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carla
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Reset & restart

This commit is contained in:
Xisco Bosch 2017-03-24 11:31:28 +01:00
parent d86ad9b2c3
commit 53e11ccbed
6 changed files with 23 additions and 34 deletions
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19
Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
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@ -136,13 +136,13 @@ namespace server {
//server.writeString("world", error); //server.writeString("world", error);
//Scene demo_scene; Scene demo_scene;
//if (demo_scene.ParseFromString(message)){ if (demo_scene.ParseFromString(message)){
//std::cout << "POSSIBLE POSITIONS"<< std::endl; std::cout << "POSSIBLE POSITIONS THREAD"<< std::endl;
//for (int i=0; i<demo_scene.position_size(); ++i){ for (int i=0; i<demo_scene.position_size(); ++i){
// std::cout << " x: " << demo_scene.position(i).pos_x() << " y: " << demo_scene.position(i).pos_y() << std::endl; std::cout << " x: " << demo_scene.position(i).pos_x() << " y: " << demo_scene.position(i).pos_y() << std::endl;
//} }
//} }
if (error) { if (error) {
logTCPError("Failed to send world", error); logTCPError("Failed to send world", error);
@ -266,8 +266,10 @@ namespace server {
_proto -> LoadScene(scene, values); _proto -> LoadScene(scene, values);
auto message = std::make_unique<std::string>(); auto message = std::make_unique<std::string>();
if (scene.SerializeToString(message.get()))
if (scene.SerializeToString(message.get())){
_worldThread.push(std::move(message)); _worldThread.push(std::move(message));
}
} }
@ -320,6 +322,7 @@ namespace server {
bool CarlaCommunication::tryReadRequestNewEpisode(){ bool CarlaCommunication::tryReadRequestNewEpisode(){
std::unique_ptr <std::string> request = _worldThread.tryPop(); std::unique_ptr <std::string> request = _worldThread.tryPop();
if (request == nullptr) return false; if (request == nullptr) return false;
RequestNewEpisode reqEpisode; RequestNewEpisode reqEpisode;

6
Source/CarlaServer/source/carla/thread/AsyncReadWriteJobQueue.h
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@ -51,7 +51,8 @@ namespace thread {
} }
void push(std::unique_ptr<R> item) { void push(std::unique_ptr<R> item) {
_readQueue.push(std::move(item));
if (item != nullptr) _readQueue.push(std::move(item));
} }
void reconnect(){ void reconnect(){
@ -78,9 +79,6 @@ namespace thread {
_restart = false; _restart = false;
_readQueue.canWait(true); _readQueue.canWait(true);
while (!_restart && !_done) { while (!_restart && !_done) {
std::cout << "1" << std::endl;
auto value = _readQueue.wait_and_pop(); auto value = _readQueue.wait_and_pop();
if (value != nullptr) { if (value != nullptr) {
_readJob(*value); _readJob(*value);

12
Source/CarlaServer/source/carla/thread/AsyncReaderJobQueue.h
View File

@ -58,21 +58,17 @@ namespace thread {
private: private:
void workerThread() { void workerThread() {
while (!_done){ while (!_done){
std::cout << "2.1" << std::endl;
_connectionJob(); _connectionJob();
_restart = false; _restart = false;
_queue.canWait(true); _queue.canWait(true);
while (!_restart && !_done) { while (!_restart && !_done) {
std::cout << "2.2" << std::endl;
auto value = _queue.wait_and_pop(); auto value = _queue.wait_and_pop();
if (value != nullptr) _job(*value); if (value != nullptr) {
//Sleep(10); _job(*value);
} }//Sleep(10);
} }
std::cout << "2.3" << std::endl; }
} }
std::atomic_bool _done; std::atomic_bool _done;

8
Source/CarlaServer/source/carla/thread/AsyncWriterJobQueue.h
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@ -57,22 +57,14 @@ namespace thread {
void workerThread() { void workerThread() {
while (!_done){ while (!_done){
std::cout << "3.1" << std::endl;
_connectJob(); _connectJob();
_restart = false; _restart = false;
_queue.canWait(true); _queue.canWait(true);
while (!_restart && !_done) { while (!_restart && !_done) {
std::cout << "3.2" << std::endl;
_queue.push(std::move(_job())); _queue.push(std::move(_job()));
//Sleep(10); //Sleep(10);
} }
} }
std::cout << "3.3" << std::endl;
} }
std::atomic_bool _done; std::atomic_bool _done;

2
Source/CarlaServer/source/carla/thread/ThreadSafeQueue.h
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@ -29,6 +29,7 @@ namespace thread {
//_queue.push(new_value); //_queue.push(new_value);
//_condition.notify_one(); //_condition.notify_one();
_value = std::move(new_value); _value = std::move(new_value);
_condition.notify_one();
} }
void canWait(bool wait){ void canWait(bool wait){
@ -42,7 +43,6 @@ namespace thread {
_condition.wait(lock, [this]() { _condition.wait(lock, [this]() {
return _value != nullptr || !_canWait; return _value != nullptr || !_canWait;
}); });
return std::move(_value); return std::move(_value);
} }

10
Source/CarlaServer/source/test/async_server.cpp
View File

@ -125,10 +125,10 @@ int main(int argc, char *argv[]) {
const std::array<float, 16u> pMatrix = {{ 10.0 }}; const std::array<float, 16u> pMatrix = {{ 10.0 }};
sceneValues.projection_matrices.push_back(pMatrix); sceneValues.projection_matrices.push_back(pMatrix);
std::cout << "POSSIBLE POSITIONS 5"<< std::endl; /* std::cout << "POSSIBLE POSITIONS "<< std::endl;
for (int i=0; i<sceneValues.possible_positions.size(); ++i){ for (int i=0; i<sceneValues.possible_positions.size(); ++i){
std::cout << " x: " << sceneValues.possible_positions[i].x << " y: " << sceneValues.possible_positions[i].y << std::endl; std::cout << " x: " << sceneValues.possible_positions[i].x << " y: " << sceneValues.possible_positions[i].y << std::endl;
} }*/
if (!server.sendSceneValues(sceneValues)) std::cerr << "ERROR while sending SceneValues" << std::endl; if (!server.sendSceneValues(sceneValues)) std::cerr << "ERROR while sending SceneValues" << std::endl;
@ -153,7 +153,7 @@ int main(int argc, char *argv[]) {
while (true) { while (true) {
float steer, gas; float steer, gas;
/*bool newEpisode = false; bool newEpisode = false;
if (!server.newEpisodeRequested(newEpisode)){ if (!server.newEpisodeRequested(newEpisode)){
std::cerr << "ERROR while checking for newEpisode request" << std::endl; std::cerr << "ERROR while checking for newEpisode request" << std::endl;
break; break;
@ -184,7 +184,7 @@ int main(int argc, char *argv[]) {
} }
}else { }else {
*/
bool error = false, readed = false; bool error = false, readed = false;
if (!server.tryReadControl(steer, gas, readed)){ if (!server.tryReadControl(steer, gas, readed)){
std::cerr << "ERROR while reading Control" << std::endl; std::cerr << "ERROR while reading Control" << std::endl;
@ -201,7 +201,7 @@ int main(int argc, char *argv[]) {
break; break;
} }
//} }
} }
std::cout << " ----- RESTARTING -----" << std::endl; std::cout << " ----- RESTARTING -----" << std::endl;