559 lines
13 KiB
CMake
559 lines
13 KiB
CMake
project (
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carla-unreal
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VERSION
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${CARLA_VERSION}
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LANGUAGES
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CXX
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DESCRIPTION
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"Open-source simulator for autonomous driving research."
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)
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carla_option (
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ENABLE_DIRECTORY_CLEAN
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"Enable ADDITIONAL_CLEAN_FILES on directory level"
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ON
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)
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set (
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CARLA_BUILD_PATH
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${CARLA_WORKSPACE_PATH}/Build/
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)
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set (
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CARLA_UE_PATH
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${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal
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)
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set (
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CARLA_UE_PLUGINS_PATH
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${CARLA_UE_PATH}/Plugins
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)
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set (
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CARLA_UE_CARLA_PATH
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${CARLA_UE_PLUGINS_PATH}/Carla
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)
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set (
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CARLA_UE_CARLA_TOOLS_PATH
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${CARLA_UE_PLUGINS_PATH}/CarlaTools
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)
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set (
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CARLA_UE_CARLA_EXPORTER_PATH
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${CARLA_UE_PLUGINS_PATH}/CarlaExporter
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)
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set (
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CARLA_UE_PROJECT_PATH
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${CARLA_UE_PATH}/CarlaUnreal.uproject
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)
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set (
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CARLA_UE_CONTENT_PATH
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${CARLA_UE_PATH}/Content/Carla
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)
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if (NOT EXISTS ${CARLA_UE_CONTENT_PATH}/.git)
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carla_error ("Missing CARLA content.")
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endif ()
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if (ENABLE_ROS2)
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set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2)
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endif()
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if (ENABLE_ROS2_DEMO)
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set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2-demo)
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endif()
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if (WIN32)
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set (EXE_EXT .exe)
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set (UE_SYSTEM_NAME Win64)
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elseif (LINUX)
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set (EXE_EXT)
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set (UE_SYSTEM_NAME Linux)
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elseif (APPLE)
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set (EXE_EXT)
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set (UE_SYSTEM_NAME Mac)
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else ()
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carla_error ("Unknown target system.")
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endif ()
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set (
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UNREAL_EDITOR_PATH
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${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
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)
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set (CARLA_UE_CONTENT_CHECK_PATH ${CARLA_UE_PATH}/Content/Carla/Blueprints)
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if (IS_DIRECTORY ${CARLA_UE_CONTENT_CHECK_PATH})
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carla_message ("CARLA Unreal Content - FOUND")
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else ()
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carla_message ("CARLA Unreal Content - MISSING")
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carla_warning ("Could not find CARLA Content, download it or running the editor will result in a crash.")
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endif ()
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set (
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UE_DEPENDENCIES
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carla-server
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libsqlite3
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Boost::asio
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Boost::python
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Boost::geometry
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Boost::gil
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Eigen3::Eigen
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zlibstatic
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png_static
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rpc
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)
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set (UE_DEPENDENCIES_ORDER_ONLY ${UE_DEPENDENCIES})
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if (BUILD_CARLA_CLIENT)
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list (APPEND UE_DEPENDENCIES_ORDER_ONLY carla-client)
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endif ()
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list (
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APPEND
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UE_DEPENDENCIES_ORDER_ONLY
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RecastBuilder
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)
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set (
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CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH
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${CMAKE_CURRENT_BINARY_DIR}/Includes.inc
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)
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set (
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CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH
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${CMAKE_CURRENT_BINARY_DIR}/Libraries.inc
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)
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set (
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CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH
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${CMAKE_CURRENT_BINARY_DIR}/Options.inc
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)
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set (
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CARLA_UNREAL_INCLUDE_PATHS
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${sqlite3_SOURCE_DIR}
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)
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foreach (UE_DEP ${UE_DEPENDENCIES})
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list (
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APPEND
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CARLA_UNREAL_INCLUDE_PATHS
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"$<TARGET_PROPERTY:${UE_DEP},INTERFACE_INCLUDE_DIRECTORIES>"
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)
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endforeach ()
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set (
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CARLA_UNREAL_LIBRARIES
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$<TARGET_FILE:libsqlite3>
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)
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foreach (UE_DEP ${UE_DEPENDENCIES})
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get_target_property (UE_DEP_TYPE ${UE_DEP} TYPE)
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if (NOT ("${UE_DEP_TYPE}" STREQUAL "INTERFACE_LIBRARY"))
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list (
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APPEND
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CARLA_UNREAL_LIBRARIES
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"$<TARGET_FILE:${UE_DEP}>"
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)
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endif ()
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endforeach ()
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set (UNREAL_PROJECT_OPTIONS)
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if (ENABLE_ROS2)
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list (
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APPEND
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CARLA_UNREAL_OPTIONS
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"ROS2"
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)
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endif()
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if (ENABLE_ROS2_DEMO)
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list (
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APPEND
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CARLA_UNREAL_OPTIONS
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"ROS2_DEMO"
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)
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endif()
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if (ENABLE_OSM2ODR)
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list (
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APPEND
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CARLA_UNREAL_OPTIONS
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"OSM2ODR"
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)
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endif()
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if (WIN32)
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set (
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CARLA_UE_GENERATE_PROJECT_FILES_COMMAND
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${CARLA_UNREAL_ENGINE_PATH}/GenerateProjectFiles.bat
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-project=${CARLA_UE_PROJECT_PATH}
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-CMakefile
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-game
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-engine
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)
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set (
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CARLA_UE_BUILD_COMMAND_PREFIX
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${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/Build.bat
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)
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set (
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CARLA_UE_UAT_COMMAND_PREFIX
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${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/RunUAT.bat
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)
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else ()
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set (
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CARLA_UE_GENERATE_PROJECT_FILES_COMMAND
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${CARLA_UNREAL_ENGINE_PATH}/GenerateProjectFiles.sh
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-project=${CARLA_UE_PROJECT_PATH}
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-CMakefile
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-game
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-engine
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)
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set (
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CARLA_UE_BUILD_COMMAND_PREFIX
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${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/${UE_SYSTEM_NAME}/Build.sh
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)
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set (
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CARLA_UE_UAT_COMMAND_PREFIX
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${CARLA_UNREAL_ENGINE_PATH}/Engine/Build/BatchFiles/RunUAT.sh
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)
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endif ()
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if (CMAKE_TOOLCHAIN_FILE)
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cmake_path (
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ABSOLUTE_PATH
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CMAKE_TOOLCHAIN_FILE
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BASE_DIRECTORY
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${CARLA_WORKSPACE_PATH}
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NORMALIZE
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OUTPUT_VARIABLE
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TOOLCHAIN_FILE
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)
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set (
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TOOLCHAIN_FILE_OPTION
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--toolchain=${TOOLCHAIN_FILE}
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)
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else ()
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set (TOOLCHAIN_FILE_OPTION)
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endif ()
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set (
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CARLA_UNREAL_CONFIGURE_OUTPUTS
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${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH}
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${CARLA_UE_CARLA_PATH}/Includes.def
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${CARLA_UE_CARLA_TOOLS_PATH}/Includes.def
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${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH}
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${CARLA_UE_CARLA_PATH}/Libraries.def
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${CARLA_UE_CARLA_TOOLS_PATH}/Libraries.def
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${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH}
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${CARLA_UE_CARLA_PATH}/Options.def
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${CARLA_UE_CARLA_TOOLS_PATH}/Options.def
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)
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file (
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GENERATE
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OUTPUT
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${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH}
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CONTENT
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"${CARLA_UNREAL_INCLUDE_PATHS}"
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)
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file (
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GENERATE
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OUTPUT
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${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH}
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CONTENT
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"${CARLA_UNREAL_LIBRARIES}"
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)
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file (
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GENERATE
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OUTPUT
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${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH}
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CONTENT
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"${CARLA_UNREAL_OPTIONS}"
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)
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add_custom_command (
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OUTPUT
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${CARLA_UNREAL_CONFIGURE_OUTPUTS}
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Includes.def
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_INCLUDE_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Includes.def
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Libraries.def
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_LIBRARIES_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Libraries.def
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH} ${CARLA_UE_CARLA_PATH}/Options.def
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COMMAND ${CMAKE_COMMAND} ARGS -E create_symlink ${CARLA_UNREAL_OPTIONS_PATHS_FILE_PATH} ${CARLA_UE_CARLA_TOOLS_PATH}/Options.def
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USES_TERMINAL
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VERBATIM
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)
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add_custom_target (
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carla-unreal-configure
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DEPENDS
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${CARLA_UNREAL_CONFIGURE_OUTPUTS}
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)
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file (
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MAKE_DIRECTORY
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${CARLA_UE_PATH}/Content/Carla/ExportedMaps
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)
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carla_add_custom_target (
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carla-unreal
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"Build the CarlaUnreal subproject."
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COMMAND
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${CARLA_UE_BUILD_COMMAND_PREFIX}
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CarlaUnreal
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${UE_SYSTEM_NAME}
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${CARLA_UNREAL_BUILD_TYPE}
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-project=${CARLA_UE_PROJECT_PATH}
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-game
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-buildscw
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DEPENDS
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${CARLA_UNREAL_CONFIGURE_OUTPUTS}
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USES_TERMINAL
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VERBATIM
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)
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add_dependencies (
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carla-unreal
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${UE_DEPENDENCIES_ORDER_ONLY}
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)
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carla_add_custom_target (
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carla-unreal-editor
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"Build the CarlaUnrealEditor subproject."
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COMMAND
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${CARLA_UE_BUILD_COMMAND_PREFIX}
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CarlaUnrealEditor
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${UE_SYSTEM_NAME}
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${CARLA_UNREAL_BUILD_TYPE}
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-project=${CARLA_UE_PROJECT_PATH}
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-game
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-buildscw
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DEPENDS
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${CARLA_UNREAL_CONFIGURE_OUTPUTS}
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USES_TERMINAL
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VERBATIM
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)
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add_dependencies (
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carla-unreal-editor
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${UE_DEPENDENCIES_ORDER_ONLY}
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)
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function (
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add_carla_ue_package_target
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PACKAGE_CONFIGURATION
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UE_BUILD_CONFIGURATION)
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set (
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CARLA_TARGET_PACKAGE_PATH
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${CARLA_PACKAGE_PATH}/${UE_SYSTEM_NAME}
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)
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if (NOT "${PACKAGE_CONFIGURATION}" STREQUAL "")
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set (TARGET_NAME_SUFFIX -${PACKAGE_CONFIGURATION})
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string (TOLOWER "${TARGET_NAME_SUFFIX}" TARGET_NAME_SUFFIX)
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else ()
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set (PACKAGE_CONFIGURATION "default (shipping)")
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endif ()
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carla_add_custom_target (
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carla-unreal-package${TARGET_NAME_SUFFIX}
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"Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
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COMMAND
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${CARLA_UE_BUILD_COMMAND_PREFIX}
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CarlaUnreal
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${UE_SYSTEM_NAME}
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${UE_BUILD_CONFIGURATION}
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-project=${CARLA_UE_PROJECT_PATH}
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-game
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-buildscw
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COMMAND
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${CARLA_UE_UAT_COMMAND_PREFIX}
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BuildCookRun
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-project=${CARLA_UE_PROJECT_PATH}
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-nocompileeditor
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-nop4
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-cook
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-stage
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-archive
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-package
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-iterate
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-clientconfig=${UE_BUILD_CONFIGURATION}
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-TargetPlatform=${UE_SYSTEM_NAME}
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-Platform=${UE_SYSTEM_NAME}
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-prereqs
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-build
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-archivedirectory=${CARLA_PACKAGE_PATH}
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DEPENDS
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${CARLA_UNREAL_CONFIGURE_OUTPUTS}
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USES_TERMINAL
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VERBATIM
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)
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add_custom_command (
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TARGET carla-unreal-package${TARGET_NAME_SUFFIX}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE CREATING VERSION FILE UNREAL PACKAGE EXTRA FILES STARTED **********"
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COMMAND ${CMAKE_COMMAND}
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-DCARLA_SOURCE_DIR=${CARLA_SOURCE_DIR}
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-DCARLA_UNREAL_ENGINE_PATH=${CARLA_UNREAL_ENGINE_PATH}
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-DCARLA_PACKAGE_VERSION_FILE=${CARLA_TARGET_PACKAGE_PATH}/VERSION
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-P${CMAKE_CURRENT_SOURCE_DIR}/Package/CreateCarlaVersionFile.cmake
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE VERSION FILE UNREAL PACKAGE EXTRA FILES COMPLETED **********"
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE REMOVING UNREAL PACKAGE EXTRA FILES STARTED **********"
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COMMAND ${CMAKE_COMMAND}
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-DCARLA_TARGET_PACKAGE_PATH=${CARLA_TARGET_PACKAGE_PATH}
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-P${CMAKE_CURRENT_SOURCE_DIR}/Package/RemoveUnrealPackageExtraFiles.cmake
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE REMOVING UNREAL PACKAGE EXTRA FILES COMPLETED **********"
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE COPYING CARLA ADDITIONAL FILES STARTED **********"
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COMMAND ${CMAKE_COMMAND}
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-DCARLA_SOURCE_DIR=${CARLA_SOURCE_DIR}
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-DCARLA_TARGET_PACKAGE_PATH=${CARLA_TARGET_PACKAGE_PATH}
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-DCARLA_BINARY_DIR=${CARLA_BINARY_DIR}
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-P${CMAKE_CURRENT_SOURCE_DIR}/Package/CopyCarlaAdditionalFiles.cmake
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COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE COPYING CARLA ADDITIONAL FILES COMPLETED **********"
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COMMAND ${CMAKE_COMMAND} -E echo "********** COMPRESSING PACKAGE STARTED **********"
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COMMAND ${CMAKE_COMMAND}
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-DCARLA_PACKAGE_PATH=${CARLA_PACKAGE_PATH}
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-DCARLA_TARGET_PACKAGE_PATH=${CARLA_TARGET_PACKAGE_PATH}
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-DTARGET_NAME_SUFFIX=${TARGET_NAME_SUFFIX}
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-P${CMAKE_CURRENT_SOURCE_DIR}/Package/Compress.cmake
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COMMAND ${CMAKE_COMMAND} -E echo "********** COMPRESSING PACKAGE COMPLETED **********"
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)
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add_dependencies (
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carla-unreal-package${TARGET_NAME_SUFFIX}
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carla-unreal-editor
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)
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carla_add_custom_target (
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package${TARGET_NAME_SUFFIX}
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"Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
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)
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add_dependencies (
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package${TARGET_NAME_SUFFIX}
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carla-unreal-package${TARGET_NAME_SUFFIX}
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)
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endfunction()
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# Docs for UE5 build configurations:
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# https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
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add_carla_ue_package_target("" Shipping)
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add_carla_ue_package_target(Shipping Shipping)
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add_carla_ue_package_target(Debug Debug)
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add_carla_ue_package_target(DebugGame DebugGame)
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add_carla_ue_package_target(Development Development)
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add_carla_ue_package_target(Test Test)
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set (
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CARLA_LAUNCH_TARGET_OPTIONS
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COMMENT
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"Launching Carla Unreal..."
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COMMAND
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${UNREAL_EDITOR_PATH}
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${CARLA_UE_PROJECT_PATH}
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-${CARLA_UNREAL_RHI}
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${LAUNCH_ARGS}
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USES_TERMINAL
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VERBATIM
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)
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carla_add_custom_target (
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launch
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"Build and open CARLA in the Unreal Editor."
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${CARLA_LAUNCH_TARGET_OPTIONS}
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)
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if (WIN32)
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set (
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PRELAUNCH_CONTENT_CHECK_COMMAND
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if exist ${CARLA_UE_CONTENT_CHECK_PATH} (exit 0) else (exit 1)
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)
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else ()
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set (
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PRELAUNCH_CONTENT_CHECK_COMMAND
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test -d ${CARLA_UE_CONTENT_CHECK_PATH}
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)
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endif ()
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|
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carla_add_custom_target (
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check-unreal-content
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"Perform some basic checks to ensure that the CARLA Unreal Editor will not open without its assets."
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|
COMMAND
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${PRELAUNCH_CONTENT_CHECK_COMMAND}
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|
COMMENT
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"Performing prelaunch check for CARLA Content presence."
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USES_TERMINAL
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VERBATIM
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)
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|
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add_dependencies (
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launch
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carla-unreal-editor
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check-unreal-content
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)
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carla_add_custom_target (
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launch-only
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|
"Open CARLA in the Unreal Editor. This will not rebuild outdated targets."
|
|
${CARLA_LAUNCH_TARGET_OPTIONS}
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|
)
|
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|
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add_dependencies (
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|
launch-only
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|
check-unreal-content
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|
)
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|
|
set_property (
|
|
DIRECTORY APPEND PROPERTY ADDITIONAL_CLEAN_FILES
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|
"${CARLA_UE_PATH}/Binaries"
|
|
"${CARLA_UE_PATH}/Build"
|
|
"${CARLA_UE_PATH}/DerivedDataCache"
|
|
"${CARLA_UE_PATH}/Intermediate"
|
|
"${CARLA_UE_PATH}/Saved"
|
|
"${CARLA_UE_CARLA_TOOLS_PATH}/Binaries"
|
|
"${CARLA_UE_CARLA_TOOLS_PATH}/Intermediate"
|
|
"${CARLA_UE_CARLA_TOOLS_PATH}/Saved"
|
|
"${CARLA_UE_CARLA_EXPORTER_PATH}/Binaries"
|
|
"${CARLA_UE_CARLA_EXPORTER_PATH}/Intermediate"
|
|
"${CARLA_UE_CARLA_EXPORTER_PATH}/Saved"
|
|
"${CARLA_UE_CARLA_PATH}/Binaries"
|
|
"${CARLA_UE_CARLA_PATH}/Intermediate"
|
|
"${CARLA_UE_CARLA_PATH}/Saved"
|
|
"${CARLA_UE_PLUGINS_PATH}/StreetMap/Binaries"
|
|
"${CARLA_UE_PLUGINS_PATH}/StreetMap/Intermediate"
|
|
"${CARLA_UE_PLUGINS_PATH}/StreetMap/Saved"
|
|
"${CARLA_BUILD_PATH}/Package"
|
|
"${CARLA_BUILD_PATH}/PythonAPI/dist"
|
|
)
|