143 lines
3.9 KiB
Markdown
143 lines
3.9 KiB
Markdown
# Build system
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* [__Setup__](#setup)
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* [__LibCarla__](#libcarla)
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* [__CarlaUE4 and Carla plugin__](#carlaue4-and-carla-plugin)
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* [__PythonAPI__](#pythonapi)
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- [Versions 0.9.12+](#versions-0912)
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- [Versions prior to 0.9.12](#versions-prior-to-0912)
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> _This document is a work in progress, only the Linux build system is taken into account here._
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The most challenging part of the setup is to compile all the dependencies and modules to be compatible with a) Unreal Engine in the server-side, and b) Python in the client-side.
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The goal is to be able to call Unreal Engine's functions from a separate Python process.
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In Linux, we compile CARLA and all the dependencies with clang-8.0 and C++14 standard. We however link against different runtime C++ libraries depending on where the code going to be used, since all the code that is going to be linked with Unreal Engine needs to be compiled using `libc++`.
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---
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## Setup
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Command
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```sh
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make setup
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```
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Get and compile dependencies
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* llvm-8 (libc++ and libc++abi)
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* rpclib-2.2.1 (twice, with libstdc++ and libc++)
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* boost-1.72.0 (headers and boost_python for libstdc++)
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* googletest-1.8.1 (with libc++)
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---
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## LibCarla
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Compiled with CMake (minimum version required CMake 3.9).
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Command
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```sh
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make LibCarla
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```
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Two configurations:
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| | Server | Client |
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| ---------- | ---------- | ---------- |
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| **Unit tests** | Yes | No |
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| **Requirements** | rpclib, gtest, boost | rpclib, boost |
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| **std runtime** | LLVM's `libc++` | Default `libstdc++` |
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| **Output** | headers and test exes | `ibcarla_client.a` |
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| **Required by** | Carla plugin | PythonAPI |
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---
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## CarlaUE4 and Carla plugin
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Both compiled at the same step with Unreal Engine build tool. They require the `UE4_ROOT` environment variable set.
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Command
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```sh
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make CarlaUE4Editor
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```
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To launch Unreal Engine's Editor run
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```sh
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make launch
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```
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---
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## PythonAPI
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### Versions 0.9.12+
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Compiled using Python's `setuptools` ("setup.py"). Currently requires the following to be installed in the machine: Python, libpython-dev, and
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libboost-python-dev, pip>=20.3, wheel, and auditwheel.
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Command:
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```sh
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make PythonAPI
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```
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Creates two files that each contain the client library and correspond to the supported Python version on the system. One file is a `.whl` file and the other is an `.egg` file. This allows for the option of two different, mutually exclusive ways to use the client library.
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>__A. .whl file__
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>>The `.whl` is installed using the command:
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>> pip install <wheel_file>.whl
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>>There is no need to import the library path directly in scripts as is required in previous versions or `.egg` files (see section [__Versions prior to 0.9.12__](#versions-prior-to-0912)); `import carla` is sufficient.
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>__B. .egg file__
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>>See the section [__Versions prior to 0.9.12__](#versions-prior-to-0912) for more information.
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### Versions prior to 0.9.12
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Compiled using Python's `setuptools` ("setup.py"). Currently requires the following to be installed in the machine: Python, libpython-dev, and
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libboost-python-dev.
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Command
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```sh
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make PythonAPI
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```
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It creates two "egg" packages
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* `PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg`
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* `PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg`
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This package can be directly imported into a Python script by adding it to the system path.
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```python
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#!/usr/bin/env python
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import sys
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sys.path.append(
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'PythonAPI/dist/carla-X.X.X-py%d.%d-linux-x86_64.egg' % (sys.version_info.major,
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sys.version_info.minor))
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import carla
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# ...
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```
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Alternatively, it can be installed with `easy_install`
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```sh
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easy_install2 --user --no-deps PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg
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easy_install3 --user --no-deps PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg
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```
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