Merge branch 'dev' into benchmark_branch

.travis.yml

@@ -1,13 +1,27 @@
 language: python
 
+os: linux
+dist: trusty # xenial is not yet supported.
+
+env: TEST="Pylint"
 python:
-  - "2.7"
   - "3.5"
   - "3.6"
-
+  - "2.7"
 install:
   - pip install -r PythonClient/requirements.txt
   - pip install pylint
-
 script:
-  - pylint --errors-only --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py
+  - pylint --disable=R,C --rcfile=PythonClient/.pylintrc PythonClient/carla PythonClient/*.py
+
+matrix:
+  include:
+
+    - env: TEST="CppCheck"
+      install: true
+      addons:
+        apt:
+          packages:
+            - cppcheck
+      script:
+        - cppcheck Unreal/CarlaUE4/Source Unreal/CarlaUE4/Plugins/Carla/Source Util/ -iUtil/Build -iUtil/CarlaServer/source/carla/server/carla_server.pb.cc --quiet --error-exitcode=1 --enable=warning

Docs/CONTRIBUTING.md

@@ -15,7 +15,7 @@ Reporting bugs
 --------------
 
 Use our [issue section](issueslink) on GitHub. Please check before that the
-issue was not already added.
+issue is not already reported.
 
 [issueslink]: https://github.com/carla-simulator/carla/issues
 
@@ -31,10 +31,14 @@ your request as a new issue.
 Code contributions
 ------------------
 
+So you are considering making a code contribution, great! we love to have
+contributions from the community.
+
 Before starting hands-on on coding, please check out the
-[projects page][projectslink] to see if we are already working on that. In case
-of doubt or to discuss how to proceed, please contact one of us (or send an
-email to carla.simulator@gmail.com).
+[projects page][projectslink] to see if we are already working on that, it would
+be a pity putting an effort into something just to discover that someone else
+was already working on that. In case of doubt or to discuss how to proceed,
+please contact one of us (or send an email to carla.simulator@gmail.com).
 
 [projectslink]: https://github.com/carla-simulator/carla/projects/1
 
@@ -42,22 +46,40 @@ email to carla.simulator@gmail.com).
 
 Check out the ["CARLA Design"](carla_design.md) document to get an idea on the
 different modules that compose CARLA, and chose the most appropriate one to hold
-the new feature.
+the new feature. We are aware the developers documentation is still scarce,
+please ask us in case of doubt, and of course don't hesitate to improve the
+current documentation if you feel confident enough.
 
-#### Coding style
+#### Coding standard
 
 Please follow the current coding style when submitting new code.
 
+###### General
+
   * Use spaces, not tabs.
-  * Comments should not exceed 80 columns, code may exceed this limit a bit in rare
-occasions if it results in clearer code.
+  * Avoid adding trailing whitespace as it creates noise in the diffs.
+  * Comments should not exceed 80 columns, code may exceed this limit a bit in rare occasions if it results in clearer code.
+
+###### Python
+
+  * All code must be compatible with Python 2.7, 3.5, and 3.6.
+  * [Pylint](https://www.pylint.org/) should not give any error or warning (few exceptions apply with external classes like `numpy`, see our `.pylintrc`).
   * Python code follows [PEP8 style guide](https://www.python.org/dev/peps/pep-0008/) (use `autopep8` whenever possible).
-  * Unreal C++ code, CarlaUE4 and Carla plugin, follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs.
+
+###### C++
+
+  * Compilation should not give any error or warning (`clang++ -Wall -Wextra -std=C++14`).
+  * Unreal C++ code (CarlaUE4 and Carla plugin) follow the [Unreal Engine's Coding Standard](https://docs.unrealengine.com/latest/INT/Programming/Development/CodingStandard/) with the exception of using spaces instead of tabs.
   * CarlaServer uses [Google's style guide](https://google.github.io/styleguide/cppguide.html).
 
-#### Pull request
+#### Pull-requests
 
 Once you think your contribution is ready to be added to CARLA, please submit a
-pull request and one of our team members will take a look at it.
+pull-request to the `dev` branch.
 
 Try to be as descriptive as possible when filling the pull-request description.
+
+Please note that there are some checks that the new code is required to pass
+before we can do the merge. The checks are automatically run by the continuous
+integration system, you will see a green tick mark if all the checks succeeded.
+If you see a red mark, please correct your code accordingly.

PythonClient/.pylintrc

@@ -1,3 +1,4 @@
 [TYPECHECK]
-ignored-modules=ConfigParser,numpy,pygame,shutil
-ignored-classes=_socketobject
+ignore=carla_server_pb2.py
+ignored-modules=ConfigParser,numpy,numpy.random,pygame,shutil
+ignored-classes=_socketobject,EpisodeReady

PythonClient/carla/client.py

@@ -17,7 +17,6 @@ from . import util
 
 try:
     from . import carla_server_pb2 as carla_protocol
-    from carla_protocol import EpisodeReady
 except ImportError:
     raise RuntimeError('cannot import "carla_server_pb2.py", run the protobuf compiler to generate this file')
 
@@ -97,7 +96,7 @@ class CarlaClient(object):
             data = self._world_client.read()
             if not data:
                 raise RuntimeError('failed to read data from server')
-            pb_message = EpisodeReady()
+            pb_message = carla_protocol.EpisodeReady()
             pb_message.ParseFromString(data)
             if not pb_message.ready:
                 raise RuntimeError('cannot start episode: server failed to start episode')
@@ -160,7 +159,7 @@ class CarlaClient(object):
             raise RuntimeError('failed to read data from server')
         pb_message = carla_protocol.SceneDescription()
         pb_message.ParseFromString(data)
-        self._sensor_names = settings._get_sensor_names(carla_settings)
+        self._sensor_names = settings.get_sensor_names(carla_settings)
         self._is_episode_requested = True
         return pb_message
 

PythonClient/carla/planner/map.py

@@ -49,7 +49,6 @@ class CarlaMap(object):
         self._converter = Converter(city_file, pixel_density, node_density)
 
 
-
         # Load the lanes image
         self.map_image_lanes = Image.open(city_map_file_lanes)
         self.map_image_lanes.load()

PythonClient/carla/sensor.py

@@ -113,7 +113,7 @@ class Image(SensorData):
             size=(self.width, self.height),
             data=self.raw_data,
             decoder_name='raw')
-        b, g, r, a = image.split()
+        b, g, r, _ = image.split()
         image = PImage.merge("RGB", (r, g, b))
 
         folder = os.path.dirname(filename)

PythonClient/carla/settings.py

@@ -122,18 +122,21 @@ class CarlaSettings(object):
         return text.getvalue().replace(' = ', '=')
 
 
-def _get_sensor_names(settings):
+def get_sensor_names(settings):
     """
     Return a list with the names of the sensors defined in the settings object.
     The settings object can be a CarlaSettings or an INI formatted string.
     """
     if isinstance(settings, CarlaSettings):
+        # pylint: disable=protected-access
         return [camera.CameraName for camera in settings._cameras]
     ini = ConfigParser()
-    if sys.version_info >= (3, 0):
-        ini.readfp(io.StringIO(settings))
+    if sys.version_info >= (3, 2):
+        ini.read_string(settings)
+    elif sys.version_info >= (3, 0):
+        ini.readfp(io.StringIO(settings)) # pylint: disable=deprecated-method
     else:
-        ini.readfp(io.BytesIO(settings))
+        ini.readfp(io.BytesIO(settings)) # pylint: disable=deprecated-method
 
     section_name = 'CARLA/SceneCapture'
     option_name = 'Cameras'

PythonClient/carla/tcp.py

@@ -39,19 +39,18 @@ class TCPClient(object):
             try:
                 self._socket = socket.create_connection(address=(self._host, self._port), timeout=self._timeout)
                 self._socket.settimeout(self._timeout)
-                logging.debug(self._logprefix + 'connected')
+                logging.debug('%sconnected', self._logprefix)
                 return
-            except Exception as exception:
+            except OSError as exception:
                 error = exception
-                logging.debug(self._logprefix + 'connection attempt %d: %s', attempt, error)
+                logging.debug('%sconnection attempt %d: %s', self._logprefix, attempt, error)
                 time.sleep(1)
-                continue
         self._reraise_exception_as_tcp_error('failed to connect', error)
 
     def disconnect(self):
         """Disconnect any active connection."""
         if self._socket is not None:
-            logging.debug(self._logprefix + 'disconnecting')
+            logging.debug('%sdisconnecting', self._logprefix)
             self._socket.close()
             self._socket = None
 
@@ -66,7 +65,7 @@ class TCPClient(object):
         header = struct.pack('<L', len(message))
         try:
             self._socket.sendall(header + message)
-        except Exception as exception:
+        except OSError as exception:
             self._reraise_exception_as_tcp_error('failed to write data', exception)
 
     def read(self):
@@ -86,7 +85,7 @@ class TCPClient(object):
         while length > 0:
             try:
                 data = self._socket.recv(length)
-            except Exception as exception:
+            except OSError as exception:
                 self._reraise_exception_as_tcp_error('failed to read data', exception)
             if not data:
                 raise TCPConnectionError(self._logprefix + 'connection closed')

PythonClient/carla/util.py

@@ -53,9 +53,9 @@ else:
 
     # Workaround for older Python versions.
     def print_over_same_line(text):
-        line_length = max(print_over_same_line._last_line_length, len(text))
+        line_length = max(print_over_same_line.last_line_length, len(text))
         empty_space = max(0, line_length - len(text))
         sys.stdout.write('\r' + text + empty_space * ' ')
         sys.stdout.flush()
-        print_over_same_line._last_line_length = line_length
-    print_over_same_line._last_line_length = 0
+        print_over_same_line.last_line_length = line_length
+    print_over_same_line.last_line_length = 0

PythonClient/client_example.py

@@ -13,7 +13,6 @@ from __future__ import print_function
 import argparse
 import logging
 import random
-import sys
 import time
 
 from carla.client import make_carla_client
@@ -213,14 +212,10 @@ def main():
                 settings_filepath=args.carla_settings)
 
             print('Done.')
-            return
 
         except TCPConnectionError as error:
             logging.error(error)
             time.sleep(1)
-        except Exception as exception:
-            logging.exception(exception)
-            sys.exit(1)
 
 
 if __name__ == '__main__':

PythonClient/manual_control.py

@@ -30,7 +30,6 @@ from __future__ import print_function
 import argparse
 import logging
 import random
-import sys
 import time
 
 try:
@@ -131,6 +130,8 @@ class CarlaGame(object):
         self._map = CarlaMap(city_name) if city_name is not None else None
         self._map_shape = self._map.map_image.shape if city_name is not None else None
         self._map_view = self._map.get_map(WINDOW_HEIGHT) if city_name is not None else None
+        self._position = None
+        self._agent_positions = None
 
     def execute(self):
         """Launch the PyGame."""
@@ -363,9 +364,6 @@ def main():
         except TCPConnectionError as error:
             logging.error(error)
             time.sleep(1)
-        except Exception as exception:
-            logging.exception(exception)
-            sys.exit(1)
 
 
 if __name__ == '__main__':

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/CityMapMeshHolder.h

@@ -102,7 +102,7 @@ private:
   USceneComponent *SceneRootComponent;
 
   UPROPERTY(Category = "Map Generation", VisibleAnywhere)
-  float MapScale;
+  float MapScale = 1.0f;
 
   UPROPERTY(Category = "Meshes", EditAnywhere)
   TMap<ECityMapMeshTag, UStaticMesh *> StaticMeshes;

Util/ImageConverter/Makefile

@@ -1,4 +1,4 @@
-CXX=g++
+CXX=clang++
 FLAGS=-Wall -Wextra -std=c++14 -fopenmp
 LIBS=-lboost_system -lboost_filesystem -lboost_program_options -lpng -ljpeg -ltiff
 HEADERS=*.h

Util/ImageConverter/README.md

@@ -4,9 +4,9 @@ Image Converter
 Converts output images of depth and semantic segmentation to a prettier format.
 
 Requires boost_system, boost_filesystem, boost_program_options, libpng, libtiff,
-libjpeg and openmp.
+libjpeg and libomp.
 
-Compile with `g++ -std=c++14 -fopenmp`, for the default compilation just run
+Compile with `clang++ -std=c++14 -fopenmp`, for the default compilation just run
 make
 
     make