Upgrade to Unreal Engine 4.22 and clang 7

.travis.yml

@@ -13,9 +13,10 @@ matrix:
         apt:
           sources:
             - ubuntu-toolchain-r-test
+            - llvm-toolchain-xenial-7
           packages:
             - g++-7 # we need this one for the libstdc++.
-            - clang-6.0
+            - clang-7
             - ninja-build
             - python
             - python-pip

CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Latest
 
+  * Upgraded to Unreal Engine 4.22
   * Recorder fixes:
     - Actors at start of playback could interpolate positions from its current position instead than the recorded position, making some fast sliding effect during 1 frame.
     - Camera following in playback was not working if a new map was needed to load.

Docs/build_system.md

@@ -11,7 +11,7 @@ process.
 
 ![modules](img/modules.png)
 
-In Linux, we compile CARLA and all the dependencies with clang-6.0 and C++14
+In Linux, we compile CARLA and all the dependencies with clang-7.0 and C++14
 standard. We however link against different runtime C++ libraries depending on
 where the code going to be used, since all the code that is going to be linked
 with Unreal Engine needs to be compiled using `libc++`.
@@ -26,7 +26,7 @@ make setup
 
 Get and compile dependencies
 
-  * llvm-6.0 (libc++ and libc++abi)
+  * llvm-7.1 (libc++ and libc++abi)
   * rpclib-2.2.1 (twice, with libstdc++ and libc++)
   * boost-1.69 (headers only)
   * googletest-1.8.0 (with libc++)
@@ -53,8 +53,8 @@ Two configurations:
 
 #### CarlaUE4 and Carla plugin
 
-Both compiled at the same step with Unreal Engine 4.21 build tool. They require
-the `UE4_ROOT` environment variable set.
+Both compiled at the same step with Unreal Engine build tool. They require the
+`UE4_ROOT` environment variable set.
 
 Command
 

Docs/coding_standard.md

@@ -27,7 +27,7 @@ C++
   * Comments should not exceed 80 columns, code may exceed this limit a bit in
     rare occasions if it results in clearer code.
   * Compilation should not give any error or warning
-    (`clang++-6.0 -Wall -Wextra -std=C++14 -Wno-missing-braces`).
+    (`clang++-7 -Wall -Wextra -std=C++14 -Wno-missing-braces`).
   * The use of `throw` is forbidden, use `carla::throw_exception` instead.
   * Unreal C++ code (CarlaUE4 and Carla plugin) follow the
     [Unreal Engine's Coding Standard][ue4link] with the exception of using

Docs/how_to_build_on_linux.md

@@ -7,8 +7,10 @@ Install the build tools and dependencies
 
 ```
 sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|sudo apt-key add -
+sudo apt-add-repository "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-7 main"
 sudo apt-get update
-sudo apt-get install build-essential clang-6.0 lld-6.0 g++-7 cmake ninja-build python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl wget unzip autoconf libtool
+sudo apt-get install build-essential clang-7 lld-7 g++-7 cmake ninja-build python python-pip python-dev python3-dev python3-pip libpng16-dev libtiff5-dev libjpeg-dev tzdata sed curl wget unzip autoconf libtool
 pip2 install --user setuptools
 pip3 install --user setuptools
 ```
@@ -20,8 +22,8 @@ change your default clang version to compile Unreal Engine and the CARLA
 dependencies
 
 ```sh
-sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-6.0/bin/clang++ 102
-sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-6.0/bin/clang 102
+sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/lib/llvm-7/bin/clang++ 170
+sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-7/bin/clang 170
 ```
 
 Build Unreal Engine
@@ -32,13 +34,13 @@ Build Unreal Engine
     need to add your GitHub username when you sign up at
     [www.unrealengine.com](https://www.unrealengine.com).
 
-Download and compile Unreal Engine 4.21. Here we will assume you install it at
-`~/UnrealEngine_4.21", but you can install it anywhere, just replace the path
+Download and compile Unreal Engine 4.22. Here we will assume you install it at
+`~/UnrealEngine_4.22", but you can install it anywhere, just replace the path
 where necessary.
 
 ```sh
-git clone --depth=1 -b 4.21 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.21
-cd ~/UnrealEngine_4.21
+git clone --depth=1 -b 4.22 https://github.com/EpicGames/UnrealEngine.git ~/UnrealEngine_4.22
+cd ~/UnrealEngine_4.22
 ./Setup.sh && ./GenerateProjectFiles.sh && make
 ```
 
@@ -71,7 +73,7 @@ For CARLA to find your Unreal Engine's installation folder you need to set the
 following environment variable
 
 ```sh
-export UE4_ROOT=~/UnrealEngine_4.21
+export UE4_ROOT=~/UnrealEngine_4.22
 ```
 
 You can also add this variable to your `~/.bashrc` or `~/.profile`.

Docs/how_to_build_on_windows.md

@@ -15,7 +15,7 @@
 
 Also:
 
-- [Unreal Engine](https://www.unrealengine.com/download) (v4.21.x)
+- [Unreal Engine](https://www.unrealengine.com/download) (v4.22.x)
 - [Visual Studio](https://www.visualstudio.com/downloads/) (2017)
 
 <h3>Environment Setup</h3>

Examples/CppClient/Makefile

@@ -4,8 +4,8 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 
-CC=/usr/bin/clang-6.0
-CXX=/usr/bin/clang++-6.0
+CC=/usr/bin/clang-7
+CXX=/usr/bin/clang++-7
 CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
 
 define log

Examples/CppClient/README.md

@@ -24,8 +24,8 @@ want
 
 ```cmake
 # Example ToolChain.cmake
-set(CMAKE_C_COMPILER /usr/bin/clang-6.0)
-set(CMAKE_CXX_COMPILER /usr/bin/clang++-6.0)
+set(CMAKE_C_COMPILER /usr/bin/clang-7)
+set(CMAKE_CXX_COMPILER /usr/bin/clang++-7)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -DNDEBUG" CACHE STRING "" FORCE)
 ```
 

Jenkinsfile

@@ -2,7 +2,7 @@ pipeline {
     agent any
 
     environment {
-        UE4_ROOT = '/var/lib/jenkins/UnrealEngine_4.21'
+        UE4_ROOT = '/var/lib/jenkins/UnrealEngine_4.22'
     }
 
     options {

LibCarla/source/carla/road/Map.cpp

@@ -257,31 +257,31 @@ namespace road {
     RELEASE_ASSERT(waypoint.lane_id >= lanes.begin()->first);
     RELEASE_ASSERT(waypoint.lane_id <= lanes.rbegin()->first);
 
-    double lane_width = 0;
-    double lane_tangent = 0;
+    float lane_width = 0.0f;
+    float lane_tangent = 0.0f;
     if (waypoint.lane_id < 0) {
       // right lane
       const auto side_lanes = MakeListView(
           std::make_reverse_iterator(lanes.lower_bound(0)), lanes.rend());
       const auto computed_width =
           ComputeTotalLaneWidth(side_lanes, waypoint.s, waypoint.lane_id);
-      lane_width = computed_width.first;
-      lane_tangent = computed_width.second;
+      lane_width = static_cast<float>(computed_width.first);
+      lane_tangent = static_cast<float>(computed_width.second);
     } else {
       // left lane
       const auto side_lanes = MakeListView(lanes.lower_bound(1), lanes.end());
       const auto computed_width =
           ComputeTotalLaneWidth(side_lanes, waypoint.s, waypoint.lane_id);
-      lane_width = computed_width.first;
-      lane_tangent = computed_width.second;
+      lane_width = static_cast<float>(computed_width.first);
+      lane_tangent = static_cast<float>(computed_width.second);
     }
 
     // get a directed point in s and apply the computed lateral offet
     DirectedPoint dp = road.GetDirectedPointIn(waypoint.s);
 
     // compute the tangent of the laneOffset
     const auto lane_offset_info = road.GetInfo<RoadInfoLaneOffset>(waypoint.s);
-    const auto lane_offset_tangent = lane_offset_info->GetPolynomial().Tangent(waypoint.s);
+    const auto lane_offset_tangent = static_cast<float>(lane_offset_info->GetPolynomial().Tangent(waypoint.s));
 
     lane_tangent -= lane_offset_tangent;
 

LibCarla/source/carla/road/Road.cpp

@@ -184,7 +184,7 @@ namespace road {
     const auto geometry = _info.GetInfo<element::RoadInfoGeometry>(clamped_s);
 
     const auto lane_offset = _info.GetInfo<element::RoadInfoLaneOffset>(clamped_s);
-    const auto offset = lane_offset->GetPolynomial().Evaluate(clamped_s);
+    const auto offset = static_cast<float>(lane_offset->GetPolynomial().Evaluate(clamped_s));
 
     // Apply road's lane offset record
     element::DirectedPoint p = geometry->GetGeometry().PosFromDist(clamped_s - geometry->GetDistance());
@@ -244,7 +244,7 @@ namespace road {
     DirectedPoint current_dp = dp_lane_zero;
     for (const auto &lane : right_lanes) {
       const auto lane_width_info = lane.second->GetInfo<RoadInfoLaneWidth>(s);
-      const auto half_width = lane_width_info->GetPolynomial().Evaluate(s) * 0.5;
+      const auto half_width = static_cast<float>(lane_width_info->GetPolynomial().Evaluate(s)) * 0.5f;
 
       current_dp.ApplyLateralOffset(half_width);
       const auto current_dist = geom::Math::Distance(current_dp.location, loc);
@@ -267,7 +267,7 @@ namespace road {
     current_dp = dp_lane_zero;
     for (const auto &lane : left_lanes) {
       const auto lane_width_info = lane.second->GetInfo<RoadInfoLaneWidth>(s);
-      const auto half_width = -lane_width_info->GetPolynomial().Evaluate(s) * 0.5;
+      const auto half_width = -static_cast<float>(lane_width_info->GetPolynomial().Evaluate(s)) * 0.5f;
 
       current_dp.ApplyLateralOffset(half_width);
       const auto current_dist = geom::Math::Distance(current_dp.location, loc);

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

@@ -41,10 +41,10 @@ namespace element {
     double tangent = 0.0; // [radians]
     double pitch = 0.0;   // [radians]
 
-    void ApplyLateralOffset(double lateral_offset) {
+    void ApplyLateralOffset(float lateral_offset) {
       /// @todo Z axis??
-      auto normal_x =  std::sin(tangent);
-      auto normal_y = -std::cos(tangent);
+      auto normal_x =  std::sin(static_cast<float>(tangent));
+      auto normal_y = -std::cos(static_cast<float>(tangent));
       location.x += lateral_offset * normal_x;
       location.y += lateral_offset * normal_y;
     }
@@ -117,11 +117,11 @@ namespace element {
       : Geometry(GeometryType::LINE, start_offset, length, heading, start_pos) {}
 
     DirectedPoint PosFromDist(double dist) const override {
-      dist = geom::Math::Clamp(dist, 0.0, _length);
       DEBUG_ASSERT(_length > 0.0);
+      dist = geom::Math::Clamp(dist, 0.0, _length);
       DirectedPoint p(_start_position, _heading);
-      p.location.x += dist * std::cos(p.tangent);
-      p.location.y += dist * std::sin(p.tangent);
+      p.location.x += static_cast<float>(dist * std::cos(p.tangent));
+      p.location.y += static_cast<float>(dist * std::sin(p.tangent));
       return p;
     }
 
@@ -159,11 +159,11 @@ namespace element {
       const double radius = 1.0 / _curvature;
       constexpr double pi_half = geom::Math::Pi<double>() / 2.0;
       DirectedPoint p(_start_position, _heading);
-      p.location.x += radius * std::cos(p.tangent + pi_half);
-      p.location.y += radius * std::sin(p.tangent + pi_half);
+      p.location.x += static_cast<float>(radius * std::cos(p.tangent + pi_half));
+      p.location.y += static_cast<float>(radius * std::sin(p.tangent + pi_half));
       p.tangent += dist * _curvature;
-      p.location.x -= radius * std::cos(p.tangent + pi_half);
-      p.location.y -= radius * std::sin(p.tangent + pi_half);
+      p.location.x -= static_cast<float>(radius * std::cos(p.tangent + pi_half));
+      p.location.y -= static_cast<float>(radius * std::sin(p.tangent + pi_half));
       return p;
     }
 
@@ -228,8 +228,8 @@ namespace element {
       DirectedPoint p(_start_position, _heading);
       const double cos_a = std::cos(p.tangent);
       const double sin_a = std::sin(p.tangent);
-      p.location.x += C * cos_a - S * sin_a;
-      p.location.y += S * cos_a + C * sin_a;
+      p.location.x += static_cast<float>(C * cos_a - S * sin_a);
+      p.location.y += static_cast<float>(S * cos_a + C * sin_a);
       p.tangent += length * length;
 
       return p;

PythonAPI/carla/setup.py

@@ -40,7 +40,7 @@ def walk(folder, file_filter='*'):
                 os.path.join(pwd, 'dependencies/lib', pylib)]
             extra_compile_args = [
                 '-isystem', 'dependencies/include/system', '-fPIC', '-std=c++14',
-                '-Werror', '-Wall', '-Wextra', '-Wpedantic',
+                '-Werror', '-Wall', '-Wextra', '-Wpedantic', '-Wno-self-assign-overloaded',
                 '-Wdeprecated', '-Wno-shadow', '-Wuninitialized', '-Wunreachable-code',
                 '-Wpessimizing-move', '-Wold-style-cast', '-Wnull-dereference',
                 '-Wduplicate-enum', '-Wnon-virtual-dtor', '-Wheader-hygiene',

Unreal/CarlaUE4/CarlaUE4.uproject

@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "4.21",
+	"EngineAssociation": "4.22",
 	"Category": "",
 	"Description": "",
 	"Modules": [

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.h

@@ -85,35 +85,24 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor)
 {
   check(Sensor.CaptureRenderTarget != nullptr);
 
-  // First we create the message header (needs to be created in the
-  // game-thread).
-  auto AsyncStream = Sensor.GetDataStream(Sensor);
-
-  // We need a shared ptr here because UE4 macros do not move the arguments -_-
-  auto StreamPtr = std::make_shared<decltype(AsyncStream)>(std::move(AsyncStream));
-
-  // Then we enqueue commands in the render-thread that will write the image
-  // buffer to the data stream.
-
-  auto WriteAndSend = [&Sensor, Stream=std::move(StreamPtr)](auto &InRHICmdList) mutable
-  {
-    /// @todo Can we make sure the sensor is not going to be destroyed?
-    if (!Sensor.IsPendingKill())
+  // Enqueue a command in the render-thread that will write the image buffer to
+  // the data stream. The stream is created in the capture thus executed in the
+  // game-thread.
+  ENQUEUE_RENDER_COMMAND(FWritePixels_SendPixelsInRenderThread)
+  (
+    [&Sensor, Stream=Sensor.GetDataStream(Sensor)](auto &InRHICmdList) mutable
     {
-      auto Buffer = Stream->PopBufferFromPool();
-      WritePixelsToBuffer(
-          *Sensor.CaptureRenderTarget,
-          Buffer,
-          carla::sensor::SensorRegistry::get<TSensor *>::type::header_offset,
-          InRHICmdList);
-      Stream->Send(Sensor, std::move(Buffer));
+      /// @todo Can we make sure the sensor is not going to be destroyed?
+      if (!Sensor.IsPendingKill())
+      {
+        auto Buffer = Stream.PopBufferFromPool();
+        WritePixelsToBuffer(
+            *Sensor.CaptureRenderTarget,
+            Buffer,
+            carla::sensor::SensorRegistry::get<TSensor *>::type::header_offset,
+            InRHICmdList);
+        Stream.Send(Sensor, std::move(Buffer));
+      }
     }
-  };
-
-  ENQUEUE_UNIQUE_RENDER_COMMAND_ONEPARAMETER(
-      FWritePixels_SendPixelsInRenderThread,
-      std::function<void(FRHICommandListImmediate &)>, WriteAndSendFunction, std::move(WriteAndSend),
-  {
-    WriteAndSendFunction(RHICmdList);
-  });
+  );
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/VehicleInputPriority.h

@@ -25,6 +25,6 @@ enum class EVehicleInputPriority : uint8
 
 inline static bool operator<=(EVehicleInputPriority Lhs, EVehicleInputPriority Rhs)
 {
-  constexpr auto Cast = [](auto e) { return static_cast<typename std::underlying_type<decltype(e)>::type>(e); };
+  auto Cast = [](auto e) { return static_cast<typename std::underlying_type<decltype(e)>::type>(e); };
   return Cast(Lhs) <= Cast(Rhs);
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.cpp

@@ -97,9 +97,9 @@ AWheeledVehicleAIController::~AWheeledVehicleAIController() {}
 // -- APlayerController --------------------------------------------------------
 // =============================================================================
 
-void AWheeledVehicleAIController::Possess(APawn *aPawn)
+void AWheeledVehicleAIController::OnPossess(APawn *aPawn)
 {
-  Super::Possess(aPawn);
+  Super::OnPossess(aPawn);
 
   if (IsPossessingAVehicle())
   {
@@ -119,9 +119,9 @@ void AWheeledVehicleAIController::Possess(APawn *aPawn)
   }
 }
 
-void AWheeledVehicleAIController::UnPossess()
+void AWheeledVehicleAIController::OnUnPossess()
 {
-  Super::UnPossess();
+  Super::OnUnPossess();
 
   Vehicle = nullptr;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleAIController.h

@@ -44,9 +44,9 @@ class CARLA_API AWheeledVehicleAIController : public APlayerController
 
 public:
 
-  void Possess(APawn *aPawn) override;
+  void OnPossess(APawn *aPawn) override;
 
-  void UnPossess() override;
+  void OnUnPossess() override;
 
   void Tick(float DeltaTime) override;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp

@@ -16,9 +16,9 @@ AWalkerController::AWalkerController(const FObjectInitializer& ObjectInitializer
   PrimaryActorTick.bCanEverTick = true;
 }
 
-void AWalkerController::Possess(APawn *InPawn)
+void AWalkerController::OnPossess(APawn *InPawn)
 {
-  Super::Possess(InPawn);
+  Super::OnPossess(InPawn);
 
   auto *Character = Cast<ACharacter>(InPawn);
   if (Character == nullptr)