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Add frame number to measurements message

This commit is contained in:
nsubiron 2018-04-13 15:31:04 +02:00
parent ca14d4c8ab
commit 51f4d1271d
8 changed files with 36 additions and 11 deletions
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6
Docs/measurements.md
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@ -11,13 +11,13 @@ to the client. This document describes the details of these measurements.
Time-stamps
-----------
Since CARLA can be run at fixed-frame rate, we keep track of two different
time-stamps.
Every frame is described by three different counters/time-stamps
Key | Type | Units | Description
-------------------------- | --------- | ------------ | ------------
frame_number | uint64 | | Frame counter (it is **not** restarted on each episode).
platform_timestamp | uint32 | milliseconds | Time-stamp of the current frame, as given by the OS.
game_timestamp | uint32 | milliseconds | In-game time-stamp, elapsed since the beginning of the current level.
game_timestamp | uint32 | milliseconds | In-game time-stamp, elapsed since the beginning of the current episode.
In real-time mode, the elapsed time between two time steps should be similar
both platform and game time-stamps. When run in fixed-time step, the game

23
PythonClient/carla/carla_server_pb2.py
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@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
name='carla_server.proto',
package='carla_server',
syntax='proto3',
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xb6\x04\n\x0cMeasurements\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"x\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"{\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xcc\x04\n\x0cMeasurements\x12\x14\n\x0c\x66rame_number\x18\x05 \x01(\x04\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xf5\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12*\n\nbox_extent\x18\x0b \x01(\x0b\x32\x16.carla_server.Vector3D\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
)
@ -766,8 +766,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
extension_ranges=[],
oneofs=[
],
serialized_start=1651,
serialized_end=2024,
serialized_start=1673,
serialized_end=2046,
)
_MEASUREMENTS = _descriptor.Descriptor(
@ -778,28 +778,35 @@ _MEASUREMENTS = _descriptor.Descriptor(
containing_type=None,
fields=[
_descriptor.FieldDescriptor(
name='platform_timestamp', full_name='carla_server.Measurements.platform_timestamp', index=0,
name='frame_number', full_name='carla_server.Measurements.frame_number', index=0,
number=5, type=4, cpp_type=4, label=1,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='platform_timestamp', full_name='carla_server.Measurements.platform_timestamp', index=1,
number=1, type=13, cpp_type=3, label=1,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='game_timestamp', full_name='carla_server.Measurements.game_timestamp', index=1,
name='game_timestamp', full_name='carla_server.Measurements.game_timestamp', index=2,
number=2, type=13, cpp_type=3, label=1,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='player_measurements', full_name='carla_server.Measurements.player_measurements', index=2,
name='player_measurements', full_name='carla_server.Measurements.player_measurements', index=3,
number=3, type=11, cpp_type=10, label=1,
has_default_value=False, default_value=None,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='non_player_agents', full_name='carla_server.Measurements.non_player_agents', index=3,
name='non_player_agents', full_name='carla_server.Measurements.non_player_agents', index=4,
number=4, type=11, cpp_type=10, label=3,
has_default_value=False, default_value=[],
message_type=None, enum_type=None, containing_type=None,
@ -818,7 +825,7 @@ _MEASUREMENTS = _descriptor.Descriptor(
oneofs=[
],
serialized_start=1458,
serialized_end=2024,
serialized_end=2046,
)
_TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.cpp
View File

@ -7,6 +7,8 @@
#include "Carla.h"
#include "CarlaPlayerState.h"
#include "CoreGlobals.h"
void ACarlaPlayerState::Reset()
{
Super::Reset();
@ -25,6 +27,7 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
ACarlaPlayerState *Other = Cast<ACarlaPlayerState>(PlayerState);
if (Other != nullptr)
{
FrameNumber = Other->FrameNumber;
FramesPerSecond = Other->FramesPerSecond;
PlatformTimeStamp = Other->PlatformTimeStamp;
GameTimeStamp = Other->GameTimeStamp;
@ -74,6 +77,7 @@ static int32 RoundToMilliseconds(float Seconds)
void ACarlaPlayerState::UpdateTimeStamp(float DeltaSeconds)
{
FrameNumber = GFrameCounter;
FramesPerSecond = 1.0f / DeltaSeconds;
PlatformTimeStamp = RoundToMilliseconds(FPlatformTime::Seconds());
GameTimeStamp += RoundToMilliseconds(DeltaSeconds);

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaPlayerState.h
View File

@ -40,6 +40,11 @@ public:
// ===========================================================================
/// @{
uint64 GetFrameNumber() const
{
return FrameNumber;
}
UFUNCTION(BlueprintCallable)
float GetFramesPerSecond() const
{
@ -214,6 +219,9 @@ private:
// If you add another variable here, don't forget to copy it inside
// CopyProperties if necessary.
UPROPERTY(VisibleAnywhere)
uint64 FrameNumber;
UPROPERTY(VisibleAnywhere)
float FramesPerSecond;

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
View File

@ -106,6 +106,7 @@ void FCarlaEncoder::Encode(
const ACarlaPlayerState &PlayerState,
carla_measurements &Data)
{
Data.frame_number = PlayerState.GetFrameNumber();
Data.platform_timestamp = PlayerState.GetPlatformTimeStamp();
Data.game_timestamp = PlayerState.GetGameTimeStamp();
auto &Player = Data.player_measurements;

2
Util/CarlaServer/include/carla/carla_server.h
View File

@ -184,6 +184,8 @@ extern "C" {
/* ======================================================================== */
struct carla_measurements {
/** Frame counter. */
uint32_t frame_number;
/** Time-stamp of the current frame, in milliseconds as given by the OS. */
uint32_t platform_timestamp;
/** In-game time-stamp, milliseconds elapsed since the beginning of the current level. */

1
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
View File

@ -149,6 +149,7 @@ namespace server {
std::string CarlaEncoder::Encode(const carla_measurements &values) {
static thread_local auto *message = _protobuf.CreateMessage<cs::Measurements>();
DEBUG_ASSERT(message != nullptr);
message->set_frame_number(values.frame_number);
message->set_platform_timestamp(values.platform_timestamp);
message->set_game_timestamp(values.game_timestamp);
// Player measurements.

2
Util/Proto/carla_server.proto
View File

@ -141,6 +141,8 @@ message Measurements {
Control autopilot_control = 10;
}
uint64 frame_number = 5;
uint32 platform_timestamp = 1;
uint32 game_timestamp = 2;