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carla/Util/BuildTools/Setup.sh

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#! /bin/bash
# ==============================================================================
# -- Parse arguments -----------------------------------------------------------
# ==============================================================================
DOC_STRING="Download and install the required libraries for carla."
USAGE_STRING="Usage: $0 [--python-version=VERSION]"
OPTS=`getopt -o h --long help,chrono,pytorch,python-version: -n 'parse-options' -- "$@"`
eval set -- "$OPTS"
PY_VERSION_LIST=3
USE_CHRONO=false
USE_PYTORCH=false
while [[ $# -gt 0 ]]; do
case "$1" in
--python-version )
PY_VERSION_LIST="$2";
shift 2 ;;
--chrono )
USE_CHRONO=true;
shift ;;
--pytorch )
USE_PYTORCH=true;
shift ;;
-h | --help )
echo "$DOC_STRING"
echo "$USAGE_STRING"
exit 1
;;
* )
shift ;;
esac
done
# ==============================================================================
# -- Set up environment --------------------------------------------------------
# ==============================================================================
source $(dirname "$0")/Environment.sh
export CC="$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:$PATH"
CXX_TAG=c10
# Convert comma-separated string to array of unique elements.
IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
mkdir -p ${CARLA_BUILD_FOLDER}
pushd ${CARLA_BUILD_FOLDER} >/dev/null
LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/"
# ==============================================================================
# -- Get boost includes --------------------------------------------------------
# ==============================================================================
BOOST_VERSION=1.80.0
BOOST_BASENAME="boost-${BOOST_VERSION}-${CXX_TAG}"
BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include
BOOST_LIBPATH=${PWD}/${BOOST_BASENAME}-install/lib
for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
SHOULD_BUILD_BOOST=true
PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
LIB_NAME=$(cut -d . -f 1,2 <<< "$PYTHON_VERSION" | tr -d .)
LIB_NAME=${LIB_NAME:7}
if [[ -d "${BOOST_BASENAME}-install" ]] ; then
if [ -f "${BOOST_BASENAME}-install/lib/libboost_python${LIB_NAME}.a" ] ; then
SHOULD_BUILD_BOOST=false
log "${BOOST_BASENAME} already installed."
fi
fi
if { ${SHOULD_BUILD_BOOST} ; } ; then
rm -Rf ${BOOST_BASENAME}-source
BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_}
log "Retrieving boost."
wget "https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
# try to use the backup boost we have in Jenkins
if [[ ! -f "${BOOST_PACKAGE_BASENAME}.tar.gz" ]] ; then
log "Using boost backup"
wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${BOOST_PACKAGE_BASENAME}.tar.gz" || true
fi
log "Extracting boost for Python ${PY_VERSION}."
tar -xzf ${BOOST_PACKAGE_BASENAME}.tar.gz
mkdir -p ${BOOST_BASENAME}-install/include
mv ${BOOST_PACKAGE_BASENAME} ${BOOST_BASENAME}-source
pushd ${BOOST_BASENAME}-source >/dev/null
BOOST_TOOLSET="clang-10.0"
BOOST_CFLAGS="-fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY"
py3="/usr/bin/env python${PY_VERSION}"
py3_root=`${py3} -c "import sys; print(sys.prefix)"`
pyv=`$py3 -c "import sys;x='{v[0]}.{v[1]}'.format(v=list(sys.version_info[:2]));sys.stdout.write(x)";`
./bootstrap.sh \
--with-toolset=clang \
--prefix=../boost-install \
--with-libraries=python,filesystem,system,program_options \
--with-python=${py3} --with-python-root=${py3_root}
if ${TRAVIS} ; then
echo "using python : ${pyv} : ${py3_root}/bin/python${PY_VERSION} ;" > ${HOME}/user-config.jam
else
echo "using python : ${pyv} : ${py3_root}/bin/python${PY_VERSION} ;" > project-config.jam
fi
./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} stage release
./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} install
popd >/dev/null
rm -Rf ${BOOST_BASENAME}-source
rm ${BOOST_PACKAGE_BASENAME}.tar.gz
# Install boost dependencies
mkdir -p "${LIBCARLA_INSTALL_CLIENT_FOLDER}/include/system"
mkdir -p "${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib"
cp -rf ${BOOST_BASENAME}-install/include/* ${LIBCARLA_INSTALL_CLIENT_FOLDER}/include/system
cp -rf ${BOOST_BASENAME}-install/lib/* ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib
fi
done
unset BOOST_BASENAME
# ==============================================================================
# -- Get rpclib and compile it with libc++ and libstdc++ -----------------------
# ==============================================================================
RPCLIB_PATCH=v2.2.1_c5
RPCLIB_BASENAME=rpclib-${RPCLIB_PATCH}-${CXX_TAG}
RPCLIB_LIBCXX_INCLUDE=${PWD}/${RPCLIB_BASENAME}-libcxx-install/include
RPCLIB_LIBCXX_LIBPATH=${PWD}/${RPCLIB_BASENAME}-libcxx-install/lib
RPCLIB_LIBSTDCXX_INCLUDE=${PWD}/${RPCLIB_BASENAME}-libstdcxx-install/include
RPCLIB_LIBSTDCXX_LIBPATH=${PWD}/${RPCLIB_BASENAME}-libstdcxx-install/lib
if [[ -d "${RPCLIB_BASENAME}-libcxx-install" && -d "${RPCLIB_BASENAME}-libstdcxx-install" ]] ; then
log "${RPCLIB_BASENAME} already installed."
else
rm -Rf \
${RPCLIB_BASENAME}-source \
${RPCLIB_BASENAME}-libcxx-build ${RPCLIB_BASENAME}-libstdcxx-build \
${RPCLIB_BASENAME}-libcxx-install ${RPCLIB_BASENAME}-libstdcxx-install
log "Retrieving rpclib."
git clone -b ${RPCLIB_PATCH} https://github.com/carla-simulator/rpclib.git ${RPCLIB_BASENAME}-source
log "Building rpclib with libc++."
# rpclib does not use any cmake 3.9 feature.
# As cmake 3.9 is not standard in Ubuntu 16.04, change cmake version to 3.5
sed -i s/"3.9.0"/"3.5.0"/g ${RPCLIB_BASENAME}-source/CMakeLists.txt
mkdir -p ${RPCLIB_BASENAME}-libcxx-build
pushd ${RPCLIB_BASENAME}-libcxx-build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH} -DBOOST_NO_EXCEPTIONS -DASIO_NO_EXCEPTIONS ${UNREAL_HOSTED_CFLAGS}" \
-DCMAKE_INSTALL_PREFIX="../${RPCLIB_BASENAME}-libcxx-install" \
../${RPCLIB_BASENAME}-source
ninja
ninja install
popd >/dev/null
log "Building rpclib with libstdc++."
mkdir -p ${RPCLIB_BASENAME}-libstdcxx-build
pushd ${RPCLIB_BASENAME}-libstdcxx-build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14" \
-DCMAKE_INSTALL_PREFIX="../${RPCLIB_BASENAME}-libstdcxx-install" \
../${RPCLIB_BASENAME}-source
ninja
ninja install
popd >/dev/null
rm -Rf ${RPCLIB_BASENAME}-source ${RPCLIB_BASENAME}-libcxx-build ${RPCLIB_BASENAME}-libstdcxx-build
fi
unset RPCLIB_BASENAME
# ==============================================================================
# -- Get GTest and compile it with libc++ --------------------------------------
# ==============================================================================
GTEST_VERSION=1.8.1
GTEST_BASENAME=gtest-${GTEST_VERSION}-${CXX_TAG}
GTEST_LIBCXX_INCLUDE=${PWD}/${GTEST_BASENAME}-libcxx-install/include
GTEST_LIBCXX_LIBPATH=${PWD}/${GTEST_BASENAME}-libcxx-install/lib
GTEST_LIBSTDCXX_INCLUDE=${PWD}/${GTEST_BASENAME}-libstdcxx-install/include
GTEST_LIBSTDCXX_LIBPATH=${PWD}/${GTEST_BASENAME}-libstdcxx-install/lib
if [[ -d "${GTEST_BASENAME}-libcxx-install" && -d "${GTEST_BASENAME}-libstdcxx-install" ]] ; then
log "${GTEST_BASENAME} already installed."
else
rm -Rf \
${GTEST_BASENAME}-source \
${GTEST_BASENAME}-libcxx-build ${GTEST_BASENAME}-libstdcxx-build \
${GTEST_BASENAME}-libcxx-install ${GTEST_BASENAME}-libstdcxx-install
log "Retrieving Google Test."
git clone --depth=1 -b release-${GTEST_VERSION} https://github.com/google/googletest.git ${GTEST_BASENAME}-source
log "Building Google Test with libc++."
mkdir -p ${GTEST_BASENAME}-libcxx-build
pushd ${GTEST_BASENAME}-libcxx-build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH} -DBOOST_NO_EXCEPTIONS -fno-exceptions ${UNREAL_HOSTED_CFLAGS}" \
-DCMAKE_INSTALL_PREFIX="../${GTEST_BASENAME}-libcxx-install" \
../${GTEST_BASENAME}-source
ninja
ninja install
popd >/dev/null
log "Building Google Test with libstdc++."
mkdir -p ${GTEST_BASENAME}-libstdcxx-build
pushd ${GTEST_BASENAME}-libstdcxx-build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-std=c++14" \
-DCMAKE_INSTALL_PREFIX="../${GTEST_BASENAME}-libstdcxx-install" \
../${GTEST_BASENAME}-source
ninja
ninja install
popd >/dev/null
rm -Rf ${GTEST_BASENAME}-source ${GTEST_BASENAME}-libcxx-build ${GTEST_BASENAME}-libstdcxx-build
fi
unset GTEST_BASENAME
# ==============================================================================
# -- Get Recast&Detour and compile it with libc++ ------------------------------
# ==============================================================================
RECAST_BASENAME=recast-${CXX_TAG}
RECAST_INCLUDE=${PWD}/${RECAST_BASENAME}-install/include
RECAST_LIBPATH=${PWD}/${RECAST_BASENAME}-install/lib
if [[ -d "${RECAST_BASENAME}-install" &&
-f "${RECAST_BASENAME}-install/bin/RecastBuilder" ]] ; then
log "${RECAST_BASENAME} already installed."
else
rm -Rf \
${RECAST_BASENAME}-source \
${RECAST_BASENAME}-build \
${RECAST_BASENAME}-install
log "Retrieving Recast & Detour"
git clone https://github.com/carla-simulator/recastnavigation.git ${RECAST_BASENAME}-source
pushd ${RECAST_BASENAME}-source >/dev/null
git checkout carla
popd >/dev/null
log "Building Recast & Detour with libc++."
mkdir -p ${RECAST_BASENAME}-build
pushd ${RECAST_BASENAME}-build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-std=c++14 -fPIC" \
-DCMAKE_INSTALL_PREFIX="../${RECAST_BASENAME}-install" \
-DRECASTNAVIGATION_DEMO=False \
-DRECASTNAVIGATION_TEST=False \
../${RECAST_BASENAME}-source
ninja
ninja install
popd >/dev/null
rm -Rf ${RECAST_BASENAME}-source ${RECAST_BASENAME}-build
fi
# make sure the RecastBuilder is corrctly copied
RECAST_INSTALL_DIR="${CARLA_BUILD_FOLDER}/../Util/DockerUtils/dist"
if [[ ! -f "${RECAST_INSTALL_DIR}/RecastBuilder" ]]; then
cp "${RECAST_BASENAME}-install/bin/RecastBuilder" "${RECAST_INSTALL_DIR}/"
fi
unset RECAST_BASENAME
# ==============================================================================
# -- Get and compile libpng 1.6.37 ------------------------------
# ==============================================================================
LIBPNG_VERSION=1.6.37
LIBPNG_REPO=https://sourceforge.net/projects/libpng/files/libpng16/${LIBPNG_VERSION}/libpng-${LIBPNG_VERSION}.tar.xz
LIBPNG_BASENAME=libpng-${LIBPNG_VERSION}
LIBPNG_INSTALL=${LIBPNG_BASENAME}-install
LIBPNG_INCLUDE=${PWD}/${LIBPNG_BASENAME}-install/include/
LIBPNG_LIBPATH=${PWD}/${LIBPNG_BASENAME}-install/lib
if [[ -d ${LIBPNG_INSTALL} ]] ; then
log "Libpng already installed."
else
log "Retrieving libpng."
wget ${LIBPNG_REPO}
log "Extracting libpng."
tar -xf libpng-${LIBPNG_VERSION}.tar.xz
mv ${LIBPNG_BASENAME} ${LIBPNG_BASENAME}-source
pushd ${LIBPNG_BASENAME}-source >/dev/null
./configure --prefix=${CARLA_BUILD_FOLDER}/${LIBPNG_INSTALL}
make install
popd >/dev/null
rm -Rf libpng-${LIBPNG_VERSION}.tar.xz
rm -Rf ${LIBPNG_BASENAME}-source
fi
# ==============================================================================
# -- Get and compile libxerces 3.2.3 ------------------------------
# ==============================================================================
XERCESC_VERSION=3.2.3
XERCESC_BASENAME=xerces-c-${XERCESC_VERSION}
XERCESC_TEMP_FOLDER=${XERCESC_BASENAME}
XERCESC_REPO=https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-${XERCESC_VERSION}.tar.gz
XERCESC_SRC_DIR=${XERCESC_BASENAME}-source
XERCESC_INSTALL_DIR=${XERCESC_BASENAME}-install
XERCESC_INSTALL_SERVER_DIR=${XERCESC_BASENAME}-install-server
XERCESC_LIB=${XERCESC_INSTALL_DIR}/lib/libxerces-c.a
XERCESC_SERVER_LIB=${XERCESC_INSTALL_SERVER_DIR}/lib/libxerces-c.a
if [[ -d ${XERCESC_INSTALL_DIR} && -d ${XERCESC_INSTALL_SERVER_DIR} ]] ; then
log "Xerces-c already installed."
else
log "Retrieving xerces-c."
wget ${XERCESC_REPO}
# try to use the backup boost we have in Jenkins
if [[ ! -f "${XERCESC_BASENAME}.tar.gz" ]] ; then
log "Using xerces backup"
wget "https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/${XERCESC_BASENAME}.tar.gz" || true
fi
log "Extracting xerces-c."
tar -xzf ${XERCESC_BASENAME}.tar.gz
mv ${XERCESC_BASENAME} ${XERCESC_SRC_DIR}
mkdir -p ${XERCESC_INSTALL_DIR}
mkdir -p ${XERCESC_SRC_DIR}/build
pushd ${XERCESC_SRC_DIR}/build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -w" \
-DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_DIR}" \
-DCMAKE_BUILD_TYPE=Release \
-DBUILD_SHARED_LIBS=OFF \
-Dtranscoder=gnuiconv \
-Dnetwork=OFF \
..
ninja
ninja install
popd >/dev/null
mkdir -p ${XERCESC_INSTALL_SERVER_DIR}
pushd ${XERCESC_SRC_DIR}/build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-std=c++14 -stdlib=libc++ -fPIC -w -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
-DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_SERVER_DIR}" \
-DCMAKE_BUILD_TYPE=Release \
-DBUILD_SHARED_LIBS=OFF \
-Dtranscoder=gnuiconv \
-Dnetwork=OFF \
..
ninja
ninja install
popd >/dev/null
rm -Rf ${XERCESC_BASENAME}.tar.gz
rm -Rf ${XERCESC_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
cp ${XERCESC_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${XERCESC_SERVER_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
# ==============================================================================
# -- Get Eigen headers 3.1.0 (CARLA dependency) -------------------------------------
# ==============================================================================
EIGEN_VERSION=3.1.0
EIGEN_REPO=https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_VERSION}/eigen-${EIGEN_VERSION}.tar.gz
EIGEN_BASENAME=eigen-${EIGEN_VERSION}
EIGEN_SRC_DIR=eigen-${EIGEN_VERSION}-src
EIGEN_INSTALL_DIR=eigen-${EIGEN_VERSION}-install
EIGEN_INCLUDE=${EIGEN_INSTALL_DIR}/include
if [[ -d ${EIGEN_INSTALL_DIR} ]] ; then
log "Eigen already installed."
else
log "Retrieving Eigen."
wget ${EIGEN_REPO}
log "Extracting Eigen."
tar -xzf ${EIGEN_BASENAME}.tar.gz
mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR}
mkdir -p ${EIGEN_INCLUDE}/unsupported
mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE}
mv ${EIGEN_SRC_DIR}/unsupported/Eigen ${EIGEN_INCLUDE}/unsupported/Eigen
rm -Rf ${EIGEN_BASENAME}.tar.gz
rm -Rf ${EIGEN_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p -r ${EIGEN_INCLUDE}/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
if ${USE_CHRONO} ; then
# ==============================================================================
# -- Get Eigen headers (Chrono dependency) -------------------------------------
# ==============================================================================
EIGEN_VERSION=3.3.7
EIGEN_REPO=https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz
EIGEN_BASENAME=eigen-${EIGEN_VERSION}
EIGEN_SRC_DIR=eigen-${EIGEN_VERSION}-src
EIGEN_INSTALL_DIR=eigen-${EIGEN_VERSION}-install
EIGEN_INCLUDE=${EIGEN_INSTALL_DIR}/include
if [[ -d ${EIGEN_INSTALL_DIR} ]] ; then
log "Eigen already installed."
else
log "Retrieving Eigen."
wget ${EIGEN_REPO}
log "Extracting Eigen."
tar -xzf ${EIGEN_BASENAME}.tar.gz
mv ${EIGEN_BASENAME} ${EIGEN_SRC_DIR}
mkdir -p ${EIGEN_INCLUDE}/unsupported
mv ${EIGEN_SRC_DIR}/Eigen ${EIGEN_INCLUDE}
mv ${EIGEN_SRC_DIR}/unsupported/Eigen ${EIGEN_INCLUDE}/unsupported/Eigen
rm -Rf ${EIGEN_BASENAME}.tar.gz
rm -Rf ${EIGEN_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p -r ${EIGEN_INCLUDE}/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
# ==============================================================================
# -- Get Chrono and compile it with libc++ -------------------------------------
# ==============================================================================
CHRONO_TAG=6.0.0
# CHRONO_TAG=develop
CHRONO_REPO=https://github.com/projectchrono/chrono.git
CHRONO_SRC_DIR=chrono-source
CHRONO_INSTALL_DIR=chrono-install
if [[ -d ${CHRONO_INSTALL_DIR} ]] ; then
log "chrono library already installed."
else
log "Retrieving chrono library."
git clone --depth 1 --branch ${CHRONO_TAG} ${CHRONO_REPO} ${CHRONO_SRC_DIR}
mkdir -p ${CHRONO_SRC_DIR}/build
pushd ${CHRONO_SRC_DIR}/build >/dev/null
cmake -G "Ninja" \
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH} -Wno-unused-command-line-argument ${UNREAL_HOSTED_CFLAGS}" \
-DEIGEN3_INCLUDE_DIR="../../${EIGEN_INCLUDE}" \
-DCMAKE_INSTALL_PREFIX="../../${CHRONO_INSTALL_DIR}" \
-DCMAKE_BUILD_TYPE=Release \
-DENABLE_MODULE_VEHICLE=ON \
..
ninja
ninja install
popd >/dev/null
rm -Rf ${CHRONO_SRC_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
cp -p ${CHRONO_INSTALL_DIR}/lib/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p -r ${CHRONO_INSTALL_DIR}/include/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
fi
# ==============================================================================
# -- Get and compile Sqlite3 ---------------------------------------------------
# ==============================================================================
SQLITE_VERSION=sqlite-autoconf-3340100
SQLITE_REPO=https://www.sqlite.org/2021/${SQLITE_VERSION}.tar.gz
SQLITE_TAR=${SQLITE_VERSION}.tar.gz
SQLITE_SOURCE_DIR=sqlite-src
SQLITE_INSTALL_DIR=sqlite-install
SQLITE_INCLUDE_DIR=${PWD}/${SQLITE_INSTALL_DIR}/include
SQLITE_LIB=${PWD}/${SQLITE_INSTALL_DIR}/lib/libsqlite3.a
SQLITE_FULL_LIB=${PWD}/${SQLITE_INSTALL_DIR}/lib/
SQLITE_EXE=${PWD}/${SQLITE_INSTALL_DIR}/bin/sqlite3
if [[ -d ${SQLITE_INSTALL_DIR} ]] ; then
log "Sqlite already installed."
else
log "Retrieving Sqlite3"
wget ${SQLITE_REPO}
log "Extracting Sqlite3"
tar -xzf ${SQLITE_TAR}
mv ${SQLITE_VERSION} ${SQLITE_SOURCE_DIR}
mkdir ${SQLITE_INSTALL_DIR}
pushd ${SQLITE_SOURCE_DIR} >/dev/null
export CFLAGS="-fPIC -w"
./configure --prefix=${PWD}/../sqlite-install/
make
make install
popd >/dev/null
rm -Rf ${SQLITE_TAR}
rm -Rf ${SQLITE_SOURCE_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
cp ${SQLITE_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p -r ${SQLITE_FULL_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}
# ==============================================================================
# -- Get and compile PROJ ------------------------------------------------------
# ==============================================================================
PROJ_VERSION=proj-7.2.1
PROJ_REPO=https://download.osgeo.org/proj/${PROJ_VERSION}.tar.gz
PROJ_TAR=${PROJ_VERSION}.tar.gz
PROJ_SRC_DIR=proj-src
PROJ_INSTALL_DIR=proj-install
PROJ_INSTALL_SERVER_DIR=proj-install-server
PROJ_INSTALL_DIR_FULL=${PWD}/${PROJ_INSTALL_DIR}
PROJ_INSTALL_SERVER_DIR_FULL=${PWD}/${PROJ_INSTALL_SERVER_DIR}
PROJ_LIB=${PROJ_INSTALL_DIR_FULL}/lib/libproj.a
PROJ_SERVER_LIB=${PROJ_INSTALL_SERVER_DIR_FULL}/lib/libproj.a
if [[ -d ${PROJ_INSTALL_DIR} && -d ${PROJ_INSTALL_SERVER_DIR_FULL} ]] ; then
log "PROJ already installed."
else
log "Retrieving PROJ"
wget ${PROJ_REPO}
log "Extracting PROJ"
tar -xzf ${PROJ_TAR}
mv ${PROJ_VERSION} ${PROJ_SRC_DIR}
mkdir -p ${PROJ_SRC_DIR}/build
mkdir -p ${PROJ_INSTALL_DIR}
pushd ${PROJ_SRC_DIR}/build >/dev/null
cmake -G "Ninja" .. \
-DCMAKE_CXX_FLAGS="-std=c++14 -fPIC" \
-DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
-DEXE_SQLITE3=${SQLITE_EXE} \
-DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
-DCMAKE_BUILD_TYPE=Release -DBUILD_PROJINFO=OFF \
-DBUILD_CCT=OFF -DBUILD_CS2CS=OFF -DBUILD_GEOD=OFF -DBUILD_GIE=OFF \
-DBUILD_PROJ=OFF -DBUILD_TESTING=OFF \
-DCMAKE_INSTALL_PREFIX=${PROJ_INSTALL_DIR_FULL}
ninja
ninja install
popd >/dev/null
mkdir -p ${PROJ_INSTALL_SERVER_DIR}
pushd ${PROJ_SRC_DIR}/build >/dev/null
cmake -G "Ninja" .. \
-DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}" \
-DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
-DEXE_SQLITE3=${SQLITE_EXE} \
-DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
-DCMAKE_BUILD_TYPE=Release -DBUILD_PROJINFO=OFF \
-DBUILD_CCT=OFF -DBUILD_CS2CS=OFF -DBUILD_GEOD=OFF -DBUILD_GIE=OFF \
-DBUILD_PROJ=OFF -DBUILD_TESTING=OFF \
-DCMAKE_INSTALL_PREFIX=${PROJ_INSTALL_SERVER_DIR_FULL}
ninja
ninja install
popd >/dev/null
rm -Rf ${PROJ_TAR}
rm -Rf ${PROJ_SRC_DIR}
fi
cp ${PROJ_LIB} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/lib/
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${PROJ_SERVER_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
# ==============================================================================
# -- Get and compile patchelf --------------------------------------------------
# ==============================================================================
PATCHELF_VERSION=0.12
PATCHELF_REPO=https://github.com/NixOS/patchelf/archive/${PATCHELF_VERSION}.tar.gz
PATCHELF_TAR=${PATCHELF_VERSION}.tar.gz
PATCHELF_SOURCE_DIR=patchelf-src
PATCHELF_INSTALL_DIR=patchelf-install
PATCHELF_INCLUDE_DIR=${PWD}/${PATCHELF_INSTALL_DIR}/include
PATCHELF_EXE=${PWD}/${PATCHELF_INSTALL_DIR}/bin/patchelf
if [[ -d ${PATCHELF_INSTALL_DIR} ]] ; then
log "Patchelf already installed."
else
log "Retrieving patchelf"
wget ${PATCHELF_REPO}
log "Extracting patchelf"
tar -xzf ${PATCHELF_TAR}
mv patchelf-${PATCHELF_VERSION} ${PATCHELF_SOURCE_DIR}
mkdir ${PATCHELF_INSTALL_DIR}
pushd ${PATCHELF_SOURCE_DIR} >/dev/null
./bootstrap.sh
./configure --prefix=${PWD}/../${PATCHELF_INSTALL_DIR}
make
make install
popd >/dev/null
rm -Rf ${PATCHELF_TAR}
rm -Rf ${PATCHELF_SOURCE_DIR}
fi
mkdir -p ${LIBCARLA_INSTALL_CLIENT_FOLDER}/bin/
cp ${PATCHELF_EXE} ${LIBCARLA_INSTALL_CLIENT_FOLDER}/bin/
# ==============================================================================
# -- Download libtorch and dependencies --------------------------------------------------
# ==============================================================================
if ${USE_PYTORCH} ; then
LIBTORCH_BASENAME=libtorch
LIBTORCH_PATH=${PWD}/${LIBTORCH_BASENAME}
LIBTORCH_INCLUDE=${LIBTORCH_PATH}/include
LIBTORCH_LIB=${LIBTORCH_PATH}/lib
LIBTORCH_ZIPFILE=libtorch-shared-with-deps-1.11.0+cu113.zip
LIBTORCH_REPO=https://download.pytorch.org/libtorch/cu113/libtorch-shared-with-deps-1.11.0%2Bcu113.zip
if [[ ! -d ${LIBTORCH_PATH} ]] ; then
wget ${LIBTORCH_REPO}
unzip ${LIBTORCH_ZIPFILE}
fi
function build_torch_extension {
LIB_SOURCE=$1
LIB_INSTALL=$2
LIB_REPO=$3
if [[ ! -d ${LIB_INSTALL} ]] ; then
if [[ ! -d ${LIB_SOURCE} ]] ; then
mkdir -p ${LIB_SOURCE}
log "${LIB_REPO}"
git clone ${LIB_REPO} ${LIB_SOURCE}
mkdir -p ${LIB_SOURCE}/build
fi
pushd ${LIB_SOURCE}/build >/dev/null
cmake -DCMAKE_PREFIX_PATH="${LIBTORCH_PATH}" \
-DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" \
-DCMAKE_INSTALL_PREFIX="${LIB_INSTALL}" \
-DCMAKE_CUDA_FLAGS="-gencode=arch=compute_35,code=sm_35 -gencode=arch=compute_37,code=sm_37 -gencode=arch=compute_50,code=sm_50 -gencode=arch=compute_52,code=sm_52 -gencode=arch=compute_53,code=sm_53 -gencode=arch=compute_60,code=sm_60 -gencode=arch=compute_61,code=sm_61 -gencode=arch=compute_62,code=sm_62 -gencode=arch=compute_70,code=sm_70 -gencode=arch=compute_72,code=sm_72 -gencode=arch=compute_75,code=sm_75 -gencode=arch=compute_80,code=sm_80 -gencode=arch=compute_86,code=sm_86 -gencode=arch=compute_87,code=sm_87 -Wno-deprecated-gpu-targets" \
-DWITH_CUDA=ON \
..
make
make install
popd >/dev/null
fi
}
log "Build libtorch scatter"
#LibtorchScatter
LIBTORCHSCATTER_BASENAME=libtorchscatter
LIBTORCHSCATTER_SOURCE_DIR=${PWD}/${LIBTORCHSCATTER_BASENAME}-source
LIBTORCHSCATTER_INSTALL_DIR=${PWD}/${LIBTORCHSCATTER_BASENAME}-install
LIBTORCHSCATTER_INCLUDE=${LIBTORCHSCATTER_INSTALL_DIR}/include
LIBTORCHSCATTER_LIB=${LIBTORCHSCATTER_INSTALL_DIR}/lib
LIBTORCHSCATTER_REPO="https://github.com/rusty1s/pytorch_scatter.git"
build_torch_extension ${LIBTORCHSCATTER_SOURCE_DIR} ${LIBTORCHSCATTER_INSTALL_DIR} "${LIBTORCHSCATTER_REPO}"
log "Build libtorch cluster"
LIBTORCHCLUSTER_BASENAME=libtorchcluster
LIBTORCHCLUSTER_SOURCE_DIR=${PWD}/${LIBTORCHCLUSTER_BASENAME}-source
LIBTORCHCLUSTER_INSTALL_DIR=${PWD}/${LIBTORCHCLUSTER_BASENAME}-install
LIBTORCHCLUSTER_INCLUDE=${LIBTORCHCLUSTER_INSTALL_DIR}/include
LIBTORCHCLUSTER_LIB=${LIBTORCHCLUSTER_INSTALL_DIR}/lib
LIBTORCHCLUSTER_REPO="https://github.com/rusty1s/pytorch_cluster.git"
build_torch_extension ${LIBTORCHCLUSTER_SOURCE_DIR} ${LIBTORCHCLUSTER_INSTALL_DIR} "${LIBTORCHCLUSTER_REPO}"
mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${LIBTORCH_LIB}/*.a ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${LIBTORCH_LIB}/*.so* ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${LIBTORCHSCATTER_LIB}/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
cp -p ${LIBTORCHCLUSTER_LIB}/*.so ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
mkdir -p ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
cp -p ${LIBTORCH_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
cp -p ${LIBTORCHSCATTER_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
cp -p ${LIBTORCHCLUSTER_LIB}/*.so* ${CARLAUE4_PLUGIN_ROOT_FOLDER}/Binaries/Linux/
fi
# ==============================================================================
# -- Generate Version.h --------------------------------------------------------
# ==============================================================================
CARLA_VERSION=$(get_git_repository_version)
log "CARLA version ${CARLA_VERSION}."
VERSION_H_FILE=${LIBCARLA_ROOT_FOLDER}/source/carla/Version.h
VERSION_H_FILE_GEN=${CARLA_BUILD_FOLDER}/Version.h
sed -e "s|\${CARLA_VERSION}|${CARLA_VERSION}|g" ${VERSION_H_FILE}.in > ${VERSION_H_FILE_GEN}
move_if_changed "${VERSION_H_FILE_GEN}" "${VERSION_H_FILE}"
# ==============================================================================
# -- Generate CMake toolchains and config --------------------------------------
# ==============================================================================
log "Generating CMake configuration files."
# -- LIBSTDCPP_TOOLCHAIN_FILE --------------------------------------------------
cat >${LIBSTDCPP_TOOLCHAIN_FILE}.gen <<EOL
# Automatically generated by `basename "$0"`
set(CMAKE_C_COMPILER ${CC})
set(CMAKE_CXX_COMPILER ${CXX})
# disable -Werror since the boost 1.72 doesn't compile with ad_rss without warnings (i.e. the geometry headers)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wpessimizing-move -Wold-style-cast -Wnull-dereference" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wconversion -Wfloat-overflow-conversion" CACHE STRING "" FORCE)
# @todo These flags need to be compatible with setup.py compilation.
set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY" CACHE STRING "" FORCE)
EOL
# -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------
# We can reuse the previous toolchain.
cp ${LIBSTDCPP_TOOLCHAIN_FILE}.gen ${LIBCPP_TOOLCHAIN_FILE}.gen
cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -isystem ${LLVM_INCLUDE} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions" CACHE STRING "" FORCE)
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
EOL
# -- CMAKE_CONFIG_FILE ---------------------------------------------------------
cat >${CMAKE_CONFIG_FILE}.gen <<EOL
# Automatically generated by `basename "$0"`
add_definitions(-DBOOST_ERROR_CODE_HEADER_ONLY)
if (CMAKE_BUILD_TYPE STREQUAL "Server")
add_definitions(-DASIO_NO_EXCEPTIONS)
add_definitions(-DBOOST_NO_EXCEPTIONS)
add_definitions(-DLIBCARLA_NO_EXCEPTIONS)
add_definitions(-DPUGIXML_NO_EXCEPTIONS)
endif ()
# Uncomment to force support for an specific image format (require their
# respective libraries installed).
# add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT)
# add_definitions(-DLIBCARLA_IMAGE_WITH_JPEG_SUPPORT)
# add_definitions(-DLIBCARLA_IMAGE_WITH_TIFF_SUPPORT)
add_definitions(-DLIBCARLA_TEST_CONTENT_FOLDER="${LIBCARLA_TEST_CONTENT_FOLDER}")
set(BOOST_INCLUDE_PATH "${BOOST_INCLUDE}")
if (CMAKE_BUILD_TYPE STREQUAL "Server")
# Here libraries linking libc++.
set(LLVM_INCLUDE_PATH "${LLVM_INCLUDE}")
set(LLVM_LIB_PATH "${LLVM_LIBPATH}")
set(RPCLIB_INCLUDE_PATH "${RPCLIB_LIBCXX_INCLUDE}")
set(RPCLIB_LIB_PATH "${RPCLIB_LIBCXX_LIBPATH}")
set(GTEST_INCLUDE_PATH "${GTEST_LIBCXX_INCLUDE}")
set(GTEST_LIB_PATH "${GTEST_LIBCXX_LIBPATH}")
elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCH_PATH}")
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHSCATTER_INSTALL_DIR}")
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHCLUSTER_INSTALL_DIR}")
list(APPEND CMAKE_PREFIX_PATH "${LIBTORCHSPARSE_INSTALL_DIR}")
elseif (CMAKE_BUILD_TYPE STREQUAL "Client")
# Here libraries linking libstdc++.
set(RPCLIB_INCLUDE_PATH "${RPCLIB_LIBSTDCXX_INCLUDE}")
set(RPCLIB_LIB_PATH "${RPCLIB_LIBSTDCXX_LIBPATH}")
set(GTEST_INCLUDE_PATH "${GTEST_LIBSTDCXX_INCLUDE}")
set(GTEST_LIB_PATH "${GTEST_LIBSTDCXX_LIBPATH}")
set(BOOST_LIB_PATH "${BOOST_LIBPATH}")
set(RECAST_INCLUDE_PATH "${RECAST_INCLUDE}")
set(RECAST_LIB_PATH "${RECAST_LIBPATH}")
set(LIBPNG_INCLUDE_PATH "${LIBPNG_INCLUDE}")
set(LIBPNG_LIB_PATH "${LIBPNG_LIBPATH}")
endif ()
EOL
if [ "${TRAVIS}" == "true" ] ; then
log "Travis CI build detected: disabling PNG support."
echo "add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=false)" >> ${CMAKE_CONFIG_FILE}.gen
else
echo "add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true)" >> ${CMAKE_CONFIG_FILE}.gen
fi
# -- Move files ----------------------------------------------------------------
move_if_changed "${LIBSTDCPP_TOOLCHAIN_FILE}.gen" "${LIBSTDCPP_TOOLCHAIN_FILE}"
move_if_changed "${LIBCPP_TOOLCHAIN_FILE}.gen" "${LIBCPP_TOOLCHAIN_FILE}"
move_if_changed "${CMAKE_CONFIG_FILE}.gen" "${CMAKE_CONFIG_FILE}"
# ==============================================================================
# -- ...and we are done --------------------------------------------------------
# ==============================================================================
popd >/dev/null
log "Success!"
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