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carla
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Misc fixes and improvements.

This commit is contained in:
Marcel Pi 2023-12-01 15:21:12 +01:00
parent 46a8e37784
commit 116fa1afe3
5 changed files with 65 additions and 71 deletions
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2
CMakeLists.txt
View File

@ -79,7 +79,7 @@ set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/LibCarla/source)
set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
set (PYTHONAPI_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/PythonAPI)
set (BOOST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/boost-install/include/boost-1_83)
set (BOOST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/boost-install/include)
set (BOOST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/boost-install/lib)
set (CHRONO_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/chrono-install/include)
set (CHRONO_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/chrono-install/lib)

127
Configure.py
View File

@ -298,7 +298,7 @@ BOOST_TOOLSET = 'msvc-14.3'
BOOST_SOURCE_PATH = DEPENDENCIES_PATH / 'boost-source'
BOOST_BUILD_PATH = DEPENDENCIES_PATH / 'boost-build'
BOOST_INSTALL_PATH = DEPENDENCIES_PATH / 'boost-install'
BOOST_INCLUDE_PATH = BOOST_INSTALL_PATH / 'include' / f'boost-{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}'
BOOST_INCLUDE_PATH = BOOST_INSTALL_PATH / 'include'
BOOST_LIBRARY_PATH = BOOST_INSTALL_PATH / 'lib'
BOOST_B2_PATH = BOOST_SOURCE_PATH / f'b2{EXE_EXT}'
# Eigen
@ -393,51 +393,29 @@ def Log(message):
def LaunchSubprocess(
cmd : list,
display_output : bool = False,
working_directory : Path = None):
stdstream_value = None if display_output or SEQUENTIAL else subprocess.PIPE
working_directory : Path = None,
log = None):
return subprocess.run(
cmd,
stdout = stdstream_value,
stderr = stdstream_value,
stdout = log,
stderr = log,
cwd = working_directory)
def LaunchSubprocessImmediate(
cmd : list,
display_output : bool = False,
working_directory : Path = None,
log_name : str = None):
sp = LaunchSubprocess(cmd, display_output, working_directory)
log_content = None
try:
sp.check_returncode()
except:
stdout = sp.stdout.decode() if sp.stdout else ''
stderr = sp.stderr.decode() if sp.stderr else ''
log_content = (
f' stdout:\n'
f' {stdout}\n'
f' stderr:\n'
f' {stderr}\n'
)
error_message = (
f'Failed to run task {cmd}.\n' +
log_content
)
print(error_message)
finally:
if not ARGV.no_log and log_name != None:
if log_content == None:
stdout = sp.stdout.decode() if sp.stdout else ''
stderr = sp.stderr.decode() if sp.stderr else ''
log_content = (
f' stdout:\n'
f' {stdout}\n'
f' stderr:\n'
f' {stderr}\n'
)
with open(LOG_PATH / (log_name + '.log'), 'w') as file:
file.write(log_content)
sp = None
if not ARGV.no_log and log_name != None:
with open(LOG_PATH / f'{log_name}.log', 'w') as file:
sp = subprocess.run(
cmd,
cwd = working_directory,
stdout = file,
stderr = file)
else:
sp = subprocess.run(cmd, cwd = working_directory)
sp.check_returncode()
# Convenience classes for listing dependencies:
@ -446,9 +424,9 @@ class Download:
self.url = url
class GitRepository:
def __init__(self, url : str, tag : str = None, commit : str = None):
def __init__(self, url : str, tag_or_branch : str = None, commit : str = None):
self.url = url
self.tag = tag
self.tag_or_branch = tag_or_branch
self.commit = commit
class Dependency:
@ -465,36 +443,36 @@ class DependencyUEPlugin(Dependency):
super().__init__(name, *sources)
DEFAULT_DEPENDENCIES = [
Dependency(
'boost-asio',
GitRepository('https://github.com/boostorg/asio.git')),
Dependency(
'boost-python',
GitRepository('https://github.com/boostorg/python.git')),
# Dependency(
# 'boost-asio',
# GitRepository('https://github.com/boostorg/asio.git')),
# Dependency(
# 'boost-python',
# GitRepository('https://github.com/boostorg/python.git')),
Dependency(
'boost',
Download(f'https://boostorg.jfrog.io/artifactory/main/release/{BOOST_VERSION_STRING}/source/boost_{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}_{BOOST_VERSION_PATCH}.zip'),
Download(f'https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/boost_{BOOST_VERSION_MAJOR}_{BOOST_VERSION_MINOR}_{BOOST_VERSION_PATCH}.zip')),
Dependency(
'eigen',
GitRepository('https://gitlab.com/libeigen/eigen.git', tag = '3.4.0')),
GitRepository('https://gitlab.com/libeigen/eigen.git', tag_or_branch = '3.4.0')),
Dependency(
'libpng',
GitRepository('https://github.com/glennrp/libpng.git', tag = 'v1.6.40')),
GitRepository('https://github.com/glennrp/libpng.git', tag_or_branch = 'v1.6.40')),
Dependency(
'proj',
GitRepository('https://github.com/OSGeo/PROJ.git', tag = '9.3.0'),
GitRepository('https://github.com/OSGeo/PROJ.git', tag_or_branch = '9.3.0'),
Download('https://download.osgeo.org/proj/proj-9.3.0.tar.gz')),
Dependency(
'gtest',
GitRepository('https://github.com/google/googletest.git', tag = 'v1.14.0')),
GitRepository('https://github.com/google/googletest.git', tag_or_branch = 'v1.14.0')),
Dependency(
'zlib',
GitRepository('https://github.com/madler/zlib.git'),
Download('https://zlib.net/current/zlib.tar.gz')),
Dependency(
'xercesc',
GitRepository('https://github.com/apache/xerces-c.git', tag = 'v3.2.4'),
GitRepository('https://github.com/apache/xerces-c.git', tag_or_branch = 'v3.2.4'),
Download('https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-3.2.3.zip'),
Download('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/xerces-c-3.2.3.zip')),
Dependency(
@ -502,16 +480,16 @@ DEFAULT_DEPENDENCIES = [
Download('https://www.sqlite.org/2021/sqlite-amalgamation-3340100.zip')),
Dependency(
'rpclib',
GitRepository('https://github.com/rpclib/rpclib.git', tag = 'v2.3.0')),
GitRepository('https://github.com/rpclib/rpclib.git', tag_or_branch = 'v2.3.0')),
Dependency(
'recast',
GitRepository('https://github.com/carla-simulator/recastnavigation.git', tag = 'carla')),
GitRepository('https://github.com/carla-simulator/recastnavigation.git', tag_or_branch = 'carla')),
]
CHRONO_DEPENDENCIES = [
Dependency(
'chrono',
GitRepository('https://github.com/projectchrono/chrono.git', tag = '8.0.0')),
GitRepository('https://github.com/projectchrono/chrono.git', tag_or_branch = '8.0.0')),
]
OSM_WORLD_RENDERER_DEPENDENCIES = [
@ -526,7 +504,7 @@ OSM_WORLD_RENDERER_DEPENDENCIES = [
OSM2ODR_DEPENDENCIES = [
Dependency(
'sumo',
GitRepository('https://github.com/carla-simulator/sumo.git', tag = 'carla_osm2odr')),
GitRepository('https://github.com/carla-simulator/sumo.git', tag_or_branch = 'carla_osm2odr')),
]
CARLA_UE_DEPENDENCIES = [
@ -534,7 +512,7 @@ CARLA_UE_DEPENDENCIES = [
'StreetMap',
GitRepository(
'https://github.com/carla-simulator/StreetMap.git',
tag = 'ue5.3')),
tag_or_branch = 'ue5.3')),
]
@ -551,7 +529,7 @@ class Task:
self.done = False
def CreateSubprocessTask(name : str, in_edges : list, command : list):
return Task(name, in_edges, LaunchSubprocessImmediate, command, False, None, name)
return Task(name, in_edges, LaunchSubprocessImmediate, command, None, name)
def CreateCMakeConfigureDefaultCommandLine(source_path : Path, build_path : Path):
cpp_flags_release = '/MD'
@ -607,7 +585,7 @@ class TaskGraph:
def Add(self, task : Task):
self.tasks.append(task)
if len(task.in_edges) == 0:
self.sources.append(task.name)
self.sources.append(task)
self.task_map[task.name] = self.tasks[-1]
return task
@ -631,7 +609,8 @@ class TaskGraph:
active_count = 0
done_count = 0
def UpdateOutEdges(task_queue, task):
def UpdateOutEdges(task):
nonlocal task_queue
if len(task.out_edges) == 0:
return
for out in task.out_edges:
@ -640,7 +619,9 @@ class TaskGraph:
if out.in_edge_done_count == len(out.in_edges):
task_queue.append(out)
def Flush(task_queue, futures, future_map):
def Flush():
nonlocal futures
nonlocal future_map
nonlocal done_count
nonlocal active_count
if active_count != 0:
@ -649,14 +630,15 @@ class TaskGraph:
for e in done_tasks:
e.done = True
Log(f'{e.name} - done')
UpdateOutEdges(task_queue, e)
UpdateOutEdges(e)
assert active_count == len(done_tasks)
done_count += len(done_tasks)
active_count = 0
future_map = {}
futures = []
task_queue.extend([ self.task_map[e] for e in self.sources ])
assert len(set(self.sources)) == len(self.sources)
task_queue.extend(self.sources)
with ProcessPoolExecutor(self.parallelism) as pool:
futures = []
future_map = {}
@ -675,8 +657,7 @@ class TaskGraph:
task.done = True
done_count += 1
UpdateOutEdges(task)
Flush(task_queue, futures, future_map)
gc.collect()
Flush()
if done_count != len(self.tasks):
pending_tasks = []
@ -746,7 +727,7 @@ def UpdateDependency(dep : Dependency):
for source in dep.sources:
try:
if type(source) is GitRepository:
UpdateGitRepository(download_path, source.url, source.tag, source.commit)
UpdateGitRepository(download_path, source.url, source.tag_or_branch, source.commit)
elif type(source) is Download:
if download_path.exists():
Log(f'Dependency "{name}" already present. Delete "{download_path}" if you wish for it to be downloaded again.')
@ -789,6 +770,7 @@ def ConfigureBoost():
working_directory = BOOST_SOURCE_PATH)
def BuildAndInstallBoost():
LaunchSubprocessImmediate([
BOOST_B2_PATH,
f'-j{PARALLELISM}',
@ -807,9 +789,18 @@ def BuildAndInstallBoost():
f'--build-dir={BOOST_BUILD_PATH}',
f'--prefix={BOOST_INSTALL_PATH}',
f'--libdir={BOOST_LIBRARY_PATH}',
f'--includedir={BOOST_INCLUDE_PATH.parent}',
f'--includedir={BOOST_INCLUDE_PATH}',
'install'
], working_directory = BOOST_SOURCE_PATH)
],
working_directory = BOOST_SOURCE_PATH,
log_name = 'build-boost')
if (BOOST_INCLUDE_PATH / 'boost').exists():
return
candidates = glob.glob(f'{BOOST_INCLUDE_PATH}/**/boost', recursive = True)
candidates.sort()
boost_path = Path(candidates[0])
shutil.move(boost_path, BOOST_INCLUDE_PATH / 'boost')
boost_path.parent.rmdir()
def BuildSQLite():
SQLITE_BUILD_PATH.mkdir(exist_ok = True)
@ -1022,6 +1013,7 @@ def BuildDependencies(task_graph : TaskGraph):
f'-DEIGEN3_INCLUDE_DIR={EIGEN_SOURCE_PATH}',
'-DENABLE_MODULE_VEHICLE=ON'))
task_graph.Execute()
# Build:
task_graph.Add(Task('build-boost', [], BuildAndInstallBoost))
task_graph.Add(Task.CreateCMakeBuildDefault('build-gtest', [], GTEST_BUILD_PATH))
@ -1039,6 +1031,7 @@ def BuildDependencies(task_graph : TaskGraph):
if ENABLE_CHRONO:
task_graph.Add(Task.CreateCMakeBuildDefault('build-chrono', [], CHRONO_BUILD_PATH))
task_graph.Execute(sequential = True) # The underlying build system should already parallelize.
# Install:
task_graph.Add(Task.CreateCMakeInstallDefault('install-gtest', [], GTEST_BUILD_PATH, GTEST_INSTALL_PATH))
task_graph.Add(Task.CreateCMakeInstallDefault('install-libpng', [], LIBPNG_BUILD_PATH, LIBPNG_INSTALL_PATH))

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
View File

@ -184,6 +184,7 @@ public class Carla :
GetLibraryName("*boost_asio*"),
GetLibraryName("*boost_python*"),
};
var BoostIncludePath = Path.Combine(DependenciesInstallPath, "boost-install", "include");
var BoostLibraries =
from Pattern in BoostLibraryPatterns
from Candidate in FindLibraries("boost", Pattern)
@ -221,7 +222,6 @@ public class Carla :
PublicAdditionalLibraries.AddRange(ChronoLibraries);
}
PrivateIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.AddRange(new string[]
{

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -6,7 +6,7 @@
#pragma once
#include "WheeledVehicle.h"
#include "WheeledVehiclePawn.h"
#include "Vehicle/AckermannController.h"
#include "Vehicle/AckermannControllerSettings.h"

3
Unreal/CarlaUE4/Plugins/CarlaExporter/Source/CarlaExporter/Private/CarlaExporter.cpp
View File

@ -139,7 +139,8 @@ void FCarlaExporterModule::PluginButtonClicked()
f << "g " << TCHAR_TO_ANSI(*(ActorName)) << "\n";
TArray<UActorComponent*> Components = TempActor->GetComponentsByClass(UStaticMeshComponent::StaticClass());
TArray<UActorComponent*> Components;
TempActor->GetComponents(UStaticMeshComponent::StaticClass(), Components);
for (auto *Component : Components)
{