Fix compile errors in Linux
This commit is contained in:
nsubiron
parent
6eb9727cb8
commit
02baff814e
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@ -1,6 +1,10 @@
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cmake_minimum_required (VERSION 2.6)
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project (CarlaServer)
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SET(CMAKE_CXX_COMPILER clang++)
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SET(CMAKE_CXX_STANDARD 14)
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SET(CMAKE_CXX_STANDARD_REQUIRED 14)
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# Boost configuration
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SET(Boost_USE_STATIC_LIBS ON)
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find_package(Boost REQUIRED system date_time regex)
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@ -3,6 +3,9 @@ BUILD_FOLDER=build
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vsproject:
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cmake -H. -B$(BUILD_FOLDER) -G "Visual Studio 14 2015 Win64"
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stproject:
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cmake -H. -B$(BUILD_FOLDER) -G "Sublime Text 2 - Ninja"
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clean:
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rm -Rf build CMakeFiles
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@ -3,140 +3,144 @@
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#include <iostream>
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namespace carla {
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namespace server {
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// -- Static methods ---------------------------------------------------------
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namespace server {
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// -- Static methods ---------------------------------------------------------
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template <typename ERROR_CODE>
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static void logTCPError(const std::string &text, const ERROR_CODE &errorCode) {
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std::cerr << "CarlaConnection - TCP Server: " << text << ": " << errorCode.message() << std::endl;
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}
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template <typename ERROR_CODE>
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static void logTCPError(const std::string &text, const ERROR_CODE &errorCode) {
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std::cerr << "CarlaConnection - TCP Server: " << text << ": " << errorCode.message() << std::endl;
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}
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// This is the thread that sends a string over the TCP socket.
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static void serverWorkerThread(TCPServer &server, std::string &message) {
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TCPServer::error_code error;
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//message = message.size.c_ + message;
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// This is the thread that sends a string over the TCP socket.
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static void serverWorkerThread(TCPServer &server, const std::string &message) {
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TCPServer::error_code error;
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//message = message.size.c_ + message;
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//if (!server.Connected()) server.AcceptSocket();
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server.writeString(message, error);
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//if (!server.Connected()) server.AcceptSocket();
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if (error)
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logTCPError("Failed to send", error);
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server.writeString(message, error);
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}
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if (error)
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logTCPError("Failed to send", error);
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}
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//TODO:
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// Sortida amb google protocol
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// This is the thread that listens for string over the TCP socket.
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static std::string clientWorkerThread(TCPServer &server) {
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//TODO:
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// Sortida amb google protocol
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// This is the thread that listens for string over the TCP socket.
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static std::string clientWorkerThread(TCPServer &server) {
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//if (!server.Connected()) server.AcceptSocket();
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//if (!server.Connected()) server.AcceptSocket();
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std::string message;
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TCPServer::error_code error;
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std::string message;
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TCPServer::error_code error;
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server.readString(message, error);
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if (error && (error != boost::asio::error::eof)) { // eof is expected.
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logTCPError("Failed to read", error);
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return std::string();
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}
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server.readString(message, error);
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if (error && (error != boost::asio::error::eof)) { // eof is expected.
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logTCPError("Failed to read", error);
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return std::string();
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}
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return message;
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}
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return message;
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}
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// This is the thread that listens & sends a string over the TCP world socket.
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static std::string worldReceiveThread(TCPServer &server) {
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std::string message;
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TCPServer::error_code error;
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// This is the thread that listens & sends a string over the TCP world socket.
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static std::string worldReceiveThread(TCPServer &server) {
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std::string message;
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TCPServer::error_code error;
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//if (!server.Connected()) server.AcceptSocket();
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//if (!server.Connected()) server.AcceptSocket();
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server.readString(message, error);
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if (error && (error != boost::asio::error::eof)) { // eof is expected.
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logTCPError("Failed to read world", error);
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return std::string();
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}
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return message;
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server.readString(message, error);
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if (error && (error != boost::asio::error::eof)) { // eof is expected.
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logTCPError("Failed to read world", error);
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return std::string();
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}
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return message;
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}
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}
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static void worldSendThread(TCPServer &server, std::string &message) {
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TCPServer::error_code error;
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//message = message.size + message;
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static void worldSendThread(TCPServer &server, const std::string &message) {
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TCPServer::error_code error;
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//message = message.size + message;
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//if (!server.Connected()) server.AcceptSocket();
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//if (!server.Connected()) server.AcceptSocket();
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server.writeString(message, error);
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if (error)
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logTCPError("Failed to send world", error);
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server.writeString(message, error);
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if (error)
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logTCPError("Failed to send world", error);
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}
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}
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static void Connect(TCPServer &server) {
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if (!server.Connected()) server.AcceptSocket();
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}
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static void Connect(TCPServer &server) {
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if (!server.Connected()) server.AcceptSocket();
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}
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CarlaCommunication::CarlaCommunication(int worldPort, int writePort, int readPort) :
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_world(worldPort),
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_server(writePort),
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_client(readPort),
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_worldThread([this]() {return worldReceiveThread(this->_world); },
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[this](std::string &msg) { worldSendThread(this->_world, msg); },
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[this]() {Connect(this->_world); }),
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_serverThread([this](std::string &str) { serverWorkerThread(this->_server, str); },
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[this]() {Connect(this->_server); }),
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_clientThread([this]() { return clientWorkerThread(this->_client); },
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[this]() {Connect(this->_client); })
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{
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CarlaCommunication::CarlaCommunication(int worldPort, int writePort, int readPort) :
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_world(worldPort),
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_server(writePort),
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_client(readPort),
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_worldThread{
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[this]() { return worldReceiveThread(this->_world); },
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[this](const std::string &msg) { worldSendThread(this->_world, msg); },
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[this]() { Connect(this->_world); }},
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_serverThread{
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[this](const std::string &str) { serverWorkerThread(this->_server, str); },
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[this]() { Connect(this->_server); }},
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_clientThread{
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[this]() { return clientWorkerThread(this->_client); },
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[this]() { Connect(this->_client); }}
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{
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/*std::cout << "WorldPort: " << worldPort << std::endl;
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std::cout << "writePort: " << writePort << std::endl;
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std::cout << "readPort: " << readPort << std::endl;*/
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}
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/*std::cout << "WorldPort: " << worldPort << std::endl;
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std::cout << "writePort: " << writePort << std::endl;
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std::cout << "readPort: " << readPort << std::endl;*/
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void CarlaCommunication::sendReward(const Reward &reward) {
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std::string message;
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bool error = !reward.SerializeToString(&message);
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if (!error) {
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_serverThread.push(message);
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std::cout << "Send Reward" << std::endl;
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}
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}
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}
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bool CarlaCommunication::tryReadControl(std::string &control) {
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return _clientThread.tryPop(control);
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}
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void CarlaCommunication::sendReward(const Reward &reward) {
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std::string message;
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bool error = !reward.SerializeToString(&message);
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if (!error) {
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_serverThread.push(message);
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std::cout << "Send Reward" << std::endl;
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}
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}
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void CarlaCommunication::sendWorld(const World &world) {
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std::string message;
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bool error = !world.SerializeToString(&message);
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_worldThread.push(message);
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}
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bool CarlaCommunication::tryReadControl(std::string &control) {
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return _clientThread.tryPop(control);
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}
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void CarlaCommunication::sendScene(const Scene &scene) {
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std::string message;
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bool error = !scene.SerializeToString(&message);
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_worldThread.push(message);
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}
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void CarlaCommunication::sendWorld(const World &world) {
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std::string message;
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bool error = !world.SerializeToString(&message);
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_worldThread.push(message);
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}
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void CarlaCommunication::sendReset(const EpisodeReady &ready) {
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std::string message;
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bool error = !ready.SerializeToString(&message);
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if (!error) {
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//std::cout << "Send End Reset" << std::endl;
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_worldThread.push(message);
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}
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else {
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std::cout << " >> SEND RESET ERROR <<" << std::endl;
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}
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}
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void CarlaCommunication::sendScene(const Scene &scene) {
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std::string message;
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bool error = !scene.SerializeToString(&message);
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_worldThread.push(message);
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}
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void CarlaCommunication::sendReset(const EpisodeReady &ready) {
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std::string message;
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bool error = !ready.SerializeToString(&message);
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if (!error) {
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//std::cout << "Send End Reset" << std::endl;
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_worldThread.push(message);
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}
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else {
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std::cout << " >> SEND RESET ERROR <<" << std::endl;
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}
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}
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bool CarlaCommunication::tryReadWorldInfo(std::string &info) {
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return _worldThread.tryPop(info);
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}
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bool CarlaCommunication::tryReadWorldInfo(std::string &info) {
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return _worldThread.tryPop(info);
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}
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}
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}
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}
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@ -3,43 +3,44 @@
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#include "carla/server/Protocol.h"
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#include "carla/server/TCPServer.h"
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#include "carla/thread/AsyncReadWriteJobQueue.h"
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#include "carla/thread/AsyncReaderJobQueue.h"
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#include "carla/thread/AsyncWriterJobQueue.h"
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#include "carla/thread/AsyncReadWriteJobQueue.h"
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namespace carla {
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namespace server {
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class CarlaCommunication : private NonCopyable {
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public:
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namespace server {
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explicit CarlaCommunication(int worldPort, int writePort, int readPort);
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class CarlaCommunication : private NonCopyable {
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public:
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void sendReward(const Reward &reward);
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explicit CarlaCommunication(int worldPort, int writePort, int readPort);
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bool tryReadControl(std::string &control);
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void sendReward(const Reward &reward);
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void sendScene(const Scene &scene);
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bool tryReadControl(std::string &control);
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void sendReset(const EpisodeReady &ready);
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void sendScene(const Scene &scene);
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void sendWorld(const World &world);
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void sendReset(const EpisodeReady &ready);
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bool tryReadWorldInfo(std::string &info);
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void sendWorld(const World &world);
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private:
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bool tryReadWorldInfo(std::string &info);
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TCPServer _server;
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private:
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TCPServer _client;
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TCPServer _server;
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TCPServer _world;
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TCPServer _client;
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thread::AsyncReaderJobQueue<std::string> _serverThread;
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TCPServer _world;
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thread::AsyncWriterJobQueue<std::string> _clientThread;
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thread::AsyncReaderJobQueue<std::string> _serverThread;
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thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread;
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thread::AsyncWriterJobQueue<std::string> _clientThread;
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};
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}
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}
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thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread;
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};
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}
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}
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@ -7,15 +7,14 @@
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#include <memory>
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namespace carla {
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namespace server {
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// -- CarlaServer ------------------------------------------------------------
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CarlaServer::CarlaServer(int worldPort, int writePort, int readPort, int modesCount, int scenesCount) :
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_communication(std::make_unique<CarlaCommunication>(worldPort, writePort, readPort)), _proto(std::make_unique<Protocol>(this)),
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_modes(modesCount),
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_scenes(scenesCount){
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_communication(std::make_unique<CarlaCommunication>(worldPort, writePort, readPort)), _proto(std::make_unique<Protocol>(this)),
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_modes(modesCount),
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_scenes(scenesCount){
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}
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@ -23,120 +22,120 @@ namespace server {
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}
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void CarlaServer::sendReward(const Reward_Values &values) {
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Reward reward = _proto->LoadReward(values);
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_communication->sendReward(reward);
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Reward reward = _proto->LoadReward(values);
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_communication->sendReward(reward);
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}
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void CarlaServer::sendSceneValues(const Scene_Values &values) {
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Scene scene = _proto->LoadScene(values);
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_communication->sendScene(scene);
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Scene scene = _proto->LoadScene(values);
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_communication->sendScene(scene);
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}
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void CarlaServer::sendEndReset() {
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EpisodeReady eReady;
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eReady.set_ready(true);
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_communication->sendReset(eReady);
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EpisodeReady eReady;
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eReady.set_ready(true);
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_communication->sendReset(eReady);
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}
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void CarlaServer::sendWorld() {
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World world = _proto->LoadWorld();
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_communication->sendWorld(world);
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World world = _proto->LoadWorld();
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_communication->sendWorld(world);
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}
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bool CarlaServer::tryReadControl(float &steer, float &gas) {
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std::string controlMessage;
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std::string controlMessage;
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bool success = _communication->tryReadControl(controlMessage);
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Control control;
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if (success) {
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success &= control.ParseFromString(controlMessage);
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}
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steer = control.steer();
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gas = control.gas();
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Control control;
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if (success) {
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success &= control.ParseFromString(controlMessage);
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}
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steer = control.steer();
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gas = control.gas();
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if (!success) {
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steer = 0.0f;
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gas = 0.0f;
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}
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else {
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steer = control.steer();
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gas = control.gas();
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//std::cout << "Steer: " << steer << " Gas: " << gas << std::endl;
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}
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if (!success) {
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steer = 0.0f;
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gas = 0.0f;
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}
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else {
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steer = control.steer();
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gas = control.gas();
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//std::cout << "Steer: " << steer << " Gas: " << gas << std::endl;
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}
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return success;
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return success;
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}
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bool CarlaServer::tryReadSceneInit(int &mode, int &scene) {
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std::string initMessage;
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bool success = _communication->tryReadWorldInfo(initMessage);
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SceneInit sceneInit;
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std::string initMessage;
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bool success = _communication->tryReadWorldInfo(initMessage);
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SceneInit sceneInit;
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if (success) {
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success &= sceneInit.ParseFromString(initMessage);
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}
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if (!success) {
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mode = -1;
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scene = -1;
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}
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else {
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mode = sceneInit.mode();
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scene = sceneInit.scene();
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//std::cout << "Mode: " << mode << " Scene: " << scene << std::endl;
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}
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if (success) {
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success &= sceneInit.ParseFromString(initMessage);
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}
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return success;
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if (!success) {
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mode = -1;
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scene = -1;
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}
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else {
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mode = sceneInit.mode();
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scene = sceneInit.scene();
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//std::cout << "Mode: " << mode << " Scene: " << scene << std::endl;
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}
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return success;
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}
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bool CarlaServer::tryReadEpisodeStart(float &start_index, float &end_index) {
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std::string startData;
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bool success = _communication->tryReadWorldInfo(startData);
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EpisodeStart episodeStart;
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success &= episodeStart.ParseFromString(startData);
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std::string startData;
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bool success = _communication->tryReadWorldInfo(startData);
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EpisodeStart episodeStart;
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success &= episodeStart.ParseFromString(startData);
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if (!success) {
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start_index = -1.0f;
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end_index = -1.0f;
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}
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else {
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start_index = episodeStart.start_index();
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end_index = episodeStart.end_index();
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//std::cout << "Start: " << start_index << " End: " << end_index << std::endl;
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}
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if (!success) {
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start_index = -1.0f;
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end_index = -1.0f;
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}
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else {
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start_index = episodeStart.start_index();
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end_index = episodeStart.end_index();
|
||||
//std::cout << "Start: " << start_index << " End: " << end_index << std::endl;
|
||||
}
|
||||
|
||||
return success;
|
||||
return success;
|
||||
}
|
||||
|
||||
void CarlaServer::setMode(Mode mode) {
|
||||
_mode = mode;
|
||||
_mode = mode;
|
||||
}
|
||||
|
||||
Mode CarlaServer::GetMode() const {
|
||||
return _mode;
|
||||
return _mode;
|
||||
}
|
||||
|
||||
void CarlaServer::SetScene(int scene) {
|
||||
_scene = scene;
|
||||
_scene = scene;
|
||||
}
|
||||
|
||||
int CarlaServer::GetScene() const {
|
||||
return _scene;
|
||||
return _scene;
|
||||
}
|
||||
|
||||
int CarlaServer::GetModesCount() const {
|
||||
return _modes;
|
||||
return _modes;
|
||||
}
|
||||
|
||||
int CarlaServer::GetScenesCount() const {
|
||||
return _scenes;
|
||||
return _scenes;
|
||||
}
|
||||
|
||||
void CarlaServer::SetReset(bool reset) {
|
||||
_reset = reset;
|
||||
_reset = reset;
|
||||
}
|
||||
|
||||
bool CarlaServer::Reset() const {
|
||||
return _reset;
|
||||
return _reset;
|
||||
}
|
||||
|
||||
} // namespace server
|
||||
|
|
|
|||
|
|
@ -13,41 +13,41 @@
|
|||
namespace carla {
|
||||
namespace server {
|
||||
|
||||
struct Color {
|
||||
char red;
|
||||
char green;
|
||||
char blue;
|
||||
//char alpha;
|
||||
};
|
||||
|
||||
struct Color {
|
||||
char red;
|
||||
char green;
|
||||
char blue;
|
||||
//char alpha;
|
||||
};
|
||||
struct Position {
|
||||
float x, y;
|
||||
};
|
||||
|
||||
struct Position {
|
||||
float x, y;
|
||||
};
|
||||
struct Reward_Values {
|
||||
float player_x, player_y;
|
||||
float speed;
|
||||
float collision_gen, collision_ped, collision_car;
|
||||
float intersect;
|
||||
float inertia_x, inertia_y, inertia_z;
|
||||
std::int32_t timestamp;
|
||||
float ori_x = 0, ori_y, ori_z;
|
||||
std::vector<Color> img;
|
||||
std::vector<Color> img_2;
|
||||
std::vector<Color> depth_1;
|
||||
std::vector<Color> depth_2;
|
||||
};
|
||||
|
||||
struct Reward_Values {
|
||||
float player_x, player_y;
|
||||
float speed;
|
||||
float collision_gen, collision_ped, collision_car;
|
||||
float intersect;
|
||||
float inertia_x, inertia_y, inertia_z;
|
||||
std::int32_t timestamp;
|
||||
float ori_x = 0, ori_y, ori_z;
|
||||
std::vector<Color> img;
|
||||
std::vector<Color> img_2;
|
||||
std::vector<Color> depth_1;
|
||||
std::vector<Color> depth_2;
|
||||
};
|
||||
struct Scene_Values {
|
||||
std::vector<Position> _possible_Positions;
|
||||
std::vector<const float *> _projection_Matrix;
|
||||
};
|
||||
|
||||
struct Scene_Values {
|
||||
std::vector<Position> _possible_Positions;
|
||||
std::vector<const float*> _projection_Matrix;
|
||||
};
|
||||
enum Mode {
|
||||
MONO = 0,
|
||||
STEREO = 1
|
||||
};
|
||||
|
||||
enum Mode {
|
||||
MONO = 0,
|
||||
STEREO = 1
|
||||
};
|
||||
/// Asynchronous TCP server. Uses two ports, one for sending messages (write)
|
||||
/// and one for receiving messages (read).
|
||||
///
|
||||
|
|
@ -67,55 +67,54 @@ namespace server {
|
|||
///// Send values of the current player status
|
||||
void sendReward( const Reward_Values &values);
|
||||
|
||||
//// Send the values of the generated scene
|
||||
void sendSceneValues( const Scene_Values &values);
|
||||
//// Send the values of the generated scene
|
||||
void sendSceneValues( const Scene_Values &values);
|
||||
|
||||
//// Send a signal to the client to notify that the car is ready
|
||||
void sendEndReset();
|
||||
//// Send a signal to the client to notify that the car is ready
|
||||
void sendEndReset();
|
||||
|
||||
void sendWorld();
|
||||
void sendWorld();
|
||||
|
||||
///// Try to read the response of the client. Return false if the queue
|
||||
///// is empty.
|
||||
bool tryReadControl(float &steer, float &gas);
|
||||
|
||||
////Try to read if the client has selected an scene and mode. Return false if the queue is empty
|
||||
bool tryReadSceneInit(int &mode, int &scene);
|
||||
|
||||
////Try to read if the client has selected an end & start point. Return false if the queue is empty
|
||||
bool tryReadEpisodeStart(float &start_index, float &end_index);
|
||||
////Try to read if the client has selected an scene and mode. Return false if the queue is empty
|
||||
bool tryReadSceneInit(int &mode, int &scene);
|
||||
|
||||
////Try to read if the client has selected an end & start point. Return false if the queue is empty
|
||||
bool tryReadEpisodeStart(float &start_index, float &end_index);
|
||||
|
||||
int GetModesCount() const;
|
||||
|
||||
int GetModesCount() const;
|
||||
int GetScenesCount() const;
|
||||
int GetScenesCount() const;
|
||||
|
||||
void setMode(Mode mode);
|
||||
Mode GetMode() const;
|
||||
void setMode(Mode mode);
|
||||
|
||||
void SetScene(int scene);
|
||||
int GetScene() const;
|
||||
Mode GetMode() const;
|
||||
|
||||
void SetReset(bool reset);
|
||||
bool Reset() const;
|
||||
void SetScene(int scene);
|
||||
|
||||
int GetScene() const;
|
||||
|
||||
void SetReset(bool reset);
|
||||
|
||||
bool Reset() const;
|
||||
|
||||
private:
|
||||
|
||||
|
||||
//std::mutex _mutex;
|
||||
//std::mutex _mutex;
|
||||
|
||||
std::atomic<Mode> _mode = MONO;
|
||||
std::atomic_int _scene;
|
||||
std::atomic_bool _reset;
|
||||
std::atomic<Mode> _mode {MONO};
|
||||
std::atomic_int _scene;
|
||||
std::atomic_bool _reset;
|
||||
|
||||
const int _modes;
|
||||
const int _scenes;
|
||||
const int _modes;
|
||||
const int _scenes;
|
||||
|
||||
const std::unique_ptr<CarlaCommunication> _communication;
|
||||
|
||||
const std::unique_ptr<Protocol> _proto;
|
||||
const std::unique_ptr<CarlaCommunication> _communication;
|
||||
|
||||
const std::unique_ptr<Protocol> _proto;
|
||||
};
|
||||
|
||||
} // namespace server
|
||||
|
|
|
|||
|
|
@ -1,47 +0,0 @@
|
|||
#include "Carla.h"
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost\bind.hpp>
|
||||
|
||||
namespace carla {
|
||||
namespace server {
|
||||
|
||||
class TCPConnection : public boost::enable_shared_from_this<TCPConnection>
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
typedef boost::shared_ptr<TCPConnection> pointer;
|
||||
|
||||
static pointer create(boost::asio::io_service &io_service) {
|
||||
return pointer(new TCPConnection(io_service));
|
||||
}
|
||||
|
||||
boost::asio::ip::tcp::socket& socket() {
|
||||
return socket_;
|
||||
}
|
||||
|
||||
void Send(const std::string &message) {
|
||||
message_ = message;
|
||||
boost::asio::async_write(socket_, boost::asio::buffer(message_),
|
||||
boost::bind(&TCPConnection::handle_write, shared_from_this()));
|
||||
}
|
||||
|
||||
|
||||
private:
|
||||
|
||||
TCPConnection(boost::asio::io_service& io_service)
|
||||
: socket_(io_service)
|
||||
{
|
||||
}
|
||||
|
||||
void handle_write(const boost::system::error_code& /*error*/,
|
||||
size_t /*bytes_transferred*/)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
std::string message_;
|
||||
boost::asio::ip::tcp::socket socket_;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
|
@ -13,21 +13,24 @@ namespace thread {
|
|||
|
||||
/// Executes the given job asynchronously. Every item that the job returns is
|
||||
/// added to the queue.
|
||||
template <typename W, typename R>
|
||||
template<typename W, typename R>
|
||||
class CARLA_API AsyncReadWriteJobQueue {
|
||||
public:
|
||||
|
||||
using WritingJob = std::function<W()>;
|
||||
using ReadingJob = std::function<void(R)>;
|
||||
using ConnectJob = std::function<void()>;
|
||||
using ReadingJob = std::function<void(R)>;
|
||||
using ConnectJob = std::function<void()>;
|
||||
|
||||
explicit AsyncReadWriteJobQueue(WritingJob &&writingJob, ReadingJob &&readingJob, ConnectJob &&connectJob) :
|
||||
_done(false),
|
||||
_writeJob(std::move(writingJob)),
|
||||
_readJob(std::move(readingJob)),
|
||||
_connectJob(std::move(connectJob)),
|
||||
_writeQueue(),
|
||||
_thread(new std::thread(&AsyncReadWriteJobQueue::workerThread, this)) {}
|
||||
explicit AsyncReadWriteJobQueue(
|
||||
WritingJob && writingJob,
|
||||
ReadingJob && readingJob,
|
||||
ConnectJob && connectJob) :
|
||||
_done(false),
|
||||
_writeJob(std::move(writingJob)),
|
||||
_readJob(std::move(readingJob)),
|
||||
_connectJob(std::move(connectJob)),
|
||||
_writeQueue(),
|
||||
_thread(new std::thread(&AsyncReadWriteJobQueue::workerThread, this)) {}
|
||||
|
||||
~AsyncReadWriteJobQueue() {
|
||||
_done = true;
|
||||
|
|
@ -37,30 +40,30 @@ namespace thread {
|
|||
return _writeQueue.try_pop(value);
|
||||
}
|
||||
|
||||
void push(R item) {
|
||||
_readQueue.push(item);
|
||||
}
|
||||
void push(R item) {
|
||||
_readQueue.push(item);
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
void workerThread() {
|
||||
_connectJob();
|
||||
_connectJob();
|
||||
while (!_done) {
|
||||
R value;
|
||||
_readQueue.wait_and_pop(value);
|
||||
_readJob(value);
|
||||
_writeQueue.push(_writeJob());
|
||||
R value;
|
||||
_readQueue.wait_and_pop(value);
|
||||
_readJob(value);
|
||||
_writeQueue.push(_writeJob());
|
||||
}
|
||||
}
|
||||
|
||||
std::atomic_bool _done;
|
||||
|
||||
WritingJob _writeJob;
|
||||
ReadingJob _readJob;
|
||||
ConnectJob _connectJob;
|
||||
WritingJob _writeJob;
|
||||
ReadingJob _readJob;
|
||||
ConnectJob _connectJob;
|
||||
|
||||
ThreadSafeQueue<W> _writeQueue;
|
||||
ThreadSafeQueue<R> _readQueue;
|
||||
ThreadSafeQueue<R> _readQueue;
|
||||
|
||||
const ThreadUniquePointer _thread;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -30,148 +30,145 @@ static std::string daytimeString() {
|
|||
return str;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[]) {
|
||||
int main(int argc, char *argv[]) {
|
||||
try {
|
||||
if (argc != 6) {
|
||||
std::cerr << "Usage: server <send-port> <read-port>" << std::endl;
|
||||
return InvalidArguments;
|
||||
}
|
||||
|
||||
using namespace carla::server;
|
||||
using namespace carla::server;
|
||||
|
||||
// This already starts the two threads.
|
||||
CarlaServer server(toInt(argv[1u]), toInt(argv[2u]), toInt(argv[3u]), toInt(argv[4u]), toInt(argv[5u]));
|
||||
|
||||
// Let's simulate the game loop.
|
||||
|
||||
Color c1;
|
||||
c1.red = 255;
|
||||
c1.green = 0;
|
||||
c1.blue = 0;
|
||||
//c1.alpha = 0;
|
||||
|
||||
Color c1;
|
||||
c1.red = 255;
|
||||
c1.green = 0;
|
||||
c1.blue = 0;
|
||||
//c1.alpha = 0;
|
||||
Color c2;
|
||||
c2.red = 4;
|
||||
c2.green = 5;
|
||||
c2.blue = 6;
|
||||
//c2.alpha = 0;
|
||||
|
||||
Color c2;
|
||||
c2.red = 4;
|
||||
c2.green = 5;
|
||||
c2.blue = 6;
|
||||
//c2.alpha = 0;
|
||||
Color c3;
|
||||
c3.red = 7;
|
||||
c3.green = 8;
|
||||
c3.blue = 9;
|
||||
//c3.alpha = 0;
|
||||
|
||||
Color c3;
|
||||
c3.red = 7;
|
||||
c3.green = 8;
|
||||
c3.blue = 9;
|
||||
//c3.alpha = 0;
|
||||
Color c4;
|
||||
c4.red = 10;
|
||||
c4.green = 11;
|
||||
c4.blue = 12;
|
||||
//c4.alpha = 0;
|
||||
|
||||
Color c4;
|
||||
c4.red = 10;
|
||||
c4.green = 11;
|
||||
c4.blue = 12;
|
||||
//c4.alpha = 0;
|
||||
std::vector<Color> img;
|
||||
for (int i = 0; i < 1024; ++i) img.push_back(c1);
|
||||
|
||||
std::vector<Color> img;
|
||||
for (int i=0; i < 1024; ++i) img.push_back(c1);
|
||||
|
||||
std::vector<Color> img_2;
|
||||
for (int i = 0; i < 1024; ++i) img_2.push_back(c2);
|
||||
std::vector<Color> img_2;
|
||||
for (int i = 0; i < 1024; ++i) img_2.push_back(c2);
|
||||
|
||||
std::vector<Color> depth_1;
|
||||
for (int i = 0; i < 1024; ++i) depth_1.push_back(c3);
|
||||
std::vector<Color> depth_1;
|
||||
for (int i = 0; i < 1024; ++i) depth_1.push_back(c3);
|
||||
|
||||
std::vector<Color> depth_2;
|
||||
for (int i = 0; i < 1024; ++i) depth_2.push_back(c4);
|
||||
std::vector<Color> depth_2;
|
||||
for (int i = 0; i < 1024; ++i) depth_2.push_back(c4);
|
||||
|
||||
Reward_Values testData;
|
||||
testData.player_x = 1.0f;
|
||||
testData.player_y = 1.0f;
|
||||
testData.speed = 100.0f;
|
||||
testData.collision_gen = 10.0f;
|
||||
testData.collision_ped = 10.0f;
|
||||
testData.collision_car = 10.0f;
|
||||
testData.intersect = 50.0f;
|
||||
testData.inertia_x = 0.5f;
|
||||
testData.inertia_y = 0.1f;
|
||||
testData.inertia_z = 0.02f;
|
||||
testData.timestamp = 1;
|
||||
testData.ori_x = 10.0f;
|
||||
testData.ori_y = 20.0f;
|
||||
testData.ori_z = 30.0f;
|
||||
testData.img = img;
|
||||
testData.img_2 = img_2;
|
||||
testData.depth_1 = depth_1;
|
||||
testData.depth_2 = depth_2;
|
||||
Reward_Values testData;
|
||||
testData.player_x = 1.0f;
|
||||
testData.player_y = 1.0f;
|
||||
testData.speed = 100.0f;
|
||||
testData.collision_gen = 10.0f;
|
||||
testData.collision_ped = 10.0f;
|
||||
testData.collision_car = 10.0f;
|
||||
testData.intersect = 50.0f;
|
||||
testData.inertia_x = 0.5f;
|
||||
testData.inertia_y = 0.1f;
|
||||
testData.inertia_z = 0.02f;
|
||||
testData.timestamp = 1;
|
||||
testData.ori_x = 10.0f;
|
||||
testData.ori_y = 20.0f;
|
||||
testData.ori_z = 30.0f;
|
||||
testData.img = img;
|
||||
testData.img_2 = img_2;
|
||||
testData.depth_1 = depth_1;
|
||||
testData.depth_2 = depth_2;
|
||||
|
||||
|
||||
std::cout << "Server send World" << std::endl;
|
||||
server.sendWorld();
|
||||
std::cout << "Server send World" << std::endl;
|
||||
server.sendWorld();
|
||||
|
||||
int mode, scene;
|
||||
bool end = false;
|
||||
int mode, scene;
|
||||
bool end = false;
|
||||
|
||||
std::cout << "Server wait scene init" << std::endl;
|
||||
do {
|
||||
end = server.tryReadSceneInit(mode, scene);
|
||||
}while (!end);
|
||||
std::cout << "Server wait scene init" << std::endl;
|
||||
do {
|
||||
end = server.tryReadSceneInit(mode, scene);
|
||||
} while (!end);
|
||||
|
||||
std::vector<Position> positions;
|
||||
std::vector<const float*> pMatrix;
|
||||
std::vector<Position> positions;
|
||||
std::vector<const float *> pMatrix;
|
||||
|
||||
positions.push_back(Position{ 0.0f, 0.0f });
|
||||
positions.push_back(Position{ 1.0f, 2.0f });
|
||||
positions.push_back(Position{ 3.0f, 4.0f });
|
||||
positions.push_back(Position { 0.0f, 0.0f });
|
||||
positions.push_back(Position { 1.0f, 2.0f });
|
||||
positions.push_back(Position { 3.0f, 4.0f });
|
||||
|
||||
float list[16] = { 10.0, 10.0,10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0 };
|
||||
float list[16] = { 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0 };
|
||||
|
||||
pMatrix.push_back(list);
|
||||
pMatrix.push_back(list);
|
||||
|
||||
Scene_Values sceneVal = {
|
||||
positions,
|
||||
pMatrix,
|
||||
};
|
||||
Scene_Values sceneVal = {
|
||||
positions,
|
||||
pMatrix,
|
||||
};
|
||||
|
||||
std::cout << "Server send positions" << std::endl;
|
||||
std::cout << "Server send positions" << std::endl;
|
||||
|
||||
server.sendSceneValues(sceneVal);
|
||||
|
||||
end = false;
|
||||
float startPoint, endPoint;
|
||||
server.sendSceneValues(sceneVal);
|
||||
|
||||
std::cout << "Server wait new episode" << std::endl;
|
||||
end = false;
|
||||
float startPoint, endPoint;
|
||||
|
||||
do {
|
||||
std::cout << "Server wait new episode" << std::endl;
|
||||
|
||||
end = server.tryReadEpisodeStart(startPoint, endPoint);
|
||||
}
|
||||
while (!end);
|
||||
do {
|
||||
|
||||
std::cout << "Server send end reset" << std::endl;
|
||||
end = server.tryReadEpisodeStart(startPoint, endPoint);
|
||||
} while (!end);
|
||||
|
||||
server.sendEndReset();
|
||||
std::cout << "Server send end reset" << std::endl;
|
||||
|
||||
float steer, gas;
|
||||
bool wait_control = false;
|
||||
server.sendEndReset();
|
||||
|
||||
float steer, gas;
|
||||
bool wait_control = false;
|
||||
for (;;) {
|
||||
|
||||
if (server.tryReadEpisodeStart(startPoint, endPoint)) {
|
||||
std::cout << "------> RESET <------" << std::endl;
|
||||
std::cout << " --> Start: " << startPoint << " End: " << endPoint << std::endl;
|
||||
server.sendEndReset();
|
||||
}
|
||||
else {
|
||||
if (server.tryReadEpisodeStart(startPoint, endPoint)) {
|
||||
std::cout << "------> RESET <------" << std::endl;
|
||||
std::cout << " --> Start: " << startPoint << " End: " << endPoint << std::endl;
|
||||
server.sendEndReset();
|
||||
} else {
|
||||
|
||||
if (wait_control && server.tryReadControl(steer, gas)) {
|
||||
std::cout << "Steer: " << steer << "Gas: " << gas << std::endl;
|
||||
wait_control = false;
|
||||
}
|
||||
else if (!wait_control) {
|
||||
server.sendReward(testData);
|
||||
wait_control = true;
|
||||
}
|
||||
if (wait_control && server.tryReadControl(steer, gas)) {
|
||||
std::cout << "Steer: " << steer << "Gas: " << gas << std::endl;
|
||||
wait_control = false;
|
||||
} else if (!wait_control) {
|
||||
server.sendReward(testData);
|
||||
wait_control = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Sleep(100);
|
||||
}
|
||||
|
||||
{
|
||||
using namespace std::chrono_literals;
|
||||
std::this_thread::sleep_for(100ms);
|
||||
}
|
||||
}
|
||||
|
||||
} catch (const std::exception &e) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue