CMake refactor (#8168)
* Add option VERBOSE_CONFIGURE + several other minor tweaks. * Minor refactor and expose version option variables for ROS2 build. * Remove unneeded option BUILD_PYTHON_API_WHEEL_PACKAGE. * Make cmake_minimum_required uniform + fix potential linker error. * Revert ROS2 configure.
This commit is contained in:
MarcelPiNacy-CVC
GitHub
parent
4c1196db44
commit
0bbd239b1a
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@ -39,9 +39,9 @@ endif ()
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if (WIN32)
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add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
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check_cxx_compiler_flag(/utf-8 HAS_MSVC_UTF8)
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check_cxx_compiler_flag (/utf-8 HAS_MSVC_UTF8)
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if (HAS_MSVC_UTF8)
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# @TODO This causes warnings with MASM. A better approach should be looked into.
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add_compile_options (/utf-8)
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endif ()
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endif ()
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@ -49,7 +49,7 @@ endif ()
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set (CARLA_COMMON_DEFINITIONS)
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foreach (FORMAT ${LIBCARLA_IMAGE_SUPPORTED_FORMATS})
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carla_message ("Enabling CARLA image support for \"${FORMAT}\".")
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carla_message_verbose ("Enabling CARLA image support for \"${FORMAT}\".")
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string (TOUPPER "${FORMAT}" FORMAT_UPPERCASE)
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list (APPEND CARLA_COMMON_DEFINITIONS LIBCARLA_IMAGE_SUPPORT_${FORMAT_UPPERCASE}=1)
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endforeach ()
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@ -61,6 +61,19 @@ if (WIN32)
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list (APPEND CARLA_COMMON_DEFINITIONS _USE_MATH_DEFINES)
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endif ()
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if (WIN32)
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set (EXE_EXT .exe)
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set (UE_SYSTEM_NAME Win64)
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elseif (LINUX)
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set (EXE_EXT)
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set (UE_SYSTEM_NAME Linux)
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elseif (APPLE)
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set (EXE_EXT)
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set (UE_SYSTEM_NAME Mac)
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else ()
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carla_error ("Unknown target system.")
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endif ()
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# ================================
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# Exception Definitions
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# ================================
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@ -94,8 +94,9 @@ target_link_libraries (
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libsqlite3
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)
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# ==== ZLIB ====
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# ==== ZLIB ====
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carla_dependency_option (ZLIB_BUILD_EXAMPLES OFF)
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carla_dependency_add (
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zlib
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@ -117,8 +118,9 @@ endif ()
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carla_dependency_option (ZLIB_INCLUDE_DIRS ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
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carla_dependency_option (ZLIB_LIBRARIES ${ZLIB_LIBRARY})
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# ==== LIBPNG ====
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# ==== LIBPNG ====
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carla_dependency_option (PNG_SHARED OFF)
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carla_dependency_option (PNG_STATIC ON)
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if (APPLE)
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@ -143,11 +145,6 @@ include_directories (
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# ==== BOOST ====
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carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
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carla_dependency_option (BOOST_ENABLE_MPI OFF)
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carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
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carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
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set (
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BOOST_INCLUDED_PROJECTS
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asio
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@ -155,11 +152,22 @@ set (
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python
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date_time
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geometry
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gil
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container
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variant2
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gil
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)
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set (
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BOOST_EXCLUDED_PROJECTS
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# filesystem # <- Boost.GIL links with Boost.filesystem, so we can't remove the dependency yet.
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)
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carla_dependency_option (BOOST_INCLUDE_LIBRARIES "${BOOST_INCLUDED_PROJECTS}")
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carla_dependency_option (BOOST_EXCLUDE_LIBRARIES "${BOOST_EXCLUDED_PROJECTS}")
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carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
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carla_dependency_option (BOOST_ENABLE_MPI OFF)
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carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
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carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
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carla_dependency_option (BOOST_GIL_BUILD_EXAMPLES OFF)
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carla_dependency_option (BOOST_GIL_BUILD_HEADER_TESTS OFF)
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carla_dependency_add(
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boost
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${CARLA_BOOST_TAG}
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@ -167,8 +175,9 @@ carla_dependency_add(
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https://github.com/boostorg/boost.git
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)
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# ==== EIGEN ====
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# ==== EIGEN ====
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carla_dependency_option (EIGEN_BUILD_PKGCONFIG OFF)
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carla_dependency_option (BUILD_TESTING OFF)
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carla_dependency_option (EIGEN_BUILD_DOC OFF)
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@ -179,8 +188,9 @@ carla_dependency_add (
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https://gitlab.com/libeigen/eigen.git
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)
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# ==== RPCLIB ====
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# ==== RPCLIB ====
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carla_dependency_add (
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rpclib
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${CARLA_RPCLIB_TAG}
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@ -188,8 +198,9 @@ carla_dependency_add (
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https://github.com/carla-simulator/rpclib.git
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)
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# ==== RECAST ====
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# ==== RECAST ====
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carla_dependency_option (RECASTNAVIGATION_BUILDER ON)
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carla_dependency_add (
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recastnavigation
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@ -198,9 +209,10 @@ carla_dependency_add (
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https://github.com/carla-simulator/recastnavigation.git
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)
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# ==== PROJ ====
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if (ENABLE_OSM2ODR)
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# ==== PROJ ====
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carla_dependency_option (BUILD_TESTING OFF)
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carla_dependency_option (ENABLE_TIFF OFF)
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carla_dependency_option (ENABLE_CURL OFF)
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@ -212,9 +224,10 @@ if (ENABLE_OSM2ODR)
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)
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endif ()
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# ==== XERCESC ====
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if (ENABLE_OSM2ODR)
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# ==== XERCESC ====
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carla_dependency_add (
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xercesc
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${CARLA_XERCESC_TAG}
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@ -223,20 +236,18 @@ if (ENABLE_OSM2ODR)
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)
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endif ()
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# ==== LUNASVG ====
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if (BUILD_OSM_WORLD_RENDERER)
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# ==== LUNASVG ====
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carla_dependency_add (
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lunasvg
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${CARLA_LUNASVG_TAG}
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https://github.com/sammycage/lunasvg/archive/refs/tags/${CARLA_LUNASVG_TAG}.zip
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https://github.com/sammycage/lunasvg.git
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)
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endif ()
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# ==== LIBOSMSCOUT ====
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if (BUILD_OSM_WORLD_RENDERER)
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# ==== LIBOSMSCOUT ====
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carla_dependency_add (
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libosmscout
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${CARLA_LIBOSMSCOUT_TAG}
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@ -245,9 +256,10 @@ if (BUILD_OSM_WORLD_RENDERER)
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)
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endif ()
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# ==== STREETMAP ====
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if (BUILD_CARLA_UNREAL)
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# ==== STREETMAP ====
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carla_dependency_add (
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StreetMap
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${CARLA_STREETMAP_TAG}
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@ -104,12 +104,6 @@ carla_option (
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OFF
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)
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carla_option (
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BUILD_PYTHON_API_WHEEL_PACKAGE
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"Whether to build the CARLA python API wheel package."
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ON
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)
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carla_option (
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ENABLE_PEP517
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"Whether to use PEP 517."
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@ -146,6 +140,12 @@ carla_string_option (
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/usr/bin/gcc-12
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)
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carla_option (
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VERBOSE_CONFIGURE
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"Whether to emit extra messages during CMake configure."
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OFF
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)
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# ================================
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@ -198,18 +198,14 @@ carla_string_option (
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"${CARLA_UNREAL_RHI_DEFAULT}"
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)
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if (${BUILD_CARLA_UNREAL})
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if (${CARLA_HAS_UNREAL_ENGINE_PATH})
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carla_message (
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"Carla UE project successfully added to build. (UE path: ${CARLA_UNREAL_ENGINE_PATH})"
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)
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else ()
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carla_error (
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"Could not add UE project to build since the carla_option CARLA_UNREAL_ENGINE_PATH "
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"is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
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"Please set it to point to the root path of your CARLA Unreal Engine installation."
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)
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endif ()
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if (BUILD_CARLA_UNREAL)
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if (NOT ${CARLA_HAS_UNREAL_ENGINE_PATH})
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carla_error (
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"Could not add UE project to build since the carla_option CARLA_UNREAL_ENGINE_PATH "
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"is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
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"Please set it to point to the root path of your CARLA Unreal Engine installation."
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)
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endif ()
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endif ()
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carla_string_option (
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@ -380,7 +376,6 @@ carla_string_option (
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${CARLA_LIBOSMSCOUT_VERSION}
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)
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# ==== STREETMAP ====
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carla_string_option (
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@ -394,3 +389,45 @@ carla_string_option (
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"Target StreetMap git tag."
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${CARLA_STREETMAP_VERSION}
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)
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# ==== FASTDDS ====
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carla_string_option (
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CARLA_FASTDDS_VERSION
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"Target Fast-DDS version."
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2.11.2
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)
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carla_string_option (
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CARLA_FASTDDS_TAG
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"Target Fast-DDS git tag."
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${CARLA_FASTDDS_VERSION}
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)
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# ==== FASTCDR ====
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carla_string_option (
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CARLA_FASTCDR_VERSION
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"Target Fast-CDR version."
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2.2.x
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)
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carla_string_option (
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CARLA_FASTCDR_TAG
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"Target Fast-CDR git tag."
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${CARLA_FASTCDR_VERSION}
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)
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# ==== FOONATHAN MEMORY VENDOR ====
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carla_string_option (
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CARLA_FOONATHAN_MEMORY_VENDOR_VERSION
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"Target foonathan_memory_vendor version."
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master
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)
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carla_string_option (
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CARLA_FOONATHAN_MEMORY_VENDOR_TAG
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"Target foonathan_memory_vendor git tag."
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${CARLA_FOONATHAN_MEMORY_VENDOR_VERSION}
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)
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@ -1,20 +1,15 @@
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# Similar to configure_file, but also expands variables
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# that are set at generate time, like generator expressions.
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function (carla_two_step_configure_file DESTINATION SOURCE)
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carla_message ("Configuring file ${DESTINATION}")
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# Configure-time step; evaluate variables:
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configure_file (${SOURCE} ${DESTINATION} @ONLY)
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# Generate-time step; evaluate generator expressions:
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file (GENERATE OUTPUT ${DESTINATION} INPUT ${DESTINATION})
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endfunction ()
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# message wrapper for normal messages.
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function (carla_message)
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message (STATUS "CARLA: " ${ARGN})
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endfunction ()
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# message wrapper for normal messages.
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function (carla_message_verbose)
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if (VERBOSE_CONFIGURE)
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message (STATUS "CARLA: " ${ARGN})
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endif ()
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endfunction ()
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# message() wrapper for warnings.
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@ -39,7 +34,7 @@ endfunction ()
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macro (carla_option NAME DESCRIPTION VALUE)
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option (${NAME} ${DESCRIPTION} ${VALUE})
|
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carla_message ("(option) ${NAME} : ${${NAME}}")
|
||||
carla_message_verbose ("(option) ${NAME} : ${${NAME}}")
|
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get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
|
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string (
|
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APPEND
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|
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@ -55,7 +50,7 @@ endmacro ()
|
|||
|
||||
macro (carla_string_option NAME DESCRIPTION VALUE)
|
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set (${NAME} "${VALUE}")
|
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carla_message ("(option) ${NAME} : \"${${NAME}}\"")
|
||||
carla_message_verbose ("(option) ${NAME} : \"${${NAME}}\"")
|
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get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
|
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string (
|
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APPEND
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||||
|
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@ -69,6 +64,18 @@ endmacro ()
|
|||
|
||||
|
||||
|
||||
# Similar to configure_file, but also expands variables
|
||||
# that are set at generate time, like generator expressions.
|
||||
function (carla_two_step_configure_file DESTINATION SOURCE)
|
||||
carla_message_verbose ("Configuring file ${DESTINATION}")
|
||||
# Configure-time step; evaluate variables:
|
||||
configure_file (${SOURCE} ${DESTINATION} @ONLY)
|
||||
# Generate-time step; evaluate generator expressions:
|
||||
file (GENERATE OUTPUT ${DESTINATION} INPUT ${DESTINATION})
|
||||
endfunction ()
|
||||
|
||||
|
||||
|
||||
# If, for some reason, CARLA is configured with CMake<3.5, this is necessary:
|
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if (${CMAKE_VERSION} VERSION_LESS 3.5)
|
||||
include (CMakeParseArguments)
|
||||
|
|
@ -139,6 +146,34 @@ endfunction ()
|
|||
|
||||
|
||||
|
||||
if (VERBOSE_CONFIGURE)
|
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macro (carla_print_cmake_variable NAME)
|
||||
carla_message ("${NAME}: \'${${NAME}}\'")
|
||||
endmacro ()
|
||||
|
||||
carla_print_cmake_variable (CMAKE_C_COMPILER)
|
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carla_print_cmake_variable (CMAKE_CXX_COMPILER)
|
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carla_print_cmake_variable (CMAKE_ASM_COMPILER)
|
||||
carla_print_cmake_variable (CMAKE_AR)
|
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carla_print_cmake_variable (CMAKE_C_COMPILER_AR)
|
||||
carla_print_cmake_variable (CMAKE_CXX_COMPILER_AR)
|
||||
carla_print_cmake_variable (CMAKE_OBJCOPY)
|
||||
carla_print_cmake_variable (CMAKE_ADDR2LINE)
|
||||
carla_print_cmake_variable (CMAKE_C_COMPILER_RANLIB)
|
||||
carla_print_cmake_variable (CMAKE_CXX_COMPILER_RANLIB)
|
||||
carla_print_cmake_variable (CMAKE_LINKER)
|
||||
carla_print_cmake_variable (CMAKE_NM)
|
||||
carla_print_cmake_variable (CMAKE_OBJDUMP)
|
||||
carla_print_cmake_variable (CMAKE_RANLIB)
|
||||
carla_print_cmake_variable (CMAKE_READELF)
|
||||
carla_print_cmake_variable (CMAKE_STRIP)
|
||||
carla_print_cmake_variable (COVERAGE_COMMAND)
|
||||
carla_print_cmake_variable (CMAKE_CXX_STANDARD_LIBRARIES)
|
||||
carla_print_cmake_variable (CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES)
|
||||
endif ()
|
||||
|
||||
|
||||
|
||||
carla_add_target_docs (
|
||||
NAME clean
|
||||
TYPE Builtin
|
||||
|
|
|
|||
|
|
@ -8,9 +8,14 @@
|
|||
|
||||
]]
|
||||
|
||||
set (
|
||||
CARLA_CMAKE_MINIMUM_REQUIRED_VERSION
|
||||
3.27.2
|
||||
)
|
||||
|
||||
cmake_minimum_required (
|
||||
VERSION
|
||||
3.27.2
|
||||
${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
|
||||
)
|
||||
|
||||
cmake_policy (SET CMP0097 NEW)
|
||||
|
|
|
|||
|
|
@ -11,11 +11,6 @@ set (
|
|||
${CARLA_WORKSPACE_PATH}/LibCarla/source
|
||||
)
|
||||
|
||||
set (
|
||||
LIBCARLA_THIRD_PARTY_SOURCE_PATH
|
||||
${LIBCARLA_SOURCE_PATH}/third-party
|
||||
)
|
||||
|
||||
carla_two_step_configure_file (
|
||||
${LIBCARLA_SOURCE_PATH}/carla/Version.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
|
||||
|
|
@ -59,9 +54,9 @@ if (BUILD_CARLA_SERVER)
|
|||
file (
|
||||
GLOB
|
||||
LIBCARLA_SERVER_SOURCES_THIRD_PARTY
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
|
||||
)
|
||||
|
||||
file (
|
||||
|
|
@ -107,9 +102,9 @@ if (BUILD_CARLA_SERVER)
|
|||
file (
|
||||
GLOB
|
||||
LIBCARLA_SERVER_HEADERS_THIRD_PARTY
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
|
||||
)
|
||||
|
||||
carla_add_library (
|
||||
|
|
@ -206,10 +201,10 @@ if (BUILD_CARLA_CLIENT)
|
|||
file (
|
||||
GLOB
|
||||
LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.h
|
||||
)
|
||||
|
||||
file (
|
||||
|
|
@ -257,8 +252,8 @@ if (BUILD_CARLA_CLIENT)
|
|||
file (
|
||||
GLOB
|
||||
LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
|
||||
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
|
||||
)
|
||||
|
||||
carla_add_library (
|
||||
|
|
|
|||
|
|
@ -23,13 +23,47 @@ set (
|
|||
RecastNavigation::DetourCrowd
|
||||
)
|
||||
|
||||
get_target_property (Boost_asio_TARGET_NAME Boost::asio ALIASED_TARGET)
|
||||
get_target_property (Boost_python_TARGET_NAME Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR} ALIASED_TARGET)
|
||||
get_target_property (Boost_geometry_TARGET_NAME Boost::geometry ALIASED_TARGET)
|
||||
get_target_property (Boost_gil_TARGET_NAME Boost::gil ALIASED_TARGET)
|
||||
get_target_property (RecastNavigation_Recast_TARGET_NAME RecastNavigation::Recast ALIASED_TARGET)
|
||||
get_target_property (RecastNavigation_Detour_TARGET_NAME RecastNavigation::Detour ALIASED_TARGET)
|
||||
get_target_property (RecastNavigation_DetourCrowd_TARGET_NAME RecastNavigation::DetourCrowd ALIASED_TARGET)
|
||||
get_target_property (
|
||||
Boost_asio_TARGET_NAME
|
||||
Boost::asio
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
Boost_python_TARGET_NAME
|
||||
Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
Boost_geometry_TARGET_NAME
|
||||
Boost::geometry
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
Boost_gil_TARGET_NAME
|
||||
Boost::gil
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
RecastNavigation_Recast_TARGET_NAME
|
||||
RecastNavigation::Recast
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
RecastNavigation_Detour_TARGET_NAME
|
||||
RecastNavigation::Detour
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
get_target_property (
|
||||
RecastNavigation_DetourCrowd_TARGET_NAME
|
||||
RecastNavigation::DetourCrowd
|
||||
ALIASED_TARGET
|
||||
)
|
||||
|
||||
set (
|
||||
CARLA_PYTHON_API_CARLA_PATH
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
cmake_minimum_required (
|
||||
VERSION
|
||||
@CMAKE_MAJOR_VERSION@.@CMAKE_MINOR_VERSION@.@CMAKE_PATCH_VERSION@
|
||||
@CARLA_CMAKE_MINIMUM_REQUIRED_VERSION@
|
||||
)
|
||||
|
||||
project (
|
||||
|
|
@ -47,7 +47,7 @@ set (
|
|||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
carla_message (
|
||||
carla_message_verbose (
|
||||
"Selected Python executable: ${Python3_EXECUTABLE} (Interpreter ID: ${Python3_INTERPRETER_ID})"
|
||||
)
|
||||
|
||||
|
|
|
|||
|
|
@ -1,10 +1,14 @@
|
|||
cmake_minimum_required (VERSION 3.28.0)
|
||||
cmake_minimum_required (
|
||||
VERSION
|
||||
${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
|
||||
)
|
||||
|
||||
project (carla-ros2-native-project)
|
||||
|
||||
include (ExternalProject)
|
||||
|
||||
set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
|
||||
|
||||
set (PROJECT_CMAKE_FLAGS
|
||||
-DCMAKE_CXX_COMPILER=${GXX_COMPILER}
|
||||
-DCMAKE_C_COMPILER=${GCC_COMPILER}
|
||||
|
|
@ -15,13 +19,13 @@ set (PROJECT_CMAKE_FLAGS
|
|||
|
||||
ExternalProject_add (
|
||||
foonathan_memory
|
||||
URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/master.zip
|
||||
URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
|
||||
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBUILD_SHARED_LIBS=ON -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
|
||||
)
|
||||
|
||||
ExternalProject_add (
|
||||
fastcdr
|
||||
URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/1.1.x.zip
|
||||
URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/${CARLA_FASTCDR_TAG}.zip
|
||||
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
|
||||
)
|
||||
|
||||
|
|
@ -30,7 +34,7 @@ ExternalProject_add (
|
|||
ExternalProject_add (
|
||||
fastdds
|
||||
GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
|
||||
GIT_TAG 2.11.2
|
||||
GIT_TAG ${CARLA_FASTDDS_TAG}
|
||||
CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DCOMPILE_TOOLS=OFF
|
||||
DEPENDS foonathan_memory fastcdr
|
||||
)
|
||||
|
|
|
|||
|
|
@ -1,44 +1,63 @@
|
|||
cmake_minimum_required (VERSION 3.28.0)
|
||||
cmake_minimum_required (
|
||||
VERSION
|
||||
3.27.2
|
||||
)
|
||||
|
||||
project(carla-ros2-native)
|
||||
project (
|
||||
carla-ros2-native
|
||||
)
|
||||
|
||||
set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../LibCarla/source)
|
||||
|
||||
file (
|
||||
GLOB
|
||||
LIBCARLA_ROS2_SOURCES
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.cpp
|
||||
set (
|
||||
LIBCARLA_SOURCE_PATH
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/../../LibCarla/source
|
||||
)
|
||||
|
||||
file (
|
||||
GLOB
|
||||
LIBCARLA_ROS2_HEADERS
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
|
||||
GLOB
|
||||
LIBCARLA_ROS2_SOURCES
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.cpp
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.cpp
|
||||
)
|
||||
|
||||
file (
|
||||
GLOB
|
||||
LIBCARLA_ROS2_HEADERS
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.h
|
||||
${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
|
||||
)
|
||||
|
||||
add_library (
|
||||
carla-ros2-native
|
||||
SHARED
|
||||
${LIBCARLA_ROS2_HEADERS}
|
||||
${LIBCARLA_ROS2_SOURCES}
|
||||
carla-ros2-native
|
||||
SHARED
|
||||
${LIBCARLA_ROS2_HEADERS}
|
||||
${LIBCARLA_ROS2_SOURCES}
|
||||
)
|
||||
|
||||
target_include_directories (carla-ros2-native SYSTEM PRIVATE
|
||||
${LIBCARLA_SOURCE_PATH}
|
||||
${CMAKE_INSTALL_PREFIX}/include
|
||||
target_include_directories (
|
||||
carla-ros2-native
|
||||
SYSTEM PRIVATE
|
||||
${LIBCARLA_SOURCE_PATH}
|
||||
${CMAKE_INSTALL_PREFIX}/include
|
||||
)
|
||||
|
||||
target_compile_definitions (carla-ros2-native PUBLIC
|
||||
BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
|
||||
target_compile_definitions (
|
||||
carla-ros2-native
|
||||
PUBLIC
|
||||
BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
|
||||
)
|
||||
|
||||
target_link_libraries(carla-ros2-native
|
||||
${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so)
|
||||
target_link_libraries (
|
||||
carla-ros2-native
|
||||
${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so
|
||||
)
|
||||
|
||||
install (TARGETS carla-ros2-native DESTINATION lib)
|
||||
install (
|
||||
TARGETS
|
||||
carla-ros2-native
|
||||
DESTINATION
|
||||
lib
|
||||
)
|
||||
|
|
|
|||
|
|
@ -66,19 +66,6 @@ if (ENABLE_ROS2_DEMO)
|
|||
set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2-demo)
|
||||
endif()
|
||||
|
||||
if (WIN32)
|
||||
set (EXE_EXT .exe)
|
||||
set (UE_SYSTEM_NAME Win64)
|
||||
elseif (LINUX)
|
||||
set (EXE_EXT)
|
||||
set (UE_SYSTEM_NAME Linux)
|
||||
elseif (APPLE)
|
||||
set (EXE_EXT)
|
||||
set (UE_SYSTEM_NAME Mac)
|
||||
else ()
|
||||
carla_error ("Unknown target system.")
|
||||
endif ()
|
||||
|
||||
set (
|
||||
UNREAL_EDITOR_PATH
|
||||
${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
|
||||
|
|
@ -86,9 +73,8 @@ set (
|
|||
|
||||
set (CARLA_UE_CONTENT_CHECK_PATH ${CARLA_UE_PATH}/Content/Carla/Blueprints)
|
||||
if (IS_DIRECTORY ${CARLA_UE_CONTENT_CHECK_PATH})
|
||||
carla_message ("CARLA Unreal Content - FOUND")
|
||||
carla_message_verbose ("CARLA Unreal Content - FOUND")
|
||||
else ()
|
||||
carla_message ("CARLA Unreal Content - MISSING")
|
||||
carla_warning ("Could not find CARLA Content, download it or running the editor will result in a crash.")
|
||||
endif ()
|
||||
|
||||
|
|
@ -380,8 +366,11 @@ function (
|
|||
set (PACKAGE_CONFIGURATION "default (shipping)")
|
||||
endif ()
|
||||
|
||||
set (TARGET_NAME_SHORT package${TARGET_NAME_SUFFIX})
|
||||
set (TARGET_NAME carla-unreal-${TARGET_NAME_SHORT})
|
||||
|
||||
carla_add_custom_target (
|
||||
carla-unreal-package${TARGET_NAME_SUFFIX}
|
||||
${TARGET_NAME}
|
||||
"Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
|
||||
COMMAND
|
||||
${CARLA_UE_BUILD_COMMAND_PREFIX}
|
||||
|
|
@ -413,9 +402,9 @@ function (
|
|||
USES_TERMINAL
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
|
||||
add_custom_command (
|
||||
TARGET carla-unreal-package${TARGET_NAME_SUFFIX}
|
||||
TARGET ${TARGET_NAME}
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE CREATING VERSION FILE UNREAL PACKAGE EXTRA FILES STARTED **********"
|
||||
COMMAND ${CMAKE_COMMAND}
|
||||
|
|
@ -449,21 +438,24 @@ function (
|
|||
)
|
||||
|
||||
add_dependencies (
|
||||
carla-unreal-package${TARGET_NAME_SUFFIX}
|
||||
${TARGET_NAME}
|
||||
carla-unreal-editor
|
||||
)
|
||||
|
||||
carla_add_custom_target (
|
||||
package${TARGET_NAME_SUFFIX}
|
||||
${TARGET_NAME_SHORT}
|
||||
"Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
|
||||
)
|
||||
|
||||
add_dependencies (
|
||||
package${TARGET_NAME_SUFFIX}
|
||||
carla-unreal-package${TARGET_NAME_SUFFIX}
|
||||
${TARGET_NAME_SHORT}
|
||||
${TARGET_NAME}
|
||||
)
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
|
||||
# Docs for UE5 build configurations:
|
||||
# https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
|
||||
add_carla_ue_package_target("" Shipping)
|
||||
|
|
@ -488,12 +480,6 @@ set (
|
|||
VERBATIM
|
||||
)
|
||||
|
||||
carla_add_custom_target (
|
||||
launch
|
||||
"Build and open CARLA in the Unreal Editor."
|
||||
${CARLA_LAUNCH_TARGET_OPTIONS}
|
||||
)
|
||||
|
||||
if (WIN32)
|
||||
set (
|
||||
PRELAUNCH_CONTENT_CHECK_COMMAND
|
||||
|
|
@ -517,12 +503,6 @@ carla_add_custom_target (
|
|||
VERBATIM
|
||||
)
|
||||
|
||||
add_dependencies (
|
||||
launch
|
||||
carla-unreal-editor
|
||||
check-unreal-content
|
||||
)
|
||||
|
||||
carla_add_custom_target (
|
||||
launch-only
|
||||
"Open CARLA in the Unreal Editor. This will not rebuild outdated targets."
|
||||
|
|
@ -534,6 +514,18 @@ add_dependencies (
|
|||
check-unreal-content
|
||||
)
|
||||
|
||||
carla_add_custom_target (
|
||||
launch
|
||||
"Build and open CARLA in the Unreal Editor."
|
||||
${CARLA_LAUNCH_TARGET_OPTIONS}
|
||||
)
|
||||
|
||||
add_dependencies (
|
||||
launch
|
||||
carla-unreal-editor
|
||||
check-unreal-content
|
||||
)
|
||||
|
||||
set_property (
|
||||
DIRECTORY APPEND PROPERTY ADDITIONAL_CLEAN_FILES
|
||||
"${CARLA_UE_PATH}/Binaries"
|
||||
|
|
|
|||
Loading…
Reference in New Issue