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carla
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This commit is contained in:
Marcel Pi 2024-02-05 11:52:25 +01:00
parent 57258c96fe
commit 9179489b96
4 changed files with 565 additions and 498 deletions
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619
CMakeLists.txt
View File

@ -1,23 +1,35 @@
cmake_minimum_required (VERSION 3.20.0) cmake_minimum_required (VERSION 3.20.0)
cmake_policy (SET CMP0097 NEW) cmake_policy (SET CMP0097 NEW)
cmake_policy (SET CMP0140 NEW) cmake_policy (SET CMP0140 NEW)
set (CARLA_VERSION_MAJOR 0) set (CARLA_VERSION_MAJOR 0)
set (CARLA_VERSION_MINOR 9) set (CARLA_VERSION_MINOR 9)
set (CARLA_VERSION_PATCH 14) set (CARLA_VERSION_PATCH 15)
set (CARLA_VERSION ${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH})
set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR}) set (
set (CARLA_BUILD_PATH ${CMAKE_CURRENT_BINARY_DIR}) CARLA_VERSION
${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH}
)
project ( project (
CARLA CARLA
VERSION ${CARLA_VERSION} VERSION ${CARLA_VERSION}
LANGUAGES CXX LANGUAGES CXX
DESCRIPTION "Open-source simulator for autonomous driving research." DESCRIPTION "Open-source simulator for autonomous driving research."
HOMEPAGE_URL "https://carla.org" HOMEPAGE_URL https://carla.org
) )
set (CMAKE_CXX_STANDARD 20)
set (CMAKE_CXX_STANDARD_REQUIRED ON)
include (CheckCCompilerFlag)
include (CheckCXXCompilerFlag)
include (ExternalProject)
include (FetchContent)
set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
macro (carla_string_option NAME DESCRIPTION VALUE) macro (carla_string_option NAME DESCRIPTION VALUE)
set (${NAME} ${VALUE} CACHE STRING ${DESCRIPTION}) set (${NAME} ${VALUE} CACHE STRING ${DESCRIPTION})
endmacro () endmacro ()
@ -25,45 +37,79 @@ endmacro ()
carla_string_option ( carla_string_option (
CARLA_DEPENDENCIES_PATH CARLA_DEPENDENCIES_PATH
"Where to build CARLA dependencies." "Where to build CARLA dependencies."
${CARLA_BUILD_PATH}/Dependencies) ${CMAKE_CURRENT_BINARY_DIR}/Dependencies
)
carla_string_option ( carla_string_option (
CARLA_DEPENDENCIES_INSTALL_PREFIX CARLA_DEPENDENCIES_INSTALL_PREFIX
"Where to install CARLA dependencies." "Where to install CARLA dependencies."
${CMAKE_CURRENT_SOURCE_DIR}/Install) ${CMAKE_CURRENT_SOURCE_DIR}/Install
)
set ( set (
CMAKE_INSTALL_PREFIX CMAKE_INSTALL_PREFIX
${CARLA_DEPENDENCIES_INSTALL_PREFIX} ${CARLA_DEPENDENCIES_INSTALL_PREFIX}
) )
option (BUILD_CARLA_CLIENT "Build the LibCarla client." OFF) option (
option (BUILD_CARLA_SERVER "Build the LibCarla server." OFF) BUILD_CARLA_CLIENT
option (ENABLE_LIBCARLA_PYTORCH "Enable LibCarla-PyTorch." OFF) "Build the LibCarla client."
option (BUILD_PYTHON_API "Build the CARLA Python API." ON) ON
option (ENABLE_OSM2ODR "Enable OSM2ODR." ${BUILD_PYTHON_API})
option (ENABLE_RSS "Enable RSS components (ad-rss-lib)" OFF)
option (INSTALL_LIBCARLA "Install LibCarla and all of its dependencies." ON)
option (BUILD_OSM_WORLD_RENDERER "Build OSM World Renderer." ON)
option (ENABLE_RTTI "Enable C++ RTTI." OFF)
option (ENABLE_EXCEPTIONS "Enable C++ Exceptions." OFF)
set (
CMAKE_MODULE_PATH
${CARLA_WORKSPACE_PATH}/cmake/modules
) )
include (CheckCCompilerFlag) option (
include (CheckCXXCompilerFlag) BUILD_CARLA_SERVER
include (ExternalProject) "Build the LibCarla server."
include (FetchContent) ON
)
set (CMAKE_CXX_STANDARD 20) option (
set (CMAKE_CXX_STANDARD_REQUIRED ON) ENABLE_LIBCARLA_PYTORCH
"Enable LibCarla-PyTorch."
OFF
)
set (LIBCARLA_SOURCE_PATH ${CARLA_WORKSPACE_PATH}/LibCarla/source) option (
set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party) BUILD_PYTHON_API
set (PYTHON_API_PATH ${CARLA_WORKSPACE_PATH}/PythonAPI) "Build the CARLA Python API."
ON
)
option (
ENABLE_OSM2ODR
"Enable OSM2ODR."
${BUILD_PYTHON_API}
)
option (
ENABLE_RSS
"Enable RSS components (ad-rss-lib)"
OFF
)
option (
INSTALL_LIBCARLA
"Install LibCarla and all of its dependencies."
ON
)
option (
BUILD_OSM_WORLD_RENDERER
"Build OSM World Renderer."
ON
)
option (
ENABLE_RTTI
"Enable C++ RTTI."
OFF
)
option (
ENABLE_EXCEPTIONS
"Enable C++ Exceptions."
OFF
)
set (EXTERNAL_DEPENDENCY_LIST) set (EXTERNAL_DEPENDENCY_LIST)
@ -72,7 +118,8 @@ macro (carla_declare_git_dependency NAME URL TAG)
${NAME} ${NAME}
GIT_REPOSITORY ${URL} GIT_REPOSITORY ${URL}
GIT_TAG ${TAG} GIT_TAG ${TAG}
GIT_SHALLOW TRUE GIT_PROGRESS ON
GIT_SHALLOW ON
${ARGN} ${ARGN}
) )
list (APPEND EXTERNAL_DEPENDENCY_LIST ${NAME}) list (APPEND EXTERNAL_DEPENDENCY_LIST ${NAME})
@ -83,7 +130,8 @@ macro (carla_declare_download_dependency NAME URL)
${NAME} ${NAME}
URL ${URL} URL ${URL}
DOWNLOAD_EXTRACT_TIMESTAMP TRUE DOWNLOAD_EXTRACT_TIMESTAMP TRUE
${ARGN}) ${ARGN}
)
FetchContent_MakeAvailable (${NAME}) FetchContent_MakeAvailable (${NAME})
endmacro () endmacro ()
@ -99,7 +147,8 @@ function (carla_find_library OUT_RESULT PATTERN)
GLOB_RECURSE GLOB_RECURSE
CANDIDATES CANDIDATES
LIST_DIRECTORIES FALSE LIST_DIRECTORIES FALSE
${PATTERN}) ${PATTERN}
)
message ("Found ${CANDIDATES}") message ("Found ${CANDIDATES}")
list (GET CANDIDATES 0 FIRST_VALUE) list (GET CANDIDATES 0 FIRST_VALUE)
message ("Selected ${FIRST_VALUE}") message ("Selected ${FIRST_VALUE}")
@ -110,16 +159,31 @@ endfunction ()
set (CARLA_DEFAULT_DEPENDENCY_ARGS) set (CARLA_DEFAULT_DEPENDENCY_ARGS)
if (CMAKE_C_COMPILER) if (CMAKE_C_COMPILER)
list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}) list (
APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}
)
endif () endif ()
if (CMAKE_INSTALL_PREFIX) if (CMAKE_INSTALL_PREFIX)
list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}) list (
APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
)
endif () endif ()
if (CMAKE_CXX_COMPILER) if (CMAKE_CXX_COMPILER)
list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}) list (
APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
)
endif () endif ()
if (CMAKE_BUILD_TYPE) if (CMAKE_BUILD_TYPE)
list (APPEND CARLA_DEFAULT_DEPENDENCY_ARGS -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}) list (
APPEND CARLA_DEFAULT_DEPENDENCY_ARGS
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
)
endif () endif ()
# --- BOOST --- # --- BOOST ---
@ -128,6 +192,7 @@ carla_string_option (CARLA_BOOST_TAG "Target boost git tag." boost-1.84.0)
set ( set (
REQUIRED_BOOST_LIBRARIES REQUIRED_BOOST_LIBRARIES
assert
algorithm algorithm
python python
iterator iterator
@ -140,12 +205,18 @@ carla_declare_git_dependency (
${CARLA_BOOST_TAG} ${CARLA_BOOST_TAG}
INSTALL_COMMAND "" INSTALL_COMMAND ""
CMAKE_ARGS CMAKE_ARGS
${CARLA_DEFAULT_DEPENDENCY_ARGS} ${CARLA_DEFAULT_DEPENDENCY_ARGS}
-DBOOST_INCLUDE_LIBRARIES="${REQUIRED_BOOST_LIBRARIES}" -DBOOST_INCLUDE_LIBRARIES=${REQUIRED_BOOST_LIBRARIES}
-DBOOST_ENABLE_PYTHON=ON) -DBOOST_ENABLE_PYTHON=ON
GIT_SUBMODULES
set (BOOST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/boost/include) tools/cmake
set (BOOST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/boost/lib) libs/core
libs/assert
libs/algorithm
libs/python
libs/iterator
libs/asio
)
@ -161,8 +232,6 @@ carla_declare_git_dependency (
${CARLA_DEFAULT_DEPENDENCY_ARGS} ${CARLA_DEFAULT_DEPENDENCY_ARGS}
-DBUILD_SHARED_LIBS=OFF) -DBUILD_SHARED_LIBS=OFF)
set (ZLIB_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/zlib/include)
set (ZLIB_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/zlib/lib)
set ( set (
ZLIB_INCLUDE_PATHS ZLIB_INCLUDE_PATHS
${CARLA_DEPENDENCIES_PATH}/Source/zlib ${CARLA_DEPENDENCIES_PATH}/Source/zlib
@ -190,8 +259,15 @@ carla_declare_git_dependency (
add_dependencies (libpng zlib) add_dependencies (libpng zlib)
set (LIBPNG_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/Install/libpng/include) set (
set (LIBPNG_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib) LIBPNG_INCLUDE_PATH
${CARLA_DEPENDENCIES_PATH}/Install/libpng/include
)
set (
LIBPNG_LIBRARY_PATH
${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib
)
@ -201,11 +277,17 @@ carla_string_option (CARLA_SQLITE_VERSION_MAJOR "Target SQLite version" 3)
carla_string_option (CARLA_SQLITE_VERSION_MINOR "Target SQLite version" 45) carla_string_option (CARLA_SQLITE_VERSION_MINOR "Target SQLite version" 45)
carla_string_option (CARLA_SQLITE_VERSION_PATCH "Target SQLite version" 0000) carla_string_option (CARLA_SQLITE_VERSION_PATCH "Target SQLite version" 0000)
set (SQLITE_TAG ${CARLA_SQLITE_VERSION_MAJOR}${CARLA_SQLITE_VERSION_MINOR}${CARLA_SQLITE_VERSION_PATCH}) set (SQLITE_VERSION ${CARLA_SQLITE_VERSION_MAJOR}${CARLA_SQLITE_VERSION_MINOR}${CARLA_SQLITE_VERSION_PATCH})
project (
sqlite-amalgam
LANGUAGES C
VERSION ${SQLITE_VERSION}
)
carla_declare_download_dependency ( carla_declare_download_dependency (
sqlite3 sqlite3
https://www.sqlite.org/2024/sqlite-amalgamation-${SQLITE_TAG}.zip https://www.sqlite.org/2024/sqlite-amalgamation-${SQLITE_VERSION}.zip
) )
add_library ( add_library (
@ -219,7 +301,10 @@ add_executable (
${sqlite3_SOURCE_DIR}/shell.c ${sqlite3_SOURCE_DIR}/shell.c
) )
target_link_libraries (sqlite3 PRIVATE libsqlite3) target_link_libraries (
sqlite3 PRIVATE
libsqlite3
)
@ -343,23 +428,6 @@ set (
CARLA_COMMON_DEFINITIONS CARLA_COMMON_DEFINITIONS
LIBCARLA_IMAGE_WITH_PNG_SUPPORT=true) LIBCARLA_IMAGE_WITH_PNG_SUPPORT=true)
set (
CARLA_COMMON_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${CHRONO_INCLUDE_PATH}
${EIGEN_INCLUDE_PATH}
${GOOGLETEST_INCLUDE_PATH}
${LIBPNG_INCLUDE_PATH}
${PROJ_INCLUDE_PATH}
${RECAST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH}
${SQLITE_INCLUDE_PATH}
${XERCESC_INCLUDE_PATH}
${ZLIB_INCLUDE_PATH})
if (WIN32) if (WIN32)
# https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170 # https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # --- Windows 10 --- list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # --- Windows 10 ---
@ -367,8 +435,6 @@ if (WIN32)
list (APPEND CARLA_COMMON_DEFINITIONS HAVE_SNPRINTF) list (APPEND CARLA_COMMON_DEFINITIONS HAVE_SNPRINTF)
endif () endif ()
set (CARLA_EXCEPTION_DEFINITIONS) set (CARLA_EXCEPTION_DEFINITIONS)
if (ENABLE_EXCEPTIONS) if (ENABLE_EXCEPTIONS)
@ -379,8 +445,6 @@ else ()
list (APPEND CARLA_EXCEPTION_DEFINITIONS PUGIXML_NO_EXCEPTIONS) list (APPEND CARLA_EXCEPTION_DEFINITIONS PUGIXML_NO_EXCEPTIONS)
endif () endif ()
set (CARLA_RTTI_DEFINITIONS) set (CARLA_RTTI_DEFINITIONS)
if (ENABLE_RTTI) if (ENABLE_RTTI)
@ -388,419 +452,14 @@ else ()
list (APPEND CARLA_RTTI_DEFINITIONS BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY) list (APPEND CARLA_RTTI_DEFINITIONS BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)
endif () endif ()
if (BUILD_CARLA_CLIENT OR BUILD_CARLA_SERVER)
add_subdirectory (LibCarla)
if (BUILD_CARLA_SERVER OR BUILD_CARLA_CLIENT)
configure_file (
${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
${LIBCARLA_SOURCE_PATH}/carla/Version.h)
endif () endif ()
if (BUILD_CARLA_SERVER)
project (carla-server)
file (
GLOB
LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
file (
GLOB
LIBCARLA_SERVER_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
add_library (
carla-server STATIC
${LIBCARLA_SERVER_HEADERS}
${LIBCARLA_SERVER_SOURCES}
${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (carla-server ${EXTERNAL_DEPENDENCY_LIST})
endif ()
# target_compile_options (carla-server PRIVATE /EHsc)
target_include_directories (
carla-server PRIVATE
${CARLA_COMMON_INCLUDE_PATHS}
)
target_compile_definitions (
carla-server PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_EXCEPTION_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
)
install (TARGETS carla-server DESTINATION lib)
foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()
if (BUILD_CARLA_CLIENT)
project (carla-client)
file (
GLOB
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/image/*.h
${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
if (ENABLE_RSS)
file (
GLOB
LIBCARLA_CLIENT_HEADERS_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
)
list (
APPEND
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_CLIENT_HEADERS_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
)
file (
GLOB
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
)
if (ENABLE_RSS)
file (
GLOB
LIBCARLA_CLIENT_SOURCES_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
)
list (
APPEND
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_CLIENT_SOURCES_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
add_library (
carla-client STATIC
${LIBCARLA_CLIENT_HEADERS}
${LIBCARLA_CLIENT_SOURCES}
${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (carla-client ${EXTERNAL_DEPENDENCY_LIST})
endif ()
target_include_directories (
carla-client PRIVATE
${CARLA_COMMON_INCLUDE_PATHS}
)
target_compile_definitions (
carla-client PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_EXCEPTION_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
)
install (TARGETS carla-client DESTINATION lib)
foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()
if (BUILD_OSM_WORLD_RENDERER) if (BUILD_OSM_WORLD_RENDERER)
add_subdirectory (osm-world-renderer)
project (OsmMapRenderer)
set (OSM_RENDERER_PATH ${CARLA_WORKSPACE_PATH}/osm-world-renderer)
add_library (
LibOSMRenderer
${OSM_RENDERER_PATH}/OsmRenderer/src/OsmRenderer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapDrawer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapRasterizer.cpp
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (LibOSMRenderer ${EXTERNAL_DEPENDENCY_LIST})
endif ()
target_include_directories (
LibOSMRenderer PUBLIC
${OSM_RENDERER_PATH}/OsmRenderer/include
)
add_executable (
OSMWorldRenderer
${OSM_RENDERER_PATH}/OsmRenderer/main.cpp
)
target_link_libraries (OSMWorldRenderer PRIVATE LibOSMRenderer)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map_svg)
target_link_libraries (OSMWorldRenderer PRIVATE lunasvg)
target_compile_definitions (
OSMWorldRenderer PRIVATE
_USE_MATH_DEFINES
${CARLA_COMMON_DEFINITIONS}
)
endif () endif ()
if (BUILD_PYTHON_API) if (BUILD_PYTHON_API)
add_subdirectory (PythonAPI)
project (carla-python-api)
set (Python_USE_STATIC_LIBS ON)
find_package (
Python
COMPONENTS
Interpreter
Development.Module
REQUIRED)
set (PYTHON_API_CARLA_PATH ${PYTHON_API_PATH}/carla)
set (PYTHON_API_SOURCE_PATH ${PYTHON_API_CARLA_PATH}/source/libcarla)
configure_file (
${PYTHON_API_PATH}/carla/pyproject.toml.in
${PYTHON_API_PATH}/carla/pyproject.toml)
set (
PYTHON_API_SOURCES
${PYTHON_API_SOURCE_PATH}/Actor.cpp
${PYTHON_API_SOURCE_PATH}/Blueprint.cpp
${PYTHON_API_SOURCE_PATH}/Client.cpp
${PYTHON_API_SOURCE_PATH}/Commands.cpp
${PYTHON_API_SOURCE_PATH}/Control.cpp
${PYTHON_API_SOURCE_PATH}/Exception.cpp
${PYTHON_API_SOURCE_PATH}/Geom.cpp
${PYTHON_API_SOURCE_PATH}/LightManager.cpp
${PYTHON_API_SOURCE_PATH}/Map.cpp
${PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp
${PYTHON_API_SOURCE_PATH}/PythonAPI.cpp
${PYTHON_API_SOURCE_PATH}/PythonAPI.h
${PYTHON_API_SOURCE_PATH}/Sensor.cpp
${PYTHON_API_SOURCE_PATH}/SensorData.cpp
${PYTHON_API_SOURCE_PATH}/Snapshot.cpp
${PYTHON_API_SOURCE_PATH}/TrafficManager.cpp
${PYTHON_API_SOURCE_PATH}/Weather.cpp
${PYTHON_API_SOURCE_PATH}/World.cpp
)
if (ENABLE_RSS)
list (APPEND PYTHON_API_SOURCES ${PYTHON_API_SOURCE_PATH}/AdRss.cpp)
endif ()
Python_add_library(
carla-python-api
MODULE
${PYTHON_API_SOURCES}
WITH_SOABI)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (carla-python-api ${EXTERNAL_DEPENDENCY_LIST})
endif ()
target_compile_definitions (
carla-python-api
PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
# ${CARLA_EXCEPTION_DEFINITIONS}
BOOST_ALL_NO_LIB
BOOST_PYTHON_STATIC_LIB
LIBCARLA_WITH_PYTHON_SUPPORT)
target_include_directories (
carla-python-api
PRIVATE
${CARLA_COMMON_INCLUDE_PATHS}
${PYTHON_API_SOURCE_PATH}
${SUMO_INCLUDE_PATH})
# carla_find_library (BOOST_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/boost/lib/*boost_python*${LIB_EXT})
# carla_find_library (RPCLIB_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/rpclib/lib/*rpc*${LIB_EXT})
# carla_find_library (LIBPNG_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/libpng/lib/*libpng*_static*${LIB_EXT})
# carla_find_library (ZLIB_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/zlib/lib/*zlib${LIB_EXT})
# carla_find_library (RECAST_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*Recast${LIB_EXT})
# carla_find_library (DETOUR_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*Detour${LIB_EXT})
# carla_find_library (DETOURCROWD_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/recast/lib/*DetourCrowd${LIB_EXT})
# carla_find_library (XERCESC_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/xercesc/lib/*xerces-c*${LIB_EXT})
# carla_find_library (OSM2ODR_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/sumo/lib/*osm2odr${LIB_EXT})
# carla_find_library (SQLITE_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Build/sqlite/*sqlite*${LIB_EXT})
# carla_find_library (PROJ_LIBRARY ${CARLA_DEPENDENCIES_PATH}/Install/proj/lib/*proj${LIB_EXT})
set (
PYTHON_API_LIBRARY_DEPENDENCIES
${BOOST_LIBRARY}
${RPCLIB_LIBRARY}
${LIBPNG_LIBRARY}
${ZLIB_LIBRARY}
${RECAST_LIBRARY}
${DETOUR_LIBRARY}
${DETOURCROWD_LIBRARY}
${XERCESC_LIBRARY}
${OSM2ODR_LIBRARY}
${SQLITE_LIBRARY}
${PROJ_LIBRARY})
if (WIN32)
list (APPEND PYTHON_API_LIBRARY_DEPENDENCIES Shlwapi.lib)
endif ()
target_link_libraries (
carla-python-api
PRIVATE
carla-client
${PYTHON_API_LIBRARY_DEPENDENCIES})
#[[
install (
TARGETS
carla-python-api
DESTINATION
${CARLA_BUILD_PATH}/PythonAPI/dist)
]]
endif () endif ()

275
LibCarla/CMakeLists.txt Normal file
View File

@ -0,0 +1,275 @@
set (LIBCARLA_SOURCE_PATH ${CARLA_WORKSPACE_PATH}/LibCarla/source)
set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
configure_file (
${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
${LIBCARLA_SOURCE_PATH}/carla/Version.h
)
if (BUILD_CARLA_SERVER)
project (
carla-server
LANGUAGES CXX
VERSION ${CARLA_VERSION}
)
file (
GLOB
LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
file (
GLOB
LIBCARLA_SERVER_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
add_library (
carla-server STATIC
${LIBCARLA_SERVER_HEADERS}
${LIBCARLA_SERVER_SOURCES}
${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (carla-server ${EXTERNAL_DEPENDENCY_LIST})
endif ()
target_include_directories (
carla-server PRIVATE
${LIBCARLA_SOURCE_PATH}
)
target_compile_definitions (
carla-server PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_EXCEPTION_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
)
install (
TARGETS
carla-server
DESTINATION lib
)
foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (
RELATIVE_PATH HEADER_PARENT
BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla
OUTPUT_VARIABLE HEADER_RELATIVE
)
install (
FILES ${HEADER}
DESTINATION include/carla/${HEADER_RELATIVE}
)
endforeach ()
endif ()
if (BUILD_CARLA_CLIENT)
project (
carla-client
LANGUAGES CXX
VERSION ${CARLA_VERSION}
)
file (
GLOB
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/image/*.h
${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
if (ENABLE_RSS)
file (
GLOB
LIBCARLA_CLIENT_HEADERS_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
)
list (
APPEND
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_CLIENT_HEADERS_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
)
file (
GLOB
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
)
if (ENABLE_RSS)
file (
GLOB
LIBCARLA_CLIENT_SOURCES_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
)
list (
APPEND
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_CLIENT_SOURCES_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
add_library (
carla-client STATIC
${LIBCARLA_CLIENT_HEADERS}
${LIBCARLA_CLIENT_SOURCES}
${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (carla-client ${EXTERNAL_DEPENDENCY_LIST})
endif ()
target_include_directories (
carla-client PRIVATE
${LIBCARLA_SOURCE_PATH}
)
target_compile_definitions (
carla-client PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_EXCEPTION_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
)
install (TARGETS carla-client DESTINATION lib)
foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (
RELATIVE_PATH HEADER_PARENT
BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla
OUTPUT_VARIABLE HEADER_RELATIVE
)
install (
FILES ${HEADER}
DESTINATION include/carla/${HEADER_RELATIVE}
)
endforeach ()
endif ()

106
PythonAPI/CMakeLists.txt Normal file
View File

@ -0,0 +1,106 @@
project (
carla-python-api
LANGUAGES CXX
VERSION ${CARLA_VERSION}
)
find_package (
Python
COMPONENTS
Interpreter
Development.Module
REQUIRED
)
set (PYTHON_API_PATH ${CARLA_WORKSPACE_PATH}/PythonAPI)
set (PYTHON_API_CARLA_PATH ${PYTHON_API_PATH}/carla)
set (PYTHON_API_SOURCE_PATH ${PYTHON_API_CARLA_PATH}/source/libcarla)
configure_file (
${PYTHON_API_PATH}/carla/pyproject.toml.in
${PYTHON_API_PATH}/carla/pyproject.toml
)
set (
PYTHON_API_SOURCES
${PYTHON_API_SOURCE_PATH}/Actor.cpp
${PYTHON_API_SOURCE_PATH}/Blueprint.cpp
${PYTHON_API_SOURCE_PATH}/Client.cpp
${PYTHON_API_SOURCE_PATH}/Commands.cpp
${PYTHON_API_SOURCE_PATH}/Control.cpp
${PYTHON_API_SOURCE_PATH}/Exception.cpp
${PYTHON_API_SOURCE_PATH}/Geom.cpp
${PYTHON_API_SOURCE_PATH}/LightManager.cpp
${PYTHON_API_SOURCE_PATH}/Map.cpp
${PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp
${PYTHON_API_SOURCE_PATH}/PythonAPI.cpp
${PYTHON_API_SOURCE_PATH}/PythonAPI.h
${PYTHON_API_SOURCE_PATH}/Sensor.cpp
${PYTHON_API_SOURCE_PATH}/SensorData.cpp
${PYTHON_API_SOURCE_PATH}/Snapshot.cpp
${PYTHON_API_SOURCE_PATH}/TrafficManager.cpp
${PYTHON_API_SOURCE_PATH}/Weather.cpp
${PYTHON_API_SOURCE_PATH}/World.cpp
)
if (ENABLE_RSS)
list (APPEND PYTHON_API_SOURCES ${PYTHON_API_SOURCE_PATH}/AdRss.cpp)
endif ()
Python_add_library(
carla-python-api
MODULE
${PYTHON_API_SOURCES}
WITH_SOABI
)
if (EXTERNAL_DEPENDENCY_LIST)
add_dependencies (
carla-python-api
${EXTERNAL_DEPENDENCY_LIST}
)
endif ()
target_compile_definitions (
carla-python-api
PRIVATE
${CARLA_COMMON_DEFINITIONS}
${CARLA_RTTI_DEFINITIONS}
BOOST_ALL_NO_LIB
BOOST_PYTHON_STATIC_LIB
LIBCARLA_WITH_PYTHON_SUPPORT
)
target_include_directories (
carla-python-api
PRIVATE
${PYTHON_API_SOURCE_PATH}
${SUMO_INCLUDE_PATH}
${LIBCARLA_SOURCE_PATH}
)
set (
PYTHON_API_LIBRARY_DEPENDENCIES
${BOOST_LIBRARY}
${RPCLIB_LIBRARY}
${LIBPNG_LIBRARY}
${ZLIB_LIBRARY}
${RECAST_LIBRARY}
${DETOUR_LIBRARY}
${DETOURCROWD_LIBRARY}
${XERCESC_LIBRARY}
${OSM2ODR_LIBRARY}
${SQLITE_LIBRARY}
${PROJ_LIBRARY}
)
if (WIN32)
list (APPEND PYTHON_API_LIBRARY_DEPENDENCIES Shlwapi.lib)
endif ()
target_link_libraries (
carla-python-api
PRIVATE
carla-client
${PYTHON_API_LIBRARY_DEPENDENCIES}
)

63
osm-world-renderer/CMakeLists.txt
View File

@ -1,22 +1,49 @@
cmake_minimum_required (VERSION 3.5.1) project (
project (OsmMapRenderer) osm-map-renderer
LANGUAGES CXX
VERSION ${CARLA_VERSION}
)
# Libosmscout and Luna SVG Library set (
include_directories (ThirdParties/include) OSM_RENDERER_PATH
include_directories (ThirdParties/include/lunasvg) ${CARLA_WORKSPACE_PATH}/osm-world-renderer
link_directories (ThirdParties/lib) )
add_definitions (-D_USE_MATH_DEFINES) add_library (
lib-osm-map-renderer
${OSM_RENDERER_PATH}/OsmRenderer/src/OsmRenderer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapDrawer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapRasterizer.cpp
)
# Source Files if (EXTERNAL_DEPENDENCY_LIST)
add_library (OsmRenderer OsmRenderer/src/OsmRenderer.cpp) add_dependencies (
target_sources (OsmRenderer PRIVATE OsmRenderer/src/MapDrawer.cpp) lib-osm-map-renderer
target_sources (OsmRenderer PRIVATE OsmRenderer/src/MapRasterizer.cpp) ${EXTERNAL_DEPENDENCY_LIST}
target_include_directories (OsmRenderer PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/OsmRenderer/include) )
endif ()
add_executable (osm-world-renderer OsmRenderer/main.cpp) target_include_directories (
target_link_libraries (osm-world-renderer OsmRenderer) lib-osm-map-renderer PUBLIC
target_link_libraries (osm-world-renderer osmscout) ${OSM_RENDERER_PATH}/OsmRenderer/include
target_link_libraries (osm-world-renderer osmscout_map) )
target_link_libraries (osm-world-renderer osmscout_map_svg)
target_link_libraries (osm-world-renderer lunasvg) add_executable (
osm-world-renderer
${OSM_RENDERER_PATH}/OsmRenderer/main.cpp
)
target_link_libraries (
osm-world-renderer PRIVATE
lib-osm-map-renderer
osmscout
osmscout_map
osmscout_map_svg
lunasvg
)
target_compile_definitions (
osm-world-renderer PRIVATE
_USE_MATH_DEFINES
${CARLA_COMMON_DEFINITIONS}
)