CarlaServer documentation

Docs/carla_server.md

@@ -1,18 +1,32 @@
 CARLA Server
 ============
 
+Build
+-----
+
+Some scripts are provided for building CarlaServer on Linux
+
+    $ Setup.sh
+    $ make
+
+The setup script downloads and compiles all the required dependencies. The
+Makefile calls CMake to build CarlaServer and installs it under "Util/Install".
+
 Protocol
 --------
 
-All the messages are prepended by a 32 bits unsigned integer (assumed
+All the messages are prepended by a 32 bits unsigned integer (little-endian)
-little-endian) indicating the size of the coming message.
+indicating the size of the coming message.
 
 Three consecutive ports are used,
 
   * world-port (default 2000)
-  * stream-port = world-port + 1
+  * measurements-port = world-port + 1
   * control-port = world-port + 2
 
+each of these ports has an associated thread that sends/reads data
+asynchronuosly.
+
 ###### World thread
 
 Server reads one, writes one. Always protobuf messages.
@@ -23,9 +37,9 @@ Server reads one, writes one. Always protobuf messages.
     [server] EpisodeReady
     ...repeat...
 
-###### Stream thread
+###### Measurements thread
 
-Server only writes, first measurements then the raw images.
+Server only writes, first measurements message then the bulk of raw images.
 
     [server] Measurements
     [server] raw images
@@ -35,15 +49,59 @@ Every image is an array of uint32's
 
     [width, height, type, color[0], color[1],...]
 
-where each color is an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine.
+where each color is an [FColor][fcolorlink] (BGRA) as stored in Unreal Engine,
+and the possible types of images are
+
+    type = 0  None                  (RGB without any post-processing)
+    type = 1  SceneFinal            (RGB with post-processing present at the scene)
+    type = 2  Depth                 (Depth Map)
+    type = 3  SemanticSegmentation  (Semantic Segmentation)
 
 [fcolorlink]: https://docs.unrealengine.com/latest/INT/API/Runtime/Core/Math/FColor/index.html "FColor API Documentation"
 
 ###### Control thread
 
-Server only reads, client sends Control every frame.
+Server only reads, client sends Control message every frame.
 
     [client] Control
     ...repeat...
 
-In the synchronous mode, the server waits each frame for a Control message.
+In the synchronous mode, the server halts execution each frame until the Control
+message is received.
+
+C API
+-----
+
+The library is encapsulated behind a single include file in C,
+["carla/carla_server.h"](carlaserverhlink).
+
+This file contains the basic interface for reading and writing messages to the
+client, hiding the networking and multi-threading part. Most of the functions
+have a time-out parameter and block  until the corresponding asynchronous
+operation is completed or the time-out is met. Set a time-out of 0 to get a
+non-blocking call.
+
+A CarlaServer instance is created with `carla_make_server()` and should be
+destroyed after use with `carla_server_free(ptr)`.
+
+[carlaserverhlink]: ../Util/CarlaServer/include/carla/carla_server.h
+
+Design
+------
+
+The C API takes care of dispatching the request to the corresponding server.
+There are three asynchronous servers each of them running on its own thread.
+
+![CarlaServer design](img/carlaserver.svg)
+
+Conceptually there are two servers, the _World Server_ and the _Agent Server_.
+The _World Server_ controls the initialization of episodes. A new episode is
+started every time it is requested to the World Server by a RequestNewEpisode
+message. Once the episode is ready, the World Server launches the Agent Server.
+The _Agent Server_ has two threads, one for sending the streaming of the
+measurements and another for receiving the control. Both agent threads
+communicate with the main thread through a lock-free double-buffer to speed up
+the streaming of messages and images.
+
+The encoding of the messages (protobuf) and the networking operations are
+executed asynchronously.

Docs/how_to_build_on_linux.md

@@ -45,15 +45,16 @@ Setup CARLA plugin
 ------------------
 
 Go to "CARLAUE4/Plugins/Carla" folder and run the setup script. This downloads
-and compile all the dependencies, takes a while but you only need to do this
+and compile all the dependencies, takes a while
-once
 
     $ ./Setup.sh
 
 Now you can use the Makefile to compile and test the code. However, the rebuild
 script of the main project will do that already, see next section.
 
-It is recommended to do a check to see if everything worked fine
+You can run the unit tests to check if everything worked fine (note that these
+tests launch the python client, they require python3 and protobuf for python3
+installed)
 
     $ make check
 

Docs/how_to_build_on_windows.md

@@ -1,10 +1,16 @@
 How to build CARLA on Windows
 =============================
 
+**Building CARLA on Windows is not yet fully supported. Compilation is tedious
+and fails often. We recommend to use the Linux version if possible.**
+
 Install Unreal Engine 4.17 and Visual Studio 2015. (Later versions of Visual
 Studio work, but you will need to adapt "Rebuild.bat" to find the right
 "vcvarsall.bat").
 
+For running Rebuild.bat some Linux utilities are required (like make, cmake,
+rm...), it is recommended to install Cygwin or a similar environment.
+
 Setup CARLA plugin
 ------------------