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More progress, fix deprecations and modify CMakeLists.txt

This commit is contained in:
Marcel Pi 2023-11-15 19:36:43 +01:00
parent 440a349425
commit e4130f627a
25 changed files with 336 additions and 81 deletions
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3
.gitignore vendored
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@ -48,3 +48,6 @@ _out*
_site
core
profiler.csv
.clangd
.cache/

193
CMakeLists.txt
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@ -1,6 +1,191 @@
cmake_minimum_required(VERSION 3.5.1)
project(CARLA)
cmake_minimum_required (VERSION 3.12.0)
include("Build/CMakeLists.txt.in")
project (CARLA)
add_subdirectory("LibCarla/cmake")
set (CARLA_VERSION)
set (CMAKE_CXX_STANDARD 20)
set (CMAKE_CXX_STANDARD_REQUIRED ON)
set (CMAKE_EXPORT_COMPILE_COMMANDS ON)
option (LIBCARLA_CLIENT "Whether to build the LibCarla client." ON)
option (LIBCARLA_SERVER "Whether to build the LibCarla server." ON)
option (LIBCARLA_PYTORCH_ENABLE "Whether to enable pytorch." OFF)
option (PYTHON_API "Whether to build the CARLA Python API." ON)
option (LIBCARLA_CLIENT_RSS "Whether to enable RSS components (ad-rss-lib)" OFF)
option (LIBCARLA_INSTALL "Whether to install LibCarla and all of its dependencies." ON)
option (OSM_ENABLE "" OFF)
set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/LibCarla/source)
set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
set (PYTHONAPI_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/PythonAPI)
set (BOOST_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/boost-install/include)
set (BOOST_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/boost-install/lib)
set (CHRONO_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/chrono-install/include)
set (CHRONO_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/chrono-install/lib)
set (EIGEN_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/eigen-install/include)
set (EIGEN_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/eigen-install/lib)
set (GOOGLETEST_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/gtest-install/include)
set (GOOGLETEST_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/gtest-install/lib)
set (LIBPNG_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/libpng-install/include)
set (LIBPNG_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/libpng-install/lib)
set (PROJ_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/proj-install/include)
set (PROJ_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/proj-install/lib)
set (RECAST_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/recast-install/include)
set (RECAST_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/recast-install/lib)
set (RPCLIB_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/rpclib-install/include)
set (RPCLIB_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/rpclib-install/lib)
set (SQLITE_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/sqlite-install/include)
set (SQLITE_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/sqlite-install/lib)
set (XERCESC_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/xercesc-install/include)
set (XERCESC_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/xercesc-install/lib)
set (ZLIB_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/zlib-install/include)
set (ZLIB_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/zlib-install/lib)
set (ZLIB_INCLUDE_PATH ${CMAKE_CURRENT_BINARY_DIR}/zlib-source)
set (ZLIB_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/zlib-build)
add_compile_definitions (BOOST_ERROR_CODE_HEADER_ONLY)
add_compile_definitions (LIBCARLA_IMAGE_WITH_PNG_SUPPORT)
if (WIN32)
# https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
add_compile_definitions (_WIN32_WINNT=0x0A00) # Windows 10
add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
endif ()
if (LIBCARLA_SERVER)
set (LIBCARLA_SERVER_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH})
add_compile_definitions (BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)
add_compile_options (/EHsc)
add_compile_definitions (ASIO_NO_EXCEPTIONS)
add_compile_definitions (BOOST_NO_EXCEPTIONS)
add_compile_definitions (LIBCARLA_NO_EXCEPTIONS)
add_compile_definitions (PUGIXML_NO_EXCEPTIONS)
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_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
add_library (LibCarla-Server STATIC ${LIBCARLA_SERVER_SOURCES})
target_include_directories (LibCarla-Server PRIVATE ${LIBCARLA_SERVER_INCLUDE_PATHS})
endif ()
if (LIBCARLA_CLIENT)
project (LibCarla-Client)
set (LIBCARLA_CLIENT_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH}
${RECAST_INCLUDE_PATH}
${LIBPNG_INCLUDE_PATH})
file (GLOB LIBCARLA_CLIENT_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}carla/geom/*.h
${LIBCARLA_SOURCE_PATH}carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}carla/image/*.h
${LIBCARLA_SOURCE_PATH}carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}carla/nav/*.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/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}carla/profiler/*.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/rss/*.cpp
${LIBCARLA_SOURCE_PATH}carla/rss/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/*.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/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}carla/trafficmanager/*.cpp
${LIBCARLA_SOURCE_PATH}carla/trafficmanager/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
)
add_library (LibCarla-Client STATIC ${LIBCARLA_CLIENT_SOURCES})
target_include_directories (LibCarla-Client PRIVATE ${LIBCARLA_CLIENT_INCLUDE_PATHS})
endif ()
if (LIBCARLA_INSTALL)
file (GLOB_RECURSE LIBCARLA_HEADERS ${LIBCARLA_SOURCE_PATH}/**/*.h,*.hpp)
set (LIBCARLA_HEADERS_RELATIVE)
foreach (HEADER LIBCARLA_HEADERS)
cmake_path (RELATIVE_PATH HEADER BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH} OUTPUT_VARIABLE HEADER_RELATIVE)
list (APPEND LIBCARLA_HEADERS_RELATIVE HEADER_RELATIVE)
endforeach ()
install (FILES LIBCARLA_HEADERS DESTINATION LIBCARLA_HEADERS_RELATIVE)
endif ()

131
Configure.py
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@ -3,10 +3,55 @@ from argparse import ArgumentParser
from pathlib import Path
import subprocess, tarfile, zipfile, requests, psutil, shutil, glob, json, sys, os
c_compiler = 'clang-cl' if os.name == 'nt' else 'clang'
cpp_compiler = 'clang-cl' if os.name == 'nt' else 'clang'
linker = 'llvm-link' if os.name == 'nt' else 'lld'
lib = 'llvm-lib' if os.name == 'nt' else 'llvm-ar'
def TestForExecutablePresence(name):
if os.name == 'nt':
return subprocess.call([ 'where', name ], shell = True) == 0
else:
return subprocess.call([ 'whereis', name ], shell = True) == 0
def FindExistingExecutable(candidates : list):
for e in candidates:
if TestForExecutablePresence(e):
return e
return None
c_compiler_list = [
'clang-cl',
'cl'
] if os.name == 'nt' else [
'clang',
'gcc'
]
cpp_compiler_list = [
'clang-cl',
'cl'
] if os.name == 'nt' else [
'clang++',
'g++'
]
linker_list = [
'llvm-link',
'link'
] if os.name == 'nt' else [
'lld',
'ld'
]
library_list = [
'llvm-lib',
'lib',
'llvm-ar'
] if os.name == 'nt' else [
'llvm-ar',
'ar'
]
c_compiler = FindExistingExecutable(c_compiler_list)
cpp_compiler = FindExistingExecutable(cpp_compiler_list)
linker = FindExistingExecutable(linker_list)
lib = FindExistingExecutable(library_list)
# Basic paths
workspace_path = Path(__file__).parent.resolve()
@ -63,10 +108,12 @@ omniverse_plugin_path = ue_workspace_path / 'Engine' / 'Plugins' / 'Marketplace'
omniverse_patch_path = util_path / 'Patches' / 'omniverse_4.26'
# Script settings
parallelism = psutil.cpu_count(logical = True)
force_sequential = False
force_sequential = True
cmake_generator = 'Ninja'
readthedocs_build_url = 'http://carla.readthedocs.io/en/latest/' + 'how_to_build_on_windows/' if os.name == "nt" else 'build_linux/'
readthedocs_build_url = 'http://carla.readthedocs.io/en/latest/' + (
'how_to_build_on_windows/' if os.name == "nt" else 'build_linux/'
)
error_message = (
f'\n'
@ -192,7 +239,8 @@ def DownloadDependency(name : str, path : Path, url : str):
entries = [ file for file in extract_path.iterdir() ]
if len(entries) == 1 and entries[0].is_dir():
Path(entries[0]).rename(path)
extract_path.rmdir()
if extract_path.exists():
extract_path.rmdir()
else:
extract_path.rename(path)
except Exception as err:
@ -322,9 +370,12 @@ def UpdateDependencies(c : ConfigureContext):
def DefaultBuild(path : Path):
LaunchSubprocess(
['cmake', '--build', path ],
display_output = True).check_returncode()
LaunchSubprocess([ 'cmake', '--build', path ], display_output = True).check_returncode()
def DefaultInstall(path : Path, prefix : Path):
LaunchSubprocess([ 'cmake', '--install', path, '--prefix', prefix ], display_output = True).check_returncode()
@ -333,6 +384,7 @@ boost_toolset_short = 'vc142'
boost_source_path = build_path / 'boost-source'
boost_build_path = build_path / 'boost-build'
boost_install_path = build_path / 'boost-install'
boost_include_path = boost_install_path / 'include'
boost_library_path = boost_install_path / 'lib'
boost_b2_path = boost_source_path / f'b2{executable_extension}'
@ -344,20 +396,17 @@ def ConfigureBoost():
working_directory = boost_source_path).check_returncode()
def BuildBoost():
# B2 potentially recompiles:
if boost_build_path.exists():
return
LaunchSubprocess([
boost_b2_path,
f'-j{parallelism}',
'--layout=versioned',
'--layout=system',
f'--build-dir={boost_build_path}', # ???
'--with-system',
'--with-filesystem',
'--with-python',
'--with-date_time',
# 'architecture=x86',
# 'address-model=64',
'architecture=x86',
'address-model=64',
f'toolset={boost_toolset}',
'variant=release',
'link=static',
@ -365,7 +414,7 @@ def BuildBoost():
'threading=multi',
f'--prefix={boost_build_path}',
f'--libdir={boost_library_path}',
f'--includedir={boost_source_path}',
f'--includedir={boost_include_path}',
'install'
], display_output = True, working_directory = boost_source_path).check_returncode()
@ -491,17 +540,23 @@ def BuildSQLite():
if os.name == 'nt' and 'clang' in c_compiler:
if not sqlite_executable_path.exists():
LaunchSubprocess([
cmd = [
c_compiler,
f'-fuse-ld={linker}', '-march=native', '/O2', '/MD', '/EHsc',
f'/Fe"{sqlite_executable_path}"'
] + sqlite_sources).check_returncode()
]
cmd.extend(sqlite_sources)
cmd.append('-o')
cmd.append(sqlite_executable_path)
LaunchSubprocess(cmd).check_returncode()
if not sqlite_library_path.exists():
LaunchSubprocess([
cmd = [
c_compiler,
f'-fuse-ld={lib}', '-march=native', '/c', '/O2', '/MD', '/EHsc',
'-o', sqlite_library_path
] + sqlite_sources).check_returncode()
f'-fuse-ld={lib}', '-march=native', '/O2', '/MD', '/EHsc',
]
cmd.extend(sqlite_sources)
cmd.append('-o')
cmd.append(sqlite_library_path)
LaunchSubprocess(cmd).check_returncode()
else:
pass
@ -613,12 +668,6 @@ def ConfigureXercesc():
'-DCMAKE_CXX_COMPILER=' + cpp_compiler,
'-DCMAKE_CXX_FLAGS_RELEASE="/MD"',
'-DCMAKE_BUILD_TYPE=Release',
'-DRPCLIB_BUILD_TESTS=OFF',
'-DRPCLIB_GENERATE_COMPDB=OFF',
'-DRPCLIB_BUILD_EXAMPLES=OFF',
'-DRPCLIB_ENABLE_LOGGING=OFF',
'-DRPCLIB_ENABLE_COVERAGE=OFF',
'-DRPCLIB_MSVC_STATIC_RUNTIME=OFF',
xercesc_source_path
]).check_returncode()
@ -650,8 +699,9 @@ def BuildDependencies(c : ConfigureContext):
c.Dispatch(ConfigureRPCLib)
Log('--- CONFIGURING XERCES-C ---')
c.Dispatch(ConfigureXercesc)
Log('--- CONFIGURING CHRONO ---')
c.Dispatch(ConfigureChrono)
if c.arg.use_chrono:
Log('--- CONFIGURING CHRONO ---')
c.Dispatch(ConfigureChrono)
c.Wait()
Log('--- BUILDING BOOST ---')
BuildBoost()
@ -667,9 +717,18 @@ def BuildDependencies(c : ConfigureContext):
BuildRPCLib()
Log('--- BUILDING XERCESC ---')
BuildXercesc()
Log('--- BUILDING CHRONO ---')
BuildChrono()
pass
if c.arg.use_chrono:
Log('--- BUILDING CHRONO ---')
BuildChrono()
c.Wait()
DefaultInstall(gtest_build_path, gtest_install_path)
DefaultInstall(libpng_build_path, libpng_install_path)
DefaultInstall(proj_build_path, proj_install_path)
DefaultInstall(recast_build_path, recast_install_path)
DefaultInstall(rpclib_build_path, rpclib_install_path)
DefaultInstall(xercesc_build_path, xercesc_install_path)
if c.arg.use_chrono:
DefaultInstall(chrono_build_path, chrono_install_path)
@ -715,6 +774,7 @@ def ParseCommandLine():
'-clean',
action='store_true',
help = 'Clean build files.')
# LibCarla
arg_parser.add_argument(
@ -726,6 +786,7 @@ def ParseCommandLine():
'-skip-libcarla-server',
action='store_true',
help = 'Whether to skip the libcarla server.')
# Carla UE:
arg_parser.add_argument(

3
LibCarla/source/carla/BufferPool.h
View File

@ -12,7 +12,7 @@
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wold-style-cast"
#endif
#include "moodycamel/ConcurrentQueue.h"
#include <third-party/moodycamel/ConcurrentQueue.h>
#if defined(__clang__)
# pragma clang diagnostic pop
#endif
@ -20,7 +20,6 @@
#include <memory>
namespace carla {
/// A pool of Buffer. Buffers popped from this pool automatically return to
/// the pool on destruction so the allocated memory can be reused.
///

9
LibCarla/source/carla/ThreadPool.h
View File

@ -37,7 +37,14 @@ namespace carla {
}
/// Post a task to the pool.
template <typename FunctorT, typename ResultT = typename std::result_of<FunctorT()>::type>
template <
typename FunctorT,
#if __cplusplus < 201703L
typename ResultT = typename std::result_of_t<FunctorT()>
#else
typename ResultT = typename std::invoke_result_t<FunctorT()>
#endif
>
std::future<ResultT> Post(FunctorT &&functor) {
auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor));
auto future = task.get_future();

2
LibCarla/source/carla/geom/Simplification.cpp
View File

@ -5,7 +5,7 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "carla/geom/Simplification.h"
#include "simplify/Simplify.h"
#include <third-party/simplify/Simplify.h>
namespace carla {
namespace geom {

4
LibCarla/source/carla/multigpu/listener.cpp
View File

@ -53,9 +53,9 @@ namespace multigpu {
}
};
_acceptor.async_accept(session->_socket, [=](error_code ec) {
_acceptor.async_accept(session->_socket, [=, this](error_code ec) {
// Handle query and open a new session immediately.
boost::asio::post(_io_context, [=]() { handle_query(ec); });
boost::asio::post(_io_context, [ec, handle_query]() { handle_query(ec); });
OpenSession(timeout, on_opened, on_closed, on_response);
});
}

2
LibCarla/source/carla/multigpu/listener.h
View File

@ -51,7 +51,7 @@ namespace multigpu {
void Listen(callback_function_type on_session_opened,
callback_function_type on_session_closed,
callback_function_type_response on_response) {
boost::asio::post(_io_context, [=]() {
boost::asio::post(_io_context, [=, this]() {
OpenSession(
_timeout,
std::move(on_session_opened),

12
LibCarla/source/carla/nav/Navigation.h
View File

@ -13,12 +13,12 @@
#include "carla/geom/Transform.h"
#include "carla/nav/WalkerManager.h"
#include "carla/rpc/ActorId.h"
#include <recast/Recast.h>
#include <recast/DetourCrowd.h>
#include <recast/DetourNavMesh.h>
#include <recast/DetourNavMeshBuilder.h>
#include <recast/DetourNavMeshQuery.h>
#include <recast/DetourCommon.h>
#include <recastnavigation/Recast.h>
#include <recastnavigation/DetourCrowd.h>
#include <recastnavigation/DetourNavMesh.h>
#include <recastnavigation/DetourNavMeshBuilder.h>
#include <recastnavigation/DetourNavMeshQuery.h>
#include <recastnavigation/DetourCommon.h>
namespace carla {
namespace nav {

2
LibCarla/source/carla/opendrive/OpenDriveParser.cpp
View File

@ -19,7 +19,7 @@
#include "carla/opendrive/parser/TrafficGroupParser.h"
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ControllerParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/GeoReferenceParser.cpp
View File

@ -11,7 +11,7 @@
#include "carla/geom/GeoLocation.h"
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
#include <limits>
#include <string>

4
LibCarla/source/carla/opendrive/parser/GeometryParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {
@ -115,7 +115,7 @@ namespace parser {
}
// map_builder calls
for (auto const geo : geometry) {
for (const auto& geo : geometry) {
carla::road::Road *road = map_builder.GetRoad(geo.road_id);
if (geo.type == "line") {
map_builder.AddRoadGeometryLine(road, geo.s, geo.x, geo.y, geo.hdg, geo.length);

2
LibCarla/source/carla/opendrive/parser/JunctionParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/LaneParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
View File

@ -10,7 +10,7 @@
#include "carla/road/element/RoadInfoCrosswalk.h"
#include "carla/road/Road.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ProfilesParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

20
LibCarla/source/carla/opendrive/parser/RoadParser.cpp
View File

@ -11,7 +11,7 @@
#include "carla/road/MapBuilder.h"
#include "carla/road/RoadTypes.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {
@ -256,7 +256,7 @@ namespace parser {
// test print
/*
printf("Roads: %d\n", roads.size());
for (auto const r : roads) {
for (const auto& r : roads) {
printf("Road: %d\n", r.id);
printf(" Name: %s\n", r.name.c_str());
printf(" Length: %e\n", r.length);
@ -264,18 +264,18 @@ namespace parser {
printf(" Predecessor: %d\n", r.predecessor);
printf(" Successor: %d\n", r.successor);
printf(" Speed: %d\n", r.speed.size());
for (auto const s : r.speed) {
for (const auto& s : r.speed) {
printf(" S offset: %e\n", s.s);
printf(" Type: %s\n", s.type.c_str());
printf(" Max: %e\n", s.max);
printf(" Unit: %s\n", s.unit.c_str());
}
printf("LaneSections: %d\n", r.sections.size());
for (auto const s : r.sections) {
for (const auto& s : r.sections) {
printf(" S offset: %e\n", s.s);
printf(" a,b,c,d: %e,%e,%e,%e\n", s.a, s.b, s.c, s.d);
printf(" Lanes: %d\n", s.lanes.size());
for (auto const l : s.lanes) {
for (const auto& l : s.lanes) {
printf(" Id: %d\n", l.id);
printf(" Type: %s\n", l.type.c_str());
printf(" Level: %d\n", l.level);
@ -287,7 +287,7 @@ namespace parser {
*/
// map_builder calls
for (auto const r : roads) {
for (const auto& r : roads) {
carla::road::Road *road = map_builder.AddRoad(r.id,
r.name,
r.length,
@ -296,22 +296,22 @@ namespace parser {
r.successor);
// type speed
for (auto const s : r.speed) {
for (const auto& s : r.speed) {
map_builder.CreateRoadSpeed(road, s.s, s.type, s.max, s.unit);
}
// section offsets
for (auto const s : r.section_offsets) {
for (const auto& s : r.section_offsets) {
map_builder.CreateSectionOffset(road, s.s, s.a, s.b, s.c, s.d);
}
// lane sections
road::SectionId i = 0;
for (auto const s : r.sections) {
for (const auto& s : r.sections) {
carla::road::LaneSection *section = map_builder.AddRoadSection(road, i++, s.s);
// lanes
for (auto const l : s.lanes) {
for (const auto& l : s.lanes) {
/*carla::road::Lane *lane = */ map_builder.AddRoadSectionLane(section, l.id,
static_cast<uint32_t>(l.type), l.level, l.predecessor, l.successor);
}

2
LibCarla/source/carla/opendrive/parser/SignalParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/TrafficGroupParser.cpp
View File

@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
namespace carla {
namespace opendrive {

6
LibCarla/source/carla/road/Map.cpp
View File

@ -20,7 +20,7 @@
#include "carla/road/element/RoadInfoSpeed.h"
#include "carla/road/element/RoadInfoSignal.h"
#include "marchingcube/MeshReconstruction.h"
#include <third-party/marchingcube/MeshReconstruction.h>
#include <vector>
#include <unordered_map>
@ -1155,7 +1155,7 @@ namespace road {
std::thread neworker(
[this, &write_mutex, &mesh_factory, &road_out_mesh_list, i, num_roads_per_thread]() {
std::map<road::Lane::LaneType, std::vector<std::unique_ptr<geom::Mesh>>> Current =
std::move(GenerateRoadsMultithreaded(mesh_factory, i, num_roads_per_thread));
GenerateRoadsMultithreaded(mesh_factory, i, num_roads_per_thread);
std::lock_guard<std::mutex> guard(write_mutex);
for ( auto&& pair : Current ) {
if (road_out_mesh_list.find(pair.first) != road_out_mesh_list.end()) {
@ -1286,7 +1286,7 @@ namespace road {
mesh_factory.GenerateLaneMarkForRoad(pair.second, LineMarks, outinfo);
}
return std::move(LineMarks);
return LineMarks;
}
std::vector<carla::geom::BoundingBox> Map::GetJunctionsBoundingBoxes() const {

2
LibCarla/source/carla/road/element/Geometry.cpp
View File

@ -15,7 +15,7 @@
#include <boost/array.hpp>
#include <boost/math/tools/rational.hpp>
#include <odrSpiral/odrSpiral.h>
#include <third-party/odrSpiral/odrSpiral.h>
#include <algorithm>
#include <cmath>

2
LibCarla/source/carla/streaming/detail/tcp/Server.cpp
View File

@ -41,7 +41,7 @@ namespace tcp {
_acceptor.async_accept(session->_socket, [=](error_code ec) {
// Handle query and open a new session immediately.
boost::asio::post(_io_context, [=]() { handle_query(ec); });
boost::asio::post(_io_context, [=, this]() { handle_query(ec); });
OpenSession(timeout, on_opened, on_closed);
});
}

2
LibCarla/source/test/client/test_opendrive.cpp
View File

@ -19,7 +19,7 @@
#include <carla/road/element/RoadInfoMarkRecord.h>
#include <carla/road/element/RoadInfoVisitor.h>
#include <pugixml/pugixml.hpp>
#include <third-party/pugixml/pugixml.hpp>
#include <fstream>
#include <string>

4
Util/Dependencies.json
View File

@ -4,11 +4,11 @@
"from" :
[
{
"url": "https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.zip",
"url": "https://boostorg.jfrog.io/artifactory/main/release/1.83.0/source/boost_1_83_0.zip",
"type": "download"
},
{
"url": "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/boost_1_80_0.zip",
"url": "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/boost_1_83_0.zip",
"type": "download"
}
]