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Fix compile errors in Linux

This commit is contained in:
nsubiron 2017-03-14 11:55:37 +01:00
parent 6eb9727cb8
commit 02baff814e
10 changed files with 387 additions and 424 deletions
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4
Source/CarlaServer/CMakeLists.txt
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@ -1,6 +1,10 @@
cmake_minimum_required (VERSION 2.6) cmake_minimum_required (VERSION 2.6)
project (CarlaServer) project (CarlaServer)
SET(CMAKE_CXX_COMPILER clang++)
SET(CMAKE_CXX_STANDARD 14)
SET(CMAKE_CXX_STANDARD_REQUIRED 14)
# Boost configuration # Boost configuration
SET(Boost_USE_STATIC_LIBS ON) SET(Boost_USE_STATIC_LIBS ON)
find_package(Boost REQUIRED system date_time regex) find_package(Boost REQUIRED system date_time regex)

3
Source/CarlaServer/Makefile
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@ -3,6 +3,9 @@ BUILD_FOLDER=build
vsproject: vsproject:
cmake -H. -B$(BUILD_FOLDER) -G "Visual Studio 14 2015 Win64" cmake -H. -B$(BUILD_FOLDER) -G "Visual Studio 14 2015 Win64"
stproject:
cmake -H. -B$(BUILD_FOLDER) -G "Sublime Text 2 - Ninja"
clean: clean:
rm -Rf build CMakeFiles rm -Rf build CMakeFiles

216
Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
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@ -3,140 +3,144 @@
#include <iostream> #include <iostream>
namespace carla { namespace carla {
namespace server { namespace server {
// -- Static methods --------------------------------------------------------- // -- Static methods ---------------------------------------------------------
template <typename ERROR_CODE> template <typename ERROR_CODE>
static void logTCPError(const std::string &text, const ERROR_CODE &errorCode) { static void logTCPError(const std::string &text, const ERROR_CODE &errorCode) {
std::cerr << "CarlaConnection - TCP Server: " << text << ": " << errorCode.message() << std::endl; std::cerr << "CarlaConnection - TCP Server: " << text << ": " << errorCode.message() << std::endl;
} }
// This is the thread that sends a string over the TCP socket. // This is the thread that sends a string over the TCP socket.
static void serverWorkerThread(TCPServer &server, std::string &message) { static void serverWorkerThread(TCPServer &server, const std::string &message) {
TCPServer::error_code error; TCPServer::error_code error;
//message = message.size.c_ + message; //message = message.size.c_ + message;
//if (!server.Connected()) server.AcceptSocket(); //if (!server.Connected()) server.AcceptSocket();
server.writeString(message, error);
if (error) server.writeString(message, error);
logTCPError("Failed to send", error);
} if (error)
logTCPError("Failed to send", error);
}
//TODO: //TODO:
// Sortida amb google protocol // Sortida amb google protocol
// This is the thread that listens for string over the TCP socket. // This is the thread that listens for string over the TCP socket.
static std::string clientWorkerThread(TCPServer &server) { static std::string clientWorkerThread(TCPServer &server) {
//if (!server.Connected()) server.AcceptSocket(); //if (!server.Connected()) server.AcceptSocket();
std::string message; std::string message;
TCPServer::error_code error; TCPServer::error_code error;
server.readString(message, error); server.readString(message, error);
if (error && (error != boost::asio::error::eof)) { // eof is expected. if (error && (error != boost::asio::error::eof)) { // eof is expected.
logTCPError("Failed to read", error); logTCPError("Failed to read", error);
return std::string(); return std::string();
} }
return message; return message;
} }
// This is the thread that listens & sends a string over the TCP world socket. // This is the thread that listens & sends a string over the TCP world socket.
static std::string worldReceiveThread(TCPServer &server) { static std::string worldReceiveThread(TCPServer &server) {
std::string message; std::string message;
TCPServer::error_code error; TCPServer::error_code error;
//if (!server.Connected()) server.AcceptSocket(); //if (!server.Connected()) server.AcceptSocket();
server.readString(message, error); server.readString(message, error);
if (error && (error != boost::asio::error::eof)) { // eof is expected. if (error && (error != boost::asio::error::eof)) { // eof is expected.
logTCPError("Failed to read world", error); logTCPError("Failed to read world", error);
return std::string(); return std::string();
} }
return message; return message;
} }
static void worldSendThread(TCPServer &server, std::string &message) { static void worldSendThread(TCPServer &server, const std::string &message) {
TCPServer::error_code error; TCPServer::error_code error;
//message = message.size + message; //message = message.size + message;
//if (!server.Connected()) server.AcceptSocket(); //if (!server.Connected()) server.AcceptSocket();
server.writeString(message, error); server.writeString(message, error);
if (error) if (error)
logTCPError("Failed to send world", error); logTCPError("Failed to send world", error);
} }
static void Connect(TCPServer &server) { static void Connect(TCPServer &server) {
if (!server.Connected()) server.AcceptSocket(); if (!server.Connected()) server.AcceptSocket();
} }
CarlaCommunication::CarlaCommunication(int worldPort, int writePort, int readPort) : CarlaCommunication::CarlaCommunication(int worldPort, int writePort, int readPort) :
_world(worldPort), _world(worldPort),
_server(writePort), _server(writePort),
_client(readPort), _client(readPort),
_worldThread([this]() {return worldReceiveThread(this->_world); }, _worldThread{
[this](std::string &msg) { worldSendThread(this->_world, msg); }, [this]() { return worldReceiveThread(this->_world); },
[this]() {Connect(this->_world); }), [this](const std::string &msg) { worldSendThread(this->_world, msg); },
_serverThread([this](std::string &str) { serverWorkerThread(this->_server, str); }, [this]() { Connect(this->_world); }},
[this]() {Connect(this->_server); }), _serverThread{
_clientThread([this]() { return clientWorkerThread(this->_client); }, [this](const std::string &str) { serverWorkerThread(this->_server, str); },
[this]() {Connect(this->_client); }) [this]() { Connect(this->_server); }},
{ _clientThread{
[this]() { return clientWorkerThread(this->_client); },
[this]() { Connect(this->_client); }}
{
/*std::cout << "WorldPort: " << worldPort << std::endl; /*std::cout << "WorldPort: " << worldPort << std::endl;
std::cout << "writePort: " << writePort << std::endl; std::cout << "writePort: " << writePort << std::endl;
std::cout << "readPort: " << readPort << std::endl;*/ std::cout << "readPort: " << readPort << std::endl;*/
}
void CarlaCommunication::sendReward(const Reward &reward) { }
std::string message;
bool error = !reward.SerializeToString(&message);
if (!error) {
_serverThread.push(message);
std::cout << "Send Reward" << std::endl;
}
}
bool CarlaCommunication::tryReadControl(std::string &control) { void CarlaCommunication::sendReward(const Reward &reward) {
return _clientThread.tryPop(control); std::string message;
} bool error = !reward.SerializeToString(&message);
if (!error) {
_serverThread.push(message);
std::cout << "Send Reward" << std::endl;
}
}
void CarlaCommunication::sendWorld(const World &world) { bool CarlaCommunication::tryReadControl(std::string &control) {
std::string message; return _clientThread.tryPop(control);
bool error = !world.SerializeToString(&message); }
_worldThread.push(message);
}
void CarlaCommunication::sendScene(const Scene &scene) { void CarlaCommunication::sendWorld(const World &world) {
std::string message; std::string message;
bool error = !scene.SerializeToString(&message); bool error = !world.SerializeToString(&message);
_worldThread.push(message); _worldThread.push(message);
} }
void CarlaCommunication::sendReset(const EpisodeReady &ready) { void CarlaCommunication::sendScene(const Scene &scene) {
std::string message; std::string message;
bool error = !ready.SerializeToString(&message); bool error = !scene.SerializeToString(&message);
if (!error) { _worldThread.push(message);
//std::cout << "Send End Reset" << std::endl; }
_worldThread.push(message);
} void CarlaCommunication::sendReset(const EpisodeReady &ready) {
else { std::string message;
std::cout << " >> SEND RESET ERROR <<" << std::endl; bool error = !ready.SerializeToString(&message);
} if (!error) {
} //std::cout << "Send End Reset" << std::endl;
_worldThread.push(message);
}
else {
std::cout << " >> SEND RESET ERROR <<" << std::endl;
}
}
bool CarlaCommunication::tryReadWorldInfo(std::string &info) {
return _worldThread.tryPop(info);
}
bool CarlaCommunication::tryReadWorldInfo(std::string &info) { }
return _worldThread.tryPop(info);
}
}
} }

43
Source/CarlaServer/source/carla/server/CarlaCommunication.h
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@ -3,43 +3,44 @@
#include "carla/server/Protocol.h" #include "carla/server/Protocol.h"
#include "carla/server/TCPServer.h" #include "carla/server/TCPServer.h"
#include "carla/thread/AsyncReadWriteJobQueue.h"
#include "carla/thread/AsyncReaderJobQueue.h" #include "carla/thread/AsyncReaderJobQueue.h"
#include "carla/thread/AsyncWriterJobQueue.h" #include "carla/thread/AsyncWriterJobQueue.h"
#include "carla/thread/AsyncReadWriteJobQueue.h"
namespace carla { namespace carla {
namespace server { namespace server {
class CarlaCommunication : private NonCopyable {
public:
explicit CarlaCommunication(int worldPort, int writePort, int readPort); class CarlaCommunication : private NonCopyable {
public:
void sendReward(const Reward &reward); explicit CarlaCommunication(int worldPort, int writePort, int readPort);
bool tryReadControl(std::string &control); void sendReward(const Reward &reward);
void sendScene(const Scene &scene); bool tryReadControl(std::string &control);
void sendReset(const EpisodeReady &ready); void sendScene(const Scene &scene);
void sendWorld(const World &world); void sendReset(const EpisodeReady &ready);
bool tryReadWorldInfo(std::string &info); void sendWorld(const World &world);
private: bool tryReadWorldInfo(std::string &info);
TCPServer _server; private:
TCPServer _client; TCPServer _server;
TCPServer _world; TCPServer _client;
thread::AsyncReaderJobQueue<std::string> _serverThread; TCPServer _world;
thread::AsyncWriterJobQueue<std::string> _clientThread; thread::AsyncReaderJobQueue<std::string> _serverThread;
thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread; thread::AsyncWriterJobQueue<std::string> _clientThread;
}; thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread;
} };
}
}
}

137
Source/CarlaServer/source/carla/server/CarlaServer.cpp
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@ -7,15 +7,14 @@
#include <memory> #include <memory>
namespace carla { namespace carla {
namespace server { namespace server {
// -- CarlaServer ------------------------------------------------------------ // -- CarlaServer ------------------------------------------------------------
CarlaServer::CarlaServer(int worldPort, int writePort, int readPort, int modesCount, int scenesCount) : CarlaServer::CarlaServer(int worldPort, int writePort, int readPort, int modesCount, int scenesCount) :
_communication(std::make_unique<CarlaCommunication>(worldPort, writePort, readPort)), _proto(std::make_unique<Protocol>(this)), _communication(std::make_unique<CarlaCommunication>(worldPort, writePort, readPort)), _proto(std::make_unique<Protocol>(this)),
_modes(modesCount), _modes(modesCount),
_scenes(scenesCount){ _scenes(scenesCount){
} }
@ -23,120 +22,120 @@ namespace server {
} }
void CarlaServer::sendReward(const Reward_Values &values) { void CarlaServer::sendReward(const Reward_Values &values) {
Reward reward = _proto->LoadReward(values); Reward reward = _proto->LoadReward(values);
_communication->sendReward(reward); _communication->sendReward(reward);
} }
void CarlaServer::sendSceneValues(const Scene_Values &values) { void CarlaServer::sendSceneValues(const Scene_Values &values) {
Scene scene = _proto->LoadScene(values); Scene scene = _proto->LoadScene(values);
_communication->sendScene(scene); _communication->sendScene(scene);
} }
void CarlaServer::sendEndReset() { void CarlaServer::sendEndReset() {
EpisodeReady eReady; EpisodeReady eReady;
eReady.set_ready(true); eReady.set_ready(true);
_communication->sendReset(eReady); _communication->sendReset(eReady);
} }
void CarlaServer::sendWorld() { void CarlaServer::sendWorld() {
World world = _proto->LoadWorld(); World world = _proto->LoadWorld();
_communication->sendWorld(world); _communication->sendWorld(world);
} }
bool CarlaServer::tryReadControl(float &steer, float &gas) { bool CarlaServer::tryReadControl(float &steer, float &gas) {
std::string controlMessage; std::string controlMessage;
bool success = _communication->tryReadControl(controlMessage); bool success = _communication->tryReadControl(controlMessage);
Control control; Control control;
if (success) { if (success) {
success &= control.ParseFromString(controlMessage); success &= control.ParseFromString(controlMessage);
} }
steer = control.steer(); steer = control.steer();
gas = control.gas(); gas = control.gas();
if (!success) { if (!success) {
steer = 0.0f; steer = 0.0f;
gas = 0.0f; gas = 0.0f;
} }
else { else {
steer = control.steer(); steer = control.steer();
gas = control.gas(); gas = control.gas();
//std::cout << "Steer: " << steer << " Gas: " << gas << std::endl; //std::cout << "Steer: " << steer << " Gas: " << gas << std::endl;
} }
return success; return success;
} }
bool CarlaServer::tryReadSceneInit(int &mode, int &scene) { bool CarlaServer::tryReadSceneInit(int &mode, int &scene) {
std::string initMessage; std::string initMessage;
bool success = _communication->tryReadWorldInfo(initMessage); bool success = _communication->tryReadWorldInfo(initMessage);
SceneInit sceneInit; SceneInit sceneInit;
if (success) { if (success) {
success &= sceneInit.ParseFromString(initMessage); success &= sceneInit.ParseFromString(initMessage);
} }
if (!success) {
mode = -1;
scene = -1;
}
else {
mode = sceneInit.mode();
scene = sceneInit.scene();
//std::cout << "Mode: " << mode << " Scene: " << scene << std::endl;
}
return success; if (!success) {
mode = -1;
scene = -1;
}
else {
mode = sceneInit.mode();
scene = sceneInit.scene();
//std::cout << "Mode: " << mode << " Scene: " << scene << std::endl;
}
return success;
} }
bool CarlaServer::tryReadEpisodeStart(float &start_index, float &end_index) { bool CarlaServer::tryReadEpisodeStart(float &start_index, float &end_index) {
std::string startData; std::string startData;
bool success = _communication->tryReadWorldInfo(startData); bool success = _communication->tryReadWorldInfo(startData);
EpisodeStart episodeStart; EpisodeStart episodeStart;
success &= episodeStart.ParseFromString(startData); success &= episodeStart.ParseFromString(startData);
if (!success) { if (!success) {
start_index = -1.0f; start_index = -1.0f;
end_index = -1.0f; end_index = -1.0f;
} }
else { else {
start_index = episodeStart.start_index(); start_index = episodeStart.start_index();
end_index = episodeStart.end_index(); end_index = episodeStart.end_index();
//std::cout << "Start: " << start_index << " End: " << end_index << std::endl; //std::cout << "Start: " << start_index << " End: " << end_index << std::endl;
} }
return success; return success;
} }
void CarlaServer::setMode(Mode mode) { void CarlaServer::setMode(Mode mode) {
_mode = mode; _mode = mode;
} }
Mode CarlaServer::GetMode() const { Mode CarlaServer::GetMode() const {
return _mode; return _mode;
} }
void CarlaServer::SetScene(int scene) { void CarlaServer::SetScene(int scene) {
_scene = scene; _scene = scene;
} }
int CarlaServer::GetScene() const { int CarlaServer::GetScene() const {
return _scene; return _scene;
} }
int CarlaServer::GetModesCount() const { int CarlaServer::GetModesCount() const {
return _modes; return _modes;
} }
int CarlaServer::GetScenesCount() const { int CarlaServer::GetScenesCount() const {
return _scenes; return _scenes;
} }
void CarlaServer::SetReset(bool reset) { void CarlaServer::SetReset(bool reset) {
_reset = reset; _reset = reset;
} }
bool CarlaServer::Reset() const { bool CarlaServer::Reset() const {
return _reset; return _reset;
} }
} // namespace server } // namespace server

115
Source/CarlaServer/source/carla/server/CarlaServer.h
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@ -13,41 +13,41 @@
namespace carla { namespace carla {
namespace server { namespace server {
struct Color {
char red;
char green;
char blue;
//char alpha;
};
struct Color { struct Position {
char red; float x, y;
char green; };
char blue;
//char alpha;
};
struct Position { struct Reward_Values {
float x, y; 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 { struct Scene_Values {
float player_x, player_y; std::vector<Position> _possible_Positions;
float speed; std::vector<const float *> _projection_Matrix;
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 { enum Mode {
std::vector<Position> _possible_Positions; MONO = 0,
std::vector<const float*> _projection_Matrix; STEREO = 1
}; };
enum Mode {
MONO = 0,
STEREO = 1
};
/// Asynchronous TCP server. Uses two ports, one for sending messages (write) /// Asynchronous TCP server. Uses two ports, one for sending messages (write)
/// and one for receiving messages (read). /// and one for receiving messages (read).
/// ///
@ -67,55 +67,54 @@ namespace server {
///// Send values of the current player status ///// Send values of the current player status
void sendReward( const Reward_Values &values); void sendReward( const Reward_Values &values);
//// Send the values of the generated scene //// Send the values of the generated scene
void sendSceneValues( const Scene_Values &values); void sendSceneValues( const Scene_Values &values);
//// Send a signal to the client to notify that the car is ready //// Send a signal to the client to notify that the car is ready
void sendEndReset(); void sendEndReset();
void sendWorld(); void sendWorld();
///// Try to read the response of the client. Return false if the queue ///// Try to read the response of the client. Return false if the queue
///// is empty. ///// is empty.
bool tryReadControl(float &steer, float &gas); 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 ////Try to read if the client has selected an scene and mode. Return false if the queue is empty
bool tryReadEpisodeStart(float &start_index, float &end_index); 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); void setMode(Mode mode);
Mode GetMode() const;
void SetScene(int scene); Mode GetMode() const;
int GetScene() const;
void SetReset(bool reset); void SetScene(int scene);
bool Reset() const;
int GetScene() const;
void SetReset(bool reset);
bool Reset() const;
private: private:
//std::mutex _mutex;
//std::mutex _mutex;
std::atomic<Mode> _mode = MONO; std::atomic<Mode> _mode {MONO};
std::atomic_int _scene; std::atomic_int _scene;
std::atomic_bool _reset; std::atomic_bool _reset;
const int _modes; const int _modes;
const int _scenes; const int _scenes;
const std::unique_ptr<CarlaCommunication> _communication; const std::unique_ptr<CarlaCommunication> _communication;
const std::unique_ptr<Protocol> _proto;
const std::unique_ptr<Protocol> _proto;
}; };
} // namespace server } // namespace server

47
Source/CarlaServer/source/carla/server/TCPConnection.cpp
View File

@ -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_;
};
}
}

0
Source/CarlaServer/source/carla/server/TCPConnection.h
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47
Source/CarlaServer/source/carla/thread/AsyncReadWriteJobQueue.h
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@ -13,21 +13,24 @@ namespace thread {
/// Executes the given job asynchronously. Every item that the job returns is /// Executes the given job asynchronously. Every item that the job returns is
/// added to the queue. /// added to the queue.
template <typename W, typename R> template<typename W, typename R>
class CARLA_API AsyncReadWriteJobQueue { class CARLA_API AsyncReadWriteJobQueue {
public: public:
using WritingJob = std::function<W()>; using WritingJob = std::function<W()>;
using ReadingJob = std::function<void(R)>; using ReadingJob = std::function<void(R)>;
using ConnectJob = std::function<void()>; using ConnectJob = std::function<void()>;
explicit AsyncReadWriteJobQueue(WritingJob &&writingJob, ReadingJob &&readingJob, ConnectJob &&connectJob) : explicit AsyncReadWriteJobQueue(
_done(false), WritingJob && writingJob,
_writeJob(std::move(writingJob)), ReadingJob && readingJob,
_readJob(std::move(readingJob)), ConnectJob && connectJob) :
_connectJob(std::move(connectJob)), _done(false),
_writeQueue(), _writeJob(std::move(writingJob)),
_thread(new std::thread(&AsyncReadWriteJobQueue::workerThread, this)) {} _readJob(std::move(readingJob)),
_connectJob(std::move(connectJob)),
_writeQueue(),
_thread(new std::thread(&AsyncReadWriteJobQueue::workerThread, this)) {}
~AsyncReadWriteJobQueue() { ~AsyncReadWriteJobQueue() {
_done = true; _done = true;
@ -37,30 +40,30 @@ namespace thread {
return _writeQueue.try_pop(value); return _writeQueue.try_pop(value);
} }
void push(R item) { void push(R item) {
_readQueue.push(item); _readQueue.push(item);
} }
private: private:
void workerThread() { void workerThread() {
_connectJob(); _connectJob();
while (!_done) { while (!_done) {
R value; R value;
_readQueue.wait_and_pop(value); _readQueue.wait_and_pop(value);
_readJob(value); _readJob(value);
_writeQueue.push(_writeJob()); _writeQueue.push(_writeJob());
} }
} }
std::atomic_bool _done; std::atomic_bool _done;
WritingJob _writeJob; WritingJob _writeJob;
ReadingJob _readJob; ReadingJob _readJob;
ConnectJob _connectJob; ConnectJob _connectJob;
ThreadSafeQueue<W> _writeQueue; ThreadSafeQueue<W> _writeQueue;
ThreadSafeQueue<R> _readQueue; ThreadSafeQueue<R> _readQueue;
const ThreadUniquePointer _thread; const ThreadUniquePointer _thread;
}; };

199
Source/CarlaServer/source/test/async_server.cpp
View File

@ -30,148 +30,145 @@ static std::string daytimeString() {
return str; return str;
} }
int main(int argc, char* argv[]) { int main(int argc, char *argv[]) {
try { try {
if (argc != 6) { if (argc != 6) {
std::cerr << "Usage: server <send-port> <read-port>" << std::endl; std::cerr << "Usage: server <send-port> <read-port>" << std::endl;
return InvalidArguments; return InvalidArguments;
} }
using namespace carla::server; using namespace carla::server;
// This already starts the two threads. // This already starts the two threads.
CarlaServer server(toInt(argv[1u]), toInt(argv[2u]), toInt(argv[3u]), toInt(argv[4u]), toInt(argv[5u])); CarlaServer server(toInt(argv[1u]), toInt(argv[2u]), toInt(argv[3u]), toInt(argv[4u]), toInt(argv[5u]));
// Let's simulate the game loop. // Let's simulate the game loop.
Color c1;
c1.red = 255;
c1.green = 0;
c1.blue = 0;
//c1.alpha = 0;
Color c1; Color c2;
c1.red = 255; c2.red = 4;
c1.green = 0; c2.green = 5;
c1.blue = 0; c2.blue = 6;
//c1.alpha = 0; //c2.alpha = 0;
Color c2; Color c3;
c2.red = 4; c3.red = 7;
c2.green = 5; c3.green = 8;
c2.blue = 6; c3.blue = 9;
//c2.alpha = 0; //c3.alpha = 0;
Color c3; Color c4;
c3.red = 7; c4.red = 10;
c3.green = 8; c4.green = 11;
c3.blue = 9; c4.blue = 12;
//c3.alpha = 0; //c4.alpha = 0;
Color c4; std::vector<Color> img;
c4.red = 10; for (int i = 0; i < 1024; ++i) img.push_back(c1);
c4.green = 11;
c4.blue = 12;
//c4.alpha = 0;
std::vector<Color> img; std::vector<Color> img_2;
for (int i=0; i < 1024; ++i) img.push_back(c1); 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; std::vector<Color> depth_1;
for (int i = 0; i < 1024; ++i) depth_1.push_back(c3); for (int i = 0; i < 1024; ++i) depth_1.push_back(c3);
std::vector<Color> depth_2; std::vector<Color> depth_2;
for (int i = 0; i < 1024; ++i) depth_2.push_back(c4); for (int i = 0; i < 1024; ++i) depth_2.push_back(c4);
Reward_Values testData; Reward_Values testData;
testData.player_x = 1.0f; testData.player_x = 1.0f;
testData.player_y = 1.0f; testData.player_y = 1.0f;
testData.speed = 100.0f; testData.speed = 100.0f;
testData.collision_gen = 10.0f; testData.collision_gen = 10.0f;
testData.collision_ped = 10.0f; testData.collision_ped = 10.0f;
testData.collision_car = 10.0f; testData.collision_car = 10.0f;
testData.intersect = 50.0f; testData.intersect = 50.0f;
testData.inertia_x = 0.5f; testData.inertia_x = 0.5f;
testData.inertia_y = 0.1f; testData.inertia_y = 0.1f;
testData.inertia_z = 0.02f; testData.inertia_z = 0.02f;
testData.timestamp = 1; testData.timestamp = 1;
testData.ori_x = 10.0f; testData.ori_x = 10.0f;
testData.ori_y = 20.0f; testData.ori_y = 20.0f;
testData.ori_z = 30.0f; testData.ori_z = 30.0f;
testData.img = img; testData.img = img;
testData.img_2 = img_2; testData.img_2 = img_2;
testData.depth_1 = depth_1; testData.depth_1 = depth_1;
testData.depth_2 = depth_2; testData.depth_2 = depth_2;
std::cout << "Server send World" << std::endl;
std::cout << "Server send World" << std::endl; server.sendWorld();
server.sendWorld();
int mode, scene; int mode, scene;
bool end = false; bool end = false;
std::cout << "Server wait scene init" << std::endl; std::cout << "Server wait scene init" << std::endl;
do { do {
end = server.tryReadSceneInit(mode, scene); end = server.tryReadSceneInit(mode, scene);
}while (!end); } while (!end);
std::vector<Position> positions; std::vector<Position> positions;
std::vector<const float*> pMatrix; std::vector<const float *> pMatrix;
positions.push_back(Position{ 0.0f, 0.0f }); positions.push_back(Position { 0.0f, 0.0f });
positions.push_back(Position{ 1.0f, 2.0f }); positions.push_back(Position { 1.0f, 2.0f });
positions.push_back(Position{ 3.0f, 4.0f }); 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 = { Scene_Values sceneVal = {
positions, positions,
pMatrix, pMatrix,
}; };
std::cout << "Server send positions" << std::endl; std::cout << "Server send positions" << std::endl;
server.sendSceneValues(sceneVal); server.sendSceneValues(sceneVal);
end = false;
float startPoint, endPoint;
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); do {
}
while (!end);
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; server.sendEndReset();
bool wait_control = false;
float steer, gas;
bool wait_control = false;
for (;;) { for (;;) {
if (server.tryReadEpisodeStart(startPoint, endPoint)) { if (server.tryReadEpisodeStart(startPoint, endPoint)) {
std::cout << "------> RESET <------" << std::endl; std::cout << "------> RESET <------" << std::endl;
std::cout << " --> Start: " << startPoint << " End: " << endPoint << std::endl; std::cout << " --> Start: " << startPoint << " End: " << endPoint << std::endl;
server.sendEndReset(); server.sendEndReset();
} } else {
else {
if (wait_control && server.tryReadControl(steer, gas)) { if (wait_control && server.tryReadControl(steer, gas)) {
std::cout << "Steer: " << steer << "Gas: " << gas << std::endl; std::cout << "Steer: " << steer << "Gas: " << gas << std::endl;
wait_control = false; wait_control = false;
} } else if (!wait_control) {
else if (!wait_control) { server.sendReward(testData);
server.sendReward(testData); wait_control = true;
wait_control = true; }
}
} }
Sleep(100);
{
using namespace std::chrono_literals;
std::this_thread::sleep_for(100ms);
}
} }
} catch (const std::exception &e) { } catch (const std::exception &e) {