126 lines
5.0 KiB
Bash
Executable File
126 lines
5.0 KiB
Bash
Executable File
#! /bin/bash
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OPTS=`getopt -o h --long python-version: -n 'parse-options' -- "$@"`
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eval set -- "$OPTS"
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PY_VERSION_LIST=3
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--python-version )
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PY_VERSION_LIST="$2";
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shift 2 ;;
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* )
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shift ;;
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esac
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done
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# ==============================================================================
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# -- Set up environment --------------------------------------------------------
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# ==============================================================================
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source $(dirname "$0")/Environment.sh
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# Convert comma-separated string to array of unique elements.
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IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
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# ==============================================================================
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# -- Get ad-rss -------------------------------------------
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# ==============================================================================
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ADRSS_VERSION=4.4.3
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ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
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ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
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ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
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if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
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# ad-rss is built inside a colcon workspace, therefore we have to setup the workspace first
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log "Retrieving ${ADRSS_BASENAME}."
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mkdir -p "${ADRSS_SRC_DIR}"
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pushd "${ADRSS_SRC_DIR}" >/dev/null
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git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
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git clone --depth=1 -b v2.4.5_hotfix https://github.com/carla-simulator/map.git
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git clone --depth=1 -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git
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popd
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cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
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{
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"names": {
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"ad_physics": {
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"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
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},
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"ad_map_access": {
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"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
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},
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"ad_map_opendrive_reader": {
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"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
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},
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"ad_rss": {
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"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
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},
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"ad_rss_map_integration": {
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"cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
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},
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"spdlog": {
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"cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF"]
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}
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}
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}
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EOL
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fi
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# ==============================================================================
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# -- Build ad-rss -------------------------------------------
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# ==============================================================================
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ADRSS_INSTALL_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/install"
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CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
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if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
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fatal_error "Failed to retrieve the installed version of the clang compiler."
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else
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echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
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fi
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#
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# Since it it not possible with boost-python to build more than one python version at once (find_package has some bugs)
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# we have to build it for every version in a separate colcon build
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#
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for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
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ADRSS_BUILD_DIR="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}/build-python${PY_VERSION}"
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if [[ -d "${ADRSS_INSTALL_DIR}" && -d "${ADRSS_BUILD_DIR}" ]]; then
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log "${ADRSS_BASENAME} for python${PY_VERSION} already installed."
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else
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log "Building ${ADRSS_BASENAME} for python${PY_VERSION}"
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pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
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if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
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CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
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else
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CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
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fi
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# get the python version of the binding to be built
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PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
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PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7:3}
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echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
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# enforce sequential executor to reduce the required memory for compilation
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colcon build --executor sequential --packages-up-to ad_rss_map_integration --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_TOOLCHAIN_FILE="${CARLA_BUILD_FOLDER}/LibStdCppToolChain.cmake" -DCMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH}" -DPYTHON_BINDING_VERSIONS="${PYTHON_BINDING_VERSIONS}" --build-base ${ADRSS_BUILD_DIR} --install-base ${ADRSS_INSTALL_DIR}
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COLCON_RESULT=$?
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if (( COLCON_RESULT )); then
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rm -rf "${ADRSS_INSTALL_DIR}"
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log "Failed !"
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else
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log "Success!"
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fi
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popd >/dev/null
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fi
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done
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