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set_autopilot now uses the TM port instead of the TM object

This commit is contained in:
doterop 2020-04-16 10:12:17 +02:00 committed by bernat
parent 50281d7ecb
commit 5d177eb4bb
8 changed files with 21 additions and 27 deletions
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10
LibCarla/source/carla/client/Vehicle.cpp
View File

@ -35,14 +35,12 @@ namespace client {
: Actor(std::move(init)),
_is_control_sticky(GetControlIsSticky(GetAttributes())) {}
void Vehicle::SetAutopilot(bool enabled, SharedPtr<TM> tm) {
if(tm == nullptr ) {
tm = MakeShared<TM>(GetEpisode());
}
void Vehicle::SetAutopilot(bool enabled, uint16_t tm_port) {
TM tm(GetEpisode(), tm_port);
if (enabled) {
tm->RegisterVehicles({shared_from_this()});
tm.RegisterVehicles({shared_from_this()});
} else {
tm->UnregisterVehicles({shared_from_this()});
tm.UnregisterVehicles({shared_from_this()});
}
}

2
LibCarla/source/carla/client/Vehicle.h
View File

@ -36,7 +36,7 @@ namespace client {
using ActorState::GetBoundingBox;
/// Switch on/off this vehicle's autopilot.
void SetAutopilot(bool enabled = true, SharedPtr<TM> tm = nullptr);
void SetAutopilot(bool enabled = true, uint16_t tm_port = TM_DEFAULT_PORT);
/// Apply @a control to this vehicle.
void ApplyControl(const Control &control);

6
LibCarla/source/carla/rpc/Command.h
View File

@ -148,13 +148,13 @@ namespace rpc {
SetAutopilot(
ActorId id,
bool value,
SharedPtr<ctm::TrafficManager> tm = nullptr)
uint16_t tm_port)
: actor(id),
enabled(value),
tm(tm) {}
tm_port(tm_port) {}
ActorId actor;
bool enabled;
SharedPtr<ctm::TrafficManager> tm;
uint16_t tm_port;
MSGPACK_DEFINE_ARRAY(actor, enabled);
};

2
PythonAPI/carla/source/libcarla/Actor.cpp
View File

@ -116,7 +116,7 @@ void export_actor() {
.def("get_light_state", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetLightState))
.def("apply_physics_control", &cc::Vehicle::ApplyPhysicsControl, (arg("physics_control")))
.def("get_physics_control", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetPhysicsControl))
.def("set_autopilot", CALL_WITHOUT_GIL_2(cc::Vehicle, SetAutopilot, bool, carla::SharedPtr<ctm::TrafficManager>), (arg("enabled") = true, arg("tm") = boost::python::object() ))
.def("set_autopilot", CALL_WITHOUT_GIL_2(cc::Vehicle, SetAutopilot, bool, uint16_t), (arg("enabled") = true, arg("tm_port") = TM_DEFAULT_PORT))
.def("get_speed_limit", &cc::Vehicle::GetSpeedLimit)
.def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
.def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)

15
PythonAPI/carla/source/libcarla/Client.cpp
View File

@ -60,7 +60,7 @@ static auto ApplyBatchCommandsSync(
std::vector<carla::traffic_manager::ActorPtr> vehicles_to_enable(cmds.size(), nullptr);
std::vector<carla::traffic_manager::ActorPtr> vehicles_to_disable(cmds.size(), nullptr);
carla::client::World world = self.GetWorld();
boost::shared_ptr<carla::traffic_manager::TrafficManager> tm = nullptr;
uint16_t tm_port = 8000;
std::atomic<size_t> vehicles_to_enable_index;
std::atomic<size_t> vehicles_to_disable_index;
@ -84,7 +84,7 @@ static auto ApplyBatchCommandsSync(
auto &spawn = boost::get<carla::rpc::Command::SpawnActor>(cmd_type);
for (auto &cmd : spawn.do_after) {
if (cmd.command.type() == typeid(carla::rpc::Command::SetAutopilot)) {
tm = boost::get<carla::rpc::Command::SetAutopilot>(cmd.command).tm;
tm_port = boost::get<carla::rpc::Command::SetAutopilot>(cmd.command).tm_port;
autopilotValue = boost::get<carla::rpc::Command::SetAutopilot>(cmd.command).enabled;
isAutopilot = true;
}
@ -92,7 +92,7 @@ static auto ApplyBatchCommandsSync(
}
// check SetAutopilot command
else if (cmd_type_info == typeid(carla::rpc::Command::SetAutopilot)) {
tm = boost::get<carla::rpc::Command::SetAutopilot>(cmd_type).tm;
tm_port = boost::get<carla::rpc::Command::SetAutopilot>(cmd_type).tm_port;
autopilotValue = boost::get<carla::rpc::Command::SetAutopilot>(cmd_type).enabled;
isAutopilot = true;
}
@ -148,13 +148,8 @@ static auto ApplyBatchCommandsSync(
// check if any autopilot command was sent
if (vehicles_to_enable.size() || vehicles_to_disable.size()) {
if(tm){
tm->RegisterVehicles(vehicles_to_enable);
tm->UnregisterVehicles(vehicles_to_disable);
} else {
self.GetInstanceTM().RegisterVehicles(vehicles_to_enable);
self.GetInstanceTM().UnregisterVehicles(vehicles_to_disable);
}
self.GetInstanceTM(tm_port).RegisterVehicles(vehicles_to_enable);
self.GetInstanceTM(tm_port).UnregisterVehicles(vehicles_to_disable);
}
return result;

10
PythonAPI/carla/source/libcarla/Commands.cpp
View File

@ -8,6 +8,8 @@
#include <carla/rpc/Command.h>
#include <carla/rpc/CommandResponse.h>
#define TM_DEFAULT_PORT 8000
namespace command_impl {
template <typename T>
@ -47,10 +49,8 @@ void export_commands() {
namespace cc = carla::client;
namespace cg = carla::geom;
namespace cr = carla::rpc;
namespace ctm = carla::traffic_manager;
using ActorPtr = carla::SharedPtr<cc::Actor>;
using TMPtr = carla::SharedPtr<ctm::TrafficManager>;
object command_module(handle<>(borrowed(PyImport_AddModule("libcarla.command"))));
scope().attr("command") = command_module;
@ -152,10 +152,10 @@ void export_commands() {
;
class_<cr::Command::SetAutopilot>("SetAutopilot")
.def("__init__", &command_impl::CustomInit<ActorPtr, bool, TMPtr>, (arg("actor"), arg("enabled"), arg("tm") = boost::python::object() ))
.def(init<cr::ActorId, bool, TMPtr>((arg("actor_id"), arg("enabled"), arg("tm") = boost::python::object() )))
.def("__init__", &command_impl::CustomInit<ActorPtr, bool, uint16_t>, (arg("actor"), arg("enabled"), arg("tm_port") = TM_DEFAULT_PORT ))
.def(init<cr::ActorId, bool, uint16_t>((arg("actor_id"), arg("enabled"), arg("tm_port") = TM_DEFAULT_PORT )))
.def_readwrite("actor_id", &cr::Command::SetAutopilot::actor)
.def_readwrite("tm", &cr::Command::SetAutopilot::tm)
.def_readwrite("tm_port", &cr::Command::SetAutopilot::tm_port)
.def_readwrite("enabled", &cr::Command::SetAutopilot::enabled)
;

1
PythonAPI/carla/source/libcarla/TrafficManager.cpp
View File

@ -17,6 +17,7 @@ void export_trafficmanager() {
using namespace boost::python;
class_<carla::traffic_manager::TrafficManager>("TrafficManager", no_init)
.def("get_port", &carla::traffic_manager::TrafficManager::Port)
.def("vehicle_percentage_speed_difference", &carla::traffic_manager::TrafficManager::SetPercentageSpeedDifference)
.def("global_percentage_speed_difference", &carla::traffic_manager::TrafficManager::SetGlobalPercentageSpeedDifference)
.def("collision_detection", &carla::traffic_manager::TrafficManager::SetCollisionDetection)

2
PythonAPI/examples/spawn_npc.py
View File

@ -152,7 +152,7 @@ def main():
driver_id = random.choice(blueprint.get_attribute('driver_id').recommended_values)
blueprint.set_attribute('driver_id', driver_id)
blueprint.set_attribute('role_name', 'autopilot')
batch.append(SpawnActor(blueprint, transform).then(SetAutopilot(FutureActor, True)))
batch.append(SpawnActor(blueprint, transform).then(SetAutopilot(FutureActor, True, traffic_manager.get_port())))
for response in client.apply_batch_sync(batch, synchronous_master):
if response.error: