - env: TEST="CppCheck"
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addons:
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# install: true
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apt:
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# addons:
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packages:
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# apt:
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- cppcheck
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# packages:
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script:
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# - cppcheck
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- cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --inline-suppr --quiet
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# script:
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# - cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --inline-suppr --quiet
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- env: TEST="MkDocs"
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- env: TEST="MkDocs"
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install:
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install:
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@ -1,149 +0,0 @@
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{
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"folders":
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[
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{
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"path": ".",
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"folder_exclude_patterns":
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[
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".clang",
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".codelite",
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".kdev4",
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".vs",
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".vscode",
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"Binaries",
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"Build",
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"DerivedDataCache",
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"Dist",
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"Doxygen",
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"Intermediate",
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"Saved",
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"Unreal/CarlaUE4/Content*",
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"__pycache__",
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"_site"
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],
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"file_exclude_patterns":
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[
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"*.VC.db",
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"*.VC.opendb",
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"*.kdev4",
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"*.pri",
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"*.pro",
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"*.py[cod]",
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"*.sln",
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"*.stackdump",
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"*.sublime-workspace",
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"*.uasset",
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"*.umap",
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"*.workspace",
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"*CodeCompletionFolders.txt",
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"*CodeLitePreProcessor.txt",
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".tags*",
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"core"
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]
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}
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],
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"settings":
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{
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"ensure_newline_at_eof_on_save": true,
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"tab_size": 2,
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"translate_tabs_to_spaces": true,
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"trim_trailing_white_space_on_save": true
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},
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"build_systems":
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[
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{
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"name": "CARLA - Pylint",
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"working_dir": "${project_path}",
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"file_regex": "^\\[([^:]*):([0-9]+):?([0-9]+)?\\]:? (.*)$",
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"shell_cmd": "pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py --msg-template='[{path}:{line:3d}:{column}]: {msg_id} {msg}'"
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},
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{
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"name": "CARLA - CppCheck",
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"working_dir": "${project_path}",
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"file_regex": "^\\[([^:]*):([0-9]+):?([0-9]+)?\\]:? (.*)$",
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"shell_cmd": "cppcheck . -iBuild -i.pb.cc --error-exitcode=0 --enable=warning --quiet"
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},
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{
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"name": "CARLA - Rebuild script",
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"working_dir": "${project_path}",
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"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"linux":
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{
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"shell_cmd": "./Rebuild.sh"
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},
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"windows":
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{
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"shell_cmd": "start Rebuild.bat"
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}
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},
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{
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"name": "CARLA - make CarlaUE4",
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"working_dir": "${project_path}/Unreal/CarlaUE4",
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"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make CarlaUE4"
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}
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},
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{
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"name": "CARLA - make CarlaUE4 ARGS=-clean",
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"working_dir": "${project_path}/Unreal/CarlaUE4",
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"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make CarlaUE4 ARGS=-clean"
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}
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},
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{
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"name": "CARLA - make CarlaUE4Editor",
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"working_dir": "${project_path}/Unreal/CarlaUE4",
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"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make CarlaUE4Editor"
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}
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},
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{
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"name": "CARLA - make CarlaUE4Editor ARGS=-clean",
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"working_dir": "${project_path}/Unreal/CarlaUE4",
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"file_regex": "Unreal\\/CarlaUE4\\/([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make CarlaUE4Editor ARGS=-clean"
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}
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},
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{
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"name": "CARLA - make CarlaServer",
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"working_dir": "${project_path}",
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"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make"
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}
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},
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{
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"name": "CARLA - check CarlaServer",
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"working_dir": "${project_path}",
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"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make check"
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}
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},
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{
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"name": "CARLA - clean CarlaServer",
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"working_dir": "${project_path}",
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"syntax": "Packages/Makefile/Make Output.sublime-syntax",
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"linux":
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{
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"shell_cmd": "make clean"
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}
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}
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]
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}
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@ -0,0 +1,6 @@
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cmake_minimum_required(VERSION 3.9.0)
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project(CARLA)
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include("Build/CMakeLists.txt.in")
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add_subdirectory("LibCarla/cmake")
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@ -0,0 +1,110 @@
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<h1>Build system</h1>
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> _This document is a work in progress, only the Linux build system is taken into account here._
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The most challenging part of the setup is to compile all the dependencies and
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modules to be compatible with a) Unreal Engine in the server-side, and b) Python
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in the client-side.
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The goal is to be able to call Unreal Engine's functions from a separate Python
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process.
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In Linux, we compile CARLA and all the dependencies with clang-5.0 and C++17
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standard. We however link against different runtime C++ libraries depending on
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where the code going to be used, since all the code that is going to be linked
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with Unreal Engine needs to be compiled using `libc++`.
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#### Setup
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Command
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```sh
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make setup
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```
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Get and compile dependencies
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* llvm-5.0 (libc++ and libc++abi)
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* rpclib-2.2.1 (twice, with libstdc++ and libc++)
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* boost-1.67 (headers only)
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* googletest-1.8.0 (with libc++)
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#### LibCarla
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Compiled with CMake (minimum version required CMake 3.9).
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Command
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```sh
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make LibCarla
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```
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Two configurations:
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| | Server | Client |
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|-----------------|--------------|-----------|
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| **Unit tests** | yes | no |
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| **Requires** | rpclib, gtest, boost | rpclib, boost
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| **std runtime** | LLVM's `libc++` | Default `libstdc++` |
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| **Output** | headers and test exes | `libcarla_client.a` |
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| **Required by** | Carla plugin | PythonAPI |
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#### CarlaUE4 and Carla plugin
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Both compiled at the same step with Unreal Engine 4.19 build tool. They require
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the `UE4_ROOT` environment variable set.
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Command
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```sh
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make CarlaUE4Editor
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```
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To launch Unreal Engine's Editor run
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```sh
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make launch
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```
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#### PythonAPI
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Compiled using Python's `setuptools` ("setup.py"). Currently requires the
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following to be installed in the machine: Python, libpython-dev, and
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libboost-python-dev; both for Python 2.7 and 3.5.
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Command
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```sh
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make PythonAPI
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|
```
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It creates two "egg" packages
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* `PythonAPI/dist/carla-0.9.0-py2.7-linux-x86_64.egg`
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* `PythonAPI/dist/carla-0.9.0-py3.5-linux-x86_64.egg`
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This package can be directly imported into a Python script by adding it to the
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system path
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```python
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#!/usr/bin/env python
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import sys
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sys.path.append(
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'PythonAPI/dist/carla-0.9.0-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
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sys.version_info.minor))
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import carla
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# ...
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```
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or installed with `easy_install`
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```sh
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easy_install2 --user --no-deps PythonAPI/dist/carla-0.9.0-py2.7-linux-x86_64.egg
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easy_install3 --user --no-deps PythonAPI/dist/carla-0.9.0-py3.5-linux-x86_64.egg
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|
```
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@ -5,15 +5,23 @@
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Install the build tools and dependencies
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Install the build tools and dependencies
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||||||
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||||||
$ sudo apt-get install build-essential clang-3.9 git cmake ninja-build python3-requests python-dev tzdata sed curl wget unzip autoconf libtool
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```
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sudo add-apt-repository ppa:ubuntu-toolchain-r/test
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sudo apt-get install build-essential clang-5.0 lld-5.0 g++-7 ninja-build python python-pip python3 python3-pip libboost-python-dev python-dev tzdata sed curl wget unzip autoconf libtool
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pip2 install --user setuptools nose2
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pip3 install --user setuptools nose2
|
||||||
|
```
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|
|
||||||
To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
|
To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
|
||||||
the best configuration is to compile everything with the same compiler version
|
the best configuration is to compile everything with the same compiler version
|
||||||
and C++ runtime library. We use clang 3.9 and LLVM's libc++. You may need to
|
and C++ runtime library. We use clang 5.0 and LLVM's libc++. We recommend to
|
||||||
change your default clang version to compile Unreal
|
change your default clang version to compile Unreal Engine and the CARLA
|
||||||
|
dependencies
|
||||||
|
|
||||||
$ sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-3.9/bin/clang++ 100
|
```sh
|
||||||
$ sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.9/bin/clang 100
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sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bin/clang++ 101
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sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 101
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||||||
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```
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||||||
Build Unreal Engine
|
Build Unreal Engine
|
||||||
-------------------
|
-------------------
|
||||||
|
|
@ -23,13 +31,15 @@ Build Unreal Engine
|
||||||
need to add your GitHub username when you sign up at
|
need to add your GitHub username when you sign up at
|
||||||
[www.unrealengine.com](https://www.unrealengine.com).
|
[www.unrealengine.com](https://www.unrealengine.com).
|
||||||
|
|
||||||
Download and compile Unreal Engine 4.18. Here we will assume you install it at
|
Download and compile Unreal Engine 4.19. Here we will assume you install it at
|
||||||
"~/UnrealEngine_4.18", but you can install it anywhere, just replace the path
|
`~/UnrealEngine_4.19", but you can install it anywhere, just replace the path
|
||||||
where necessary.
|
where necessary.
|
||||||
|
|
||||||
$ git clone --depth=1 -b 4.18 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.18
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```sh
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||||||
$ cd ~/UnrealEngine_4.18
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git clone --depth=1 -b 4.19 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.19
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||||||
$ ./Setup.sh && ./GenerateProjectFiles.sh && make
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cd ~/UnrealEngine_4.19
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||||||
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./Setup.sh && ./GenerateProjectFiles.sh && make
|
||||||
|
```
|
||||||
|
|
||||||
Check Unreal's documentation
|
Check Unreal's documentation
|
||||||
["Building On Linux"](https://wiki.unrealengine.com/Building_On_Linux) if any of
|
["Building On Linux"](https://wiki.unrealengine.com/Building_On_Linux) if any of
|
||||||
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|
@ -41,56 +51,47 @@ Build CARLA
|
||||||
Clone or download the project from our
|
Clone or download the project from our
|
||||||
[GitHub repository](https://github.com/carla-simulator/carla)
|
[GitHub repository](https://github.com/carla-simulator/carla)
|
||||||
|
|
||||||
$ git clone https://github.com/carla-simulator/carla
|
```sh
|
||||||
|
git clone https://github.com/carla-simulator/carla
|
||||||
|
```
|
||||||
|
|
||||||
Note that the `master` branch contains the latest fixes and features, for the
|
Note that the `master` branch contains the latest fixes and features, for the
|
||||||
latest stable code may be best to switch to the latest release tag.
|
latest stable code may be best to switch to the latest release tag.
|
||||||
|
|
||||||
Run the setup script to download the content and build all dependencies. It
|
Now you need to download the assets package, to do so we provide a handy script
|
||||||
takes a while (you can speed up the process by parallelizing the script with the
|
that downloads and extracts the latest version (note that the package is >10GB,
|
||||||
`--jobs=8` flag)
|
this step might take some time depending on your connection)
|
||||||
|
|
||||||
$ ./Setup.sh
|
```sh
|
||||||
|
./Update.sh
|
||||||
|
```
|
||||||
|
|
||||||
Once it's done it should print "Success" if everything went well.
|
For CARLA to find your Unreal Engine's installation folder you need to set the
|
||||||
|
following environment variable
|
||||||
|
|
||||||
To build CARLA, use the rebuild script. This script deletes all intermediate
|
```sh
|
||||||
files, rebuilds whole CARLA, and launches the editor. Use it too for making a
|
export UE4_ROOT=~/UnrealEngine_4.19
|
||||||
clean rebuild of CARLA
|
```
|
||||||
|
|
||||||
$ UE4_ROOT=~/UnrealEngine_4.18 ./Rebuild.sh
|
You can also add this variable to your `~/.bashrc` or `~/.profile`.
|
||||||
|
|
||||||
It looks at the environment variable `UE4_ROOT` to find the right version of
|
Now that the environment is set up, you can run make to run different commands
|
||||||
Unreal Engine. You can also add this variable to your "~/.bashrc" or similar.
|
|
||||||
|
|
||||||
Later, if you need to compile some changes without doing a full rebuild, you can
|
```sh
|
||||||
use the Makefile generated in the Unreal project folder
|
make launch # Compiles CARLA and launches Unreal Engine's Editor.
|
||||||
|
make package # Compiles CARLA and creates a packaged version for distribution.
|
||||||
$ cd Unreal/CarlaUE4
|
make help # Print all available commands.
|
||||||
$ make CarlaUE4Editor
|
```
|
||||||
|
|
||||||
Updating CARLA
|
Updating CARLA
|
||||||
--------------
|
--------------
|
||||||
|
|
||||||
Every new release of CARLA we release a new package with the latest changes in
|
Every new release of CARLA we release a new package with the latest changes in
|
||||||
the CARLA assets. To download the latest version, run the "Update" script
|
the CARLA assets. To download the latest version and recompile CARLA, run
|
||||||
|
|
||||||
$ git pull
|
```sh
|
||||||
$ ./Update.sh
|
make clean
|
||||||
|
git pull
|
||||||
Launching the editor
|
./Update.sh
|
||||||
--------------------
|
make launch
|
||||||
|
```
|
||||||
To open the editor once the project is already built
|
|
||||||
|
|
||||||
$ cd Unreal/CarlaUE4
|
|
||||||
$ ~/UnrealEngine_4.18/Engine/Binaries/Linux/UE4Editor "$PWD/CarlaUE4.uproject"
|
|
||||||
|
|
||||||
Test (Optional)
|
|
||||||
---------------
|
|
||||||
|
|
||||||
A set of unit tests is available for testing the CarlaServer library (note that
|
|
||||||
these tests launch the python client, they require python3 and protobuf for
|
|
||||||
python3 installed, as well as ports 2000 and 4000 available)
|
|
||||||
|
|
||||||
$ make check
|
|
||||||
|
|
|
||||||
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
|
|
@ -21,7 +21,7 @@
|
||||||
* [General Structure](benchmark_structure.md)
|
* [General Structure](benchmark_structure.md)
|
||||||
* [Creating Your Benchmark](benchmark_creating.md)
|
* [Creating Your Benchmark](benchmark_creating.md)
|
||||||
* [Computed Performance Metrics](benchmark_metrics.md)
|
* [Computed Performance Metrics](benchmark_metrics.md)
|
||||||
|
|
||||||
<h3>Advanced topics</h3>
|
<h3>Advanced topics</h3>
|
||||||
|
|
||||||
* [CARLA settings](carla_settings.md)
|
* [CARLA settings](carla_settings.md)
|
||||||
|
|
@ -41,3 +41,4 @@
|
||||||
* [How to add assets](how_to_add_assets.md)
|
* [How to add assets](how_to_add_assets.md)
|
||||||
* [CARLA design](carla_design.md)
|
* [CARLA design](carla_design.md)
|
||||||
* [CarlaServer documentation](carla_server.md)
|
* [CarlaServer documentation](carla_server.md)
|
||||||
|
* [Build system](build_system.md)
|
||||||
|
|
|
||||||
4
Doxyfile
4
Doxyfile
|
|
@ -11,7 +11,7 @@ CASE_SENSE_NAMES = YES
|
||||||
SORT_BRIEF_DOCS = YES
|
SORT_BRIEF_DOCS = YES
|
||||||
WARN_IF_UNDOCUMENTED = NO
|
WARN_IF_UNDOCUMENTED = NO
|
||||||
WARN_LOGFILE = Doxygen/warnings.log
|
WARN_LOGFILE = Doxygen/warnings.log
|
||||||
INPUT = Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/CarlaServer/source
|
INPUT = Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source LibCarla/source
|
||||||
FILE_PATTERNS = *.cpp *.h *.hpp *.cc
|
FILE_PATTERNS = *.cpp *.h *.hpp *.cc
|
||||||
RECURSIVE = YES
|
RECURSIVE = YES
|
||||||
SOURCE_BROWSER = YES
|
SOURCE_BROWSER = YES
|
||||||
|
|
@ -26,7 +26,7 @@ FORMULA_FONTSIZE = 12
|
||||||
GENERATE_LATEX = NO
|
GENERATE_LATEX = NO
|
||||||
MACRO_EXPANSION = YES
|
MACRO_EXPANSION = YES
|
||||||
EXPAND_ONLY_PREDEF = YES
|
EXPAND_ONLY_PREDEF = YES
|
||||||
INCLUDE_PATH = Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/CarlaServer/source Util/CarlaServer/include
|
INCLUDE_PATH = Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source LibCarla/source
|
||||||
INCLUDE_FILE_PATTERNS = *.h *.hpp
|
INCLUDE_FILE_PATTERNS = *.h *.hpp
|
||||||
HIDE_UNDOC_RELATIONS = NO
|
HIDE_UNDOC_RELATIONS = NO
|
||||||
HAVE_DOT = YES
|
HAVE_DOT = YES
|
||||||
|
|
|
||||||
104
Makefile
104
Makefile
|
|
@ -1,104 +1,6 @@
|
||||||
INSTALL_FOLDER=$(CURDIR)/Unreal/CarlaUE4/Plugins/Carla/CarlaServer
|
include Util/BuildTools/Vars.mk
|
||||||
PYTHON_CLIENT_FOLDER=$(CURDIR)/PythonClient/test
|
|
||||||
BASE_BUILD_FOLDER=$(CURDIR)/Util/Build/carlaserver-build
|
|
||||||
MY_CMAKE_FOLDER=$(CURDIR)/Util/cmake
|
|
||||||
MY_CMAKE_FLAGS=-B"$(BUILD_FOLDER)" -DCMAKE_INSTALL_PREFIX="$(INSTALL_FOLDER)"
|
|
||||||
|
|
||||||
ifeq ($(OS),Windows_NT)
|
ifeq ($(OS),Windows_NT)
|
||||||
BUILD_RULE=build_windows
|
include Util/BuildTools/Windows.mk
|
||||||
CLEAN_RULE=clean_windows
|
|
||||||
CALL_CMAKE_RULE=call_cmake_windows
|
|
||||||
PROTOC_COMPILE=cmd.exe /k "cd Util & call Protoc.bat & exit"
|
|
||||||
PROTOC_CLEAN=cmd.exe /k "cd Util & call Protoc.bat --clean & exit"
|
|
||||||
else
|
else
|
||||||
BUILD_RULE=build_linux
|
include Util/BuildTools/Linux.mk
|
||||||
CLEAN_RULE=clean_linux
|
|
||||||
CALL_CMAKE_RULE=call_cmake_linux
|
|
||||||
PROTOC_COMPILE=./Util/Protoc.sh
|
|
||||||
PROTOC_CLEAN=./Util/Protoc.sh --clean
|
|
||||||
endif
|
endif
|
||||||
|
|
||||||
default: release
|
|
||||||
|
|
||||||
### Build ######################################################################
|
|
||||||
|
|
||||||
debug: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/debug
|
|
||||||
debug: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
|
|
||||||
debug: $(BUILD_RULE)
|
|
||||||
|
|
||||||
release: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/release
|
|
||||||
release: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
|
|
||||||
release: $(BUILD_RULE)
|
|
||||||
|
|
||||||
vsproject: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/visualstudio
|
|
||||||
vsproject: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
|
|
||||||
vsproject: MY_CMAKE_FLAGS+=-G "Visual Studio 14 2015 Win64"
|
|
||||||
vsproject: call_cmake
|
|
||||||
|
|
||||||
vsproject15: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/visualstudio
|
|
||||||
vsproject15: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
|
|
||||||
vsproject15: MY_CMAKE_FLAGS+=-G "Visual Studio 15 2017 Win64"
|
|
||||||
vsproject15: call_cmake
|
|
||||||
|
|
||||||
build_linux: MY_CMAKE_FLAGS+=-G "Ninja"
|
|
||||||
build_linux: call_cmake
|
|
||||||
@cd $(BUILD_FOLDER) && ninja && ninja install
|
|
||||||
|
|
||||||
build_windows: MY_CMAKE_FLAGS+=-G "NMake Makefiles"
|
|
||||||
build_windows: call_cmake
|
|
||||||
@cd $(BUILD_FOLDER) && nmake && nmake install
|
|
||||||
|
|
||||||
call_cmake: protobuf $(CALL_CMAKE_RULE)
|
|
||||||
@cd $(BUILD_FOLDER) && cmake $(MY_CMAKE_FLAGS) "$(MY_CMAKE_FOLDER)"
|
|
||||||
|
|
||||||
protobuf:
|
|
||||||
@$(PROTOC_COMPILE)
|
|
||||||
|
|
||||||
call_cmake_linux:
|
|
||||||
@mkdir -p $(BUILD_FOLDER)
|
|
||||||
|
|
||||||
call_cmake_windows:
|
|
||||||
-@mkdir "$(BUILD_FOLDER)"
|
|
||||||
|
|
||||||
### Docs #######################################################################
|
|
||||||
|
|
||||||
docs: doxygen
|
|
||||||
|
|
||||||
doxygen:
|
|
||||||
@doxygen
|
|
||||||
@echo "Documentation index at ./Doxygen/html/index.html"
|
|
||||||
|
|
||||||
### Clean ######################################################################
|
|
||||||
|
|
||||||
clean: $(CLEAN_RULE)
|
|
||||||
@$(PROTOC_CLEAN)
|
|
||||||
|
|
||||||
clean_linux:
|
|
||||||
@rm -Rf $(BASE_BUILD_FOLDER) $(INSTALL_FOLDER) Doxygen
|
|
||||||
|
|
||||||
clean_windows:
|
|
||||||
-@rd /s /q "$(BASE_BUILD_FOLDER)" "$(INSTALL_FOLDER)" Doxygen
|
|
||||||
|
|
||||||
### Test #######################################################################
|
|
||||||
|
|
||||||
check: debug launch_test_clients run_test_debug kill_test_clients
|
|
||||||
|
|
||||||
check_release: release launch_test_clients run_test_release kill_test_clients
|
|
||||||
|
|
||||||
run_test_debug:
|
|
||||||
@-LD_LIBRARY_PATH=$(INSTALL_FOLDER)/shared $(INSTALL_FOLDER)/bin/test_carlaserverd --gtest_shuffle $(GTEST_ARGS)
|
|
||||||
|
|
||||||
run_test_release:
|
|
||||||
@-LD_LIBRARY_PATH=$(INSTALL_FOLDER)/shared $(INSTALL_FOLDER)/bin/test_carlaserver --gtest_shuffle $(GTEST_ARGS)
|
|
||||||
|
|
||||||
launch_test_clients:
|
|
||||||
@echo "Launch echo client"
|
|
||||||
@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py --echo -v -p 4000 --log echo_client.log & echo $$! > echo_client.pid
|
|
||||||
@echo "Launch carla client"
|
|
||||||
@python3 $(PYTHON_CLIENT_FOLDER)/test_client.py -v -p 2000 --log carla_client.log & echo $$! > carla_client.pid
|
|
||||||
|
|
||||||
kill_test_clients:
|
|
||||||
@echo "Kill echo client"
|
|
||||||
@kill `cat echo_client.pid` && rm echo_client.pid
|
|
||||||
@echo "Kill carla client"
|
|
||||||
@kill `cat carla_client.pid` && rm carla_client.pid
|
|
||||||
|
|
|
||||||
121
Rebuild.sh
121
Rebuild.sh
|
|
@ -1,121 +0,0 @@
|
||||||
#!/bin/bash
|
|
||||||
|
|
||||||
################################################################################
|
|
||||||
# Updates CARLA content.
|
|
||||||
################################################################################
|
|
||||||
|
|
||||||
set -e
|
|
||||||
|
|
||||||
DOC_STRING="Update CARLA content to the latest version, to be run after 'git pull'."
|
|
||||||
|
|
||||||
USAGE_STRING="Usage: $0 [-h|--help] [--no-editor]"
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Parse arguments -----------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
LAUNCH_UE4_EDITOR=true
|
|
||||||
|
|
||||||
OPTS=`getopt -o h --long help,no-editor -n 'parse-options' -- "$@"`
|
|
||||||
|
|
||||||
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
|
||||||
|
|
||||||
eval set -- "$OPTS"
|
|
||||||
|
|
||||||
while true; do
|
|
||||||
case "$1" in
|
|
||||||
--no-editor )
|
|
||||||
LAUNCH_UE4_EDITOR=false;
|
|
||||||
shift ;;
|
|
||||||
-h | --help )
|
|
||||||
echo "$DOC_STRING"
|
|
||||||
echo "$USAGE_STRING"
|
|
||||||
exit 1
|
|
||||||
;;
|
|
||||||
* )
|
|
||||||
break ;;
|
|
||||||
esac
|
|
||||||
done
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Set up environment --------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
|
||||||
pushd "$SCRIPT_DIR" >/dev/null
|
|
||||||
|
|
||||||
UNREAL_PROJECT_FOLDER=./Unreal/CarlaUE4
|
|
||||||
UE4_INTERMEDIATE_FOLDERS="Binaries Build Intermediate DerivedDataCache"
|
|
||||||
|
|
||||||
function fatal_error {
|
|
||||||
echo -e "\033[0;31mERROR: $1\033[0m"
|
|
||||||
exit 1
|
|
||||||
}
|
|
||||||
|
|
||||||
function log {
|
|
||||||
echo -e "\033[0;33m$1\033[0m"
|
|
||||||
}
|
|
||||||
|
|
||||||
if [ ! -d "${UE4_ROOT}" ]; then
|
|
||||||
fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
|
|
||||||
else
|
|
||||||
echo "Using Unreal Engine at '$UE4_ROOT'"
|
|
||||||
fi
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Make CarlaServer ----------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
log "Making CarlaServer..."
|
|
||||||
make clean && make debug && make release
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Clean up intermediate Unreal files ----------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
pushd "$UNREAL_PROJECT_FOLDER" >/dev/null
|
|
||||||
|
|
||||||
pushd "Plugins/Carla" >/dev/null
|
|
||||||
|
|
||||||
log "Cleaning up CARLA Plugin..."
|
|
||||||
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
|
|
||||||
|
|
||||||
popd > /dev/null
|
|
||||||
|
|
||||||
log "Cleaning up CARLAUE4..."
|
|
||||||
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Build and launch Unreal project -------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
pushd "$UNREAL_PROJECT_FOLDER" >/dev/null
|
|
||||||
|
|
||||||
# This command usually fails but normally we can continue anyway.
|
|
||||||
set +e
|
|
||||||
log "Generate Unreal project files..."
|
|
||||||
${UE4_ROOT}/GenerateProjectFiles.sh -project="${PWD}/CarlaUE4.uproject" -game -engine -makefiles
|
|
||||||
set -e
|
|
||||||
|
|
||||||
log "Build CarlaUE4 project..."
|
|
||||||
make CarlaUE4Editor
|
|
||||||
|
|
||||||
if $LAUNCH_UE4_EDITOR ; then
|
|
||||||
log "Launching UE4Editor..."
|
|
||||||
${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
|
|
||||||
else
|
|
||||||
echo ""
|
|
||||||
echo "****************"
|
|
||||||
echo "*** Success! ***"
|
|
||||||
echo "****************"
|
|
||||||
fi
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- ...and we are done --------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
227
Setup.sh
227
Setup.sh
|
|
@ -1,227 +0,0 @@
|
||||||
#! /bin/bash
|
|
||||||
|
|
||||||
################################################################################
|
|
||||||
# CARLA Setup.sh
|
|
||||||
#
|
|
||||||
# This script sets up the environment and dependencies for compiling CARLA on
|
|
||||||
# Linux.
|
|
||||||
#
|
|
||||||
# 1) Download CARLA Content if necessary.
|
|
||||||
# 2) Download and compile libc++.
|
|
||||||
# 3) Download other third-party libraries and compile them with libc++.
|
|
||||||
#
|
|
||||||
# Thanks to the people at https://github.com/Microsoft/AirSim for providing the
|
|
||||||
# important parts of this script.
|
|
||||||
################################################################################
|
|
||||||
|
|
||||||
set -e
|
|
||||||
|
|
||||||
DOC_STRING="Download and compile CARLA content and dependencies."
|
|
||||||
|
|
||||||
USAGE_STRING="Usage: $0 [-h|--help] [-s|--skip-download] [--jobs=N]"
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Parse arguments -----------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
UPDATE_SCRIPT_FLAGS=
|
|
||||||
NUMBER_OF_ASYNC_JOBS=1
|
|
||||||
|
|
||||||
OPTS=`getopt -o hs --long help,skip-download,jobs:: -n 'parse-options' -- "$@"`
|
|
||||||
|
|
||||||
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
|
||||||
|
|
||||||
eval set -- "$OPTS"
|
|
||||||
|
|
||||||
while true; do
|
|
||||||
case "$1" in
|
|
||||||
-s | --skip-download )
|
|
||||||
UPDATE_SCRIPT_FLAGS=--skip-download;
|
|
||||||
shift ;;
|
|
||||||
--jobs)
|
|
||||||
case "$2" in
|
|
||||||
"") NUMBER_OF_ASYNC_JOBS=4 ; shift 2 ;;
|
|
||||||
*) NUMBER_OF_ASYNC_JOBS=$2 ; shift 2 ;;
|
|
||||||
esac ;;
|
|
||||||
-h | --help )
|
|
||||||
echo "$DOC_STRING"
|
|
||||||
echo "$USAGE_STRING"
|
|
||||||
exit 1
|
|
||||||
;;
|
|
||||||
* )
|
|
||||||
break ;;
|
|
||||||
esac
|
|
||||||
done
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Set up environment --------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
|
||||||
pushd "$SCRIPT_DIR" >/dev/null
|
|
||||||
|
|
||||||
# Require clang 3.9
|
|
||||||
command -v clang++-3.9 >/dev/null 2>&1 || {
|
|
||||||
echo >&2 "clang 3.9 is required, but it's not installed.";
|
|
||||||
echo >&2 "make sure you build Unreal Engine with clang 3.9 too.";
|
|
||||||
exit 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
mkdir -p Util/Build
|
|
||||||
pushd Util/Build >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Get and compile libc++ ----------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
# Get libc++ source
|
|
||||||
if [[ ! -d "llvm-source" ]]; then
|
|
||||||
echo "Retrieving libc++..."
|
|
||||||
git clone --depth=1 -b release_39 https://github.com/llvm-mirror/llvm.git llvm-source
|
|
||||||
git clone --depth=1 -b release_39 https://github.com/llvm-mirror/libcxx.git llvm-source/projects/libcxx
|
|
||||||
git clone --depth=1 -b release_39 https://github.com/llvm-mirror/libcxxabi.git llvm-source/projects/libcxxabi
|
|
||||||
else
|
|
||||||
echo "Folder llvm-source already exists, skipping git clone..."
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Build libc++
|
|
||||||
rm -rf llvm-build
|
|
||||||
mkdir -p llvm-build
|
|
||||||
|
|
||||||
pushd llvm-build >/dev/null
|
|
||||||
|
|
||||||
export C_COMPILER=clang-3.9
|
|
||||||
export COMPILER=clang++-3.9
|
|
||||||
|
|
||||||
cmake -DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
|
|
||||||
-DLIBCXX_ENABLE_EXPERIMENTAL_LIBRARY=OFF -DLIBCXX_INSTALL_EXPERIMENTAL_LIBRARY=OFF \
|
|
||||||
-DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX="../llvm-install" \
|
|
||||||
../llvm-source
|
|
||||||
|
|
||||||
make -j $NUMBER_OF_ASYNC_JOBS cxx
|
|
||||||
|
|
||||||
#install libc++ locally in llvm-install folder
|
|
||||||
make -j $NUMBER_OF_ASYNC_JOBS install-libcxx install-libcxxabi
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Get Boost and compile it with libc++ --------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
# Get boost source
|
|
||||||
if [[ ! -d "boost-source" ]]; then
|
|
||||||
echo "Retrieving boost..."
|
|
||||||
wget https://dl.bintray.com/boostorg/release/1.64.0/source/boost_1_64_0.tar.gz
|
|
||||||
tar -xvzf boost_1_64_0.tar.gz
|
|
||||||
rm boost_1_64_0.tar.gz
|
|
||||||
mv boost_1_64_0 boost-source
|
|
||||||
else
|
|
||||||
echo "Folder boost-source already exists, skipping download..."
|
|
||||||
fi
|
|
||||||
|
|
||||||
pushd boost-source >/dev/null
|
|
||||||
|
|
||||||
BOOST_TOOLSET="clang-3.9"
|
|
||||||
BOOST_CFLAGS="-fPIC -std=c++1y -stdlib=libc++ -I../llvm-install/include/c++/v1"
|
|
||||||
BOOST_LFLAGS="-stdlib=libc++ -L../llvm-install/lib"
|
|
||||||
|
|
||||||
./bootstrap.sh \
|
|
||||||
--with-toolset=clang \
|
|
||||||
--prefix=../boost-install \
|
|
||||||
--with-libraries=system
|
|
||||||
./b2 clean
|
|
||||||
./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j $NUMBER_OF_ASYNC_JOBS stage release
|
|
||||||
./b2 install toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j $NUMBER_OF_ASYNC_JOBS
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Get Protobuf and compile it with libc++ -----------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
# Get protobuf source
|
|
||||||
if [[ ! -d "protobuf-source" ]]; then
|
|
||||||
echo "Retrieving protobuf..."
|
|
||||||
git clone --depth=1 -b v3.3.0 --recurse-submodules https://github.com/google/protobuf.git protobuf-source
|
|
||||||
else
|
|
||||||
echo "Folder protobuf-source already exists, skipping git clone..."
|
|
||||||
fi
|
|
||||||
|
|
||||||
pushd protobuf-source >/dev/null
|
|
||||||
|
|
||||||
export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$PWD/../llvm-install/lib/"
|
|
||||||
|
|
||||||
./autogen.sh
|
|
||||||
./configure \
|
|
||||||
CC="clang-3.9" \
|
|
||||||
CXX="clang++-3.9" \
|
|
||||||
CXXFLAGS="-fPIC -stdlib=libc++ -I$PWD/../llvm-install/include/c++/v1" \
|
|
||||||
LDFLAGS="-stdlib=libc++ -L$PWD/../llvm-install/lib/" \
|
|
||||||
--prefix="$PWD/../protobuf-install" \
|
|
||||||
--disable-shared
|
|
||||||
make -j $NUMBER_OF_ASYNC_JOBS
|
|
||||||
make -j $NUMBER_OF_ASYNC_JOBS install
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Get GTest and compile it with libc++ --------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
# Get googletest source
|
|
||||||
if [[ ! -d "googletest-source" ]]; then
|
|
||||||
echo "Retrieving googletest..."
|
|
||||||
git clone --depth=1 -b release-1.8.0 https://github.com/google/googletest.git googletest-source
|
|
||||||
else
|
|
||||||
echo "Folder googletest-source already exists, skipping git clone..."
|
|
||||||
fi
|
|
||||||
|
|
||||||
pushd googletest-source >/dev/null
|
|
||||||
|
|
||||||
cmake -H. -B./build \
|
|
||||||
-DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
|
|
||||||
-DCMAKE_CXX_FLAGS="-stdlib=libc++ -I$PWD/../llvm-install/include/c++/v1 -Wl,-L$PWD/../llvm-install/lib" \
|
|
||||||
-DCMAKE_INSTALL_PREFIX="../googletest-install" \
|
|
||||||
-G "Ninja"
|
|
||||||
|
|
||||||
pushd build >/dev/null
|
|
||||||
ninja
|
|
||||||
ninja install
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Other CARLA files ---------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
CARLA_SETTINGS_FILE="./Unreal/CarlaUE4/Config/CarlaSettings.ini"
|
|
||||||
|
|
||||||
if [[ ! -f $CARLA_SETTINGS_FILE ]]; then
|
|
||||||
echo "Copying CarlaSettings.ini..."
|
|
||||||
sed -e 's/UseNetworking=true/UseNetworking=false/' ./Docs/Example.CarlaSettings.ini > $CARLA_SETTINGS_FILE
|
|
||||||
fi
|
|
||||||
|
|
||||||
./Util/Protoc.sh
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Update CARLA Content ------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
echo
|
|
||||||
./Update.sh $UPDATE_SCRIPT_FLAGS
|
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- ...and we are done --------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
||||||
set +x
|
|
||||||
echo ""
|
|
||||||
echo "****************"
|
|
||||||
echo "*** Success! ***"
|
|
||||||
echo "****************"
|
|
||||||
|
|
@ -7,6 +7,7 @@ Saved
|
||||||
Plugins/Carla/Binaries
|
Plugins/Carla/Binaries
|
||||||
Plugins/Carla/Build
|
Plugins/Carla/Build
|
||||||
Plugins/Carla/CarlaServer
|
Plugins/Carla/CarlaServer
|
||||||
|
Plugins/Carla/CarlaDependencies
|
||||||
Plugins/Carla/Debug
|
Plugins/Carla/Debug
|
||||||
Plugins/Carla/DerivedDataCache
|
Plugins/Carla/DerivedDataCache
|
||||||
Plugins/Carla/Intermediate
|
Plugins/Carla/Intermediate
|
||||||
|
|
|
||||||
|
|
@ -1,6 +1,6 @@
|
||||||
{
|
{
|
||||||
"FileVersion": 3,
|
"FileVersion": 3,
|
||||||
"EngineAssociation": "4.18",
|
"EngineAssociation": "4.19",
|
||||||
"Category": "",
|
"Category": "",
|
||||||
"Description": "",
|
"Description": "",
|
||||||
"Modules": [
|
"Modules": [
|
||||||
|
|
|
||||||
|
|
@ -3,7 +3,7 @@ ProjectID=675BF8694238308FA9368292CC440350
|
||||||
ProjectName=CARLA UE4
|
ProjectName=CARLA UE4
|
||||||
CompanyName=CVC
|
CompanyName=CVC
|
||||||
CopyrightNotice="Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>."
|
CopyrightNotice="Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>."
|
||||||
ProjectVersion=0.8.4
|
ProjectVersion=0.9.0
|
||||||
|
|
||||||
[/Script/UnrealEd.ProjectPackagingSettings]
|
[/Script/UnrealEd.ProjectPackagingSettings]
|
||||||
BuildConfiguration=PPBC_Development
|
BuildConfiguration=PPBC_Development
|
||||||
|
|
|
||||||
|
|
@ -1,7 +1,7 @@
|
||||||
{
|
{
|
||||||
"FileVersion": 3,
|
"FileVersion": 3,
|
||||||
"Version": 1,
|
"Version": 1,
|
||||||
"VersionName": "0.8.4",
|
"VersionName": "0.9.0",
|
||||||
"FriendlyName": "CARLA",
|
"FriendlyName": "CARLA",
|
||||||
"Description": "Open-source simulator for autonomous driving research.",
|
"Description": "Open-source simulator for autonomous driving research.",
|
||||||
"Category": "Science",
|
"Category": "Science",
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,6 @@
|
||||||
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
|
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
|
||||||
|
|
||||||
|
using System;
|
||||||
using System.IO;
|
using System.IO;
|
||||||
using UnrealBuildTool;
|
using UnrealBuildTool;
|
||||||
|
|
||||||
|
|
@ -78,17 +79,7 @@ public class Carla : ModuleRules
|
||||||
|
|
||||||
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
|
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
|
||||||
{
|
{
|
||||||
string CarlaServerInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaServer"));
|
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
|
||||||
|
|
||||||
string CarlaServerLib;
|
|
||||||
if (UseDebugLibs(Target))
|
|
||||||
{
|
|
||||||
CarlaServerLib = "carlaserverd";
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
CarlaServerLib = "carlaserver";
|
|
||||||
}
|
|
||||||
|
|
||||||
ADelegate GetLibName = (string BaseName) => {
|
ADelegate GetLibName = (string BaseName) => {
|
||||||
if (IsWindows(Target))
|
if (IsWindows(Target))
|
||||||
|
|
@ -104,23 +95,17 @@ public class Carla : ModuleRules
|
||||||
// Link dependencies.
|
// Link dependencies.
|
||||||
if (IsWindows(Target))
|
if (IsWindows(Target))
|
||||||
{
|
{
|
||||||
// Auto-links boost libraries in folder.
|
throw new NotImplementedException();
|
||||||
PublicLibraryPaths.Add(Path.Combine(CarlaServerInstallPath, "lib"));
|
|
||||||
|
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName("libprotobuf")));
|
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName(CarlaServerLib)));
|
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName("c++abi")));
|
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("c++abi")));
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName("boost_system")));
|
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName("protobuf")));
|
|
||||||
PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetLibName(CarlaServerLib)));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Include path.
|
// Include path.
|
||||||
string CarlaServerIncludePath = Path.Combine(CarlaServerInstallPath, "include");
|
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
|
||||||
PublicIncludePaths.Add(CarlaServerIncludePath);
|
PublicIncludePaths.Add(LibCarlaIncludePath);
|
||||||
PrivateIncludePaths.Add(CarlaServerIncludePath);
|
PrivateIncludePaths.Add(LibCarlaIncludePath);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -4,6 +4,8 @@
|
||||||
// This work is licensed under the terms of the MIT license.
|
// This work is licensed under the terms of the MIT license.
|
||||||
// For a copy, see <https://opensource.org/licenses/MIT>.
|
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||||
|
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
#include "Carla.h"
|
#include "Carla.h"
|
||||||
#include "CarlaEncoder.h"
|
#include "CarlaEncoder.h"
|
||||||
|
|
||||||
|
|
@ -221,3 +223,5 @@ void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
|
||||||
::Encode(Agent.GetBoundingBoxTransform(), Data.bounding_box.transform);
|
::Encode(Agent.GetBoundingBoxTransform(), Data.bounding_box.transform);
|
||||||
::Encode(Agent.GetBoundingBoxExtent() * TO_METERS, Data.bounding_box.extent);
|
::Encode(Agent.GetBoundingBoxExtent() * TO_METERS, Data.bounding_box.extent);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
|
||||||
|
|
@ -6,6 +6,8 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
#include "Agent/AgentComponentVisitor.h"
|
#include "Agent/AgentComponentVisitor.h"
|
||||||
|
|
||||||
#include "Sensor/SensorDataView.h"
|
#include "Sensor/SensorDataView.h"
|
||||||
|
|
@ -74,3 +76,5 @@ private:
|
||||||
|
|
||||||
carla_agent &Data;
|
carla_agent &Data;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
|
||||||
|
|
@ -9,12 +9,15 @@
|
||||||
|
|
||||||
#include "Server/CarlaEncoder.h"
|
#include "Server/CarlaEncoder.h"
|
||||||
|
|
||||||
#include <carla/carla_server.h>
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
# include <carla/carla_server.h>
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
// =============================================================================
|
// =============================================================================
|
||||||
// -- Static local methods -----------------------------------------------------
|
// -- Static local methods -----------------------------------------------------
|
||||||
// =============================================================================
|
// =============================================================================
|
||||||
|
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
static FCarlaServer::ErrorCode ParseErrorCode(const uint32 ErrorCode)
|
static FCarlaServer::ErrorCode ParseErrorCode(const uint32 ErrorCode)
|
||||||
{
|
{
|
||||||
if (ErrorCode == CARLA_SERVER_SUCCESS) {
|
if (ErrorCode == CARLA_SERVER_SUCCESS) {
|
||||||
|
|
@ -25,6 +28,7 @@ static FCarlaServer::ErrorCode ParseErrorCode(const uint32 ErrorCode)
|
||||||
return FCarlaServer::Error;
|
return FCarlaServer::Error;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
static int32 GetTimeOut(uint32 TimeOut, const bool bBlocking)
|
static int32 GetTimeOut(uint32 TimeOut, const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
|
@ -38,7 +42,12 @@ static int32 GetTimeOut(uint32 TimeOut, const bool bBlocking)
|
||||||
FCarlaServer::FCarlaServer(const uint32 InWorldPort, const uint32 InTimeOut) :
|
FCarlaServer::FCarlaServer(const uint32 InWorldPort, const uint32 InTimeOut) :
|
||||||
WorldPort(InWorldPort),
|
WorldPort(InWorldPort),
|
||||||
TimeOut(InTimeOut),
|
TimeOut(InTimeOut),
|
||||||
Server(carla_make_server()) {
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
Server(carla_make_server())
|
||||||
|
#else
|
||||||
|
Server(nullptr)
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
{
|
||||||
check(Server != nullptr);
|
check(Server != nullptr);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -47,17 +56,26 @@ FCarlaServer::~FCarlaServer()
|
||||||
#ifdef CARLA_SERVER_EXTRA_LOG
|
#ifdef CARLA_SERVER_EXTRA_LOG
|
||||||
UE_LOG(LogCarlaServer, Warning, TEXT("Destroying CarlaServer"));
|
UE_LOG(LogCarlaServer, Warning, TEXT("Destroying CarlaServer"));
|
||||||
#endif // CARLA_SERVER_EXTRA_LOG
|
#endif // CARLA_SERVER_EXTRA_LOG
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
carla_free_server(Server);
|
carla_free_server(Server);
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::Connect()
|
FCarlaServer::ErrorCode FCarlaServer::Connect()
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Waiting for the client to connect..."));
|
UE_LOG(LogCarlaServer, Log, TEXT("Waiting for the client to connect..."));
|
||||||
return ParseErrorCode(carla_server_connect(Server, WorldPort, TimeOut));
|
return ParseErrorCode(carla_server_connect(Server, WorldPort, TimeOut));
|
||||||
|
#else
|
||||||
|
UE_LOG(LogCarlaServer, Error, TEXT("CarlaServer no longer supported!!"));
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const bool bBlocking)
|
FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
carla_request_new_episode values;
|
carla_request_new_episode values;
|
||||||
auto ec = ParseErrorCode(carla_read_request_new_episode(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
auto ec = ParseErrorCode(carla_read_request_new_episode(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
||||||
if (Success == ec) {
|
if (Success == ec) {
|
||||||
|
|
@ -68,6 +86,10 @@ FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const boo
|
||||||
#endif // CARLA_SERVER_EXTRA_LOG
|
#endif // CARLA_SERVER_EXTRA_LOG
|
||||||
}
|
}
|
||||||
return ec;
|
return ec;
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
|
FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
|
||||||
|
|
@ -76,6 +98,8 @@ FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
|
||||||
const TArray<USensorDescription *> &SensorDescriptions,
|
const TArray<USensorDescription *> &SensorDescriptions,
|
||||||
const bool bBlocking)
|
const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
carla_scene_description scene;
|
carla_scene_description scene;
|
||||||
// Encode map name.
|
// Encode map name.
|
||||||
const auto MapNameBuffer = FCarlaEncoder::Encode(MapName);
|
const auto MapNameBuffer = FCarlaEncoder::Encode(MapName);
|
||||||
|
|
@ -95,10 +119,16 @@ FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), scene.number_of_player_start_spots);
|
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), scene.number_of_player_start_spots);
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d sensor descriptions"), scene.number_of_sensors);
|
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d sensor descriptions"), scene.number_of_sensors);
|
||||||
return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
|
return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex, const bool bBlocking)
|
FCarlaServer::ErrorCode FCarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex, const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
carla_episode_start values;
|
carla_episode_start values;
|
||||||
auto ec = ParseErrorCode(carla_read_episode_start(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
auto ec = ParseErrorCode(carla_read_episode_start(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
||||||
if (Success == ec) {
|
if (Success == ec) {
|
||||||
|
|
@ -106,17 +136,29 @@ FCarlaServer::ErrorCode FCarlaServer::ReadEpisodeStart(uint32 &StartPositionInde
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Episode start received: { StartIndex = %d }"), StartPositionIndex);
|
UE_LOG(LogCarlaServer, Log, TEXT("Episode start received: { StartIndex = %d }"), StartPositionIndex);
|
||||||
}
|
}
|
||||||
return ec;
|
return ec;
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::SendEpisodeReady(const bool bBlocking)
|
FCarlaServer::ErrorCode FCarlaServer::SendEpisodeReady(const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Ready to play, notifying client"));
|
UE_LOG(LogCarlaServer, Log, TEXT("Ready to play, notifying client"));
|
||||||
const carla_episode_ready values = {true};
|
const carla_episode_ready values = {true};
|
||||||
return ParseErrorCode(carla_write_episode_ready(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
return ParseErrorCode(carla_write_episode_ready(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::ReadControl(FVehicleControl &Control, const bool bBlocking)
|
FCarlaServer::ErrorCode FCarlaServer::ReadControl(FVehicleControl &Control, const bool bBlocking)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
carla_control values;
|
carla_control values;
|
||||||
auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
|
||||||
if (Success == ec) {
|
if (Success == ec) {
|
||||||
|
|
@ -137,13 +179,23 @@ FCarlaServer::ErrorCode FCarlaServer::ReadControl(FVehicleControl &Control, cons
|
||||||
UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
|
UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
|
||||||
}
|
}
|
||||||
return ec;
|
return ec;
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::SendSensorData(const FSensorDataView &Data)
|
FCarlaServer::ErrorCode FCarlaServer::SendSensorData(const FSensorDataView &Data)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
carla_sensor_data values;
|
carla_sensor_data values;
|
||||||
FCarlaEncoder::Encode(Data, values);
|
FCarlaEncoder::Encode(Data, values);
|
||||||
return ParseErrorCode(carla_write_sensor_data(Server, values));
|
return ParseErrorCode(carla_write_sensor_data(Server, values));
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
||||||
FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
|
FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
|
||||||
|
|
@ -151,6 +203,8 @@ FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
|
||||||
const TArray<const UAgentComponent *> &Agents,
|
const TArray<const UAgentComponent *> &Agents,
|
||||||
const bool bSendNonPlayerAgentsInfo)
|
const bool bSendNonPlayerAgentsInfo)
|
||||||
{
|
{
|
||||||
|
#ifdef CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
|
|
||||||
// Encode measurements.
|
// Encode measurements.
|
||||||
carla_measurements values;
|
carla_measurements values;
|
||||||
FCarlaEncoder::Encode(PlayerState, values);
|
FCarlaEncoder::Encode(PlayerState, values);
|
||||||
|
|
@ -166,4 +220,8 @@ FCarlaServer::ErrorCode FCarlaServer::SendMeasurements(
|
||||||
UE_LOG(LogCarlaServer, Log, TEXT("Sending data of %d agents"), values.number_of_non_player_agents);
|
UE_LOG(LogCarlaServer, Log, TEXT("Sending data of %d agents"), values.number_of_non_player_agents);
|
||||||
#endif // CARLA_SERVER_EXTRA_LOG
|
#endif // CARLA_SERVER_EXTRA_LOG
|
||||||
return ParseErrorCode(carla_write_measurements(Server, values));
|
return ParseErrorCode(carla_write_measurements(Server, values));
|
||||||
|
|
||||||
|
#else
|
||||||
|
return ErrorCode::Error;
|
||||||
|
#endif // CARLA_COMPILE_CARLASERVER_LEGACY
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,91 @@
|
||||||
|
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||||
|
// de Barcelona (UAB).
|
||||||
|
//
|
||||||
|
// This work is licensed under the terms of the MIT license.
|
||||||
|
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||||
|
|
||||||
|
#include "Carla.h"
|
||||||
|
#include "Server.h"
|
||||||
|
|
||||||
|
#include <compiler/disable-ue4-macros.h>
|
||||||
|
#include <carla/Version.h>
|
||||||
|
#include <carla/rpc/Actor.h>
|
||||||
|
#include <carla/rpc/ActorBlueprint.h>
|
||||||
|
#include <carla/rpc/Server.h>
|
||||||
|
#include <carla/rpc/Transform.h>
|
||||||
|
#include <carla/rpc/VehicleControl.h>
|
||||||
|
#include <compiler/enable-ue4-macros.h>
|
||||||
|
|
||||||
|
static FVehicleControl MakeControl(const carla::rpc::VehicleControl &cControl)
|
||||||
|
{
|
||||||
|
FVehicleControl Control;
|
||||||
|
Control.Throttle = cControl.throttle;
|
||||||
|
Control.Steer = cControl.steer;
|
||||||
|
Control.Brake = cControl.brake;
|
||||||
|
Control.bHandBrake = cControl.hand_brake;
|
||||||
|
Control.bReverse = cControl.reverse;
|
||||||
|
return Control;
|
||||||
|
}
|
||||||
|
|
||||||
|
class FRPCServer::Pimpl
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Pimpl(uint16_t port) : Server(port) {}
|
||||||
|
carla::rpc::Server Server;
|
||||||
|
};
|
||||||
|
|
||||||
|
FRPCServer::FRPCServer() : _Pimpl(nullptr) {}
|
||||||
|
|
||||||
|
FRPCServer::~FRPCServer() {}
|
||||||
|
|
||||||
|
void FRPCServer::Initialize(AServer &Server, uint16_t Port)
|
||||||
|
{
|
||||||
|
UE_LOG(LogTemp, Error, TEXT("Initializing rpc-server at port %d"), Port);
|
||||||
|
|
||||||
|
_Pimpl = std::make_unique<Pimpl>(Port);
|
||||||
|
|
||||||
|
namespace cr = carla::rpc;
|
||||||
|
|
||||||
|
auto &srv = _Pimpl->Server;
|
||||||
|
|
||||||
|
srv.BindAsync("ping", []() { return true; });
|
||||||
|
|
||||||
|
srv.BindAsync("version", []() { return std::string(carla::version()); });
|
||||||
|
|
||||||
|
srv.BindAsync("get_blueprints", []() {
|
||||||
|
return std::vector<cr::ActorBlueprint>{
|
||||||
|
cr::ActorBlueprint{"vehicle.mustang.red"},
|
||||||
|
cr::ActorBlueprint{"vehicle.mustang.also_red"},
|
||||||
|
cr::ActorBlueprint{"vehicle.mustang.still_red"}
|
||||||
|
};
|
||||||
|
});
|
||||||
|
|
||||||
|
srv.BindSync("spawn_actor", [&](
|
||||||
|
const cr::ActorBlueprint &blueprint,
|
||||||
|
const cr::Transform &transform) {
|
||||||
|
auto id = Server.SpawnAgent(transform);
|
||||||
|
return cr::Actor{static_cast<cr::Actor::id_type>(id), blueprint};
|
||||||
|
});
|
||||||
|
|
||||||
|
srv.BindSync("apply_control_to_actor", [&](
|
||||||
|
const cr::Actor &actor,
|
||||||
|
const cr::VehicleControl &control) {
|
||||||
|
Server.ApplyControl(actor.id, MakeControl(control));
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
void FRPCServer::Run()
|
||||||
|
{
|
||||||
|
_Pimpl->Server.AsyncRun(4);
|
||||||
|
}
|
||||||
|
|
||||||
|
void FRPCServer::RunSome()
|
||||||
|
{
|
||||||
|
using namespace std::chrono_literals;
|
||||||
|
_Pimpl->Server.SyncRunFor(20ms);
|
||||||
|
}
|
||||||
|
|
||||||
|
void FRPCServer::Stop()
|
||||||
|
{
|
||||||
|
_Pimpl->Server.Stop();
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,35 @@
|
||||||
|
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||||
|
// de Barcelona (UAB).
|
||||||
|
//
|
||||||
|
// This work is licensed under the terms of the MIT license.
|
||||||
|
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "CoreMinimal.h"
|
||||||
|
|
||||||
|
#include <memory>
|
||||||
|
|
||||||
|
class AServer;
|
||||||
|
|
||||||
|
class FRPCServer
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
FRPCServer();
|
||||||
|
|
||||||
|
~FRPCServer();
|
||||||
|
|
||||||
|
void Initialize(AServer &Server, uint16_t Port = 8080u);
|
||||||
|
|
||||||
|
void Run();
|
||||||
|
|
||||||
|
void RunSome();
|
||||||
|
|
||||||
|
void Stop();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
class Pimpl;
|
||||||
|
std::unique_ptr<Pimpl> _Pimpl;
|
||||||
|
};
|
||||||
|
|
@ -0,0 +1,72 @@
|
||||||
|
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||||
|
// de Barcelona (UAB).
|
||||||
|
//
|
||||||
|
// This work is licensed under the terms of the MIT license.
|
||||||
|
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||||
|
|
||||||
|
#include "Carla.h"
|
||||||
|
#include "Server.h"
|
||||||
|
|
||||||
|
|
||||||
|
// Sets default values
|
||||||
|
AServer::AServer()
|
||||||
|
{
|
||||||
|
// Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
|
||||||
|
PrimaryActorTick.bCanEverTick = true;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
// Called when the game starts or when spawned
|
||||||
|
void AServer::BeginPlay()
|
||||||
|
{
|
||||||
|
Super::BeginPlay();
|
||||||
|
|
||||||
|
_Server.Initialize(*this);
|
||||||
|
_Server.Run();
|
||||||
|
}
|
||||||
|
|
||||||
|
void AServer::EndPlay(EEndPlayReason::Type EndPlayReason)
|
||||||
|
{
|
||||||
|
_Server.Stop();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Called every frame
|
||||||
|
void AServer::Tick(float DeltaTime)
|
||||||
|
{
|
||||||
|
Super::Tick(DeltaTime);
|
||||||
|
|
||||||
|
_Server.RunSome();
|
||||||
|
}
|
||||||
|
|
||||||
|
int32 AServer::SpawnAgent(const FTransform &Transform)
|
||||||
|
{
|
||||||
|
check(IsInGameThread());
|
||||||
|
UE_LOG(LogTemp, Warning, TEXT("Spawning vehicle at %s"), *Transform.ToString());
|
||||||
|
|
||||||
|
static int32 COUNT = 0u;
|
||||||
|
++COUNT;
|
||||||
|
|
||||||
|
ACarlaWheeledVehicle *Vehicle;
|
||||||
|
SpawnVehicle(Transform, Vehicle);
|
||||||
|
if ((Vehicle != nullptr) && !Vehicle->IsPendingKill())
|
||||||
|
{
|
||||||
|
// Vehicle->AIControllerClass = AWheeledVehicleAIController::StaticClass();
|
||||||
|
Vehicle->SpawnDefaultController();
|
||||||
|
_Agents.Add(COUNT, Vehicle);
|
||||||
|
return COUNT;
|
||||||
|
}
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool AServer::ApplyControl(int32 AgentId, const FVehicleControl &Control)
|
||||||
|
{
|
||||||
|
UE_LOG(LogTemp, Log, TEXT("Applying control to vehicle %d: throttle = %f, steer = %f"), AgentId, Control.Throttle, Control.Steer);
|
||||||
|
if (!_Agents.Contains(AgentId))
|
||||||
|
{
|
||||||
|
UE_LOG(LogTemp, Error, TEXT("Vehicle %d does not exist!"), AgentId);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
auto *Vehicle = _Agents[AgentId];
|
||||||
|
Vehicle->ApplyVehicleControl(Control);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,52 @@
|
||||||
|
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
|
||||||
|
// de Barcelona (UAB).
|
||||||
|
//
|
||||||
|
// This work is licensed under the terms of the MIT license.
|
||||||
|
// For a copy, see <https://opensource.org/licenses/MIT>.
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "Vehicle/CarlaWheeledVehicle.h"
|
||||||
|
#include "CoreMinimal.h"
|
||||||
|
#include "GameFramework/Actor.h"
|
||||||
|
#include "RPCServer.h"
|
||||||
|
#include "Vehicle/VehicleControl.h"
|
||||||
|
#include <future>
|
||||||
|
#include <mutex>
|
||||||
|
#include <queue>
|
||||||
|
#include "Server.generated.h"
|
||||||
|
|
||||||
|
UCLASS()
|
||||||
|
class CARLA_API AServer : public AActor
|
||||||
|
{
|
||||||
|
GENERATED_BODY()
|
||||||
|
|
||||||
|
public:
|
||||||
|
// Sets default values for this actor's properties
|
||||||
|
AServer();
|
||||||
|
|
||||||
|
protected:
|
||||||
|
// Called when the game starts or when spawned
|
||||||
|
virtual void BeginPlay() override;
|
||||||
|
virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
|
||||||
|
|
||||||
|
public:
|
||||||
|
// Called every frame
|
||||||
|
virtual void Tick(float DeltaTime) override;
|
||||||
|
|
||||||
|
UFUNCTION(BlueprintCallable)
|
||||||
|
int32 SpawnAgent(const FTransform &Transform);
|
||||||
|
|
||||||
|
UFUNCTION(BlueprintCallable)
|
||||||
|
bool ApplyControl(int32 AgentId, const FVehicleControl &Control);
|
||||||
|
|
||||||
|
UFUNCTION(BlueprintImplementableEvent)
|
||||||
|
void SpawnVehicle(const FTransform &SpawnTransform, ACarlaWheeledVehicle *&SpawnedCharacter);
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
FRPCServer _Server;
|
||||||
|
|
||||||
|
UPROPERTY(VisibleAnywhere)
|
||||||
|
TMap<uint32, ACarlaWheeledVehicle *> _Agents;
|
||||||
|
};
|
||||||
|
|
@ -155,7 +155,7 @@ AWalkerAIController::AWalkerAIController(const FObjectInitializer& ObjectInitial
|
||||||
SightConfiguration->DetectionByAffiliation.bDetectEnemies = true;
|
SightConfiguration->DetectionByAffiliation.bDetectEnemies = true;
|
||||||
SightConfiguration->DetectionByAffiliation.bDetectNeutrals = true;
|
SightConfiguration->DetectionByAffiliation.bDetectNeutrals = true;
|
||||||
SightConfiguration->DetectionByAffiliation.bDetectFriendlies = true;
|
SightConfiguration->DetectionByAffiliation.bDetectFriendlies = true;
|
||||||
|
|
||||||
Perception->ConfigureSense(*SightConfiguration);
|
Perception->ConfigureSense(*SightConfiguration);
|
||||||
Perception->SetDominantSense(SightConfiguration->GetSenseImplementation());
|
Perception->SetDominantSense(SightConfiguration->GetSenseImplementation());
|
||||||
Perception->OnPerceptionUpdated.AddDynamic(this, &AWalkerAIController::SenseActors);
|
Perception->OnPerceptionUpdated.AddDynamic(this, &AWalkerAIController::SenseActors);
|
||||||
|
|
@ -163,7 +163,6 @@ AWalkerAIController::AWalkerAIController(const FObjectInitializer& ObjectInitial
|
||||||
TimeInState=0.0f;
|
TimeInState=0.0f;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void AWalkerAIController::Possess(APawn *aPawn)
|
void AWalkerAIController::Possess(APawn *aPawn)
|
||||||
{
|
{
|
||||||
Super::Possess(aPawn);
|
Super::Possess(aPawn);
|
||||||
|
|
@ -175,12 +174,12 @@ void AWalkerAIController::Tick(float DeltaSeconds)
|
||||||
{
|
{
|
||||||
Super::Tick(DeltaSeconds);
|
Super::Tick(DeltaSeconds);
|
||||||
TimeInState+=DeltaSeconds;
|
TimeInState+=DeltaSeconds;
|
||||||
if (Status != EWalkerStatus::RunOver)
|
if (Status != EWalkerStatus::RunOver)
|
||||||
{
|
{
|
||||||
switch (GetMoveStatus())
|
switch (GetMoveStatus())
|
||||||
{
|
{
|
||||||
default: break;
|
default: break;
|
||||||
case EPathFollowingStatus::Idle:
|
case EPathFollowingStatus::Idle:
|
||||||
//case EPathFollowingStatus::Waiting: //<-- incomplete path
|
//case EPathFollowingStatus::Waiting: //<-- incomplete path
|
||||||
LOG_AI_WALKER(Warning, "is stuck!");
|
LOG_AI_WALKER(Warning, "is stuck!");
|
||||||
ChangeStatus(EWalkerStatus::Stuck);
|
ChangeStatus(EWalkerStatus::Stuck);
|
||||||
|
|
@ -191,7 +190,7 @@ void AWalkerAIController::Tick(float DeltaSeconds)
|
||||||
TryResumeMovement();
|
TryResumeMovement();
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
|
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -208,7 +207,7 @@ FPathFollowingRequestResult AWalkerAIController::MoveTo(
|
||||||
|
|
||||||
;
|
;
|
||||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||||
|
|
||||||
ChangeStatus(EWalkerStatus::Moving);
|
ChangeStatus(EWalkerStatus::Moving);
|
||||||
return Super::MoveTo(MoveRequest, OutPath);
|
return Super::MoveTo(MoveRequest, OutPath);
|
||||||
}
|
}
|
||||||
|
|
@ -221,13 +220,12 @@ void AWalkerAIController::OnMoveCompleted(
|
||||||
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
||||||
UE_LOG(LogCarla, Log, TEXT("Walker %s completed move at (%s)"),
|
UE_LOG(LogCarla, Log, TEXT("Walker %s completed move at (%s)"),
|
||||||
*GetPawn()->GetName(),
|
*GetPawn()->GetName(),
|
||||||
*GetPawn()->GetActorLocation().ToString())
|
*GetPawn()->GetActorLocation().ToString());
|
||||||
;
|
|
||||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||||
ChangeStatus(EWalkerStatus::MoveCompleted);
|
ChangeStatus(EWalkerStatus::MoveCompleted);
|
||||||
}
|
}
|
||||||
|
|
||||||
void AWalkerAIController::SenseActors(TArray<AActor *> Actors)
|
void AWalkerAIController::SenseActors(const TArray<AActor *> &Actors)
|
||||||
{
|
{
|
||||||
const auto *aPawn = GetPawn();
|
const auto *aPawn = GetPawn();
|
||||||
if ((Status == EWalkerStatus::Moving) &&
|
if ((Status == EWalkerStatus::Moving) &&
|
||||||
|
|
|
||||||
|
|
@ -35,16 +35,17 @@ public:
|
||||||
|
|
||||||
virtual void Tick(float DeltaSeconds) override;
|
virtual void Tick(float DeltaSeconds) override;
|
||||||
|
|
||||||
|
|
||||||
virtual FPathFollowingRequestResult MoveTo(
|
virtual FPathFollowingRequestResult MoveTo(
|
||||||
const FAIMoveRequest& MoveRequest,
|
const FAIMoveRequest& MoveRequest,
|
||||||
FNavPathSharedPtr* OutPath = nullptr) override;
|
FNavPathSharedPtr* OutPath = nullptr) override;
|
||||||
|
|
||||||
virtual void OnMoveCompleted(FAIRequestID RequestID, const FPathFollowingResult &Result) override;
|
virtual void OnMoveCompleted(
|
||||||
|
FAIRequestID RequestID,
|
||||||
|
const FPathFollowingResult &Result) override;
|
||||||
|
|
||||||
UFUNCTION(BlueprintCallable)
|
UFUNCTION(BlueprintCallable)
|
||||||
void SenseActors(TArray<AActor *> Actors);
|
void SenseActors(const TArray<AActor *> &Actors);
|
||||||
|
|
||||||
EWalkerStatus GetWalkerStatus() const
|
EWalkerStatus GetWalkerStatus() const
|
||||||
{
|
{
|
||||||
|
|
@ -58,19 +59,27 @@ public:
|
||||||
float GetTimeInState() const { return TimeInState; }
|
float GetTimeInState() const { return TimeInState; }
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
|
||||||
void ChangeStatus(EWalkerStatus status);
|
void ChangeStatus(EWalkerStatus status);
|
||||||
|
|
||||||
void TryResumeMovement();
|
void TryResumeMovement();
|
||||||
|
|
||||||
void TryPauseMovement(bool bItWasRunOver = false);
|
void TryPauseMovement(bool bItWasRunOver = false);
|
||||||
|
|
||||||
UFUNCTION()
|
UFUNCTION()
|
||||||
void OnPawnTookDamage(AActor *DamagedActor, float Damage, const UDamageType *DamageType, AController *InstigatedBy, AActor *DamageCauser);
|
void OnPawnTookDamage(
|
||||||
|
AActor *DamagedActor,
|
||||||
|
float Damage,
|
||||||
|
const UDamageType *DamageType,
|
||||||
|
AController *InstigatedBy,
|
||||||
|
AActor *DamageCauser);
|
||||||
|
|
||||||
UPROPERTY(Category = "Walker AI Controller", VisibleAnywhere)
|
UPROPERTY(Category = "Walker AI Controller", VisibleAnywhere)
|
||||||
UAISenseConfig_Sight *SightConfiguration;
|
UAISenseConfig_Sight *SightConfiguration;
|
||||||
|
|
||||||
UPROPERTY(VisibleAnywhere)
|
UPROPERTY(VisibleAnywhere)
|
||||||
EWalkerStatus Status = EWalkerStatus::Unknown;
|
EWalkerStatus Status = EWalkerStatus::Unknown;
|
||||||
|
|
||||||
/** Continous time in the same EWalkerStatus */
|
/** Continous time in the same EWalkerStatus */
|
||||||
float TimeInState=0.0f;
|
float TimeInState=0.0f;
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,147 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Set up environment --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
if [ ! -d "${UE4_ROOT}" ]; then
|
||||||
|
fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
|
||||||
|
else
|
||||||
|
log "Using Unreal Engine at '$UE4_ROOT'"
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Build and launch CarlaUE4."
|
||||||
|
|
||||||
|
USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean]"
|
||||||
|
|
||||||
|
REMOVE_INTERMEDIATE=false
|
||||||
|
HARD_CLEAN=false
|
||||||
|
BUILD_CARLAUE4=false
|
||||||
|
LAUNCH_UE4_EDITOR=false
|
||||||
|
|
||||||
|
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean -n 'parse-options' -- "$@"`
|
||||||
|
|
||||||
|
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
||||||
|
|
||||||
|
eval set -- "$OPTS"
|
||||||
|
|
||||||
|
while true; do
|
||||||
|
case "$1" in
|
||||||
|
--build )
|
||||||
|
BUILD_CARLAUE4=true;
|
||||||
|
shift ;;
|
||||||
|
--rebuild )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
BUILD_CARLAUE4=true;
|
||||||
|
shift ;;
|
||||||
|
--launch )
|
||||||
|
LAUNCH_UE4_EDITOR=true;
|
||||||
|
shift ;;
|
||||||
|
--clean )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
shift ;;
|
||||||
|
--hard-clean )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
HARD_CLEAN=true;
|
||||||
|
shift ;;
|
||||||
|
-h | --help )
|
||||||
|
echo "$DOC_STRING"
|
||||||
|
echo "$USAGE_STRING"
|
||||||
|
exit 1
|
||||||
|
;;
|
||||||
|
* )
|
||||||
|
break ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_CARLAUE4} || ${LAUNCH_UE4_EDITOR}; }; then
|
||||||
|
fatal_error "Nothing selected to be done."
|
||||||
|
fi
|
||||||
|
|
||||||
|
pushd "${CARLAUE4_ROOT_FOLDER}" >/dev/null
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Clean CarlaUE4 ------------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${REMOVE_INTERMEDIATE} ; then
|
||||||
|
|
||||||
|
log "Cleaning intermediate files and folders."
|
||||||
|
|
||||||
|
UE4_INTERMEDIATE_FOLDERS="Binaries Build Intermediate DerivedDataCache"
|
||||||
|
|
||||||
|
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
|
||||||
|
|
||||||
|
pushd "${CARLAUE4_PLUGIN_ROOT_FOLDER}" >/dev/null
|
||||||
|
|
||||||
|
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${HARD_CLEAN} ; then
|
||||||
|
|
||||||
|
if [ ! -f Makefile ]; then
|
||||||
|
fatal_error "The project wasn't built before!"
|
||||||
|
fi
|
||||||
|
|
||||||
|
log "Doing a \"hard\" clean of the Unreal Engine project."
|
||||||
|
|
||||||
|
make CarlaUE4Editor ARGS=-clean
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${REMOVE_INTERMEDIATE} ; then
|
||||||
|
|
||||||
|
rm -f Makefile
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Build CarlaUE4 ------------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${BUILD_CARLAUE4} ; then
|
||||||
|
|
||||||
|
if [ ! -f Makefile ]; then
|
||||||
|
|
||||||
|
# This command fails sometimes but normally we can continue anyway.
|
||||||
|
set +e
|
||||||
|
log "Generate Unreal project files."
|
||||||
|
${UE4_ROOT}/GenerateProjectFiles.sh -project="${PWD}/CarlaUE4.uproject" -game -engine -makefiles
|
||||||
|
set -e
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
log "Build CarlaUE4 project."
|
||||||
|
make CarlaUE4Editor
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Launch UE4Editor ----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${LAUNCH_UE4_EDITOR} ; then
|
||||||
|
|
||||||
|
log "Launching UE4Editor..."
|
||||||
|
${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject"
|
||||||
|
|
||||||
|
else
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
@ -0,0 +1,131 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Build LibCarla."
|
||||||
|
|
||||||
|
USAGE_STRING="Usage: $0 [-h|--help] [--rebuild] [--server] [--client] [--clean]"
|
||||||
|
|
||||||
|
REMOVE_INTERMEDIATE=false
|
||||||
|
BUILD_SERVER=false
|
||||||
|
BUILD_CLIENT=false
|
||||||
|
|
||||||
|
OPTS=`getopt -o h --long help,rebuild,server,client,clean -n 'parse-options' -- "$@"`
|
||||||
|
|
||||||
|
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
||||||
|
|
||||||
|
eval set -- "$OPTS"
|
||||||
|
|
||||||
|
while true; do
|
||||||
|
case "$1" in
|
||||||
|
--rebuild )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
BUILD_SERVER=true;
|
||||||
|
BUILD_CLIENT=true;
|
||||||
|
shift ;;
|
||||||
|
--server )
|
||||||
|
BUILD_SERVER=true;
|
||||||
|
shift ;;
|
||||||
|
--client )
|
||||||
|
BUILD_CLIENT=true;
|
||||||
|
shift ;;
|
||||||
|
--clean )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
shift ;;
|
||||||
|
-h | --help )
|
||||||
|
echo "$DOC_STRING"
|
||||||
|
echo "$USAGE_STRING"
|
||||||
|
exit 1
|
||||||
|
;;
|
||||||
|
* )
|
||||||
|
break ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_SERVER} || ${BUILD_CLIENT}; }; then
|
||||||
|
fatal_error "Nothing selected to be done."
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Clean intermediate files --------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${REMOVE_INTERMEDIATE} ; then
|
||||||
|
|
||||||
|
log "Cleaning intermediate files and folders."
|
||||||
|
|
||||||
|
rm -Rf ${LIBCARLA_BUILD_SERVER_FOLDER} ${LIBCARLA_BUILD_CLIENT_FOLDER}
|
||||||
|
rm -Rf ${LIBCARLA_INSTALL_SERVER_FOLDER} ${LIBCARLA_INSTALL_CLIENT_FOLDER}
|
||||||
|
rm -f ${LIBCARLA_ROOT_FOLDER}/source/carla/Version.h
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Build Server configuration ------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${BUILD_SERVER} ; then
|
||||||
|
|
||||||
|
log "Building LibCarla \"Server\" configuration."
|
||||||
|
|
||||||
|
mkdir -p ${LIBCARLA_BUILD_SERVER_FOLDER}
|
||||||
|
pushd "${LIBCARLA_BUILD_SERVER_FOLDER}" >/dev/null
|
||||||
|
|
||||||
|
if [ ! -f "build.ninja" ]; then
|
||||||
|
|
||||||
|
cmake \
|
||||||
|
-G "Ninja" \
|
||||||
|
-DCMAKE_BUILD_TYPE=Server \
|
||||||
|
-DCMAKE_TOOLCHAIN_FILE=${LIBCPP_TOOLCHAIN_FILE} \
|
||||||
|
-DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
|
||||||
|
${CARLA_ROOT_FOLDER}
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install | grep -v "Up-to-date:"
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Build Client configuration ------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${BUILD_CLIENT} ; then
|
||||||
|
|
||||||
|
log "Building LibCarla \"Client\" configuration."
|
||||||
|
|
||||||
|
mkdir -p ${LIBCARLA_BUILD_CLIENT_FOLDER}
|
||||||
|
pushd "${LIBCARLA_BUILD_CLIENT_FOLDER}" >/dev/null
|
||||||
|
|
||||||
|
if [ ! -f "build.ninja" ]; then
|
||||||
|
|
||||||
|
cmake \
|
||||||
|
-G "Ninja" \
|
||||||
|
-DCMAKE_BUILD_TYPE=Client \
|
||||||
|
-DCMAKE_TOOLCHAIN_FILE=${LIBSTDCPP_TOOLCHAIN_FILE} \
|
||||||
|
-DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_CLIENT_FOLDER} \
|
||||||
|
${CARLA_ROOT_FOLDER}
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install | grep -v "Up-to-date:"
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
@ -0,0 +1,99 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
export CC=clang-5.0
|
||||||
|
export CXX=clang++-5.0
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Build and package CARLA Python API."
|
||||||
|
|
||||||
|
USAGE_STRING="Usage: $0 [-h|--help] [--rebuild] [--py2] [--py3] [--clean]"
|
||||||
|
|
||||||
|
REMOVE_INTERMEDIATE=false
|
||||||
|
BUILD_FOR_PYTHON2=false
|
||||||
|
BUILD_FOR_PYTHON3=false
|
||||||
|
|
||||||
|
OPTS=`getopt -o h --long help,rebuild,py2,py3,clean -n 'parse-options' -- "$@"`
|
||||||
|
|
||||||
|
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
||||||
|
|
||||||
|
eval set -- "$OPTS"
|
||||||
|
|
||||||
|
while true; do
|
||||||
|
case "$1" in
|
||||||
|
--rebuild )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
BUILD_FOR_PYTHON2=true;
|
||||||
|
BUILD_FOR_PYTHON3=true;
|
||||||
|
shift ;;
|
||||||
|
--py2 )
|
||||||
|
BUILD_FOR_PYTHON2=true;
|
||||||
|
shift ;;
|
||||||
|
--py3 )
|
||||||
|
BUILD_FOR_PYTHON3=true;
|
||||||
|
shift ;;
|
||||||
|
--clean )
|
||||||
|
REMOVE_INTERMEDIATE=true;
|
||||||
|
shift ;;
|
||||||
|
-h | --help )
|
||||||
|
echo "$DOC_STRING"
|
||||||
|
echo "$USAGE_STRING"
|
||||||
|
exit 1
|
||||||
|
;;
|
||||||
|
* )
|
||||||
|
break ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_FOR_PYTHON2} || ${BUILD_FOR_PYTHON3}; }; then
|
||||||
|
fatal_error "Nothing selected to be done."
|
||||||
|
fi
|
||||||
|
|
||||||
|
pushd "${CARLA_PYTHONAPI_ROOT_FOLDER}" >/dev/null
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Clean intermediate files --------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${REMOVE_INTERMEDIATE} ; then
|
||||||
|
|
||||||
|
log "Cleaning intermediate files and folders."
|
||||||
|
|
||||||
|
rm -Rf build dist carla.egg-info source/carla.egg-info
|
||||||
|
|
||||||
|
find source -name "*.so" -delete
|
||||||
|
find source -name "__pycache__" -type d -exec rm -r "{}" \;
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Build API -----------------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${BUILD_FOR_PYTHON2} ; then
|
||||||
|
|
||||||
|
log "Building Python API for Python 2."
|
||||||
|
|
||||||
|
/usr/bin/env python2 setup.py bdist_egg
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${BUILD_FOR_PYTHON3} ; then
|
||||||
|
|
||||||
|
log "Building Python API for Python 3."
|
||||||
|
|
||||||
|
/usr/bin/env python3 setup.py bdist_egg
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
@ -0,0 +1,131 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Run unit tests."
|
||||||
|
|
||||||
|
USAGE_STRING=$(cat <<- END
|
||||||
|
Usage: $0 [-h|--help] [--gdb] [--gtest_args=ARGS]
|
||||||
|
|
||||||
|
Then either ran all the tests
|
||||||
|
|
||||||
|
[--all]
|
||||||
|
|
||||||
|
Or choose one or more of the following
|
||||||
|
|
||||||
|
[--libcarla-release] [--libcarla-debug]
|
||||||
|
[--python-api-2] [--python-api-3]
|
||||||
|
[--benchmark]
|
||||||
|
END
|
||||||
|
)
|
||||||
|
|
||||||
|
GDB=
|
||||||
|
GTEST_ARGS=
|
||||||
|
LIBCARLA_RELEASE=false
|
||||||
|
LIBCARLA_DEBUG=false
|
||||||
|
PYTHON_API_2=false
|
||||||
|
PYTHON_API_3=false
|
||||||
|
|
||||||
|
OPTS=`getopt -o h --long help,gdb,gtest_args:,all,libcarla-release,libcarla-debug,python-api-2,python-api-3,benchmark -n 'parse-options' -- "$@"`
|
||||||
|
|
||||||
|
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
||||||
|
|
||||||
|
eval set -- "$OPTS"
|
||||||
|
|
||||||
|
while true; do
|
||||||
|
case "$1" in
|
||||||
|
--gdb )
|
||||||
|
GDB="gdb --args";
|
||||||
|
shift ;;
|
||||||
|
--gtest_args )
|
||||||
|
GTEST_ARGS="$2";
|
||||||
|
shift ;;
|
||||||
|
--all )
|
||||||
|
LIBCARLA_RELEASE=true;
|
||||||
|
LIBCARLA_DEBUG=true;
|
||||||
|
PYTHON_API_2=true;
|
||||||
|
PYTHON_API_3=true;
|
||||||
|
shift ;;
|
||||||
|
--libcarla-release )
|
||||||
|
LIBCARLA_RELEASE=true;
|
||||||
|
shift ;;
|
||||||
|
--libcarla-debug )
|
||||||
|
LIBCARLA_DEBUG=true;
|
||||||
|
shift ;;
|
||||||
|
--python-api-2 )
|
||||||
|
PYTHON_API_2=true;
|
||||||
|
shift ;;
|
||||||
|
--python-api-3 )
|
||||||
|
PYTHON_API_3=true;
|
||||||
|
shift ;;
|
||||||
|
--benchmark )
|
||||||
|
LIBCARLA_RELEASE=true;
|
||||||
|
GTEST_ARGS="--gtest_filter=benchmark*";
|
||||||
|
shift ;;
|
||||||
|
-h | --help )
|
||||||
|
echo "$DOC_STRING"
|
||||||
|
echo -e "$USAGE_STRING"
|
||||||
|
exit 1
|
||||||
|
;;
|
||||||
|
* )
|
||||||
|
break ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
if ! { ${LIBCARLA_RELEASE} || ${LIBCARLA_DEBUG} || ${PYTHON_API_2} || ${PYTHON_API_3}; }; then
|
||||||
|
fatal_error "Nothing selected to be done."
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Run LibCarla tests --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
if ${LIBCARLA_DEBUG} ; then
|
||||||
|
|
||||||
|
log "Running LibCarla unit tests debug."
|
||||||
|
|
||||||
|
LD_LIBRARY_PATH=${LIBCARLA_INSTALL_SERVER_FOLDER}/lib ${GDB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/test/libcarla_test_debug ${GTEST_ARGS}
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${LIBCARLA_RELEASE} ; then
|
||||||
|
|
||||||
|
log "Running LibCarla unit tests release."
|
||||||
|
|
||||||
|
LD_LIBRARY_PATH=${LIBCARLA_INSTALL_SERVER_FOLDER}/lib ${GDB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/test/libcarla_test_release ${GTEST_ARGS}
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Run Python API tests ------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
pushd "${CARLA_PYTHONAPI_ROOT_FOLDER}/test" >/dev/null
|
||||||
|
|
||||||
|
if ${PYTHON_API_2} ; then
|
||||||
|
|
||||||
|
log "Running Python API for Python 2 unit tests."
|
||||||
|
|
||||||
|
/usr/bin/env python2 -m nose2
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${PYTHON_API_3} ; then
|
||||||
|
|
||||||
|
log "Running Python API for Python 3 unit tests."
|
||||||
|
|
||||||
|
/usr/bin/env python3 -m nose2
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
@ -0,0 +1,47 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
# Sets the environment for other shell scripts.
|
||||||
|
|
||||||
|
set -e
|
||||||
|
|
||||||
|
CURDIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/../.." && pwd )"
|
||||||
|
source $(dirname "$0")/Vars.mk
|
||||||
|
unset CURDIR
|
||||||
|
|
||||||
|
if [ -n "${CARLA_BUILD_NO_COLOR}" ]; then
|
||||||
|
|
||||||
|
function log {
|
||||||
|
echo "`basename "$0"`: $1"
|
||||||
|
}
|
||||||
|
|
||||||
|
function fatal_error {
|
||||||
|
echo -e >&2 "`basename "$0"`: ERROR: $1"
|
||||||
|
exit 2
|
||||||
|
}
|
||||||
|
|
||||||
|
else
|
||||||
|
|
||||||
|
function log {
|
||||||
|
echo -e "\033[1;35m`basename "$0"`: $1\033[0m"
|
||||||
|
}
|
||||||
|
|
||||||
|
function fatal_error {
|
||||||
|
echo -e >&2 "\033[0;31m`basename "$0"`: ERROR: $1\033[0m"
|
||||||
|
exit 2
|
||||||
|
}
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
function get_carla_version {
|
||||||
|
git describe --tags --dirty --always
|
||||||
|
}
|
||||||
|
|
||||||
|
function copy_if_changed {
|
||||||
|
mkdir -p $(dirname $2)
|
||||||
|
rsync -cI --out-format="%n" $1 $2
|
||||||
|
}
|
||||||
|
|
||||||
|
function move_if_changed {
|
||||||
|
copy_if_changed $1 $2
|
||||||
|
rm -f $1
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,57 @@
|
||||||
|
ARGS=--all
|
||||||
|
|
||||||
|
default: help
|
||||||
|
|
||||||
|
help:
|
||||||
|
@less ${CARLA_BUILD_TOOLS_FOLDER}/Linux.mk.help
|
||||||
|
|
||||||
|
launch: LibCarla
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch
|
||||||
|
|
||||||
|
launch-only:
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --launch
|
||||||
|
|
||||||
|
package: CarlaUE4Editor PythonAPI
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/Package.sh
|
||||||
|
|
||||||
|
docs:
|
||||||
|
@doxygen
|
||||||
|
@echo "Documentation index at ./Doxygen/html/index.html"
|
||||||
|
|
||||||
|
clean:
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --clean
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --clean
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --clean
|
||||||
|
|
||||||
|
rebuild: setup
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --rebuild
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --rebuild
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --rebuild
|
||||||
|
|
||||||
|
hard-clean: clean
|
||||||
|
@rm -Rf ${CARLA_BUILD_FOLDER}
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --hard-clean
|
||||||
|
|
||||||
|
check: PythonAPI
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh $(ARGS)
|
||||||
|
|
||||||
|
benchmark: LibCarla
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --benchmark
|
||||||
|
@cat profiler.csv
|
||||||
|
|
||||||
|
CarlaUE4Editor: LibCarla
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build
|
||||||
|
|
||||||
|
.PHONY: PythonAPI
|
||||||
|
PythonAPI: LibCarla
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.sh --py2 --py3
|
||||||
|
|
||||||
|
.PHONY: LibCarla
|
||||||
|
LibCarla: setup
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.sh --server --client
|
||||||
|
|
||||||
|
setup:
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh
|
||||||
|
|
||||||
|
pretty:
|
||||||
|
@${CARLA_BUILD_TOOLS_FOLDER}/Prettify.sh $(ARGS)
|
||||||
|
|
@ -0,0 +1,77 @@
|
||||||
|
Welcome to CARLA Simulator!
|
||||||
|
===========================
|
||||||
|
|
||||||
|
This Makefile will help you building the different CARLA utilities.
|
||||||
|
|
||||||
|
Use the following commands:
|
||||||
|
|
||||||
|
help:
|
||||||
|
|
||||||
|
Display this help message.
|
||||||
|
|
||||||
|
launch:
|
||||||
|
|
||||||
|
Compile CarlaUE4 project and launch it in Unreal Engine's Editor.
|
||||||
|
|
||||||
|
launch-only:
|
||||||
|
|
||||||
|
Launch CarlaUE4 project in Unreal Engine's Editor, but skip building
|
||||||
|
step (assume the project is already built).
|
||||||
|
|
||||||
|
package:
|
||||||
|
|
||||||
|
Makes a packaged version of CARLA ready for distribution.
|
||||||
|
|
||||||
|
docs:
|
||||||
|
|
||||||
|
Build CARLA Doxygen documentation.
|
||||||
|
|
||||||
|
clean:
|
||||||
|
|
||||||
|
Remove intermediate build files.
|
||||||
|
|
||||||
|
rebuild:
|
||||||
|
|
||||||
|
Remove intermediate build files and rebuild the whole project.
|
||||||
|
|
||||||
|
hard-clean:
|
||||||
|
|
||||||
|
Remove intermediate build files and dependencies, and force a
|
||||||
|
recompilation of Unreal Engine's pre-compiled headers. Useful for
|
||||||
|
fixing "version.h has been modified since the precompiled header"
|
||||||
|
errors. Beware, recompilation takes a long time!
|
||||||
|
|
||||||
|
|
||||||
|
There are also some lower level commands for building individual modules helpful
|
||||||
|
for developers:
|
||||||
|
|
||||||
|
check:
|
||||||
|
|
||||||
|
Run unit test suites for LibCarla and PythonAPI.
|
||||||
|
|
||||||
|
benchmark:
|
||||||
|
|
||||||
|
Run the benchmark tests for LibCarla.
|
||||||
|
|
||||||
|
CarlaUE4Editor:
|
||||||
|
|
||||||
|
Build CarlaUE4 project, but do not launch the editor.
|
||||||
|
|
||||||
|
PythonAPI:
|
||||||
|
|
||||||
|
Build and package the Python API module for Python 2 and 3.
|
||||||
|
|
||||||
|
LibCarla:
|
||||||
|
|
||||||
|
Build the LibCarla library, both "Server" and "Client" configurations.
|
||||||
|
|
||||||
|
setup:
|
||||||
|
|
||||||
|
Run the setup step only.
|
||||||
|
|
||||||
|
pretty:
|
||||||
|
|
||||||
|
Prettify code files. Run uncrustify on C++ files or AutoPEP8 on Python
|
||||||
|
files. To prettify a single file, use: make pretty ARGS=-f/path/to/file.
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,20 +1,15 @@
|
||||||
#! /bin/bash
|
#! /bin/bash
|
||||||
|
|
||||||
################################################################################
|
source $(dirname "$0")/Environment.sh
|
||||||
# Packages a CARLA build.
|
|
||||||
################################################################################
|
|
||||||
|
|
||||||
set -e
|
|
||||||
|
|
||||||
DOC_STRING="Makes a packaged version of CARLA for distribution.
|
|
||||||
Please make sure to run Rebuild.sh before!"
|
|
||||||
|
|
||||||
USAGE_STRING="Usage: $0 [-h|--help] [--no-packaging] [--no-zip] [--clean-intermediate]"
|
|
||||||
|
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
# -- Parse arguments -----------------------------------------------------------
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Makes a packaged version of CARLA for distribution."
|
||||||
|
|
||||||
|
USAGE_STRING="Usage: $0 [-h|--help] [--no-packaging] [--no-zip] [--clean-intermediate]"
|
||||||
|
|
||||||
DO_PACKAGE=true
|
DO_PACKAGE=true
|
||||||
DO_COPY_FILES=true
|
DO_COPY_FILES=true
|
||||||
DO_TARBALL=true
|
DO_TARBALL=true
|
||||||
|
|
@ -47,39 +42,21 @@ while true; do
|
||||||
esac
|
esac
|
||||||
done
|
done
|
||||||
|
|
||||||
# ==============================================================================
|
|
||||||
# -- Set up environment --------------------------------------------------------
|
|
||||||
# ==============================================================================
|
|
||||||
|
|
||||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
|
||||||
pushd "$SCRIPT_DIR" >/dev/null
|
|
||||||
|
|
||||||
REPOSITORY_TAG=`git describe --tags --dirty --always`
|
|
||||||
|
|
||||||
echo "Packaging version '$REPOSITORY_TAG'."
|
|
||||||
|
|
||||||
UNREAL_PROJECT_FOLDER=${PWD}/Unreal/CarlaUE4
|
|
||||||
DIST_FOLDER=${PWD}/Dist
|
|
||||||
BUILD_FOLDER=${DIST_FOLDER}/${REPOSITORY_TAG}
|
|
||||||
|
|
||||||
function fatal_error {
|
|
||||||
echo -e "\033[0;31mERROR: $1\033[0m"
|
|
||||||
exit 1
|
|
||||||
}
|
|
||||||
|
|
||||||
function log {
|
|
||||||
echo -e "\033[0;33m$1\033[0m"
|
|
||||||
}
|
|
||||||
|
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
# -- Package project -----------------------------------------------------------
|
# -- Package project -----------------------------------------------------------
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
|
|
||||||
|
REPOSITORY_TAG=$(get_carla_version)
|
||||||
|
|
||||||
|
BUILD_FOLDER=${CARLA_DIST_FOLDER}/${REPOSITORY_TAG}
|
||||||
|
|
||||||
|
log "Packaging version '$REPOSITORY_TAG'."
|
||||||
|
|
||||||
if $DO_PACKAGE ; then
|
if $DO_PACKAGE ; then
|
||||||
|
|
||||||
pushd "$UNREAL_PROJECT_FOLDER" >/dev/null
|
pushd "${CARLAUE4_ROOT_FOLDER}" >/dev/null
|
||||||
|
|
||||||
log "Packaging the project..."
|
log "Packaging the project."
|
||||||
|
|
||||||
if [ ! -d "${UE4_ROOT}" ]; then
|
if [ ! -d "${UE4_ROOT}" ]; then
|
||||||
fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
|
fatal_error "UE4_ROOT is not defined, or points to a non-existant directory, please set this environment variable."
|
||||||
|
|
@ -105,34 +82,25 @@ if [[ ! -d ${BUILD_FOLDER}/LinuxNoEditor ]] ; then
|
||||||
fi
|
fi
|
||||||
|
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
# -- Copy files (Python server, README, etc) -----------------------------------
|
# -- Copy files (Python API, README, etc) --------------------------------------
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
|
|
||||||
if $DO_COPY_FILES ; then
|
if $DO_COPY_FILES ; then
|
||||||
|
|
||||||
DESTINATION=${BUILD_FOLDER}/LinuxNoEditor
|
DESTINATION=${BUILD_FOLDER}/LinuxNoEditor
|
||||||
|
|
||||||
log "Copying extra files..."
|
log "Adding extra files to package."
|
||||||
|
|
||||||
cp -v ./LICENSE ${DESTINATION}/LICENSE
|
pushd ${CARLA_ROOT_FOLDER} >/dev/null
|
||||||
cp -v ./CHANGELOG.md ${DESTINATION}/CHANGELOG
|
|
||||||
cp -v ./Docs/release_readme.md ${DESTINATION}/README
|
|
||||||
cp -v ./Docs/Example.CarlaSettings.ini ${DESTINATION}/Example.CarlaSettings.ini
|
|
||||||
cp -v ./Util/Docker/Release.Dockerfile ${DESTINATION}/Dockerfile
|
|
||||||
|
|
||||||
rsync -vhr --delete --delete-excluded \
|
copy_if_changed "./LICENSE" "${DESTINATION}/LICENSE"
|
||||||
--exclude "*.egg-info" \
|
copy_if_changed "./CHANGELOG.md" "${DESTINATION}/CHANGELOG"
|
||||||
--exclude "*.log" \
|
copy_if_changed "./Docs/release_readme.md" "${DESTINATION}/README"
|
||||||
--exclude "*.pyc" \
|
copy_if_changed "./Docs/Example.CarlaSettings.ini" "${DESTINATION}/Example.CarlaSettings.ini"
|
||||||
--exclude ".*" \
|
copy_if_changed "./Util/Docker/Release.Dockerfile" "${DESTINATION}/Dockerfile"
|
||||||
--exclude ".tags*" \
|
copy_if_changed "./PythonAPI/dist/*.egg" "${DESTINATION}/PythonAPI"
|
||||||
--exclude "__pycache__" \
|
|
||||||
--exclude "_benchmarks_results*" \
|
|
||||||
--exclude "_images*" \
|
|
||||||
--exclude "_out*" \
|
|
||||||
PythonClient/ ${DESTINATION}/PythonClient
|
|
||||||
|
|
||||||
echo
|
popd >/dev/null
|
||||||
|
|
||||||
fi
|
fi
|
||||||
|
|
||||||
|
|
@ -142,12 +110,12 @@ fi
|
||||||
|
|
||||||
if $DO_TARBALL ; then
|
if $DO_TARBALL ; then
|
||||||
|
|
||||||
DESTINATION=${DIST_FOLDER}/CARLA_${REPOSITORY_TAG}.tar.gz
|
DESTINATION=${CARLA_DIST_FOLDER}/CARLA_${REPOSITORY_TAG}.tar.gz
|
||||||
SOURCE=${BUILD_FOLDER}/LinuxNoEditor
|
SOURCE=${BUILD_FOLDER}/LinuxNoEditor
|
||||||
|
|
||||||
pushd "$SOURCE" >/dev/null
|
pushd "${SOURCE}" >/dev/null
|
||||||
|
|
||||||
log "Packaging build..."
|
log "Packaging build."
|
||||||
|
|
||||||
rm -f ./Manifest_NonUFSFiles_Linux.txt
|
rm -f ./Manifest_NonUFSFiles_Linux.txt
|
||||||
rm -Rf ./CarlaUE4/Saved
|
rm -Rf ./CarlaUE4/Saved
|
||||||
|
|
@ -165,7 +133,7 @@ fi
|
||||||
|
|
||||||
if $DO_CLEAN_INTERMEDIATE ; then
|
if $DO_CLEAN_INTERMEDIATE ; then
|
||||||
|
|
||||||
log "Removing intermediate build..."
|
log "Removing intermediate build."
|
||||||
|
|
||||||
rm -Rf ${BUILD_FOLDER}
|
rm -Rf ${BUILD_FOLDER}
|
||||||
|
|
||||||
|
|
@ -176,16 +144,10 @@ fi
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
|
|
||||||
if $DO_TARBALL ; then
|
if $DO_TARBALL ; then
|
||||||
FINAL_PACKAGE=Dist/CARLA_${REPOSITORY_TAG}.tar.gz
|
FINAL_PACKAGE=${CARLA_DIST_FOLDER}/CARLA_${REPOSITORY_TAG}.tar.gz
|
||||||
else
|
else
|
||||||
FINAL_PACKAGE=Dist/${REPOSITORY_TAG}
|
FINAL_PACKAGE=${BUILD_FOLDER}
|
||||||
fi
|
fi
|
||||||
|
|
||||||
echo
|
log "Packaged version created at ${FINAL_PACKAGE}"
|
||||||
echo "Packaged version created at ${FINAL_PACKAGE}"
|
log "Success!"
|
||||||
echo
|
|
||||||
echo "****************"
|
|
||||||
echo "*** Success! ***"
|
|
||||||
echo "****************"
|
|
||||||
|
|
||||||
popd >/dev/null
|
|
||||||
|
|
@ -0,0 +1,137 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Set up environment --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Parse arguments -----------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
DOC_STRING="Prettify code files."
|
||||||
|
|
||||||
|
USAGE_STRING="Usage: $0 [-h|--help] [--all] [-f path|--file=path]"
|
||||||
|
|
||||||
|
PRETTIFY_ALL=false
|
||||||
|
PRETTIFY_FILE=false
|
||||||
|
|
||||||
|
OPTS=`getopt -o hf: --long help,all,file: -n 'parse-options' -- "$@"`
|
||||||
|
|
||||||
|
if [ $? != 0 ] ; then echo "$USAGE_STRING" ; exit 2 ; fi
|
||||||
|
|
||||||
|
eval set -- "$OPTS"
|
||||||
|
|
||||||
|
while true; do
|
||||||
|
case "$1" in
|
||||||
|
--all )
|
||||||
|
PRETTIFY_ALL=true;
|
||||||
|
shift ;;
|
||||||
|
-f | --file )
|
||||||
|
PRETTIFY_FILE="$2";
|
||||||
|
shift ;;
|
||||||
|
-h | --help )
|
||||||
|
echo "$DOC_STRING"
|
||||||
|
echo "$USAGE_STRING"
|
||||||
|
exit 1
|
||||||
|
;;
|
||||||
|
* )
|
||||||
|
break ;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
if ! { ${PRETTIFY_ALL} || [ -n "${PRETTIFY_FILE}" ]; } ; then
|
||||||
|
fatal_error "Nothing selected to be done."
|
||||||
|
fi
|
||||||
|
|
||||||
|
if ${PRETTIFY_ALL} ; then
|
||||||
|
PRETTIFY_FILE=false
|
||||||
|
elif [[ ! -f ${PRETTIFY_FILE} ]] ; then
|
||||||
|
pwd
|
||||||
|
fatal_error "\"${PRETTIFY_FILE}\" no such file."
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Get latest version of uncrustify ------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
mkdir -p ${CARLA_BUILD_FOLDER}
|
||||||
|
pushd ${CARLA_BUILD_FOLDER} >/dev/null
|
||||||
|
|
||||||
|
UNCRUSTIFY_BASENAME=uncrustify-0.67
|
||||||
|
|
||||||
|
UNCRUSTIFY=${PWD}/${UNCRUSTIFY_BASENAME}-install/bin/uncrustify
|
||||||
|
|
||||||
|
if [[ -d "${UNCRUSTIFY_BASENAME}-install" ]] ; then
|
||||||
|
log "${UNCRUSTIFY_BASENAME} already installed."
|
||||||
|
else
|
||||||
|
rm -Rf ${UNCRUSTIFY_BASENAME}-source ${UNCRUSTIFY_BASENAME}-build
|
||||||
|
|
||||||
|
log "Retrieving Uncrustify."
|
||||||
|
|
||||||
|
git clone --depth=1 -b uncrustify-0.67 https://github.com/uncrustify/uncrustify.git ${UNCRUSTIFY_BASENAME}-source
|
||||||
|
|
||||||
|
log "Building Uncrustify."
|
||||||
|
|
||||||
|
mkdir -p ${UNCRUSTIFY_BASENAME}-build
|
||||||
|
|
||||||
|
pushd ${UNCRUSTIFY_BASENAME}-build >/dev/null
|
||||||
|
|
||||||
|
cmake -G "Ninja" \
|
||||||
|
-DCMAKE_BUILD_TYPE=Release \
|
||||||
|
-DCMAKE_INSTALL_PREFIX="../${UNCRUSTIFY_BASENAME}-install" \
|
||||||
|
../${UNCRUSTIFY_BASENAME}-source
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
rm -Rf ${UNCRUSTIFY_BASENAME}-source ${UNCRUSTIFY_BASENAME}-build
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
command -v ${UNCRUSTIFY} >/dev/null 2>&1 || {
|
||||||
|
fatal_error "Failed to install Uncrustify!";
|
||||||
|
}
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
command -v autopep8 >/dev/null 2>&1 || {
|
||||||
|
log "Installing autopep8 for this user."
|
||||||
|
pip3 install --user autopep8
|
||||||
|
}
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Run uncrustify and/or autopep8 --------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
UNCRUSTIFY_CONFIG=${CARLA_BUILD_TOOLS_FOLDER}/uncrustify.cfg
|
||||||
|
UNCRUSTIFY_COMMAND="${UNCRUSTIFY} -c ${UNCRUSTIFY_CONFIG} --no-backup --replace"
|
||||||
|
|
||||||
|
AUTOPEP8_COMMAND="autopep8 --jobs 0 --in-place -a"
|
||||||
|
|
||||||
|
if ${PRETTIFY_ALL} ; then
|
||||||
|
|
||||||
|
find ${CARLA_ROOT_FOLDER} -iregex '.*\.\(py\)$' -exec ${AUTOPEP8_COMMAND} {} +
|
||||||
|
# find ${LIBCARLA_ROOT_FOLDER} -iregex '.*\.\(h\|cpp\)$' -exec ${UNCRUSTIFY_COMMAND} {} \;
|
||||||
|
|
||||||
|
elif [[ -f ${PRETTIFY_FILE} ]] ; then
|
||||||
|
|
||||||
|
if [[ ${PRETTIFY_FILE} == *.py ]] ; then
|
||||||
|
log "autopep8 ${PRETTIFY_FILE}"
|
||||||
|
${AUTOPEP8_COMMAND} ${PRETTIFY_FILE}
|
||||||
|
else
|
||||||
|
log "uncrustify ${PRETTIFY_FILE}"
|
||||||
|
${UNCRUSTIFY_COMMAND} ${PRETTIFY_FILE}
|
||||||
|
fi
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
@ -0,0 +1,267 @@
|
||||||
|
#! /bin/bash
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Set up environment --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
command -v /usr/bin/clang++-5.0 >/dev/null 2>&1 || {
|
||||||
|
echo >&2 "clang 5.0 is required, but it's not installed.";
|
||||||
|
echo >&2 "make sure you build Unreal Engine with clang 5.0 too.";
|
||||||
|
exit 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
export CC=/usr/bin/clang-5.0
|
||||||
|
export CXX=/usr/bin/clang++-5.0
|
||||||
|
|
||||||
|
source $(dirname "$0")/Environment.sh
|
||||||
|
|
||||||
|
mkdir -p ${CARLA_BUILD_FOLDER}
|
||||||
|
pushd ${CARLA_BUILD_FOLDER} >/dev/null
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Get and compile libc++ ----------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
LLVM_BASENAME=llvm-5.0
|
||||||
|
|
||||||
|
LLVM_INCLUDE=${PWD}/${LLVM_BASENAME}-install/include/c++/v1
|
||||||
|
LLVM_LIBPATH=${PWD}/${LLVM_BASENAME}-install/lib
|
||||||
|
|
||||||
|
if [[ -d "${LLVM_BASENAME}-install" ]] ; then
|
||||||
|
log "${LLVM_BASENAME} already installed."
|
||||||
|
else
|
||||||
|
rm -Rf ${LLVM_BASENAME}-source ${LLVM_BASENAME}-build
|
||||||
|
|
||||||
|
log "Retrieving libc++."
|
||||||
|
|
||||||
|
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/llvm.git ${LLVM_BASENAME}-source
|
||||||
|
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/libcxx.git ${LLVM_BASENAME}-source/projects/libcxx
|
||||||
|
git clone --depth=1 -b release_50 https://github.com/llvm-mirror/libcxxabi.git ${LLVM_BASENAME}-source/projects/libcxxabi
|
||||||
|
|
||||||
|
log "Compiling libc++."
|
||||||
|
|
||||||
|
mkdir -p ${LLVM_BASENAME}-build
|
||||||
|
|
||||||
|
pushd ${LLVM_BASENAME}-build >/dev/null
|
||||||
|
|
||||||
|
cmake -G "Ninja" \
|
||||||
|
-DLIBCXX_ENABLE_EXPERIMENTAL_LIBRARY=OFF -DLIBCXX_INSTALL_EXPERIMENTAL_LIBRARY=OFF \
|
||||||
|
-DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX="../${LLVM_BASENAME}-install" \
|
||||||
|
../${LLVM_BASENAME}-source
|
||||||
|
|
||||||
|
ninja cxx
|
||||||
|
|
||||||
|
ninja install-libcxx
|
||||||
|
|
||||||
|
ninja install-libcxxabi
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
# Workaround, it seems LLVM 5.0 does not install these files.
|
||||||
|
cp -v ${LLVM_BASENAME}-build/include/c++/v1/cxxabi.h ${LLVM_INCLUDE}
|
||||||
|
cp -v ${LLVM_BASENAME}-build/include/c++/v1/__cxxabi_config.h ${LLVM_INCLUDE}
|
||||||
|
|
||||||
|
rm -Rf ${LLVM_BASENAME}-source ${LLVM_BASENAME}-build
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
unset LLVM_BASENAME
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Get boost includes --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
BOOST_BASENAME=boost-1.67.0
|
||||||
|
|
||||||
|
BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include
|
||||||
|
|
||||||
|
if [[ -d "${BOOST_BASENAME}-install" ]] ; then
|
||||||
|
log "${BOOST_BASENAME} already installed."
|
||||||
|
else
|
||||||
|
|
||||||
|
log "Retrieving boost."
|
||||||
|
wget https://dl.bintray.com/boostorg/release/1.67.0/source/boost_1_67_0.tar.gz
|
||||||
|
log "Extracting boost."
|
||||||
|
tar -xzf boost_1_67_0.tar.gz
|
||||||
|
rm boost_1_67_0.tar.gz
|
||||||
|
mkdir -p ${BOOST_BASENAME}-install/include
|
||||||
|
mv boost_1_67_0/boost ${BOOST_BASENAME}-install/include/
|
||||||
|
rm -Rf boost_1_67_0
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
unset BOOST_BASENAME
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Get rpclib and compile it with libc++ and libstdc++ -----------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
RPCLIB_BASENAME=rpclib-2.2.1
|
||||||
|
|
||||||
|
RPCLIB_LIBCXX_INCLUDE=${PWD}/${RPCLIB_BASENAME}-libcxx-install/include
|
||||||
|
RPCLIB_LIBCXX_LIBPATH=${PWD}/${RPCLIB_BASENAME}-libcxx-install/lib
|
||||||
|
RPCLIB_LIBSTDCXX_INCLUDE=${PWD}/${RPCLIB_BASENAME}-libstdcxx-install/include
|
||||||
|
RPCLIB_LIBSTDCXX_LIBPATH=${PWD}/${RPCLIB_BASENAME}-libstdcxx-install/lib
|
||||||
|
|
||||||
|
if [[ -d "${RPCLIB_BASENAME}-libcxx-install" && -d "${RPCLIB_BASENAME}-libstdcxx-install" ]] ; then
|
||||||
|
log "${RPCLIB_BASENAME} already installed."
|
||||||
|
else
|
||||||
|
rm -Rf \
|
||||||
|
${RPCLIB_BASENAME}-source \
|
||||||
|
${RPCLIB_BASENAME}-libcxx-build ${RPCLIB_BASENAME}-libstdcxx-build \
|
||||||
|
${RPCLIB_BASENAME}-libcxx-install ${RPCLIB_BASENAME}-libstdcxx-install
|
||||||
|
|
||||||
|
log "Retrieving rpclib."
|
||||||
|
|
||||||
|
git clone --depth=1 -b v2.2.1 https://github.com/rpclib/rpclib.git ${RPCLIB_BASENAME}-source
|
||||||
|
|
||||||
|
log "Building rpclib with libc++."
|
||||||
|
|
||||||
|
mkdir -p ${RPCLIB_BASENAME}-libcxx-build
|
||||||
|
|
||||||
|
pushd ${RPCLIB_BASENAME}-libcxx-build >/dev/null
|
||||||
|
|
||||||
|
cmake -G "Ninja" \
|
||||||
|
-DCMAKE_CXX_FLAGS="-fPIC -std=c++17 -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}" \
|
||||||
|
-DCMAKE_INSTALL_PREFIX="../${RPCLIB_BASENAME}-libcxx-install" \
|
||||||
|
../${RPCLIB_BASENAME}-source
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
log "Building rpclib with libstdc++."
|
||||||
|
|
||||||
|
mkdir -p ${RPCLIB_BASENAME}-libstdcxx-build
|
||||||
|
|
||||||
|
pushd ${RPCLIB_BASENAME}-libstdcxx-build >/dev/null
|
||||||
|
|
||||||
|
cmake -G "Ninja" \
|
||||||
|
-DCMAKE_CXX_FLAGS="-fPIC -std=c++17" \
|
||||||
|
-DCMAKE_INSTALL_PREFIX="../${RPCLIB_BASENAME}-libstdcxx-install" \
|
||||||
|
../${RPCLIB_BASENAME}-source
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
rm -Rf ${RPCLIB_BASENAME}-source ${RPCLIB_BASENAME}-libcxx-build ${RPCLIB_BASENAME}-libstdcxx-build
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
unset RPCLIB_BASENAME
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Get GTest and compile it with libc++ --------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
GTEST_BASENAME=googletest-1.8.0
|
||||||
|
|
||||||
|
GTEST_INCLUDE=${PWD}/${GTEST_BASENAME}-install/include
|
||||||
|
GTEST_LIBPATH=${PWD}/${GTEST_BASENAME}-install/lib
|
||||||
|
|
||||||
|
if [[ -d "${GTEST_BASENAME}-install" ]] ; then
|
||||||
|
log "${GTEST_BASENAME} already installed."
|
||||||
|
else
|
||||||
|
rm -Rf ${GTEST_BASENAME}-source ${GTEST_BASENAME}-build
|
||||||
|
|
||||||
|
log "Retrieving Google Test."
|
||||||
|
|
||||||
|
git clone --depth=1 -b release-1.8.0 https://github.com/google/googletest.git ${GTEST_BASENAME}-source
|
||||||
|
|
||||||
|
log "Building Google Test."
|
||||||
|
|
||||||
|
mkdir -p ${GTEST_BASENAME}-build
|
||||||
|
|
||||||
|
pushd ${GTEST_BASENAME}-build >/dev/null
|
||||||
|
|
||||||
|
cmake -G "Ninja" \
|
||||||
|
-DCMAKE_CXX_FLAGS="-std=c++17 -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}" \
|
||||||
|
-DCMAKE_INSTALL_PREFIX="../${GTEST_BASENAME}-install" \
|
||||||
|
../${GTEST_BASENAME}-source
|
||||||
|
|
||||||
|
ninja
|
||||||
|
|
||||||
|
ninja install
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
rm -Rf ${GTEST_BASENAME}-source ${GTEST_BASENAME}-build
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- Generate CMake toolchains and config --------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
log "Generating CMake configuration files."
|
||||||
|
|
||||||
|
# -- LIBSTDCPP_TOOLCHAIN_FILE --------------------------------------------------
|
||||||
|
|
||||||
|
cat >${LIBSTDCPP_TOOLCHAIN_FILE}.gen <<EOL
|
||||||
|
# Automatically generated by `basename "$0"`
|
||||||
|
|
||||||
|
set(CMAKE_C_COMPILER ${CC})
|
||||||
|
set(CMAKE_CXX_COMPILER ${CXX})
|
||||||
|
|
||||||
|
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fPIC" CACHE STRING "" FORCE)
|
||||||
|
# set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra" CACHE STRING "" FORCE)
|
||||||
|
EOL
|
||||||
|
|
||||||
|
# -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------
|
||||||
|
|
||||||
|
# We can reuse the previous toolchain.
|
||||||
|
cp ${LIBSTDCPP_TOOLCHAIN_FILE}.gen ${LIBCPP_TOOLCHAIN_FILE}.gen
|
||||||
|
|
||||||
|
cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
|
||||||
|
|
||||||
|
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
|
||||||
|
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -I${LLVM_INCLUDE}" CACHE STRING "" FORCE)
|
||||||
|
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH}" CACHE STRING "" FORCE)
|
||||||
|
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
|
||||||
|
EOL
|
||||||
|
|
||||||
|
# -- CMAKE_CONFIG_FILE ---------------------------------------------------------
|
||||||
|
|
||||||
|
cat >${CMAKE_CONFIG_FILE}.gen <<EOL
|
||||||
|
# Automatically generated by `basename "$0"`
|
||||||
|
|
||||||
|
set(CARLA_VERSION $(get_carla_version))
|
||||||
|
|
||||||
|
add_definitions(-DBOOST_COROUTINES_NO_DEPRECATION_WARNING)
|
||||||
|
add_definitions(-DBOOST_ERROR_CODE_HEADER_ONLY)
|
||||||
|
|
||||||
|
set(BOOST_INCLUDE_PATH "${BOOST_INCLUDE}")
|
||||||
|
|
||||||
|
if (CMAKE_BUILD_TYPE STREQUAL "Server")
|
||||||
|
# Here libraries linking libc++.
|
||||||
|
set(LLVM_INCLUDE_PATH "${LLVM_INCLUDE}")
|
||||||
|
set(LLVM_LIB_PATH "${LLVM_LIBPATH}")
|
||||||
|
set(GTEST_INCLUDE_PATH "${GTEST_INCLUDE}")
|
||||||
|
set(GTEST_LIB_PATH "${GTEST_LIBPATH}")
|
||||||
|
set(RPCLIB_INCLUDE_PATH "${RPCLIB_LIBCXX_INCLUDE}")
|
||||||
|
set(RPCLIB_LIB_PATH "${RPCLIB_LIBCXX_LIBPATH}")
|
||||||
|
elseif (CMAKE_BUILD_TYPE STREQUAL "Client")
|
||||||
|
# Here libraries linking libstdc++.
|
||||||
|
set(RPCLIB_INCLUDE_PATH "${RPCLIB_LIBSTDCXX_INCLUDE}")
|
||||||
|
set(RPCLIB_LIB_PATH "${RPCLIB_LIBSTDCXX_LIBPATH}")
|
||||||
|
endif ()
|
||||||
|
EOL
|
||||||
|
|
||||||
|
# -- Move files ----------------------------------------------------------------
|
||||||
|
|
||||||
|
move_if_changed "${LIBSTDCPP_TOOLCHAIN_FILE}.gen" "${LIBSTDCPP_TOOLCHAIN_FILE}"
|
||||||
|
move_if_changed "${LIBCPP_TOOLCHAIN_FILE}.gen" "${LIBCPP_TOOLCHAIN_FILE}"
|
||||||
|
move_if_changed "${CMAKE_CONFIG_FILE}.gen" "${CMAKE_CONFIG_FILE}"
|
||||||
|
|
||||||
|
# ==============================================================================
|
||||||
|
# -- ...and we are done --------------------------------------------------------
|
||||||
|
# ==============================================================================
|
||||||
|
|
||||||
|
popd >/dev/null
|
||||||
|
|
||||||
|
log "Success!"
|
||||||
|
|
@ -0,0 +1,22 @@
|
||||||
|
# Here CURDIR is assumed to be the root folder of the project.
|
||||||
|
|
||||||
|
CARLA_ROOT_FOLDER=${CURDIR}
|
||||||
|
CARLA_BUILD_FOLDER=${CURDIR}/Build
|
||||||
|
CARLA_DIST_FOLDER=${CURDIR}/Dist
|
||||||
|
CARLA_BUILD_TOOLS_FOLDER=${CURDIR}/Util/BuildTools
|
||||||
|
|
||||||
|
CARLAUE4_ROOT_FOLDER=${CURDIR}/Unreal/CarlaUE4
|
||||||
|
CARLAUE4_PLUGIN_ROOT_FOLDER=${CURDIR}/Unreal/CarlaUE4/Plugins/Carla
|
||||||
|
CARLA_PYTHONAPI_ROOT_FOLDER=${CURDIR}/PythonAPI
|
||||||
|
|
||||||
|
LIBCARLA_ROOT_FOLDER=${CURDIR}/LibCarla
|
||||||
|
LIBCARLA_BUILD_SERVER_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-server-build
|
||||||
|
LIBCARLA_BUILD_CLIENT_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-client-build
|
||||||
|
LIBCARLA_INSTALL_SERVER_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
|
||||||
|
LIBCARLA_INSTALL_CLIENT_FOLDER=${CARLA_PYTHONAPI_ROOT_FOLDER}/dependencies
|
||||||
|
|
||||||
|
CARLAUE4_PLUGIN_DEPS_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
|
||||||
|
|
||||||
|
LIBSTDCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake
|
||||||
|
LIBCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibCppToolChain.cmake
|
||||||
|
CMAKE_CONFIG_FILE=${CARLA_BUILD_FOLDER}/CMakeLists.txt.in
|
||||||
|
|
@ -0,0 +1,2 @@
|
||||||
|
default:
|
||||||
|
@echo "Not implemented!"
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,138 @@
|
||||||
|
{
|
||||||
|
"folders":
|
||||||
|
[
|
||||||
|
{
|
||||||
|
"path": "..",
|
||||||
|
"file_exclude_patterns":
|
||||||
|
[
|
||||||
|
"*.VC.db",
|
||||||
|
"*.VC.opendb",
|
||||||
|
"*.gdb_history",
|
||||||
|
"*.kdev4",
|
||||||
|
"*.pri",
|
||||||
|
"*.pro",
|
||||||
|
"*.py[cod]",
|
||||||
|
"*.sln",
|
||||||
|
"*.stackdump",
|
||||||
|
"*.sublime-workspace",
|
||||||
|
"*.uasset",
|
||||||
|
"*.umap",
|
||||||
|
"*.workspace",
|
||||||
|
"*CodeCompletionFolders.txt",
|
||||||
|
"*CodeLitePreProcessor.txt",
|
||||||
|
".tags*",
|
||||||
|
"core"
|
||||||
|
],
|
||||||
|
"folder_exclude_patterns":
|
||||||
|
[
|
||||||
|
".clang",
|
||||||
|
".codelite",
|
||||||
|
".kdev4",
|
||||||
|
".vs",
|
||||||
|
".vscode",
|
||||||
|
"Binaries",
|
||||||
|
"DerivedDataCache",
|
||||||
|
"Dist",
|
||||||
|
"Doxygen",
|
||||||
|
"Intermediate",
|
||||||
|
"PythonAPI/build",
|
||||||
|
"PythonAPI/dependencies",
|
||||||
|
"PythonAPI/dist",
|
||||||
|
"Saved",
|
||||||
|
"Unreal/CarlaUE4/Content*",
|
||||||
|
"Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies",
|
||||||
|
"__pycache__",
|
||||||
|
"_site"
|
||||||
|
],
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"settings":
|
||||||
|
{
|
||||||
|
"ensure_newline_at_eof_on_save": true,
|
||||||
|
"tab_size": 2,
|
||||||
|
"translate_tabs_to_spaces": true,
|
||||||
|
"trim_trailing_white_space_on_save": true
|
||||||
|
},
|
||||||
|
"build_systems":
|
||||||
|
[
|
||||||
|
{
|
||||||
|
"name": "CARLA - make CarlaUE4Editor",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "(Unreal\\/CarlaUE4\\/[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make CarlaUE4Editor"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make LibCarla",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make LibCarla"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make PythonAPI",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make PythonAPI"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make check",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make check"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make check LibCarla",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make check ARGS=\"--carlalib-debug\""
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make check LibCarla (launch GDB)",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^../../([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "gnome-terminal --maximize -e 'make check ARGS=\"--gdb --carlalib-debug\"'"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - make clean",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make clean"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "CARLA - Prettify this file",
|
||||||
|
"working_dir": "${project_path}/..",
|
||||||
|
"file_regex": "^([^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
|
||||||
|
"syntax": "Packages/Makefile/Make Output.sublime-syntax",
|
||||||
|
"linux":
|
||||||
|
{
|
||||||
|
"shell_cmd": "CARLA_BUILD_NO_COLOR=true make pretty ARGS=-f${file}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
@ -35,6 +35,7 @@ pages:
|
||||||
- 'How to add assets': 'how_to_add_assets.md'
|
- 'How to add assets': 'how_to_add_assets.md'
|
||||||
- 'CARLA design': 'carla_design.md'
|
- 'CARLA design': 'carla_design.md'
|
||||||
- 'CarlaServer documentation': 'carla_server.md'
|
- 'CarlaServer documentation': 'carla_server.md'
|
||||||
|
- 'Build system': 'build_system.md'
|
||||||
- Appendix:
|
- Appendix:
|
||||||
- 'Driving Benchmark Sample Results Town01': 'benchmark_basic_results_town01.md'
|
- 'Driving Benchmark Sample Results Town01': 'benchmark_basic_results_town01.md'
|
||||||
- 'Driving Benchmark Sample Results Town02': 'benchmark_basic_results_town02.md'
|
- 'Driving Benchmark Sample Results Town02': 'benchmark_basic_results_town02.md'
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue