carla-simulator · SwiftGust · Dec 5, 2023
@@ -12,6 +12,7 @@
 #include <iostream>
 #include <string>
 #include <sys/stat.h>
+#include <stdint.h>
 
 namespace carla {
 namespace client {

@@ -9,6 +9,7 @@
 #include "Carla/Sensor/SceneCaptureSensor.h"
 #include "Sensor/ShaderBasedSensor.h"
 #include <carla/sensor/data/DVSEvent.h>
+#include <cstdint>
 
 #include "DVSCamera.generated.h"
 

@@ -67,8 +67,8 @@ UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/Hos
 # -- Get boost includes --------------------------------------------------------
 # ==============================================================================
 
-BOOST_VERSION=1.80.0
-BOOST_BASENAME="boost-${BOOST_VERSION}-${CXX_TAG}"
+BOOST_VERSION=1.83.0
+BOOST_BASENAME="boost-${BOOST_VERSION}"
 
 BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include
 BOOST_LIBPATH=${PWD}/${BOOST_BASENAME}-install/lib
@@ -88,14 +88,10 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
   if { ${SHOULD_BUILD_BOOST} ; } ; then
     rm -Rf ${BOOST_BASENAME}-source
 
-    BOOST_PACKAGE_BASENAME=boost_${BOOST_VERSION//./_}
-
+    BOOST_PACKAGE_BASENAME=boost-${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
+      wget "https://github.com/boostorg/boost/releases/download/boost-${BOOST_VERSION}/boost-${BOOST_VERSION}.tar.gz" || true
     fi
 
     log "Extracting boost for Python ${PY_VERSION}."
@@ -106,7 +102,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     pushd ${BOOST_BASENAME}-source >/dev/null
 
     BOOST_TOOLSET="clang-10.0"
-    BOOST_CFLAGS="-fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY"
+    BOOST_CFLAGS="-fPIC -std=c++17 -DBOOST_ERROR_CODE_HEADER_ONLY"
 
     py3="/usr/bin/env python${PY_VERSION}"
     py3_root=`${py3} -c "import sys; print(sys.prefix)"`
@@ -123,8 +119,8 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
       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 ${CARLA_BUILD_CONCURRENCY} install
+    ./b2 toolset="${BOOST_TOOLSET}" cflags="-fPIC" include="${LLVM_INCLUDE},${LLVM_LIBPATH}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" threading=multi link=static -j ${CARLA_BUILD_CONCURRENCY} stage release
+    ./b2 toolset="${BOOST_TOOLSET}" cflags="-fPIC" include="${LLVM_INCLUDE},${LLVM_LIBPATH}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" threading=multi link=static -j ${CARLA_BUILD_CONCURRENCY} install
 
     popd >/dev/null
 
@@ -178,7 +174,7 @@ else
   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 ${UNREAL_HOSTED_CFLAGS}" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++17 -stdlib=libc++ -I${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
 
@@ -195,7 +191,7 @@ else
   pushd ${RPCLIB_BASENAME}-libstdcxx-build >/dev/null
 
   cmake -G "Ninja" \
-      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++17" \
       -DCMAKE_INSTALL_PREFIX="../${RPCLIB_BASENAME}-libstdcxx-install" \
       ../${RPCLIB_BASENAME}-source
 
@@ -242,7 +238,8 @@ else
   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 ${UNREAL_HOSTED_CFLAGS}" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+      -DCMAKE_CXX_FLAGS="-std=c++17 -fPIC -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH} -DBOOST_NO_EXCEPTIONS -fno-exceptions ${UNREAL_HOSTED_CFLAGS}" \
       -DCMAKE_INSTALL_PREFIX="../${GTEST_BASENAME}-libcxx-install" \
       ../${GTEST_BASENAME}-source
 
@@ -259,7 +256,8 @@ else
   pushd ${GTEST_BASENAME}-libstdcxx-build >/dev/null
 
   cmake -G "Ninja" \
-      -DCMAKE_CXX_FLAGS="-std=c++14" \
+      -DCMAKE_CXX_FLAGS="-std=c++17" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_INSTALL_PREFIX="../${GTEST_BASENAME}-libstdcxx-install" \
       ../${GTEST_BASENAME}-source
 
@@ -310,7 +308,8 @@ else
   pushd ${RECAST_BASENAME}-build >/dev/null
 
   cmake -G "Ninja" \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC" \
+      -DCMAKE_CXX_FLAGS="-std=c++17 -fPIC" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_INSTALL_PREFIX="../${RECAST_BASENAME}-install" \
       -DRECASTNAVIGATION_DEMO=False \
       -DRECASTNAVIGATION_TEST=False \
@@ -404,7 +403,8 @@ else
   pushd ${XERCESC_SRC_DIR}/build >/dev/null
 
   cmake -G "Ninja" \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -w" \
+      -DCMAKE_CXX_FLAGS="-std=c++17 -fPIC -w" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_DIR}" \
       -DCMAKE_BUILD_TYPE=Release \
       -DBUILD_SHARED_LIBS=OFF \
@@ -421,7 +421,8 @@ else
   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_CXX_FLAGS="-std=c++17 -stdlib=libc++ -fPIC -w -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_SERVER_DIR}" \
       -DCMAKE_BUILD_TYPE=Release \
       -DBUILD_SHARED_LIBS=OFF \
@@ -533,7 +534,8 @@ if ${USE_CHRONO} ; then
     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 ${UNREAL_HOSTED_CFLAGS}" \
+        -DCMAKE_CXX_FLAGS="-fPIC -std=c++17 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH} -Wno-unused-command-line-argument ${UNREAL_HOSTED_CFLAGS}" \
+        -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
         -DEIGEN3_INCLUDE_DIR="../../${EIGEN_INCLUDE}" \
         -DCMAKE_INSTALL_PREFIX="../../${CHRONO_INSTALL_DIR}" \
         -DCMAKE_BUILD_TYPE=Release \
@@ -604,7 +606,7 @@ cp -p -r ${SQLITE_FULL_LIB} ${LIBCARLA_INSTALL_SERVER_FOLDER}
 # -- Get and compile PROJ ------------------------------------------------------
 # ==============================================================================
 
-PROJ_VERSION=proj-7.2.1
+PROJ_VERSION=proj-9.3.0
 PROJ_REPO=https://download.osgeo.org/proj/${PROJ_VERSION}.tar.gz
 
 PROJ_TAR=${PROJ_VERSION}.tar.gz
@@ -632,7 +634,9 @@ else
   pushd ${PROJ_SRC_DIR}/build >/dev/null
 
   cmake -G "Ninja" .. \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC" \
+      -DCMAKE_CXX_FLAGS="-std=c++17 -fPIC" \
+      -DCMAKE_C_FLAGS="-fPIC" \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -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 \
@@ -650,8 +654,9 @@ else
   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}"  \
+      -DCMAKE_CXX_FLAGS="-std=c++17 -fPIC -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}"  \
       -DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
+      -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DEXE_SQLITE3=${SQLITE_EXE} \
       -DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
       -DCMAKE_BUILD_TYPE=Release -DBUILD_PROJINFO=OFF \
@@ -901,15 +906,15 @@ 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} -std=c++17 -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)
+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++17 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY" CACHE STRING "" FORCE)
 EOL
 
 # -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------