fix(PythonAPI/build): add NumPy 2 compatibility via Boost 1.89 upgrade

[JesusAnaya]

Description

Makes CARLA's PythonAPI compatible with both NumPy 1.x (>= 1.18.4) and NumPy 2.x.
NumPy 1.x support is preserved, not dropped.

NumPy 2.0 introduced two breaking changes relevant to CARLA:

1. Python level: np.bool and np.matrix were removed from the public API.
   Three example scripts used np.bool as a dtype and one used np.matrix for transform math.
2. C ABI level (NEP 52): PyArray_Descr was made opaque, so the direct struct field
   reads in Boost.Python's libs/python/src/numpy/dtype.cpp (->elsize, ->typeobj)
   no longer compile against NumPy 2.x headers. Boost 1.89.0 carries the upstream fix for
   this from boostorg/python#432 natively.

Commit 1, 95c97d602, Python alias fixes (4 files):

• np.bool -> np.bool_ in PythonAPI/examples/V2XDemo.py, manual_control_chrono.py,
  manual_control_carsim.py (DVS event dtype).
• np.matrix(np.identity(4)) -> np.array(np.identity(4)) in client_bounding_boxes.py.
  Safe because the only consumer is np.dot(), not the * operator.

Commit 2, 7968a0428, Boost 1.89.0 upgrade and build/test infrastructure (25 files):

Upgrades Boost from 1.84.0 to 1.89.0. Boost 1.89 ships the NEP 52 fix natively, so
libboost_numpy compiles against both NumPy 1.x and 2.x headers without any vendored patches.

Boost 1.84 -> 1.89 removed several deprecated Asio and Filesystem APIs. All affected call
sites in LibCarla and the CarlaTools UE4 plugin are updated:

File	Change
LibCarla/source/carla/ThreadPool.h	io_context::work -> executor_work_guard (removed 1.85)
LibCarla/source/carla/multigpu/listener.cpp	io_context::reset() -> restart() (removed 1.86)
LibCarla/source/carla/multigpu/router.cpp	address::from_string() -> make_address() (removed 1.85)
LibCarla/source/carla/multigpu/secondary.cpp	same from_string fix
LibCarla/source/carla/rpc/Server.h	reset() -> restart()
LibCarla/source/carla/streaming/EndPoint.h	resolver::query/iterator -> range-based resolve() (removed 1.85)
LibCarla/source/carla/FileSystem.cpp	added #include <boost/filesystem/directory.hpp> (split in 1.85)
LibCarla/source/test/common/test_streaming.cpp	io_context::work -> executor_work_guard
LibCarla/source/test/server/test_benchmark_streaming.cpp	same fix
Unreal/CarlaUE4/Plugins/CarlaTools/.../MapPreviewUserWidget.h	io_service -> io_context (removed 1.85); MSVC C4459 pragma guard added
Unreal/CarlaUE4/Plugins/CarlaTools/.../MapPreviewUserWidget.cpp	buffer_cast<T>() -> static_cast via streambuf::data().data() (removed 1.88)

Build script updates:

File	Change
Util/BuildTools/Setup.sh	version 1.84.0 -> 1.89.0, SHA256 updated, patch-apply lines removed
Util/BuildTools/Setup.bat	version bump (Windows)
Util/BuildTools/BuildOSMRenderer.bat	install path bump (Windows)
Util/InstallersWin/install_boost.bat	zip SHA256 updated to 1.89.0 digest

Deleted: Util/Patches/boost-1.84.0/dtype.cpp.patch, verify_patch.cpp, verify_patch.sh.

Requirements widened from numpy<2.0.0 to numpy>=1.18.4 in
PythonAPI/examples/requirements.txt, PythonAPI/carla/agents/requirements.txt, and
PythonAPI/test/requirements.txt.

Docker CI test requirements: Util/Docker/requirements/3.11/test.txt and 3.12/test.txt
updated to numpy>=2.0.0 for NumPy 2.x CI coverage.

New regression-guard tests:

File	Purpose
LibCarla/source/test/common/test_boost_deadline_timer.cpp	3 tests: deadline_timer / posix_time regression guard
LibCarla/source/test/common/test_boost_rtree.cpp	4 tests: geometry::index::rtree regression guard (used by TrafficManager)
PythonAPI/test/unit/test_boost_version.py	asserts Boost 1.89 pinned in Setup.sh and no stale 1.84.0 patch dir or link
PythonAPI/test/unit/test_numpy_compat.py	15 tests: Python alias regression, DVS pipeline, carla C extension load under NumPy 1.x and 2.x
PythonAPI/test/unit/run_numpy_compat_matrix.sh	matrix runner: creates venvs for NumPy 1.x and 2.x, installs the wheel, runs test_numpy_compat.py in each

Commit 3, b3f4d55f6, CHANGELOG:

• Added entry noting NumPy 1.x and 2.x compatibility.

Fixes #9365

Where has this been tested?

• Platform(s): Ubuntu 22.04
• Python version(s): 3.8, 3.9, 3.10, 3.11, 3.12
• Unreal Engine version(s): UE4.26

Results:

• make check.LibCarla: all LibCarla tests pass (121/121 server, 63/63 client).
• make check.PythonAPI: all Python unit tests pass, including all 5 tests in
  test_boost_version.py (static Boost version pin + no stale 1.84.0 link).
• python3 -m nose2 -v --start-dir PythonAPI/test/unit test_numpy_compat on
  Python 3.12 + NumPy 2.4.4 with the carla wheel installed: 15/15 pass.
• bash PythonAPI/test/unit/run_numpy_compat_matrix.sh python3.12:
  • NumPy 1.x venv (1.26.4): 15/15 pass.
  • NumPy 2.x venv (2.4.4): 15/15 pass. Log line confirms end-to-end load:
    carla C extension OK with NumPy 2.4.4, NumPy 2.x (NEP 52, opaque PyArray_Descr).
• CI-equivalent full package build:
  make package ARGS="--python-version=3.10,3.11,3.12 --ros2 --chrono --no-zip --target-wheel-platform=manylinux_2_31_x86_64": SUCCESS.
• Smoke tests (Python 3.12, port 3654): all pass.

Possible Drawbacks

• Users with a cached Build/boost-1.84.0-c10-install/ or Build/boost-1.84.0-install/
  tree from a previous checkout need to remove it before building, so the 1.89.0 source is
  fetched and compiled. Running make clean is sufficient.
• Windows: install_boost.bat SHA256 has been updated to the 1.89.0 zip digest. Cached
  boost-1.84.0-install/ directories on Windows build agents must likewise be removed.
  The Windows CI path does not build ROS2, so none of the Asio/Filesystem call-site changes
  affect the Windows CI build.

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This change is 

[Blyron]

Why should we merge this?

[JesusAnaya]

Fair enough. I expect NumPy 1.x to reach end of life, and downstream libraries are already moving to require NumPy 2 (e.g., opencv-python >= 4.12). Having this compatibility in place before it becomes urgent seems better than scrambling later, but I understand if the priority isn't there yet.

[Blyron]

What about using updated version of boost instead of patching it? I do not like patches.

[JesusAnaya]

Good point. I went with a patch to avoid a full Boost version bump, which could be quite invasive in this refactoring, since we only needed to change a few things from Boost. But if you’d prefer to upgrade Boost instead, I can look into it and send a new commit.

[Blyron]

Look at this https://github.com/carla-simulator/carla/pull/9487/changes#diff-e69ecb8d585c244655338ab3d5b078f10bca6c28d00bf4357e064baf193d0e45

is a PR from a former CARLA collaborator.