Fix issue server was destroyed on every reset

Source/Carla/Game/CarlaGameController.cpp

@@ -27,22 +27,16 @@ void CarlaGameController::Initialize(UCarlaSettings &InCarlaSettings)
 {
   CarlaSettings = &InCarlaSettings;
 
-  bool bServerStartedSuccessfully = false;
-
+  // Initialize server if missing.
   if (Server == nullptr) {
     Server = MakeUnique<CarlaServer>(CarlaSettings->WorldPort, CarlaSettings->ServerTimeOut);
-    if (Errc::Success == Server->Connect()) {
-      if (Errc::Success == Server->ReadNewEpisode(*CarlaSettings, BLOCKING)) {
-        bServerStartedSuccessfully = true;
-      }
-    }
-  }
-
-  if (!bServerStartedSuccessfully) {
+    if ((Errc::Success != Server->Connect()) ||
+        (Errc::Success != Server->ReadNewEpisode(*CarlaSettings, BLOCKING))) {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to initialize, server needs restart"));
       Server = nullptr;
     }
   }
+}
 
 APlayerStart *CarlaGameController::ChoosePlayerStart(
     const TArray<APlayerStart *> &AvailableStartSpots)
@@ -94,37 +88,42 @@ void CarlaGameController::Tick(float DeltaSeconds)
   if (Server == nullptr) {
     UE_LOG(LogCarlaServer, Warning, TEXT("Client disconnected, server needs restart"));
     RestartLevel();
+    return;
   }
 
   // Check if the client requested a new episode.
-  if (Server != nullptr) {
+  {
     auto ec = Server->ReadNewEpisode(*CarlaSettings, NON_BLOCKING);
     switch (ec) {
       case Errc::Success:
         RestartLevel();
-        break;
+        return;
       case Errc::Error:
         Server = nullptr;
-        break;
+        return;
+      default:
+        break; // fallthrough...
     }
   }
 
   // Send measurements.
-  if (Server != nullptr) {
+  {
     check(GameState != nullptr);
     if (Errc::Error == Server->SendMeasurements(
             *GameState,
             Player->GetPlayerState(),
             CarlaSettings->bSendNonPlayerAgentsInfo)) {
       Server = nullptr;
+      return;
     }
   }
 
   // Read control, block if the settings say so.
-  if (Server != nullptr) {
+  {
     const bool bShouldBlock = CarlaSettings->bSynchronousMode;
     if (Errc::Error == Server->ReadControl(*Player, bShouldBlock)) {
       Server = nullptr;
+      return;
     }
   }
 }

Source/Carla/Game/CarlaServer.cpp

@@ -85,6 +85,9 @@ CarlaServer::CarlaServer(const uint32 InWorldPort, const uint32 InTimeOut) :
 
 CarlaServer::~CarlaServer()
 {
+#ifdef CARLA_SERVER_EXTRA_LOG
+  UE_LOG(LogCarlaServer, Warning, TEXT("Destroying CarlaServer"));
+#endif // CARLA_SERVER_EXTRA_LOG
   carla_free_server(Server);
 }
 

Source/Carla/Game/CarlaServer.h

@@ -49,5 +49,5 @@ private:
 
   const uint32 TimeOut;
 
-  void* Server;
+  void* const Server;
 };

Util/PythonClient/carla_client.py

@@ -167,7 +167,7 @@ def test_carla_client():
                 with open(args.ini_file, 'r') as fd:
                     client.write_request_new_episode(fd.read())
             else:
-                logging.info('sending empty ini file')
+                logging.info('sending default ini file')
                 client.write_request_new_episode(CarlaSettings)
 
             while True:
@@ -194,7 +194,7 @@ def test_carla_client():
 
                 autopilot = random.choice([True, False])
 
-                for x in xrange(0, 1000):
+                for x in xrange(0, 100):
                     logging.info('waiting for measurements')
                     data = client.read_measurements()
                     if not data:
@@ -225,8 +225,8 @@ def test_carla_client():
                     with open(args.ini_file, 'r') as fd:
                         client.write_request_new_episode(fd.read())
                 else:
-                    logging.info('sending empty ini file')
-                    client.write_request_new_episode('Dummy empty ini file')
+                    logging.info('sending default ini file')
+                    client.write_request_new_episode(CarlaSettings)
 
                 client.disconnect_secondary_clients()