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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 _site
core core
profiler.csv profiler.csv
.clangd
.cache/

193
CMakeLists.txt
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@ -1,6 +1,191 @@
cmake_minimum_required(VERSION 3.5.1) cmake_minimum_required (VERSION 3.12.0)
project(CARLA)
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 from pathlib import Path
import subprocess, tarfile, zipfile, requests, psutil, shutil, glob, json, sys, os import subprocess, tarfile, zipfile, requests, psutil, shutil, glob, json, sys, os
c_compiler = 'clang-cl' if os.name == 'nt' else 'clang' def TestForExecutablePresence(name):
cpp_compiler = 'clang-cl' if os.name == 'nt' else 'clang' if os.name == 'nt':
linker = 'llvm-link' if os.name == 'nt' else 'lld' return subprocess.call([ 'where', name ], shell = True) == 0
lib = 'llvm-lib' if os.name == 'nt' else 'llvm-ar' 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 # Basic paths
workspace_path = Path(__file__).parent.resolve() 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' omniverse_patch_path = util_path / 'Patches' / 'omniverse_4.26'
# Script settings # Script settings
parallelism = psutil.cpu_count(logical = True) parallelism = psutil.cpu_count(logical = True)
force_sequential = False force_sequential = True
cmake_generator = 'Ninja' 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 = ( error_message = (
f'\n' f'\n'
@ -192,7 +239,8 @@ def DownloadDependency(name : str, path : Path, url : str):
entries = [ file for file in extract_path.iterdir() ] entries = [ file for file in extract_path.iterdir() ]
if len(entries) == 1 and entries[0].is_dir(): if len(entries) == 1 and entries[0].is_dir():
Path(entries[0]).rename(path) Path(entries[0]).rename(path)
extract_path.rmdir() if extract_path.exists():
extract_path.rmdir()
else: else:
extract_path.rename(path) extract_path.rename(path)
except Exception as err: except Exception as err:
@ -322,9 +370,12 @@ def UpdateDependencies(c : ConfigureContext):
def DefaultBuild(path : Path): def DefaultBuild(path : Path):
LaunchSubprocess( LaunchSubprocess([ 'cmake', '--build', path ], display_output = True).check_returncode()
['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_source_path = build_path / 'boost-source'
boost_build_path = build_path / 'boost-build' boost_build_path = build_path / 'boost-build'
boost_install_path = build_path / 'boost-install' boost_install_path = build_path / 'boost-install'
boost_include_path = boost_install_path / 'include'
boost_library_path = boost_install_path / 'lib' boost_library_path = boost_install_path / 'lib'
boost_b2_path = boost_source_path / f'b2{executable_extension}' boost_b2_path = boost_source_path / f'b2{executable_extension}'
@ -344,20 +396,17 @@ def ConfigureBoost():
working_directory = boost_source_path).check_returncode() working_directory = boost_source_path).check_returncode()
def BuildBoost(): def BuildBoost():
# B2 potentially recompiles:
if boost_build_path.exists():
return
LaunchSubprocess([ LaunchSubprocess([
boost_b2_path, boost_b2_path,
f'-j{parallelism}', f'-j{parallelism}',
'--layout=versioned', '--layout=system',
f'--build-dir={boost_build_path}', # ??? f'--build-dir={boost_build_path}', # ???
'--with-system', '--with-system',
'--with-filesystem', '--with-filesystem',
'--with-python', '--with-python',
'--with-date_time', '--with-date_time',
# 'architecture=x86', 'architecture=x86',
# 'address-model=64', 'address-model=64',
f'toolset={boost_toolset}', f'toolset={boost_toolset}',
'variant=release', 'variant=release',
'link=static', 'link=static',
@ -365,7 +414,7 @@ def BuildBoost():
'threading=multi', 'threading=multi',
f'--prefix={boost_build_path}', f'--prefix={boost_build_path}',
f'--libdir={boost_library_path}', f'--libdir={boost_library_path}',
f'--includedir={boost_source_path}', f'--includedir={boost_include_path}',
'install' 'install'
], display_output = True, working_directory = boost_source_path).check_returncode() ], 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 os.name == 'nt' and 'clang' in c_compiler:
if not sqlite_executable_path.exists(): if not sqlite_executable_path.exists():
LaunchSubprocess([ cmd = [
c_compiler, c_compiler,
f'-fuse-ld={linker}', '-march=native', '/O2', '/MD', '/EHsc', 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(): if not sqlite_library_path.exists():
LaunchSubprocess([ cmd = [
c_compiler, c_compiler,
f'-fuse-ld={lib}', '-march=native', '/c', '/O2', '/MD', '/EHsc', f'-fuse-ld={lib}', '-march=native', '/O2', '/MD', '/EHsc',
'-o', sqlite_library_path ]
] + sqlite_sources).check_returncode() cmd.extend(sqlite_sources)
cmd.append('-o')
cmd.append(sqlite_library_path)
LaunchSubprocess(cmd).check_returncode()
else: else:
pass pass
@ -613,12 +668,6 @@ def ConfigureXercesc():
'-DCMAKE_CXX_COMPILER=' + cpp_compiler, '-DCMAKE_CXX_COMPILER=' + cpp_compiler,
'-DCMAKE_CXX_FLAGS_RELEASE="/MD"', '-DCMAKE_CXX_FLAGS_RELEASE="/MD"',
'-DCMAKE_BUILD_TYPE=Release', '-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 xercesc_source_path
]).check_returncode() ]).check_returncode()
@ -650,8 +699,9 @@ def BuildDependencies(c : ConfigureContext):
c.Dispatch(ConfigureRPCLib) c.Dispatch(ConfigureRPCLib)
Log('--- CONFIGURING XERCES-C ---') Log('--- CONFIGURING XERCES-C ---')
c.Dispatch(ConfigureXercesc) c.Dispatch(ConfigureXercesc)
Log('--- CONFIGURING CHRONO ---') if c.arg.use_chrono:
c.Dispatch(ConfigureChrono) Log('--- CONFIGURING CHRONO ---')
c.Dispatch(ConfigureChrono)
c.Wait() c.Wait()
Log('--- BUILDING BOOST ---') Log('--- BUILDING BOOST ---')
BuildBoost() BuildBoost()
@ -667,9 +717,18 @@ def BuildDependencies(c : ConfigureContext):
BuildRPCLib() BuildRPCLib()
Log('--- BUILDING XERCESC ---') Log('--- BUILDING XERCESC ---')
BuildXercesc() BuildXercesc()
Log('--- BUILDING CHRONO ---') if c.arg.use_chrono:
BuildChrono() Log('--- BUILDING CHRONO ---')
pass 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', '-clean',
action='store_true', action='store_true',
help = 'Clean build files.') help = 'Clean build files.')
# LibCarla # LibCarla
arg_parser.add_argument( arg_parser.add_argument(
@ -726,6 +786,7 @@ def ParseCommandLine():
'-skip-libcarla-server', '-skip-libcarla-server',
action='store_true', action='store_true',
help = 'Whether to skip the libcarla server.') help = 'Whether to skip the libcarla server.')
# Carla UE: # Carla UE:
arg_parser.add_argument( arg_parser.add_argument(

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

@ -12,7 +12,7 @@
# pragma clang diagnostic push # pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wold-style-cast" # pragma clang diagnostic ignored "-Wold-style-cast"
#endif #endif
#include "moodycamel/ConcurrentQueue.h" #include <third-party/moodycamel/ConcurrentQueue.h>
#if defined(__clang__) #if defined(__clang__)
# pragma clang diagnostic pop # pragma clang diagnostic pop
#endif #endif
@ -20,7 +20,6 @@
#include <memory> #include <memory>
namespace carla { namespace carla {
/// A pool of Buffer. Buffers popped from this pool automatically return to /// A pool of Buffer. Buffers popped from this pool automatically return to
/// the pool on destruction so the allocated memory can be reused. /// 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. /// 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) { std::future<ResultT> Post(FunctorT &&functor) {
auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor)); auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor));
auto future = task.get_future(); 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>. // For a copy, see <https://opensource.org/licenses/MIT>.
#include "carla/geom/Simplification.h" #include "carla/geom/Simplification.h"
#include "simplify/Simplify.h" #include <third-party/simplify/Simplify.h>
namespace carla { namespace carla {
namespace geom { 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. // 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); OpenSession(timeout, on_opened, on_closed, on_response);
}); });
} }

2
LibCarla/source/carla/multigpu/listener.h
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@ -51,7 +51,7 @@ namespace multigpu {
void Listen(callback_function_type on_session_opened, void Listen(callback_function_type on_session_opened,
callback_function_type on_session_closed, callback_function_type on_session_closed,
callback_function_type_response on_response) { callback_function_type_response on_response) {
boost::asio::post(_io_context, [=]() { boost::asio::post(_io_context, [=, this]() {
OpenSession( OpenSession(
_timeout, _timeout,
std::move(on_session_opened), std::move(on_session_opened),

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

2
LibCarla/source/carla/opendrive/OpenDriveParser.cpp
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@ -19,7 +19,7 @@
#include "carla/opendrive/parser/TrafficGroupParser.h" #include "carla/opendrive/parser/TrafficGroupParser.h"
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ControllerParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/GeoReferenceParser.cpp
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@ -11,7 +11,7 @@
#include "carla/geom/GeoLocation.h" #include "carla/geom/GeoLocation.h"
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
#include <limits> #include <limits>
#include <string> #include <string>

4
LibCarla/source/carla/opendrive/parser/GeometryParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {
@ -115,7 +115,7 @@ namespace parser {
} }
// map_builder calls // map_builder calls
for (auto const geo : geometry) { for (const auto& geo : geometry) {
carla::road::Road *road = map_builder.GetRoad(geo.road_id); carla::road::Road *road = map_builder.GetRoad(geo.road_id);
if (geo.type == "line") { if (geo.type == "line") {
map_builder.AddRoadGeometryLine(road, geo.s, geo.x, geo.y, geo.hdg, geo.length); map_builder.AddRoadGeometryLine(road, geo.s, geo.x, geo.y, geo.hdg, geo.length);

2
LibCarla/source/carla/opendrive/parser/JunctionParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/LaneParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ObjectParser.cpp
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@ -10,7 +10,7 @@
#include "carla/road/element/RoadInfoCrosswalk.h" #include "carla/road/element/RoadInfoCrosswalk.h"
#include "carla/road/Road.h" #include "carla/road/Road.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/ProfilesParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

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

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

2
LibCarla/source/carla/opendrive/parser/SignalParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

2
LibCarla/source/carla/opendrive/parser/TrafficGroupParser.cpp
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@ -8,7 +8,7 @@
#include "carla/road/MapBuilder.h" #include "carla/road/MapBuilder.h"
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
namespace carla { namespace carla {
namespace opendrive { namespace opendrive {

6
LibCarla/source/carla/road/Map.cpp
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@ -20,7 +20,7 @@
#include "carla/road/element/RoadInfoSpeed.h" #include "carla/road/element/RoadInfoSpeed.h"
#include "carla/road/element/RoadInfoSignal.h" #include "carla/road/element/RoadInfoSignal.h"
#include "marchingcube/MeshReconstruction.h" #include <third-party/marchingcube/MeshReconstruction.h>
#include <vector> #include <vector>
#include <unordered_map> #include <unordered_map>
@ -1155,7 +1155,7 @@ namespace road {
std::thread neworker( std::thread neworker(
[this, &write_mutex, &mesh_factory, &road_out_mesh_list, i, num_roads_per_thread]() { [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::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); std::lock_guard<std::mutex> guard(write_mutex);
for ( auto&& pair : Current ) { for ( auto&& pair : Current ) {
if (road_out_mesh_list.find(pair.first) != road_out_mesh_list.end()) { 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); mesh_factory.GenerateLaneMarkForRoad(pair.second, LineMarks, outinfo);
} }
return std::move(LineMarks); return LineMarks;
} }
std::vector<carla::geom::BoundingBox> Map::GetJunctionsBoundingBoxes() const { std::vector<carla::geom::BoundingBox> Map::GetJunctionsBoundingBoxes() const {

2
LibCarla/source/carla/road/element/Geometry.cpp
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@ -15,7 +15,7 @@
#include <boost/array.hpp> #include <boost/array.hpp>
#include <boost/math/tools/rational.hpp> #include <boost/math/tools/rational.hpp>
#include <odrSpiral/odrSpiral.h> #include <third-party/odrSpiral/odrSpiral.h>
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>

2
LibCarla/source/carla/streaming/detail/tcp/Server.cpp
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@ -41,7 +41,7 @@ namespace tcp {
_acceptor.async_accept(session->_socket, [=](error_code ec) { _acceptor.async_accept(session->_socket, [=](error_code ec) {
// Handle query and open a new session immediately. // 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); OpenSession(timeout, on_opened, on_closed);
}); });
} }

2
LibCarla/source/test/client/test_opendrive.cpp
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@ -19,7 +19,7 @@
#include <carla/road/element/RoadInfoMarkRecord.h> #include <carla/road/element/RoadInfoMarkRecord.h>
#include <carla/road/element/RoadInfoVisitor.h> #include <carla/road/element/RoadInfoVisitor.h>
#include <pugixml/pugixml.hpp> #include <third-party/pugixml/pugixml.hpp>
#include <fstream> #include <fstream>
#include <string> #include <string>

4
Util/Dependencies.json
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@ -4,11 +4,11 @@
"from" : "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" "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" "type": "download"
} }
] ]