修复找不到git可执行文件的问题

.github/workflows/build_windows.yml

@@ -1,7 +1,6 @@
 name: hutb Windows CI/CD
 
 on: 
-  push:
   pull_request:
 
 

Examples/CppClient/basic_usage.cpp

@@ -1,12 +1,13 @@
 // 参考:https://zhuanlan.zhihu.com/p/663460928
+#include <random>
 #include <sstream>
 #include <string>
 #include <thread>
 #include <tuple>
 
 // 注意：hutb\Unreal\CarlaUE4\Plugins\Carla\CarlaDependencies\include\carla 不存在 carla/client 目录
-#include <carla/client/ActorBlueprint.h>
-#include <carla/client/BlueprintLibrary.h>
+#include <carla/actors/ActorBlueprint.h>
+#include <carla/actors/BlueprintLibrary.h>
 #include <carla/client/Client.h>
 #include <carla/client/Sensor.h>
 #include <carla/client/TimeoutException.h>
@@ -24,6 +25,35 @@ static auto ParseArguments(int argc, const char* argv[])
     return argc == 3u ? ResultType{ argv[1u], std::stoi(argv[2u]) } : ResultType{ "localhost", 2000u };
 }
 
+
+// 随机选取
+template <typename RangeT, typename RNG>
+static auto& RandomChoice(const RangeT& range, RNG&& generator)
+{
+    std::uniform_int_distribution<size_t> dist{ 0u, range.size() - 1u };
+    return range[dist(std::forward<RNG>(generator))];
+}
+
+// 一个创建汽车的函数，方便循环使用
+SharedPtr<client::Vehicle> SetVehicle(geom::Transform transform, client::World world)
+{
+    std::mt19937_64 rng((std::random_device())());
+
+    // Get a random vehicle blueprint.
+    SharedPtr<actors::BlueprintLibrary> blueprint_library = world.GetBlueprintLibrary();
+    auto vehicles = blueprint_library->Filter("vehicle");
+    // 在容器中随机选取车型
+    actors::BlueprintLibrary vehicle_bp = RandomChoice(*vehicles, rng);
+
+    SharedPtr<client::Actor> actor = world.SpawnActor(vehicle_bp, transform);
+    SharedPtr<client::Vehicle> vehicle = boost::static_pointer_cast<client::Vehicle>(actor);
+    // 将汽车全部设置为自动驾驶模式
+    vehicle->SetAutopilot(true);
+    return vehicle;
+}
+
+
+
 int main(int argc, const char* argv[])
 {
     try
@@ -48,7 +78,9 @@ int main(int argc, const char* argv[])
         // 获取推荐的车辆其实位置
         std::vector<geom::Transform> spawn_point = map->GetRecommendedSpawnPoints();
 
-        // 构建汽车对象
+
+        // ********************************************************************************************
+        // 构建汽车对象********************************************************************************
         // 获取这张地图中所有实物的蓝图
         SharedPtr<actors::BlueprintLibrary> blueprint_library = world.GetBlueprintLibrary();
         // 获取汽车的蓝图并指定其颜色
@@ -68,7 +100,6 @@ int main(int argc, const char* argv[])
         view_transform.rotation.pitch = -15.0f;
         spectator->SetTransform(view_transform);
 
-
         // 参考：https://zhuanlan.zhihu.com/p/663726656
         // 踩油门
         // client::Vehicle::Control control;
@@ -77,6 +108,7 @@ int main(int argc, const char* argv[])
         // {
         //     vehicle->ApplyControl(control);
         // }
+
         // 除了油门，还可以控制刹车、方向盘、传动比、手刹等
         // control.brake = 0.1;
         // control.steer = 0.02;
@@ -86,7 +118,34 @@ int main(int argc, const char* argv[])
         // 速度加速度：AckermanControl
 
         // 自动驾驶
-        vehicle->SetAutopilot(true);
+        // vehicle->SetAutopilot(true);
+        // std:cout << "Autopilot enabled" << std::endl;
+        // ********************************************************************************************
+
+
+
+        // ********************************************************************************************
+        // 添加行人************************************************************************************
+        actors::ActorBlueprint walker_bp = *blueprint_library->Find("walker.pedestrian.0037");
+        SharedPtr<client::Actor> walker_actor = world.SpawnActor(walker_bp, recommend_points[200]);
+        SharedPtr<client::Walker> walker = boost::static_pointer_cast<client::Walker>(walker_actor);
+        // 切换视角查看生成的行人
+        view_transform = recommend_points[200];
+        spectator = world.GetSpectator();
+        view_transform.location -= 5.0f * view_transform.GetForwardVector();
+        view_transform.location.z += 3.0f;
+        view_transform.rotation.yaw += 0.0f;
+        view_transform.rotation.pitch = -15.0f;
+        spectator->SetTransform(view_transform);
+        // 让行人动起来
+        client::Walker::Control walker_control;
+        walker_control.speed = 0.2;
+        walker_control.jump = false; // 爬坡的时候使用
+        walker_control.direction = { recommend_points[201].location.x,recommend_points[200].location.y,0.0 };
+        walker->ApplyControl(walker_control);
+        // ********************************************************************************************
+
+
 
 
     }

LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp

@@ -130,7 +130,7 @@ void TrafficManagerLocal::SetupLocalMap() {
       local_map->SetUp();
     }
   } else {
-    log_warning("No InMemoryMap cache found. Setting up local map. This may take a while...");
+    log_warning("No InMemoryMap cache found (TM). Setting up local map. This may take a while...");
     local_map->SetUp();
   }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -223,6 +223,7 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
       PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
+
     }
     else
     {

Util/BuildTools/Package.bat

@@ -298,6 +298,13 @@ if %DO_COPY_FILES%==true (
         "%ProgramW6432%/7-Zip/7z.exe" x "!SUMO_TEMP_FILE_DIR!" -o"!XCOPY_FROM!Build\dependencies\Plugins\" -y
         echo d | xcopy /y /s "!XCOPY_FROM!Build\dependencies\Plugins\sumo"                             "!XCOPY_TO!sumo"
     )
+
+    :: copy DirectX Runtime dll to package
+    set DirectX_TEMP_FILE_DIR="!XCOPY_FROM!Build\dependencies\prerequisites\DirectX_Runtime"
+    if exist "!DirectX_TEMP_FILE_DIR!" (
+        :: 鎷疯礉DirectX Runtime涓墍鏈夌殑dll鏂囦欢鍒拌繍琛宔xe鎵�闇�鐨刣ll鐩綍涓�
+        echo d | xcopy /y /s "!XCOPY_FROM!Build\dependencies\prerequisites\DirectX_Runtime\*.dll"      "!XCOPY_TO!CarlaUE4\Binaries\Win64"
+    )
 )
 call :get_current_time_in_seconds T_END_DO_COPY_FILES
 set /A ELAPSED_TIME=!T_END_DO_COPY_FILES! - !T_START_DO_COPY_FILES!

Util/InstallersWin/install_recast.bat

@@ -17,7 +17,7 @@ rem ============================================================================
 set DEL_SRC=false
 :: --build-debug true|false
 ::   Build the Debug version of Recast & Detour to debug LibCarla client
-set BUILD_DEBUG=false
+set IS_DEBUG=false
 
 :arg-parse
 if not "%1"=="" (
@@ -34,7 +34,7 @@ if not "%1"=="" (
         shift
     )
     if "%1"=="--build-debug" (
-        set BUILD_DEBUG=true
+        set IS_DEBUG=true
         shift
     )
     shift
@@ -59,7 +59,12 @@ set RECAST_BUILD_DIR=%RECAST_SRC_DIR%build\
 set RECAST_BASENAME=%RECAST_SRC%
 
 if exist "%RECAST_INSTALL_DIR%" (
-    goto already_build
+    if %IS_DEBUG% == true (
+        echo %FILE_N% A "Recast & Detour" installation already exists. Rebuild it.
+    ) else (
+        echo %FILE_N% A "Recast & Detour" Release installation already exists.
+        goto already_build
+    )
 )
 
 if not exist "%RECAST_SRC_DIR%" (
@@ -88,7 +93,7 @@ echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
     set PLATFORM=
 )
 
-if %BUILD_DEBUG% == true (
+if %IS_DEBUG% == true (
     echo cmake .. -G %GENERATOR% %PLATFORM%^
         -DCMAKE_BUILD_TYPE=Debug^
         -DCMAKE_CXX_FLAGS_DEBUG="/MDd /MP"^

Util/InstallersWin/install_rpclib.bat

@@ -18,7 +18,7 @@ rem ============================================================================
 set DEL_SRC=false
 :: --build-debug true|false
 ::   Build the Debug version of rpclib to debug LibCarla client
-set BUILD_DEBUG=false
+set IS_DEBUG=false
 
 :arg-parse
 if not "%1"=="" (
@@ -34,7 +34,7 @@ if not "%1"=="" (
         set DEL_SRC=true
     )
     if "%1"=="--build-debug" (
-        set BUILD_DEBUG=true
+        set IS_DEBUG=true
         shift
     )
     shift  
@@ -61,7 +61,12 @@ set RPC_BUILD_DIR=%RPC_SRC_DIR%build\
 set PUSHD_RPC=%RPC_SRC_DIR%
 
 if exist "%RPC_INSTALL_DIR%" (
-    goto already_build
+    if %IS_DEBUG% == true (
+        echo %FILE_N% A rpclib Debug installation already exists. Rebuild it.
+    ) else (
+        echo %FILE_N% A rpclib Release installation already exists.
+        goto already_build
+    )
 )
 
 if not exist "%RPC_SRC_DIR%" (
@@ -89,7 +94,7 @@ echo.%GENERATOR% | findstr /C:"Visual Studio" >nul && (
 )
 
 
-if %BUILD_DEBUG% == true (
+if %IS_DEBUG% == true (
     echo %FILE_N% cmake .. -G %GENERATOR% %PLATFORM% -DCMAKE_BUILD_TYPE=Debug -DRPCLIB_BUILD_EXAMPLES=OFF -DCMAKE_CXX_FLAGS_DEBUG="/MDd /MP" -DCMAKE_INSTALL_PREFIX="%RPC_INSTALL_DIR:\=/%" "%RPC_SRC_DIR%"
     cmake .. -G %GENERATOR% %PLATFORM%^
             -DCMAKE_BUILD_TYPE=Debug^

Util/download_from_git.py

@@ -12,8 +12,15 @@
 # 2. python git_files.py 鐢熸垚git_files.txt鏂囦欢锛屽鍒跺叾涓殑鍐呭鍒癠til\hutb_downloader.spec鏂囦欢鐨凙nalysis瀵硅薄鐨刣atas鍙傛暟涓紝
 # 灏唃it鐩綍娣诲姞鍒癲atas鍙傛暟涓紝鎹竴鍙版満鍣ㄨ繕鏄壘涓嶅埌git锛岃浆鑰屼粠gitee涓嬭浇git_min.zip锛屽苟瑙ｅ帇鍒板綋鍓嶇洰褰曚笅锛岃繖鏍峰氨鍙互閬垮厤鍦ㄦ墦鍖呮垚exe鍚庯紝鎵句笉鍒癵it鍙墽琛屾枃浠剁殑闂
 # 3. Pyinstaller download_from_git.py --onefile --name hutb_downloader -i hutb_log.ico
+# 
 #
-#
+# 鏂版満鍣ㄩ棶棰橈細fatal: unable to access 'https://git.code.tencent.com/OpenHUTB/release.git/': error setting certificate verify locations: CAfile: E:/Projects/OpenHUTB-mcp/mcp/git/mingw64/ssl/certs/ca-bundle.crt/etc/ssl/certs/ca-bundle.crt CApath: none
+# 瑙ｅ喅锛歡it\bin\git.exe config --global http.sslVerify false
+# 
+# 瑙ｅ喅锛氭病鏈夋媺鍙栧ぇ鏂囦欢锛�
+# 瑙ｅ喅锛歡it\bin\git.exe lfs install
+# 
+# 
 # 鍏朵粬锛堝紑鍙戣繃绋嬶級锛�
 # 浣跨敤.spec鏂囦欢鎵撳寘锛歅yinstaller hutb_downloader.spec
 # -i "icon.ico"  鎸囧畾鍥炬爣
@@ -26,6 +33,8 @@
 # 鍗曚釜鏂囦欢锛�
 # Pyinstaller download_from_git.py --onefile --add-data "git\bin\bash.exe;git\bin\" --add-data "git\bin\git.exe;git\bin\"  -i hutb_log.ico --name hutb_downloader
 #
+#
+# 
 # 涓婁紶鍒拌繙绋嬫湇鍔″櫒锛�
 # python.exe download_from_git.py -u release
 
@@ -41,9 +50,6 @@
 import urllib.request
 import zipfile
 
-from git.repo import Repo
-from git.repo.fun import is_git_dir
-
 # 鑾峰彇褰撳墠浠ｇ爜璺緞鐨勪笂绾х洰褰�
 home_dir = os.path.abspath(os.path.join(os.getcwd(), ".."))
 # 鑾峰彇褰撳墠鑴氭湰鎵�鍦ㄧ殑璺緞
@@ -57,16 +63,13 @@
 # 浣跨敤褰撳墠 git 鐩綍涓嬬殑 git 鍙墽琛屾枃浠�
 # 鍒ゆ柇git鐩綍鏄惁瀛樺湪
 prerequisites_dir = os.path.join(home_dir, "Build", "dependencies", "prerequisites")
-if os.path.exists(os.path.join(prerequisites_dir, "git")) and not os.path.exists(
-    os.path.join(script_dir, "git", "bin", "git.exe")
-):
+if os.path.exists(os.path.join(prerequisites_dir, "git")) and not os.path.exists(os.path.join(script_dir, "git", "bin", "git.exe")):
     # 灏唃it鐩綍鎷疯礉鍒板綋鍓嶈剼鏈墍鍦ㄧ殑璺緞涓�
+    print("Copying git directory from prerequisites to current script directory...")
     shutil.copytree(
         os.path.join(prerequisites_dir, "git"), os.path.join(script_dir, "git")
     )
-elif not os.path.exists(os.path.join(prerequisites_dir, "git")) and not os.path.exists(
-    os.path.join(script_dir, "git", "bin", "git.exe")
-):
+elif not os.path.exists(os.path.join(prerequisites_dir, "git")) and not os.path.exists(os.path.join(script_dir, "git", "bin", "git.exe")):
     # 浠巊itee涓嬭浇git_min.zip锛屽苟瑙ｅ帇鍒板綋鍓嶇洰褰曚笅
     print(
         "Git directory not found in prerequisites, download it from https://gitee.com/OpenHUTB/sw/releases/download/up/git_min.zip and extract it to %s"
@@ -78,14 +81,23 @@
     )
     with zipfile.ZipFile(os.path.join(script_dir, "git_min.zip"), "r") as zip_ref:
         zip_ref.extractall(script_dir)
+else:
+    print("Git directory not found in prerequisites or current script directory.")
 
 
 # 杩欐牱鍙互閬垮厤鍦ㄦ墦鍖呮垚exe鍚庯紝鎵句笉鍒癵it鍙墽琛屾枃浠剁殑闂
-git_path = os.path.join(script_dir, "git", "bin", "git.exe")
-print("Using git executable: ", git_path)
-os.environ["GIT_PYTHON_GIT_EXECUTABLE"] = git_path
+git_exe = os.path.join(script_dir, "git", "bin", "git.exe")
+print("Using git executable: ", git_exe)
+os.environ["GIT_PYTHON_GIT_EXECUTABLE"] = git_exe
+
+# 蹇呴』鍦ㄨ缃瓽IT_PYTHON_GIT_EXECUTABLE鐜鍙橀噺涔嬪悗锛屾墠鑳藉鍏it搴擄紝鍚﹀垯git搴撲細浣跨敤绯荤粺鐜鍙橀噺涓粯璁ょ殑git璺緞锛屽鑷存壘涓嶅埌git鍙墽琛屾枃浠剁殑闂
+from git.repo import Repo
+from git.repo.fun import is_git_dir
+
+disable_ssl_verify_command = "%s config --global http.sslVerify false" % os.path.join(script_dir, 'git', 'bin', 'git.exe')
+print(disable_ssl_verify_command)
+os.system(disable_ssl_verify_command)  # 瑙ｅ喅鏂版満鍣ㄤ笂git鎷夊彇浠ｇ爜鏃讹紝鍑虹幇鐨勮瘉涔﹂獙璇侀棶棰�
 
-git_exe = os.environ.get("GIT_PYTHON_GIT_EXECUTABLE", "git")
 
 
 def show_progress_bar(current, total, bar_length=40):
@@ -340,6 +352,7 @@ def remove_readonly(func, path, _):
 
 if __name__ == "__main__":
 
+
     argparser = argparse.ArgumentParser(description=__doc__)
     argparser.add_argument(
         "-r",
@@ -423,6 +436,15 @@ def remove_readonly(func, path, _):
         # Remove previous download folder
         shutil.rmtree(local_path, onerror=remove_readonly)
     repo = GitRepository(local_path, remote_path)
+    # gitpython 搴撳湪鏂版満鍣ㄤ笅杞藉ぇ鏂囦欢鏃朵細鍑虹幇闂锛屾敼涓虹洿鎺ヨ皟鐢� git 鍛戒护琛屽伐鍏疯繘琛屼笅杞�
+    # repo = GitRepository(local_path, remote_path)
+    # 闂锛歋kipping object checkout, Git LFS is not installed for this repository.
+    # 瑙ｅ喅锛歡it lfs install
+    # git_path = os.path.join(script_dir, 'git', 'bin', 'git.exe')
+    # clone_cmd = "%s clone %s  %s && cd %s & %s lfs install  && %s lfs pull && cd .." % (git_path, remote_path, local_path, save_dir, git_path, git_path)
+    # print("Cloning repository with command: ", clone_cmd)
+    # os.system(clone_cmd)
+
 
     # 绉婚櫎宸ョ▼涓笉鐩稿叧鐨勬枃浠�
     if os.path.exists(os.path.join(local_path, ".git")):
@@ -477,7 +499,11 @@ def remove_readonly(func, path, _):
     cost_time = datetime.datetime.now() - start
     # 褰撶綉缁滃甫瀹借冻澶熷ぇ鏃讹紝涓嬭浇鏃堕棿澶х害4-5鍒嗛挓宸﹀彸
     print("Download finished, cost: %s" % (cost_time))
-    print("Download to: ", local_path)
+    print("Download path: ", local_path)
+
+    print("Launch simulator to click the file: %s" % os.path.join(local_path, 'CarlaUE4.exe'))
+    print("Press any key to continue...")
+    input()
     # kill_process_on_port(2000)  # 涓嬭浇瀹屾垚鍚庤嚜鍔ㄥ惎鍔–arlaUE4.exe锛屾柟渚跨敤鎴锋煡鐪嬩笅杞界粨鏋�
     # if os.path.exists( os.path.join(local_path, 'CarlaUE4.exe') ):
     #     os.system("start "" %s" % os.path.join(local_path, 'CarlaUE4.exe'))  # 鍚姩CarlaUE4.exe

setup.bat

@@ -175,6 +175,14 @@ if exist "%cd%\Build\dependencies\" (
         echo DirectX found!
     )
 
+    rem Unzip DirectX Runtime
+    if not exist "prerequisites\DirectX_Runtime" (
+        echo Unzipping DirectX Runtime ...
+        "prerequisites\7zip\7z.exe" x "prerequisites\DirectX_Runtime.zip" -o"prerequisites\" -y >nul
+    ) else (
+        echo DirectX Runtime already exists.
+    )
+
     if not exist "prerequisites\miniconda3\" (
         echo Unzipping miniconda...
         "prerequisites\7zip\7z.exe" x "prerequisites\miniconda3.zip" -o"prerequisites\" -y >nul