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Changes in the protocol, use repeated and add option for non-player agents

This commit is contained in:
nsubiron 2017-07-27 16:47:02 +02:00
parent a1a11ec93e
commit 26d42b6dc2
10 changed files with 197 additions and 62 deletions
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3
Source/Carla/Game/CarlaPlayerState.cpp
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@ -24,8 +24,7 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
{
PlatformTimeStamp = Other->PlatformTimeStamp;
GameTimeStamp = Other->GameTimeStamp;
Location = Other->Location;
Orientation = Other->Orientation;
Transform = Other->Transform;
Acceleration = Other->Acceleration;
ForwardSpeed = Other->ForwardSpeed;
CollisionIntensityCars = Other->CollisionIntensityCars;

19
Source/Carla/Game/CarlaPlayerState.h
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@ -54,15 +54,21 @@ public:
}
UFUNCTION()
const FVector &GetLocation() const
const FTransform &GetTransform() const
{
return Location;
return Transform;
}
UFUNCTION()
const FVector &GetOrientation() const
FVector GetLocation() const
{
return Orientation;
return Transform.GetLocation();
}
UFUNCTION()
FVector GetOrientation() const
{
return Transform.GetRotation().GetForwardVector();
}
UFUNCTION()
@ -164,10 +170,7 @@ private:
int32 GameTimeStamp = 0.0f;
UPROPERTY(VisibleAnywhere)
FVector Location;
UPROPERTY(VisibleAnywhere)
FVector Orientation;
FTransform Transform;
UPROPERTY(VisibleAnywhere)
FVector Acceleration;

31
Source/Carla/Game/CarlaServer.cpp
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@ -41,9 +41,15 @@ static inline void Set(float &lhs, float rhs)
lhs = rhs;
}
static inline void Set(carla_vector3d &cVector, const FVector &uVector)
static inline void Set(carla_vector3d &lhs, const FVector &rhs)
{
cVector = {uVector.X, uVector.Y, uVector.Z};
lhs = {rhs.X, rhs.Y, rhs.Z};
}
static inline void Set(carla_transform &lhs, const FTransform &rhs)
{
Set(lhs.location, rhs.GetLocation());
Set(lhs.orientation, rhs.GetRotation().GetForwardVector());
}
static void Set(carla_image &cImage, const FCapturedImage &uImage)
@ -92,7 +98,7 @@ CarlaServer::~CarlaServer()
CarlaServer::ErrorCode CarlaServer::Connect()
{
UE_LOG(LogCarlaServer, Log, TEXT("Waiting for client to connect..."));
UE_LOG(LogCarlaServer, Log, TEXT("Waiting for the client to connect..."));
return ParseErrorCode(carla_server_connect(Server, WorldPort, TimeOut));
}
@ -115,17 +121,17 @@ CarlaServer::ErrorCode CarlaServer::SendSceneDescription(
const TArray<APlayerStart *> &AvailableStartSpots,
const bool bBlocking)
{
const int32 NumberOfStartPositions = AvailableStartSpots.Num();
auto Positions = MakeUnique<carla_vector3d[]>(NumberOfStartPositions);
const int32 NumberOfStartSpots = AvailableStartSpots.Num();
auto StartSpots = MakeUnique<carla_transform[]>(NumberOfStartSpots);
for (auto i = 0u; i < NumberOfStartPositions; ++i) {
Set(Positions[i], AvailableStartSpots[i]->GetActorLocation());
for (auto i = 0u; i < NumberOfStartSpots; ++i) {
Set(StartSpots[i], AvailableStartSpots[i]->GetActorTransform());
}
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), NumberOfStartPositions);
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), NumberOfStartSpots);
carla_scene_description scene;
scene.player_start_locations = Positions.Get();
scene.number_of_player_start_locations = NumberOfStartPositions;
scene.player_start_spots = StartSpots.Get();
scene.number_of_player_start_spots = NumberOfStartSpots;
return ParseErrorCode(carla_write_scene_description(Server, scene, GetTimeOut(TimeOut, bBlocking)));
}
@ -135,7 +141,7 @@ CarlaServer::ErrorCode CarlaServer::ReadEpisodeStart(uint32 &StartPositionIndex,
carla_episode_start values;
auto ec = ParseErrorCode(carla_read_episode_start(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
StartPositionIndex = values.player_start_location_index;
StartPositionIndex = values.player_start_spot_index;
UE_LOG(LogCarlaServer, Log, TEXT("Episode start received: { StartIndex = %d }"), StartPositionIndex);
}
return ec;
@ -182,8 +188,7 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(const ACarlaPlayerState &Pl
values.platform_timestamp = PlayerState.GetPlatformTimeStamp();
values.game_timestamp = PlayerState.GetGameTimeStamp();
auto &player = values.player_measurements;
Set(player.location, PlayerState.GetLocation());
Set(player.orientation, PlayerState.GetOrientation());
Set(player.transform, PlayerState.GetTransform());
Set(player.acceleration, PlayerState.GetAcceleration());
Set(player.forward_speed, PlayerState.GetForwardSpeed());
Set(player.collision_vehicles, PlayerState.GetCollisionIntensityCars());

16
Source/Carla/Game/CarlaVehicleController.cpp
View File

@ -107,11 +107,10 @@ void ACarlaVehicleController::Tick(float DeltaTime)
if (IsPossessingAVehicle()) {
CarlaPlayerState->UpdateTimeStamp(DeltaTime);
CarlaPlayerState->Location = GetVehicleLocation();
const FVector PreviousSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
CarlaPlayerState->Orientation = GetVehicleOrientation();
const FVector PreviousSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
CarlaPlayerState->Transform = GetVehicleTransform();
CarlaPlayerState->ForwardSpeed = GetVehicleForwardSpeed();
const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
CarlaPlayerState->CurrentGear = GetVehicleCurrentGear();
IntersectPlayerWithRoadMap();
@ -130,6 +129,12 @@ void ACarlaVehicleController::Tick(float DeltaTime)
// -- Vehicle pawn info --------------------------------------------------------
// =============================================================================
FTransform ACarlaVehicleController::GetVehicleTransform() const
{
check(GetPawn() != nullptr);
return GetPawn()->GetActorTransform();
}
FVector ACarlaVehicleController::GetVehicleLocation() const
{
check(GetPawn() != nullptr);
@ -144,8 +149,7 @@ float ACarlaVehicleController::GetVehicleForwardSpeed() const
FVector ACarlaVehicleController::GetVehicleOrientation() const
{
check(GetPawn() != nullptr);
return GetPawn()->GetTransform().GetRotation().GetForwardVector();
return GetVehicleTransform().GetRotation().GetForwardVector();
}
int32 ACarlaVehicleController::GetVehicleCurrentGear() const

3
Source/Carla/Game/CarlaVehicleController.h
View File

@ -58,6 +58,9 @@ public:
return MovementComponent != nullptr;
}
/// World transform of the vehicle.
FTransform GetVehicleTransform() const;
/// World location of the vehicle.
FVector GetVehicleLocation() const;

37
Util/CarlaServer/include/carla/carla_server.h
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@ -30,6 +30,28 @@ extern "C" {
const uint32_t *data;
};
struct carla_transform {
struct carla_vector3d location;
struct carla_vector3d orientation;
};
struct carla_bounding_box {
struct carla_transform transform;
struct carla_vector3d extent;
};
#define CARLA_SERVER_AGENT_UNKNOWN 0u
#define CARLA_SERVER_AGENT_VEHICLE 1u
#define CARLA_SERVER_AGENT_PEDESTRIAN 2u
struct carla_agent {
uint32_t id;
uint32_t type;
struct carla_transform transform;
struct carla_bounding_box bounding_box;
float forward_speed;
};
/* ======================================================================== */
/* -- carla_request_new_episode ------------------------------------------- */
/* ======================================================================== */
@ -52,8 +74,8 @@ extern "C" {
struct carla_scene_description {
/** Collection of the initial player start locations. */
const struct carla_vector3d *player_start_locations;
uint32_t number_of_player_start_locations;
const struct carla_transform *player_start_spots;
uint32_t number_of_player_start_spots;
};
/* ======================================================================== */
@ -61,7 +83,7 @@ extern "C" {
/* ======================================================================== */
struct carla_episode_start {
uint32_t player_start_location_index;
uint32_t player_start_spot_index;
};
/* ======================================================================== */
@ -89,10 +111,8 @@ extern "C" {
/* ======================================================================== */
struct carla_player_measurements {
/** World location of the player. */
struct carla_vector3d location;
/** Orientation of the player. */
struct carla_vector3d orientation;
/** World transform of the player. */
struct carla_transform transform;
/** Current acceleration of the player. */
struct carla_vector3d acceleration;
/** Forward speed in km/h. */
@ -120,6 +140,9 @@ extern "C" {
uint32_t game_timestamp;
/** Player measurements. */
struct carla_player_measurements player_measurements;
/** Non-player agents. */
const struct carla_agent *non_player_agents;
uint32_t number_of_non_player_agents;
};
/* ======================================================================== */

14
Util/CarlaServer/source/carla/ArrayView.h
View File

@ -91,4 +91,18 @@ namespace detail {
template <typename T>
using const_array_view = detail::ArrayView<const std::remove_const_t<T>>;
namespace array_view {
template <typename T, typename V = mutable_array_view<T>>
static inline auto make_mutable(T *data, typename V::size_type size) {
return V(data, size);
}
template <typename T, typename V = const_array_view<T>>
static inline auto make_const(const T *data, typename V::size_type size) {
return V(data, size);
}
} // namespace array_view
} // namespace carla

71
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
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@ -4,6 +4,7 @@
#include <cstring>
#include "carla/ArrayView.h"
#include "carla/Debug.h"
#include "carla/Logging.h"
@ -14,12 +15,56 @@ namespace cs = carla_server;
namespace carla {
namespace server {
static auto start_spots(const carla_scene_description &values) {
return array_view::make_const(values.player_start_spots, values.number_of_player_start_spots);
}
static auto agents(const carla_measurements &values) {
return array_view::make_const(values.non_player_agents, values.number_of_non_player_agents);
}
static void Set(cs::Vector3D *lhs, const carla_vector3d &rhs) {
DEBUG_ASSERT(lhs != nullptr);
lhs->set_x(rhs.x);
lhs->set_y(rhs.y);
lhs->set_z(rhs.z);
}
static void Set(cs::Transform *lhs, const carla_transform &rhs) {
DEBUG_ASSERT(lhs != nullptr);
Set(lhs->mutable_location(), rhs.location);
Set(lhs->mutable_orientation(), rhs.orientation);
}
static void Set(cs::BoundingBox *lhs, const carla_bounding_box &rhs) {
DEBUG_ASSERT(lhs != nullptr);
Set(lhs->mutable_transform(), rhs.transform);
Set(lhs->mutable_extent(), rhs.extent);
}
static cs::Agent::Type GetAgentType(const uint32_t type) {
switch (type) {
case CARLA_SERVER_AGENT_VEHICLE: return cs::Agent::VEHICLE;
case CARLA_SERVER_AGENT_PEDESTRIAN: return cs::Agent::PEDESTRIAN;
default: return cs::Agent::UNKNOWN;
}
}
static void Set(cs::Agent *lhs, const carla_agent &rhs) {
DEBUG_ASSERT(lhs != nullptr);
lhs->set_id(rhs.id);
lhs->set_type(GetAgentType(rhs.type));
Set(lhs->mutable_transform(), rhs.transform);
Set(lhs->mutable_bounding_box(), rhs.bounding_box);
lhs->set_forward_speed(rhs.forward_speed);
}
std::string CarlaEncoder::Encode(const carla_scene_description &values) {
auto *message = _protobuf.CreateMessage<cs::SceneDescription>();
DEBUG_ASSERT(message != nullptr);
message->set_player_start_locations(
values.player_start_locations,
sizeof(carla_vector3d) * values.number_of_player_start_locations);
for (auto &spot : start_spots(values)) {
Set(message->add_player_start_spots(), spot);
}
return Protobuf::Encode(*message);
}
@ -30,29 +75,27 @@ namespace server {
return Protobuf::Encode(*message);
}
static void SetVector3D(cs::Vector3D *lhs, const carla_vector3d &rhs) {
DEBUG_ASSERT(lhs != nullptr);
lhs->set_x(rhs.x);
lhs->set_y(rhs.y);
lhs->set_z(rhs.z);
}
std::string CarlaEncoder::Encode(const carla_measurements &values) {
static thread_local auto *message = _protobuf.CreateMessage<cs::Measurements>();
DEBUG_ASSERT(message != nullptr);
message->set_platform_timestamp(values.platform_timestamp);
message->set_game_timestamp(values.game_timestamp);
// Player measurements.
auto *player = message->mutable_player_measurements();
DEBUG_ASSERT(player != nullptr);
SetVector3D(player->mutable_location(), values.player_measurements.location);
SetVector3D(player->mutable_orientation(), values.player_measurements.orientation);
SetVector3D(player->mutable_acceleration(), values.player_measurements.acceleration);
Set(player->mutable_transform(), values.player_measurements.transform);
Set(player->mutable_acceleration(), values.player_measurements.acceleration);
player->set_forward_speed(values.player_measurements.forward_speed);
player->set_collision_vehicles(values.player_measurements.collision_vehicles);
player->set_collision_pedestrians(values.player_measurements.collision_pedestrians);
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);
// Non-player agents.
message->clear_non_player_agents(); // we need to clear as we cache the message.
for (auto &agent : agents(values)) {
Set(message->add_non_player_agents(), agent);
}
return Protobuf::Encode(*message);
}
@ -79,7 +122,7 @@ namespace server {
DEBUG_ASSERT(message != nullptr);
message->ParseFromString(str);
if (message->IsInitialized()) {
values.player_start_location_index = message->player_start_location_index();
values.player_start_spot_index = message->player_start_spot_index();
return true;
} else {
log_error("invalid protobuf message: episode start");

10
Util/CarlaServer/source/test/Test_CarlaServer.cpp
View File

@ -56,11 +56,11 @@ TEST(CarlaServerAPI, SimBlocking) {
{2u, 3u, 1u, image1}
};
const carla_vector3d start_locations[] = {
{0.0f, 0.0f, 0.0f},
{1.0f, 0.0f, 0.0f},
{0.0f, 1.0f, 0.0f},
{1.0f, 1.0f, 0.0f}
const carla_transform start_locations[] = {
{carla_vector3d{0.0f, 0.0f, 0.0f}, carla_vector3d{0.0f, 0.0f, 0.0f}},
{carla_vector3d{1.0f, 0.0f, 0.0f}, carla_vector3d{1.0f, 0.0f, 0.0f}},
{carla_vector3d{0.0f, 1.0f, 0.0f}, carla_vector3d{0.0f, 1.0f, 0.0f}},
{carla_vector3d{1.0f, 1.0f, 0.0f}, carla_vector3d{1.0f, 1.0f, 0.0f}}
};
const auto S = CARLA_SERVER_SUCCESS;

55
Util/Proto/carla_server.proto
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@ -4,28 +4,67 @@ package carla_server;
option cc_enable_arenas = true;
// =============================================================================
// -- Basic types --------------------------------------------------------------
// =============================================================================
message Vector3D {
float x = 1;
float y = 2;
float z = 3;
}
message Transform {
Vector3D location = 1;
// For now, orientation as the cartesian coordinates X, Y, Z. But we are
// probably better off using Roll, Pitch, Yaw in the future as it gives more
// info.
Vector3D orientation = 2;
}
message BoundingBox {
Transform transform = 1;
Vector3D extent = 2;
}
message Agent {
enum Type {
UNKNOWN = 0;
VEHICLE = 1;
PEDESTRIAN = 2;
}
uint32 id = 1;
Type type = 2;
Transform transform = 3;
BoundingBox bounding_box = 4;
float forward_speed = 5;
}
// =============================================================================
// -- World Server Messages ----------------------------------------------------
// =============================================================================
message RequestNewEpisode {
bytes ini_file = 1;
string ini_file = 1;
}
message SceneDescription {
bytes player_start_locations = 1;
repeated Transform player_start_spots = 1;
}
message EpisodeStart {
int32 player_start_location_index = 1;
uint32 player_start_spot_index = 1;
}
message EpisodeReady {
bool ready = 1;
}
// =============================================================================
// -- Agent Server Messages ----------------------------------------------------
// =============================================================================
message Control {
float steer = 1;
float throttle = 2;
@ -36,8 +75,7 @@ message Control {
message Measurements {
message PlayerMeasurements {
Vector3D location = 1;
Vector3D orientation = 2;
Transform transform = 1;
Vector3D acceleration = 3;
float forward_speed = 4;
@ -50,8 +88,11 @@ message Measurements {
float intersection_offroad = 9;
}
int32 platform_timestamp = 1;
int32 game_timestamp = 2;
uint32 platform_timestamp = 1;
uint32 game_timestamp = 2;
PlayerMeasurements player_measurements = 3;
repeated Agent non_player_agents = 4;
}