Compile and run C++ client example in CI pipelines

.travis.yml

@@ -34,6 +34,7 @@ matrix:
         - make setup >> build.log 2>&1
         - make LibCarla >> build.log 2>&1
         - make PythonAPI >> build.log 2>&1
+        - make examples >> build.log 2>&1
         - kill %1
         - make check ARGS="--all --gtest_args=--gtest_filter=-*_mt"
       after_failure:

Examples/CppClient/Makefile

@@ -20,7 +20,7 @@ clean:
 
 run: build
 	$(call log,Running C++ Client...)
-	@$(BINDIR)/cpp_client
+	@$(BINDIR)/cpp_client $(ARGS)
 
 build: $(BINDIR)/cpp_client
 

Examples/CppClient/main.cpp

@@ -2,7 +2,9 @@
 #include <random>
 #include <sstream>
 #include <stdexcept>
+#include <string>
 #include <thread>
+#include <tuple>
 
 #include <carla/client/ActorBlueprint.h>
 #include <carla/client/BlueprintLibrary.h>
@@ -47,12 +49,24 @@ static void SaveSemSegImageToDisk(const csd::Image &image) {
   ImageIO::WriteView(filename, view);
 }
 
-int main() {
+static auto ParseArguments(int argc, const char *argv[]) {
+  EXPECT_TRUE((argc == 1u) || (argc == 3u));
+  using ResultType = std::tuple<std::string, uint16_t>;
+  return argc == 3u ?
+      ResultType{argv[1u], std::stoi(argv[2u])} :
+      ResultType{"localhost", 2000u};
+}
+
+int main(int argc, const char *argv[]) {
   try {
 
+    std::string host;
+    uint16_t port;
+    std::tie(host, port) = ParseArguments(argc, argv);
+
     std::mt19937_64 rng((std::random_device())());
 
-    auto client = cc::Client("localhost", 2000);
+    auto client = cc::Client(host, port);
     client.SetTimeout(10s);
 
     std::cout << "Client API version : " << client.GetClientVersion() << '\n';

Jenkinsfile

@@ -22,6 +22,7 @@ pipeline {
                 sh 'make LibCarla'
                 sh 'make PythonAPI'
                 sh 'make CarlaUE4Editor'
+                sh 'make examples'
             }
             post {
                 always {
@@ -66,6 +67,7 @@ pipeline {
             steps {
                 sh 'DISPLAY= ./Dist/*/LinuxNoEditor/CarlaUE4.sh --carla-rpc-port=3654 --carla-streaming-port=0 > CarlaUE4.log &'
                 sh 'make smoke_tests ARGS="--xml"'
+                sh 'make run-examples ARGS="localhost 3654"'
             }
             post {
                 always {

Util/BuildTools/Linux.mk

@@ -66,6 +66,12 @@ benchmark: LibCarla.release
 smoke_tests:
 	@${CARLA_BUILD_TOOLS_FOLDER}/Check.sh --smoke-2 --smoke-3 $(ARGS)
 
+examples:
+	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} build; done
+
+run-examples:
+	@for D in ${CARLA_EXAMPLES_FOLDER}/*; do [ -d "$${D}" ] && make -C $${D} run; done
+
 CarlaUE4Editor: LibCarla.server.release
 	@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build
 

Util/BuildTools/Linux.mk.help

@@ -42,6 +42,7 @@ Use the following commands:
         takes a long time!
 
     export-maps:
+
         Export maps from /Game/Carla/ExportedMaps to the ExportedMaps folder
         at the root of the Carla project.
 
@@ -65,6 +66,10 @@ for developers:
 
         Run the benchmark tests for LibCarla.
 
+    (run-)examples:
+
+        Build (and run) the C++ client examples.
+
     CarlaUE4Editor:
 
         Build CarlaUE4 project, but do not launch the editor.

Util/BuildTools/Vars.mk

@@ -24,3 +24,4 @@ LIBCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibCppToolChain.cmake
 CMAKE_CONFIG_FILE=${CARLA_BUILD_FOLDER}/CMakeLists.txt.in
 
 LIBCARLA_TEST_CONTENT_FOLDER=${CARLA_BUILD_FOLDER}/test-content
+CARLA_EXAMPLES_FOLDER=${CURDIR}/Examples