new protocol

Source/CarlaServer/source/carla/CarlaServer.cpp

@@ -31,25 +31,29 @@ namespace carla {
     return _pimpl->tryReadControl(steer, throttle);
   }
   
+  bool CarlaServer::tryReadRequestNewEpisode(){
+    return _pimpl->tryReadRequestNewEpisode();
+  }
+
   bool CarlaServer::sendReward(const Reward_Values &values) {
-    if (needRestart()) return false;
+    if (needsRestart()) return false;
     _pimpl->sendReward(values);
     return true;
   }
 
   bool CarlaServer::sendSceneValues(const Scene_Values &values) {
-    if (needRestart()) return false;
+    if (needsRestart()) return false;
     _pimpl->sendSceneValues(values);
     return true;
   }  
 
   bool CarlaServer::sendEndReset() {
-    if (needRestart()) return false;
+    if (needsRestart()) return false;
     _pimpl->sendEndReset();
     return true;
   }
 
-  bool CarlaServer::worldConnected(){
+  /*bool CarlaServer::worldConnected(){
     return _pimpl->worldConnected();
   }
 
@@ -63,6 +67,10 @@ namespace carla {
 
   bool CarlaServer::needRestart() {
     return _pimpl->needRestart();
+  }*/
+
+  bool CarlaServer::needsRestart(){
+    return _pimpl->needsRestart() && _pimpl->worldConnected() && _pimpl->clientConnected() && _pimpl->serverConnected();
   }
 
 } // namespace carla

Source/CarlaServer/source/carla/CarlaServer.h

@@ -108,6 +108,8 @@ namespace carla {
     /// is empty.
     bool tryReadControl(float &steer, float &throttle);
 
+    bool tryReadRequestNewEpisode();
+
     /// Send values of the current player status.
     bool sendReward(const Reward_Values &values);
 
@@ -127,7 +129,7 @@ namespace carla {
     bool worldConnected();
 
     // Returns true if the server needs to restart the communication protocol
-    bool needRestart();
+    bool needsRestart();
 
   private:
 

Source/CarlaServer/source/carla/server/CarlaCommunication.cpp

@@ -153,7 +153,7 @@ namespace server {
 
 
 
-    if (!communication.NeedRestart()){
+    if (!communication.NeedsRestart()){
 
       std::cout << " ---- RECONNECT ALL ...." << std::endl;
 
@@ -187,7 +187,7 @@ namespace server {
     _world(worldPort),
     _server(writePort),
     _client(readPort),
-    _needRestart(false),
+    _needsRestart(false),
     _proto(std::make_unique<Protocol>(this)),
     _worldThread {
     [this]() { return worldReceiveThread(this->_world, this->_worldThread); },
@@ -214,9 +214,9 @@ namespace server {
   }
 
   CarlaCommunication::~CarlaCommunication(){
-    delete &_worldThread;
-    delete &_serverThread;
-    delete &_clientThread;
+    //delete &_worldThread;
+    //delete &_serverThread;
+    //delete &_clientThread;
   }
 
   void CarlaCommunication::sendReward(const Reward_Values &values) {
@@ -243,7 +243,7 @@ namespace server {
 
   void CarlaCommunication::sendWorld(const uint32_t modes,const uint32_t scenes) {
 
-    _needRestart = false;
+    _needsRestart = false;
 
     World world;
     _proto->LoadWorld(world, modes, scenes);
@@ -312,6 +312,15 @@ namespace server {
     return true;
   }
 
+  bool CarlaCommunication::tryReadRequestNewEpisode(){
+    std::string request;
+    if(!_worldThread.tryPop(request)) return false;
+
+    RequestNewEpisode reqEpisode;
+
+    return reqEpisode.ParseFromString(request);
+  }
+
   void CarlaCommunication::restartServer(){
     _server.close();
     //_server =  TCPServer(_serverPort);
@@ -355,12 +364,12 @@ namespace server {
     return _mode;
   }
 
-  bool CarlaCommunication::NeedRestart(){
-    return _needRestart;
+  bool CarlaCommunication::NeedsRestart(){
+    return _needsRestart;
   }
 
   void CarlaCommunication::Restart(){
-    _needRestart = true;
+    _needsRestart = true;
   }
 }
 }

Source/CarlaServer/source/carla/server/CarlaCommunication.h

@@ -43,6 +43,8 @@ namespace server {
 
     bool tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index);
 
+    bool tryReadRequestNewEpisode();
+
     void restartServer();
 
     void restartWorld();
@@ -61,7 +63,7 @@ namespace server {
 
     Mode GetMode();
 
-    bool NeedRestart();
+    bool NeedsRestart();
     void Restart();
 
   private:
@@ -81,7 +83,7 @@ namespace server {
 
     thread::AsyncReadWriteJobQueue<std::string, std::string> _worldThread;
 
-    std::atomic_bool _needRestart;
+    std::atomic_bool _needsRestart;
 
     std::atomic<Mode> _mode;
 

Source/CarlaServer/source/carla/server/Server.cpp

@@ -66,6 +66,10 @@ namespace server {
     return _communication->tryReadEpisodeStart(start_index, end_index);
   }
 
+  bool Server::tryReadRequestNewEpisode(){
+    return _communication->tryReadRequestNewEpisode();
+  }
+
   Mode Server::GetMode() const {
     return _communication->GetMode();
   }
@@ -86,8 +90,8 @@ namespace server {
     return _communication->serverConnected();
   }
 
-  bool Server::needRestart() const {
-    return _communication->NeedRestart();
+  bool Server::needsRestart() const {
+    return _communication->NeedsRestart();
   }
 
 } // namespace server

Source/CarlaServer/source/carla/server/Server.h

@@ -53,6 +53,9 @@ namespace server {
     ////Try to read if the client has selected an end & start point. Return false if the queue is empty
     bool tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index);
 
+
+    bool tryReadRequestNewEpisode();
+
     void setMode(Mode mode);
 
     Mode GetMode() const;
@@ -67,7 +70,7 @@ namespace server {
 
     bool serverConnected() const;
 
-    bool needRestart() const;
+    bool needsRestart() const;
 
   private:
 

Source/CarlaServer/source/carla/server/carla_protocol.proto

@@ -1,5 +1,15 @@
 
 // Client Messages
+
+
+message RequestNewEpisode {
+
+
+  optional bool request =1;
+
+
+}
+
 message EpisodeStart {
 
 

Source/CarlaServer/source/test/async_server.cpp

@@ -89,7 +89,7 @@ int main(int argc, char *argv[]) {
 
 
     for (;;){
-      if (server.worldConnected()){
+      if (!server.needsRestart()){
 
         server.init(1u);
 
@@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
           carla::Mode mode;
           uint32_t scene;
           
-          while(!server.needRestart() && !server.tryReadSceneInit(mode, scene));
+          while(!server.needsRestart() && !server.tryReadSceneInit(mode, scene));
 
           std::cout << "Received: mode = "
                     << (mode == carla::Mode::MONO ? "MONO" : "STEREO")
@@ -105,9 +105,9 @@ int main(int argc, char *argv[]) {
                     << scene << std::endl;
         }
 
+          carla::Scene_Values sceneValues;
 
         {
-          carla::Scene_Values sceneValues;
           sceneValues.possible_positions.push_back({0.0f, 0.0f});
           sceneValues.possible_positions.push_back({1.0f, 2.0f});
           sceneValues.possible_positions.push_back({3.0f, 4.0f});
@@ -124,21 +124,22 @@ int main(int argc, char *argv[]) {
 
           std::cout << "New episode" << std::endl;
           uint32_t start, end;
-          while (!server.needRestart() && !server.tryReadEpisodeStart(start, end));
+          while (!server.needsRestart() && !server.tryReadEpisodeStart(start, end));
           std::cout << "Received: startIndex = " << start
                     << ", endIndex = " << end << std::endl;
         }
 
         server.sendEndReset();
-        while (!server.needRestart()) {
-          if (server.clientConnected() && server.serverConnected()){
-            float steer, gas;
-            uint32_t startPoint, endPoint;
-            if (server.tryReadEpisodeStart(startPoint, endPoint)) {
-              std::cout << "-------- RESET --------" << std::endl;
-              std::cout << "--> Start: " << startPoint << " End: " << endPoint << " <--" << std::endl;
-              server.sendEndReset();
-            } else {
+        while (!server.needsRestart()) {
+          float steer, gas;
+          uint32_t startPoint, endPoint;
+          if (server.tryReadRequestNewEpisode()){
+            std::cout << "-------- RESET --------" << std::endl;
+            server.sendSceneValues(sceneValues);
+            while (!server.needsRestart() && !server.tryReadEpisodeStart(startPoint, endPoint));
+            std::cout << "--> Start: " << startPoint << " End: " << endPoint << " <--" << std::endl;
+            server.sendEndReset();
+            }else {
               if (server.tryReadControl(steer, gas)) {
                 std::cout << "Steer: " << steer << " Gas: " << gas << std::endl;
               }
@@ -146,7 +147,6 @@ int main(int argc, char *argv[]) {
               reward.timestamp = timestamp++;
               server.sendReward(reward);
             }
-          }
         }
 
         std::cout << " -----  RESTARTING -----" <<  std::endl;