Add support for building on Mac OS X

.gitignore

@@ -27,6 +27,7 @@ Install
 *.so
 *.stackdump
 *.sublime-workspace
+*.swp
 *.workspace
 *CodeCompletionFolders.txt
 *CodeLitePreProcessor.txt
@@ -45,3 +46,4 @@ _out*
 _site
 core
 profiler.csv
+Content.tar.gz

Docs/how_to_build_on_mac.md

@@ -0,0 +1,134 @@
+# How to build CARLA on Mac OSX 
+
+Note that unlike the Linux build, this one uses the standard Mac compiler tools and
+the standard Unreal Engine 4.21 distribution.
+
+Prerequisites
+-------------
+
+### Install Xcode 9.4
+
+*Later versions of Xcode may work, but using the same version that is used by Unreal 4.21 seems a safe bet.*
+
+You should be able to install from [Apple's developer downloads](https://developer.apple.com/download/more/).
+
+If you have installed more than one version of Xcode, you should activate 9.4 using
+the `xcode-select` command line utility. This will set `/usr/bin/clang` and `/usr/bin/clang++`
+to the appropriate versions, and these are what will be used in the build.
+
+Note that Apple's has it's own clang versioning scheme that tracks the Xcode versions,
+so it is not obvious how the features compare to the LLVM distributions, but this version
+should fully support c++14 features.
+
+**On Mac OSX Mojave 10.14 you also need to install the MacOS headers using:**
+
+~~~sh
+sudo installer -pkg /Library/Developer/CommandLineTools/Packages/macOS_SDK_headers_for_macOS_10.14.pkg -target /
+~~~
+
+### Install Unreal Engine 4.21
+
+Install the [Epic Games Launcher](https://www.epicgames.com/unrealtournament/download)
+and use it to download version 4.21 of the Unreal Engine. The default install location
+is `/Users/Shared/Epic Games/`, but it is a good idea to eliminate the space in the path
+and instead use `/Users/Shared/EpicGames/` since some tools seem to have problems with
+the space.
+
+Although, you don't need to build the engine from source, you do need to add the file
+[GenerateProjectFiles.sh](https://github.com/EpicGames/UnrealEngine/blob/4.21/GenerateProjectFiles.sh) to the root directory from a copy of the Unreal Engine source tree.
+
+### Install the build tools and dependencies
+
+~~~sh
+$ brew install autoconf curl libtool ninja wget \
+   libpng
+~~~
+
+Use shipping python or install using your favorite method (e.g. brew, download installer from python.org,
+Anaconda/miniconda).
+
+If using conda environment:
+
+~~~sh
+$ conda install -c conda-forge nose2
+~~~
+
+else:
+
+~~~sh
+$ pip2 install nose2
+~~~
+
+In order for `boost-python` to build properly, you may need to add a `user-config.jam` file
+to your home directory describing the location of your python implementations. For instance,
+to use the preinstalled python2 and a python 3.6 from python.org installer you might use:
+
+~~~jam
+import toolset : using ;
+
+using python : 2.7 
+	: /usr/bin/python2.7
+	: /usr/include/python2.7
+	;
+
+using python : 3.6 
+	: /Library/Frameworks/Python.framework/Versions/3.6/bin/python3.6
+	: /Library/Frameworks/Python.framework/Versions/3.6/include/python3.6m
+	: /Library/Frameworks/Python.framework/Versions/3.6/lib
+	;
+~~~
+
+Currently, the build will only support the first listed python. Eventually, it should
+support building apis for multiple python versions.
+
+Build CARLA
+-----------
+
+Clone or download the project from our
+[GitHub repository](https://github.com/carla-simulator/carla)
+
+```sh
+git clone https://github.com/carla-simulator/carla
+```
+
+Note that the `master` branch contains the latest fixes and features, for the
+latest stable code may be best to switch to the latest release tag.
+
+Now you need to download the assets package, to do so we provide a handy script
+that downloads and extracts the latest version (note that the package is >12GB,
+this step might take some time depending on your connection)
+
+```sh
+./Update.sh
+```
+
+For CARLA to find your Unreal Engine's installation folder you need to set the
+following environment variable
+
+```sh
+export UE4_ROOT=/Users/shared/EpicGames/UE_4.21
+```
+
+You can also add this variable to your `~/.bashrc` or `~/.profile`.
+
+Now that the environment is set up, you can run make to run different commands
+
+```sh
+make launch   # Compiles CARLA and launches Unreal Engine's Editor.
+make package  # Compiles CARLA and creates a packaged version for distribution.
+make help     # Print all available commands.
+```
+
+Updating CARLA
+--------------
+
+Every new release of CARLA we release a new package with the latest changes in
+the CARLA assets. To download the latest version and recompile CARLA, run
+
+```sh
+make clean
+git pull
+./Update.sh
+make launch
+```
+

LibCarla/cmake/client/CMakeLists.txt

@@ -224,10 +224,18 @@ if (LIBCARLA_BUILD_RELEASE)
 
   add_library(carla_client STATIC ${libcarla_sources})
 
-  target_include_directories(carla_client SYSTEM PRIVATE
-      "${BOOST_INCLUDE_PATH}"
-      "${RPCLIB_INCLUDE_PATH}"
-      "${RECAST_INCLUDE_PATH}")
+  if (APPLE)
+    target_include_directories(carla_client SYSTEM PRIVATE
+        "${BOOST_INCLUDE_PATH}"
+        "${RPCLIB_INCLUDE_PATH}"
+        "${RECAST_INCLUDE_PATH}"
+        "/usr/local/include")
+  else (APPLE)
+    target_include_directories(carla_client SYSTEM PRIVATE
+        "${BOOST_INCLUDE_PATH}"
+        "${RPCLIB_INCLUDE_PATH}"
+        "${RECAST_INCLUDE_PATH}")
+  endif (APPLE)
 
   if (BUILD_RSS_VARIANT)
     target_compile_definitions(carla_client PRIVATE RSS_ENABLED)

LibCarla/cmake/test/CMakeLists.txt

@@ -48,6 +48,10 @@ foreach(target ${build_targets})
   target_include_directories(${target} PRIVATE
       "${libcarla_source_path}/test")
 
+  if (APPLE)
+      target_include_directories(${target} PRIVATE "/usr/local/include")
+  endif (APPLE)
+
   if (WIN32)
       target_link_libraries(${target} "gtest_main.lib")
       target_link_libraries(${target} "gtest.lib")

LibCarla/source/carla/Buffer.h

@@ -79,6 +79,15 @@ namespace carla {
           return static_cast<size_type>(size);
         } ()) {}
 
+#ifdef __APPLE__
+      // On the Mac, std::size_t is unsigned long, where uint64_t
+      // is unsigned long long. Although both are 64-bits, they are
+      // distinct types, so this declaration is needed to avoid recursive
+      // delegation back to the template constructor.
+    explicit Buffer(std::size_t size)
+      : Buffer((uint64_t)size) {}
+#endif
+
     /// Copy @a source into this buffer. Allocates the necessary memory.
     template <typename T>
     explicit Buffer(const T &source) {
@@ -89,6 +98,7 @@ namespace carla {
       copy_from(data, size);
     }
 
+#ifndef __APPLE__
     /// @copydoc Buffer(size_type)
     explicit Buffer(const value_type *data, uint64_t size)
       : Buffer(data, [size]() {
@@ -97,6 +107,7 @@ namespace carla {
           }
           return static_cast<size_type>(size);
         } ()) {}
+#endif
 
     Buffer(const Buffer &) = delete;
 
@@ -263,6 +274,15 @@ namespace carla {
       reset(static_cast<size_type>(size));
     }
 
+#ifdef __APPLE__
+      // On the Mac, std::size_t is unsigned long, where uint64_t
+      // is unsigned long long. Although both are 64-bits, they are
+      // distinct types, so this declaration is needed.
+      void reset(std::size_t size) {
+        reset((uint64_t)size);
+      }
+#endif
+
     /// Release the contents of this buffer and set its size and capacity to
     /// zero.
     std::unique_ptr<value_type[]> pop() noexcept {

LibCarla/source/carla/MsgPack.h

@@ -8,6 +8,10 @@
 
 #include "carla/Buffer.h"
 
+#ifdef __APPLE__
+#define MSGPACK_DISABLE_LEGACY_NIL
+#endif
+
 #include <rpc/msgpack.hpp>
 
 namespace carla {

LibCarla/source/carla/MsgPackAdaptors.h

@@ -105,7 +105,7 @@ namespace adaptor {
 
   private:
 
-    template <uint64_t I>
+    template <unsigned long I>
     static void copy_to_variant_impl(
         const clmdep_msgpack::object &o,
         boost::variant<Ts...> &v) {
@@ -115,9 +115,9 @@ namespace adaptor {
       v = o.via.array.ptr[1].as<T>();
     }
 
-    template <uint64_t... Is>
+    template <unsigned long... Is>
     static void copy_to_variant(
-        const uint64_t index,
+        const unsigned long index,
         const clmdep_msgpack::object &o,
         boost::variant<Ts...> &v,
         std::index_sequence<Is...>) {

LibCarla/source/carla/client/BlueprintLibrary.h

@@ -22,8 +22,7 @@ namespace client {
   /// @todo Works as a list but its actually a map. We should assess the use
   /// cases and reconsider this implementation.
   class BlueprintLibrary
-    : public EnableSharedFromThis<BlueprintLibrary>,
-      private NonCopyable {
+    : public EnableSharedFromThis<BlueprintLibrary> {
     using map_type = std::unordered_map<std::string, ActorBlueprint>;
   public:
 

LibCarla/source/carla/client/Client.h

@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "carla/PythonUtil.h"
+//#include "carla/PythonUtil.h"
 #include "carla/client/World.h"
 #include "carla/client/detail/Simulator.h"
 
@@ -110,8 +110,10 @@ namespace client {
       uint16_t port,
       size_t worker_threads)
     : _simulator(
-        new detail::Simulator(host, port, worker_threads),
-        PythonUtil::ReleaseGILDeleter()) {}
+        new detail::Simulator(host, port, worker_threads)
+        ) {}
+        // TODO: pyconfig.h isn't included, so we can't have this
+        //,PythonUtil::ReleaseGILDeleter()) {}
 
 } // namespace client
 } // namespace carla

LibCarla/source/carla/road/element/Waypoint.h

@@ -37,7 +37,7 @@ namespace std {
 
     using argument_type = carla::road::element::Waypoint;
 
-    using result_type = uint64_t;
+    using result_type = unsigned long;
 
     /// Generates an unique id for @a waypoint based on its road_id, lane_id,
     /// section_id, and "s" offset. The "s" offset is truncated to half

LibCarla/source/test/common/test_listview.cpp

@@ -30,13 +30,13 @@ static void TestSequence(carla::ListView<Iterator> view) {
 TEST(listview, sequence) {
   int array[] = {0, 1, 2, 3, 4, 5};
   TestSequence(MakeListView(array));
-  std::array<int, 6u> std_array = {0, 1, 2, 3, 4, 5};
+  std::array<int, 6u> std_array = {{0, 1, 2, 3, 4, 5}};
   TestSequence(MakeListView(std_array));
-  std::vector<int> vector = {0, 1, 2, 3, 4, 5};
+  std::vector<int> vector = {{0, 1, 2, 3, 4, 5}};
   TestSequence(MakeListView(vector));
-  std::list<int> list = {0, 1, 2, 3, 4, 5};
+  std::list<int> list = {{0, 1, 2, 3, 4, 5}};
   TestSequence(MakeListView(list));
-  std::set<int> set = {0, 1, 2, 3, 4, 5};
+  std::set<int> set = {{0, 1, 2, 3, 4, 5}};
   TestSequence(MakeListView(set));
 }
 

Makefile

@@ -2,5 +2,10 @@ include Util/BuildTools/Vars.mk
 ifeq ($(OS),Windows_NT)
 include Util/BuildTools/Windows.mk
 else
-include Util/BuildTools/Linux.mk
+    UNAME_S := $(shell uname -s)
+    ifeq ($(UNAME_S),Darwin)
+        include Util/BuildTools/Mac.mk
+    else
+        include Util/BuildTools/Linux.mk
+    endif
 endif

PythonAPI/carla/setup.py

@@ -68,6 +68,38 @@ def walk(folder, file_filter='*'):
             include_dirs += ['/usr/lib/gcc/x86_64-linux-gnu/7/include']
             library_dirs += ['/usr/lib/gcc/x86_64-linux-gnu/7']
             extra_link_args += ['/usr/lib/gcc/x86_64-linux-gnu/7/libstdc++.a']
+
+        elif platform.system() == 'Darwin':
+            pwd = os.path.dirname(os.path.realpath(__file__))
+            pylib = "libboost_python%d%d.a" % (sys.version_info.major,
+                                               sys.version_info.minor)
+            extra_link_args = [
+                os.path.join(pwd, 'dependencies/lib/libcarla_client.a'),
+                os.path.join(pwd, 'dependencies/lib/librpc.a'),
+                os.path.join(pwd, 'dependencies/lib/libboost_filesystem.a'),
+                os.path.join(pwd, 'dependencies/lib/libRecast.a'),
+                os.path.join(pwd, 'dependencies/lib/libDetour.a'),
+                os.path.join(pwd, 'dependencies/lib/libDetourCrowd.a'),
+                os.path.join(pwd, 'dependencies/lib', pylib)]
+            extra_compile_args = [
+                '-isystem', 'dependencies/include/system',
+                '-mmacosx-version-min=10.13',
+                '-fPIC', '-std=c++14', '-Wno-missing-braces', 
+                '-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT',
+            ]
+            if 'BUILD_RSS_VARIANT' in os.environ and os.environ['BUILD_RSS_VARIANT'] == 'true':
+                print('Building AD RSS variant.')
+                extra_compile_args += ['-DLIBCARLA_RSS_ENABLED']
+                extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad-rss.a')]
+
+            if 'TRAVIS' in os.environ and os.environ['TRAVIS'] == 'true':
+                print('Travis CI build detected: disabling PNG support.')
+                extra_link_args += ['-ljpeg', '-ltiff']
+                extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=false']
+            else:
+                extra_link_args += ['-lpng', '-ljpeg', '-ltiff']
+                extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true']
+
         else:
             raise NotImplementedError
     elif os.name == "nt":