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Merge 83068cbc74 into 1ef3f55c95

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berndgassmann 2024-08-27 04:24:57 +00:00 committed by GitHub
parent 1ef3f55c95 83068cbc74
commit 9c85f8a383
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70 changed files with 3966 additions and 1775 deletions
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4
CHANGELOG.md
View File

@ -12,13 +12,11 @@
* Fixed bug in python agents when vehicle list was empty causing a check on all vehicles (BasicAgent.py) and detected pedestrians as vehicles if no pedestrains are present (BehaviourAgent.py)
* Extended debug drawing functions to allow drawing primitives on HUD layer
* Added possibility to change gravity variable in imui sensor for the accelerometer
* Fixed ROS2 native extension build error when ROS2 is installed in the system.
* ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
* Added API function `get_telemetry_data` to the vehicle actor.
* PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
* Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
* Added named tuples for BasicAgent.py's detection result to allow for type-hints and better semantics.
* Cleaned up the client/server build and respective naming
## CARLA 0.9.15

38
Docs/build_linux.md
View File

@ -40,7 +40,7 @@ CARLA requires many different kinds of software to run. Some are built during th
sudo apt-get update &&
sudo apt-get install wget software-properties-common &&
sudo add-apt-repository ppa:ubuntu-toolchain-r/test &&
wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add
sudo apt-get update
```
!!! Warning
@ -50,41 +50,28 @@ To avoid compatibility issues between Unreal Engine and the CARLA dependencies,
__Ubuntu 22.04__.
```sh
sudo apt-add-repository "deb http://archive.ubuntu.com/ubuntu focal main universe"
sudo apt-get update
sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180 &&
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 180
sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python3 python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git git-lfs
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
```
__Ubuntu 20.04__.
```sh
sudo apt-add-repository "deb http://apt.llvm.org/focal/ llvm-toolchain-focal main"
sudo apt-get update
sudo apt-get install build-essential clang-10 lld-10 g++-7 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-10/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-10/bin/clang 180
sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
```
__Ubuntu 18.04__.
```sh
sudo apt-add-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main"
sudo apt-get update
sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
```
__Ubuntu 16.04__.
```sh
sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-8 main" &&
sudo apt-get update
sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
```
__Previous Ubuntu versions__.
@ -92,11 +79,8 @@ __Previous Ubuntu versions__.
We strongly advise using Ubuntu 18.04 or later to build CARLA. However, you may attempt to build CARLA on older versions of Ubuntu with the following commands:
```sh
sudo apt-add-repository "deb http://apt.llvm.org/<code_name>/ llvm-toolchain-<code_name>-8 main" &&
sudo apt-get update
sudo apt-get install build-essential clang-8 lld-8 g++-7 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-8/bin/clang++ 180 &&
sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-8/bin/clang 180
sudo apt-get install build-essential g++-13 cmake ninja-build libvulkan1 python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl unzip autoconf libtool rsync libxml2-dev git
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 180
```
__All Ubuntu systems__.

4
Examples/CppClient/Makefile
View File

@ -4,8 +4,8 @@ BINDIR=$(CURDIR)/bin
INSTALLDIR=$(CURDIR)/libcarla-install
TOOLCHAIN=$(CURDIR)/ToolChain.cmake
CC=/usr/bin/gcc-7
CXX=/usr/bin/g++-7
CC=/usr/bin/gcc-13
CXX=/usr/bin/g++-13
CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
define log

8
LibCarla/cmake/CMakeLists.txt
View File

@ -4,10 +4,12 @@ project(libcarla)
option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
option(LIBCARLA_USE_ROS "Build ROS variant" OFF)
message(STATUS "Build debug: ${LIBCARLA_BUILD_DEBUG}")
message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
message(STATUS "Build test: ${LIBCARLA_BUILD_TEST}")
message(STATUS "Enable ROS: ${LIBCARLA_USE_ROS}")
set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
@ -24,14 +26,12 @@ if (CMAKE_BUILD_TYPE STREQUAL "Client")
elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
add_subdirectory("server")
elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
add_subdirectory("pytorch")
elseif (CMAKE_BUILD_TYPE STREQUAL "ros2")
add_subdirectory("fast_dds")
add_subdirectory("pytorch")
else ()
message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
endif ()
# GTest is not compiled on Windows.
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "ros2")))
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")))
add_subdirectory("test")
endif()

19
LibCarla/cmake/client/CMakeLists.txt
View File

@ -21,8 +21,8 @@ if (BUILD_RSS_VARIANT)
install(FILES ${spdlog_file} DESTINATION lib)
list(APPEND ADRSS_LIBS ${spdlog_file})
set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
set(proj_include_dir ${PROJ_INCLUDE_PATH})
set(proj_lib ${PROJ_LIBPATH}/libproj.a)
install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
install(FILES ${proj_lib} DESTINATION lib)
@ -98,6 +98,12 @@ file(GLOB libcarla_carla_sources
set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
file(GLOB libcarla_carla_actors_sources
"${libcarla_source_path}/carla/actors/*.cpp"
"${libcarla_source_path}/carla/actors/*.h")
set(libcarla_sources "${libcarla_sources};${libcarla_carla_actors_sources}")
install(FILES ${libcarla_carla_actors_sources} DESTINATION include/carla/actors)
file(GLOB libcarla_carla_client_sources
"${libcarla_source_path}/carla/client/*.cpp"
"${libcarla_source_path}/carla/client/*.h")
@ -266,11 +272,10 @@ file(GLOB libcarla_carla_trafficmanager_sources
set(libcarla_sources "${libcarla_sources};${libcarla_carla_trafficmanager_sources}")
install(FILES ${libcarla_carla_trafficmanager_sources} DESTINATION include/carla/trafficmanager)
file(GLOB libcarla_carla_ros2_sources
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_path}/carla/ros2/*.h")
set(libcarla_sources "${libcarla_sources};${libcarla_carla_ros2_sources}")
install(FILES ${libcarla_carla_ros2_sources} DESTINATION include/carla/ros2)
file(GLOB libcarla_carla_ros2_public_headers
"${libcarla_source_path}/carla/ros2/*.h"
)
install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2)
# ==============================================================================
# Create targets for debug and release in the same build type.

56
LibCarla/cmake/fast_dds/CMakeLists.txt
View File

@ -1,56 +0,0 @@
cmake_minimum_required(VERSION 3.5.1)
project(libcarla_fastdds)
# Install headers.
file(GLOB libcarla_carla_fastdds_headers
"${libcarla_source_path}/carla/ros2/publishers/*.h"
"${libcarla_source_path}/carla/ros2/subscribers/*.h"
"${libcarla_source_path}/carla/ros2/listeners/*.h"
"${libcarla_source_path}/carla/ros2/types/*.h"
)
install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2)
file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.so*")
install(FILES ${fast_dds_dependencies} DESTINATION lib)
file(GLOB libcarla_fastdds_sources
"${libcarla_source_path}/carla/ros2/publishers/*.cpp"
"${libcarla_source_path}/carla/ros2/subscribers/*.cpp"
"${libcarla_source_path}/carla/ros2/listeners/*.cpp"
"${libcarla_source_path}/carla/ros2/types/*.cpp")
set(FASTDDS_CPP_STD_INCLUDES "/usr/include/c++/7")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CPP_STD_INCLUDES}" CACHE STRING "" FORCE)
# ==============================================================================
# Create targets for debug and release in the same build type.
# ==============================================================================
if (LIBCARLA_BUILD_RELEASE)
add_library(carla_fastdds STATIC ${libcarla_fastdds_sources})
target_include_directories(carla_fastdds SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
"${RPCLIB_INCLUDE_PATH}")
target_include_directories(carla_fastdds PRIVATE "${FASTDDS_INCLUDE_PATH}")
target_include_directories(carla_fastdds PRIVATE "${libcarla_source_path}/carla/ros2")
target_link_libraries(carla_fastdds fastrtps fastcdr "${FAST_DDS_LIBRARIES}")
install(TARGETS carla_fastdds DESTINATION lib)
set_target_properties(carla_fastdds PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
endif()
if (LIBCARLA_BUILD_DEBUG)
add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})
target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
"${RPCLIB_INCLUDE_PATH}")
install(TARGETS carla_fastdds_debug DESTINATION lib)
set_target_properties(carla_fastdds_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
target_compile_definitions(carla_fastdds_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
endif()

222
LibCarla/cmake/server/CMakeLists.txt
View File

@ -1,78 +1,51 @@
cmake_minimum_required(VERSION 3.5.1)
project(libcarla-server)
# Install libc++ shared libraries.
file(GLOB LibCXX_Libraries "${LLVM_LIB_PATH}/libc++*")
install(FILES ${LibCXX_Libraries} DESTINATION lib)
# Install rpclib.
install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include)
file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
# Install headers.
install(DIRECTORY "${libcarla_source_path}/compiler" DESTINATION include)
file(GLOB libcarla_carla_headers "${libcarla_source_path}/carla/*.h")
install(FILES ${libcarla_carla_headers} DESTINATION include/carla)
foreach(dir ""
"actors/"
"geom/"
"opendrive/" "opendrive/parser/"
"profiler/"
"road/" "road/element/" "road/general/" "road/object/" "road/signal/"
"rpc/"
"sensor/" "sensor/data/" "sensor/s11n/"
"streaming/" "streaming/detail/" "streaming/detail/tcp/" "streaming/low_level/"
"multigpu/")
file(GLOB libcarla_carla_geom_headers "${libcarla_source_path}/carla/geom/*.h")
install(FILES ${libcarla_carla_geom_headers} DESTINATION include/carla/geom)
file(GLOB headers "${libcarla_source_path}/carla/${dir}*.h")
install(FILES ${headers} DESTINATION include/carla/${dir})
file(GLOB libcarla_carla_opendrive "${libcarla_source_path}/carla/opendrive/*.h")
install(FILES ${libcarla_carla_opendrive} DESTINATION include/carla/opendrive)
endforeach()
file(GLOB libcarla_carla_opendrive_parser "${libcarla_source_path}/carla/opendrive/parser/*.h")
install(FILES ${libcarla_carla_opendrive_parser} DESTINATION include/carla/opendrive/parser)
file(GLOB libcarla_carla_profiler_headers "${libcarla_source_path}/carla/profiler/*.h")
install(FILES ${libcarla_carla_profiler_headers} DESTINATION include/carla/profiler)
file(GLOB libcarla_carla_road_headers "${libcarla_source_path}/carla/road/*.h")
install(FILES ${libcarla_carla_road_headers} DESTINATION include/carla/road)
# only install the required public interface headers
foreach(dir "" "types/" )
file(GLOB libcarla_carla_ros2_public_headers
"${libcarla_source_path}/carla/ros2/${dir}*.h"
)
install(FILES ${libcarla_carla_ros2_public_headers} DESTINATION include/carla/ros2/${dir})
endforeach()
if (LIBCARLA_USE_ROS)
file(GLOB libcarla_carla_road_element_headers "${libcarla_source_path}/carla/road/element/*.h")
install(FILES ${libcarla_carla_road_element_headers} DESTINATION include/carla/road/element)
file(GLOB subdirs RELATIVE "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}" "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*")
foreach(typedir "msg" "srv")
foreach(dir ${subdirs})
if(IS_DIRECTORY "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/${dir}/${typedir}")
file(GLOB libcarla_carla_ros2_types_${dir}_headers
"${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/${dir}/${typedir}/*.h"
)
install(FILES ${libcarla_carla_ros2_types_${dir}_headers} DESTINATION include/carla/ros2/ros_types/${dir}/${typedir}/)
endif()
endforeach()
endforeach()
file(GLOB libcarla_carla_road_general_headers "${libcarla_source_path}/carla/road/general/*.h")
install(FILES ${libcarla_carla_road_general_headers} DESTINATION include/carla/road/general)
file(GLOB libcarla_carla_road_object_headers "${libcarla_source_path}/carla/road/object/*.h")
install(FILES ${libcarla_carla_road_object_headers} DESTINATION include/carla/road/object)
file(GLOB libcarla_carla_road_signal_headers "${libcarla_source_path}/carla/road/signal/*.h")
install(FILES ${libcarla_carla_road_signal_headers} DESTINATION include/carla/road/signal)
file(GLOB libcarla_carla_rpc_headers "${libcarla_source_path}/carla/rpc/*.h")
install(FILES ${libcarla_carla_rpc_headers} DESTINATION include/carla/rpc)
file(GLOB libcarla_carla_sensor_headers "${libcarla_source_path}/carla/sensor/*.h")
install(FILES ${libcarla_carla_sensor_headers} DESTINATION include/carla/sensor)
file(GLOB libcarla_carla_sensor_data_headers "${libcarla_source_path}/carla/sensor/data/*.h")
install(FILES ${libcarla_carla_sensor_data_headers} DESTINATION include/carla/sensor/data)
file(GLOB libcarla_carla_sensor_s11n_headers "${libcarla_source_path}/carla/sensor/s11n/*.h")
install(FILES ${libcarla_carla_sensor_s11n_headers} DESTINATION include/carla/sensor/s11n)
file(GLOB libcarla_carla_streaming_headers "${libcarla_source_path}/carla/streaming/*.h")
install(FILES ${libcarla_carla_streaming_headers} DESTINATION include/carla/streaming)
file(GLOB libcarla_carla_streaming_detail_headers "${libcarla_source_path}/carla/streaming/detail/*.h")
install(FILES ${libcarla_carla_streaming_detail_headers} DESTINATION include/carla/streaming/detail)
file(GLOB libcarla_carla_streaming_detail_tcp_headers "${libcarla_source_path}/carla/streaming/detail/tcp/*.h")
install(FILES ${libcarla_carla_streaming_detail_tcp_headers} DESTINATION include/carla/streaming/detail/tcp)
file(GLOB libcarla_carla_streaming_low_level_headers "${libcarla_source_path}/carla/streaming/low_level/*.h")
install(FILES ${libcarla_carla_streaming_low_level_headers} DESTINATION include/carla/streaming/low_level)
file(GLOB libcarla_carla_multigpu_headers "${libcarla_source_path}/carla/multigpu/*.h")
install(FILES ${libcarla_carla_multigpu_headers} DESTINATION include/carla/multigpu)
file(GLOB libcarla_carla_ros2_headers "${libcarla_source_path}/carla/ros2/*.h")
install(FILES ${libcarla_carla_ros2_headers} DESTINATION include/carla/ros2)
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3" CACHE STRING "" FORCE)
endif()
endif()
install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
@ -85,47 +58,62 @@ if(WIN32)
endif()
# carla_server library.
# first the sources which are picked from some directories
set(libcarla_server_sources
"${libcarla_source_path}/carla/Buffer.cpp"
"${libcarla_source_path}/carla/Exception.cpp"
"${libcarla_source_path}/carla/StringUtil.cpp"
# other cpp files only define Deserialize used in client
"${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
)
# then the globs on the folders to add as a whole
foreach(dir
"actors"
"geom"
"opendrive" "opendrive/parser"
"profiler"
"road" "road/element" "road/general" "road/object" "road/signal"
"rpc"
"sensor" "sensor/data"
"streaming" "streaming/detail" "streaming/detail/tcp" "streaming/low_level"
"multigpu")
file(GLOB libcarla_server_sources
"${libcarla_source_path}/carla/*.h"
"${libcarla_source_path}/carla/Buffer.cpp"
"${libcarla_source_path}/carla/Exception.cpp"
"${libcarla_source_path}/carla/geom/*.cpp"
"${libcarla_source_path}/carla/geom/*.h"
"${libcarla_source_path}/carla/opendrive/*.cpp"
"${libcarla_source_path}/carla/opendrive/*.h"
"${libcarla_source_path}/carla/opendrive/parser/*.cpp"
"${libcarla_source_path}/carla/opendrive/parser/*.h"
"${libcarla_source_path}/carla/road/*.cpp"
"${libcarla_source_path}/carla/road/*.h"
"${libcarla_source_path}/carla/road/element/*.cpp"
"${libcarla_source_path}/carla/road/element/*.h"
"${libcarla_source_path}/carla/road/general/*.cpp"
"${libcarla_source_path}/carla/road/general/*.h"
"${libcarla_source_path}/carla/road/object/*.cpp"
"${libcarla_source_path}/carla/road/object/*.h"
"${libcarla_source_path}/carla/road/signal/*.cpp"
"${libcarla_source_path}/carla/road/signal/*.h"
"${libcarla_source_path}/carla/rpc/*.cpp"
"${libcarla_source_path}/carla/rpc/*.h"
"${libcarla_source_path}/carla/sensor/*.h"
"${libcarla_source_path}/carla/sensor/s11n/*.h"
"${libcarla_source_path}/carla/sensor/s11n/SensorHeaderSerializer.cpp"
"${libcarla_source_path}/carla/streaming/*.h"
"${libcarla_source_path}/carla/streaming/detail/*.cpp"
"${libcarla_source_path}/carla/streaming/detail/*.h"
"${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
"${libcarla_source_path}/carla/streaming/low_level/*.h"
"${libcarla_source_path}/carla/multigpu/*.h"
"${libcarla_source_path}/carla/multigpu/*.cpp"
"${libcarla_source_path}/carla/ros2/*.h"
"${libcarla_source_path}/carla/ros2/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.cpp"
"${libcarla_source_thirdparty_path}/odrSpiral/*.h"
"${libcarla_source_thirdparty_path}/moodycamel/*.cpp"
"${libcarla_source_thirdparty_path}/moodycamel/*.h"
"${libcarla_source_thirdparty_path}/pugixml/*.cpp"
"${libcarla_source_thirdparty_path}/pugixml/*.hpp")
file(GLOB sources "${libcarla_source_path}/carla/${dir}/*.cpp")
list(APPEND libcarla_server_sources ${sources})
endforeach()
foreach(thirdparty_dir
"odrSpiral"
"moodycamel"
"pugixml")
file(GLOB sources "${libcarla_source_thirdparty_path}/${thirdparty_dir}/*.cpp")
list(APPEND libcarla_server_sources ${sources})
endforeach()
if (LIBCARLA_USE_ROS)
foreach(ros2_dir
"/"
"${ROS2_MW_NAME}/carla/ros2/impl/"
"listeners/"
"publishers/"
"services/"
"subscribers/"
"types/")
file(GLOB sources "${libcarla_source_path}/carla/ros2/${ros2_dir}*.cpp")
list(APPEND libcarla_server_sources ${sources})
endforeach()
file(GLOB msg_sources "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*/msg/*.cxx")
list(APPEND libcarla_server_sources ${msg_sources})
file(GLOB srv_sources "${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}/*/srv/*.cxx")
list(APPEND libcarla_server_sources ${srv_sources})
endif()
# ==============================================================================
# Create targets for debug and release in the same build type.
@ -133,7 +121,10 @@ file(GLOB libcarla_server_sources
if (LIBCARLA_BUILD_RELEASE)
add_library(carla_server STATIC ${libcarla_server_sources})
add_library(carla_server STATIC
${libcarla_server_sources}
)
target_compile_definitions(carla_server PUBLIC -DCARLA_SERVER_BUILD)
target_include_directories(carla_server SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
@ -143,11 +134,23 @@ if (LIBCARLA_BUILD_RELEASE)
set_target_properties(carla_server PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE}")
if (LIBCARLA_USE_ROS)
target_include_directories(carla_server SYSTEM PRIVATE
# first the ROS2_MW_NAME local folder allowing potential overrides of header files
"${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}"
"${ROS2_MW_INCLUDE_PATH}")
target_link_directories(carla_server PRIVATE ${ROS2_MW_LIB_PATH})
target_link_libraries(carla_server ${ROS2_MW_LINK_LIBRARIES})
target_compile_definitions(carla_server PUBLIC -DWITH_ROS2)
endif()
endif()
if (LIBCARLA_BUILD_DEBUG)
add_library(carla_server_debug STATIC ${libcarla_server_sources})
add_library(carla_server_debug STATIC
${libcarla_server_sources}
)
target_compile_definitions(carla_server_debug PUBLIC -DCARLA_SERVER_BUILD)
target_include_directories(carla_server_debug SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
@ -158,4 +161,13 @@ if (LIBCARLA_BUILD_DEBUG)
set_target_properties(carla_server_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
target_compile_definitions(carla_server_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
if (LIBCARLA_USE_ROS)
target_include_directories(carla_server_debug SYSTEM PRIVATE
# first the ROS2_MW_NAME local folder allowing potential overrides of header files
"${libcarla_source_path}/carla/ros2/${ROS2_MW_NAME}"
"${ROS2_MW_INCLUDE_PATH}")
target_link_directories(carla_server_debug PRIVATE ${ROS2_MW_LIB_PATH})
target_link_libraries(carla_server_debug ${ROS2_MW_LINK_LIBRARIES})
target_compile_definitions(carla_server_debug PUBLIC -DWITH_ROS2)
endif()
endif()

4
LibCarla/cmake/test/CMakeLists.txt
View File

@ -15,6 +15,10 @@ endif()
link_directories(
${RPCLIB_LIB_PATH}
${GTEST_LIB_PATH})
if (LIBCARLA_USE_ROS)
link_directories(${ROS2_MW_LIB_PATH})
endif()
file(GLOB libcarla_test_sources
"${libcarla_source_path}/carla/profiler/*.cpp"

70
LibCarla/source/carla/Exception.cpp
View File

@ -15,19 +15,18 @@
namespace boost {
void throw_exception(const std::exception &e) {
carla::throw_exception(e);
}
void throw_exception(const std::exception &e) {
carla::throw_exception(e);
}
void throw_exception(
const std::exception &e,
boost::source_location const & loc) {
throw_exception(e);
}
void throw_exception(const std::exception &e, boost::source_location const &loc) {
(void)loc;
throw_exception(e);
}
} // namespace boost
} // namespace boost
#endif // BOOST_NO_EXCEPTIONS
#endif // BOOST_NO_EXCEPTIONS
// =============================================================================
// -- Workaround for Boost.Asio bundled with rpclib ----------------------------
@ -42,16 +41,47 @@ namespace boost {
namespace clmdep_asio {
namespace detail {
template <typename Exception>
void throw_exception(const Exception& e) {
carla::throw_exception(e);
}
template <typename Exception>
void throw_exception(const Exception &e) {
carla::throw_exception(e);
}
template void throw_exception<std::bad_cast>(const std::bad_cast &);
template void throw_exception<std::exception>(const std::exception &);
template void throw_exception<std::system_error>(const std::system_error &);
template void throw_exception<std::bad_cast>(const std::bad_cast &e);
template void throw_exception<std::exception>(const std::exception &e);
template void throw_exception<std::system_error>(const std::system_error &e);
} // namespace detail
} // namespace clmdep_asio
} // namespace detail
} // namespace clmdep_asio
#endif // ASIO_NO_EXCEPTIONS
namespace asio {
namespace detail {
template <typename Exception>
void throw_exception(const Exception &e) {
carla::throw_exception(e);
}
template void throw_exception<std::bad_cast>(const std::bad_cast &e);
template void throw_exception<std::exception>(const std::exception &e);
template void throw_exception<std::system_error>(const std::system_error &e);
} // namespace detail
} // namespace asio
#endif // ASIO_NO_EXCEPTIONS
#ifndef LIBCARLA_NO_EXCEPTIONS
namespace carla {
template
#ifndef __clang__
// clang doesn't support C++11 attributes in template explicit instantiation, since attributes in each case cannot
// be changed here MSVC requires it (might be a bit too conservative and requires the attributes also in explicit
// instanciation)
[[noreturn]]
#endif
void
throw_exception<std::exception>(const std::exception &);
} // namespace carla
#endif

42
LibCarla/source/carla/Exception.h
View File

@ -6,38 +6,34 @@
#pragma once
#include <exception>
#ifdef LIBCARLA_NO_EXCEPTIONS
namespace std {
class exception;
} // namespace std
namespace carla {
/// User define function, similar to Boost throw_exception.
///
/// @important Boost exceptions are also routed to this function.
///
/// When compiled with LIBCARLA_NO_EXCEPTIONS, this function is left undefined
/// in LibCarla, and the modules using LibCarla are expected to supply an
/// appropriate definition. Callers of throw_exception are allowed to assume
/// that the function never returns; therefore, if the user-defined
/// throw_exception returns, the behavior is undefined.
[[ noreturn ]] void throw_exception(const std::exception &e);
/// User define function, similar to Boost throw_exception.
///
/// @important Boost exceptions are also routed to this function.
///
/// When compiled with LIBCARLA_NO_EXCEPTIONS, this function is left undefined
/// in LibCarla, and the modules using LibCarla are expected to supply an
/// appropriate definition. Callers of throw_exception are allowed to assume
/// that the function never returns; therefore, if the user-defined
/// throw_exception returns, the behavior is undefined.
[[noreturn]] void throw_exception(const std::exception &e);
} // namespace carla
} // namespace carla
#else
namespace carla {
template <typename T>
[[ noreturn ]] void throw_exception(const T &e) {
throw e;
}
template <typename T>
[[noreturn]] void throw_exception(const T &e) {
throw e;
}
} // namespace carla
} // namespace carla
#endif // LIBCARLA_NO_EXCEPTIONS
#endif // LIBCARLA_NO_EXCEPTIONS

6
LibCarla/source/carla/geom/Location.h
View File

@ -54,7 +54,7 @@ namespace geom {
// =========================================================================
Location &operator+=(const Location &rhs) {
static_cast<Vector3D &>(*this) += rhs;
static_cast<Vector3D &>(*this) += static_cast<const Vector3D &>(rhs);
return *this;
}
@ -64,7 +64,7 @@ namespace geom {
}
Location &operator-=(const Location &rhs) {
static_cast<Vector3D &>(*this) -= rhs;
static_cast<Vector3D &>(*this) -= static_cast<const Vector3D &>(rhs);
return *this;
}
@ -78,7 +78,7 @@ namespace geom {
// =========================================================================
bool operator==(const Location &rhs) const {
return static_cast<const Vector3D &>(*this) == rhs;
return static_cast<const Vector3D &>(*this) == static_cast<const Vector3D &>(rhs);
}
bool operator!=(const Location &rhs) const {

30
LibCarla/source/carla/ros2/Exception.cpp Normal file
View File

@ -0,0 +1,30 @@
// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "carla/Exception.h"
#include <asio.hpp>
#ifdef ASIO_NO_EXCEPTIONS
namespace asio {
namespace detail {
template <typename Exception>
void throw_exception(const Exception &e) {
carla::throw_exception(e);
}
template void throw_exception<std::length_error>(const std::length_error &e);
template void throw_exception<asio::service_already_exists>(const asio::service_already_exists &e);
template void throw_exception<asio::invalid_service_owner>(const asio::invalid_service_owner &e);
template void throw_exception<asio::execution::bad_executor>(const asio::execution::bad_executor &e);
template void throw_exception<asio::ip::bad_address_cast>(const asio::ip::bad_address_cast &e);
template void throw_exception<std::out_of_range>(const std::out_of_range &e);
} // namespace detail
} // namespace asio
#endif // ASIO_NO_EXCEPTIONS

12
LibCarla/source/carla/ros2/ROS2.cpp
View File

@ -16,6 +16,7 @@
#include "carla/sensor/s11n/ImageSerializer.h"
#include "carla/sensor/s11n/SensorHeaderSerializer.h"
#include "fastdds/carla/ros2/impl/DdsDomainParticipantImpl.h"
#include "publishers/CarlaPublisher.h"
#include "publishers/CarlaClockPublisher.h"
#include "publishers/CarlaRGBCameraPublisher.h"
@ -46,6 +47,14 @@ namespace ros2 {
// static fields
std::shared_ptr<ROS2> ROS2::_instance;
std::shared_ptr<DdsDomainParticipantImpl> ROS2::GetDdsDomainParticipant() {
auto _instance = ROS2::GetInstance();
if (_instance->_domain_participant_impl == nullptr)
{
_instance->_domain_participant_impl = std::make_shared<DdsDomainParticipantImpl>();
}
return _instance->_domain_participant_impl;
}
// list of sensors (should be equal to the list of SensorsRegistry
enum ESensors {
@ -841,6 +850,9 @@ void ROS2::Shutdown() {
_clock_publisher.reset();
_controller.reset();
_enabled = false;
// finally, release the rest of our resources by destroying our instance
// to prevent from race conditions on system level shutdown of global resources
_instance = nullptr;
}
} // namespace ros2

4
LibCarla/source/carla/ros2/ROS2.h
View File

@ -41,6 +41,7 @@ namespace ros2 {
class CarlaTransformPublisher;
class CarlaClockPublisher;
class CarlaEgoVehicleControlSubscriber;
class DdsDomainParticipantImpl;
class ROS2
{
@ -54,6 +55,8 @@ class ROS2
return _instance;
}
static std::shared_ptr<DdsDomainParticipantImpl> GetDdsDomainParticipant();
// general
void Enable(bool enable);
void Shutdown();
@ -148,6 +151,7 @@ void ProcessDataFromCollisionSensor(
ROS2() {};
static std::shared_ptr<ROS2> _instance;
std::shared_ptr<DdsDomainParticipantImpl> _domain_participant_impl;
bool _enabled { false };
uint64_t _frame { 0 };

51
LibCarla/source/carla/ros2/fastdds/carla/ros2/impl/DdsDomainParticipantImpl.cpp Normal file
View File

@ -0,0 +1,51 @@
// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "carla/ros2/impl/DdsDomainParticipantImpl.h"
#include <cstdlib>
#include <string>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include "carla/Logging.h"
namespace carla {
namespace ros2 {
DdsDomainParticipantImpl::DdsDomainParticipantImpl() {
_factory = eprosima::fastdds::dds::DomainParticipantFactory::get_shared_instance();
if (_factory == nullptr) {
carla::log_error("DdsDomainParticipantImpl(): Failed to acquire DomainParticipantFactory");
return;
}
const char *ros_domain_id_env = std::getenv("ROS_DOMAIN_ID");
unsigned int ros_domain_id = 0;
if ( ros_domain_id_env != nullptr ) {
try {
ros_domain_id = (unsigned int)(std::atoi(ros_domain_id_env));
} catch (...) {
ros_domain_id = 0;
}
}
auto pqos = eprosima::fastdds::dds::PARTICIPANT_QOS_DEFAULT;
pqos.name("carla-server");
_participant = _factory->create_participant(ros_domain_id, pqos);
if (_participant == nullptr) {
carla::log_error("DdsDomainParticipantImpl(): Failed to create DomainParticipant");
}
}
DdsDomainParticipantImpl::~DdsDomainParticipantImpl() {
carla::log_warning("DdsDomainParticipantImpl::Destructor()");
if ((_participant != nullptr) && (_factory != nullptr)) {
_factory->delete_participant(_participant);
_participant=nullptr;
}
}
} // namespace ros2
} // namespace carla

30
LibCarla/source/carla/ros2/fastdds/carla/ros2/impl/DdsDomainParticipantImpl.h Normal file
View File

@ -0,0 +1,30 @@
// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
#pragma once
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
namespace carla {
namespace ros2 {
class DdsDomainParticipantImpl {
public:
DdsDomainParticipantImpl();
~DdsDomainParticipantImpl();
eprosima::fastdds::dds::DomainParticipant* GetDomainParticipant() {
return _participant;
}
private:
eprosima::fastdds::dds::DomainParticipant* _participant{nullptr};
// keep also a copy of the factory that the underlying DDS is keeping their stuff up
std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> _factory;
};
} // namespace ros2
} // namespace carla

28
LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaClockPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -44,18 +43,12 @@ namespace ros2 {
std::cerr << "Invalid TypeSupport" << std::endl;
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();;
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -63,7 +56,7 @@ namespace ros2 {
efd::TopicQos tqos = efd::TOPIC_QOS_DEFAULT;
const std::string topic_name { "rt/clock" };
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -157,17 +150,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaClockPublisher::CarlaClockPublisher(const CarlaClockPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -31,7 +31,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaCollisionPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -46,18 +45,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -69,7 +62,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -183,17 +176,16 @@ void CarlaCollisionPublisher::SetData(int32_t seconds, uint32_t nanoseconds, uin
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaCollisionPublisher::CarlaCollisionPublisher(const CarlaCollisionPublisher& other) {

74
LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp
View File

@ -17,8 +17,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -35,7 +35,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaDVSCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,7 +44,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -56,7 +54,6 @@ namespace ros2 {
};
struct CarlaPointCloudPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -85,18 +82,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -110,7 +101,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -134,18 +125,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_info->_participant = factory->create_participant(0, pqos);
if (_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_info->_type.register_type(_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_info->_publisher = _info->_participant->create_publisher(pubqos, nullptr);
_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -159,7 +143,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_info->_topic = _info->_participant->create_topic(topic_name, _info->_type->getName(), tqos);
_info->_topic = participant->create_topic(topic_name, _info->_type->getName(), tqos);
if (_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -182,18 +166,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_point_cloud->_participant = factory->create_participant(0, pqos);
if (_point_cloud->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_point_cloud->_type.register_type(_point_cloud->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_point_cloud->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_point_cloud->_publisher = _point_cloud->_participant->create_publisher(pubqos, nullptr);
_point_cloud->_publisher = participant->create_publisher(pubqos, nullptr);
if (_point_cloud->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -207,7 +184,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_point_cloud->_topic = _point_cloud->_participant->create_topic(topic_name, _point_cloud->_type->getName(), tqos);
_point_cloud->_topic = participant->create_topic(topic_name, _point_cloud->_type->getName(), tqos);
if (_point_cloud->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -519,17 +496,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_info)
return;
@ -538,13 +514,10 @@ namespace ros2 {
_info->_publisher->delete_datawriter(_info->_datawriter);
if (_info->_publisher)
_info->_participant->delete_publisher(_info->_publisher);
participant->delete_publisher(_info->_publisher);
if (_info->_topic)
_info->_participant->delete_topic(_info->_topic);
if (_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_info->_participant);
participant->delete_topic(_info->_topic);
if (!_point_cloud)
return;
@ -553,13 +526,10 @@ namespace ros2 {
_point_cloud->_publisher->delete_datawriter(_point_cloud->_datawriter);
if (_point_cloud->_publisher)
_point_cloud->_participant->delete_publisher(_point_cloud->_publisher);
participant->delete_publisher(_point_cloud->_publisher);
if (_point_cloud->_topic)
_point_cloud->_participant->delete_topic(_point_cloud->_topic);
if (_point_cloud->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_point_cloud->_participant);
participant->delete_topic(_point_cloud->_topic);
}
CarlaDVSCameraPublisher::CarlaDVSCameraPublisher(const CarlaDVSCameraPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -32,7 +32,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaDepthCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -42,7 +41,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -72,18 +70,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -97,7 +89,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -121,18 +113,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -146,7 +131,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -348,17 +333,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -367,13 +351,10 @@ namespace ros2 {
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaDepthCameraPublisher::CarlaDepthCameraPublisher(const CarlaDepthCameraPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaGNSSPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -173,17 +166,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaGNSSPublisher::CarlaGNSSPublisher(const CarlaGNSSPublisher& other) {

30
LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaIMUPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -175,7 +168,7 @@ namespace ros2 {
geometry_msgs::msg::Quaternion orientation;
const float rx = 0.0f; // pitch
const float ry = (M_PIf32 / 2.0f) - compass; // yaw
const float ry = (float(M_PI_2) / 2.0f) - compass; // yaw
const float rz = 0.0f; // roll
const float cr = cosf(rz * 0.5f);
@ -206,17 +199,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaIMUPublisher::CarlaIMUPublisher(const CarlaIMUPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -31,7 +31,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaISCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -41,7 +40,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -70,18 +68,12 @@ namespace ros2 {
std::cerr << "Invalid TypeSupport" << std::endl;
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -95,7 +87,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -119,18 +111,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -144,7 +129,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -347,17 +332,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -366,13 +350,10 @@ namespace ros2 {
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaISCameraPublisher::CarlaISCameraPublisher(const CarlaISCameraPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaLidarPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -214,17 +207,16 @@ void CarlaLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaLidarPublisher::CarlaLidarPublisher(const CarlaLidarPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaLineInvasionPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -171,17 +164,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaLineInvasionPublisher::CarlaLineInvasionPublisher(const CarlaLineInvasionPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaMapSensorPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -162,17 +155,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaMapSensorPublisher::CarlaMapSensorPublisher(const CarlaMapSensorPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -32,7 +32,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaNormalsCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -42,7 +41,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -72,18 +70,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -97,7 +89,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -121,18 +113,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -146,7 +131,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -348,17 +333,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -367,13 +351,10 @@ namespace ros2 {
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaNormalsCameraPublisher::CarlaNormalsCameraPublisher(const CarlaNormalsCameraPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp
View File

@ -15,8 +15,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -36,7 +36,6 @@ namespace ros2 {
namespace efd = eprosima::fastdds::dds;
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaOpticalFlowCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -46,7 +45,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -76,18 +74,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -101,7 +93,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -125,18 +117,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -150,7 +135,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -430,17 +415,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -449,13 +433,10 @@ namespace ros2 {
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaOpticalFlowCameraPublisher::CarlaOpticalFlowCameraPublisher(const CarlaOpticalFlowCameraPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -32,7 +32,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaRGBCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -42,7 +41,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -72,18 +70,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -97,7 +89,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -121,18 +113,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -146,7 +131,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -350,17 +335,16 @@ void CarlaRGBCameraPublisher::SetImageData(int32_t seconds, uint32_t nanoseconds
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -369,13 +353,10 @@ void CarlaRGBCameraPublisher::SetImageData(int32_t seconds, uint32_t nanoseconds
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaRGBCameraPublisher::CarlaRGBCameraPublisher(const CarlaRGBCameraPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -32,7 +32,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaRadarPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -54,18 +53,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -77,7 +70,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -241,17 +234,16 @@ void CarlaRadarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaRadarPublisher::CarlaRadarPublisher(const CarlaRadarPublisher& other) {

51
LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp
View File

@ -14,8 +14,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -31,7 +31,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaSSCameraPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -41,7 +40,6 @@ namespace ros2 {
};
struct CarlaCameraInfoPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -70,18 +68,12 @@ namespace ros2 {
std::cerr << "Invalid TypeSupport" << std::endl;
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -95,7 +87,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -119,18 +111,11 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl_info->_participant = factory->create_participant(0, pqos);
if (_impl_info->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl_info->_type.register_type(_impl_info->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl_info->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl_info->_publisher = _impl_info->_participant->create_publisher(pubqos, nullptr);
_impl_info->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl_info->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -144,7 +129,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl_info->_topic = _impl_info->_participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
_impl_info->_topic = participant->create_topic(topic_name, _impl_info->_type->getName(), tqos);
if (_impl_info->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -347,17 +332,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
if (!_impl_info)
return;
@ -366,13 +350,10 @@ namespace ros2 {
_impl_info->_publisher->delete_datawriter(_impl_info->_datawriter);
if (_impl_info->_publisher)
_impl_info->_participant->delete_publisher(_impl_info->_publisher);
participant->delete_publisher(_impl_info->_publisher);
if (_impl_info->_topic)
_impl_info->_participant->delete_topic(_impl_info->_topic);
if (_impl_info->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl_info->_participant);
participant->delete_topic(_impl_info->_topic);
}
CarlaSSCameraPublisher::CarlaSSCameraPublisher(const CarlaSSCameraPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -31,7 +31,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaSemanticLidarPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -45,18 +44,12 @@ namespace ros2 {
std::cerr << "Invalid TypeSupport" << std::endl;
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -68,7 +61,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -224,17 +217,16 @@ void CarlaSemanticLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds,
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaSemanticLidarPublisher::CarlaSemanticLidarPublisher(const CarlaSemanticLidarPublisher& other) {

28
LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaSpeedometerSensorImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -44,18 +43,12 @@ namespace ros2 {
std::cerr << "Invalid TypeSupport" << std::endl;
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -67,7 +60,7 @@ namespace ros2 {
if (!_parent.empty())
topic_name += _parent + "/";
topic_name += _name;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -161,17 +154,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaSpeedometerSensor::CarlaSpeedometerSensor(const CarlaSpeedometerSensor& other) {

34
LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -30,7 +30,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaTransformPublisherImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Publisher* _publisher { nullptr };
efd::Topic* _topic { nullptr };
efd::DataWriter* _datawriter { nullptr };
@ -50,18 +49,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
_impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
_impl->_publisher = participant->create_publisher(pubqos, nullptr);
if (_impl->_publisher == nullptr) {
std::cerr << "Failed to create Publisher" << std::endl;
return false;
@ -69,7 +62,7 @@ namespace ros2 {
efd::TopicQos tqos = efd::TOPIC_QOS_DEFAULT;
const std::string topic_name { "rt/tf" };
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -161,9 +154,9 @@ namespace ros2 {
const float ty = *translation++;
const float tz = *translation++;
const float rx = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
const float ry = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
const float rz = *rotation++ * (M_PIf32 / 180.0f);
const float rx = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
const float ry = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
const float rz = *rotation++ * (float(M_PI_2) / 180.0f);
const float cr = cosf(rz * 0.5f);
const float sr = sinf(rz * 0.5f);
@ -211,17 +204,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datawriter)
_impl->_publisher->delete_datawriter(_impl->_datawriter);
if (_impl->_publisher)
_impl->_participant->delete_publisher(_impl->_publisher);
participant->delete_publisher(_impl->_publisher);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaTransformPublisher::CarlaTransformPublisher(const CarlaTransformPublisher& other) {

28
LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
View File

@ -13,8 +13,8 @@
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <carla/ros2/ROS2.h>
#include <carla/ros2/impl/DdsDomainParticipantImpl.h>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
@ -31,7 +31,6 @@ namespace ros2 {
using erc = eprosima::fastrtps::types::ReturnCode_t;
struct CarlaEgoVehicleControlSubscriberImpl {
efd::DomainParticipant* _participant { nullptr };
efd::Subscriber* _subscriber { nullptr };
efd::Topic* _topic { nullptr };
efd::DataReader* _datareader { nullptr };
@ -50,18 +49,12 @@ namespace ros2 {
return false;
}
efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
pqos.name(_name);
auto factory = efd::DomainParticipantFactory::get_instance();
_impl->_participant = factory->create_participant(0, pqos);
if (_impl->_participant == nullptr) {
std::cerr << "Failed to create DomainParticipant" << std::endl;
return false;
}
_impl->_type.register_type(_impl->_participant);
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
_impl->_type.register_type(participant);
efd::SubscriberQos subqos = efd::SUBSCRIBER_QOS_DEFAULT;
_impl->_subscriber = _impl->_participant->create_subscriber(subqos, nullptr);
_impl->_subscriber = participant->create_subscriber(subqos, nullptr);
if (_impl->_subscriber == nullptr) {
std::cerr << "Failed to create Subscriber" << std::endl;
return false;
@ -75,7 +68,7 @@ namespace ros2 {
topic_name += _parent + "/";
topic_name += _name;
topic_name += publisher_type;
_impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
_impl->_topic = participant->create_topic(topic_name, _impl->_type->getName(), tqos);
if (_impl->_topic == nullptr) {
std::cerr << "Failed to create Topic" << std::endl;
return false;
@ -191,17 +184,16 @@ namespace ros2 {
if (!_impl)
return;
auto participant = ROS2::GetDdsDomainParticipant()->GetDomainParticipant();
if (_impl->_datareader)
_impl->_subscriber->delete_datareader(_impl->_datareader);
if (_impl->_subscriber)
_impl->_participant->delete_subscriber(_impl->_subscriber);
participant->delete_subscriber(_impl->_subscriber);
if (_impl->_topic)
_impl->_participant->delete_topic(_impl->_topic);
participant->delete_topic(_impl->_topic);
if (_impl->_participant)
efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
}
CarlaEgoVehicleControlSubscriber::CarlaEgoVehicleControlSubscriber(const CarlaEgoVehicleControlSubscriber& other) {

10
LibCarla/source/carla/rss/RssCheck.cpp
View File

@ -57,14 +57,14 @@ EgoDynamicsOnRoute::EgoDynamicsOnRoute()
time_since_epoch_check_end_ms(0.),
ego_speed(0.),
min_stopping_distance(0.),
ego_center({0., 0., 0.}),
ego_center(),
ego_heading(0.),
ego_heading_change(0.),
ego_steering_angle(0.),
ego_center_within_route(false),
crossing_border(false),
route_heading(0.),
route_nominal_center({0., 0., 0.}),
route_nominal_center(),
heading_diff(0.),
route_speed_lat(0.),
route_speed_lon(0.),
@ -73,6 +73,12 @@ EgoDynamicsOnRoute::EgoDynamicsOnRoute()
avg_route_accel_lat(0.),
avg_route_accel_lon(0.) {
timestamp.elapsed_seconds = 0.;
ego_center.x = 0.;
ego_center.y = 0.;
ego_center.z = 0.,
route_nominal_center.x = 0.;
route_nominal_center.y = 0.;
route_nominal_center.z = 0.;
}
std::shared_ptr<spdlog::logger> getLogger() {

3
LibCarla/source/test/client/test_image.cpp
View File

@ -14,7 +14,6 @@
template <typename ViewT, typename PixelT>
struct TestImage {
TestImage(TestImage &&) = default;
using pixel_type = PixelT;
std::unique_ptr<PixelT[]> data;
ViewT view;
@ -28,7 +27,7 @@ static auto MakeTestImage(size_t width, size_t height) {
height,
reinterpret_cast<PixelT*>(data.get()),
static_cast<long>(sizeof(PixelT) * width));
return TestImage<decltype(view), PixelT>{std::move(data), view};
return TestImage<decltype(view), PixelT>{.data = std::move(data), .view = view};
}
#ifndef PLATFORM_WINDOWS

296
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
View File

@ -4,25 +4,17 @@ using System;
using System.IO;
using UnrealBuildTool;
public class Carla : ModuleRules
public class Carla : CarlaRules
{
bool UsingCarSim = false;
bool UsingChrono = false;
bool UsingPytorch = false;
bool UsingRos2 = false;
private bool IsWindows(ReadOnlyTargetRules Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
public Carla(ReadOnlyTargetRules Target) : base(Target)
public Carla(ReadOnlyTargetRules Target) : base(Target, "../../CarlaDependencies")
{
PrivatePCHHeaderFile = "Carla.h";
if (IsWindows(Target))
{
bEnableExceptions = true;
}
bEnableExceptions = true;
CppStandard = CppStandardVersion.Cpp20;
// Read config about carsim
string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
@ -57,8 +49,12 @@ public class Carla : ModuleRules
{
Console.WriteLine("Enabling ros2");
UsingRos2 = true;
PublicDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2");
}
if (line.Contains("Debug ON"))
{
Console.WriteLine("Enabling debug build");
Debug = true;
}
}
@ -91,10 +87,10 @@ public class Carla : ModuleRules
PublicDependencyModuleNames.AddRange(new string[] { "CarSim" });
}
if (Target.Type == TargetType.Editor)
{
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
}
if (Target.Type == TargetType.Editor)
{
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
}
PrivateDependencyModuleNames.AddRange(
new string[]
@ -118,229 +114,143 @@ public class Carla : ModuleRules
"PhysicsCore"
// ... add private dependencies that you statically link with here ...
}
);
);
if (UsingCarSim)
{
PrivateDependencyModuleNames.AddRange(new string[] { "CarSim" });
PrivateIncludePathModuleNames.AddRange(new string[] { "CarSim" });
}
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
);
AddCarlaServerDependency(Target);
AddCarlaServerDependency();
}
private bool UseDebugLibs(ReadOnlyTargetRules Target)
private void AddCarlaServerDependency()
{
if (IsWindows(Target))
// Link dependencies.
AddStaticLibrary( "rpc");
if (UseDebugLibs())
{
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
// mode, so unless we recompile the engine we cannot link the debug
// libraries.
return false;
AddStaticLibrary("carla_server_debug");
}
else
{
return false;
AddStaticLibrary("carla_server");
}
}
private void AddDynamicLibrary(string library)
{
PublicAdditionalLibraries.Add(library);
RuntimeDependencies.Add(library);
PublicDelayLoadDLLs.Add(library);
}
private void AddDllDependency(string PathToFolder, string DllName)
{
string Source = Path.Combine(PathToFolder, DllName);
string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
RuntimeDependencies.Add(Destination, Source);
}
delegate string ADelegate(string s);
private void AddBoostLibs(string LibPath)
{
string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
foreach (string file in files) PublicAdditionalLibraries.Add(file);
}
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
{
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
ADelegate GetLibName = (string BaseName) => {
if (IsWindows(Target))
{
return BaseName + ".lib";
}
else
{
return "lib" + BaseName + ".a";
}
};
// Link dependencies.
if (IsWindows(Target))
if (IsWindows())
{
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
PublicAdditionalLibraries.Add("shlwapi.lib");
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
AddBoostLibs();
if (UsingChrono)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_robot")));
AddStaticLibrary("ChronoEngine");
AddStaticLibrary("ChronoEngine_vehicle");
AddStaticLibrary("ChronoModels_vehicle");
AddStaticLibrary("ChronoModels_robot");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_robot.dll");
bUseRTTI = true;
}
//OsmToODR
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "sqlite3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "xerces-c_3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (UsingChrono)
{
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_robot.so"));
AddStaticLibrary( "ChronoEngine");
AddStaticLibrary( "ChronoEngine_vehicle");
AddStaticLibrary( "ChronoModels_vehicle");
AddStaticLibrary( "ChronoModels_robot");
bUseRTTI = true;
}
if (UsingPytorch)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
AddStaticLibrary( "carla_pytorch");
string LibTorchPath = LibCarlaInstallPath;
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx_proto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfbgemm.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libXNNPACK.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf-lite.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libasmjit.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo_internals.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libclog.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad_common.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpytorch_qnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack_reference_layers.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libdnnl.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpthreadpool.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libqnnpack.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libkineto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotoc.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfmt.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_uv.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfoxi_loader.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcaffe2_protos.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx.a"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libnnapi_backend.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libbackend_with_compiler.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libcaffe2_nvrtc.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cpp.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchbind_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libjitbackend_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_global_deps.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cpu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libshm.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchscatter.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchcluster.so"));
// AddDynamicLibrary("/usr/local/cuda/lib64/stubs/libcuda.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvrtc.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvToolsExt.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libcudart.so");
// AddDynamicLibrary("/usr/lib/llvm-10/lib/libgomp.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/stubs/libcuda.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvrtc.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvToolsExt.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libcudart.so");
PublicAdditionalLibraries.Add("/usr/lib/llvm-10/lib/libgomp.so");
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libcudart-a7b20f20.so.11.0"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libgomp-a34b3233.so.1"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-builtins-4730a239.so.11.3"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-1ea278b5.so.11.2"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvToolsExt-24de1d56.so.1"));
AddStaticLibrary("onnx_proto");
AddStaticLibrary("fbgemm");
AddStaticLibrary("gloo");
AddStaticLibrary("XNNPACK");
AddStaticLibrary("protobuf-lite");
AddStaticLibrary("protobuf");
AddStaticLibrary("asmjit");
AddStaticLibrary("cpuinfo_internals");
AddStaticLibrary("clog");
// AddStaticLibrary("breakpad_common");
AddStaticLibrary("benchmark");
AddStaticLibrary("tensorpipe");
AddStaticLibrary("pytorch_qnnpack");
AddStaticLibrary("tensorpipe_cuda");
AddStaticLibrary("nnpack_reference_layers");
AddStaticLibrary("gmock");
AddStaticLibrary("dnnl");
AddStaticLibrary("pthreadpool");
AddStaticLibrary("cpuinfo");
AddStaticLibrary("qnnpack");
// AddStaticLibrary("breakpad"));
AddStaticLibrary("kineto");
AddStaticLibrary("protoc");
AddStaticLibrary("gtest");
AddStaticLibrary("gmock_main");
AddStaticLibrary("gtest_main");
AddStaticLibrary("benchmark_main");
AddStaticLibrary("fmt");
AddStaticLibrary("tensorpipe_uv");
AddStaticLibrary("foxi_loader");
AddStaticLibrary("gloo_cuda");
AddStaticLibrary("nnpack");
AddStaticLibrary("caffe2_protos");
AddStaticLibrary("onnx");
AddDynamicLibrary("torch");
AddDynamicLibrary("nnapi_backend");
AddDynamicLibrary("backend_with_compiler");
AddDynamicLibrary("caffe2_nvrtc");
AddDynamicLibrary("torch_cuda_cpp");
AddDynamicLibrary("c10_cuda");
AddDynamicLibrary("torchbind_test");
AddDynamicLibrary("jitbackend_test");
AddDynamicLibrary("c10");
AddDynamicLibrary("torch_cuda");
AddDynamicLibrary("torch_global_deps");
AddDynamicLibrary("torch_cpu");
AddDynamicLibrary("shm");
AddDynamicLibrary("torch_cuda_cu");
AddDynamicLibrary("torchscatter");
AddDynamicLibrary("torchcluster");
AddDynamicLibrary("cuda", "/usr/local/cuda/lib64/stubs");
AddDynamicLibrary("nvrtc", "/usr/local/cuda/lib64");
AddDynamicLibrary("nvToolsExt", "/usr/local/cuda/lib64");
AddDynamicLibrary("cudart", "/usr/local/cuda/lib64");
AddDynamicLibrary("gomp", "/usr/lib/llvm-10/lib");
RuntimeDependencies.Add(Path.Combine("libcudart-a7b20f20.so.11.0"));
RuntimeDependencies.Add(Path.Combine("libgomp-a34b3233.so.1"));
RuntimeDependencies.Add(Path.Combine("libnvrtc-builtins-4730a239.so.11.3"));
RuntimeDependencies.Add(Path.Combine("libnvrtc-1ea278b5.so.11.2"));
RuntimeDependencies.Add(Path.Combine("libnvToolsExt-24de1d56.so.1"));
PublicAdditionalLibraries.Add("stdc++");
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
}
if (UsingRos2)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
string LibFastDDSPath = LibCarlaInstallPath;
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfoonathan_memory-0.7.3.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastcdr.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastrtps.so"));
PublicAdditionalLibraries.Add("stdc++");
}
//OsmToODR
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libc.so");
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libsqlite3.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libxerces-c.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libproj.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libosm2odr.a"));
}
bEnableExceptions = true;
addOsmToODR();
addROS2();
// Include path.
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
PublicIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);

179
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CarlaRules.Build.cs Normal file
View File

@ -0,0 +1,179 @@
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
using System;
using System.IO;
using UnrealBuildTool;
public class CarlaRules : ModuleRules
{
protected string LibCarlaInstallPath;
protected bool UsingRos2 = false;
protected bool Debug = false;
public CarlaRules(ReadOnlyTargetRules Target, string LibCarlaInstallPathRelativeToModule) : base(Target)
{
LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, LibCarlaInstallPathRelativeToModule));
}
protected bool IsWindows()
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
protected bool IsLinux()
{
return (Target.Platform == UnrealTargetPlatform.Linux) || (Target.Platform == UnrealTargetPlatform.LinuxAArch64);
}
protected bool IsMac()
{
return (Target.Platform == UnrealTargetPlatform.Mac);
}
protected bool UseDebugLibs()
{
if (IsWindows())
{
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
// mode, so unless we recompile the engine we cannot link the debug
// libraries.
return false;
}
else
{
return Debug;
}
}
protected void AddDllDependency(string PathToFolder, string DllName)
{
string Source = Path.Combine(PathToFolder, DllName);
string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
RuntimeDependencies.Add(Destination, Source);
}
protected void AddBoostLibs()
{
string [] files = Directory.GetFiles(Path.Combine(LibCarlaInstallPath, "lib"), "*boost*.lib");
foreach (string file in files) PublicAdditionalLibraries.Add(file);
}
protected void AddStaticLibrary(string LibBaseName, string LinkBasePath = "", string LibPrefix = "", string LibPostfix = "") {
string linkBasePath = LinkBasePath;
if ( linkBasePath == "" )
{
linkBasePath = Path.GetFullPath(Path.Combine(LibCarlaInstallPath, "lib"));
}
string libPrefix = LibPrefix;
if ( libPrefix == "" )
{
if (IsWindows())
{
libPrefix = "";
}
else
{
libPrefix = "lib";
}
}
string libPostfix = LibPostfix;
if ( libPostfix == "" )
{
if (IsWindows())
{
libPostfix = ".lib";
}
else
{
libPostfix = ".a";
}
}
string linkLibrary= Path.Combine(linkBasePath, libPrefix + LibBaseName + libPostfix);
PublicAdditionalLibraries.Add(linkLibrary);
}
protected void AddDynamicLibrary(string LibBaseName, string LinkBasePath = "", string LibPrefix = "", string LibPostfix = "")
{
string linkBasePath = LinkBasePath;
if ( linkBasePath == "" )
{
linkBasePath = Path.GetFullPath(Path.Combine(LibCarlaInstallPath, "lib"));
}
string libPrefix;
if (IsWindows())
{
libPrefix = "";
}
else
{
libPrefix = "lib";
}
if ( LibPrefix != "" )
{
libPrefix = LibPrefix;
}
string libPostfix;
if (IsWindows())
{
libPostfix = ".dll";
}
else
{
libPostfix = ".so";
}
if (LibPostfix != "")
{
libPostfix = LibPostfix;
}
string linkLibrary= Path.Combine(linkBasePath, libPrefix + LibBaseName + libPostfix);
PublicAdditionalLibraries.Add(linkLibrary);
RuntimeDependencies.Add(linkLibrary);
if ( IsWindows() )
{
PublicDelayLoadDLLs.Add(linkLibrary);
}
}
protected void addOsmToODR()
{
AddStaticLibrary( "sqlite3");
AddStaticLibrary( "proj");
AddStaticLibrary( "osm2odr");
if ( IsWindows() )
{
AddStaticLibrary( "xerces-c_3");
AddStaticLibrary( "zlibstatic");
}
else
{
AddStaticLibrary( "xerces-c");
}
}
protected void addROS2()
{
if (UsingRos2)
{
AddStaticLibrary( "foonathan_memory-0.7.3");
if ( IsWindows() )
{
AddStaticLibrary( "libfastcdr-1.1");
AddStaticLibrary( "libfastrtps-2.11");
}
else
{
AddStaticLibrary( "fastcdr");
AddStaticLibrary( "fastrtps");
}
PublicIncludePaths.Add(Path.Combine(LibCarlaInstallPath, "include", "carla", "ros2", "ros_types"));
PrivateIncludePaths.Add(Path.Combine(LibCarlaInstallPath, "include", "carla", "ros2", "ros_types"));
PublicDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2");
}
}
}

95
Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
View File

@ -4,21 +4,17 @@ using System;
using System.IO;
using UnrealBuildTool;
public class CarlaTools : ModuleRules
public class CarlaTools : CarlaRules
{
bool bUsingOmniverseConnector = false;
private bool IsWindows(ReadOnlyTargetRules Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
public CarlaTools(ReadOnlyTargetRules Target) : base(Target)
public CarlaTools(ReadOnlyTargetRules Target) : base(Target, "../../../Carla/CarlaDependencies")
{
PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
// PrivatePCHHeaderFile = "Carla.h";
if (IsWindows(Target))
if (IsWindows())
{
bEnableExceptions = true;
}
@ -36,6 +32,13 @@ public class CarlaTools : ModuleRules
PublicDefinitions.Add("WITH_OMNIVERSE");
PrivateDefinitions.Add("WITH_OMNIVERSE");
}
if (line.Contains("Ros2 ON"))
{
Console.WriteLine("Enabling ros2");
UsingRos2 = true;
}
}
PublicIncludePaths.AddRange(
@ -112,78 +115,32 @@ public class CarlaTools : ModuleRules
// ... add any modules that your module loads dynamically here ...
}
);
AddCarlaServerDependency(Target);
AddCarlaServerDependency();
}
private bool UseDebugLibs(ReadOnlyTargetRules Target)
{
if (IsWindows(Target))
{
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
// mode, so unless we recompile the engine we cannot link the debug
// libraries.
return false;
}
else
{
return false;
}
}
delegate string ADelegate(string s);
private void AddBoostLibs(string LibPath)
{
string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
foreach (string file in files)
{
PublicAdditionalLibraries.Add(file);
}
}
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
private void AddCarlaServerDependency()
{
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../../Carla/CarlaDependencies"));
ADelegate GetLibName = (string BaseName) => {
if (IsWindows(Target))
{
return BaseName + ".lib";
}
else
{
return "lib" + BaseName + ".a";
}
};
// Link dependencies.
if (IsWindows(Target))
if (IsWindows())
{
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
AddBoostLibs();
}
AddStaticLibrary("rpc");
if (UseDebugLibs())
{
AddStaticLibrary("carla_server_debug");
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
AddStaticLibrary("carla_server");
}
addOsmToODR();
addROS2();
// Include path.
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
@ -192,7 +149,7 @@ public class CarlaTools : ModuleRules
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
// PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");

22
Util/BuildTools/Ad-rss.sh
View File

@ -22,6 +22,13 @@ done
# ==============================================================================
source $(dirname "$0")/Environment.sh
UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
export CC="${UNREAL_SYSROOT}/bin/clang"
export CXX="${UNREAL_SYSROOT}/bin/clang++"
export PATH="${UNREAL_SYSROOT}/bin:$PATH"
# Convert comma-separated string to array of unique elements.
IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
@ -29,7 +36,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
# -- Get ad-rss -------------------------------------------
# ==============================================================================
ADRSS_VERSION=4.4.4
ADRSS_VERSION=4.4.5
ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
@ -42,11 +49,8 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
# clone ad-rss with all submodules, but remove proj, as CARLA already uses it
pushd "${ADRSS_SRC_DIR}" >/dev/null
git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && rm -rf dependencies/map/dependencies/PROJ4 && cd ..
git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && cd ..
# ADRSS_VERSION is designed for older boost, update datatype from boost::array to std::array
grep -rl "boost::array" | xargs sed -i 's/boost::array/std::array/g'
grep -rl "find_package(Boost" | xargs sed -i 's/find_package(Boost/find_package(Boost 1.80/g'
popd
cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
@ -91,8 +95,6 @@ ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"
#else
# echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
#fi
CXX_TAG=c10
#
# Since it it not possible with boost-python to build more than one python version at once (find_package has some bugs)
# we have to build it for every version in a separate colcon build
@ -107,9 +109,9 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
if [[ "${CMAKE_PREFIX_PATH}" == "" ]]; then
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install"
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-client-install;${CARLA_BUILD_FOLDER}/proj-client-install"
else
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-$CXX_TAG-install;${CARLA_BUILD_FOLDER}/proj-install;${CMAKE_PREFIX_PATH}"
CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.80.0-client-install;${CARLA_BUILD_FOLDER}/proj-client-install;${CMAKE_PREFIX_PATH}"
fi
# get the python version of the binding to be built, need to query the binary,
@ -120,7 +122,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
# enforce sequential executor to reduce the required memory for compilation
colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/CarlaClientToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
COLCON_RESULT=$?
if (( COLCON_RESULT )); then

28
Util/BuildTools/BuildCarlaUE4.sh
View File

@ -6,7 +6,7 @@
DOC_STRING="Build and launch CarlaUE4."
USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl]"
USAGE_STRING="Usage: $0 [-h|--help] [--build] [--rebuild] [--launch] [--clean] [--hard-clean] [--opengl] [--ros2]"
REMOVE_INTERMEDIATE=false
HARD_CLEAN=false
@ -17,11 +17,13 @@ USE_CHRONO=false
USE_PYTORCH=false
USE_UNITY=true
USE_ROS2=false
EDITOR_ROS2_FLAGS=""
EDITOR_FLAGS=""
GDB=
RHI="-vulkan"
DEBUG=false
OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim,pytorch,chrono,ros2,no-unity,editor-flags: -n 'parse-options' -- "$@"`
@ -35,6 +37,9 @@ while [[ $# -gt 0 ]]; do
--gdb )
GDB="gdb --args";
shift ;;
--debug )
DEBUG=true;
shift ;;
--build )
BUILD_CARLAUE4=true;
shift ;;
@ -66,6 +71,9 @@ while [[ $# -gt 0 ]]; do
shift ;;
--ros2 )
USE_ROS2=true;
# Due to continued segfaults in reallocations of MallocBinned2 enforce using AnsiMalloc calls
# (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)
EDITOR_ROS2_FLAGS="-ansimalloc"
shift ;;
--no-unity )
USE_UNITY=false
@ -110,7 +118,7 @@ if ${HARD_CLEAN} ; then
log "Doing a \"hard\" clean of the Unreal Engine project."
make CarlaUE4Editor ARGS=-clean
make CarlaUE4Editor ARGS="-clean"
fi
@ -122,16 +130,16 @@ if ${REMOVE_INTERMEDIATE} ; then
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
cd Plugins
rm -Rf HoudiniEngine
cd ..
rm -f Makefile
pushd "${CARLAUE4_PLUGIN_ROOT_FOLDER}" >/dev/null
rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
cd Plugins
rm -Rf HoudiniEngine
cd ..
popd >/dev/null
fi
@ -165,12 +173,16 @@ if ${BUILD_CARLAUE4} ; then
else
OPTIONAL_MODULES_TEXT="Ros2 OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
fi
if ${DEBUG} ; then
OPTIONAL_MODULES_TEXT="Debug ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
else
OPTIONAL_MODULES_TEXT="Debug OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
fi
if ${USE_UNITY} ; then
OPTIONAL_MODULES_TEXT="Unity ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
else
OPTIONAL_MODULES_TEXT="Unity OFF"$'\n'"${OPTIONAL_MODULES_TEXT}"
fi
OPTIONAL_MODULES_TEXT="Fast_dds ON"$'\n'"${OPTIONAL_MODULES_TEXT}"
echo ${OPTIONAL_MODULES_TEXT} > ${PWD}/Config/OptionalModules.ini
if [ ! -f Makefile ]; then
@ -200,7 +212,7 @@ fi
if ${LAUNCH_UE4_EDITOR} ; then
log "Launching UE4Editor..."
${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS}
${GDB} ${UE4_ROOT}/Engine/Binaries/Linux/UE4Editor "${PWD}/CarlaUE4.uproject" ${RHI} ${EDITOR_FLAGS} ${EDITOR_ROS2_FLAGS}
else

20
Util/BuildTools/BuildLibCarla.bat
View File

@ -15,11 +15,13 @@ rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set DOC_STRING=Build LibCarla.
set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--server] [--client] [--clean]
set USAGE_STRING=Usage: %FILE_N% [-h^|--help] [--rebuild] [--server] [--client] [--clean] [--ros2]
set REMOVE_INTERMEDIATE=false
set BUILD_SERVER=false
set BUILD_CLIENT=false
set M_ROS2=OFF
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -34,6 +36,9 @@ if not "%1"=="" (
if "%1"=="--client" (
set BUILD_CLIENT=true
)
if "%1"=="--ros2" (
set M_ROS2=ON
)
if "%1"=="--clean" (
set REMOVE_INTERMEDIATE=true
)
@ -73,7 +78,11 @@ rem
set LIBCARLA_VSPROJECT_PATH=%INSTALLATION_DIR:/=\%libcarla-visualstudio\
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
set LIBCARLA_SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
set LIBCARLA_CLIENT_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
@ -104,12 +113,6 @@ if %REMOVE_INTERMEDIATE% == true (
if not exist "%LIBCARLA_VSPROJECT_PATH%" mkdir "%LIBCARLA_VSPROJECT_PATH%"
cd "%LIBCARLA_VSPROJECT_PATH%"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem For some reason the findstr above sets an errorlevel even if it finds the string in this batch file.
set errorlevel=0
@ -121,6 +124,7 @@ if %BUILD_SERVER% == true (
-DCMAKE_BUILD_TYPE=Server^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
-DCMAKE_INSTALL_PREFIX="%LIBCARLA_SERVER_INSTALL_PATH:\=/%"^
-DLIBCARLA_USE_ROS="%M_ROS2%"^
"%ROOT_PATH%"
if %errorlevel% neq 0 goto error_cmake

35
Util/BuildTools/BuildLibCarla.sh
View File

@ -125,28 +125,31 @@ function build_libcarla {
CMAKE_EXTRA_OPTIONS=''
M_ROS=false
if [ $1 == Server ] ; then
M_TOOLCHAIN=${LIBCPP_TOOLCHAIN_FILE}
M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_SERVER_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
elif [ $1 == ServerROS ] ; then
BUILD_TYPE='Server'
M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_SERVER_FOLDER}.ROS.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
M_ROS=true
elif [ $1 == Client ] ; then
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
M_TOOLCHAIN=${CARLA_CLIENT_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
elif [ $1 == Pytorch ] ; then
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
M_TOOLCHAIN=${CARLA_SERVER_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_PYTORCH_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
elif [ $1 == ros2 ] ; then
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_FASTDDS_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
elif [ $1 == ClientRSS ] ; then
BUILD_TYPE='Client'
M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
M_TOOLCHAIN=${CARLA_CLIENT_TOOLCHAIN_FILE}
M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.rss.$(echo "$2" | tr '[:upper:]' '[:lower:]')
M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.4/install"
CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.5/install"
else
fatal_error "Invalid build configuration \"$1\""
fi
@ -184,6 +187,7 @@ function build_libcarla {
-DCMAKE_BUILD_TYPE=${BUILD_TYPE:-$1} \
-DLIBCARLA_BUILD_DEBUG=${M_DEBUG} \
-DLIBCARLA_BUILD_RELEASE=${M_RELEASE} \
-DLIBCARLA_USE_ROS=${M_ROS} \
-DCMAKE_TOOLCHAIN_FILE=${M_TOOLCHAIN} \
-DCMAKE_INSTALL_PREFIX=${M_INSTALL_FOLDER} \
-DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
@ -205,23 +209,22 @@ function build_libcarla {
# -- Build all possible configurations -----------------------------------------
# ==============================================================================
SERVER_VARIANT='Server'
if ${USE_ROS2}; then
SERVER_VARIANT='ServerROS'
fi
if { ${BUILD_SERVER} && ${BUILD_OPTION_DEBUG}; }; then
build_libcarla Server Debug
build_libcarla ${SERVER_VARIANT} Debug
fi
if { ${BUILD_SERVER} && ${BUILD_OPTION_RELEASE}; }; then
build_libcarla Server Release
build_libcarla ${SERVER_VARIANT} Release
if ${USE_PYTORCH} ; then
build_libcarla Pytorch Release
fi
if ${USE_ROS2} ; then
build_libcarla ros2 Release
fi
fi
CLIENT_VARIANT='Client'

11
Util/BuildTools/BuildOSM2ODR.bat
View File

@ -6,6 +6,7 @@ rem Run it through a cmd with the x64 Visual C++ Toolset enabled.
set LOCAL_PATH=%~dp0
set FILE_N=-[%~n0]:
set GENERATOR=""
rem Print batch params (debug purpose)
echo %FILE_N% [Batch params]: %*
@ -57,6 +58,13 @@ if not "%1"=="" (
goto :arg-parse
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
if %REMOVE_INTERMEDIATE% == false (
if %BUILD_OSM2ODR% == false (
echo Nothing selected to be done.
@ -76,8 +84,6 @@ set OSM2ODR_INSTALL_PATH=%ROOT_PATH:/=\%PythonAPI\carla\dependencies\
set OSM2ODR__SERVER_INSTALL_PATH=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies
set CARLA_DEPENDENCIES_FOLDER=%ROOT_PATH:/=\%Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
if %REMOVE_INTERMEDIATE% == true (
rem Remove directories
for %%G in (
@ -90,6 +96,7 @@ if %REMOVE_INTERMEDIATE% == true (
)
)
rem Build OSM2ODR
if %BUILD_OSM2ODR% == true (
cd "%INSTALLATION_DIR%"

130
Util/BuildTools/BuildOSM2ODR.sh
View File

@ -14,7 +14,7 @@ END
REMOVE_INTERMEDIATE=false
BUILD_OSM2ODR=false
GIT_PULL=true
CURRENT_OSM2ODR_COMMIT=1835e1e9538d0778971acc8b19b111834aae7261
CURRENT_OSM2ODR_COMMIT=2a490962dc54da711ab09265393a4dc2f6d31813
OSM2ODR_BRANCH=aaron/defaultsidewalkwidth
OSM2ODR_REPO=https://github.com/carla-simulator/sumo.git
@ -51,13 +51,15 @@ source $(dirname "$0")/Environment.sh
function get_source_code_checksum {
local EXCLUDE='*__pycache__*'
find "${OSM2ODR_SOURCE_FOLDER}"/* \! -path "${EXCLUDE}" -print0 | sha1sum | awk '{print $1}'
find "${OSM2ODR_BASENAME}-source"/* \! -path "${EXCLUDE}" -print0 | sha1sum | awk '{print $1}'
}
if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_OSM2ODR}; }; then
fatal_error "Nothing selected to be done."
fi
OSM2ODR_BASENAME=${CARLA_BUILD_FOLDER}/osm2odr
# ==============================================================================
# -- Clean intermediate files --------------------------------------------------
# ==============================================================================
@ -66,7 +68,8 @@ if ${REMOVE_INTERMEDIATE} ; then
log "Cleaning intermediate files and folders."
rm -Rf ${OSM2ODR_BUILD_FOLDER}*
rm -Rf ${OSM2ODR_BASENAME}-client-build* ${OSM2ODR_BASENAME}-server-build*
rm -Rf ${OSM2ODR_BASENAME}-server-install* ${OSM2ODR_BASENAME}-client-install*
fi
@ -75,75 +78,64 @@ fi
# ==============================================================================
if ${BUILD_OSM2ODR} ; then
log "Building OSM2ODR."
if [ ! -d ${OSM2ODR_SOURCE_FOLDER} ] ; then
cd ${CARLA_BUILD_FOLDER}
curl --retry 5 --retry-max-time 120 -L -o OSM2ODR.zip https://github.com/carla-simulator/sumo/archive/${CURRENT_OSM2ODR_COMMIT}.zip
unzip -qq OSM2ODR.zip
rm -f OSM2ODR.zip
mv sumo-${CURRENT_OSM2ODR_COMMIT} ${OSM2ODR_SOURCE_FOLDER}
if [[ -d ${OSM2ODR_BASENAME}-client-install && -d ${OSM2ODR_BASENAME}-server-install ]] ; then
log "OSM2ODR already installed."
else
rm -Rf \
${OSM2ODR_BASENAME}-source \
${OSM2ODR_BASENAME}-server-build ${OSM2ODR_BASENAME}-client-build \
${OSM2ODR_BASENAME}-server-install ${OSM2ODR_BASENAME}-client-install
log "Building OSM2ODR."
if [ ! -d ${OSM2ODR_BASENAME}-source ] ; then
cd ${CARLA_BUILD_FOLDER}
curl --retry 5 --retry-max-time 120 -L -o OSM2ODR.zip https://github.com/carla-simulator/sumo/archive/${CURRENT_OSM2ODR_COMMIT}.zip
unzip -qq OSM2ODR.zip
rm -f OSM2ODR.zip
mv sumo-${CURRENT_OSM2ODR_COMMIT} ${OSM2ODR_BASENAME}-source
fi
mkdir -p ${OSM2ODR_BASENAME}-client-build
pushd ${OSM2ODR_BASENAME}-client-build >/dev/null
cmake ${OSM2ODR_BASENAME}-source \
-G "Eclipse CDT4 - Ninja" \
-DCMAKE_INSTALL_PREFIX=${OSM2ODR_BASENAME}-client-install \
-DCMAKE_TOOLCHAIN_FILE="${CARLA_CLIENT_TOOLCHAIN_FILE}" \
-DOSM2ODR_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-client-install/include \
-DOSM2ODR_LIBRARY=${CARLA_BUILD_FOLDER}/proj-client-install/lib/libproj.so \
-DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-client-install/include \
-DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-client-install/lib/libxerces-c.so
ninja osm2odr
ninja install
popd >/dev/null
mkdir -p ${OSM2ODR_BASENAME}-server-build
pushd ${OSM2ODR_BASENAME}-server-build >/dev/null
cmake ${OSM2ODR_BASENAME}-source \
-G "Eclipse CDT4 - Ninja" \
-DCMAKE_INSTALL_PREFIX=${OSM2ODR_BASENAME}-server-install \
-DCMAKE_TOOLCHAIN_FILE="${CARLA_SERVER_TOOLCHAIN_FILE}" \
-DOSM2ODR_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-server-install/include \
-DOSM2ODR_LIBRARY=${CARLA_BUILD_FOLDER}/proj-server-install/lib/libproj.a \
-DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-server-install/include \
-DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-server-install/lib/libxerces-c.a
ninja osm2odr
ninja install
popd >/dev/null
rm -Rf ${OSM2ODR_BASENAME}-server-build ${OSM2ODR_BASENAME}-client-build
fi
mkdir -p ${OSM2ODR_BUILD_FOLDER}
cd ${OSM2ODR_BUILD_FOLDER}
cp -p -r ${OSM2ODR_BASENAME}-server-install/include/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p ${OSM2ODR_BASENAME}-server-install/lib/*.a ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib
export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
cmake ${OSM2ODR_SOURCE_FOLDER} \
-G "Eclipse CDT4 - Ninja" \
-DCMAKE_CXX_FLAGS="-stdlib=libstdc++" \
-DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_CLIENT_FOLDER} \
-DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install/include \
-DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install/lib/libproj.a \
-DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/include \
-DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install/lib/libxerces-c.a
ninja osm2odr
ninja install
mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
cd ${OSM2ODR_SERVER_BUILD_FOLDER}
LLVM_BASENAME=llvm-8.0
LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
echo $LLVM_INCLUDE
echo $LLVM_LIBPATH
cmake ${OSM2ODR_SOURCE_FOLDER} \
-G "Eclipse CDT4 - Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
-DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
-DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
-DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
-DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
-DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
ninja osm2odr
ninja install
mkdir -p ${OSM2ODR_SERVER_BUILD_FOLDER}
cd ${OSM2ODR_SERVER_BUILD_FOLDER}
LLVM_BASENAME=llvm-8.0
LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
cmake ${OSM2ODR_SOURCE_FOLDER} \
-G "Eclipse CDT4 - Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
-DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
-DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
-DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
-DXercesC_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/include \
-DXercesC_LIBRARY=${CARLA_BUILD_FOLDER}/xerces-c-3.2.3-install-server/lib/libxerces-c.a
ninja osm2odr
ninja install
cp -p -r ${OSM2ODR_BASENAME}-client-install/include/* ${LIBCARLA_INSTALL_CLIENT_FOLDER}/include/
cp -p ${OSM2ODR_BASENAME}-client-install/lib/*.a ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib
fi

2
Util/BuildTools/BuildOSMRenderer.bat
View File

@ -75,7 +75,7 @@ if not exist "%OSM_RENDERER_VSPROJECT_PATH%" mkdir "%OSM_RENDERER_VSPROJECT_PATH
cd "%OSM_RENDERER_VSPROJECT_PATH%"
cmake -G "Visual Studio 16 2019" -A x64^
-DCMAKE_CXX_FLAGS_RELEASE="/std:c++17 /wd4251 /I%INSTALLATION_DIR:/=\%boost-1.80.0-install\include"^
-DCMAKE_CXX_FLAGS_RELEASE="/std:c++20 /wd4251 /I%INSTALLATION_DIR:/=\%boost-1.80.0-install\include"^
"%OSM_RENDERER_SOURCE%"
cmake --build . --config Release

2
Util/BuildTools/BuildOSMRenderer.sh
View File

@ -68,7 +68,7 @@ echo "Building osm-map-renderer"
mkdir -p ${OSM_RENDERER_BUILD}
cd ${OSM_RENDERER_BUILD}
cmake -DCMAKE_CXX_FLAGS="-std=c++17 -g -pthread -I${CARLA_BUILD_FOLDER}/boost-1.80.0-c10-install/include" \
cmake -DCMAKE_TOOLCHAIN_FILE="${CARLA_CLIENT_TOOLCHAIN_FILE}" -DCMAKE_CXX_FLAGS="-g -I${CARLA_BUILD_FOLDER}/boost-1.80.0-install/include" \
${OSM_RENDERER_SOURCE}
make

10
Util/BuildTools/BuildPythonAPI.sh
View File

@ -48,10 +48,10 @@ while [[ $# -gt 0 ]]; do
esac
done
export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
UNREAL_SYSROOT="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu"
export CC="${UNREAL_SYSROOT}/bin/clang"
export CXX="${UNREAL_SYSROOT}/bin/clang++"
export PATH="${UNREAL_SYSROOT}/bin:$PATH"
source $(dirname "$0")/Environment.sh
@ -75,7 +75,7 @@ if ${REMOVE_INTERMEDIATE} ; then
rm -Rf build dist source/carla.egg-info
find source -name "*.so" -delete
find source -name "__pycache__" -type d -exec rm -r "{}" \;
find source -name "__pycache__" -type d -exec rm -rf "{}" \;
fi

2
Util/BuildTools/BuildUtilsDocker.sh
View File

@ -37,7 +37,7 @@ mkdir -p "${FBX2OBJ_BUILD_FOLDER}"
pushd "${FBX2OBJ_BUILD_FOLDER}" >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++20" \
..
# copy the shared object 'libfbxsdk.so' to 'dist' folder

6
Util/BuildTools/Linux.mk
View File

@ -7,6 +7,10 @@ launch: LibCarla.server.release osm2odr downloadplugins
@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --launch $(ARGS)
launch.debug: LibCarla.server.debug osm2odr downloadplugins
@${CARLA_BUILD_TOOLS_FOLDER}/BuildUE4Plugins.sh --build $(ARGS)
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --build --debug --launch $(ARGS)
launch-only:
@${CARLA_BUILD_TOOLS_FOLDER}/BuildCarlaUE4.sh --launch $(ARGS)
@ -138,7 +142,7 @@ LibCarla.client.rss.release: setup ad-rss
plugins:
@${CARLA_BUILD_TOOLS_FOLDER}/Plugins.sh $(ARGS)
setup downloadplugins:
setup: downloadplugins
@${CARLA_BUILD_TOOLS_FOLDER}/Setup.sh $(ARGS)
ad-rss:

16
Util/BuildTools/Package.sh
View File

@ -6,7 +6,7 @@
DOC_STRING="Makes a packaged version of CARLA and other content packages ready for distribution."
USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=]"
USAGE_STRING="Usage: $0 [-h|--help] [--config={Debug,Development,Shipping}] [--no-zip] [--clean-intermediate] [--packages=Name1,Name2,...] [--target-archive=] [--archive-sufix=] [--ros2]"
PACKAGES="Carla"
DO_TARBALL=true
@ -17,7 +17,10 @@ USE_CARSIM=false
SINGLE_PACKAGE=false
ARCHIVE_SUFIX=""
OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:, -n 'parse-options' -- "$@"`
EDITOR_ROS2_FLAGS=""
OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version,target-archive:,archive-sufix:,ros2 -n 'parse-options' -- "$@"`
eval set -- "$OPTS"
@ -42,6 +45,11 @@ while [[ $# -gt 0 ]]; do
--archive-sufix )
ARCHIVE_SUFIX="$2"
shift 2 ;;
--ros2 )
# Due to continued segfaults in reallocations of MallocBinned2 enforce using AnsiMalloc calls
# (see https://forums.unrealengine.com/t/dealing-with-allocator-mismatches-with-external-libraries/1416830)
EDITOR_ROS2_FLAGS="-ansimalloc"
shift ;;
--carsim )
USE_CARSIM=true;
shift ;;
@ -182,12 +190,14 @@ if ${DO_CARLA_RELEASE} ; then
fi
if [ -d "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib" ] ; then
cp -r "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib" "${DESTINATION}/CarlaUE4/Plugins/Carla/CarlaDependencies"
cp -r "./Unreal/CarlaUE4/Plugins/Carla/CarlaDependencies/lib/" "${DESTINATION}/CarlaUE4/Plugins/Carla/CarlaDependencies"
fi
copy_if_changed "./Unreal/CarlaUE4/Content/Carla/HDMaps/*.pcd" "${DESTINATION}/HDMaps/"
copy_if_changed "./Unreal/CarlaUE4/Content/Carla/HDMaps/Readme.md" "${DESTINATION}/HDMaps/README"
sed -i "s/CarlaUE4 /CarlaUE4 ${EDITOR_ROS2_FLAGS} /g" "${DESTINATION}/CarlaUE4.sh"
popd >/dev/null
fi

146
Util/BuildTools/Setup.bat
View File

@ -65,7 +65,7 @@ if not "%1"=="" (
rem If not defined, use Visual Studio 2019 as tool set
if "%TOOLSET%" == "" set TOOLSET=msvc-14.2
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
if "%GENERATOR%" == "" set GENERATOR="Visual Studio 16 2019"
rem If is not set, set the number of parallel jobs to the number of CPU threads
if "%NUMBER_OF_ASYNC_JOBS%" == "" set NUMBER_OF_ASYNC_JOBS=%NUMBER_OF_PROCESSORS%
@ -81,14 +81,17 @@ echo %FILE_N% Boost toolset: %TOOLSET%
echo %FILE_N% Generator: %GENERATOR%
echo %FILE_N% Install directory: "%INSTALLATION_DIR%"
if not exist "%CONTENT_DIR%" (
echo %FILE_N% Creating "%CONTENT_DIR%" folder...
mkdir "%CONTENT_DIR%"
)
if not exist "%INSTALLATION_DIR%" (
echo %FILE_N% Creating "%INSTALLATION_DIR%" folder...
mkdir "%INSTALLATION_DIR%"
rem creating some folders
for %%G in (
"%CONTENT_DIR%",
"%INSTALLATION_DIR%",
"%CARLA_DEPENDENCIES_FOLDER%\include",
"%CARLA_DEPENDENCIES_FOLDER%\lib"
) do (
if not exist %%G (
echo %FILE_N% Creating "%%G" folder...
mkdir "%%G"
)
)
rem ============================================================================
@ -141,6 +144,8 @@ if not defined install_rpclib (
echo %FILE_N% Failed while installing rpclib.
goto failed
)
xcopy /Y /S /I %INSTALLATION_DIR%rpclib-install\include\rpc\* %CARLA_DEPENDENCIES_FOLDER%\include\rpc\* > NUL
copy %INSTALLATION_DIR%rpclib-install\lib\*.* %CARLA_DEPENDENCIES_FOLDER%\lib\ > NUL
rem ============================================================================
rem -- Download and install Google Test ----------------------------------------
@ -178,26 +183,6 @@ if not defined install_recast (
set RECAST_INSTALL_DIR=%install_recast:\=/%
)
rem ============================================================================
rem -- Download and install Fast-DDS (for ROS2)---------------------------------
rem ============================================================================
if %USE_ROS2% == true (
echo %FILE_N% Installing "Fast-DDS"...
call "%INSTALLERS_DIR%install_fastDDS.bat"^
--build-dir "%INSTALLATION_DIR%"
if %errorlevel% neq 0 goto failed
if not defined install_dds (
echo %FILE_N% Failed while installing "Fast-DDS".
goto failed
) else (
set FASTDDS_INSTALL_DIR=%install_dds:\=/%
)
)
rem ============================================================================
rem -- Download and install Boost ----------------------------------------------
rem ============================================================================
@ -216,6 +201,27 @@ if not defined install_boost (
goto failed
)
rem ============================================================================
rem -- Download and install Fast-DDS (for ROS2)---------------------------------
rem ============================================================================
if %USE_ROS2% == true (
echo %FILE_N% Installing "Fast-DDS"...
call "%INSTALLERS_DIR%install_fastDDS.bat"^
--boost-version %BOOST_VERSION%^
--build-dir "%INSTALLATION_DIR%"^
--install-dir "%INSTALLATION_DIR%fastDDS-install\"
if %errorlevel% neq 0 goto failed
if not defined install_dds (
echo %FILE_N% Failed while installing "Fast-DDS".
goto failed
)
copy %INSTALLATION_DIR%fastDDS-install\lib\*.lib %CARLA_DEPENDENCIES_FOLDER%\lib > NUL
xcopy /Y /S /I %INSTALLATION_DIR%fastDDS-install\include\* %CARLA_DEPENDENCIES_FOLDER%\include\* > NUL
)
rem ============================================================================
rem -- Download and install Xercesc --------------------------------------------
rem ============================================================================
@ -285,81 +291,6 @@ if %USE_CHRONO% == true (
xcopy /Y /S /I "%INSTALLATION_DIR%eigen-install\include\*" "%CARLA_DEPENDENCIES_FOLDER%include\*" > NUL
)
REM ==============================================================================
REM -- Download Fast DDS and dependencies ----------------------------------------
REM ==============================================================================
SET FASTDDS_BASENAME=fast-dds
SET FASTDDS_INSTALL_DIR=%CD%\%FASTDDS_BASENAME%-install
SET FASTDDS_INCLUDE=%FASTDDS_INSTALL_DIR%\include
SET FASTDDS_LIB=%FASTDDS_INSTALL_DIR%\lib
IF "%USE_ROS2%"=="true" (
:build_fastdds_extension
SET LIB_SOURCE=%1
SET LIB_REPO=%2
SET CMAKE_FLAGS=%3
IF NOT EXIST "%LIB_SOURCE%" (
mkdir "%LIB_SOURCE%"
echo %LIB_REPO%
git clone %LIB_REPO% %LIB_SOURCE%
mkdir "%LIB_SOURCE%\build"
)
IF NOT EXIST "%FASTDDS_INSTALL_DIR%" (
mkdir "%FASTDDS_INSTALL_DIR%"
echo Build foonathan memory vendor
SET FOONATHAN_MEMORY_VENDOR_BASENAME=foonathan-memory-vendor
SET FOONATHAN_MEMORY_VENDOR_SOURCE_DIR=%CD%\%FOONATHAN_MEMORY_VENDOR_BASENAME%-source
SET FOONATHAN_MEMORY_VENDOR_REPO="https://github.com/eProsima/foonathan_memory_vendor.git"
SET FOONATHAN_MEMORY_VENDOR_CMAKE_FLAGS=-DBUILD_SHARED_LIBS=ON
CALL :build_fastdds_extension "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%" "%FOONATHAN_MEMORY_VENDOR_REPO%"
pushd "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%\build" >nul
cmake -G "Ninja" ^
-DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-DBUILD_SHARED_LIBS=ON ^
-DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
-DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON ^
..
ninja
ninja install
popd >nul
rmdir /s /q "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
echo Build fast cdr
SET FAST_CDR_BASENAME=fast-cdr
SET FAST_CDR_SOURCE_DIR=%CD%\%FAST_CDR_BASENAME%-source
SET FAST_CDR_REPO="https://github.com/eProsima/Fast-CDR.git"
CALL :build_fastdds_extension "%FAST_CDR_SOURCE_DIR%" "%FAST_CDR_REPO%"
pushd "%FAST_CDR_SOURCE_DIR%\build" >nul
cmake -G "Ninja" ^
-DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
..
ninja
ninja install
popd >nul
rmdir /s /q "%FAST_CDR_SOURCE_DIR%"
echo Build fast dds
SET FAST_DDS_LIB_BASENAME=fast-dds-lib
SET FAST_DDS_LIB_SOURCE_DIR=%CD%\%FAST_DDS_LIB_BASENAME%-source
SET FAST_DDS_LIB_REPO="https://github.com/eProsima/Fast-DDS.git"
CALL :build_fastdds_extension "%FAST_DDS_LIB_SOURCE_DIR%" "%FAST_DDS_LIB_REPO%"
pushd "%FAST_DDS_LIB_SOURCE_DIR%\build" >nul
cmake -G "Ninja" ^
-DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR%" ^
-DCMAKE_CXX_FLAGS=-latomic ^
-DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" ^
..
ninja
ninja install
popd >nul
rmdir /
)
)
rem ============================================================================
rem -- Assets download URL -----------------------------------------------------
rem ============================================================================
@ -384,7 +315,7 @@ set CMAKE_CONFIG_FILE=%INSTALLATION_DIR%CMakeLists.txt.in
>"%CMAKE_CONFIG_FILE%" echo # Automatically generated by Setup.bat
>>"%CMAKE_CONFIG_FILE%" echo set(CARLA_VERSION %carla_version%)
>>"%CMAKE_CONFIG_FILE%" echo.
>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD 14)
>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD 20)
>>"%CMAKE_CONFIG_FILE%" echo set(CMAKE_CXX_STANDARD_REQUIRED ON)
>>"%CMAKE_CONFIG_FILE%" echo.
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-D_WIN32_WINNT=0x0600)
@ -400,6 +331,11 @@ set CMAKE_CONFIG_FILE=%INSTALLATION_DIR%CMakeLists.txt.in
>>"%CMAKE_CONFIG_FILE%" echo set(RPCLIB_INCLUDE_PATH "%CMAKE_INSTALLATION_DIR%rpclib-install/include")
>>"%CMAKE_CONFIG_FILE%" echo set(RPCLIB_LIB_PATH "%CMAKE_INSTALLATION_DIR%rpclib-install/lib")
>>"%CMAKE_CONFIG_FILE%" echo.
>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_INCLUDE_PATH "%CMAKE_INSTALLATION_DIR%fastDDS-install/include")
>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_LIB_PATH "%CMAKE_INSTALLATION_DIR%fastDDS-install/lib")
>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_LINK_LIBRARIES "fastrtps;fastcdr")
>>"%CMAKE_CONFIG_FILE%" echo set(ROS2_MW_NAME "fastdds")
>>"%CMAKE_CONFIG_FILE%" echo.
>>"%CMAKE_CONFIG_FILE%" echo if (CMAKE_BUILD_TYPE STREQUAL "Server")
>>"%CMAKE_CONFIG_FILE%" echo # Prevent exceptions
>>"%CMAKE_CONFIG_FILE%" echo add_definitions(-DBOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)

885
Util/BuildTools/Setup.sh
View File

File diff suppressed because it is too large Load Diff

5
Util/BuildTools/Vars.mk
View File

@ -16,7 +16,6 @@ CARLA_PYTHONAPI_SOURCE_FOLDER=${CARLA_PYTHONAPI_ROOT_FOLDER}/carla
LIBCARLA_ROOT_FOLDER=${CURDIR}/LibCarla
LIBCARLA_BUILD_SERVER_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-server-build
LIBCARLA_BUILD_PYTORCH_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-pytorch-build
LIBCARLA_FASTDDS_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-fastdds-install
LIBCARLA_BUILD_CLIENT_FOLDER=${CARLA_BUILD_FOLDER}/libcarla-client-build
LIBCARLA_INSTALL_SERVER_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
LIBCARLA_INSTALL_CLIENT_FOLDER=${CARLA_PYTHONAPI_SOURCE_FOLDER}/dependencies
@ -27,8 +26,8 @@ OSM2ODR_SOURCE_FOLDER=${CARLA_BUILD_FOLDER}/libosm2dr-source
CARLAUE4_PLUGIN_DEPS_FOLDER=${CARLAUE4_PLUGIN_ROOT_FOLDER}/CarlaDependencies
LIBSTDCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake
LIBCPP_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/LibCppToolChain.cmake
CARLA_CLIENT_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/CarlaClientToolChain.cmake
CARLA_SERVER_TOOLCHAIN_FILE=${CARLA_BUILD_FOLDER}/CarlaServerToolChain.cmake
CMAKE_CONFIG_FILE=${CARLA_BUILD_FOLDER}/CMakeLists.txt.in
LIBCARLA_TEST_CONTENT_FOLDER=${CARLA_BUILD_FOLDER}/test-content

6
Util/BuildTools/Windows.mk
View File

@ -62,14 +62,14 @@ PythonAPI: LibCarla osm2odr
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildPythonAPI.bat" --py3
server: setup
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --generator "$(GENERATOR)"
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --generator "$(GENERATOR)" $(ARGS)
client: setup
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client --generator "$(GENERATOR)"
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --client --generator "$(GENERATOR)" $(ARGS)
.PHONY: LibCarla
LibCarla: setup
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)"
@"${CARLA_BUILD_TOOLS_FOLDER}/BuildLibCarla.bat" --server --client --generator "$(GENERATOR)" $(ARGS)
setup: downloadplugin
@"${CARLA_BUILD_TOOLS_FOLDER}/Setup.bat" --boost-toolset msvc-14.2 --generator "$(GENERATOR)" $(ARGS)

56
Util/Formatting/codeformat.py
View File

@ -1,15 +1,14 @@
#!/usr/bin/python
#
# Copyright (c) 2017-2020 Intel Corporation
# Copyright (c) 2017-2024 Intel Corporation
#
# Helper script for code formatting using clang-format-3.9 and autopep
# Helper script for code formatting using clang-format-14 and autopep
import argparse
import filecmp
import os
import re
import sets
import subprocess
import sys
from termcolor import cprint
@ -31,9 +30,10 @@ class CodeFormatter:
def verifyFormatterVersion(self):
try:
versionOutput = subprocess.check_output([self.command, "--version"]).rstrip('\r\n')
versionOutputByteString = subprocess.check_output([self.command, "--version"])
versionOutput = versionOutputByteString.decode(encoding='UTF-8')
if self.expectedVersion != "":
if versionOutput.startswith(self.expectedVersion):
if self.expectedVersion in versionOutput:
print("[OK] Found formatter '" + versionOutput + "'")
return
else:
@ -41,8 +41,9 @@ class CodeFormatter:
cprint("[NOT OK] Version string does not start with '" + self.expectedVersion + "'", "red")
else:
return
except:
except subprocess.CalledProcessError as exc:
cprint("[ERROR] Could not run " + self.command, "red")
cprint("[ERROR] '" + exc.output + "'", "red")
cprint("[INFO] Please check if correct version is installed or install with '" +
self.installCommand + "'", "blue")
sys.exit(1)
@ -70,9 +71,9 @@ class CodeFormatter:
try:
diffProcess = subprocess.Popen(
["git", "diff", "--color=always", "--exit-code", "--no-index", "--", fileName, "-"],
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
diffOutput, _ = diffProcess.communicate(verifyOutput)
if diffProcess.returncode == 0:
diffOutput = ""
@ -99,6 +100,8 @@ class CodeFormatter:
if status:
return True
if not type(diffOutput) is str:
diffOutput = diffOutput.decode("utf-8")
if diffOutput != "":
cprint("[NOT OK] " + fileName, "red")
if printDiff:
@ -108,6 +111,9 @@ class CodeFormatter:
print("[OK] " + fileName)
return False
def setArgs(self, args):
self.args = args
class CodeFormatterClang(CodeFormatter):
CLANG_FORMAT_FILE = ".clang-format"
@ -116,14 +122,14 @@ class CodeFormatterClang(CodeFormatter):
def __init__(self):
CodeFormatter.__init__(self,
command="clang-format-3.9",
expectedVersion="clang-format version 3.9",
command="clang-format-14",
expectedVersion="clang-format version 14",
formatCommandArguments=["-style=file", "-fallback-style=none", "-i"],
verifyCommandArguments=["-style=file", "-fallback-style=none"],
verifyOutputIsDiff=False,
fileEndings=["cpp", "hpp", "c", "h", "cc"],
fileDescription="source and header",
installCommand="sudo apt-get install clang-format-3.9")
installCommand="sudo apt-get install clang-format-14")
self.scriptPath = os.path.dirname(os.path.abspath(__file__))
self.checkedInClangFormatFile = os.path.join(self.scriptPath, CodeFormatterClang.CHECKED_IN_CLANG_FORMAT_FILE)
@ -142,13 +148,13 @@ class CodeFormatterClang(CodeFormatter):
def confirmWithUserClangFormatFileCantBeVerified(self):
if not self.args.yes:
answer = raw_input("Are you sure your .clang-format file is up-to-date and you want to continue? (y/N)")
answer = input("Are you sure your .clang-format file is up-to-date and you want to continue? (y/N)")
if answer != "y":
sys.exit(1)
def verifyClangFormatFileExistsAndMatchesCheckedIn(self):
self.verifyCheckedInClangFormatFileExists()
foundClangFormatFiles = sets.Set()
foundClangFormatFiles = set()
for fileName in self.inputFiles:
dirName = os.path.dirname(os.path.abspath(fileName))
if not self.findClangFormatFileStartingFrom(dirName, fileName, foundClangFormatFiles):
@ -219,6 +225,7 @@ class CodeFormat:
def addCodeFormatter(self, codeFormatterInstance):
self.codeFormatterInstances.append(codeFormatterInstance)
codeFormatterInstance.setArgs(self.args)
def scanForInputFiles(self):
for formatterInstance in self.codeFormatterInstances:
@ -263,26 +270,26 @@ class CodeFormat:
def confirmWithUserFileIsOutsideGit(self, fileName):
cprint("[WARN] File is not in a Git repo: " + fileName, "yellow")
answer = raw_input("Are you sure to code format it anyway? (y/Q)")
answer = input("Are you sure to code format it anyway? (y/Q)")
if answer != "y":
sys.exit(1)
def confirmWithUserFileIsUntracked(self, fileName):
cprint("[WARN] File is untracked in Git: " + fileName, "yellow")
answer = raw_input("Are you sure to code format it anyway? (y/Q)")
answer = input("Are you sure to code format it anyway? (y/Q)")
if answer != "y":
sys.exit(1)
def confirmWithUserGitRepoIsNotClean(self, gitRepo):
cprint("[WARN] Git repo is not clean: " + gitRepo, "yellow")
answer = raw_input("Are you sure to code format files in it anyway? (y/Q)")
answer = input("Are you sure to code format files in it anyway? (y/Q)")
if answer != "y":
sys.exit(1)
def checkInputFilesAreInCleanGitReposAndAreTracked(self):
if self.args.verify or self.args.yes:
return
gitRepos = sets.Set()
gitRepos = set()
for formatterInstance in self.codeFormatterInstances:
for fileName in formatterInstance.inputFiles:
gitRepo = self.getGitRepoForFile(fileName)
@ -308,7 +315,7 @@ class CodeFormat:
cwd=os.path.dirname(fileName))
gitOutput, _ = gitProcess.communicate()
if gitProcess.returncode == 0:
return gitOutput.rstrip('\r\n')
return gitOutput.decode(encoding='UTF-8').rstrip('\r\n')
except OSError:
cprint("[ERROR] Failed to run 'git rev-parse --show-toplevel' for " + fileName, "red")
return None
@ -322,7 +329,7 @@ class CodeFormat:
cwd=os.path.dirname(fileName))
gitOutput, _ = gitProcess.communicate()
if gitProcess.returncode == 0:
return gitOutput.rstrip('\r\n') == "true"
return gitOutput.decode(encoding='UTF-8').rstrip('\r\n') == "true"
except OSError:
cprint("[ERROR] Failed to run 'git rev-parse --is-inside-work-tree' for " + fileName, "red")
return False
@ -400,13 +407,19 @@ class CodeFormat:
elif (not self.args.verify) and (not self.args.yes) and self.numberOfInputFiles() > 1:
for formatterInstance in self.codeFormatterInstances:
formatterInstance.printInputFiles()
answer = raw_input("Are you sure to code format " + str(self.numberOfInputFiles()) + " files? (y/N)")
answer = input("Are you sure to code format " + str(self.numberOfInputFiles()) + " files? (y/N)")
if answer != "y":
sys.exit(1)
def checkPythonVersion(self):
if sys.version_info.major != 3:
cprint("[ERROR] Code Formatter runs in Python3 ", "red")
sys.exit(1)
def main():
codeFormat = CodeFormat()
codeFormat.checkPythonVersion()
codeFormat.parseCommandLine()
codeFormat.printMode()
@ -425,5 +438,6 @@ def main():
cprint("SUCCESS", "green")
sys.exit(0)
if __name__ == "__main__":
main()

12
Util/InstallersWin/install_chrono.bat
View File

@ -14,6 +14,7 @@ echo %FILE_N% [Batch params]: %*
rem ============================================================================
rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -39,6 +40,11 @@ rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem ============================================================================
rem -- Get Eigen (Chrono dependency) -------------------------------------------
@ -101,12 +107,6 @@ if not exist %CHRONO_INSTALL_DIR% (
cd "%CHRONO_BUILD_DIR%"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
echo %FILE_N% Compiling Chrono.
cmake -G %GENERATOR% %PLATFORM%^
-DCMAKE_BUILD_TYPE=Release^

12
Util/InstallersWin/install_eigen.bat
View File

@ -74,8 +74,18 @@ if not exist "%EIGEN_INSTALL_DIR%" (
xcopy /q /Y /S /I /d "%EIGEN_SRC_DIR%\Eigen" "%EIGEN_INCLUDE%\Eigen"
xcopy /q /Y /S /I /d "%EIGEN_SRC_DIR%\unsupported\Eigen" "%EIGEN_INCLUDE%\unsupported\Eigen"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Macros.h" "%EIGEN_INCLUDE%\Eigen\src\Core\util\Macros.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Functors.h" "%EIGEN_INCLUDE%\Eigen\src\Core\Functors.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\VectorBlock.h" "%EIGEN_INCLUDE%\Eigen\src\Core\VectorBlock.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\PacketMath.h" "%EIGEN_INCLUDE%\Eigen\src\Core\arch\SSE\PacketMath.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\SelfadjointMatrixVector.h" "%EIGEN_INCLUDE%\Eigen\src\Core\products\SelfadjointMatrixVector.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\Macros.h" "%EIGEN_INCLUDE%\Eigen\src\Core\util\Macros.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\ArrayCwiseUnaryOps.h" "%EIGEN_INCLUDE%\Eigen\src\plugins\ArrayCwiseUnaryOps.h"
copy "%BUILD_DIR%..\Util\Patches\Eigen3.1.0\MatrixCwiseUnaryOps.h" "%EIGEN_INCLUDE%\Eigen\src\plugins\MatrixCwiseUnaryOps.h"
cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/Macros.h "${EIGEN_BASENAME}-source/Eigen/src/Core/util/Macros.h"
cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/ArrayCwiseUnaryOps.h "${EIGEN_BASENAME}-source/Eigen/src/plugins/ArrayCwiseUnaryOps.h"
cp $CARLA_ROOT_FOLDER/Util/Patches/Eigen${EIGEN_VERSION}/MatrixCwiseUnaryOps.h "${EIGEN_BASENAME}-source/Eigen/src/plugins/MatrixCwiseUnaryOps.h"
goto success

140
Util/InstallersWin/install_fastDDS.bat
View File

@ -14,7 +14,11 @@ rem ============================================================================
rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set DEL_SRC=false
set BOOST_VERSION="unknown"
set FASTDDS_INSTALL_DIR=""
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -27,20 +31,48 @@ if not "%1"=="" (
set DEL_SRC=true
)
if "%1"=="--boost-version" (
set BOOST_VERSION=%2
shift
)
if "%1"=="--install-dir" (
set FASTDDS_INSTALL_DIR=%2
shift
)
if "%1"=="--generator" (
set GENERATOR=%2
shift
)
shift
goto :arg-parse
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
echo "%GENERATOR%" "%PLATFORM%"
rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
if not "%BUILD_DIR:~-1%"=="\" set BUILD_DIR=%BUILD_DIR%\
set FASTDDS_SRC=fastDDS-src
set FASTDDS_SRC_DIR=%BUILD_DIR%%FASTDDS_SRC%\
set FASTDDS_INSTALL=fastDDS-install
set FASTDDS_INSTALL_DIR=%BUILD_DIR%%FASTDDS_INSTALL%\
set FASTDDS_BUILD_DIR=%FASTDDS_SRC_DIR%build\
if "%FASTDDS_INSTALL_DIR%" == "" (
set FASTDDS_INSTALL=fastDDS-install
set FASTDDS_INSTALL_DIR=%BUILD_DIR%%FASTDDS_INSTALL%\
)
set FASTDDS_BUILD_DIR=%FASTDDS_SRC_DIR%build\fastdds
set FASTDDS_BASENAME=%FASTDDS_SRC%
set FOONATHAN_MEMORY_VENDOR_BASENAME=foonathan-memory-vendor
set FOONATHAN_MEMORY_VENDOR_SOURCE_DIR=%FASTDDS_SRC_DIR%\thirdparty\foonathan-memory-vendor
set FOONATHAN_MEMORY_VENDOR_BUILD_DIR=%FASTDDS_SRC_DIR%build\foonathan-memory-vendor
if exist "%FASTDDS_INSTALL_DIR%" (
goto already_build
@ -49,86 +81,86 @@ if exist "%FASTDDS_INSTALL_DIR%" (
if not exist "%FASTDDS_SRC_DIR%" (
echo %FILE_N% Cloning "Fast-DDS"
call git clone https://github.com/eProsima/Fast-DDS.git "%FASTDDS_SRC_DIR:~0,-1%"
call git submodule init
call git submodule update
git clone --depth 1 --branch 2.11.3 https://github.com/eProsima/Fast-DDS.git "%FASTDDS_SRC_DIR:~0,-1%"
if %errorlevel% neq 0 goto error_git
git submodule init
if %errorlevel% neq 0 goto error_git
git submodule update
if %errorlevel% neq 0 goto error_git
git clone --depth 1 --branch master https://github.com/eProsima/foonathan_memory_vendor.git "%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
) else (
echo %FILE_N% Not cloning "Fast-DDS" because already exists a folder called "%FASTDDS_SRC%".
)
echo Compiling fastCDR dependency...
if not exist "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build" (
echo %FILE_N% Creating "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build"
cd "%FASTDDS_SRC_DIR%/thirdparty/fastcdr"
mkdir build
cd ../../
if not exist "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%" (
echo %FILE_N% Creating "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
mkdir "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
)
cd "%FOONATHAN_MEMORY_VENDOR_BUILD_DIR%"
cd "%FASTDDS_SRC_DIR%/thirdparty/fastcdr/build"
echo %FILE_N% Generating build...
cmake .. -G "Visual Studio 16 2019" -A x64^
echo %FILE_N% Generating build: foonathan memory vendor ...
cmake -G %GENERATOR% %PLATFORM%^
-DCMAKE_BUILD_TYPE=Release^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
-DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
-DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING
-DBUILD_STATIC_LIBS=ON^
-DBUILD_SHARED_LIBS=OFF^
-DCMAKE_CXX_FLAGS="/DBOOST_NO_EXCEPTIONS /DASIO_NO_EXCEPTIONS"^
"%FOONATHAN_MEMORY_VENDOR_SOURCE_DIR%"
if %errorlevel% neq 0 goto error_cmake
echo %FILE_N% Building...
echo %FILE_N% Building foonathan memory vendor...
cmake --build . --config Release --target install
if errorlevel neq 0 goto error_install
if exist "%FASTDDS_SRC_DIR%\thirdparty\boost\include\boost" (
echo %FILE_N% Preparing fastdds boost ...
@REM remove their boost includes, but keep their entry point
rd /s /q "%FASTDDS_SRC_DIR%\thirdparty\boost\include\boost"
@REM ensure the find boost compiles without exceptions
sed -i s/"CXX_STANDARD 11"/"CXX_STANDARD 11\n COMPILE_DEFINITIONS \"-DBOOST_NO_EXCEPTIONS\""/ "%FASTDDS_SRC_DIR%\cmake\modules\FindThirdpartyBoost.cmake"
sed -i s/"class ThirdpartyBoostCompileTest"/"#ifdef BOOST_NO_EXCEPTIONS\nnamespace boost {void throw_exception(std::exception const \& e) {}}\n#endif\nclass ThirdpartyBoostCompileTest"/ "%FASTDDS_SRC_DIR%\thirdparty\boost\test\ThirdpartyBoostCompile_test.cpp"
)
cd ../../..
@REM echo Compiling asio dependency...
@REM if not exist "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build" (
@REM echo %FILE_N% Creating "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build"
@REM cd "%FASTDDS_SRC_DIR%/thirdparty/asio/asio"
@REM mkdir build
@REM cd ../../
@REM )
@REM cd "%FASTDDS_SRC_DIR%/thirdparty/asio/asio/build"
@REM echo %FILE_N% Generating build...
@REM cmake .. -G "Visual Studio 16 2019" -A x64^
@REM -DCMAKE_BUILD_TYPE=Release^
@REM -DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
@REM -DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
@REM -DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING
@REM if %errorlevel% neq 0 goto error_cmake
@REM echo %FILE_N% Building...
@REM cmake --build . --config Release --target install
@REM if errorlevel neq 0 goto error_install
@REM cd ../../../..
if exist "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp" (
echo %FILE_N% Patching fastdds ...
sed -i s/"defined(__cplusplus_winrt)"/"(1)"/ "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp"
sed -i s/"replace_all(pattern"/"replace_all(path"/ "%FASTDDS_SRC_DIR%\src\cpp\utils\StringMatching.cpp"
)
if not exist "%FASTDDS_BUILD_DIR%" (
echo %FILE_N% Creating "%FASTDDS_BUILD_DIR%"
mkdir "%FASTDDS_BUILD_DIR%"
)
cd "%FASTDDS_BUILD_DIR%"
echo %FILE_N% Generating build...
echo %FILE_N% Generating build: fastdds ...
cmake .. -G "Visual Studio 16 2019" -A x64^
cmake -G %GENERATOR% %PLATFORM%^
-DCMAKE_BUILD_TYPE=Release^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
-DCMAKE_INSTALL_PREFIX="%FASTDDS_INSTALL_DIR:\=/%"^
-DCMAKE_CXX_FLAGS=/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING^
-DCMAKE_MODULE_PATH="%FASTDDS_INSTALL_DIR:\=/%"^
-DBUILD_STATIC_LIBS=ON^
-DBUILD_SHARED_LIBS=OFF^
-DBUILD_TESTING=OFF^
-DCOMPILE_EXAMPLES=OFF^
-DCOMPILE_TOOLS=OFF^
-DTHIRDPARTY_Asio=FORCE^
-DTHIRDPARTY_fastcdr=FORCE^
-DTHIRDPARTY_TinyXML2=FORCE^
-DTHIRDPARTY_BOOST_INCLUDE_DIR="%BUILD_DIR%boost-%BOOST_VERSION%-install\include;%FASTDDS_SRC_DIR%\thirdparty\boost\include"^
-DCMAKE_CXX_FLAGS="/D_SILENCE_TR1_NAMESPACE_DEPRECATION_WARNING /DBOOST_NO_EXCEPTIONS /DASIO_NO_EXCEPTIONS"^
"%FASTDDS_SRC_DIR%"
if %errorlevel% neq 0 goto error_cmake
echo %FILE_N% Building...
echo %FILE_N% Building fastdds...
cmake --build . --config Release --target install
if errorlevel neq 0 goto error_install
if %errorlevel% neq 0 goto error_install
rem copy asio header files as they are not copied automatically by the above build, but we need those for handling the asio-exceptions
copy %FASTDDS_SRC_DIR%thirdparty\asio\asio\include\asio.hpp %INSTALLATION_DIR%fastDDS-install\include\ > NUL
xcopy /Y /S /I %FASTDDS_SRC_DIR%thirdparty\asio\asio\include\asio\* %INSTALLATION_DIR%fastDDS-install\include\asio\* > NUL
if %errorlevel% neq 0 goto error_install
rem Remove the downloaded Fast-DDS source because is no more needed
if %DEL_SRC% == true (
@ -179,7 +211,7 @@ rem ============================================================================
:good_exit
echo %FILE_N% Exiting...
endlocal & set install_recast=%FASTDDS_INSTALL_DIR%
endlocal & set install_dds=%FASTDDS_INSTALL_DIR%
exit /b 0
:bad_exit

12
Util/InstallersWin/install_gtest.bat
View File

@ -16,6 +16,7 @@ rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set DEL_SRC=false
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -36,6 +37,11 @@ if not "%1"=="" (
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@ -69,12 +75,6 @@ if not exist "%GT_BUILD_DIR%" (
cd "%GT_BUILD_DIR%"
echo %FILE_N% Generating build...
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
cmake .. -G %GENERATOR% %PLATFORM%^
-DCMAKE_BUILD_TYPE=Release^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^

13
Util/InstallersWin/install_proj.bat
View File

@ -15,6 +15,8 @@ rem ============================================================================
rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set GENERATOR=""
:arg-parse
if not "%1"=="" (
if "%1"=="--build-dir" (
@ -36,6 +38,11 @@ if not "%1"=="" (
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@ -79,12 +86,6 @@ move %BUILD_DIR%%PROJ_BASE_NAME% %PROJ_SRC_DIR%
mkdir %PROJ_BUILD_DIR%
cd %PROJ_BUILD_DIR%
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
cmake .. -G %GENERATOR% %PLATFORM%^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^
-DCMAKE_CXX_FLAGS="/MD /MP"^

12
Util/InstallersWin/install_recast.bat
View File

@ -15,6 +15,7 @@ rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set DEL_SRC=false
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -35,6 +36,11 @@ if not "%1"=="" (
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@ -71,12 +77,6 @@ if not exist "%RECAST_BUILD_DIR%" (
cd "%RECAST_BUILD_DIR%"
echo %FILE_N% Generating build...
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
cmake .. -G %GENERATOR% %PLATFORM%^
-DCMAKE_BUILD_TYPE=Release^
-DCMAKE_CXX_FLAGS_RELEASE="/MD /MP"^

1
Util/InstallersWin/install_rpclib.bat
View File

@ -16,6 +16,7 @@ rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set DEL_SRC=false
set GENERATOR=""
:arg-parse
if not "%1"=="" (

12
Util/InstallersWin/install_xercesc.bat
View File

@ -14,6 +14,7 @@ echo %FILE_N% [Batch params]: %*
rem ============================================================================
rem -- Parse arguments ---------------------------------------------------------
rem ============================================================================
set GENERATOR=""
:arg-parse
if not "%1"=="" (
@ -36,6 +37,11 @@ if not "%1"=="" (
)
if %GENERATOR% == "" set GENERATOR="Visual Studio 16 2019"
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
rem If not set set the build dir to the current dir
if "%BUILD_DIR%" == "" set BUILD_DIR=%~dp0
@ -121,12 +127,6 @@ if not exist "%XERCESC_INSTALL_DIR%include" (
mkdir "%XERCESC_INSTALL_DIR%include"
)
echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
set PLATFORM=-A x64
) || (
set PLATFORM=
)
cmake .. -G %GENERATOR% %PLATFORM%^
-DCMAKE_INSTALL_PREFIX="%XERCESC_INSTALL_DIR:\=/%"^
-DBUILD_SHARED_LIBS=OFF^

205
Util/Patches/Eigen3.1.0/ArrayCwiseUnaryOps.h Normal file
View File

@ -0,0 +1,205 @@
/** \returns an expression of the coefficient-wise absolute value of \c *this
*
* Example: \include Cwise_abs.cpp
* Output: \verbinclude Cwise_abs.out
*
* \sa abs2()
*/
EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
abs() const
{
return derived();
}
/** \returns an expression of the coefficient-wise squared absolute value of \c *this
*
* Example: \include Cwise_abs2.cpp
* Output: \verbinclude Cwise_abs2.out
*
* \sa abs(), square()
*/
EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
abs2() const
{
return derived();
}
/** \returns an expression of the coefficient-wise exponential of *this.
*
* Example: \include Cwise_exp.cpp
* Output: \verbinclude Cwise_exp.out
*
* \sa pow(), log(), sin(), cos()
*/
inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
exp() const
{
return derived();
}
/** \returns an expression of the coefficient-wise logarithm of *this.
*
* Example: \include Cwise_log.cpp
* Output: \verbinclude Cwise_log.out
*
* \sa exp()
*/
inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
log() const
{
return derived();
}
/** \returns an expression of the coefficient-wise square root of *this.
*
* Example: \include Cwise_sqrt.cpp
* Output: \verbinclude Cwise_sqrt.out
*
* \sa pow(), square()
*/
inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
sqrt() const
{
return derived();
}
/** \returns an expression of the coefficient-wise cosine of *this.
*
* Example: \include Cwise_cos.cpp
* Output: \verbinclude Cwise_cos.out
*
* \sa sin(), acos()
*/
inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
cos() const
{
return derived();
}
/** \returns an expression of the coefficient-wise sine of *this.
*
* Example: \include Cwise_sin.cpp
* Output: \verbinclude Cwise_sin.out
*
* \sa cos(), asin()
*/
inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
sin() const
{
return derived();
}
/** \returns an expression of the coefficient-wise arc cosine of *this.
*
* Example: \include Cwise_acos.cpp
* Output: \verbinclude Cwise_acos.out
*
* \sa cos(), asin()
*/
inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
acos() const
{
return derived();
}
/** \returns an expression of the coefficient-wise arc sine of *this.
*
* Example: \include Cwise_asin.cpp
* Output: \verbinclude Cwise_asin.out
*
* \sa sin(), acos()
*/
inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
asin() const
{
return derived();
}
/** \returns an expression of the coefficient-wise tan of *this.
*
* Example: \include Cwise_tan.cpp
* Output: \verbinclude Cwise_tan.out
*
* \sa cos(), sin()
*/
inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
tan() const
{
return derived();
}
/** \returns an expression of the coefficient-wise power of *this to the given exponent.
*
* Example: \include Cwise_pow.cpp
* Output: \verbinclude Cwise_pow.out
*
* \sa exp(), log()
*/
inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
pow(const Scalar& exponent) const
{
return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
(derived(), internal::scalar_pow_op<Scalar>(exponent));
}
/** \returns an expression of the coefficient-wise inverse of *this.
*
* Example: \include Cwise_inverse.cpp
* Output: \verbinclude Cwise_inverse.out
*
* \sa operator/(), operator*()
*/
inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
inverse() const
{
return derived();
}
/** \returns an expression of the coefficient-wise square of *this.
*
* Example: \include Cwise_square.cpp
* Output: \verbinclude Cwise_square.out
*
* \sa operator/(), operator*(), abs2()
*/
inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
square() const
{
return derived();
}
/** \returns an expression of the coefficient-wise cube of *this.
*
* Example: \include Cwise_cube.cpp
* Output: \verbinclude Cwise_cube.out
*
* \sa square(), pow()
*/
inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
cube() const
{
return derived();
}
#if __cplusplus < 201703L
#define EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(METHOD_NAME,FUNCTOR) \
inline const CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
METHOD_NAME(const Scalar& s) const { \
return CwiseUnaryOp<std::binder2nd<FUNCTOR<Scalar> >, const Derived> \
(derived(), std::bind2nd(FUNCTOR<Scalar>(), s)); \
}
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator==, std::equal_to)
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator!=, std::not_equal_to)
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<, std::less)
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=, std::less_equal)
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>, std::greater)
EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=, std::greater_equal)
#endif

1006
Util/Patches/Eigen3.1.0/Functors.h Normal file
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File diff suppressed because it is too large Load Diff

85
Util/Patches/Eigen3.1.0/MatrixCwiseUnaryOps.h Normal file
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@ -0,0 +1,85 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
// This file is a base class plugin containing matrix specifics coefficient wise functions.
/** \returns an expression of the coefficient-wise absolute value of \c *this
*
* Example: \include MatrixBase_cwiseAbs.cpp
* Output: \verbinclude MatrixBase_cwiseAbs.out
*
* \sa cwiseAbs2()
*/
EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
cwiseAbs() const { return derived(); }
/** \returns an expression of the coefficient-wise squared absolute value of \c *this
*
* Example: \include MatrixBase_cwiseAbs2.cpp
* Output: \verbinclude MatrixBase_cwiseAbs2.out
*
* \sa cwiseAbs()
*/
EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
cwiseAbs2() const { return derived(); }
/** \returns an expression of the coefficient-wise square root of *this.
*
* Example: \include MatrixBase_cwiseSqrt.cpp
* Output: \verbinclude MatrixBase_cwiseSqrt.out
*
* \sa cwisePow(), cwiseSquare()
*/
inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
cwiseSqrt() const { return derived(); }
/** \returns an expression of the coefficient-wise inverse of *this.
*
* Example: \include MatrixBase_cwiseInverse.cpp
* Output: \verbinclude MatrixBase_cwiseInverse.out
*
* \sa cwiseProduct()
*/
inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
cwiseInverse() const { return derived(); }
#if __cplusplus < 201703L
/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
*
* \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
* In order to check for equality between two vectors or matrices with floating-point coefficients, it is
* generally a far better idea to use a fuzzy comparison as provided by isApprox() and
* isMuchSmallerThan().
*
* \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
*/
inline const CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >, const Derived>
cwiseEqual(const Scalar& s) const
{
return CwiseUnaryOp<std::binder1st<std::equal_to<Scalar> >,const Derived>
(derived(), std::bind1st(std::equal_to<Scalar>(), s));
}
#endif

647
Util/Patches/Eigen3.1.0/PacketMath.h Normal file
View File

@ -0,0 +1,647 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_PACKET_MATH_SSE_H
#define EIGEN_PACKET_MATH_SSE_H
namespace Eigen {
namespace internal {
#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
#endif
#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
#endif
typedef __m128 Packet4f;
typedef __m128i Packet4i;
typedef __m128d Packet2d;
template<> struct is_arithmetic<__m128> { enum { value = true }; };
template<> struct is_arithmetic<__m128i> { enum { value = true }; };
template<> struct is_arithmetic<__m128d> { enum { value = true }; };
#define vec4f_swizzle1(v,p,q,r,s) \
(_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
#define vec4i_swizzle1(v,p,q,r,s) \
(_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
#define vec2d_swizzle1(v,p,q) \
(_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
#define vec4f_swizzle2(a,b,p,q,r,s) \
(_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
#define vec4i_swizzle2(a,b,p,q,r,s) \
(_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
const Packet4f p4f_##NAME = pset1<Packet4f>(X)
#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
const Packet4i p4i_##NAME = pset1<Packet4i>(X)
template<> struct packet_traits<float> : default_packet_traits
{
typedef Packet4f type;
enum {
Vectorizable = 1,
AlignedOnScalar = 1,
size=4,
HasDiv = 1,
HasSin = EIGEN_FAST_MATH,
HasCos = EIGEN_FAST_MATH,
HasLog = 1,
HasExp = 1,
HasSqrt = 1
};
};
template<> struct packet_traits<double> : default_packet_traits
{
typedef Packet2d type;
enum {
Vectorizable = 1,
AlignedOnScalar = 1,
size=2,
HasDiv = 1
};
};
template<> struct packet_traits<int> : default_packet_traits
{
typedef Packet4i type;
enum {
// FIXME check the Has*
Vectorizable = 1,
AlignedOnScalar = 1,
size=4
};
};
template<> struct unpacket_traits<Packet4f> { typedef float type; enum {size=4}; };
template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
template<> struct unpacket_traits<Packet4i> { typedef int type; enum {size=4}; };
#if defined(_MSC_VER) && (_MSC_VER==1500)
// Workaround MSVC 9 internal compiler error.
// TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
// TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return _mm_set_ps(from,from,from,from); }
template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int& from) { return _mm_set_epi32(from,from,from,from); }
#else
template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return _mm_set1_ps(from); }
template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int& from) { return _mm_set1_epi32(from); }
#endif
template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
{
const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
return _mm_xor_ps(a,mask);
}
template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
{
const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
return _mm_xor_pd(a,mask);
}
template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
{
return psub(_mm_setr_epi32(0,0,0,0), a);
}
template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
{
#ifdef EIGEN_VECTORIZE_SSE4_1
return _mm_mullo_epi32(a,b);
#else
// this version is slightly faster than 4 scalar products
return vec4i_swizzle1(
vec4i_swizzle2(
_mm_mul_epu32(a,b),
_mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
vec4i_swizzle1(b,1,0,3,2)),
0,2,0,2),
0,2,1,3);
#endif
}
template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
{ eigen_assert(false && "packet integer division are not supported by SSE");
return pset1<Packet4i>(0);
}
// for some weird raisons, it has to be overloaded for packet of integers
template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
{
// after some bench, this version *is* faster than a scalar implementation
Packet4i mask = _mm_cmplt_epi32(a,b);
return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
}
template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
{
// after some bench, this version *is* faster than a scalar implementation
Packet4i mask = _mm_cmpgt_epi32(a,b);
return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
}
template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
#if defined(_MSC_VER)
template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) {
EIGEN_DEBUG_UNALIGNED_LOAD
#if (_MSC_VER==1600)
// NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
// (i.e., it does not generate an unaligned load!!
// TODO On most architectures this version should also be faster than a single _mm_loadu_ps
// so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
__m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
res = _mm_loadh_pi(res, (const __m64*)(from+2));
return res;
#else
return _mm_loadu_ps(from);
#endif
}
template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); }
template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from)); }
#else
// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would
// require pointer casting to incompatible pointer types and leads to invalid code
// because of the strict aliasing rule. The "dummy" stuff are required to enforce
// a correct instruction dependency.
// TODO: do the same for MSVC (ICC is compatible)
// NOTE: with the code below, MSVC's compiler crashes!
#if defined(__GNUC__) && defined(__i386__)
// bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd
#define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
#elif defined(__clang__)
// bug 201: Segfaults in __mm_loadh_pd with clang 2.8
#define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
#else
#define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0
#endif
template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
{
EIGEN_DEBUG_UNALIGNED_LOAD
#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
return _mm_loadu_ps(from);
#else
__m128d res;
res = _mm_load_sd((const double*)(from)) ;
res = _mm_loadh_pd(res, (const double*)(from+2)) ;
return _mm_castpd_ps(res);
#endif
}
template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
{
EIGEN_DEBUG_UNALIGNED_LOAD
#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
return _mm_loadu_pd(from);
#else
__m128d res;
res = _mm_load_sd(from) ;
res = _mm_loadh_pd(res,from+1);
return res;
#endif
}
template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
{
EIGEN_DEBUG_UNALIGNED_LOAD
#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from));
#else
__m128d res;
res = _mm_load_sd((const double*)(from)) ;
res = _mm_loadh_pd(res, (const double*)(from+2)) ;
return _mm_castpd_si128(res);
#endif
}
#endif
template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
{
return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd(reinterpret_cast<const double*>(from))), 0, 0, 1, 1);
}
template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from)
{ return pset1<Packet2d>(from[0]); }
template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int* from)
{
Packet4i tmp;
tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
return vec4i_swizzle1(tmp, 0, 0, 1, 1);
}
template<> EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
template<> EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
EIGEN_DEBUG_UNALIGNED_STORE
_mm_storel_pd((to), from);
_mm_storeh_pd((to+1), from);
}
template<> EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castps_pd(from)); }
template<> EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castsi128_pd(from)); }
// some compilers might be tempted to perform multiple moves instead of using a vector path.
template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
{
Packet4f pa = _mm_set_ss(a);
pstore(to, vec4f_swizzle1(pa,0,0,0,0));
}
// some compilers might be tempted to perform multiple moves instead of using a vector path.
template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
{
Packet2d pa = _mm_set_sd(a);
pstore(to, vec2d_swizzle1(pa,0,0));
}
template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
template<> EIGEN_STRONG_INLINE void prefetch<int>(const int* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
// Direct of the struct members fixed bug #62.
template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
#else
template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
#endif
template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
{ return _mm_shuffle_ps(a,a,0x1B); }
template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
{ return _mm_shuffle_pd(a,a,0x1); }
template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
{ return _mm_shuffle_epi32(a,0x1B); }
template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
{
const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
return _mm_and_ps(a,mask);
}
template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
{
const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
return _mm_and_pd(a,mask);
}
template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
{
#ifdef EIGEN_VECTORIZE_SSSE3
return _mm_abs_epi32(a);
#else
Packet4i aux = _mm_srai_epi32(a,31);
return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
#endif
}
EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
{
vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
}
#ifdef EIGEN_VECTORIZE_SSE3
// TODO implement SSE2 versions as well as integer versions
template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
{
return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
}
template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
{
return _mm_hadd_pd(vecs[0], vecs[1]);
}
// SSSE3 version:
// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
// {
// return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
// }
template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
{
Packet4f tmp0 = _mm_hadd_ps(a,a);
return pfirst(_mm_hadd_ps(tmp0, tmp0));
}
template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
// SSSE3 version:
// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
// {
// Packet4i tmp0 = _mm_hadd_epi32(a,a);
// return pfirst(_mm_hadd_epi32(tmp0, tmp0));
// }
#else
// SSE2 versions
template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
{
Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
}
template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
{
return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
}
template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
{
Packet4f tmp0, tmp1, tmp2;
tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
tmp0 = _mm_add_ps(tmp0, tmp1);
tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
tmp1 = _mm_add_ps(tmp1, tmp2);
tmp2 = _mm_movehl_ps(tmp1, tmp0);
tmp0 = _mm_movelh_ps(tmp0, tmp1);
return _mm_add_ps(tmp0, tmp2);
}
template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
{
return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
}
#endif // SSE3
template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
{
Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
}
template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
{
Packet4i tmp0, tmp1, tmp2;
tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
tmp0 = _mm_add_epi32(tmp0, tmp1);
tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
tmp1 = _mm_add_epi32(tmp1, tmp2);
tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
return _mm_add_epi32(tmp0, tmp2);
}
// Other reduction functions:
// mul
template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
{
Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
}
template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
{
return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
}
template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
{
// after some experiments, it is seems this is the fastest way to implement it
// for GCC (eg., reusing pmul is very slow !)
// TODO try to call _mm_mul_epu32 directly
EIGEN_ALIGN16 int aux[4];
pstore(aux, a);
return (aux[0] * aux[1]) * (aux[2] * aux[3]);;
}
// min
template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
{
Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
}
template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
{
return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
}
template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
{
// after some experiments, it is seems this is the fastest way to implement it
// for GCC (eg., it does not like using std::min after the pstore !!)
EIGEN_ALIGN16 int aux[4];
pstore(aux, a);
int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
return aux0<aux2 ? aux0 : aux2;
}
// max
template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
{
Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
}
template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
{
return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
}
template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
{
// after some experiments, it is seems this is the fastest way to implement it
// for GCC (eg., it does not like using std::min after the pstore !!)
EIGEN_ALIGN16 int aux[4];
pstore(aux, a);
int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
return aux0>aux2 ? aux0 : aux2;
}
#if (defined __GNUC__)
// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
// {
// Packet4f res = b;
// asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
// return res;
// }
// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i& a, const Packet4i& b, const int i)
// {
// Packet4i res = a;
// asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
// return res;
// }
#endif
#ifdef EIGEN_VECTORIZE_SSSE3
// SSSE3 versions
template<int Offset>
struct palign_impl<Offset,Packet4f>
{
static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
{
if (Offset!=0)
first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
}
};
template<int Offset>
struct palign_impl<Offset,Packet4i>
{
static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
{
if (Offset!=0)
first = _mm_alignr_epi8(second,first, Offset*4);
}
};
template<int Offset>
struct palign_impl<Offset,Packet2d>
{
static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
{
if (Offset==1)
first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
}
};
#else
// SSE2 versions
template<int Offset>
struct palign_impl<Offset,Packet4f>
{
static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
{
if (Offset==1)
{
first = _mm_move_ss(first,second);
first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
}
else if (Offset==2)
{
first = _mm_movehl_ps(first,first);
first = _mm_movelh_ps(first,second);
}
else if (Offset==3)
{
first = _mm_move_ss(first,second);
first = _mm_shuffle_ps(first,second,0x93);
}
}
};
template<int Offset>
struct palign_impl<Offset,Packet4i>
{
static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
{
if (Offset==1)
{
first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
first = _mm_shuffle_epi32(first,0x39);
}
else if (Offset==2)
{
first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
}
else if (Offset==3)
{
first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
}
}
};
template<int Offset>
struct palign_impl<Offset,Packet2d>
{
static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
{
if (Offset==1)
{
first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
}
}
};
#endif
} // end namespace internal
} // end namespace Eigen
#endif // EIGEN_PACKET_MATH_SSE_H

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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
namespace Eigen {
namespace internal {
/* Optimized selfadjoint matrix * vector product:
* This algorithm processes 2 columns at onces that allows to both reduce
* the number of load/stores of the result by a factor 2 and to reduce
* the instruction dependency.
*/
template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version=Specialized>
struct selfadjoint_matrix_vector_product;
template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
struct selfadjoint_matrix_vector_product
{
static EIGEN_DONT_INLINE void run(
Index size,
const Scalar* lhs, Index lhsStride,
const Scalar* _rhs, Index rhsIncr,
Scalar* res,
Scalar alpha)
{
typedef typename packet_traits<Scalar>::type Packet;
typedef typename NumTraits<Scalar>::Real RealScalar;
const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
enum {
IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
IsLower = UpLo == Lower ? 1 : 0,
FirstTriangular = IsRowMajor == IsLower
};
conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, IsRowMajor), ConjugateRhs> cj0;
conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, IsRowMajor), ConjugateRhs> pcj0;
conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
Scalar cjAlpha = ConjugateRhs ? conj(alpha) : alpha;
// FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
// if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
// this is because we need to extract packets
ei_declare_aligned_stack_constructed_variable(Scalar,rhs,size,rhsIncr==1 ? const_cast<Scalar*>(_rhs) : 0);
if (rhsIncr!=1)
{
const Scalar* it = _rhs;
for (Index i=0; i<size; ++i, it+=rhsIncr)
rhs[i] = *it;
}
Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
if (FirstTriangular)
bound = size - bound;
for (Index j=FirstTriangular ? bound : 0;
j<(FirstTriangular ? size : bound);j+=2)
{
const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
Scalar t0 = cjAlpha * rhs[j];
Packet ptmp0 = pset1<Packet>(t0);
Scalar t1 = cjAlpha * rhs[j+1];
Packet ptmp1 = pset1<Packet>(t1);
Scalar t2(0);
Packet ptmp2 = pset1<Packet>(t2);
Scalar t3(0);
Packet ptmp3 = pset1<Packet>(t3);
size_t starti = FirstTriangular ? 0 : j+2;
size_t endi = FirstTriangular ? j : size;
size_t alignedStart = (starti) + internal::first_aligned(&res[starti], endi-starti);
size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
// TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
res[j] += cjd.pmul(internal::real(A0[j]), t0);
res[j+1] += cjd.pmul(internal::real(A1[j+1]), t1);
if(FirstTriangular)
{
res[j] += cj0.pmul(A1[j], t1);
t3 += cj1.pmul(A1[j], rhs[j]);
}
else
{
res[j+1] += cj0.pmul(A0[j+1],t0);
t2 += cj1.pmul(A0[j+1], rhs[j+1]);
}
for (size_t i=starti; i<alignedStart; ++i)
{
res[i] += t0 * A0[i] + t1 * A1[i];
t2 += conj(A0[i]) * rhs[i];
t3 += conj(A1[i]) * rhs[i];
}
// Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
// gcc 4.2 does this optimization automatically.
const Scalar* EIGEN_RESTRICT a0It = A0 + alignedStart;
const Scalar* EIGEN_RESTRICT a1It = A1 + alignedStart;
const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
for (size_t i=alignedStart; i<alignedEnd; i+=PacketSize)
{
Packet A0i = ploadu<Packet>(a0It); a0It += PacketSize;
Packet A1i = ploadu<Packet>(a1It); a1It += PacketSize;
Packet Bi = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
Packet Xi = pload <Packet>(resIt);
Xi = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
ptmp2 = pcj1.pmadd(A0i, Bi, ptmp2);
ptmp3 = pcj1.pmadd(A1i, Bi, ptmp3);
pstore(resIt,Xi); resIt += PacketSize;
}
for (size_t i=alignedEnd; i<endi; i++)
{
res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
t2 += cj1.pmul(A0[i], rhs[i]);
t3 += cj1.pmul(A1[i], rhs[i]);
}
res[j] += alpha * (t2 + predux(ptmp2));
res[j+1] += alpha * (t3 + predux(ptmp3));
}
for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
{
const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
Scalar t1 = cjAlpha * rhs[j];
Scalar t2(0);
// TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
res[j] += cjd.pmul(internal::real(A0[j]), t1);
for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
{
res[i] += cj0.pmul(A0[i], t1);
t2 += cj1.pmul(A0[i], rhs[i]);
}
res[j] += alpha * t2;
}
}
};
} // end namespace internal
/***************************************************************************
* Wrapper to product_selfadjoint_vector
***************************************************************************/
namespace internal {
template<typename Lhs, int LhsMode, typename Rhs>
struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
: traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
{};
}
template<typename Lhs, int LhsMode, typename Rhs>
struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
: public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
{
EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
enum {
LhsUpLo = LhsMode&(Upper|Lower)
};
SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
{
typedef typename Dest::Scalar ResScalar;
typedef typename Base::RhsScalar RhsScalar;
typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
* RhsBlasTraits::extractScalarFactor(m_rhs);
enum {
EvalToDest = (Dest::InnerStrideAtCompileTime==1),
UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
};
internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
EvalToDest ? dest.data() : static_dest.data());
ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,rhs.size(),
UseRhs ? const_cast<RhsScalar*>(rhs.data()) : static_rhs.data());
if(!EvalToDest)
{
#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
int size = dest.size();
EIGEN_DENSE_STORAGE_CTOR_PLUGIN
#endif
MappedDest(actualDestPtr, dest.size()) = dest;
}
if(!UseRhs)
{
#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
int size = rhs.size();
EIGEN_DENSE_STORAGE_CTOR_PLUGIN
#endif
Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
}
internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
(
lhs.rows(), // size
&lhs.coeffRef(0,0), lhs.outerStride(), // lhs info
actualRhsPtr, 1, // rhs info
actualDestPtr, // result info
actualAlpha // scale factor
);
if(!EvalToDest)
dest = MappedDest(actualDestPtr, dest.size());
}
};
namespace internal {
template<typename Lhs, typename Rhs, int RhsMode>
struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
: traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
{};
}
template<typename Lhs, typename Rhs, int RhsMode>
struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
: public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
{
EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
enum {
RhsUpLo = RhsMode&(Upper|Lower)
};
SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
template<typename Dest> void scaleAndAddTo(Dest& dest, Scalar alpha) const
{
// let's simply transpose the product
Transpose<Dest> destT(dest);
SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
}
};
} // end namespace Eigen
#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H