Set up build system

.gitignore

@@ -8,3 +8,8 @@ Saved
 
 # Other
 Doxygen
+Util/Build
+Util/Install
+
+*.log
+*.pid

Carla.uplugin

@@ -1,7 +1,7 @@
 {
 	"FileVersion": 3,
 	"Version": 1,
-	"VersionName": "0.4.6",
+	"VersionName": "0.5.0",
 	"FriendlyName": "CARLA",
 	"Description": "",
 	"Category": "Science",

Doxyfile

@@ -1,4 +1,4 @@
-PROJECT_NAME            =  "CARLA UE4 Plugin"
+PROJECT_NAME            =  CARLA
 OUTPUT_DIRECTORY        =  Doxygen
 CREATE_SUBDIRS          =  YES
 FULL_PATH_NAMES         =  NO
@@ -11,8 +11,8 @@ CASE_SENSE_NAMES        =  YES
 SORT_BRIEF_DOCS         =  YES
 WARN_IF_UNDOCUMENTED    =  NO
 WARN_LOGFILE            =  Doxygen/warnings.log
-INPUT                   =  Source
+INPUT                   =  Source Util/CarlaServer/source Util/PythonClient
-FILE_PATTERNS           =  *.cpp *.h *.hpp *.cc
+FILE_PATTERNS           =  *.cpp *.h *.hpp *.cc *.py
 RECURSIVE               =  YES
 SOURCE_BROWSER          =  YES
 STRIP_CODE_COMMENTS     =  NO
@@ -26,7 +26,7 @@ FORMULA_FONTSIZE        =  12
 GENERATE_LATEX          =  NO
 MACRO_EXPANSION         =  YES
 EXPAND_ONLY_PREDEF      =  YES
-INCLUDE_PATH            =  "Source/Carla" "Source/Common" "Source/CarlaServer/source"
+INCLUDE_PATH            =  Source Util/CarlaServer/source Util/Install/include
 INCLUDE_FILE_PATTERNS   =  *.h *.hpp
 HIDE_UNDOC_RELATIONS    =  NO
 HAVE_DOT                =  YES

Makefile

@@ -1,9 +1,81 @@
-CarlaServer:
+INSTALL_FOLDER=$(PWD)/Util/Install
-	cd Source/CarlaServer && $(MAKE)
+PYTHON_CLIENT_FOLDER=$(PWD)/Util/PythonClient
+BASE_BUILD_FOLDER=$(PWD)/Util/Build/carlaserver-build
+MY_CMAKE_FOLDER=$(PWD)/Util/cmake
+MY_CMAKE_FLAGS=-B"$(BUILD_FOLDER)" -DCMAKE_INSTALL_PREFIX="$(INSTALL_FOLDER)"
 
-all:
+ifeq ($(OS),Windows_NT)
-	cd Source/CarlaServer && $(MAKE) debug
+BUILD_RULE=build_windows
-	cd Source/CarlaServer && $(MAKE) release
+PROTOC_CALL=echo "Error!"
+else
+BUILD_RULE=build_linux
+PROTOC_CALL=./Util/Protoc.sh
+endif
+
+default: release
+
+### Build ######################################################################
+
+debug: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/debug
+debug: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
+debug: $(BUILD_RULE)
+
+release: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/release
+release: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
+release: $(BUILD_RULE)
+
+build_linux: MY_CMAKE_FLAGS+=-G "Ninja"
+build_linux: call_cmake
+	cd $(BUILD_FOLDER) && ninja && ninja install
+
+build_windows: MY_CMAKE_FLAGS+=-G "NMake Makefiles"
+build_windows: call_cmake
+	cd $(BUILD_FOLDER) && nmake && nmake install
+
+vsproject: BUILD_FOLDER=$(BASE_BUILD_FOLDER)/visualstudio
+vsproject: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
+vsproject: MY_CMAKE_FLAGS+=-G "Visual Studio 14 2015 Win64"
+vsproject: call_cmake
+
+call_cmake: protobuf
+	mkdir -p $(BUILD_FOLDER)
+	cd $(BUILD_FOLDER) && cmake $(MY_CMAKE_FLAGS) "$(MY_CMAKE_FOLDER)"
+
+protobuf:
+	$(PROTOC_CALL)
+
+### Docs #######################################################################
+
+docs:
+	doxygen
+	@echo "Documentation index at ./Doxygen/html/index.html"
+
+### Clean ######################################################################
 
 clean:
-	cd Source/CarlaServer && $(MAKE) clean
+	rm -Rf $(BASE_BUILD_FOLDER) $(INSTALL_FOLDER) Doxygen
+	$(PROTOC_CALL) --clean
+
+### Test #######################################################################
+
+check: debug launch_test_clients run_test_debug kill_test_clients
+
+check_release: release launch_test_clients run_test_release kill_test_clients
+
+run_test_debug:
+	@-LD_LIBRARY_PATH=$(INSTALL_FOLDER)/lib $(INSTALL_FOLDER)/bin/test_carlaserverd --gtest_shuffle
+
+run_test_release:
+	@-LD_LIBRARY_PATH=$(INSTALL_FOLDER)/lib $(INSTALL_FOLDER)/bin/test_carlaserver --gtest_shuffle
+
+launch_test_clients:
+	@echo "Launch echo_client.py"
+	@python $(PYTHON_CLIENT_FOLDER)/echo_client.py -p 4000 & echo $$! > echo_client.pid
+	@echo "Launch carla_client.py"
+	@python $(PYTHON_CLIENT_FOLDER)/carla_client.py -p 2000 & echo $$! > carla_client.pid
+
+kill_test_clients:
+	@echo "Kill echo_client.py"
+	@kill `cat echo_client.pid` && rm echo_client.pid
+	@echo "Kill carla_client.py"
+	@kill `cat carla_client.pid` && rm carla_client.pid

Setup.sh

@@ -0,0 +1,158 @@
+#! /bin/bash
+
+################################################################################
+# CARLA Util Setup
+#
+# This downloads and compiles libc++. So we can build and compile our
+# dependencies with libc++ for linking against Unreal.
+#
+# Thanks to the people at https://github.com/Microsoft/AirSim for providing the
+# important parts of this script.
+################################################################################
+
+# set -x
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR" >/dev/null
+
+mkdir -p Util/Build
+pushd Util/Build >/dev/null
+
+# Require clang 3.9
+command -v clang++-3.9 >/dev/null 2>&1 || {
+  echo >&2 "clang 3.9 is required, but it's not installed.";
+  echo >&2 "make sure you build Unreal Engine with clang 3.9 too.";
+  exit 1;
+}
+
+# ==============================================================================
+# -- Get and compile libc++ ----------------------------------------------------
+# ==============================================================================
+
+# Get libc++ source
+if [[ ! -d "llvm-source" ]]; then
+  echo "Retrieving libc++..."
+  git clone --depth=1 -b release_39  https://github.com/llvm-mirror/llvm.git llvm-source
+  git clone --depth=1 -b release_39  https://github.com/llvm-mirror/libcxx.git llvm-source/projects/libcxx
+  git clone --depth=1 -b release_39  https://github.com/llvm-mirror/libcxxabi.git llvm-source/projects/libcxxabi
+else
+  echo "Folder llvm-source already exists, skipping git clone..."
+fi
+
+# Build libc++
+rm -rf llvm-build
+mkdir -p llvm-build
+
+pushd llvm-build >/dev/null
+
+export C_COMPILER=clang-3.9
+export COMPILER=clang++-3.9
+
+cmake -DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
+      -LIBCXX_ENABLE_EXPERIMENTAL_LIBRARY=OFF -DLIBCXX_INSTALL_EXPERIMENTAL_LIBRARY=OFF \
+      -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX="../llvm-install" \
+            ../llvm-source
+
+make cxx
+
+#install libc++ locally in llvm-install folder
+make install-libcxx install-libcxxabi
+
+popd >/dev/null
+
+# ==============================================================================
+# -- Get Boost and compile it with libc++ --------------------------------------
+# ==============================================================================
+
+# Get boost source
+if [[ ! -d "boost-source" ]]; then
+  echo "Retrieving boost..."
+  wget https://dl.bintray.com/boostorg/release/1.64.0/source/boost_1_64_0.tar.gz
+  tar -xvzf boost_1_64_0.tar.gz
+  rm boost_1_64_0.tar.gz
+  mv boost_1_64_0 boost-source
+else
+  echo "Folder boost-source already exists, skipping download..."
+fi
+
+pushd boost-source >/dev/null
+
+BOOST_TOOLSET="clang-3.9"
+BOOST_CFLAGS="-fPIC -std=c++1y -stdlib=libc++ -I../llvm-install/include/c++/v1"
+BOOST_LFLAGS="-stdlib=libc++ -L../llvm-install/lib"
+
+./bootstrap.sh --with-toolset=clang --prefix=../boost-install
+./b2 clean
+./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install" -j 4 stage release
+./b2 install toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" linkflags="${BOOST_LFLAGS}" --prefix="../boost-install"
+
+popd >/dev/null
+
+# ==============================================================================
+# -- Get Protobuf and compile it with libc++ -----------------------------------
+# ==============================================================================
+
+# Get protobuf source
+if [[ ! -d "protobuf-source" ]]; then
+  echo "Retrieving protobuf..."
+  git clone --depth=1 -b v3.3.0  https://github.com/google/protobuf.git protobuf-source
+else
+  echo "Folder protobuf-source already exists, skipping git clone..."
+fi
+
+pushd protobuf-source >/dev/null
+
+export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$PWD/../llvm-install/lib/"
+
+./autogen.sh
+./configure \
+    CC="clang-3.9" \
+    CXX="clang++-3.9" \
+    CXXFLAGS="-fPIC -stdlib=libc++ -I$PWD/../llvm-install/include/c++/v1" \
+    LDFLAGS="-stdlib=libc++ -L$PWD/../llvm-install/lib/" \
+    --prefix="$PWD/../protobuf-install"
+make
+make install
+
+popd >/dev/null
+
+# ==============================================================================
+# -- Get GTest and compile it with libc++ --------------------------------------
+# ==============================================================================
+
+# Get googletest source
+if [[ ! -d "googletest-source" ]]; then
+  echo "Retrieving googletest..."
+  git clone --depth=1 -b release-1.8.0 https://github.com/google/googletest.git googletest-source
+else
+  echo "Folder googletest-source already exists, skipping git clone..."
+fi
+
+pushd googletest-source >/dev/null
+
+cmake -H. -B./build \
+    -DCMAKE_C_COMPILER=${C_COMPILER} -DCMAKE_CXX_COMPILER=${COMPILER} \
+    -DCMAKE_CXX_FLAGS="-stdlib=libc++ -I$PWD/../llvm-install/include/c++/v1 -Wl,-L$PWD/../llvm-install/lib" \
+    -DCMAKE_INSTALL_PREFIX="../googletest-install" \
+    -G "Ninja"
+
+pushd build >/dev/null
+ninja
+ninja install
+popd >/dev/null
+
+popd >/dev/null
+
+# ==============================================================================
+# -- ...and we are done --------------------------------------------------------
+# ==============================================================================
+
+popd >/dev/null
+popd >/dev/null
+
+set +x
+echo ""
+echo "****************"
+echo "*** Success! ***"
+echo "****************"

Source/Carla/Carla.Build.cs

@@ -1,5 +1,6 @@
 // Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
 
+using System;
 using System.IO;
 using UnrealBuildTool;
 
@@ -47,16 +48,7 @@ public class Carla : ModuleRules
       }
       );
 
-    AddBoostDependency(Target);
-    AddProtobufDependency(Target);
-    AddLibPNGDependency(Target);
     AddCarlaServerDependency(Target);
-
-    if (Target.Platform == UnrealTargetPlatform.Linux)
-    {
-      // Fails to link the std libraries.
-      PublicAdditionalLibraries.Add("stdc++");
-    }
   }
 
   private bool IsWindows(TargetInfo Target)
@@ -75,118 +67,46 @@ public class Carla : ModuleRules
     }
     else
     {
-      // On Linux on the other hand, we need to use the version of the libraries
-      // without optimizations due to the crash in the std::string destructor.
       return true;
     }
   }
 
-  private void AddBoostDependency(TargetInfo Target)
+  delegate string ADelegate(string s);
-  {
-    if (IsWindows(Target))
-    {
-      string BoostRoot = System.Environment.GetEnvironmentVariable("BOOST_ROOT");
-      if (string.IsNullOrEmpty(BoostRoot) || !System.IO.Directory.Exists(BoostRoot))
-      {
-        throw new System.Exception("BOOST_ROOT is not defined, or points to a non-existant directory, please set this environment variable.");
-      }
-      PrivateIncludePaths.Add(BoostRoot);
-
-      string BoostLib = Path.Combine(BoostRoot, "stage", "lib");
-      if (!System.IO.Directory.Exists(BoostLib))
-      {
-        throw new System.Exception("Please build boost and make sure the libraries are at " + BoostLib + ". ");
-      }
-      bool found = System.IO.Directory.GetFiles(BoostLib, "libboost_system-*.lib").Length > 0;
-      if (!found)
-      {
-        throw new System.Exception("Not finding libboost_system-*.lib in " + BoostLib + ".");
-      }
-      PublicLibraryPaths.Add(Path.Combine(BoostLib));
-    }
-    else
-    {
-      PublicAdditionalLibraries.Add("boost_system");
-    }
-  }
-
-  private void AddProtobufDependency(TargetInfo Target)
-  {
-    if (IsWindows(Target))
-    {
-      string ProtobufRoot = System.Environment.GetEnvironmentVariable("PROTOBUF_ROOT");
-      string ProtobufLib;
-      if (UseDebugLibs(Target))
-      {
-        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", ProtobufLib));
-    }
-    else
-    {
-      PublicAdditionalLibraries.Add("protobuf");
-    }
-  }
-
-  private void AddLibPNGDependency(TargetInfo Target)
-  {
-    if (Target.Platform == UnrealTargetPlatform.Linux)
-    {
-      string UE4Root = System.Environment.GetEnvironmentVariable("UE4_ROOT");
-      if (string.IsNullOrEmpty(UE4Root))
-      {
-        PublicAdditionalLibraries.Add("png");
-      }
-      else
-      {
-        if (!System.IO.Directory.Exists(UE4Root))
-        {
-          throw new System.Exception("UE4_ROOT points to a non-existant directory, please correct this environment variable.");
-        }
-        PublicAdditionalLibraries.Add("ThirdParty/libPNG/libPNG-1.5.2/lib/Linux/x86_64-unknown-linux-gnu/libpng.a");
-        PublicAdditionalLibraries.Add("ThirdParty/zlib/v1.2.8/lib/Linux/x86_64-unknown-linux-gnu/libz_fPIC.a");
-      }
-    }
-  }
 
   private void AddCarlaServerDependency(TargetInfo Target)
   {
-    string CarlaServerIncludePath = Path.Combine(ModuleDirectory, "..", "CarlaServer/include");
+    string CarlaServerInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../Util/Install"));
-    string CarlaServerLibPath = Path.Combine(ModuleDirectory, "..", "CarlaServer/lib");
+    Console.WriteLine("CarlaServer install path = " + CarlaServerInstallPath);
-
-    string CarlaServerLibBaseName;
-    if (UseDebugLibs(Target))
-    {
-      CarlaServerLibBaseName = "carlaserverd";
-    }
-    else
-    {
-      CarlaServerLibBaseName = "carlaserver";
-    }
 
     string CarlaServerLib;
-    if (IsWindows(Target))
+    if (UseDebugLibs(Target))
     {
-      CarlaServerLib = Path.Combine(CarlaServerLibPath, CarlaServerLibBaseName + ".lib");
+      CarlaServerLib = "carlaserverd";
     }
     else
     {
-      CarlaServerLib = Path.Combine(CarlaServerLibPath, "lib" + CarlaServerLibBaseName + ".a");
+      CarlaServerLib = "carlaserver";
     }
 
+    ADelegate GetSharedLibName = (string BaseName) => {
+      if (IsWindows(Target))
+      {
+        return BaseName + ".dll";
+      }
+      else
+      {
+        return "lib" + BaseName + ".so";
+      }
+    };
+
+    // Link dependencies.
+    PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetSharedLibName("boost_system")));
+    PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetSharedLibName("protobuf")));
+    PublicAdditionalLibraries.Add(Path.Combine(CarlaServerInstallPath, "lib", GetSharedLibName(CarlaServerLib)));
+
+    // Include path.
+    string CarlaServerIncludePath = Path.Combine(CarlaServerInstallPath, "include");
     PublicIncludePaths.Add(CarlaServerIncludePath);
     PrivateIncludePaths.Add(CarlaServerIncludePath);
-    PublicAdditionalLibraries.Add(CarlaServerLib);
   }
 }

Util/CarlaServer/.gitignore

@@ -1,7 +1,2 @@
-*.log
+*.pb.cc
-*.pid
+*.pb.h
-*.sublime-workspace
-bin
-bin_debug
-build
-lib

Util/CarlaServer/CMakeLists.txt

@@ -1,158 +0,0 @@
-cmake_minimum_required (VERSION 3.4.2)
-project (CarlaServer)
-
-# ==============================================================================
-# -- Compiler config -----------------------------------------------------------
-# ==============================================================================
-
-if (UNIX)
-
-  set(CMAKE_CXX_COMPILER /usr/bin/clang++)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -std=c++14 -Werror -Wall -Wextra -Wno-unused-parameter")
-  find_package(Threads)
-
-  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_DEBUG -O0")
-  elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNDEBUG -O3")
-  endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
-
-endif (UNIX)
-
-# ==============================================================================
-# -- 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(${Boost_INCLUDE_DIRS})
-
-# ==============================================================================
-# -- Protobuf ------------------------------------------------------------------
-# ==============================================================================
-
-if (UNIX)
-
-  include(FindProtobuf)
-  find_package(Protobuf REQUIRED)
-  include_directories(${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)
-
-# ==============================================================================
-# -- GTest ---------------------------------------------------------------------
-# ==============================================================================
-
-# Download and unpack googletest at configure time.
-configure_file(CMakeLists.txt.in googletest-download/CMakeLists.txt)
-execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
-  RESULT_VARIABLE result
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest-download )
-if(result)
-  message(FATAL_ERROR "CMake step for googletest failed: ${result}")
-endif()
-execute_process(COMMAND ${CMAKE_COMMAND} --build .
-  RESULT_VARIABLE result
-  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest-download )
-if(result)
-  message(FATAL_ERROR "Build step for googletest failed: ${result}")
-endif()
-
-# Prevent overriding the parent project's compiler/linker
-# settings on Windows.
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-
-# Add googletest directly to our build. This defines
-# the gtest and gtest_main targets.
-add_subdirectory(${CMAKE_BINARY_DIR}/googletest-src
-                 ${CMAKE_BINARY_DIR}/googletest-build)
-
-# The gtest/gtest_main targets carry header search path
-# dependencies automatically when using CMake 2.8.11 or
-# later. Otherwise we have to add them here ourselves.
-if (CMAKE_VERSION VERSION_LESS 2.8.11)
-  include_directories("${gtest_SOURCE_DIR}/include")
-endif()
-
-set(GTest_LIBRARIES gtest_main)
-
-# ==============================================================================
-# -- Project config ------------------------------------------------------------
-# ==============================================================================
-
-set(CarlaServer_Deps_LIBRARIES
-    ${Protobuf_LIBRARIES}
-    ${GTest_LIBRARIES}
-    ${Boost_DATE_TIME_LIBRARY}
-    ${Boost_REGEX_LIBRARY}
-    ${Boost_SYSTEM_LIBRARY}
-    ${CMAKE_THREAD_LIBS_INIT})
-
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin_debug)
-  set(CarlaServer_LIBRARIES carlaserverd ${CarlaServer_Deps_LIBRARIES})
-elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
-  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-  set(CarlaServer_LIBRARIES carlaserver ${CarlaServer_Deps_LIBRARIES})
-endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
-
-include_directories("${PROJECT_SOURCE_DIR}/source")
-include_directories("${PROJECT_SOURCE_DIR}/include")
-
-add_subdirectory(source/carla/server)
-add_subdirectory(source/test)

Util/CarlaServer/CMakeLists.txt.in

@@ -1,15 +0,0 @@
-cmake_minimum_required (VERSION 3.0.2)
-
-project(googletest-download NONE)
-
-include(ExternalProject)
-ExternalProject_Add(googletest
-  GIT_REPOSITORY    https://github.com/google/googletest.git
-  GIT_TAG           master
-  SOURCE_DIR        "${CMAKE_BINARY_DIR}/googletest-src"
-  BINARY_DIR        "${CMAKE_BINARY_DIR}/googletest-build"
-  CONFIGURE_COMMAND ""
-  BUILD_COMMAND     ""
-  INSTALL_COMMAND   ""
-  TEST_COMMAND      ""
-)

Util/CarlaServer/CarlaServer.sublime-project

@@ -1,52 +0,0 @@
-{
-	"folders":
-	[
-		{
-			"folder_exclude_patterns": ["build"],
-			"path": "."
-		}
-	],
-	"build_systems":
-	[
-		{
-			"file_regex": "^../../(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"name": "make - CarlaServer",
-			"shell_cmd": "make",
-			"syntax": "Packages/Makefile/Make Output.sublime-syntax",
-			"variants":
-			[
-				{
-					"name": "All",
-					"shell_cmd": "make all"
-				},
-				{
-					"name": "Check",
-					"shell_cmd": "make check"
-				},
-				{
-					"name": "Clean",
-					"shell_cmd": "make clean"
-				},
-				{
-					"name": "Doxygen Documentation",
-					"shell_cmd": "doxygen"
-				}
-			],
-			"working_dir": "${project_path}"
-		}
-	],
-	"SublimeLinter":
-	{
-		"linters":
-		{
-			"clang":
-			{
-				"extra_flags": "-std=c++14 -Wno-pragma-once-outside-header",
-				"include_dirs":
-				[
-					"${project_folder}/source"
-				]
-			}
-		}
-	}
-}

Util/CarlaServer/Doxyfile

@@ -1,38 +0,0 @@
-PROJECT_NAME            =  "CARLA UE4 Plugin"
-OUTPUT_DIRECTORY        =  Doxygen
-CREATE_SUBDIRS          =  YES
-FULL_PATH_NAMES         =  NO
-JAVADOC_AUTOBRIEF       =  YES
-LOOKUP_CACHE_SIZE       =  3
-EXTRACT_ALL             =  YES
-EXTRACT_PRIVATE         =  YES
-EXTRACT_STATIC          =  YES
-CASE_SENSE_NAMES        =  YES
-SORT_BRIEF_DOCS         =  YES
-WARN_IF_UNDOCUMENTED    =  NO
-WARN_LOGFILE            =  Doxygen/warnings.log
-INPUT                   =  Source
-FILE_PATTERNS           =  *.cpp *.h *.hpp *.cc
-RECURSIVE               =  YES
-SOURCE_BROWSER          =  YES
-STRIP_CODE_COMMENTS     =  NO
-REFERENCED_BY_RELATION  =  YES
-REFERENCES_RELATION     =  YES
-ALPHABETICAL_INDEX      =  NO
-HTML_DYNAMIC_SECTIONS   =  YES
-DISABLE_INDEX           =  YES
-GENERATE_TREEVIEW       =  NO
-FORMULA_FONTSIZE        =  12
-GENERATE_LATEX          =  NO
-MACRO_EXPANSION         =  YES
-EXPAND_ONLY_PREDEF      =  YES
-INCLUDE_PATH            =  "Source/Carla" "Source/Common" "Source/CarlaServer/source"
-INCLUDE_FILE_PATTERNS   =  *.h *.hpp
-HIDE_UNDOC_RELATIONS    =  NO
-HAVE_DOT                =  YES
-TEMPLATE_RELATIONS      =  YES
-CALL_GRAPH              =  YES
-CALLER_GRAPH            =  YES
-DOT_IMAGE_FORMAT        =  svg
-INTERACTIVE_SVG         =  YES
-DOT_MULTI_TARGETS       =  YES

Util/CarlaServer/Makefile

@@ -1,78 +0,0 @@
-PROTOBUF_SRC_DIR=source/carla
-PROTOBUF_CPP_OUT_DIR=source/carla/server
-PROTOBUF_PY_OUT_DIR=source/carla/client
-
-PROTOBUF_FILES= \
-		$(PROTOBUF_CPP_OUT_DIR)/carla_protocol.pb.h \
-		$(PROTOBUF_CPP_OUT_DIR)/carla_protocol.pb.cc \
-		$(PROTOBUF_PY_OUT_DIR)/carla_protocol.pb2.py
-
-MY_CMAKE_FLAGS=-H. -B$(BUILD_FOLDER)
-
-ifeq ($(OS),Windows_NT)
-DEFAULT_RULE=release
-BUILD_RULE=build_windows
-else
-DEFAULT_RULE=debug
-BUILD_RULE=build_linux
-endif
-
-default: $(DEFAULT_RULE)
-
-### Build ######################################################################
-
-debug: BUILD_FOLDER=build/debug
-debug: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
-debug: $(BUILD_RULE)
-
-release: BUILD_FOLDER=build/release
-release: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Release
-release: $(BUILD_RULE)
-
-build_linux: protobuf
-	cmake $(MY_CMAKE_FLAGS) -G "Ninja"
-	cd $(BUILD_FOLDER) && ninja
-
-build_windows: protobuf
-	cmake $(MY_CMAKE_FLAGS) -G "NMake Makefiles"
-	cd $(BUILD_FOLDER) && nmake
-
-vsproject: BUILD_FOLDER=build/visualstudio
-vsproject: MY_CMAKE_FLAGS+=-DCMAKE_BUILD_TYPE=Debug
-vsproject: protobuf
-	cmake $(MY_CMAKE_FLAGS) -G "Visual Studio 14 2015 Win64"
-
-protobuf: $(PROTOBUF_FILES)
-
-$(PROTOBUF_FILES): $(PROTOBUF_SRC_DIR)/carla_protocol.proto
-	protoc -I=$(PROTOBUF_SRC_DIR) --cpp_out=$(PROTOBUF_CPP_OUT_DIR) --python_out=$(PROTOBUF_PY_OUT_DIR) $<
-
-### Clean ######################################################################
-
-clean:
-	rm -f $(PROTOBUF_FILES)
-	rm -Rf build CMakeFiles bin bin_debug lib
-
-### Test #######################################################################
-
-check: debug launch_test_clients run_test_debug kill_test_clients
-
-check_release: release launch_test_clients run_test_release kill_test_clients
-
-run_test_debug:
-	@-./bin_debug/test_carla_server --gtest_shuffle
-
-run_test_release:
-	@-./bin/test_carla_server --gtest_shuffle
-
-launch_test_clients:
-	@echo "Launch echo_client.py"
-	@python source/carla/client/echo_client.py -p 4000 & echo $$! > echo_client.pid
-	@echo "Launch carla_client.py"
-	@python source/carla/client/carla_client.py -p 2000 & echo $$! > carla_client.pid
-
-kill_test_clients:
-	@echo "Kill echo_client.py"
-	@kill `cat echo_client.pid` && rm echo_client.pid
-	@echo "Kill carla_client.py"
-	@kill `cat carla_client.pid` && rm carla_client.pid

Util/CarlaServer/source/carla/server/CMakeLists.txt

@@ -1,15 +0,0 @@
-file(GLOB carlaserver_SRC
-    "*.h"
-    "*.cpp"
-    "*.pb.h"
-    "*.pb.cc"
-)
-set(carlaserver_SRC ${carlaserver_SRC})
-
-if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-  add_library(carlaserverd SHARED ${carlaserver_SRC})
-  # target_link_libraries(carlaserverd ${CarlaServer_LIBRARIES})
-elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
-  add_library(carlaserver SHARED ${carlaserver_SRC})
-  # target_link_libraries(carlaserver ${CarlaServer_LIBRARIES})
-endif (CMAKE_BUILD_TYPE STREQUAL "Debug")

Util/CarlaServer/source/carla/server/CarlaEncoder.cpp

@@ -7,13 +7,15 @@
 #include "carla/Debug.h"
 #include "carla/Logging.h"
 
-#include "carla/server/carla_protocol.pb.h"
+#include "carla/server/carla_server.pb.h"
+
+namespace cs = carla_server;
 
 namespace carla {
 namespace server {
 
   std::string CarlaEncoder::Encode(const carla_scene_description &values) {
-    auto *message = _protobuf.CreateMessage<carla_protocol::SceneDescription>();
+    auto *message = _protobuf.CreateMessage<cs::SceneDescription>();
     DEBUG_ASSERT(message != nullptr);
     message->set_player_start_locations(
         values.player_start_locations,
@@ -22,13 +24,13 @@ namespace server {
   }
 
   std::string CarlaEncoder::Encode(const carla_episode_ready &values) {
-    auto *message = _protobuf.CreateMessage<carla_protocol::EpisodeReady>();
+    auto *message = _protobuf.CreateMessage<cs::EpisodeReady>();
     DEBUG_ASSERT(message != nullptr);
     message->set_ready(values.ready);
     return Protobuf::Encode(*message);
   }
 
-  static void SetVector3D(carla_protocol::Vector3D *lhs, const carla_vector3d &rhs) {
+  static void SetVector3D(cs::Vector3D *lhs, const carla_vector3d &rhs) {
     DEBUG_ASSERT(lhs != nullptr);
     lhs->set_x(rhs.x);
     lhs->set_y(rhs.y);
@@ -36,7 +38,7 @@ namespace server {
   }
 
   std::string CarlaEncoder::Encode(const carla_measurements &values) {
-    static thread_local auto *message = _protobuf.CreateMessage<carla_protocol::Measurements>();
+    static thread_local auto *message = _protobuf.CreateMessage<cs::Measurements>();
     DEBUG_ASSERT(message != nullptr);
     message->set_platform_timestamp(values.platform_timestamp);
     message->set_game_timestamp(values.game_timestamp);
@@ -55,7 +57,7 @@ namespace server {
   }
 
   bool CarlaEncoder::Decode(const std::string &str, RequestNewEpisode &values) {
-    auto *message = _protobuf.CreateMessage<carla_protocol::RequestNewEpisode>();
+    auto *message = _protobuf.CreateMessage<cs::RequestNewEpisode>();
     DEBUG_ASSERT(message != nullptr);
     message->ParseFromString(str);
     if (message->IsInitialized()) {
@@ -73,7 +75,7 @@ namespace server {
   }
 
   bool CarlaEncoder::Decode(const std::string &str, carla_episode_start &values) {
-    auto *message = _protobuf.CreateMessage<carla_protocol::EpisodeStart>();
+    auto *message = _protobuf.CreateMessage<cs::EpisodeStart>();
     DEBUG_ASSERT(message != nullptr);
     message->ParseFromString(str);
     if (message->IsInitialized()) {
@@ -86,7 +88,7 @@ namespace server {
   }
 
   bool CarlaEncoder::Decode(const std::string &str, carla_control &values) {
-    static thread_local auto *message = _protobuf.CreateMessage<carla_protocol::Control>();
+    static thread_local auto *message = _protobuf.CreateMessage<cs::Control>();
     DEBUG_ASSERT(message != nullptr);
     message->ParseFromString(str);
     if (message->IsInitialized()) {

Util/CarlaServer/source/test/CMakeLists.txt

@@ -1,10 +0,0 @@
-file(GLOB test_carla_server_SRC
-    "*.h"
-    "*.cpp"
-)
-set(test_carla_server_SRC ${test_carla_server_SRC})
-
-add_executable(test_carla_server ${test_carla_server_SRC})
-target_link_libraries(test_carla_server ${CarlaServer_LIBRARIES})
-
-add_test(carla_server test_carla_server)

Util/Proto/carla_server.proto

@@ -1,6 +1,6 @@
 syntax = "proto3";
 
-package carla_protocol;
+package carla_server;
 
 option cc_enable_arenas = true;
 

Util/Protoc.sh

@@ -0,0 +1,38 @@
+#! /bin/bash
+
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+pushd "$SCRIPT_DIR" >/dev/null
+
+PROTOBUF_SRC_DIR=Proto
+PROTOBUF_CPP_OUT_DIR=CarlaServer/source/carla/server
+PROTOBUF_PY_OUT_DIR=PythonClient
+PROTO_BASENAME=carla_server
+
+if [ "$1" == "--clean" ]; then
+  # Delete existing ones.
+  rm -f ${PROTOBUF_CPP_OUT_DIR}/*.pb.h ${PROTOBUF_CPP_OUT_DIR}/*.pb.cc
+  rm -f ${PROTOBUF_PY_OUT_DIR}/*_pb2.py
+  exit 0
+fi
+
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:./Build/llvm-install/lib
+PROTOC=./Build/protobuf-install/bin/protoc
+
+if [[ ! -f $PROTOC ]]; then
+  echo >&2 "ERROR: Missing protobuf compiler."
+  echo >&2 "Did you forget to run Setup.sh?"
+  exit 1
+fi
+
+echo "Compiling ${PROTO_BASENAME}.proto..."
+
+${PROTOC} \
+    -I=${PROTOBUF_SRC_DIR} \
+    --cpp_out=${PROTOBUF_CPP_OUT_DIR} \
+    --python_out=${PROTOBUF_PY_OUT_DIR} \
+  ${PROTOBUF_SRC_DIR}/${PROTO_BASENAME}.proto
+
+popd >/dev/null
+echo "done."

Util/PythonClient/carla_client.py

@@ -176,9 +176,9 @@ def test_carla_client():
                     data = client.read_images()
                     logging.info('received %d bytes of images', len(data) if data is not None else 0)
 
-                    if (x+1) % 10 == 0:
+                    # if (x+1) % 10 == 0:
-                        logging.info('Taking a nap...')
+                    #     logging.info('Taking a nap...')
-                        time.sleep(2)
+                    #     time.sleep(2)
 
                     logging.info('sending control')
                     client.write_control(steer=-2.3, throttle=1.0, reverse=True)

Util/cmake/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(CARLA)
+
+set(CARLA_UTIL_PATH "${PROJECT_SOURCE_DIR}/..")
+
+set(CARLA_LIBCXX_INSTALL_PATH "${CARLA_UTIL_PATH}/Build/llvm-install")
+set(CARLA_BOOST_INSTALL_PATH "${CARLA_UTIL_PATH}/Build/boost-install")
+set(CARLA_PROTOBUF_INSTALL_PATH "${CARLA_UTIL_PATH}/Build/protobuf-install")
+set(CARLA_GOOGLETEST_INSTALL_PATH "${CARLA_UTIL_PATH}/Build/googletest-install")
+
+add_subdirectory("CarlaServer")

Util/cmake/CarlaServer/CMakeLists.txt

@@ -0,0 +1,101 @@
+cmake_minimum_required (VERSION 3.5.0)
+project (CarlaServer)
+
+if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+  set(CarlaServer_Lib_Target carlaserverd)
+  set(CarlaServer_Test_Target test_carlaserverd)
+elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
+  set(CarlaServer_Lib_Target carlaserver)
+  set(CarlaServer_Test_Target test_carlaserver)
+endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
+
+# ==============================================================================
+# -- Compiler and dependencies -------------------------------------------------
+# ==============================================================================
+
+if (UNIX)
+
+  find_package(Threads)
+
+  set(CMAKE_CXX_COMPILER /usr/bin/clang++-3.9)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -std=c++14")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra -Wno-unused-parameter")
+
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -D_DEBUG -O0")
+  elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNDEBUG -O3")
+  endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
+
+  # Setup libc++.
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
+  include_directories("${CARLA_LIBCXX_INSTALL_PATH}/include/c++/v1")
+  link_directories("${CARLA_LIBCXX_INSTALL_PATH}/lib")
+  file(GLOB LibCXX_Shared_Libraries "${CARLA_LIBCXX_INSTALL_PATH}/lib/libc++*.so*")
+
+  # Setup boost.
+  include_directories("${CARLA_BOOST_INSTALL_PATH}/include")
+  set(Boost_Static_Libraries "${CARLA_BOOST_INSTALL_PATH}/lib/libboost_system.a")
+  file(GLOB Boost_Shared_Libraries "${CARLA_BOOST_INSTALL_PATH}/lib/libboost_system.so*")
+
+  # Setup protobuf.
+  include_directories("${CARLA_PROTOBUF_INSTALL_PATH}/include")
+  set(Protobuf_Static_Libraries "${CARLA_PROTOBUF_INSTALL_PATH}/lib/libprotobuf.a")
+  file(GLOB Protobuf_Shared_Libraries "${CARLA_PROTOBUF_INSTALL_PATH}/lib/libprotobuf.so*")
+
+  # Setup googletest.
+  include_directories("${CARLA_GOOGLETEST_INSTALL_PATH}/include")
+  set(GTest_Static_Libraries "${CARLA_GOOGLETEST_INSTALL_PATH}/lib/libgtest.a")
+
+  install(FILES
+      ${LibCXX_Shared_Libraries}
+      ${Boost_Shared_Libraries}
+      ${Protobuf_Shared_Libraries}
+    DESTINATION lib)
+
+else (UNIX)
+  message(FATAL_ERROR "Build configuration not yet available for this platform")
+endif (UNIX)
+
+# ==============================================================================
+# -- Project config ------------------------------------------------------------
+# ==============================================================================
+
+set(CarlaServer_Path "${CARLA_UTIL_PATH}/CarlaServer")
+
+include_directories("${CarlaServer_Path}/source")
+include_directories("${CarlaServer_Path}/include")
+
+# libcarlaserver
+
+file(GLOB carlaserver_SRC
+    "${CarlaServer_Path}/include/carla/carla_server.h"
+    "${CarlaServer_Path}/source/carla/*.h"
+    "${CarlaServer_Path}/source/carla/*.cpp"
+    "${CarlaServer_Path}/source/carla/server/*.h"
+    "${CarlaServer_Path}/source/carla/server/*.cpp"
+    "${CarlaServer_Path}/source/carla/server/*.pb.h"
+    "${CarlaServer_Path}/source/carla/server/*.pb.cc")
+
+add_library(${CarlaServer_Lib_Target} SHARED ${carlaserver_SRC})
+install(DIRECTORY "${CarlaServer_Path}/include/carla" DESTINATION include)
+install(TARGETS ${CarlaServer_Lib_Target} DESTINATION lib)
+
+# unit tests
+
+file(GLOB test_carlaserver_SRC
+    "${CarlaServer_Path}/source/test/*.h"
+    "${CarlaServer_Path}/source/test/*.cpp")
+
+set(CarlaServer_Static_LIBRARIES
+    ${CarlaServer_Lib_Target}
+    ${GTest_Static_Libraries}
+    ${Protobuf_Static_Libraries}
+    ${Boost_Static_Libraries}
+    ${CMAKE_THREAD_LIBS_INIT})
+
+add_executable(${CarlaServer_Test_Target} ${test_carlaserver_SRC})
+target_link_libraries(${CarlaServer_Test_Target} ${CarlaServer_Static_LIBRARIES})
+install(TARGETS ${CarlaServer_Test_Target} DESTINATION bin)