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HARPLab / DReyeVR

VR driving 🚙 + eye tracking 👀 simulator based on CARLA for driving interaction research
https://arxiv.org/abs/2201.01931
MIT License
139 stars 37 forks source link

How to get the user input from the hardware #86

Closed chenruijia120 closed 1 year ago

chenruijia120 commented 1 year ago

Hi! I opened a new issue for a problem I met before. I tried using carla.VehicleControl.throttle and carla.VehicleControl.steer of the EgoVehicle to get user input on the physical steering wheel and throttle, but the output is always 0. Should I use another function to get the raw data from the hardware？Data that is mapped to 0-1 also works.

BTW that is why I reinstall the project and met lots of other issues lol. If I could solve this then maybe I could stop reinstall it. Thank you in advance and sorry for bothering you again!

GustavoSilvera commented 1 year ago

That is a good point, we should forward our steering wheel data to the Carla API, we will work on this for the next version.

Currently, the most straightforward way to get the (DReyeVR) user inputs in PythonAPI is to use our DReyeVR sensor API as follows:

from DReyeVR_utils import DReyeVRSensor

 world = self.client.get_world()

 # find ego vehicle
 self.hero_actor = find_ego_vehicle(world)
 self.hero_transform = self.hero_actor.get_transform()

 # find ego sensor
 # DReyeVRSensor implicitly calls find_ego_sensor, then wraps it with a custom class
 self.sensor = DReyeVRSensor(world) 
 self.sensor.ego_sensor.listen(self.sensor.update)  # subscribe to readout

print(self.sensor) # this readout should contain some general string serialization of the sensor
print(self.sensor.data) # this should contain all the DReyeVR data fields (as a dictionary) including user inputs (steer, throttle, buttons, etc.) and eye gaze data.
chenruijia120 commented 1 year ago

Thank you for your quick response! But I cannot get the sensor.data, it appears to be like this if I print(self.sensor.data) in a while(true) sentence:

{} Assertion failed: px != 0, file c:\jenkins\workspace\carla_0.9.13\Build\boost-1.72.0-install\include\boost/smart_ptr/shared_ptr.hpp, line 734

I did not turn on the eye tracking as I do not need that. Does this matter? Looking forward to your reply and thank you in advance!

GustavoSilvera commented 1 year ago

Oh, this sounds similar to #12 and happens when you didn't rebuild the PythonAPI after installing DReyeVR (You might see warnings about mismatching client (PythonAPI) and server (UE4) versions in your Python script). You'll just need to rebuild the PythonAPI with DReyeVR installed by running make PythonAPI again.

And no, you won't need eye tracking for this feature, if you disable it then you should still get user inputs.

chenruijia120 commented 1 year ago

Thank you for the answer. I met a new problem when I tried to run make PythonAPI. Here is the log:

D:\Apps\anaconda\lib\site-packages\setuptools\command\install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( running install_lib running build_py running build_ext building 'carla.libcarla' extension "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\bin\HostX86\x64\cl.exe" /c /nologo /O2 /W3 /GL /DNDEBUG /MD -Idependencies/include -ID:\Apps\anaconda\include -ID:\Apps\anaconda\Include "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\ATLMFC\include" "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\cppwinrt" "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\ATLMFC\include" "-IC:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\include" "-IC:\Program Files (x86)\Windows Kits\NETFXSDK\4.8\include\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\ucrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\shared" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\um" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\winrt" "-IC:\Program Files (x86)\Windows Kits\10\include\10.0.22000.0\cppwinrt" /EHsc /Tpsource/libcarla/libcarla.cpp /Fobuild\temp.win-amd64-3.9\Release\source/libcarla/libcarla.obj /experimental:external /external:W0 /external:I dependencies/include/system /DBOOST_ALL_NO_LIB /DBOOST_PYTHON_STATIC_LIB /DBOOST_ERROR_CODE_HEADER_ONLY /D_WIN32_WINNT=0x0600 /DHAVE_SNPRINTF /DLIBCARLA_WITH_PYTHON_SUPPORT -DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true /MD libcarla.cpp dependencies/include\carla/road/element/RoadInfoMarkRecord.h(1): warning C4819: This file contains characters that cannot be represented in the current code page (936). Please save this file in Unicode format to prevent data loss D:\crj\driving\carla\PythonAPI\carla\source\libcarla\OSM2ODR.cpp(7): fatal error C1083: Cannot open included files: “OSM2ODR.h”: No such file or directory error: command 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30133\bin\HostX86\x64\cl.exe' failed with exit code 2

It seems to be similar to https://github.com/carla-simulator/carla/issues/4721. I tried to reinstall xerces-c with the solution in https://github.com/carla-simulator/carla/issues/3320#issuecomment-735540901, but it did not work. Do you have any idea about that? Thank you in advance!!

GustavoSilvera commented 1 year ago

Hi @chenruijia120, I believe this is similar to the this sub-issue in #88 where I provide a solution here which has worked for me, can you try this?

chenruijia120 commented 1 year ago

Thank you for your answer! But it did not work. I changed the XercesTranscoderSelection.cmake file with your instructions and rebuilt xerces, but the results did not change. I guess there are something wrong with proj. Do you have any idea about it? Here is the log:

-- Setting build type to 'Release' as none was specified.

CMake Warning (dev) at CMakeLists.txt:23 (project): cmake_minimum_required() should be called prior to this top-level project() call. Please see the cmake-commands(7) manual for usage documentation of both commands. This warning is for project developers. Use -Wno-dev to suppress it.

-- Selecting Windows SDK version 10.0.22000.0 to target Windows 10.0.19044. -- The C compiler identification is MSVC 19.29.30148.0 -- The CXX compiler identification is MSVC 19.29.30148.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- CMAKE_BINARY_DIR: D:/crj/driving/carla/Build/osm2odr-visualstudio -- CMAKE_SOURCE_DIR: D:/crj/driving/carla/Build/om2odr-source

-- Platform: -- Host: Windows-10.0.19044 AMD64 -- Target: Windows-10.0.19044 AMD64 -- CMake: 3.26.0-rc5 -- CMake generator: Visual Studio 16 2019 -- CMake build tool: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/MSBuild/Current/Bin/MSBuild.exe -- Compiler: MSVC 19.29.30148.0

-- Found XercesC: D:\crj\driving\carla\Build\xerces-c-3.2.3-install\lib\xerces-c.lib (found version "3.2.3") CMake Error at CMakeLists.txt:75 (find_package): By not providing "FindProj.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "Proj", but CMake did not find one.

Could not find a package configuration file provided by "Proj" with any of the following names:

ProjConfig.cmake
proj-config.cmake

Add the installation prefix of "Proj" to CMAKE_PREFIX_PATH or set "Proj_DIR" to a directory containing one of the above files. If "Proj" provides a separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred! 用于 .NET Framework 的 Microsoft (R) 生成引擎版本 16.11.2+f32259642 版权所有(C) Microsoft Corporation。保留所有权利。

MSBUILD : error MSB1009: 项目文件不存在。 开关:install.vcxproj -[BuildOSM2ODR]: OSM2ODR has been successfully installed in "D:\crj\driving\carla\PythonAPI\carla\dependencies\" -[BuildPythonAPI]: [Batch params]: --py3 Building Python API for Python 3. compiling:

-[BuildPythonAPI]: Carla lib for python has been successfully installed in "D:\crj\driving\carla\PythonAPI\carla\dist"!

Some of the logs are presented in Chinese. Thank you in advance!

GustavoSilvera commented 1 year ago

Hm. This usually works for me. Can you verify the proj dependency has been built? If not, try the install_proj.bat in installersWin

chenruijia120 commented 1 year ago

Sorry for being a little late and thanks for your answer! I verified all of the installation and a new kind of log occurred. It seems similar to the issue you mentioned earlier. But I have reinstall xerces as your instructions. What could be wrong then?

-[BuildOSM2ODR]: OSM2ODR has been successfully installed in "D:\crj\driving\carla\PythonAPI\carla\dependencies\" -[BuildPythonAPI]: [Batch params]: --py3 Building Python API for Python 3. compiling:

-[BuildPythonAPI]: Carla lib for python has been successfully installed in "D:\crj\driving\carla\PythonAPI\carla\dist"!

Thank you in advance and sorry for bothering you again!

GustavoSilvera commented 1 year ago

Now that you've got proj you should verify that the xerces transcoder is the windows one. (Make sure to clear xerces build cache by deleting the xerces-source/build and xerces-install folders, then rebuild).

Those ICU linker errors look like transcoder errors which should be resolved with the windows selection.

chenruijia120 commented 1 year ago

Thank you for your answer! But I have rebuilt xerces and changed the transcoder file again. That is kind of wierd... What else may I do?

Another strange thing is that I can only install xercesc successfully with "install_xercesc.bat". But if I use the make PythonAPI command, the installation fails. But I guess these two are essentially one command? Here is the log when I used make PythonAPI to install xercesc:

正在生成代码... xerces-c_3.lib(ICUTransService.obj) : error LNK2001: 无法解析的外部符号 u_strlen_58 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcx proj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 u_tolower_58，函数 "public: virtual void cdecl xercesc_32::ICUTransService::lowerCase(char16 t const)" (?lowerCase@ICUTransService@xercesc_3_2@@UEAAXQEA_S@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcx proj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 u_toupper_58，函数 "public: virtual void __cdecl xercesc_32::ICUTransService::upperCase(char16 t const)" (?upperCase@ICUTransService@xercesc_3_2@@UEAAXQEA_S@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcx proj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 u_foldCase_58，函数 "public: virtual int cdecl xercesc_3_2::ICUTransService::compareIString(ch ar16_t const const,char16_t const const)" (?compareIString@ICUTransService@xercesc_3_2@@UEAAHQEB_S0@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2. 3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 UCNV_FROM_U_CALLBACK_STOP_58，函数 "public: virtual bool cdecl xercesc_3_2::ICUTranscoder::can TranscodeTo(unsigned int)" (?canTranscodeTo@ICUTranscoder@xercesc_3_2@@UEAA_NI@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSer ializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 UCNV_FROM_U_CALLBACK_SUBSTITUTE_58，函数 "public: virtual unsigned int64 cdecl xercesc_3_2:: ICUTranscoder::transcodeTo(char16_t const * const,unsigned int64,unsigned char const,unsigned int64,unsigned int64 &,enum xercesc_3_2::XMLTranscoder ::UnRepOpts)" (?transcodeTo@ICUTranscoder@xercesc_3_2@@UEAA_KQEB_S_KQEAE1AEA_KW4UnRepOpts@XMLTranscoder@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3 .2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_open_58，函数 "public: virtual class xercesc_3_2::XMLLCPTranscoder cdecl xercesc_3_2::I CUTransService::makeNewLCPTranscoder(class xercesc_3_2::MemoryManager )" (?makeNewLCPTranscoder@ICUTransService@xercesc_3_2@@UEAAPEAVXMLLCPTranscoder@2@PEA VMemoryManager@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_openU_58，函数 "protected: virtual class xercesc_3_2::XMLTranscoder __cdecl xercesc_3_2:: ICUTransService::makeNewXMLTranscoder(char16_t const * const,enum xercesc_3_2::XMLTransService::Codes &,unsigned int64,class xercesc_3_2::MemoryManager const)" (?makeNewXMLTranscoder@ICUTransService@xercesc_3_2@@MEAAPEAVXMLTranscoder@2@QEB_SAEAW4Codes@XMLTransService@2@_KQEAVMemoryManager@2@@Z) 中引用了该符 号 [D:\ crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_close_58，函数 "public: virtual __cdecl xercesc_3_2::ICULCPTranscoder::~ICULCPTranscoder(vo id)" (??1ICULCPTranscoder@xercesc_3_2@@UEAA@XZ) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_getMaxCharSize_58，函数 "public: __cdecl xercesc_3_2::ICUTranscoder::ICUTranscoder(char16_t const const,struct UConverter const,unsigned __int64,class xercesc_3_2::MemoryManager const)" (??0ICUTranscoder@xercesc_3_2@@QEAA@QEB_SQEAUUConverter @@_KQEAVMemoryManager@1@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_getMinCharSize_58，函数 "public: cdecl xercesc_3_2::ICUTranscoder::ICUTranscoder(char16_t const const,struct UConverter const,unsigned __int64,class xercesc_3_2::MemoryManager * const)" (??0ICUTranscoder@xercesc_3_2@@QEAA@QEB_SQEAUUConverter @@_KQEAVMemoryManager@1@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_setFromUCallBack_58，函数 "public: virtual bool cdecl xercesc_3_2::ICUTranscoder::canTran scodeTo(unsigned int)" (?canTranscodeTo@ICUTranscoder@xercesc_3_2@@UEAA_NI@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSeriali zerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_fromUnicode_58，函数 "public: virtual bool cdecl xercesc_3_2::ICUTranscoder::canTranscode To(unsigned int)" (?canTranscodeTo@ICUTranscoder@xercesc_3_2@@UEAA_NI@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTe st.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_toUnicode_58，函数 "public: virtual unsigned int64 cdecl xercesc_3_2::ICUTranscoder::tr anscodeFrom(unsigned char const * const,unsigned int64,char16_t const,unsigned int64,unsigned int64 &,unsigned char const)" (?transcodeFrom@ICUTra nscoder@xercesc_3_2@@UEAA_KQEBE_KQEA_S1AEA_KQEAE@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_fromUChars_58，函数 "public: virtual unsigned int64 cdecl xercesc_3_2::ICULCPTranscoder ::calcRequiredSize(char16_t const const,class xercesc_3_2::MemoryManager const)" (?calcRequiredSize@ICULCPTranscoder@xercesc_3_2@@UEAA_KQEB_SQEAVMemoryM anager@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(ICUTransService.obj) : error LNK2019: 无法解析的外部符号 ucnv_toUChars_58，函数 "public: virtual unsigned int64 cdecl xercesc_3_2::ICULCPTranscoder:: calcRequiredSize(char const const,class xercesc_3_2::MemoryManager const)" (?calcRequiredSize@ICULCPTranscoder@xercesc_3_2@@UEAA_KQEBDQEAVMemoryManager@ 2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_openPatternOptions_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeT oken::getCaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_close_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeToken::getCase InsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中引用了该符号 [D:\c rj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_serialize_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeToken::get CaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中引用了该符号 [ D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_getSerializedSet_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeTok en::getCaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中 引 用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_setSerializedToOne_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeT oken::getCaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_getSerializedRangeCount_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::R angeToken::getCaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2 @@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(RangeToken.obj) : error LNK2019: 无法解析的外部符号 uset_getSerializedRange_58，函数 "public: class xercesc_3_2::RangeToken __cdecl xercesc_3_2::RangeT oken::getCaseInsensitiveToken(class xercesc_3_2::TokenFactory const)" (?getCaseInsensitiveToken@RangeToken@xercesc_3_2@@QEAAPEAV12@QEAVTokenFactory@2@@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] xerces-c_3.lib(XMLUniCharacter.obj) : error LNK2019: 无法解析的外部符号 u_charType_58，函数 "public: static unsigned short __cdecl xercesc_3_2::XMLUniCharacter::getType (char16_t)" (?getType@XMLUniCharacter@xercesc_3_2@@SAG_S@Z) 中引用了该符号 [D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj] D:\crj\driving\carla\Build\xerces-c-3.2.3-source\build\tests\Release\XSerializerTest.exe : fatal error LNK1120: 24 个无法解析的外部命令 [D:\crj\driving\carla\Build\xe rces-c-3.2.3-source\build\tests\XSerializerTest.vcxproj]

Still some of the logs are represented in Chinese. Sorry for the inconvenience and thank you in advance!

GustavoSilvera commented 1 year ago

Hmm I'm pretty confident that the linker errors with u_strlen_58 come from the transcoder compilation which needs to be disabled as described here. Can you list out the steps you take exactly to do the following:

  1. delete D:\crj\driving\carla\Build\xerces-c-3.2.3-install entirely
  2. delete D:\crj\driving\carla\Build\xerces-c-3.2.3-source/build (and any other cache)
  3. disable the XERCES_USE_TRANSCODER_ICU macro and enable the XERCES_USE_TRANSCODER_WINDOWS macro in D:\crj\driving\carla\Build\xerces-c-3.2.3-source/cmake/XercesTranscoderSelection.cmake (you should also disable the if-else condition to make sure the ICU transcoder macro isn't re-enabled)
  4. rebuild with make PythonAPI and post the logs here.
chenruijia120 commented 1 year ago

Hi Gustavo! Sorry for bothering for a long time. I followed your instructions and changed the XercesTranscoderSelection file as follows:

set(XERCES_USE_TRANSCODER_ICU 0) set(XERCES_USE_TRANSCODER_ICONV 0) set(XERCES_USE_TRANSCODER_GNUICONV 0) set(XERCES_USE_TRANSCODER_MACOSUNICODECONVERTER 0) set(XERCES_USE_TRANSCODER_WINDOWS 1) if(transcoder STREQUAL "icu") set(XERCES_USE_TRANSCODER_ICU 0) elseif(transcoder STREQUAL "iconv") set(XERCES_USE_TRANSCODER_ICONV 1) elseif(transcoder STREQUAL "gnuiconv") set(XERCES_USE_TRANSCODER_GNUICONV 1) elseif(transcoder STREQUAL "macosunicodeconverter") set(XERCES_USE_TRANSCODER_MACOSUNICODECONVERTER 1) elseif(transcoder STREQUAL "windows") set(XERCES_USE_TRANSCODER_WINDOWS 1) else() message(FATAL_ERROR "Invalid transcoder: \"${transcoder}\"") endif()

Xerces appears to be installed successfully this time, with the bin/cmake/include/lib/share folder appearing, but there are errors in the logs during the installation of Xerces, and the final make PythonAPI does not succeed. I've put the full log (the first small part is not saved due to limited command prompt display) in this Google Drive file. Thank you for answering and it is really kind of you!!

GustavoSilvera commented 1 year ago

No I don't think xerces is installed correctly (although Carla says it is). Can you delete the if-else chain in the cmake file and clear the build cache and try again. You shouldn't be getting any ICUTransService related linker errors since this should force the macro XERCES_USE_TRANSCODER_ICU to false. Since you still have errors related to this macro I believe this transcoder macro is not being set correctly.

I might be forgetting which build folder is the cache, so a safer bet is to delete all xerces folders (source and install), then change the cmake file in the source folder then rebuild.

chenruijia120 commented 1 year ago

Thank you for your answer! It is weird that it still did not work. I tried another way to get the data from the hardware. Thank you for all the patience!

GustavoSilvera commented 1 year ago

Hi @chenruijia120 , after looking into this more, a more robust solution is as follows:

  1. delete your entire xerces build (install) and source folder
  2. reset all your changes to Util/InstallersWin/install_xercesc.bat (same as vanilla carla) (Make sure Xercesc version is 3.2.3!)
  3. Change the url for XERCESC_REPO to https://archive.apache.org/dist/xerces/c/3/sources/xerces-c-%XERCESC_VERSION%.zip (uses the archive link)
  4. Add the flag -Dtranscoder=windows^ to the cmake command on line ~120 so it looks like: 
    cmake .. -G "Visual Studio 16 2019" -A x64^
-DCMAKE_INSTALL_PREFIX="%XERCESC_INSTALL_DIR:\=/%"^
-DBUILD_SHARED_LIBS=OFF^
-Dtranscoder=windows^
"%BUILD_DIR%%XERCESC_BASENAME%-%XERCESC_VERSION%-source"
  5. run make PythonAPI again (might have to run twice)

We'll be updating the DReyeVR repo with this fix soon.

GustavoSilvera commented 1 year ago

If you pull from the latest release (0.1.2) we have addressed all these Windows build issues in this pr.