2017-07-26 17:12:39 +08:00
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CARLA Server
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============
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2017-03-03 22:54:19 +08:00
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2017-07-26 17:12:39 +08:00
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Protocol
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2017-03-03 22:54:19 +08:00
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--------
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2017-09-07 21:55:41 +08:00
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All the messages are prepended by a 32 bits unsigned integer (assumed
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little-endian) indicating the size of the coming message.
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2017-03-30 20:25:37 +08:00
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2017-07-26 17:12:39 +08:00
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Three consecutive ports are used,
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2017-03-30 20:25:37 +08:00
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2017-07-26 17:12:39 +08:00
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* world-port (default 2000)
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* stream-port = world-port + 1
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* control-port = world-port + 2
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2017-03-16 02:01:34 +08:00
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2017-07-26 17:12:39 +08:00
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###### World thread
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2017-03-29 17:11:34 +08:00
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2017-07-26 17:12:39 +08:00
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Server reads one, writes one. Always protobuf messages.
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2017-03-20 22:32:31 +08:00
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2017-07-26 17:12:39 +08:00
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[client] RequestNewEpisode
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[server] SceneDescription
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[client] EpisodeStart
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[server] EpisodeReady
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...repeat...
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2017-03-20 22:32:31 +08:00
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2017-07-26 17:12:39 +08:00
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###### Stream thread
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2017-03-20 22:32:31 +08:00
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2017-07-26 17:12:39 +08:00
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Server only writes, first measurements then the raw images.
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2017-03-16 02:01:34 +08:00
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2017-07-26 17:12:39 +08:00
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[server] Measurements
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[server] raw images
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...repeat...
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2017-03-30 01:05:26 +08:00
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2017-07-26 17:12:39 +08:00
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Every image is an array of uint32's
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2017-03-30 01:05:26 +08:00
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2017-07-26 17:12:39 +08:00
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[width, height, type, color[0], color[1],...]
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2017-03-30 01:05:26 +08:00
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2017-09-07 22:04:18 +08:00
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where each color is an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine.
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2017-03-30 01:05:26 +08:00
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2017-09-07 22:04:18 +08:00
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[fcolorlink]: https://docs.unrealengine.com/latest/INT/API/Runtime/Core/Math/FColor/index.html "FColor API Documentation"
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2017-03-30 01:05:26 +08:00
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2017-07-26 17:12:39 +08:00
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###### Control thread
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2017-03-30 01:05:26 +08:00
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2017-07-26 17:12:39 +08:00
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Server only reads, client sends Control every frame.
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2017-03-03 22:54:19 +08:00
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2017-07-26 17:12:39 +08:00
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[client] Control
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...repeat...
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2017-03-03 22:54:19 +08:00
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2017-07-26 17:12:39 +08:00
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In the synchronous mode, the server waits each frame for a Control message.
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