p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Start using external CarlaServer

This commit is contained in:
nsubiron 2017-03-16 09:57:09 +01:00
parent c8a75e7c17
commit 48a84167cd
7 changed files with 188 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

89
Source/Carla/Carla.Build.cs
View File

@ -1,55 +1,68 @@
// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
using System.IO;
using UnrealBuildTool;
public class Carla : ModuleRules
{
public Carla(TargetInfo Target)
{
public Carla(TargetInfo Target)
{
string CarlaServerIncludePath = "CarlaServer/include";
string CarlaServerLibPath = "CarlaServer/lib";
PublicIncludePaths.AddRange(
new string[] {
"Carla/Public"
// ... add public include paths required here ...
}
);
PublicIncludePaths.AddRange(
new string[] {
"Carla/Public",
CarlaServerIncludePath
// ... add public include paths required here ...
}
);
PrivateIncludePaths.AddRange(
new string[] {
"Carla/Private",
// ... add other private include paths required here ...
}
);
PrivateIncludePaths.AddRange(
new string[] {
"Carla/Private",
CarlaServerIncludePath
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{
"Core",
// ... add other public dependencies that you statically link with here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{
"Core",
// ... add other public dependencies that you statically link with here ...
}
);
PrivateDependencyModuleNames.AddRange(
new string[]
{
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
PrivateDependencyModuleNames.AddRange(
new string[]
{
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
"PhysXVehicles",
// ... add private dependencies that you statically link with here ...
}
);
// ... add private dependencies that you statically link with here ...
}
);
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
}
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
PublicAdditionalLibraries.AddRange(
new string[]
{
Path.Combine(ModuleDirectory, "..", CarlaServerLibPath, "libcarla_server.a")
// ... add any modules that your module loads dynamically here ...
}
);
}
}

104
Source/Carla/Game/CarlaGameController.cpp
View File

@ -5,78 +5,100 @@
#include "GameFramework/PlayerStart.h"
#include "CarlaPlayerState.h"
#include "CarlaVehicleController.h"
// -----------------------------------------------------------------------------
#include <vector>
struct Position {
float x;
float y;
};
struct Scene_Values {
std::vector<Position> _possible_Positions;
};
class CarlaServer {
public:
void sendWorld() {}
bool tryReadSceneInit(int &mode, int &scene) { mode = 0; return true; }
void sendSceneValues(const Scene_Values &) {}
bool tryReadEpisodeStart(size_t &start_index, size_t &end_index) { start_index = 0u; return true; }
void sendEndReset() {}
};
#include <carla/CarlaServer.h>
// =============================================================================
// -- static local methods -----------------------------------------------------
// =============================================================================
static void ReadSceneInit(CarlaServer &Server)
static inline void Set(float &lhs, float rhs)
{
int mode;
int scene;
lhs = rhs;
}
static inline void Set(carla::Vector3D &cVector, const FVector &uVector)
{
cVector = {uVector.X, uVector.Y, uVector.Z};
}
static inline void Set(carla::Vector2D &cVector, const FVector &uVector)
{
cVector = {uVector.X, uVector.Y};
}
static void ReadSceneInit(carla::CarlaServer &Server)
{
carla::Mode mode;
uint32 scene;
while (!Server.tryReadSceneInit(mode, scene)) {
// wait.
}
}
static void SendSceneValues(CarlaServer &Server, const TArray<FTransform> &Transforms)
static void SendSceneValues(carla::CarlaServer &Server, const TArray<FTransform> &Transforms)
{
Scene_Values sceneValues;
sceneValues._possible_Positions.reserve(Transforms.Num());
carla::Scene_Values sceneValues;
sceneValues.possible_Positions.reserve(Transforms.Num());
for (const FTransform &Transform : Transforms) {
const FVector &Location = Transform.GetLocation();
sceneValues._possible_Positions.push_back({Location.X, Location.Y});
sceneValues.possible_Positions.push_back({Location.X, Location.Y});
}
Server.sendSceneValues(sceneValues);
}
static size_t ReadEpisodeStart(CarlaServer &Server)
static uint32 ReadEpisodeStart(carla::CarlaServer &Server)
{
size_t StartIndex;
size_t EndIndex;
uint32 StartIndex;
uint32 EndIndex;
while (!Server.tryReadEpisodeStart(StartIndex, EndIndex)) {
// wait.
}
return StartIndex;
}
static bool TryReadEpisodeStart(CarlaServer &Server, size_t &StartIndex)
static bool TryReadEpisodeStart(carla::CarlaServer &Server, uint32 &StartIndex)
{
size_t EndIndex;
uint32 EndIndex;
return Server.tryReadEpisodeStart(StartIndex, EndIndex);
}
static void SendReward(CarlaServer &Server, ACarlaVehicleController &Player)
static void SendReward(carla::CarlaServer &Server, const ACarlaPlayerState &PlayerState)
{
carla::Reward_Values reward;
reward.timestamp = FMath::RoundHalfToZero(FPlatformTime::Seconds());
Set(reward.player_location, PlayerState.GetLocation());
Set(reward.player_orientation, PlayerState.GetOrientation());
Set(reward.player_acceleration, PlayerState.GetAcceleration());
// Set(reward.player_acceleration, );
Set(reward.forward_speed, PlayerState.GetForwardSpeed());
Set(reward.collision_car, PlayerState.GetCollisionIntensityCars());
Set(reward.collision_pedestrian, PlayerState.GetCollisionIntensityPedestrians());
Set(reward.collision_general, PlayerState.GetCollisionIntensityOther());
// Set(reward.intersect_other_lane, );
// Set(reward.intersect_offroad, );
// Set(reward.image_width, );
// Set(reward.image_height, );
// Set(reward.image_rgb_0, );
// Set(reward.image_rgb_1, );
// Set(reward.image_depth_0, );
// Set(reward.image_depth_1, );
Server.sendReward(reward);
}
static void ReadControl(CarlaServer &Server, ACarlaVehicleController &Player)
static void ReadControl(carla::CarlaServer &Server, ACarlaVehicleController &Player)
{
float steer;
float throttle;
if (Server.tryReadControl(steer, throttle)) {
Player.SetSteeringInput(steer);
Player.SetThrottleInput(throttle);
#ifdef WITH_EDITOR
UE_LOG(LogCarla, Log, TEXT("Read control: steer = %f, throttle = %f"), steer, throttle);
#endif // WITH_EDITOR
}
}
// =============================================================================
@ -84,10 +106,10 @@ static void ReadControl(CarlaServer &Server, ACarlaVehicleController &Player)
// =============================================================================
CarlaGameController::CarlaGameController() :
Server(MakeUnique<CarlaServer>()),
Server(MakeUnique<carla::CarlaServer>(2000u, 2001u, 2002u)),
Player(nullptr)
{
Server->sendWorld();
Server->init(1u);
}
APlayerStart *CarlaGameController::ChoosePlayerStart(
@ -116,7 +138,7 @@ void CarlaGameController::RegisterCaptureCamera(const ASceneCaptureCamera &Captu
void CarlaGameController::Tick(float DeltaSeconds)
{
check(Player != nullptr);
size_t StartIndex;
uint32 StartIndex;
if (bIsResetting) {
// Resetting the world.
ReadSceneInit(*Server);
@ -131,7 +153,7 @@ void CarlaGameController::Tick(float DeltaSeconds)
Server->sendEndReset();
} else {
// Regular tick.
SendReward(*Server, *Player);
SendReward(*Server, Player->GetPlayerState());
ReadControl(*Server, *Player);
}
}

7
Source/Carla/Game/CarlaGameController.h
View File

@ -4,9 +4,12 @@
#include "CarlaGameControllerBase.h"
class CarlaServer;
class ACarlaVehicleController;
namespace carla {
class CarlaServer;
}
/// Implements remote control of game and player.
class CARLA_API CarlaGameController : public CarlaGameControllerBase
{
@ -24,7 +27,7 @@ public:
private:
TUniquePtr<CarlaServer> Server;
TUniquePtr<carla::CarlaServer> Server;
ACarlaVehicleController *Player;

5
Source/Carla/Game/CarlaPlayerState.cpp
View File

@ -3,6 +3,7 @@
#include "Carla.h"
#include "CarlaPlayerState.h"
void RegisterCollision(AActor *Actor, FVector NormalImpulse)
{
}

49
Source/Carla/Game/CarlaPlayerState.h
View File

@ -19,11 +19,58 @@ public:
// virtual void Reset();
// virtual void CopyProperties(APlayerState *PlayerState);
void RegisterCollision(AActor *Actor, FVector NormalImpulse) {}
void RegisterCollision(AActor *Actor, FVector NormalImpulse);
const FVector &GetLocation() const
{
return Location;
}
const FVector &GetOrientation() const
{
return Orientation;
}
const FVector &GetAcceleration() const
{
return Acceleration;
}
float GetForwardSpeed() const
{
return ForwardSpeed;
}
float GetCollisionIntensityCars() const
{
return CollisionIntensityCars;
}
float GetCollisionIntensityPedestrians() const
{
return CollisionIntensityPedestrians;
}
float GetCollisionIntensityOther() const
{
return CollisionIntensityOther;
}
private:
friend class ACarlaVehicleController;
FVector Location;
FVector Orientation;
FVector Acceleration;
float ForwardSpeed;
float CollisionIntensityCars = 0.0f;
float CollisionIntensityPedestrians = 0.0f;
float CollisionIntensityOther = 0.0f;
};

7
Source/Carla/Game/CarlaVehicleController.cpp
View File

@ -93,6 +93,7 @@ void ACarlaVehicleController::Tick(float DeltaTime)
if (IsPossessingAVehicle()) {
CarlaPlayerState->Location = GetVehicleLocation();
CarlaPlayerState->Orientation = GetVehicleOrientation();
CarlaPlayerState->Acceleration = GetVehicleAcceleration();
CarlaPlayerState->ForwardSpeed = GetVehicleForwardSpeed();
}
}
@ -124,6 +125,12 @@ FVector ACarlaVehicleController::GetVehicleOrientation() const
return GetPawn()->GetTransform().GetRotation().GetForwardVector();
}
FVector ACarlaVehicleController::GetVehicleAcceleration() const
{
check(GetPawn() != nullptr);
return {0.0f, 0.0f, 0.0f};
}
// =============================================================================
// -- Vehicle movement methods -------------------------------------------------
// =============================================================================

11
Source/Carla/Game/CarlaVehicleController.h
View File

@ -54,13 +54,23 @@ public:
return MovementComponent != nullptr;
}
/// World location of the vehicle.
FVector GetVehicleLocation() const;
/// Speed forward in km/h. Might be negative if goes backwards.
float GetVehicleForwardSpeed() const;
/// Orientation vector of the vehicle, pointing forward.
FVector GetVehicleOrientation() const;
/// Acceleration vector of the vehicle.
FVector GetVehicleAcceleration() const;
const ACarlaPlayerState &GetPlayerState() const
{
return *CarlaPlayerState;
}
/// @}
// ===========================================================================
/// @name Vehicle movement
@ -155,5 +165,6 @@ private:
UWheeledVehicleMovementComponent *MovementComponent;
// Cast for quick access to the custom player state.
UPROPERTY()
ACarlaPlayerState *CarlaPlayerState;
};