Create Configure.py
This commit is contained in:
Marcel Pi
parent
7c106b9426
commit
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from concurrent.futures import ProcessPoolExecutor, as_completed
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from argparse import ArgumentParser
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from pathlib import Path
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import subprocess, psutil, shutil, sys, os
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# Basic paths
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workspace_path = Path(__file__).parent.resolve()
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libcarla_path = workspace_path / 'LibCarla'
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python_api_path = workspace_path / 'PythonAPI'
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examples_folder = workspace_path / 'Examples'
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build_folder = workspace_path / 'Build'
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dist_folder = workspace_path / 'Dist'
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util_folder = workspace_path / 'Util'
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docker_utils_folder = util_folder / 'DockerUtils'
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build_tools_path = util_folder / '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_plugins_path = carla_ue_plugin_root_path / 'Carla'
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carla_ue_plugin_deps_path = carla_ue_plugin_root_path / 'CarlaDependencies'
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# PythonAPI
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python_version_major = sys.version_info.major
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python_version_minor = sys.version_info.minor
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python_api_source_path = python_api_path / 'carla'
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# LibCarla
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libcarla_build_path_server = build_folder / 'libcarla-server-build'
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libcarla_build_path_client = build_folder / 'libcarla-client-build'
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libcarla_build_path_pytorch = build_folder / 'libcarla-pytorch-build'
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libcarla_install_path_server = carla_ue_plugin_deps_path
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libcarla_install_path_client = python_api_source_path / 'dependencies'
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libcarla_test_content_path = build_folder / 'test-content'
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# OSM2ODR
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osm2odr_build_path = build_folder / 'libosm2dr-build'
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osm2odr_build_path_server = build_folder / 'libosm2dr-build-server'
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osm2odr_source_path = build_folder / 'libosm2dr-source'
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# Misc
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test_results_path = build_folder / 'test-results'
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libstdcpp_toolchain_path = build_folder / 'LibStdCppToolChain.cmake'
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libcpp_toolchain_path = build_folder / 'LibCppToolChain.cmake'
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cmake_config_file_path = build_folder / 'CMakeLists.txt.in'
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# Unreal Engine
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ue_workspace_path = os.getenv('UE4_ROOT')
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if ue_workspace_path is None:
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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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ue_workspace_path = Path(ue_workspace_path)
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# Boost
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# ZLib
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# LibPNG
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# RPCLib
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# Google Test
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# Recast & Detour
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# Xercesc
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# Sqlite3
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# PROJ
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# Eigen
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# Chrono
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# Houdini
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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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houdini_commit_hash = '55b6a16cdf274389687fce3019b33e3b6e92a914'
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houdini_patch_path = util_folder / 'Patches' / 'houdini_patch.txt'
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# Omniverse
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omniverse_plugin_path = ue_workspace_path / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse'
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omniverse_patch_path = util_folder / 'Patches' / 'omniverse_4.26'
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# Script settings
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parallelism = psutil.cpu_count(logical = True)
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sequential = False
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cmake_generator = 'Ninja'
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def UpdateGitDependency(name : str, path : Path, url : str):
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if path.exists():
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subprocess.run([
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'git',
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'-C', str(path),
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'pull'
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]).check_returncode()
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else:
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subprocess.run([
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'git',
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'-C', str(path.parent),
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'clone',
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'-depth', '1', '-single-branch',
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url,
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name
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]).check_returncode()
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def UpdateHoudini():
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UpdateGitDependency(
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'HoudiniEngine',
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carla_ue_plugin_root_path,
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houdini_url)
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# subprocess.run([
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# 'git', '-C', str(houdini_plugin_path), 'checkout', houdini_commit_hash
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# ]).check_returncode()
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# subprocess.run([
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# 'git', '-C', str(houdini_plugin_path), 'apply', str(houdini_patch_path)
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# ]).check_returncode()
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def InstallNVIDIAOmniverse():
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filename = 'USDCarlaInterface'
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header = f'{filename}.h'
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source = f'{filename}.cpp'
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omniverse_usd_path = omniverse_plugin_path / 'Source' / 'OmniverseUSD'
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files = [
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[ omniverse_usd_path / 'Public' / header, omniverse_patch_path / header ],
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[ omniverse_usd_path / 'Private' / source, omniverse_patch_path / source ],
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]
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for src, dst in files:
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shutil.copyfile(src, dst)
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def AwaitTasks(futures : list):
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for future in as_completed(futures):
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try:
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future.result()
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except Exception as e:
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print(f'Failed to run task: {e}')
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exit(-1)
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futures = []
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def BuildCarlaUnrealEditor():
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if os.name == 'nt':
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subprocess.run([
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ue_workspace_path / 'Engine' / 'Build' / 'BatchFiles' / 'Build.bat',
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'CarlaUE4', 'Win64', 'Development', '-WaitMutex', '-FromMsBuild',
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carla_ue_path / 'CarlaUE4.uproject'
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]).check_returncode()
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def BuildCarlaUE(pool : ProcessPoolExecutor, futures : list):
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futures.append(pool.submit(UpdateHoudini))
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AwaitTasks(futures)
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futures.append(pool.submit(BuildCarlaUnrealEditor))
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def ConfigureLibCarla(configuration : str):
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return subprocess.run([
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'cmake',
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'-G', cmake_generator,
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f'-DCMAKE_BUILD_TYPE={configuration}',
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'-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"',
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f'-DCMAKE_INSTALL_PREFIX={libcarla_install_path_client}',
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workspace_path
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])
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def BuildLibCarlaCore(configuration : str):
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return subprocess.run([
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'cmake', '-build', '.', '-config', 'Release', '-target', 'install'
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])
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def BuildLibCarlaClient():
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print('Building LibCarla Client')
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ConfigureLibCarla('Client').check_returncode()
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BuildLibCarlaCore('Client').check_returncode()
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def BuildLibCarlaServer():
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print('Building LibCarla Server')
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ConfigureLibCarla('Server').check_returncode()
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BuildLibCarlaCore('Server').check_returncode()
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def BuildLibCarlaMain(pool : ProcessPoolExecutor, futures : list, arg):
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if sequential:
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if not arg.skip_libcarla_server:
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BuildLibCarlaServer()
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if not arg.skip_libcarla_client:
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BuildLibCarlaClient()
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else:
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if not arg.skip_libcarla_server:
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futures.append(pool.submit(BuildLibCarlaServer))
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if not arg.skip_libcarla_client:
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futures.append(pool.submit(BuildLibCarlaClient))
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def BuildCarlaUEMain(pool : ProcessPoolExecutor, futures : list, arg):
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print('Building Carla UE Editor')
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optional_modules = {}
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optional_modules['CarSim'] = arg.use_unity
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optional_modules['Chrono'] = arg.use_unity
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optional_modules['Unity'] = arg.use_unity
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optional_modules['Omniverse'] = arg.use_omniverse
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if optional_modules['Omniverse']:
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futures.append(pool.submit(InstallNVIDIAOmniverse))
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BuildCarlaUE(pool, futures)
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AwaitTasks(futures)
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def BuildPythonAPIMain(pool : ProcessPoolExecutor, futures : list, arg):
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print('Building Python API')
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pass
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def Main():
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print('Starting.')
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arg_parser = ArgumentParser(description = __doc__)
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arg_parser.add_argument(
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'-build-libcarla',
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action='store_true',
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help = 'Build LibCarla.')
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arg_parser.add_argument(
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'-build-python-api',
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action='store_true',
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help = 'Build the CARLA Python API.')
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arg_parser.add_argument(
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'-build-carla-ue',
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action='store_true',
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help = 'Build Carla Unreal.')
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arg_parser.add_argument(
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'-build-osm2odr',
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action='store_true',
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help = 'Build OSM2ODR.')
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arg_parser.add_argument(
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'-package',
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action='store_true',
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help = 'Build OSM2ODR.')
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arg_parser.add_argument(
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'-clean',
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action='store_true',
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help = 'Clean build files.')
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# LibCarla
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arg_parser.add_argument(
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'-skip-libcarla-client',
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action='store_true',
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help = 'Whether to skip the libcarla client.')
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arg_parser.add_argument(
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'-skip-libcarla-server',
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action='store_true',
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help = 'Whether to skip the libcarla server.')
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# Carla UE:
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arg_parser.add_argument(
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'-use-carsim',
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action='store_true',
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help = 'Whether to enable plugin "CarSim".')
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arg_parser.add_argument(
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'-use-chrono',
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action='store_true',
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help = 'Whether to enable plugin "Chrono".')
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arg_parser.add_argument(
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'-use-unity',
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action='store_true',
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help = 'Whether to enable plugin "Unity".')
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arg_parser.add_argument(
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'-use-omniverse',
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action='store_true',
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help = 'Whether to enable plugin "NVIDIA Omniverse".')
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arg = arg_parser.parse_args()
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with ProcessPoolExecutor(parallelism) as pool:
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futures = []
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if arg.build_libcarla:
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BuildLibCarlaMain(pool, futures, arg)
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AwaitTasks()
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if arg.build_python_api:
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BuildPythonAPIMain(pool, futures, arg)
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AwaitTasks()
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if arg.build_carla_ue:
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BuildCarlaUEMain(pool, futures, arg)
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AwaitTasks()
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if __name__ == '__main__':
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try:
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Main()
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finally:
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print('Done.')
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