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Set synchronous mode automatically in multi-gpu

This commit is contained in:
bernatx 2022-07-07 22:38:53 +02:00 committed by bernat
parent 9c9eda84bc
commit 4ea29070d2
2 changed files with 25 additions and 9 deletions
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1
LibCarla/source/carla/client/ServerSideSensor.cpp
View File

@ -15,7 +15,6 @@ namespace carla {
namespace client { namespace client {
ServerSideSensor::~ServerSideSensor() { ServerSideSensor::~ServerSideSensor() {
log_warning("calling sensor destructor ", GetDisplayId());
if (IsAlive() && IsListening()) { if (IsAlive() && IsListening()) {
log_warning( log_warning(
"sensor object went out of the scope but the sensor is still alive", "sensor object went out of the scope but the sensor is still alive",

33
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp
View File

@ -99,10 +99,9 @@ void FCarlaEngine::NotifyInitGame(const UCarlaSettings &Settings)
{ {
// we are secondary server, connecting to primary server // we are secondary server, connecting to primary server
bIsPrimaryServer = false; bIsPrimaryServer = false;
Secondary = std::make_shared<carla::multigpu::Secondary>(
PrimaryIP, // define the commands executor (when a command comes from the primary server)
PrimaryPort, auto CommandExecutor = [=](carla::multigpu::MultiGPUCommand Id, carla::Buffer Data) {
[=](carla::multigpu::MultiGPUCommand Id, carla::Buffer Data) {
struct CarlaStreamBuffer : public std::streambuf struct CarlaStreamBuffer : public std::streambuf
{ {
CarlaStreamBuffer(char *buf, std::size_t size) { setg(buf, buf, buf + size); } CarlaStreamBuffer(char *buf, std::size_t size) { setg(buf, buf, buf + size); }
@ -151,7 +150,14 @@ void FCarlaEngine::NotifyInitGame(const UCarlaSettings &Settings)
break; break;
} }
} }
}); };
Secondary = std::make_shared<carla::multigpu::Secondary>(
PrimaryIP,
PrimaryPort,
CommandExecutor
);
Secondary->Connect(); Secondary->Connect();
// set this server in synchronous mode // set this server in synchronous mode
bSynchronousMode = true; bSynchronousMode = true;
@ -216,20 +222,31 @@ void FCarlaEngine::OnPreTick(UWorld *, ELevelTick TickType, float DeltaSeconds)
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__); TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
if (TickType == ELevelTick::LEVELTICK_All) if (TickType == ELevelTick::LEVELTICK_All)
{ {
// process RPC commands
if (bIsPrimaryServer) if (bIsPrimaryServer)
{ {
if (CurrentEpisode && !bSynchronousMode && SecondaryServer->HasClientsConnected())
{
// set synchronous mode
CurrentSettings.bSynchronousMode = true;
CurrentSettings.FixedDeltaSeconds = 1 / 20.0f;
OnEpisodeSettingsChanged(CurrentSettings);
CurrentEpisode->ApplySettings(CurrentSettings);
}
// process RPC commands
do do
{ {
Server.RunSome(10u); Server.RunSome(1u);
} }
while (bSynchronousMode && !Server.TickCueReceived()); while (bSynchronousMode && !Server.TickCueReceived());
} }
else else
{ {
// process frame data
do do
{ {
Server.RunSome(10u); Server.RunSome(1u);
} }
while (!FramesToProcess.size()); while (!FramesToProcess.size());
} }