| .. |
| ******************************************************************************* |
| Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG) |
| |
| This program and the accompanying materials are made available under the |
| terms of the Eclipse Public License 2.0 which is available at |
| http://www.eclipse.org/legal/epl-2.0. |
| |
| SPDX-License-Identifier: EPL-2.0 |
| ******************************************************************************* |
| |
| External Dependencies |
| ===================== |
| |
| |OP| depends on a number of external dependencies. Installation of those dependencies is described in :ref:`prerequisites`. |
| |
| The third party software dependency of |op| can be divided into: |
| |
| - **Build environment**, which manages third party software and is used to compile and install |op| |
| - **Binary packages**, which can be easily installed via a package manager of the respective build environment |
| - **Source packages**, which need to be built from source code |
| |
| This section gives an overview of the dependencies and how they are used. |
| |
| Information on Binary Packages |
| ------------------------------ |
| |
| GNU Compiler Collection (gcc) |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| Version (latest tested): 10.2.3 |
| |
| |Op| is developed on Linux and Windows (64-Bit) in `C++17 <https://isocpp.org/>`_ using the GNU Compiler Collection (`gcc <https://gcc.gnu.org/>`_). |
| |
| .. admonition:: Useful hints |
| |
| - | |op| has been developed using gcc 7.x, 8.x, 9.x, and more recently gcc 10.x. |
| | There are no known issues regarding the different versions. |
| - Since no compiler specific features are used, the source should also compile with `clang <https://clang.llvm.org/>`_. |
| - Generally, there is support for `MSVC <https://docs.microsoft.com/en-us/cpp/build/reference/c-cpp-building-reference>`_ , but currently not actively maintained by the |opwg|. |
| |
| GNU Debugger (gdb) |
| ~~~~~~~~~~~~~~~~~~ |
| |
| Version (latest tested): 9.2 |
| |
| Debugging tools for gcc: https://www.gnu.org/savannah-checkouts/gnu/gdb/index.html |
| |
| CMake |
| ~~~~~ |
| |
| Version (latest tested): 3.18.4 |
| |
| |Op| uses `CMake <https://cmake.org/>`_ for building and testing. |
| For details on the provided options, see :ref:`cmake`. |
| |
| .. _prerequisites_ccache: |
| |
| Ccache |
| ~~~~~~ |
| |
| Version (latest tested): 3.7.11 |
| |
| |Op| supports the compiler cache `Ccache <https://ccache.dev/>`_ for faster recompilation. |
| Use only, if you need to recompile regularly. |
| |
| .. admonition:: Useful hints |
| |
| - The first compilation is definilty slower (e.g. by 30%), as the cache needs to be built. |
| - If used regularily, increasing the cache size is recommended, e.g.: ``ccache -M 20G`` |
| |
| Doxygen |
| ~~~~~~~ |
| |
| Version (latest tested): 1.8.20 |
| |
| Documentation is created using `Doxygen <https://www.doxygen.nl/index.html>`_. |
| |
| .. admonition:: Useful hints |
| |
| - Doxygen introduced support for Markdown with 1.8, which is still in use. |
| Don't use older versions. |
| |
| Qt Framework |
| ~~~~~~~~~~~~ |
| |
| Version (officially supported): 5.12.3 |
| |
| |Op| uses some features from the `Qt <https://www.qt.io/>`_ framework. |
| While the GUI of |op_oss| heavily relies on it, the simulator tries to stick to the C++ standard framework as far as possible. |
| |
| .. admonition:: Note on Versions |
| |
| | Versions starting from 5.4 should generally work, but are not officially supported anymore/yet. |
| | Version 5.15.1 has been reported to work well. |
| |
| Boost C++ Libraries |
| ~~~~~~~~~~~~~~~~~~~ |
| |
| Version (officially supported): 1.72.0 |
| |
| Especially for geometrical calculations, |op| uses parts of the `Boost C++ Libraries <https://www.boost.org/>`_. |
| |
| .. admonition:: Note on Versions |
| |
| More recent versions should integrate without issues, but 1.74.0 already raise warnings for some deprecated headers. |
| |
| googletest |
| ~~~~~~~~~~ |
| |
| Version (officially supported): 1.10.0 |
| |
| Tests are written in `googletest <https://github.com/google/googletest>`_ and |Op| makes use of the included *googletest* (gtest) C++ testing framework, as well as the included mocking framework *googlemock* (gmock). |
| |
| .. note:: |
| |
| The lastest major release brought several API changes, which made some code fixes necessary. |
| Use newer versions with precaution. |
| |
| Information on Source Packages |
| ------------------------------ |
| |
| The second and last set of dependencies we need to dissolve are based on source packages. |
| Since installing such source packages is not easy, we have dedicated a separate chapter on this topic. |
| See :ref:`building_prerequisites` for a step-by-step instruction on how to download, build and install needed source packages. |
| |
| Details on source packages: |
| |
| .. _prerequisites_osi: |
| |
| Open Simulation Interface (OSI) |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| Version (officially supported): 3.2.0 |
| |
| The internal world representation uses the `Open Simulation Interface <https://github.com/OpenSimulationInterface>`_ (:term:`OSI`) as part of its ground truth (backend storage) and exchange format. |
| |
| .. figure:: _static/images/osi_in_openpass.png |
| :align: center |
| :scale: 60% |
| :alt: OSI in |op| |
| |
| Interaction between World and consumers of OSI messages. |
| |
| Thereby, OSI provides data structures for representation of various objects in traffic simulation environments. |
| Note that OSI is primarily developed in a sensor centric view, such as lane markings and object boundaries. |
| Beyond that, |op| holds data for non-sensor centric data, such as metainfo on lanes and roads. |
| |
| As shown, OSI itself depends on :ref:`prerequisites_protobuf`. |
| If not already installed, the library and headers have to be built prior to OSI. |
| |
| .. admonition:: Note on Versions |
| |
| |Op| supports **integration of custom made or experimental versions** of OSI (see :ref:`building_osi`). |
| For example, `Algorithm_FmuWrapper` and the wrapped `OSMP` FMUs use the proposed OSI messages `TrafficUpdate` and `TrafficCommand`, not yet defined in OSI 3.2.0. |
| |
| .. _prerequisites_protobuf: |
| |
| Protocol Buffers (protobuf) |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| Supported Version (officially supported): 3.12.2 |
| |
| :ref:`prerequisites_osi` uses `Protocol Buffers <https://developers.google.com/protocol-buffers>`_ for describing and serialization of its datastructures. |
| |
| .. admonition:: Note on Versions |
| |
| - So far, no version limitations known (including 2.x). |
| - |Op| lets you integrate your own protobuf libraries if necessary (see :ref:`building_protobuf`). |
| |
| Modelon FMI Library (FMIL) |
| ~~~~~~~~~~~~~~~~~~~~~~~~~~ |
| |
| Supported Version: 2.0.3 |
| |
| For integration of Functional Mock-up Units (FMUs) the `Algorithm_FmuWrapper` uses the `Modelon FMI Library <https://github.com/modelon-community/fmi-library>`_. |
| As there is no binary available, FMIL needs to be build from scratch before |op| can be compiled (see :ref:`building_fmil`). |
