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#32 Rename ai_control to autopilot_control

This commit is contained in:
nsubiron 2017-11-21 15:33:53 +01:00
parent 0a951a7722
commit 033854d80f
9 changed files with 27 additions and 27 deletions
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8
Docs/measurements.md
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@ -33,7 +33,7 @@ collision_pedestrians | float | Collision intensity with pedestrians.
collision_other | float | General collision intensity (everything else but pedestrians and vehicles).
intersection_otherlane | float | Percentage of the car invading other lanes.
intersection_offroad | float | Percentage of the car off-road.
ai_control | Control | Vehicle's AI control that would apply this frame.
autopilot_control | Control | Vehicle's autopilot control that would apply this frame.
###### Transform
@ -67,10 +67,10 @@ rectangle) against the map image of the city. These images are generated in the
editor and serialized for runtime use. You can find them too in the release
package under the folder "RoadMaps".
###### AI control
###### Autopilot control
The `ai_control` measurement contains the control values that the in-game AI
would apply if it were controlling the vehicle.
The `autopilot_control` measurement contains the control values that the in-game
autopilot system would apply as if it were controlling the vehicle.
This is the same structure used to send the vehicle control to the server.

10
PythonClient/carla/carla_server_pb2.py
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@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
name='carla_server.proto',
package='carla_server',
syntax='proto3',
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"b\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12+\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"G\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x83\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc2\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12)\n\nai_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"b\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12+\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"G\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\x8a\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xc9\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
)
@ -610,7 +610,7 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='ai_control', full_name='carla_server.Measurements.PlayerMeasurements.ai_control', index=8,
name='autopilot_control', full_name='carla_server.Measurements.PlayerMeasurements.autopilot_control', index=8,
number=10, type=11, cpp_type=10, label=1,
has_default_value=False, default_value=None,
message_type=None, enum_type=None, containing_type=None,
@ -629,7 +629,7 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
oneofs=[
],
serialized_start=1376,
serialized_end=1698,
serialized_end=1705,
)
_MEASUREMENTS = _descriptor.Descriptor(
@ -680,7 +680,7 @@ _MEASUREMENTS = _descriptor.Descriptor(
oneofs=[
],
serialized_start=1183,
serialized_end=1698,
serialized_end=1705,
)
_TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
@ -712,7 +712,7 @@ _AGENT.fields_by_name['speed_limit_sign'].containing_oneof = _AGENT.oneofs_by_na
_SCENEDESCRIPTION.fields_by_name['player_start_spots'].message_type = _TRANSFORM
_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['transform'].message_type = _TRANSFORM
_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['acceleration'].message_type = _VECTOR3D
_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['ai_control'].message_type = _CONTROL
_MEASUREMENTS_PLAYERMEASUREMENTS.fields_by_name['autopilot_control'].message_type = _CONTROL
_MEASUREMENTS_PLAYERMEASUREMENTS.containing_type = _MEASUREMENTS
_MEASUREMENTS.fields_by_name['player_measurements'].message_type = _MEASUREMENTS_PLAYERMEASUREMENTS
_MEASUREMENTS.fields_by_name['non_player_agents'].message_type = _AGENT

2
PythonClient/client_example.py
View File

@ -121,7 +121,7 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
# enable autopilot by sending back this control to the
# server. Here we will also add some noise to the steer.
control = measurements.player_measurements.ai_control
control = measurements.player_measurements.autopilot_control
control.steer += random.uniform(-0.1, 0.1)
client.send_control(control)

6
PythonClient/test/test_client.py
View File

@ -58,7 +58,7 @@ def run_carla_client(args):
client.start_episode(player_start)
use_ai_control = (random.random() < 0.5)
use_autopilot_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
@ -73,8 +73,8 @@ def run_carla_client(args):
images[0].save_to_disk(filename.format(episode, frame))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control = measurements.player_measurements.autopilot_control
if not use_autopilot_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False

12
PythonClient/test/unit_tests/Basic.py
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@ -18,7 +18,7 @@ from carla.util import make_connection
class _BasicTestBase(unit_tests.CarlaServerTest):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, use_ai_control=None):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, use_autopilot_control=None):
with make_connection(CarlaClient, self.args.host, self.args.port, timeout=15) as client:
logging.info('CarlaClient connected, running %d episodes', number_of_episodes)
for _ in range(0, number_of_episodes):
@ -35,8 +35,8 @@ class _BasicTestBase(unit_tests.CarlaServerTest):
number_of_player_starts,
number_of_frames)
client.start_episode(player_start)
if use_ai_control is None:
use_ai_control = (random.random() < 0.5)
if use_autopilot_control is None:
use_autopilot_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for _ in range(0, number_of_frames):
logging.debug('reading measurements...')
@ -47,8 +47,8 @@ class _BasicTestBase(unit_tests.CarlaServerTest):
if len(images) != len(carla_settings._cameras):
raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control = measurements.player_measurements.autopilot_control
if not use_autopilot_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
@ -108,4 +108,4 @@ class LongEpisode(_BasicTestBase):
def run(self):
settings = CarlaSettings()
settings.add_sensor(Camera('DefaultCamera'))
self.run_carla_client(settings, 1, 2000, use_ai_control=True)
self.run_carla_client(settings, 1, 2000, use_autopilot_control=True)

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaServer.cpp
View File

@ -311,11 +311,11 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
Set(player.collision_other, PlayerState.GetCollisionIntensityOther());
Set(player.intersection_otherlane, PlayerState.GetOtherLaneIntersectionFactor());
Set(player.intersection_offroad, PlayerState.GetOffRoadIntersectionFactor());
Set(player.ai_control.steer, PlayerState.GetSteer());
Set(player.ai_control.throttle, PlayerState.GetThrottle());
Set(player.ai_control.brake, PlayerState.GetBrake());
Set(player.ai_control.hand_brake, PlayerState.GetHandBrake());
Set(player.ai_control.reverse, PlayerState.GetCurrentGear() < 0);
Set(player.autopilot_control.steer, PlayerState.GetSteer());
Set(player.autopilot_control.throttle, PlayerState.GetThrottle());
Set(player.autopilot_control.brake, PlayerState.GetBrake());
Set(player.autopilot_control.hand_brake, PlayerState.GetHandBrake());
Set(player.autopilot_control.reverse, PlayerState.GetCurrentGear() < 0);
TArray<carla_agent> Agents;
if (bSendNonPlayerAgentsInfo) {

2
Util/CarlaServer/include/carla/carla_server.h
View File

@ -139,7 +139,7 @@ extern "C" {
/** Percentage of the car off-road. */
float intersection_offroad;
/** Vehicle's AI control that would apply this frame. */
struct carla_control ai_control;
struct carla_control autopilot_control;
};
/* ======================================================================== */

2
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
View File

@ -126,7 +126,7 @@ namespace server {
player->set_collision_other(values.player_measurements.collision_other);
player->set_intersection_otherlane(values.player_measurements.intersection_otherlane);
player->set_intersection_offroad(values.player_measurements.intersection_offroad);
Set(player->mutable_ai_control(), values.player_measurements.ai_control);
Set(player->mutable_autopilot_control(), values.player_measurements.autopilot_control);
// Non-player agents.
message->clear_non_player_agents(); // we need to clear as we cache the message.
for (auto &agent : agents(values)) {

2
Util/Proto/carla_server.proto
View File

@ -111,7 +111,7 @@ message Measurements {
float intersection_otherlane = 8;
float intersection_offroad = 9;
Control ai_control = 10;
Control autopilot_control = 10;
}
uint32 platform_timestamp = 1;