Add more options to CARLA settings

Resources/Example.CarlaSettings.ini

@@ -16,8 +16,14 @@ UseNetworking=true
 ; the command-line switch `-world-port=N`, write and read ports will be set to
 ; N+1 and N+2 respectively.
 WorldPort=2000
-WritePort=2001
+; Time-out in milliseconds for the networking operations.
-ReadPort=2002
+ServerTimeOut=10000
+; In synchronous mode, CARLA waits every tick until the control from the client
+; is received.
+SynchronousMode=true
+; Send info about every non-player agent in the scene every frame. Slows down
+; the simulation significantly.
+SendNonPlayerAgentsInfo=false
 
 [CARLA/LevelSettings]
 ; Path of the vehicle class to be used for the player. Leave empty for default.

Source/Carla/Game/CarlaGameController.cpp

@@ -114,7 +114,8 @@ void CarlaGameController::Tick(float DeltaSeconds)
     check(GameState != nullptr);
     if (Errc::Error == Server->SendMeasurements(
             *GameState,
-            Player->GetPlayerState())) {
+            Player->GetPlayerState(),
+            CarlaSettings->bSendNonPlayerAgentsInfo)) {
       Server = nullptr;
     }
   }

Source/Carla/Game/CarlaServer.cpp

@@ -242,7 +242,8 @@ static void GetAgentInfo(
 
 CarlaServer::ErrorCode CarlaServer::SendMeasurements(
     const ACarlaGameState &GameState,
-    const ACarlaPlayerState &PlayerState)
+    const ACarlaPlayerState &PlayerState,
+    const bool bSendNonPlayerAgentsInfo)
 {
   // Measurements.
   carla_measurements values;
@@ -259,7 +260,9 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
   Set(player.intersection_offroad, PlayerState.GetOffRoadIntersectionFactor());
 
   TArray<carla_agent> Agents;
+  if (bSendNonPlayerAgentsInfo) {
     GetAgentInfo(GameState, Agents);
+  }
   values.non_player_agents = (Agents.Num() > 0 ? Agents.GetData() : nullptr);
   values.number_of_non_player_agents = Agents.Num();
 

Source/Carla/Game/CarlaServer.h

@@ -38,7 +38,8 @@ public:
 
   ErrorCode SendMeasurements(
       const ACarlaGameState &GameState,
-      const ACarlaPlayerState &PlayerState);
+      const ACarlaPlayerState &PlayerState,
+      bool bSendNonPlayerAgentsInfo);
 
 private:
 

Source/Carla/Settings/CarlaSettings.cpp

@@ -88,8 +88,9 @@ static void LoadSettingsFromConfig(
     ConfigFile.GetBool(S_CARLA_SERVER, TEXT("UseNetworking"), Settings.bUseNetworking);
     ConfigFile.GetInt(S_CARLA_SERVER, TEXT("WorldPort"), Settings.WorldPort);
     ConfigFile.GetInt(S_CARLA_SERVER, TEXT("ServerTimeOut"), Settings.ServerTimeOut);
-    ConfigFile.GetBool(S_CARLA_SERVER, TEXT("SynchronousMode"), Settings.bSynchronousMode);
   }
+  ConfigFile.GetBool(S_CARLA_SERVER, TEXT("SynchronousMode"), Settings.bSynchronousMode);
+  ConfigFile.GetBool(S_CARLA_SERVER, TEXT("SendNonPlayerAgentsInfo"), Settings.bSendNonPlayerAgentsInfo);
   // LevelSettings.
   ConfigFile.GetString(S_CARLA_LEVELSETTINGS, TEXT("PlayerVehicle"), Settings.PlayerVehicle);
   ConfigFile.GetInt(S_CARLA_LEVELSETTINGS, TEXT("NumberOfVehicles"), Settings.NumberOfVehicles);
@@ -203,6 +204,7 @@ void UCarlaSettings::LogSettings() const
   UE_LOG(LogCarla, Log, TEXT("World Port = %d"), WorldPort);
   UE_LOG(LogCarla, Log, TEXT("Server Time-out = %d ms"), ServerTimeOut);
   UE_LOG(LogCarla, Log, TEXT("Synchronous Mode = %s"), EnabledDisabled(bSynchronousMode));
+  UE_LOG(LogCarla, Log, TEXT("Send Non-Player Agents Info = %s"), EnabledDisabled(bSendNonPlayerAgentsInfo));
   UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_LEVELSETTINGS);
   UE_LOG(LogCarla, Log, TEXT("Player Vehicle        = %s"), (PlayerVehicle.IsEmpty() ? TEXT("default") : *PlayerVehicle));
   UE_LOG(LogCarla, Log, TEXT("Number Of Vehicles    = %d"), NumberOfVehicles);

Source/Carla/Settings/CarlaSettings.h

@@ -80,7 +80,11 @@ public:
     * client is received.
     */
   UPROPERTY(Category = "CARLA Server", VisibleAnywhere, meta = (EditCondition = bUseNetworking))
-  bool bSynchronousMode = false;
+  bool bSynchronousMode = true;
+
+  /** Send info about every non-player agent in the scene every frame. */
+  UPROPERTY(Category = "CARLA Server", VisibleAnywhere, meta = (EditCondition = bUseNetworking))
+  bool bSendNonPlayerAgentsInfo = false;
 
   /// @}
   // ===========================================================================

Util/PythonClient/carla_client.py

@@ -16,6 +16,9 @@ import carla_server_pb2 as carla_protocol
 
 
 CarlaSettings = """
+[CARLA/Server]
+SynchronousMode=true
+SendNonPlayerAgentsInfo=false
 [CARLA/LevelSettings]
 NumberOfVehicles=10
 NumberOfPedestrians=20
@@ -172,6 +175,7 @@ def test_carla_client():
                         logging.info('received non-initialized measurements')
                     else:
                         logging.info('received valid measurements')
+                        logging.info('received info of %d agents', len(data.non_player_agents))
                     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)