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carla
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New build system for Windows

This commit is contained in:
nsubiron 2017-03-29 18:05:26 +01:00
parent ed2a1afa6f
commit 4f62a201a0
17 changed files with 251 additions and 8137 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
README.md
View File

@ -1,4 +1,9 @@
CARLA UE4 Plugin
================
To build within a project [CarlaServer](Source/CarlaServer/README.md) needs to
be built first.
See [carla-ue4](https://bitbucket.org/carla-cvc/carla-ue4).

57
Source/Carla/Carla.Build.cs
View File

@ -5,6 +5,8 @@ using UnrealBuildTool;
public class Carla : ModuleRules
{
private readonly bool bUseDebugLibs = false;
public Carla(TargetInfo Target)
{
PublicIncludePaths.AddRange(
@ -48,6 +50,7 @@ public class Carla : ModuleRules
AddBoostDependency(Target);
AddProtobufDependency(Target);
AddTurboJPEGDependency(Target);
AddCarlaServerDependency(Target);
if (Target.Platform == UnrealTargetPlatform.Linux)
@ -55,7 +58,6 @@ public class Carla : ModuleRules
// Fails to link the std libraries.
PublicAdditionalLibraries.Add("stdc++");
}
PublicAdditionalLibraries.Add("turbojpeg");
}
private bool IsWindows(TargetInfo Target)
@ -97,12 +99,23 @@ public class Carla : ModuleRules
if (IsWindows(Target))
{
string ProtobufRoot = System.Environment.GetEnvironmentVariable("PROTOBUF_ROOT");
string ProtobufLib;
if (bUseDebugLibs)
{
ProtobufRoot = Path.Combine(ProtobufRoot, "Debug");
ProtobufLib = "libprotobufd.lib";
}
else
{
ProtobufRoot = Path.Combine(ProtobufRoot, "Release");
ProtobufLib = "libprotobuf.lib";
}
if (string.IsNullOrEmpty(ProtobufRoot) || !System.IO.Directory.Exists(ProtobufRoot))
{
throw new System.Exception("PROTOBUF_ROOT is not defined, or points to a non-existant directory, please set this environment variable.");
}
PrivateIncludePaths.Add(Path.Combine(ProtobufRoot, "include"));
PublicAdditionalLibraries.Add(Path.Combine(ProtobufRoot, "lib", "libprotobuf.lib"));
PublicAdditionalLibraries.Add(Path.Combine(ProtobufRoot, "lib", ProtobufLib));
}
else
{
@ -110,31 +123,41 @@ public class Carla : ModuleRules
}
}
public void AddCarlaServerDependency(TargetInfo Target)
private void AddTurboJPEGDependency(TargetInfo Target)
{
string CarlaServerIncludePath;
string CarlaServerLibPath;
string CarlaServerLib;
string TurboJpegLib;
if (Target.Platform == UnrealTargetPlatform.Linux)
{
PublicAdditionalLibraries.Add("turbojpeg");
}
}
if (IsWindows(Target))
private void AddCarlaServerDependency(TargetInfo Target)
{
CarlaServerIncludePath = "CarlaServer/include";
CarlaServerLibPath = "CarlaServer/lib/Release";
CarlaServerLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "carla_server.lib");
TurboJpegLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "turbojpeg.lib");
string CarlaServerIncludePath = "CarlaServer/include";
string CarlaServerLibPath = Path.Combine(ModuleDirectory, "..", "CarlaServer/lib");
string CarlaServerLibBaseName;
if (bUseDebugLibs)
{
CarlaServerLibBaseName = "carlaserverd";
}
else
{
CarlaServerIncludePath = "CarlaServer/include";
CarlaServerLibPath = "CarlaServer/lib";
CarlaServerLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "libcarla_server.a");
TurboJpegLib = Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "libturbojpeg.a");
CarlaServerLibBaseName = "carlaserver";
}
string CarlaServerLib;
if (IsWindows(Target))
{
CarlaServerLib = Path.Combine(CarlaServerLibPath, CarlaServerLibBaseName + ".lib");
}
else
{
CarlaServerLib = Path.Combine(CarlaServerLibPath, "lib" + CarlaServerLibBaseName + ".a");
}
PublicIncludePaths.Add(CarlaServerIncludePath);
PrivateIncludePaths.Add(CarlaServerIncludePath);
PublicAdditionalLibraries.Add(CarlaServerLib);
PublicAdditionalLibraries.Add(TurboJpegLib);
}
}

4
Source/Carla/Game/CarlaGameController.cpp
View File

@ -116,7 +116,7 @@ static bool SendAndReadSceneValues(
if (!Server.sendSceneValues(sceneValues))
return false;
// Wait till we receive an answer.
uint32 EndIndex;
uint32 EndIndex = 0u;
bool Success = false;
UE_LOG(LogCarlaServer, Log, TEXT("(tryReadEpisodeStart) Waiting for client..."));
while (!Success) {
@ -125,7 +125,7 @@ static bool SendAndReadSceneValues(
}
UE_LOG(LogCarlaServer, Log, TEXT("Episode start received: { StartIndex = %d, EndIndex = %d }"), StartIndex, EndIndex);
// Make sure the index is in range.
if (StartIndex >= AvailableStartSpots.Num()) {
if (StartIndex >= static_cast<uint32>(AvailableStartSpots.Num())) {
UE_LOG(
LogCarlaServer,
Error,

2
Source/Carla/Game/CarlaPlayerState.cpp
View File

@ -40,7 +40,7 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
}
}
void ACarlaPlayerState::RegisterCollision(AActor */*Actor*/, FVector NormalImpulse)
void ACarlaPlayerState::RegisterCollision(AActor * /*Actor*/, FVector NormalImpulse)
{
CollisionIntensityOther += NormalImpulse.Size();
}

1
Source/CarlaServer/.gitignore vendored
View File

@ -8,6 +8,7 @@ CMakeCache.txt
CMakeFiles
bin
bin_debug
build
include
lib

109
Source/CarlaServer/CMakeLists.txt
View File

@ -10,24 +10,115 @@ endif (UNIX)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED 14)
# Boost configuration.
# ==============================================================================
# -- Suppress windows warning --------------------------------------------------
# ==============================================================================
# http://stackoverflow.com/a/40217291
if (WIN32)
macro(get_WIN32_WINNT version)
if (CMAKE_SYSTEM_VERSION)
set(ver ${CMAKE_SYSTEM_VERSION})
string(REGEX MATCH "^([0-9]+).([0-9])" ver ${ver})
string(REGEX MATCH "^([0-9]+)" verMajor ${ver})
# Check for Windows 10, b/c we'll need to convert to hex 'A'.
if ("${verMajor}" MATCHES "10")
set(verMajor "A")
string(REGEX REPLACE "^([0-9]+)" ${verMajor} ver ${ver})
endif ("${verMajor}" MATCHES "10")
# Remove all remaining '.' characters.
string(REPLACE "." "" ver ${ver})
# Prepend each digit with a zero.
string(REGEX REPLACE "([0-9A-Z])" "0\\1" ver ${ver})
set(${version} "0x${ver}")
endif(CMAKE_SYSTEM_VERSION)
endmacro(get_WIN32_WINNT)
get_WIN32_WINNT(ver)
add_definitions(-D_WIN32_WINNT=${ver})
endif(WIN32)
# ==============================================================================
# -- Boost ---------------------------------------------------------------------
# ==============================================================================
set(Boost_USE_STATIC_LIBS ON)
find_package(Boost REQUIRED system date_time regex)
include_directories(${Boost_INCLUDE_DIRS})
#TurboJPEG
# ==============================================================================
# -- Protobuf ------------------------------------------------------------------
# ==============================================================================
# Protobuf.
include(FindProtobuf)
find_package(Protobuf REQUIRED)
include_directories(${PROTOBUF_INCLUDE_DIR})
if (UNIX)
set(Protobuf_LIBRARIES ${Protobuf_LIBRARIES} protobuf turbojpeg)
include(FindProtobuf)
find_package(Protobuf REQUIRED)
include_directories(${PROTOBUF_INCLUDE_DIR})
set(Protobuf_LIBRARIES protobuf)
elseif (WIN32)
if (CMAKE_BUILD_TYPE MATCHES Debug)
if (EXISTS $ENV{PROTOBUF_ROOT}/Debug)
message(STATUS "Using Protobuf DEBUG at " $ENV{PROTOBUF_ROOT}/Debug)
include_directories($ENV{PROTOBUF_ROOT}/Debug/include)
link_directories($ENV{PROTOBUF_ROOT}/Debug/lib)
set(Protobuf_LIBRARIES libprotobufd.lib)
else (EXISTS $ENV{PROTOBUF_ROOT}/Debug)
message(FATAL_ERROR "Cannot find PROTOBUF_ROOT/Debug")
endif (EXISTS $ENV{PROTOBUF_ROOT}/Debug)
else (CMAKE_BUILD_TYPE MATCHES Release)
if (EXISTS $ENV{PROTOBUF_ROOT}/Release)
message(STATUS "Using Protobuf RELEASE at " $ENV{PROTOBUF_ROOT}/Release)
include_directories($ENV{PROTOBUF_ROOT}/Release/include)
link_directories($ENV{PROTOBUF_ROOT}/Release/lib)
set(Protobuf_LIBRARIES libprotobuf.lib)
else (EXISTS $ENV{PROTOBUF_ROOT}/Release)
message(FATAL_ERROR "Cannot find PROTOBUF_ROOT/Release")
endif (EXISTS $ENV{PROTOBUF_ROOT}/Release)
endif (CMAKE_BUILD_TYPE MATCHES Debug)
endif (UNIX)
# ==============================================================================
# -- TurboJPEG -----------------------------------------------------------------
# ==============================================================================
if (UNIX)
set(TurboJPEG_LIBRARIES ${TurboJPEG_LIBRARIES} turbojpeg)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_TURBOJPEG")
elseif (WIN32)
message(WARNING "TurboJPEG not available for Windows yet")
endif (UNIX)
# ==============================================================================
# -- Project config ------------------------------------------------------------
# ==============================================================================
set(CarlaServer_Deps_LIBRARIES
${TurboJPEG_LIBRARIES}
${Protobuf_LIBRARIES}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY}
${CMAKE_THREAD_LIBS_INIT})
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
if (CMAKE_BUILD_TYPE MATCHES Debug)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin_debug)
set(CarlaServer_LIBRARIES carlaserverd ${CarlaServer_Deps_LIBRARIES})
elseif (CMAKE_BUILD_TYPE MATCHES Release)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(CarlaServer_LIBRARIES carlaserver ${CarlaServer_Deps_LIBRARIES})
endif (CMAKE_BUILD_TYPE MATCHES Debug)
include_directories("${PROJECT_SOURCE_DIR}/source")

35
Source/CarlaServer/Makefile
View File

@ -1,14 +1,35 @@
BUILD_FOLDER=build
PROTOBUF_SRC_DIR=source/carla/server
default: build
cd build && ninja && ninja install
MY_CMAKE_FLAGS=-H. -B$(BUILD_FOLDER)
build: protobuf
cmake -H. -B$(BUILD_FOLDER) -G "Ninja"
ifeq ($(OS),Windows_NT)
DEFAULT_RULE=build_windows
else
DEFAULT_RULE=build_linux
endif
default: release
debug: BUILD_FOLDER=build/debug
debug: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
debug: $(DEFAULT_RULE)
release: BUILD_FOLDER=build/release
release: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
release: $(DEFAULT_RULE)
build_linux: protobuf
cmake $(MY_CMAKE_FLAGS) -G "Ninja"
cd $(BUILD_FOLDER) && ninja && ninja install
build_windows: protobuf
cmake $(MY_CMAKE_FLAGS) -G "NMake Makefiles"
cd $(BUILD_FOLDER) && nmake && nmake install
vsproject: BUILD_FOLDER=build/visualstudio
vsproject: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
vsproject: protobuf
cmake -H. -B$(BUILD_FOLDER) -G "Visual Studio 14 2015 Win64"
cmake $(MY_CMAKE_FLAGS) -G "Visual Studio 14 2015 Win64"
protobuf: $(PROTOBUF_SRC_DIR)/carla_protocol.pb.cc
@ -20,4 +41,4 @@ clean:
rm -Rf build CMakeFiles
clean-all: clean
rm -Rf bin lib include
rm -Rf bin bin_debug lib include

43
Source/CarlaServer/README.md
View File

@ -27,25 +27,42 @@ At the configure step add PIC compile option
#### Windows
Warning: Outdated
Note: JPEG compression is not implemented on Windows, the server won't send any
images.
Install and compile [boost](http://www.boost.org/).
Compile and install [boost](http://www.boost.org/).
Install and compile [protobuf](https://developers.google.com/protocol-buffers/).
While compiling protobuf, use `-Dprotobuf_MSVC_STATIC_RUNTIME=OFF` when calling
CMake in order to use the static runtime library, otherwise may give errors
while trying to link with CarlaServer.
Compile [protobuf](https://developers.google.com/protocol-buffers/). While
compiling protobuf, use `-Dprotobuf_MSVC_STATIC_RUNTIME=OFF` when calling CMake
in order to use the static runtime library, otherwise may give errors while
trying to link with CarlaServer. Generate both debug and release and install
under `$PROTOBUF_ROOT/Debug` and `$PROTOBUF_ROOT/Release` respectively.
CMake looks at the following environment variables
The Makefile uses cmake to generate project files. Under Windows, it requires
the following environment variables set
* `CMAKE_INCLUDE_PATH` should contain the protobuf include folder.
* `CMAKE_LIBRARY_PATH` should contain "libprotobuf" "libprotobuf-lite" "liteprotoc" .lib files.
* `BOOST_ROOT` root of the boost folder.
* `PROTOBUF_ROOT` contains two folder `Debug` and `Release`, each of them with subfolders `lib` and `include`.
To generate the Visual Studio solution
Before calling make you need to set up the environment calling `vcvarsall.bat`,
usually located at the Visual Studio installation folder. Call it (don't forget
the amd64 at the end)
$ "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" amd64
Then build either debug or release
$ make debug
or
$ make release
To generate the Visual Studio project
$ make vsproject
The solution gets generated at `./build/CarlaServer.sln`. Change the solution
configuration to match protobuf (release, most probably). Don't forget to build
the project INSTALL, it doesn't build when building the solution.
The solution gets generated at `./build/visualstudio/CarlaServer.sln`. Change
the solution configuration to match protobuf (release, most probably). Don't
forget to build the project INSTALL, it doesn't build when building the
solution.

9
Source/CarlaServer/source/carla/server/CMakeLists.txt
View File

@ -1,8 +1,13 @@
file(GLOB carla_server_SRC
file(GLOB carlaserver_SRC
"*.h"
"*.cpp"
"*.pb.h"
"*.pb.cc"
)
set(carlaserver_SRC ${carlaserver_SRC} ../CarlaServer.cpp)
add_library(carla_server STATIC ../CarlaServer.cpp ${carla_server_SRC})
if (CMAKE_BUILD_TYPE MATCHES Debug)
add_library(carlaserverd STATIC ${carlaserver_SRC})
elseif (CMAKE_BUILD_TYPE MATCHES Release)
add_library(carlaserver STATIC ${carlaserver_SRC})
endif (CMAKE_BUILD_TYPE MATCHES Debug)

1
Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
View File

@ -1,5 +1,4 @@
#include "CarlaCommunication.h"
#include "lodepng.h"
#include "carla_protocol.pb.h"
#include "../CarlaServer.h"

80
Source/CarlaServer/source/carla/server/Protocol.cpp
View File

@ -2,7 +2,6 @@
#include "CarlaCommunication.h"
#include "carla/CarlaServer.h"
//#include "lodepng.h"
#include "carla_protocol.pb.h"
@ -11,29 +10,13 @@
#include <stdio.h>
#include <stdlib.h>
#ifdef WITH_TURBOJPEG
#include <turbojpeg.h>
//#include "jpeglib.h"
#endif // WITH_TURBOJPEG
namespace carla {
namespace server {
static void WriteImage(const unsigned char *image, long unsigned int size){
FILE *out;
out = fopen("test.jpeg","w");
fwrite(image,1,size,out);
fclose(out);
}
//static bool getPNGImage(
// const std::vector<Color> &in,
// uint32_t width,
// uint32_t height,
// std::vector<unsigned char> &outPNG) {
static bool getJPEGImage(
const int jpeg_quality,
const int color_components,
@ -41,46 +24,37 @@ namespace server {
const int height,
const std::vector<Color> &image,
bool depth,
Reward &rwd
){
Reward &rwd){
#ifndef WITH_TURBOJPEG
return false;
#else
long unsigned int jpegSize = 0;
unsigned char *compressedImage;
if (image.empty())
return false;
if (image.size() != width * height) {
std::cerr << "Invalid image size" << std::endl;
return false;
}
// Convert to char array RGBA.
int size = 3u * image.size();
unsigned char color_img[size];
for (int i = 0, color_it = 0; i < size; ++color_it){
color_img[i++] = image[color_it].R;
color_img[i++] = image[color_it].G;
color_img[i++] = image[color_it].B;
std::vector<unsigned char> color_image;
color_image.reserve(3u * image.size());
for (const Color &color : image) {
color_image.push_back(color.R);
color_image.push_back(color.G);
color_image.push_back(color.B);
}
tjhandle jpegCompressor = tjInitCompress();
tjCompress2(jpegCompressor, color_img, width, 0, height, TJPF_RGB,
tjCompress2(jpegCompressor, color_image.data(), width, 0, height, TJPF_RGB,
&compressedImage, &jpegSize, TJSAMP_444, jpeg_quality, TJFLAG_FASTDCT);
tjDestroy(jpegCompressor);
WriteImage(compressedImage, jpegSize);
if (!depth) rwd.set_image(compressedImage, jpegSize);
else rwd.set_depth(compressedImage, jpegSize);
if (!depth) {
rwd.set_image(compressedImage, jpegSize);
} else {
rwd.set_depth(compressedImage, jpegSize);
}
return true;
#endif // WITH_TURBOJPEG
}
@ -108,10 +82,8 @@ namespace server {
auto images = {values.image_rgb_0/*, values.image_rgb_1*/};
for (const std::vector<Color> &image : images) {
unsigned char *png_image;
long unsigned int jpegSize = 0;
if (!getJPEGImage(75, 3, values.image_width, values.image_height, image, false, reward)){
if (!getJPEGImage(75, 3, values.image_width, values.image_height, image, false, reward)) {
std::cout << "ERROR" << std::endl;
}
}
@ -130,22 +102,10 @@ namespace server {
void Protocol::LoadScene(Scene &scene, const Scene_Values &values) {
std::vector<Vector2D> positions = values.possible_positions;
/* std::cout << "POSSIBLE POSITIONS 3"<< std::endl;
for (int i=0; i<values.possible_positions.size(); ++i){
std::cout << " x: " << values.possible_positions[i].x << " y: " << values.possible_positions[i].y << std::endl;
}
std::cout << "POSSIBLE POSITIONS 4"<< std::endl;
*/
for (int i = 0; i < positions.size(); ++i) {
Scene::Position* point = scene.add_position();
point->set_pos_x(positions[i].x);
point->set_pos_y(positions[i].y);
//std::cout << " x: " << point->pos_x() << " y: " << point->pos_y() << std::endl;
}
if (_communication->GetMode() == Mode::STEREO) {

4
Source/CarlaServer/source/carla/server/TCPServer.cpp
View File

@ -58,8 +58,8 @@ namespace carla {
}
void TCPServer::writeString(const std::string &message, error_code &error) {
std::string outMessage(GetBytes(message.length()) + message);
const int messageSize = static_cast<int>(message.length());
std::string outMessage(GetBytes(messageSize) + message);
boost::asio::write(_socket, boost::asio::buffer(outMessage), error);

1
Source/CarlaServer/source/carla/server/carla_protocol.proto
View File

@ -1,3 +1,4 @@
syntax = "proto2";
// Client Messages

6230
Source/CarlaServer/source/carla/server/lodepng.cpp
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File diff suppressed because it is too large Load Diff

1761
Source/CarlaServer/source/carla/server/lodepng.h
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File diff suppressed because it is too large Load Diff

24
Source/CarlaServer/source/test/CMakeLists.txt
View File

@ -1,26 +1,8 @@
add_executable(test_async_server async_server.cpp)
target_link_libraries(test_async_server
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})
target_link_libraries(test_async_server ${CarlaServer_LIBRARIES})
add_executable(test_sync_server sync_server.cpp)
target_link_libraries(test_sync_server
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})
target_link_libraries(test_sync_server ${CarlaServer_LIBRARIES})
add_executable(test_client client.cpp)
target_link_libraries(test_client
carla_server
${Protobuf_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${Boost_DATE_TIME_LIBRARY}
${Boost_REGEX_LIBRARY}
${Boost_SYSTEM_LIBRARY})
target_link_libraries(test_client ${CarlaServer_LIBRARIES})

4
Source/CarlaServer/source/test/async_server.cpp
View File

@ -30,8 +30,8 @@ static std::string daytimeString() {
static std::vector<carla::Color> makeImage(uint32_t width, uint32_t height) {
// Xisco's magic image generator.
std::vector<unsigned char> img(width * height * 4);
for (int i = 0; i < height; ++i) {
for (int e = 0; e < width; ++e) {
for (uint32_t i = 0; i < height; ++i) {
for (uint32_t e = 0; e < width; ++e) {
img[4 * width * i + 4 * e + 0] = 255 * !(e & i);
img[4 * width * i + 4 * e + 1] = e ^ i;
img[4 * width * i + 4 * e + 2] = e | i;