Fix OSM2ODR build.
This commit is contained in:
Marcel Pi
parent
a23a14da2a
commit
4fe5d8b3f8
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@ -10,7 +10,7 @@ set (CMAKE_EXPORT_COMPILE_COMMANDS ON)
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option (BUILD_LIBCARLA_CLIENT "Whether to build the LibCarla client." ON)
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option (BUILD_LIBCARLA_SERVER "Whether to build the LibCarla server." ON)
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option (ENABLE_LIBCARLA_PYTORCH "Whether to enable pytorch." OFF)
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option (ENABLE_LIBCARLA_PYTORCH "Whether to enable LibCarla-PyTorch." OFF)
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option (BUILD_PYTHON_API "Whether to build the CARLA Python API." ON)
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option (ENABLE_LIBCARLA_CLIENT_RSS "Whether to enable RSS components (ad-rss-lib)" OFF)
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option (INSTALL_LIBCARLA "Whether to install LibCarla and all of its dependencies." ON)
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327
Configure.py
327
Configure.py
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@ -5,6 +5,52 @@ import subprocess, tarfile, zipfile, requests, psutil, shutil, glob, json, sys,
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FORCE_SEQUENTIAL = False
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CARLA_VERSION_MAJOR = 0
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CARLA_VERSION_MINOR = 9
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CARLA_VERSION_PATCH = 14
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CARLA_VERSION_STRING = f'{CARLA_VERSION_MAJOR}.{CARLA_VERSION_MINOR}.{CARLA_VERSION_PATCH}'
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# Basic paths
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WORKSPACE_PATH = Path(__file__).parent.resolve()
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LIBCARLA_ROOT_PATH = WORKSPACE_PATH / 'LibCarla'
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PYTHON_API_PATH = WORKSPACE_PATH / 'PythonAPI'
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EXAMPLES_PATH = WORKSPACE_PATH / 'Examples'
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BUILD_PATH = WORKSPACE_PATH / 'Build'
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LIBCARLA_INSTALL_PATH = BUILD_PATH
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DEPENDENCIES_PATH = BUILD_PATH / 'Dependencies'
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DIST_PATH = WORKSPACE_PATH / 'Dist'
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UTIL_PATH = WORKSPACE_PATH / 'Util'
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DOCKER_UTILS_PATH = UTIL_PATH / 'DockerUtils'
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BUILD_TOOLS_PATH = UTIL_PATH / 'BuildTools'
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# UE plugin
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CARLA_UE_PATH = WORKSPACE_PATH / 'Unreal' / 'CarlaUE4'
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CARLA_UE_PLUGIN_ROOT_PATH = CARLA_UE_PATH / 'Plugins'
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CARLA_UE_PLUGIN_PATH = CARLA_UE_PLUGIN_ROOT_PATH / 'Carla'
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CARLA_UE_PLUGIN_DEPENDENCIES_PATH = CARLA_UE_PLUGIN_ROOT_PATH / 'CarlaDependencies'
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# PythonAPI
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PYTHON_API_SOURCE_PATH = PYTHON_API_PATH / 'carla'
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# LibCarla
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LIBCARLA_BUILD_PATH = BUILD_PATH
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LIBCARLA_TEST_CONTENT_PATH = BUILD_PATH / 'test-content'
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# Misc
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TEST_RESULTS_PATH = BUILD_PATH / 'test-results'
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LIBSTDCPP_TOOLCHAIN_PATH = BUILD_PATH / 'LibStdCppToolChain.cmake'
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LIBCPP_TOOLCHAIN_PATH = BUILD_PATH / 'LibCppToolChain.cmake'
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EXE_EXT = '.exe' if os.name == 'nt' else ''
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LIB_EXT = '.lib' if os.name == 'nt' else '.a'
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OBJ_EXT = '.obj' if os.name == 'nt' else '.o'
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SHELL_EXT = '.bat' if os.name == 'nt' else ''
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# Unreal Engine
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UE_WORKSPACE_PATH = Path(os.getenv('UE4_ROOT', ''))
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if not UE_WORKSPACE_PATH.exists():
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print('Could not find Unreal Engine workspace. Please set the environment variable UE4_ROOT as specified in the docs.')
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exit(-1)
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# Omniverse
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NV_OMNIVERSE_PLUGIN_PATH = UE_WORKSPACE_PATH / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse'
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NV_OMNIVERSE_PATCH_PATH = UTIL_PATH / 'Patches' / 'omniverse_4.26'
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# Script settings
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DEFAULT_PARALLELISM = psutil.cpu_count(logical = True)
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CMAKE_GENERATOR = 'Ninja'
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# Script types
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class Download:
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@ -46,7 +92,8 @@ class Task:
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in_edges : list,
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source_path : Path,
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build_path : Path,
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*args):
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*args,
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install_path : Path = None):
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cmd = [
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'cmake',
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'-G', CMAKE_GENERATOR,
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@ -55,8 +102,10 @@ class Task:
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'-DCMAKE_C_COMPILER=' + c_compiler,
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'-DCMAKE_CXX_COMPILER=' + cpp_compiler,
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'-DCMAKE_BUILD_TYPE=Release',
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'-DCMAKE_CXX_FLAGS_RELEASE="/MD"'
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'-DCMAKE_CXX_FLAGS_RELEASE="/MD"',
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]
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if install_path != None:
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cmd.append('-DCMAKE_INSTALL_PREFIX=' + str(install_path))
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cmd.extend([ *args ])
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cmd.append(source_path)
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return Task.CreateSubprocessTask(name, in_edges, cmd)
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@ -104,21 +153,26 @@ class TaskGraph:
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self.sources.append(task.name)
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self.task_map[task.name] = self.tasks[-1]
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def Execute(self):
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for e in self.tasks:
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for in_edge in e.in_edges:
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self.task_map[in_edge].out_edges.append(e)
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for e in self.sources:
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task = self.task_map.get(e, None)
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assert task != None and type(task) is Task
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def Execute(self, sequential : bool = False):
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prior_sequential = self.sequential
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try:
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self.sequential = sequential
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for e in self.tasks:
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for in_edge in e.in_edges:
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self.task_map[in_edge].out_edges.append(e)
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for e in self.sources:
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task = self.task_map.get(e, None)
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assert task != None and type(task) is Task
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if not self.sequential:
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self.futures.append(self.pool.submit(task.Run))
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else:
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task.Run()
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if not self.sequential:
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self.futures.append(self.pool.submit(task.Run))
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else:
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task.Run()
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if not self.sequential:
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for e in as_completed(self.futures):
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e.result()
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self.Reset()
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for e in as_completed(self.futures):
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e.result()
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finally:
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self.sequential = prior_sequential
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self.Reset()
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class Context:
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def __init__(self, args, parallelism):
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@ -133,9 +187,6 @@ DEFAULT_DEPENDENCIES = [
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'boost',
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Download('https://boostorg.jfrog.io/artifactory/main/release/1.83.0/source/boost_1_83_0.zip'),
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Download('https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/boost_1_83_0.zip')),
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Dependency(
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'chrono',
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GitRepository('https://github.com/projectchrono/chrono.git', tag = '8.0.0')),
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Dependency(
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'eigen',
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GitRepository('https://gitlab.com/libeigen/eigen.git', tag = '3.4.0')),
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@ -151,8 +202,8 @@ DEFAULT_DEPENDENCIES = [
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GitRepository('https://github.com/google/googletest.git', tag = 'v1.14.0')),
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Dependency(
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'zlib',
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Download('https://zlib.net/current/zlib.tar.gz'),
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GitRepository('https://github.com/madler/zlib.git', tag = 'v1.3')),
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GitRepository('https://github.com/madler/zlib.git'),
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Download('https://zlib.net/current/zlib.tar.gz')),
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Dependency(
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'xercesc',
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GitRepository('https://github.com/apache/xerces-c.git', tag = 'v3.2.4'),
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@ -169,6 +220,12 @@ DEFAULT_DEPENDENCIES = [
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GitRepository('https://github.com/recastnavigation/recastnavigation.git', tag = 'v1.6.0')),
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]
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CHRONO_DEPENDENCIES = [
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Dependency(
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'chrono',
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GitRepository('https://github.com/projectchrono/chrono.git', tag = '8.0.0'))
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]
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OSM_WORLD_RENDERER_DEPENDENCIES = [
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Dependency(
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'libosmscout',
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@ -181,9 +238,16 @@ OSM_WORLD_RENDERER_DEPENDENCIES = [
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OSM2ODR_DEPENDENCIES = [
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Dependency(
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'sumo',
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GitRepository('https://github.com/carla-simulator/sumo.git')),
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GitRepository('https://github.com/carla-simulator/sumo.git', tag = 'carla_osm2odr')),
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]
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DEPENDENCY_MAP = {
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**{ e.name : e for e in DEFAULT_DEPENDENCIES },
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**{ e.name : e for e in CHRONO_DEPENDENCIES },
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**{ e.name : e for e in OSM_WORLD_RENDERER_DEPENDENCIES },
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**{ e.name : e for e in OSM2ODR_DEPENDENCIES }
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}
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def FindExecutable(candidates : list):
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for e in candidates:
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ec = subprocess.call(
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@ -228,52 +292,6 @@ lib = FindExecutable([
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'ar'
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])
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# Basic paths
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WORKSPACE_PATH = Path(__file__).parent.resolve()
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LIBCARLA_ROOT_PATH = WORKSPACE_PATH / 'LibCarla'
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PYTHON_API_PATH = WORKSPACE_PATH / 'PythonAPI'
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EXAMPLES_PATH = WORKSPACE_PATH / 'Examples'
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BUILD_PATH = WORKSPACE_PATH / 'Build'
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LIBCARLA_INSTALL_PATH = BUILD_PATH
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DEPENDENCIES_PATH = BUILD_PATH / 'Dependencies'
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DIST_PATH = WORKSPACE_PATH / 'Dist'
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UTIL_PATH = WORKSPACE_PATH / 'Util'
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DOCKER_UTILS_PATH = UTIL_PATH / 'DockerUtils'
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BUILD_TOOLS_PATH = UTIL_PATH / 'BuildTools'
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# UE plugin
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CARLA_UE_PATH = WORKSPACE_PATH / 'Unreal' / 'CarlaUE4'
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CARLA_UE_PLUGIN_ROOT_PATH = CARLA_UE_PATH / 'Plugins'
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CARLA_UE_PLUGIN_PATH = CARLA_UE_PLUGIN_ROOT_PATH / 'Carla'
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CARLA_UE_PLUGIN_DEPENDENCIES_PATH = CARLA_UE_PLUGIN_ROOT_PATH / 'CarlaDependencies'
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# PythonAPI
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PYTHON_API_SOURCE_PATH = PYTHON_API_PATH / 'carla'
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# LibCarla
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LIBCARLA_BUILD_PATH = BUILD_PATH
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LIBCARLA_TEST_CONTENT_PATH = BUILD_PATH / 'test-content'
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# OSM2ODR
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OSM2ODR_BUILD_PATH = BUILD_PATH / 'libosm2dr-build'
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OSM2ODR_BUILD_PATH_SERVER = BUILD_PATH / 'libosm2dr-build-server'
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OSM2ODR_SOURCE_PATH = BUILD_PATH / 'libosm2dr-source'
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# Misc
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TEST_RESULTS_PATH = BUILD_PATH / 'test-results'
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LIBSTDCPP_TOOLCHAIN_PATH = BUILD_PATH / 'LibStdCppToolChain.cmake'
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LIBCPP_TOOLCHAIN_PATH = BUILD_PATH / 'LibCppToolChain.cmake'
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EXE_EXT = '.exe' if os.name == 'nt' else ''
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LIB_EXT = '.lib' if os.name == 'nt' else '.a'
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OBJ_EXT = '.obj' if os.name == 'nt' else '.o'
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SHELL_EXT = '.bat' if os.name == 'nt' else ''
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# Unreal Engine
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UE_WORKSPACE_PATH = Path(os.getenv('UE4_ROOT', ''))
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if not UE_WORKSPACE_PATH.exists():
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print('Could not find Unreal Engine workspace. Please set the environment variable UE4_ROOT as specified in the docs.')
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exit(-1)
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# Omniverse
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NV_OMNIVERSE_PLUGIN_PATH = UE_WORKSPACE_PATH / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse'
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NV_OMNIVERSE_PATCH_PATH = UTIL_PATH / 'Patches' / 'omniverse_4.26'
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# Script settings
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DEFAULT_PARALLELISM = psutil.cpu_count(logical = True)
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CMAKE_GENERATOR = 'Ninja'
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# Dependency paths
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BOOST_TOOLSET = 'msvc-14.2'
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BOOST_TOOLSET_SHORT = 'vc142'
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@ -287,6 +305,7 @@ BOOST_B2_PATH = BOOST_SOURCE_PATH / f'b2{EXE_EXT}'
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EIGEN_SOURCE_PATH = DEPENDENCIES_PATH / 'eigen-source'
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EIGEN_BUILD_PATH = DEPENDENCIES_PATH / 'eigen-build'
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EIGEN_INSTALL_PATH = DEPENDENCIES_PATH / 'eigen-install'
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EIGEN_INCLUDE_PATH = EIGEN_INSTALL_PATH / 'include'
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CHRONO_SOURCE_PATH = DEPENDENCIES_PATH / 'chrono-source'
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CHRONO_BUILD_PATH = DEPENDENCIES_PATH / 'chrono-build'
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@ -295,49 +314,59 @@ CHRONO_INSTALL_PATH = DEPENDENCIES_PATH / 'chrono-install'
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GTEST_SOURCE_PATH = DEPENDENCIES_PATH / 'gtest-source'
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GTEST_BUILD_PATH = DEPENDENCIES_PATH / 'gtest-build'
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GTEST_INSTALL_PATH = DEPENDENCIES_PATH / 'gtest-install'
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GTEST_INCLUDE_PATH = GTEST_INSTALL_PATH / 'include'
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ZLIB_SOURCE_PATH = DEPENDENCIES_PATH / 'zlib-source'
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ZLIB_BUILD_PATH = DEPENDENCIES_PATH / 'zlib-build'
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ZLIB_INSTALL_PATH = DEPENDENCIES_PATH / 'zlib-install'
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ZLIB_LIBRARY_PATH = ZLIB_BUILD_PATH / f'zlib{LIB_EXT}'
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ZLIB_INCLUDE_PATH = ZLIB_INSTALL_PATH / 'include'
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ZLIB_LIBRARY_PATH = ZLIB_INSTALL_PATH / 'lib' / f'zlib{LIB_EXT}'
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LIBPNG_SOURCE_PATH = DEPENDENCIES_PATH / 'libpng-source'
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LIBPNG_BUILD_PATH = DEPENDENCIES_PATH / 'libpng-build'
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LIBPNG_INSTALL_PATH = DEPENDENCIES_PATH / 'libpng-install'
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LIBPNG_INCLUDE_PATH = LIBPNG_INSTALL_PATH / 'include'
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SQLITE_SOURCE_PATH = DEPENDENCIES_PATH / 'sqlite-source'
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SQLITE_BUILD_PATH = DEPENDENCIES_PATH / 'sqlite-build'
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SQLITE_INSTALL_PATH = DEPENDENCIES_PATH / 'sqlite-install'
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SQLITE_EXECUTABLE_PATH = SQLITE_BUILD_PATH / f'sqlite{EXE_EXT}'
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SQLITE_LIBRARY_PATH = SQLITE_BUILD_PATH / f'sqlite{LIB_EXT}'
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SQLITE_INCLUDE_PATH = SQLITE_SOURCE_PATH
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PROJ_SOURCE_PATH = DEPENDENCIES_PATH / 'proj-source'
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PROJ_BUILD_PATH = DEPENDENCIES_PATH / 'proj-build'
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PROJ_INSTALL_PATH = DEPENDENCIES_PATH / 'proj-install'
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PROJ_INCLUDE_PATH = PROJ_INSTALL_PATH / 'include'
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RECAST_SOURCE_PATH = DEPENDENCIES_PATH / 'recast-source'
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RECAST_BUILD_PATH = DEPENDENCIES_PATH / 'recast-build'
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RECAST_INSTALL_PATH = DEPENDENCIES_PATH / 'recast-install'
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RECAST_INCLUDE_PATH = RECAST_INSTALL_PATH / 'include'
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RPCLIB_SOURCE_PATH = DEPENDENCIES_PATH / 'rpclib-source'
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RPCLIB_BUILD_PATH = DEPENDENCIES_PATH / 'rpclib-build'
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RPCLIB_INSTALL_PATH = DEPENDENCIES_PATH / 'rpclib-install'
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RPCLIB_INCLUDE_PATH = RPCLIB_INSTALL_PATH / 'include'
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XERCESC_SOURCE_PATH = DEPENDENCIES_PATH / 'xercesc-source'
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XERCESC_BUILD_PATH = DEPENDENCIES_PATH / 'xercesc-build'
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XERCESC_INSTALL_PATH = DEPENDENCIES_PATH / 'xercesc-install'
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XERCESC_INCLUDE_PATH = XERCESC_INSTALL_PATH / 'include'
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LIBOSMSCOUT_SOURCE_PATH = DEPENDENCIES_PATH / 'libosmscout-source'
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LIBOSMSCOUT_BUILD_PATH = DEPENDENCIES_PATH / 'libosmscout-build'
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LIBOSMSCOUT_INSTALL_PATH = DEPENDENCIES_PATH / 'libosmscout-install'
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LIBOSMSCOUT_INCLUDE_PATH = LIBOSMSCOUT_INSTALL_PATH / 'include'
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LUNASVG_SOURCE_PATH = DEPENDENCIES_PATH / 'lunasvg-source'
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LUNASVG_BUILD_PATH = DEPENDENCIES_PATH / 'lunasvg-build'
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LUNASVG_INSTALL_PATH = DEPENDENCIES_PATH / 'lunasvg-install'
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LUNASVG_INCLUDE_PATH = LUNASVG_INSTALL_PATH / 'include'
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SUMO_SOURCE_PATH = DEPENDENCIES_PATH / 'sumo-source'
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SUMO_BUILD_PATH = DEPENDENCIES_PATH / 'sumo-build'
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SUMO_INSTALL_PATH = DEPENDENCIES_PATH / 'sumo-install'
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SUMO_INCLUDE_PATH = SUMO_INSTALL_PATH / 'include'
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houdini_url = 'https://github.com/sideeffects/HoudiniEngineForUnreal.git'
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houdini_plugin_path = CARLA_UE_PLUGIN_ROOT_PATH / 'HoudiniEngine'
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@ -504,8 +533,83 @@ def BuildCarlaUEMain(c : Context):
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c.task_graph.Add(Task('build-carla_ue', [], BuildCarlaUECore, c))
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def BuildPythonAPIMain(c : Context):
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Log('Building Python API')
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pass
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import setuptools
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library_paths = []
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libraries = []
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extra_compile_args = [
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'/experimental:external', '/external:W0', '/external:I', 'dependencies/include/system',
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'/DBOOST_ALL_NO_LIB', '/DBOOST_PYTHON_STATIC_LIB',
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'/DBOOST_ERROR_CODE_HEADER_ONLY', '/D_WIN32_WINNT=0x0600', '/DHAVE_SNPRINTF',
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'/DLIBCARLA_WITH_PYTHON_SUPPORT', '-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true', '/MD']
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extra_link_args = []
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dependency_patterns = [
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f'{BUILD_PATH}/**/LibCarla-Client{LIB_EXT}',
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f'{BOOST_INSTALL_PATH}/**/libboost_python{sys.version_info.major}{sys.version_info.minor}{LIB_EXT}',
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f'{BOOST_INSTALL_PATH}/**/libboost_filesystem{LIB_EXT}',
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f'{RPCLIB_INSTALL_PATH}/**/rpc{LIB_EXT}',
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f'{LIBPNG_INSTALL_PATH}/**/libpng*{LIB_EXT}',
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f'{ZLIB_BUILD_PATH}/**/zlib{LIB_EXT}',
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f'{RECAST_INSTALL_PATH}/**/Recast{LIB_EXT}',
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f'{RECAST_INSTALL_PATH}/**/Detour{LIB_EXT}',
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f'{RECAST_INSTALL_PATH}/**/DetourCrowd{LIB_EXT}',
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f'{XERCESC_INSTALL_PATH}/**/xerces-c*{LIB_EXT}',
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f'{SQLITE_BUILD_PATH}/**/sqlite*{LIB_EXT}',
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f'{PROJ_INSTALL_PATH}/**/proj{LIB_EXT}',
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f'{SUMO_INSTALL_PATH}/**/osm2odr{LIB_EXT}'
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]
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include_paths = [
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LIBCARLA_ROOT_PATH,
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BOOST_INCLUDE_PATH,
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RPCLIB_INCLUDE_PATH,
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LIBPNG_INCLUDE_PATH,
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ZLIB_INCLUDE_PATH,
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RECAST_INCLUDE_PATH,
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XERCESC_INCLUDE_PATH,
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SQLITE_INCLUDE_PATH,
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PROJ_INCLUDE_PATH,
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SUMO_INCLUDE_PATH,
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]
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for d in dependency_patterns:
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candidates = glob.glob(d, recursive = True)
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assert len(candidates) != 0
|
||||
extra_link_args.append(candidates[0])
|
||||
|
||||
depends = [ e for e in os.walk(PYTHON_API_SOURCE_PATH / 'libcarla') ]
|
||||
|
||||
extensions = [ setuptools.Extension(
|
||||
'carla.libcarla',
|
||||
sources = [ str(PYTHON_API_SOURCE_PATH / 'source' / 'libcarla' / 'libcarla.cpp') ],
|
||||
include_dirs = include_paths,
|
||||
library_dirs = library_paths,
|
||||
libraries = libraries,
|
||||
extra_compile_args = extra_compile_args,
|
||||
extra_link_args = extra_link_args,
|
||||
language = 'c++14',
|
||||
depends = depends) ]
|
||||
|
||||
readme = ''
|
||||
with open(WORKSPACE_PATH / 'README.md', 'r') as file:
|
||||
readme = file.read()
|
||||
|
||||
setuptools.setup(
|
||||
name = 'carla',
|
||||
version = CARLA_VERSION_STRING,
|
||||
package_dir = { '': 'source' },
|
||||
packages = ['carla'],
|
||||
ext_modules = extensions,
|
||||
license = 'MIT License' if not c.args.enable_rss else 'LGPL-v2.1-only License',
|
||||
description = 'Python API for communicating with the CARLA server.',
|
||||
long_description = readme,
|
||||
long_description_content_type = 'text/markdown',
|
||||
url = 'https://github.com/carla-simulator/carla',
|
||||
author = 'The CARLA team',
|
||||
author_email = 'carla.simulator@gmail.com',
|
||||
include_package_data = True
|
||||
)
|
||||
|
||||
def SetupUnrealEngine(c : Context):
|
||||
Log('Setting up Unreal Engine.')
|
||||
|
|
@ -528,6 +632,8 @@ def UpdateDependencies(c : Context):
|
|||
unique_dependencies.update(OSM_WORLD_RENDERER_DEPENDENCIES)
|
||||
if c.args.build_osm2odr:
|
||||
unique_dependencies.update(OSM2ODR_DEPENDENCIES)
|
||||
if c.args.enable_chrono:
|
||||
unique_dependencies.update(CHRONO_DEPENDENCIES)
|
||||
for dep in unique_dependencies:
|
||||
name = dep.name
|
||||
c.task_graph.Add(Task(f'update-{name}', [], UpdateDependency, dep))
|
||||
|
|
@ -568,19 +674,13 @@ def BuildSQLite():
|
|||
sqlite_sources = glob.glob(f'{SQLITE_SOURCE_PATH}/**/*.c', recursive = True)
|
||||
if os.name == 'nt' and 'clang' in c_compiler:
|
||||
if not SQLITE_EXECUTABLE_PATH.exists():
|
||||
cmd = [
|
||||
c_compiler,
|
||||
f'-fuse-ld={linker}', '-march=native', '/O2', '/MD', '/EHsc',
|
||||
]
|
||||
cmd = [ c_compiler, f'-fuse-ld={linker}', '-march=native', '/O2', '/MD', '/EHsc' ]
|
||||
cmd.extend(sqlite_sources)
|
||||
cmd.append('-o')
|
||||
cmd.append(SQLITE_EXECUTABLE_PATH)
|
||||
LaunchSubprocessImmediate(cmd)
|
||||
if not SQLITE_LIBRARY_PATH.exists():
|
||||
cmd = [
|
||||
c_compiler,
|
||||
f'-fuse-ld={lib}', '-march=native', '/O2', '/MD', '/EHsc',
|
||||
]
|
||||
cmd = [ c_compiler, f'-fuse-ld={lib}', '-march=native', '/O2', '/MD', '/EHsc' ]
|
||||
cmd.extend(sqlite_sources)
|
||||
cmd.append('-o')
|
||||
cmd.append(SQLITE_LIBRARY_PATH)
|
||||
|
|
@ -603,7 +703,8 @@ def BuildDependencies(c : Context):
|
|||
'configure-zlib',
|
||||
[],
|
||||
ZLIB_SOURCE_PATH,
|
||||
ZLIB_BUILD_PATH))
|
||||
ZLIB_BUILD_PATH,
|
||||
install_path = ZLIB_INSTALL_PATH)) # ZLib determines where to install during configure.
|
||||
|
||||
c.task_graph.Add(Task.CreateCMakeConfigureDefault(
|
||||
'configure-gtest',
|
||||
|
|
@ -619,7 +720,7 @@ def BuildDependencies(c : Context):
|
|||
'-DPNG_TESTS=OFF',
|
||||
'-DPNG_TOOLS=OFF',
|
||||
'-DPNG_BUILD_ZLIB=ON',
|
||||
f'-DZLIB_INCLUDE_DIRS={ZLIB_SOURCE_PATH};{ZLIB_BUILD_PATH}',
|
||||
f'-DZLIB_INCLUDE_DIRS={ZLIB_INCLUDE_PATH}',
|
||||
f'-DZLIB_LIBRARIES={ZLIB_LIBRARY_PATH}'))
|
||||
|
||||
c.task_graph.Add(Task.CreateCMakeConfigureDefault(
|
||||
|
|
@ -696,13 +797,23 @@ def BuildDependencies(c : Context):
|
|||
[],
|
||||
SUMO_SOURCE_PATH,
|
||||
SUMO_BUILD_PATH,
|
||||
'-DSUMO_LIBRARIES=OFF',
|
||||
f'-DZLIB_INCLUDE_DIR={ZLIB_SOURCE_PATH}',
|
||||
f'-DZLIB_LIBRARY={ZLIB_INSTALL_PATH}/zlib{LIB_EXT}',
|
||||
f'-DZLIB_INCLUDE_DIR={ZLIB_INCLUDE_PATH}',
|
||||
f'-DZLIB_LIBRARY={ZLIB_LIBRARY_PATH}',
|
||||
f'-DPROJ_INCLUDE_DIR={PROJ_INSTALL_PATH}/include',
|
||||
f'-DPROJ_LIBRARY={PROJ_INSTALL_PATH}/lib/proj{LIB_EXT}',
|
||||
f'-DXercesC_INCLUDE_DIR={XERCESC_INSTALL_PATH}/include',
|
||||
f'-DXercesC_LIBRARY={FindXercesC()}'))
|
||||
f'-DXercesC_LIBRARY={FindXercesC()}',
|
||||
'-DSUMO_LIBRARIES=OFF',
|
||||
# '-DPROFILING=OFF',
|
||||
# '-DPPROF=OFF',
|
||||
# '-DCOVERAGE=OFF',
|
||||
# '-DSUMO_UTILS=OFF',
|
||||
# '-DFMI=OFF',
|
||||
# '-DNETEDIT=OFF',
|
||||
# '-DENABLE_JAVA_BINDINGS=OFF',
|
||||
# '-DENABLE_CS_BINDINGS=OFF',
|
||||
# '-DCCACHE_SUPPORT=OFF',
|
||||
))
|
||||
|
||||
if c.args.enable_chrono:
|
||||
c.task_graph.Add(Task.CreateCMakeConfigureDefault(
|
||||
|
|
@ -712,11 +823,10 @@ def BuildDependencies(c : Context):
|
|||
CHRONO_BUILD_PATH,
|
||||
f'-DEIGEN3_INCLUDE_DIR={EIGEN_SOURCE_PATH}',
|
||||
'-DENABLE_MODULE_VEHICLE=ON'))
|
||||
|
||||
c.task_graph.Execute()
|
||||
|
||||
# Build:
|
||||
|
||||
c.task_graph.sequential = True
|
||||
c.task_graph.Add(Task('build-boost', [], BuildAndInstallBoost))
|
||||
c.task_graph.Add(Task.CreateCMakeBuildDefault('build-zlib', [], ZLIB_BUILD_PATH))
|
||||
c.task_graph.Add(Task.CreateCMakeBuildDefault('build-gtest', [], GTEST_BUILD_PATH))
|
||||
|
|
@ -732,11 +842,10 @@ def BuildDependencies(c : Context):
|
|||
c.task_graph.Add(Task.CreateCMakeBuildDefault('build-sumo', [], SUMO_BUILD_PATH))
|
||||
if c.args.enable_chrono:
|
||||
c.task_graph.Add(Task.CreateCMakeBuildDefault('build-chrono', [], CHRONO_BUILD_PATH))
|
||||
c.task_graph.Execute()
|
||||
c.task_graph.sequential = False
|
||||
c.task_graph.Execute(True)
|
||||
|
||||
# Install:
|
||||
|
||||
c.task_graph.Add(Task.CreateCMakeInstallDefault('install-zlib', [], ZLIB_BUILD_PATH, ZLIB_INSTALL_PATH))
|
||||
c.task_graph.Add(Task.CreateCMakeInstallDefault('install-gtest', [], GTEST_BUILD_PATH, GTEST_INSTALL_PATH))
|
||||
c.task_graph.Add(Task.CreateCMakeInstallDefault('install-libpng', [], LIBPNG_BUILD_PATH, LIBPNG_INSTALL_PATH))
|
||||
c.task_graph.Add(Task.CreateCMakeInstallDefault('install-proj', [], PROJ_BUILD_PATH, PROJ_INSTALL_PATH))
|
||||
|
|
@ -756,7 +865,6 @@ def BuildDependencies(c : Context):
|
|||
|
||||
def ParseCommandLine():
|
||||
arg_parser = ArgumentParser(description = __doc__)
|
||||
|
||||
BUILD_LIBCARLA_CLIENT_OVERRIDE = True
|
||||
BUILD_LIBCARLA_SERVER_OVERRIDE = True
|
||||
BUILD_LIBCARLA_PYTORCH_OVERRIDE = True
|
||||
|
|
@ -764,139 +872,114 @@ def ParseCommandLine():
|
|||
BUILD_CARLA_UE_OVERRIDE = False
|
||||
UPDATE_DEPENDENCIES_OVERRIDE = True
|
||||
BUILD_DEPENDENCIES_OVERRIDE = True
|
||||
BUILD_OSM2ODR_OVERRIDE = False
|
||||
BUILD_OSM2ODR_OVERRIDE = True
|
||||
BUILD_OSM_WORLD_RENDERER_OVERRIDE = False
|
||||
BUILD_PACKAGE_OVERRIDE = True
|
||||
CLEAN_OVERRIDE = False
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-libcarla-client',
|
||||
action='store_true',
|
||||
default = BUILD_LIBCARLA_CLIENT_OVERRIDE,
|
||||
help = 'Whether to build LibCarla Client.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-libcarla-server',
|
||||
action='store_true',
|
||||
default = BUILD_LIBCARLA_SERVER_OVERRIDE,
|
||||
help = 'Whether to build LibCarla Server.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-libcarla-pytorch',
|
||||
action='store_true',
|
||||
default = BUILD_LIBCARLA_PYTORCH_OVERRIDE,
|
||||
help = 'Whether to build LibCarla-PyTorch.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-python-api',
|
||||
action='store_true',
|
||||
default = BUILD_PYTHON_API_OVERRIDE,
|
||||
help = 'Whether to build the CARLA Python API.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-carla-unreal',
|
||||
action='store_true',
|
||||
default = BUILD_CARLA_UE_OVERRIDE,
|
||||
help = 'Build to build the Unreal Engine Carla backend.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-update-dependencies',
|
||||
action='store_true',
|
||||
default = UPDATE_DEPENDENCIES_OVERRIDE,
|
||||
help = 'Whether to update the CARLA dependencies.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-dependencies',
|
||||
action='store_true',
|
||||
default = BUILD_DEPENDENCIES_OVERRIDE,
|
||||
help = 'Whether to build the CARLA dependencies.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-osm-world-renderer',
|
||||
action='store_true',
|
||||
default = BUILD_OSM_WORLD_RENDERER_OVERRIDE,
|
||||
help = 'Whether to build OSM World Renderer.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-build-osm2odr',
|
||||
action='store_true',
|
||||
default = BUILD_OSM2ODR_OVERRIDE,
|
||||
help = 'Whether to build OSM2ODR.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-package',
|
||||
action='store_true',
|
||||
default = BUILD_PACKAGE_OVERRIDE,
|
||||
help = 'Whether to package Carla.')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-clean',
|
||||
action='store_true',
|
||||
default = CLEAN_OVERRIDE,
|
||||
help = 'Clean build files.')
|
||||
|
||||
# Carla UE:
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-enable-rss',
|
||||
action='store_true',
|
||||
help = 'Whether to enable "RSS".')
|
||||
arg_parser.add_argument(
|
||||
'-enable-carsim',
|
||||
action='store_true',
|
||||
help = 'Whether to enable plugin "CarSim".')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-enable-chrono',
|
||||
action='store_true',
|
||||
help = 'Whether to enable plugin "Chrono".')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-enable-unity',
|
||||
action='store_true',
|
||||
help = 'Whether to enable plugin "Unity".')
|
||||
|
||||
arg_parser.add_argument(
|
||||
'-enable-omniverse',
|
||||
action='store_true',
|
||||
help = 'Whether to enable plugin "NVIDIA Omniverse".')
|
||||
|
||||
return arg_parser.parse_args()
|
||||
|
||||
|
||||
|
||||
def Main():
|
||||
Log('Started.')
|
||||
|
||||
BUILD_PATH.mkdir(exist_ok = True)
|
||||
DEPENDENCIES_PATH.mkdir(exist_ok = True)
|
||||
|
||||
arg = ParseCommandLine()
|
||||
c = Context(arg, DEFAULT_PARALLELISM)
|
||||
|
||||
if arg.clean:
|
||||
try:
|
||||
shutil.rmtree(BUILD_PATH)
|
||||
finally:
|
||||
Log(f'Failed to remove {BUILD_PATH}.')
|
||||
exit(-1)
|
||||
|
||||
if arg.update_dependencies or True:
|
||||
UpdateDependencies(c)
|
||||
|
||||
for ext in [ '*.tmp', '*.zip', '*.tar.gz' ]:
|
||||
for e in DEPENDENCIES_PATH.glob(ext):
|
||||
e.unlink(missing_ok = True)
|
||||
|
||||
if arg.build_dependencies or True:
|
||||
BuildDependencies(c)
|
||||
|
||||
BuildLibCarlaMain(c)
|
||||
|
||||
if arg.build_python_api:
|
||||
BuildPythonAPIMain(c)
|
||||
|
||||
if arg.build_carla_unreal:
|
||||
BuildCarlaUEMain(c)
|
||||
|
||||
c.task_graph.Execute()
|
||||
|
||||
Log('Done.')
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
|
|
|||
Loading…
Reference in New Issue