Fix server was sending deleted data

Source/Carla/Carla.Build.cs

@@ -66,7 +66,7 @@ public class Carla : ModuleRules
     }
     else
     {
-      return true;
+      return false;
     }
   }
 

Util/CarlaServer/source/carla/server/CarlaMeasurements.cpp

@@ -0,0 +1,24 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC) Project Settings.
+
+#include "carla/server/CarlaMeasurements.h"
+
+#include "carla/Logging.h"
+
+namespace carla {
+namespace server {
+
+  void CarlaMeasurements::Write(const carla_measurements &measurements) {
+    _measurements = measurements;
+    const auto size = measurements.number_of_non_player_agents * sizeof(carla_agent);
+    if (_agents_buffer_size < size) {
+      log_info("allocating agents buffer of", size, "bytes");
+      _agents_buffer = std::make_unique<unsigned char[]>(size);
+      _agents_buffer_size = size;
+    }
+    std::memcpy(_agents_buffer.get(), measurements.non_player_agents, size);
+    _measurements.non_player_agents =
+        reinterpret_cast<const carla_agent *>(_agents_buffer.get());
+  }
+
+} // namespace server
+} // namespace carla

Util/CarlaServer/source/carla/server/CarlaMeasurements.h

@@ -0,0 +1,34 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC) Project Settings.
+
+#pragma once
+
+#include "carla/NonCopyable.h"
+#include "carla/server/CarlaServerAPI.h"
+
+#include <memory>
+
+namespace carla {
+namespace server {
+
+  /// Holds a carla_measurements and keeps its own copy of the dynamically
+  /// allocated data.
+  class CarlaMeasurements : private NonCopyable {
+  public:
+
+    void Write(const carla_measurements &measurements);
+
+    const carla_measurements &measurements() const {
+      return _measurements;
+    }
+
+  private:
+
+    carla_measurements _measurements;
+
+    std::unique_ptr<unsigned char[]> _agents_buffer = nullptr;
+
+    uint32_t _agents_buffer_size = 0u;
+  };
+
+} // namespace server
+} // namespace carla

Util/CarlaServer/source/carla/server/MeasurementsMessage.h

@@ -3,6 +3,8 @@
 #pragma once
 
 #include "carla/NonCopyable.h"
+#include "carla/server/CarlaMeasurements.h"
+#include "carla/server/CarlaServerAPI.h"
 #include "carla/server/ImagesMessage.h"
 
 namespace carla {
@@ -14,12 +16,12 @@ namespace server {
     void Write(
         const carla_measurements &measurements,
         const_array_view<carla_image> images) {
-      _measurements = measurements;
+      _measurements.Write(measurements);
       _images.Write(images);
     }
 
     const carla_measurements &measurements() const {
-      return _measurements;
+      return _measurements.measurements();
     }
 
     const_buffer images() const {
@@ -28,7 +30,7 @@ namespace server {
 
   private:
 
-    carla_measurements _measurements;
+    CarlaMeasurements _measurements;
 
     ImagesMessage _images;
   };

Util/PythonClient/carla_client.py

@@ -18,7 +18,7 @@ import carla_server_pb2 as carla_protocol
 CarlaSettings = """
 [CARLA/Server]
 SynchronousMode=true
-SendNonPlayerAgentsInfo=false
+SendNonPlayerAgentsInfo=true
 [CARLA/LevelSettings]
 NumberOfVehicles=10
 NumberOfPedestrians=20
@@ -150,8 +150,9 @@ def test_carla_client():
 
                 logging.info('waiting for the scene description')
                 data = client.read_scene_description()
-                data = data.player_start_spots
-                logging.info('received %d bytes of player start locations', len(data) if data is not None else 0)
+                logging.info('received %d player start locations', len(data.player_start_spots))
+                for spot in data.player_start_spots:
+                    logging.info(spot)
 
                 logging.info('sending episode start')
                 client.write_episode_start(2)
@@ -176,6 +177,8 @@ def test_carla_client():
                     else:
                         logging.info('received valid measurements')
                         logging.info('received info of %d agents', len(data.non_player_agents))
+                        for agent in data.non_player_agents:
+                            logging.info(agent)
                     logging.info('waiting for images')
                     data = client.read_images()
                     logging.info('received %d bytes of images', len(data) if data is not None else 0)