Add build support for VS2022 and Ninja for LibCarla and osm2odr on Windows

Docs/build_windows.md

@@ -81,6 +81,9 @@ Get the 2019 version of Visual Studio from [here](https://developerinsider.co/do
 !!! Important
     Other Visual Studio versions may cause conflict. Even if these have been uninstalled, some registers may persist. To completely clean Visual Studio from the computer, go to `Program Files (x86)\Microsoft Visual Studio\Installer\resources\app\layout` and run `.\InstallCleanup.exe -full`  
 
+!!! Note
+    It is also possible to use Visual Studio 2022 using the above steps and substituting the Windows 8.1 SDK for the Windows 11/10 SDK. To override the default Visual Studio 2019 Generator in CMake, specify GENERATOR="Visual Studio 17 2022" when using the makefile commands (see [table](build_windows.md#other-make-commands)). You may specify any generator that works with the build commands as specific in the build scripts, for a full list run `cmake -G` (Ninja has been tested to work for building LibCarla so far).
+
 ##### Unreal Engine
 
 Starting with version 0.9.12, CARLA uses a modified fork of Unreal Engine 4.26. This fork contains patches specific to CARLA.

Util/BuildTools/BuildLibCarla.bat

@@ -37,6 +37,10 @@ if not "%1"=="" (
     if "%1"=="--clean" (
         set REMOVE_INTERMEDIATE=true
     )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     if "%1"=="-h" (
         echo %DOC_STRING%
         echo %USAGE_STRING%
@@ -68,6 +72,9 @@ rem Set the visual studio solution directory
 rem
 set LIBCARLA_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%libcarla-visualstudio\
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
+
 set LIBCARLA_SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
 set LIBCARLA_CLIENT_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
 
@@ -97,14 +104,25 @@ if %REMOVE_INTERMEDIATE% == true (
 if not exist "%LIBCARLA_VSPROJECT_PATH%" mkdir "%LIBCARLA_VSPROJECT_PATH%"
 cd "%LIBCARLA_VSPROJECT_PATH%"
 
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+rem For some reason the findstr above sets an errorlevel even if it finds the string in this batch file.
+set errorlevel=0
+
+
 rem Build libcarla server
 rem
 if %BUILD_SERVER% == true (
-    cmake -G "Visual Studio 16 2019" -A x64^
+    cmake -G %GENERATOR% %PLATFORM%^
       -DCMAKE_BUILD_TYPE=Server^
       -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
       -DCMAKE_INSTALL_PREFIX="%LIBCARLA_SERVER_INSTALL_PATH:\=/%"^
       "%ROOT_PATH%"
+
     if %errorlevel% neq 0 goto error_cmake
 
     cmake --build . --config Release --target install | findstr /V "Up-to-date:"
@@ -114,7 +132,7 @@ if %BUILD_SERVER% == true (
 rem Build libcarla client
 rem
 if %BUILD_CLIENT% == true (
-    cmake -G "Visual Studio 16 2019" -A x64^
+    cmake -G %GENERATOR% %PLATFORM%^
       -DCMAKE_BUILD_TYPE=Client^
       -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
       -DCMAKE_INSTALL_PREFIX="%LIBCARLA_CLIENT_INSTALL_PATH:\=/%"^
@@ -147,7 +165,7 @@ rem ============================================================================
 
 :error_install
     echo.
-    echo %FILE_N% [ERROR] An error ocurred while installing using Visual Studio 16 2019 Win64.
+    echo %FILE_N% [ERROR] An error ocurred while installing using %GENERATOR% Win64.
     echo           [ERROR] Possible causes:
     echo           [ERROR]  - Make sure you have Visual Studio installed.
     echo           [ERROR]  - Make sure you have the "x64 Visual C++ Toolset" in your path.

Util/BuildTools/BuildOSM2ODR.bat

@@ -39,6 +39,10 @@ if not "%1"=="" (
     if "%1"=="--clean" (
         set REMOVE_INTERMEDIATE=true
     )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     if "%1"=="-h" (
         echo %DOC_STRING%
         echo %USAGE_STRING%
@@ -72,6 +76,8 @@ set OSM2ODR_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
 set OSM2ODR__SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies
 set CARLA_DEPENDENCIES_FOLDER=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 if %REMOVE_INTERMEDIATE% == true (
     rem Remove directories
     for %%G in (
@@ -97,7 +103,13 @@ if %BUILD_OSM2ODR% == true (
     if not exist "%OSM2ODR_VSPROJECT_PATH%" mkdir "%OSM2ODR_VSPROJECT_PATH%"
     cd "%OSM2ODR_VSPROJECT_PATH%"
 
-    cmake -G "Visual Studio 16 2019" -A x64^
+    echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+        set PLATFORM=-A x64
+    ) || (
+        set PLATFORM=
+    )
+
+    cmake -G %GENERATOR% %PLATFORM%^
         -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
         -DCMAKE_INSTALL_PREFIX="%OSM2ODR_INSTALL_PATH:\=/%"^
         -DPROJ_INCLUDE_DIR=%INSTALLATION_DIR:/=\%\proj-install\include^
@@ -134,7 +146,7 @@ rem ============================================================================
 
 :error_install
     echo.
-    echo %FILE_N% [ERROR] An error ocurred while installing using Visual Studio 16 2019 Win64.
+    echo %FILE_N% [ERROR] An error ocurred while installing using %GENERATOR% Win64.
     echo           [ERROR] Possible causes:
     echo           [ERROR]  - Make sure you have Visual Studio installed.
     echo           [ERROR]  - Make sure you have the "x64 Visual C++ Toolset" in your path.

Util/BuildTools/Setup.bat

@@ -44,18 +44,24 @@ if not "%1"=="" (
     if "%1"=="--chrono" (
         set USE_CHRONO=true
     )
+    if "%1" == "--generator" (
+        set GENERATOR=%2
+        shift
+    )
     if "%1"=="-h" (
         goto help
     )
     if "%1"=="--help" (
         goto help
     )
+    
     shift
     goto :arg-parse
 )
 
 rem If not defined, use Visual Studio 2019 as tool set
 if "%TOOLSET%" == "" set TOOLSET=msvc-14.2
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
 
 rem If is not set, set the number of parallel jobs to the number of CPU threads
 if "%NUMBER_OF_ASYNC_JOBS%" == "" set NUMBER_OF_ASYNC_JOBS=%NUMBER_OF_PROCESSORS%
@@ -68,6 +74,7 @@ set INSTALLATION_DIR=%INSTALLATION_DIR:/=\%
 
 echo %FILE_N% Asynchronous jobs:  %NUMBER_OF_ASYNC_JOBS%
 echo %FILE_N% Boost toolset:      %TOOLSET%
+echo %FILE_N% Generator:          %GENERATOR%
 echo %FILE_N% Install directory:  "%INSTALLATION_DIR%"
 
 if not exist "%CONTENT_DIR%" (
@@ -121,7 +128,8 @@ rem ============================================================================
 
 echo %FILE_N% Installing rpclib...
 call "%INSTALLERS_DIR%install_rpclib.bat"^
- --build-dir "%INSTALLATION_DIR%"
+ --build-dir "%INSTALLATION_DIR%"^
+ --generator %GENERATOR%
 
 if %errorlevel% neq 0 goto failed
 
@@ -136,7 +144,8 @@ rem ============================================================================
 
 echo %FILE_N% Installing Google Test...
 call "%INSTALLERS_DIR%install_gtest.bat"^
- --build-dir "%INSTALLATION_DIR%"
+ --build-dir "%INSTALLATION_DIR%"^
+ --generator %GENERATOR%
 
 if %errorlevel% neq 0 goto failed
 
@@ -152,7 +161,8 @@ rem ============================================================================
 
 echo %FILE_N% Installing "Recast & Detour"...
 call "%INSTALLERS_DIR%install_recast.bat"^
- --build-dir "%INSTALLATION_DIR%"
+ --build-dir "%INSTALLATION_DIR%"^
+ --generator %GENERATOR%
 
 if %errorlevel% neq 0 goto failed
 
@@ -188,7 +198,8 @@ rem ============================================================================
 
 echo %FILE_N% Installing Xercesc...
 call "%INSTALLERS_DIR%install_xercesc.bat"^
- --build-dir "%INSTALLATION_DIR%"
+ --build-dir "%INSTALLATION_DIR%"^
+ --generator %GENERATOR%
 copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_PYTHON_DEPENDENCIES%\lib
 copy %INSTALLATION_DIR%\xerces-c-3.2.3-install\lib\xerces-c_3.lib %CARLA_DEPENDENCIES_FOLDER%\lib
 
@@ -207,7 +218,8 @@ rem ============================================================================
 
 echo %FILE_N% Installing PROJ
 call "%INSTALLERS_DIR%install_proj.bat"^
- --build-dir "%INSTALLATION_DIR%"
+ --build-dir "%INSTALLATION_DIR%"^
+ --generator %GENERATOR%
 copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_PYTHON_DEPENDENCIES%\lib
 copy %INSTALLATION_DIR%\proj-install\lib\proj.lib %CARLA_DEPENDENCIES_FOLDER%\lib
 
@@ -227,7 +239,8 @@ rem ============================================================================
 if %USE_CHRONO% == true (
     echo %FILE_N% Installing Chrono...
     call "%INSTALLERS_DIR%install_chrono.bat"^
-     --build-dir "%INSTALLATION_DIR%"
+     --build-dir "%INSTALLATION_DIR%" ^
+     --generator %GENERATOR%
 
     if not exist "%CARLA_DEPENDENCIES_FOLDER%" (
         mkdir "%CARLA_DEPENDENCIES_FOLDER%"
@@ -349,6 +362,7 @@ rem ============================================================================
     echo                               Visual Studio 2015 -^> msvc-14.0
     echo                               Visual Studio 2017 -^> msvc-14.1
     echo                               Visual Studio 2019 -^> msvc-14.2 *
+    echo                               Visual Studio 2022 -^> msvc-14.3
     goto good_exit
 
 :error_cl

Util/BuildTools/Windows.mk

@@ -62,17 +62,17 @@ PythonAPI: LibCarla osm2odr
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.bat" --py3
 
 server: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --generator "$(GENERATOR)"
 
 client: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client --generator "$(GENERATOR)"
 
 .PHONY: LibCarla
 LibCarla: setup
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)"
 
 setup:
-	@"${CARLA_BUILD_TOOLS_FOLDER}/Setup.bat" --boost-toolset msvc-14.2 $(ARGS)
+	@"${CARLA_BUILD_TOOLS_FOLDER}/Setup.bat" --boost-toolset msvc-14.2 --generator "$(GENERATOR)" $(ARGS)
 
 .PHONY: Plugins
 plugins:
@@ -82,7 +82,7 @@ deploy:
 	@"${CARLA_BUILD_TOOLS_FOLDER}/Deploy.bat" $(ARGS)
 
 osm2odr:
-	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.bat" --build $(ARGS)
+	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSM2ODR.bat" --generator "$(GENERATOR)" --build $(ARGS)
 
 osmrenderer:
 	@"${CARLA_BUILD_TOOLS_FOLDER}/BuildOSMRenderer.bat"

Util/InstallersWin/install_chrono.bat

@@ -27,6 +27,10 @@ if not "%1"=="" (
     if "%1"=="--help" (
         goto help
     )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     shift
     goto :arg-parse
 )
@@ -34,6 +38,7 @@ if not "%1"=="" (
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
 
 rem ============================================================================
 rem -- Get Eigen (Chrono dependency) -------------------------------------------
@@ -96,8 +101,14 @@ if not exist %CHRONO_INSTALL_DIR% (
 
     cd "%CHRONO_BUILD_DIR%"
 
+    echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+        set PLATFORM=-A x64
+    ) || (
+        set PLATFORM=
+    )
+
     echo %FILE_N% Compiling Chrono.
-    cmake -G "Visual Studio 16 2019" -A x64^
+    cmake -G %GENERATOR% %PLATFORM%^
         -DCMAKE_BUILD_TYPE=Release^
         -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
         -DEIGEN3_INCLUDE_DIR="%EIGEN_INCLUDE%"^

Util/InstallersWin/install_gtest.bat

@@ -23,7 +23,10 @@ if not "%1"=="" (
         set BUILD_DIR=%~dpn2
         shift
     )
-
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     if "%1"=="--delete-src" (
         set DEL_SRC=true
     )
@@ -32,6 +35,8 @@ if not "%1"=="" (
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
@@ -64,7 +69,13 @@ if not exist "%GT_BUILD_DIR%" (
 cd "%GT_BUILD_DIR%"
 echo %FILE_N% Generating build...
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_INSTALL_PREFIX="%GT_INSTALL_DIR:\=/%"^
@@ -116,8 +127,8 @@ rem ============================================================================
 
 :error_install
     echo.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] An error ocurred while installing using Visual Studio 16 2019 Win64.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] Possible causes:
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] An error ocurred while installing using %GENERATOR% Win64.
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] Possible causes:
     echo %FILE_N%                - Make sure you have Visual Studio installed.
     echo %FILE_N%                - Make sure you have the "x64 Visual C++ Toolset" in your path.
     echo %FILE_N%                  For example using the "Visual Studio x64 Native Tools Command Prompt",

Util/InstallersWin/install_proj.bat

@@ -27,10 +27,16 @@ if not "%1"=="" (
     if "%1"=="--help" (
         goto help
     )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     shift
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
@@ -73,7 +79,13 @@ move %BUILD_DIR%%PROJ_BASE_NAME% %PROJ_SRC_DIR%
 mkdir %PROJ_BUILD_DIR%
 cd %PROJ_BUILD_DIR%
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_CXX_FLAGS="/MD /MP"^
     -DSQLITE3_INCLUDE_DIR=%SQLITE_INCLUDE_DIR% -DSQLITE3_LIBRARY=%SQLITE_LIB%^

Util/InstallersWin/install_recast.bat

@@ -26,11 +26,16 @@ if not "%1"=="" (
     if "%1"=="--delete-src" (
         set DEL_SRC=true
     )
-
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     shift
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
@@ -68,7 +73,13 @@ if not exist "%RECAST_BUILD_DIR%" (
 cd "%RECAST_BUILD_DIR%"
 echo %FILE_N% Generating build...
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+cmake .. -G %GENERATOR% %PLATFORM%^
     -DCMAKE_BUILD_TYPE=Release^
     -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
     -DCMAKE_INSTALL_PREFIX="%RECAST_INSTALL_DIR:\=/%"^
@@ -120,8 +131,8 @@ rem ============================================================================
 
 :error_install
     echo.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] An error ocurred while installing using Visual Studio 16 2019 Win64.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] Possible causes:
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] An error ocurred while installing using %GENERATOR% Win64.
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] Possible causes:
     echo %FILE_N%                - Make sure you have Visual Studio installed.
     echo %FILE_N%                - Make sure you have the "x64 Visual C++ Toolset" in your path.
     echo %FILE_N%                  For example using the "Visual Studio x64 Native Tools Command Prompt",

Util/InstallersWin/install_rpclib.bat

@@ -19,19 +19,23 @@ set DEL_SRC=false
 
 :arg-parse
 if not "%1"=="" (
+
     if "%1"=="--build-dir" (
         set BUILD_DIR=%~dpn2
+    )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
         shift
     )
-
     if "%1"=="--delete-src" (
         set DEL_SRC=true
     )
-
     shift  
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
@@ -67,7 +71,14 @@ if not exist "%RPC_BUILD_DIR%" (
 cd "%RPC_BUILD_DIR%"
 echo %FILE_N% Generating build...
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+
+cmake .. -G %GENERATOR% %PLATFORM%^
         -DCMAKE_BUILD_TYPE=Release^
         -DRPCLIB_BUILD_EXAMPLES=OFF^
         -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
@@ -120,8 +131,8 @@ rem ============================================================================
 
 :error_install
     echo.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] An error ocurred while installing using Visual Studio 16 2019 Win64.
-    echo %FILE_N% [Visual Studio 16 2019 Win64 ERROR] Possible causes:
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] An error ocurred while installing using %GENERATOR% Win64.
+    echo %FILE_N% [%GENERATOR% Win64 ERROR] Possible causes:
     echo %FILE_N%                - Make sure you have Visual Studio installed.
     echo %FILE_N%                - Make sure you have the "x64 Visual C++ Toolset" in your path.
     echo %FILE_N%                  For example using the "Visual Studio x64 Native Tools Command Prompt",

Util/InstallersWin/install_xercesc.bat

@@ -27,10 +27,16 @@ if not "%1"=="" (
     if "%1"=="--help" (
         goto help
     )
+    if "%1"=="--generator" (
+        set GENERATOR=%2
+        shift
+    )
     shift
     goto :arg-parse
 )
 
+if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
+
 rem If not set set the build dir to the current dir
 if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
 if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
@@ -115,7 +121,13 @@ if not exist "%XERCESC_INSTALL_DIR%include" (
     mkdir "%XERCESC_INSTALL_DIR%include"
 )
 
-cmake .. -G "Visual Studio 16 2019" -A x64^
+echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
+    set PLATFORM=-A x64
+) || (
+    set PLATFORM=
+)
+
+cmake .. -G %GENERATOR% %PLATFORM%^
   -DCMAKE_INSTALL_PREFIX="%XERCESC_INSTALL_DIR:\=/%"^
   -DBUILD_SHARED_LIBS=OFF^
   "%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source"