Improvements on how the settings are loaded, define a settings hierarchy
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nsubiron
parent
1a870a5df0
commit
0beacfdd83
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@ -4,6 +4,7 @@
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* Changed server-client protocol
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- CarlaSettings.ini is sent for every new episode
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- Control is extended with brake, reverse and handbrake
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* Set a clearer hierarchy for loading settings files
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* Made camera post-process settings able to change depending on the weather
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* Added basic functionality for NPC vehicles
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* Some improvements to the walker spawner
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@ -1,7 +1,12 @@
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; Example of settings file for CARLA.
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; Settings are loaded following the next hierarchy, with values later in the
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; hierarchy overriding earlier values.
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;
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; Either provide through command-line `-carla-settings=<path-to-ini-file>`, or
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; make a copy at `{ProjectFolder}/Config/CarlaSettings.ini`.
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; 1) `{ProjectFolder}/Config/CarlaSettings.ini`
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; 2) File provided by command-line argument `-carla-settings=<path-to-ini-file>`
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; 3) Other command-line arguments as `-world-port`, or `-carla-no-networking`
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; 4) Settings file sent by the client on every new episode.
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[CARLA/Server]
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; If set to false, a mock controller will be used instead of waiting for a
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@ -15,24 +20,22 @@ WritePort=2001
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ReadPort=2002
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[CARLA/LevelSettings]
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; Number of NPC vehicles to be spawned into the level.
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; Number of non-player vehicles to be spawned into the level.
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NumberOfVehicles=5
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; Number of NPC pedestrians to be spawned into the level.
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; Number of non-player pedestrians to be spawned into the level.
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NumberOfPedestrians=15
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; Index of the weather presets to use. If negative, weather won't be changed.
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; Index of the weather/lighting presets to use. If negative, the default presets
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; of the map will be used.
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WeatherId=-1
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[CARLA/SceneCapture]
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; Names of the scene capture cameras to attach to the player, each of them
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; should be defined in its own subsection.
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Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
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; Cameras=CameraMono
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; Names of the scene capture cameras to attach to the player, comma-separated,
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; each of them should be defined in its own subsection.
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Cameras=MyCamera
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; Defaults for each camera can be set here, e.g.
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ImageSizeX=720
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ImageSizeY=512
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; Defaults for each camera can be set here too.
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[CARLA/SceneCapture/CameraMono]
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[CARLA/SceneCapture/MyCamera]
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; Post-processing effect to be applied. Valid values:
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; * None No effects applied.
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; * SceneFinal Post-processing present at scene (bloom, fog, etc).
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@ -40,38 +43,45 @@ ImageSizeY=512
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; * SemanticSegmentation Semantic segmentation only.
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PostProcessing=SceneFinal
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; Size of the captured image in pixels.
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ImageSizeX=720
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ImageSizeY=512
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ImageSizeX=1280
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ImageSizeY=350
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; Camera field of view in degrees.
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CameraFOV=90
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CameraFOV=110
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; Position of the camera relative to the car in centimeters.
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CameraPositionX=170
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CameraPositionX=15
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CameraPositionY=0
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CameraPositionZ=150
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CameraPositionZ=123
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; Rotation of the camera relative to the car in degrees.
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CameraRotationPitch=0
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CameraRotationPitch=8
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CameraRotationRoll=0
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CameraRotationYaw=0
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[CARLA/SceneCapture/CameraStereoLeft]
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CameraPositionX=170
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CameraPositionY=-30
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CameraPositionZ=150
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CameraRotationPitch=0
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CameraRotationRoll=0
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CameraRotationYaw=0
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[CARLA/SceneCapture/CameraStereoLeft/RGB]
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PostProcessing=SceneFinal
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[CARLA/SceneCapture/CameraStereoLeft/Depth]
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PostProcessing=Depth
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[CARLA/SceneCapture/CameraStereoRight]
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CameraPositionX=170
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CameraPositionY=30
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CameraPositionZ=150
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CameraRotationPitch=0
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CameraRotationRoll=0
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CameraRotationYaw=0
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[CARLA/SceneCapture/CameraStereoRight/RGB]
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PostProcessing=SceneFinal
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[CARLA/SceneCapture/CameraStereoRight/Depth]
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PostProcessing=Depth
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; Stereo setup example:
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;
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; [CARLA/SceneCapture]
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; Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
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; ImageSizeX=720
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; ImageSizeY=512
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; CameraFOV=90
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; [CARLA/SceneCapture/CameraStereoLeft]
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; CameraPositionX=170
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; CameraPositionY=-30
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; CameraPositionZ=150
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; CameraRotationPitch=0
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; CameraRotationRoll=0
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; CameraRotationYaw=0
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; [CARLA/SceneCapture/CameraStereoLeft/RGB]
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; PostProcessing=SceneFinal
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; [CARLA/SceneCapture/CameraStereoLeft/Depth]
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; PostProcessing=Depth
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; [CARLA/SceneCapture/CameraStereoRight]
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; CameraPositionX=170
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; CameraPositionY=30
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; CameraPositionZ=150
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; CameraRotationPitch=0
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; CameraRotationRoll=0
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; CameraRotationYaw=0
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; [CARLA/SceneCapture/CameraStereoRight/RGB]
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; PostProcessing=SceneFinal
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; [CARLA/SceneCapture/CameraStereoRight/Depth]
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; PostProcessing=Depth
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@ -8,8 +8,8 @@ To run the game at fixed time-step, e.g. 30 FPS
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Other CARLA related command-line options
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* `-carla-settings=<ini-file-path>` Load settings from the given INI file. See Example.CarlaSettings.ini.
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* `-world-port=<port-number>` Listen for client connections at <port-number>, write and read ports are set to <port-number>+1 and <port-number>+2 respectively.
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* `-carla-no-networking` Disable networking. Overrides any settings file.
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* `-world-port=<port-number>` Listen for client connections at <port-number>, write and read ports are set to <port-number>+1 and <port-number>+2 respectively. Activates networking.
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* `-carla-no-networking` Disable networking. Overrides any other settings file.
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To activate semantic segmentation
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---------------------------------
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@ -123,24 +123,15 @@ static void LoadSettingsFromConfig(
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}
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}
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static bool GetSettingsFileName(FString &Value)
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static FString GetSettingsFilePathFromCommandLine()
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{
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// Try to get it from the command-line arguments.
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FString Value;
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if (FParse::Value(FCommandLine::Get(), TEXT("-carla-settings="), Value)) {
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if (FPaths::IsRelative(Value)) {
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Value = FPaths::ConvertRelativePathToFull(FPaths::LaunchDir(), Value);
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}
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if (FPaths::FileExists(Value)) {
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return true;
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}
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UE_LOG(LogCarla, Error, TEXT("Unable to find settings file \"%s\", falling back to default values"), *Value);
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}
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// If fails, check if there is one in the config folder.
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Value = FPaths::Combine(FPaths::GameConfigDir(), TEXT("CarlaSettings.ini"));
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if (FPaths::FileExists(Value)) {
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return true;
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}
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return false;
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return Value;
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}
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// =============================================================================
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@ -149,45 +140,41 @@ static bool GetSettingsFileName(FString &Value)
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void UCarlaSettings::LoadSettings()
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{
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FString FileName;
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if (GetSettingsFileName(FileName)) {
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UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FileName);
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const MyIniFile ConfigFile(FileName);
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LoadSettingsFromConfig(ConfigFile, *this, true);
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CurrentFileName = FileName;
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} else {
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CurrentFileName = TEXT("");
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}
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CurrentFileName = TEXT("");
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// Load settings from project Config folder if present.
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LoadSettingsFromFile(FPaths::Combine(FPaths::GameConfigDir(), TEXT("CarlaSettings.ini")), false);
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// Load settings given by command-line arg if provided.
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LoadSettingsFromFile(GetSettingsFilePathFromCommandLine(), true);
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// Override settings from command-line.
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uint32 Value;
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if (FParse::Value(FCommandLine::Get(), TEXT("-world-port="), Value)) {
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WorldPort = Value;
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WritePort = Value + 1u;
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ReadPort = Value + 2u;
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}
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if (FParse::Param(FCommandLine::Get(), TEXT("carla-no-networking"))) {
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bUseNetworking = false;
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{
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uint32 Value;
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if (FParse::Value(FCommandLine::Get(), TEXT("-world-port="), Value)) {
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WorldPort = Value;
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WritePort = Value + 1u;
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ReadPort = Value + 2u;
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bUseNetworking = true;
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}
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if (FParse::Param(FCommandLine::Get(), TEXT("carla-no-networking"))) {
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bUseNetworking = false;
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}
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}
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}
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void UCarlaSettings::LoadSettingsFromString(
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const FString &INIFileContents,
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const bool bLoadCarlaServerSection)
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void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
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{
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UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from string"));
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// Reset cameras.
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CameraDescriptions.Empty();
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bSemanticSegmentationEnabled = false;
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// Load config from string.
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ResetCameraDescriptions();
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MyIniFile ConfigFile;
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ConfigFile.ProcessInputFileContents(INIFileContents);
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constexpr bool bLoadCarlaServerSection = false;
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LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
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CurrentFileName = TEXT("<string-provided-by-client>");
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}
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void UCarlaSettings::LogSettings() const
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{
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UE_LOG(LogCarla, Log, TEXT("== CARLA Settings =============================================================="));
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UE_LOG(LogCarla, Log, TEXT("Settings file: %s"), *CurrentFileName);
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UE_LOG(LogCarla, Log, TEXT("Last settings file loaded: %s"), *CurrentFileName);
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UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SERVER);
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UE_LOG(LogCarla, Log, TEXT("Use Networking = %s"), (bUseNetworking ? TEXT("True") : TEXT("False")));
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UE_LOG(LogCarla, Log, TEXT("World Port = %d"), WorldPort);
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@ -230,3 +217,23 @@ void UCarlaSettings::GetActiveWeatherDescription(
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bWeatherWasChanged = false;
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}
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}
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void UCarlaSettings::ResetCameraDescriptions()
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{
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CameraDescriptions.Empty();
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bSemanticSegmentationEnabled = false;
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}
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void UCarlaSettings::LoadSettingsFromFile(const FString &FilePath, const bool bLogOnFailure)
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{
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if (FPaths::FileExists(FilePath)) {
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UE_LOG(LogCarla, Log, TEXT("Loading CARLA settings from \"%s\""), *FilePath);
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ResetCameraDescriptions();
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const MyIniFile ConfigFile(FilePath);
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constexpr bool bLoadCarlaServerSection = true;
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LoadSettingsFromConfig(ConfigFile, *this, bLoadCarlaServerSection);
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CurrentFileName = FilePath;
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} else if (bLogOnFailure) {
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UE_LOG(LogCarla, Error, TEXT("Unable to find settings file \"%s\""), *FilePath);
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}
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}
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@ -19,8 +19,8 @@ public:
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/** Load the settings based on the command-line arguments and the INI file if provided. */
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void LoadSettings();
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/** Load the settings from the given string (formatted as INI). */
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void LoadSettingsFromString(const FString &INIFileContents, bool bLoadCarlaServerSection = false);
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/** Load the settings from the given string (formatted as INI). CarlaServer section is ignored. */
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void LoadSettingsFromString(const FString &INIFileContents);
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/** Log settings values. */
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void LogSettings() const;
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@ -41,6 +41,10 @@ public:
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private:
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void LoadSettingsFromFile(const FString &FilePath, bool bLogOnFailure);
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void ResetCameraDescriptions();
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/** File name of the settings file used to load this settings. Empty if none used. */
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UPROPERTY(Category = "CARLA Settings|Debug", VisibleAnywhere)
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FString CurrentFileName;
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