Merge branch 'master' into win_auto_rebuild
This commit is contained in:
Marc Garcia Puig
commit
82cf9c4bba
|
|
@ -24,7 +24,7 @@ matrix:
|
|||
packages:
|
||||
- cppcheck
|
||||
script:
|
||||
- cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --quiet
|
||||
- cppcheck . -iBuild -i.pb.cc --error-exitcode=1 --enable=warning --inline-suppr --quiet
|
||||
|
||||
- env: TEST="MkDocs"
|
||||
install:
|
||||
|
|
|
|||
|
|
@ -27,7 +27,7 @@ view_start_positions.py | Show all the possible start positions in a map
|
|||
If you are building CARLA from source, the Python code is inside the
|
||||
_"PythonClient"_ folder in the CARLA repository. Bear in mind that the
|
||||
`master` branch contains latest fixes and changes that might be incompatible
|
||||
with the release version. Consider using the `stable` branch.
|
||||
with the release version. Consider using the latest release code.
|
||||
|
||||
Install dependencies
|
||||
--------------------
|
||||
|
|
|
|||
|
|
@ -44,7 +44,7 @@ Clone or download the project from our
|
|||
$ git clone https://github.com/carla-simulator/carla
|
||||
|
||||
Note that the `master` branch contains the latest fixes and features, for the
|
||||
latest stable code may be best to switch to the `stable` branch.
|
||||
latest stable code may be best to switch to the latest release tag.
|
||||
|
||||
Run the setup script to download the content and build all dependencies. It
|
||||
takes a while
|
||||
|
|
|
|||
|
|
@ -0,0 +1,2 @@
|
|||
Font Awesome Free 5.0.9 by @fontawesome - https://fontawesome.com
|
||||
License - https://fontawesome.com/license (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)
|
||||
Binary file not shown.
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After Width: | Height: | Size: 1.4 KiB |
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After Width: | Height: | Size: 1.3 KiB |
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After Width: | Height: | Size: 1.9 KiB |
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After Width: | Height: | Size: 2.1 KiB |
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@ -0,0 +1,42 @@
|
|||
pipeline {
|
||||
agent any
|
||||
|
||||
environment {
|
||||
UE4_ROOT = '/var/lib/jenkins/UnrealEngine_4.18'
|
||||
}
|
||||
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '6', artifactNumToKeepStr: '6'))
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Setup') {
|
||||
steps {
|
||||
sh './Setup.sh'
|
||||
}
|
||||
}
|
||||
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh './Rebuild.sh --no-editor'
|
||||
}
|
||||
}
|
||||
|
||||
stage('Package') {
|
||||
steps {
|
||||
sh './Package.sh --clean-intermediate'
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
post {
|
||||
|
||||
always {
|
||||
archiveArtifacts 'Dist/*.tar.gz'
|
||||
deleteDir()
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
|
|||
name='carla_server.proto',
|
||||
package='carla_server',
|
||||
syntax='proto3',
|
||||
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"a\n\x0b\x42oundingBox\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12&\n\x06\x65xtent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"}\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x80\x01\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"n\n\x10SceneDescription\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xd1\x04\n\x0cMeasurements\x12\x14\n\x0c\x66rame_number\x18\x05 \x01(\x04\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xfa\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x0c \x01(\x0b\x32\x19.carla_server.BoundingBox\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
|
||||
serialized_pb=_b('\n\x12\x63\x61rla_server.proto\x12\x0c\x63\x61rla_server\"+\n\x08Vector3D\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"6\n\nRotation3D\x12\r\n\x05pitch\x18\x01 \x01(\x02\x12\x0b\n\x03yaw\x18\x02 \x01(\x02\x12\x0c\n\x04roll\x18\x03 \x01(\x02\"\x92\x01\n\tTransform\x12(\n\x08location\x18\x01 \x01(\x0b\x32\x16.carla_server.Vector3D\x12/\n\x0borientation\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3DB\x02\x18\x01\x12*\n\x08rotation\x18\x03 \x01(\x0b\x32\x18.carla_server.Rotation3D\"a\n\x0b\x42oundingBox\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12&\n\x06\x65xtent\x18\x02 \x01(\x0b\x32\x16.carla_server.Vector3D\"\x80\x01\n\x06Sensor\x12\n\n\x02id\x18\x01 \x01(\x07\x12\'\n\x04type\x18\x02 \x01(\x0e\x32\x19.carla_server.Sensor.Type\x12\x0c\n\x04name\x18\x03 \x01(\t\"3\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06\x43\x41MERA\x10\x01\x12\x12\n\x0eLIDAR_RAY_CAST\x10\x02\"}\n\x07Vehicle\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x80\x01\n\nPedestrian\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x04 \x01(\x0b\x32\x19.carla_server.BoundingBox\x12\x15\n\rforward_speed\x18\x03 \x01(\x02\"\x94\x01\n\x0cTrafficLight\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x05state\x18\x02 \x01(\x0e\x32 .carla_server.TrafficLight.State\"\'\n\x05State\x12\t\n\x05GREEN\x10\x00\x12\n\n\x06YELLOW\x10\x01\x12\x07\n\x03RED\x10\x02\"Q\n\x0eSpeedLimitSign\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12\x13\n\x0bspeed_limit\x18\x02 \x01(\x02\"\xe5\x01\n\x05\x41gent\x12\n\n\x02id\x18\x01 \x01(\x07\x12(\n\x07vehicle\x18\x02 \x01(\x0b\x32\x15.carla_server.VehicleH\x00\x12.\n\npedestrian\x18\x03 \x01(\x0b\x32\x18.carla_server.PedestrianH\x00\x12\x33\n\rtraffic_light\x18\x04 \x01(\x0b\x32\x1a.carla_server.TrafficLightH\x00\x12\x38\n\x10speed_limit_sign\x18\x05 \x01(\x0b\x32\x1c.carla_server.SpeedLimitSignH\x00\x42\x07\n\x05\x61gent\"%\n\x11RequestNewEpisode\x12\x10\n\x08ini_file\x18\x01 \x01(\t\"\x80\x01\n\x10SceneDescription\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12\x33\n\x12player_start_spots\x18\x01 \x03(\x0b\x32\x17.carla_server.Transform\x12%\n\x07sensors\x18\x02 \x03(\x0b\x32\x14.carla_server.Sensor\"/\n\x0c\x45pisodeStart\x12\x1f\n\x17player_start_spot_index\x18\x01 \x01(\r\"\x1d\n\x0c\x45pisodeReady\x12\r\n\x05ready\x18\x01 \x01(\x08\"^\n\x07\x43ontrol\x12\r\n\x05steer\x18\x01 \x01(\x02\x12\x10\n\x08throttle\x18\x02 \x01(\x02\x12\r\n\x05\x62rake\x18\x03 \x01(\x02\x12\x12\n\nhand_brake\x18\x04 \x01(\x08\x12\x0f\n\x07reverse\x18\x05 \x01(\x08\"\xd1\x04\n\x0cMeasurements\x12\x14\n\x0c\x66rame_number\x18\x05 \x01(\x04\x12\x1a\n\x12platform_timestamp\x18\x01 \x01(\r\x12\x16\n\x0egame_timestamp\x18\x02 \x01(\r\x12J\n\x13player_measurements\x18\x03 \x01(\x0b\x32-.carla_server.Measurements.PlayerMeasurements\x12.\n\x11non_player_agents\x18\x04 \x03(\x0b\x32\x13.carla_server.Agent\x1a\xfa\x02\n\x12PlayerMeasurements\x12*\n\ttransform\x18\x01 \x01(\x0b\x32\x17.carla_server.Transform\x12/\n\x0c\x62ounding_box\x18\x0c \x01(\x0b\x32\x19.carla_server.BoundingBox\x12,\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x16.carla_server.Vector3D\x12\x15\n\rforward_speed\x18\x04 \x01(\x02\x12\x1a\n\x12\x63ollision_vehicles\x18\x05 \x01(\x02\x12\x1d\n\x15\x63ollision_pedestrians\x18\x06 \x01(\x02\x12\x17\n\x0f\x63ollision_other\x18\x07 \x01(\x02\x12\x1e\n\x16intersection_otherlane\x18\x08 \x01(\x02\x12\x1c\n\x14intersection_offroad\x18\t \x01(\x02\x12\x30\n\x11\x61utopilot_control\x18\n \x01(\x0b\x32\x15.carla_server.ControlB\x03\xf8\x01\x01\x62\x06proto3')
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -564,14 +564,21 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
|
|||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='player_start_spots', full_name='carla_server.SceneDescription.player_start_spots', index=0,
|
||||
name='map_name', full_name='carla_server.SceneDescription.map_name', index=0,
|
||||
number=3, type=9, cpp_type=9, label=1,
|
||||
has_default_value=False, default_value=_b("").decode('utf-8'),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
options=None),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='player_start_spots', full_name='carla_server.SceneDescription.player_start_spots', index=1,
|
||||
number=1, type=11, cpp_type=10, label=3,
|
||||
has_default_value=False, default_value=[],
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
options=None),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='sensors', full_name='carla_server.SceneDescription.sensors', index=1,
|
||||
name='sensors', full_name='carla_server.SceneDescription.sensors', index=2,
|
||||
number=2, type=11, cpp_type=10, label=3,
|
||||
has_default_value=False, default_value=[],
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
|
|
@ -589,8 +596,8 @@ _SCENEDESCRIPTION = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1279,
|
||||
serialized_end=1389,
|
||||
serialized_start=1280,
|
||||
serialized_end=1408,
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -620,8 +627,8 @@ _EPISODESTART = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1391,
|
||||
serialized_end=1438,
|
||||
serialized_start=1410,
|
||||
serialized_end=1457,
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -651,8 +658,8 @@ _EPISODEREADY = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1440,
|
||||
serialized_end=1469,
|
||||
serialized_start=1459,
|
||||
serialized_end=1488,
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -710,8 +717,8 @@ _CONTROL = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1471,
|
||||
serialized_end=1565,
|
||||
serialized_start=1490,
|
||||
serialized_end=1584,
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -804,8 +811,8 @@ _MEASUREMENTS_PLAYERMEASUREMENTS = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1783,
|
||||
serialized_end=2161,
|
||||
serialized_start=1802,
|
||||
serialized_end=2180,
|
||||
)
|
||||
|
||||
_MEASUREMENTS = _descriptor.Descriptor(
|
||||
|
|
@ -862,8 +869,8 @@ _MEASUREMENTS = _descriptor.Descriptor(
|
|||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=1568,
|
||||
serialized_end=2161,
|
||||
serialized_start=1587,
|
||||
serialized_end=2180,
|
||||
)
|
||||
|
||||
_TRANSFORM.fields_by_name['location'].message_type = _VECTOR3D
|
||||
|
|
|
|||
|
|
@ -103,7 +103,7 @@ def run_carla_client(args):
|
|||
# Notify the server that we want to start the episode at the
|
||||
# player_start index. This function blocks until the server is ready
|
||||
# to start the episode.
|
||||
print('Starting new episode...')
|
||||
print('Starting new episode at %r...' % scene.map_name)
|
||||
client.start_episode(player_start)
|
||||
|
||||
# Iterate every frame in the episode.
|
||||
|
|
|
|||
|
|
@ -144,10 +144,11 @@ class CarlaGame(object):
|
|||
self._lidar_measurement = None
|
||||
self._map_view = None
|
||||
self._is_on_reverse = False
|
||||
self._city_name = args.map_name
|
||||
self._map = CarlaMap(self._city_name, 0.1643, 50.0) if self._city_name is not None else None
|
||||
self._map_shape = self._map.map_image.shape if self._city_name is not None else None
|
||||
self._map_view = self._map.get_map(WINDOW_HEIGHT) if self._city_name is not None else None
|
||||
self._display_map = args.map
|
||||
self._city_name = None
|
||||
self._map = None
|
||||
self._map_shape = None
|
||||
self._map_view = None
|
||||
self._position = None
|
||||
self._agent_positions = None
|
||||
|
||||
|
|
@ -166,9 +167,16 @@ class CarlaGame(object):
|
|||
pygame.quit()
|
||||
|
||||
def _initialize_game(self):
|
||||
self._on_new_episode()
|
||||
|
||||
if self._city_name is not None:
|
||||
self._map = CarlaMap(self._city_name, 0.1643, 50.0)
|
||||
self._map_shape = self._map.map_image.shape
|
||||
self._map_view = self._map.get_map(WINDOW_HEIGHT)
|
||||
|
||||
extra_width = int((WINDOW_HEIGHT/float(self._map_shape[0]))*self._map_shape[1])
|
||||
self._display = pygame.display.set_mode(
|
||||
(WINDOW_WIDTH + int((WINDOW_HEIGHT/float(self._map.map_image.shape[0]))*self._map.map_image.shape[1]), WINDOW_HEIGHT),
|
||||
(WINDOW_WIDTH + extra_width, WINDOW_HEIGHT),
|
||||
pygame.HWSURFACE | pygame.DOUBLEBUF)
|
||||
else:
|
||||
self._display = pygame.display.set_mode(
|
||||
|
|
@ -176,12 +184,13 @@ class CarlaGame(object):
|
|||
pygame.HWSURFACE | pygame.DOUBLEBUF)
|
||||
|
||||
logging.debug('pygame started')
|
||||
self._on_new_episode()
|
||||
|
||||
def _on_new_episode(self):
|
||||
self._carla_settings.randomize_seeds()
|
||||
self._carla_settings.randomize_weather()
|
||||
scene = self.client.load_settings(self._carla_settings)
|
||||
if self._display_map:
|
||||
self._city_name = scene.map_name
|
||||
number_of_player_starts = len(scene.player_start_spots)
|
||||
player_start = np.random.randint(number_of_player_starts)
|
||||
print('Starting new episode...')
|
||||
|
|
@ -397,13 +406,11 @@ def main():
|
|||
choices=['Low', 'Epic'],
|
||||
type=lambda s: s.title(),
|
||||
default='Epic',
|
||||
help='graphics quality level, a lower level makes the simulation run considerably faster.')
|
||||
help='graphics quality level, a lower level makes the simulation run considerably faster')
|
||||
argparser.add_argument(
|
||||
'-m', '--map-name',
|
||||
metavar='M',
|
||||
default=None,
|
||||
help='plot the map of the current city (needs to match active map in '
|
||||
'server, options: Town01 or Town02)')
|
||||
'-m', '--map',
|
||||
action='store_true',
|
||||
help='plot the map of the current city')
|
||||
args = argparser.parse_args()
|
||||
|
||||
log_level = logging.DEBUG if args.debug else logging.INFO
|
||||
|
|
|
|||
|
|
@ -13,6 +13,7 @@ from __future__ import print_function
|
|||
|
||||
import argparse
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
|
||||
import matplotlib.image as mpimg
|
||||
|
|
@ -36,16 +37,13 @@ def view_start_positions(args):
|
|||
scene = client.load_settings(CarlaSettings())
|
||||
print("Received the start positions")
|
||||
|
||||
# We get the number of player starts, in order to detect the city.
|
||||
number_of_player_starts = len(scene.player_start_spots)
|
||||
if number_of_player_starts > 100: # WARNING: unsafe way to check for city, see issue #313
|
||||
image = mpimg.imread("carla/planner/Town01.png")
|
||||
carla_map = CarlaMap('Town01', 0.1653, 50)
|
||||
|
||||
else:
|
||||
|
||||
image = mpimg.imread("carla/planner/Town02.png")
|
||||
carla_map = CarlaMap('Town02', 0.1653, 50)
|
||||
try:
|
||||
image = mpimg.imread('carla/planner/%s.png' % scene.map_name)
|
||||
carla_map = CarlaMap(scene.map_name, 0.1653, 50)
|
||||
except IOError as exception:
|
||||
logging.error(exception)
|
||||
logging.error('Cannot find map "%s"', scene.map_name)
|
||||
sys.exit(1)
|
||||
|
||||
fig, ax = plt.subplots(1)
|
||||
|
||||
|
|
|
|||
13
README.md
13
README.md
|
|
@ -5,6 +5,12 @@ CARLA Simulator
|
|||
[](http://carla.readthedocs.io)
|
||||
[](https://waffle.io/carla-simulator/carla)
|
||||
|
||||
[](http://carla.org)
|
||||
[](https://github.com/carla-simulator/carla/releases/latest)
|
||||
[](http://carla.readthedocs.io)
|
||||
[](https://discord.gg/vNVHXfb)
|
||||
<!-- [](link here) -->
|
||||
|
||||
CARLA is an open-source simulator for autonomous driving research. CARLA has
|
||||
been developed from the ground up to support development, training, and
|
||||
validation of autonomous urban driving systems. In addition to open-source code
|
||||
|
|
@ -15,11 +21,6 @@ environmental conditions.
|
|||
|
||||
[](https://youtu.be/Hp8Dz-Zek2E)
|
||||
|
||||
[Get the latest release here.](https://github.com/carla-simulator/carla/releases/latest)
|
||||
|
||||
For instructions on how to use and compile CARLA, check out
|
||||
[CARLA Documentation](http://carla.readthedocs.io).
|
||||
|
||||
If you want to benchmark your model in the same conditions as in our CoRL’17
|
||||
paper, check out
|
||||
[Benchmarking](http://carla.readthedocs.io/en/latest/benchmark_start/).
|
||||
|
|
@ -68,7 +69,7 @@ Building CARLA
|
|||
|
||||
Use `git clone` or download the project from this page. Note that the master
|
||||
branch contains the latest fixes and features, for the latest stable code may be
|
||||
best to switch to the `stable` branch.
|
||||
best to switch to the latest release tag.
|
||||
|
||||
Then follow the instruction at [How to build on Linux][buildlink].
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,9 @@ public class Carla : ModuleRules
|
|||
"Engine",
|
||||
"PhysXVehicles",
|
||||
"Slate",
|
||||
"SlateCore"
|
||||
"SlateCore",
|
||||
"Landscape",
|
||||
"Foliage"
|
||||
// ... add private dependencies that you statically link with here ...
|
||||
}
|
||||
);
|
||||
|
|
|
|||
|
|
@ -68,10 +68,12 @@ void ACarlaGameModeBase::InitGame(
|
|||
constexpr auto PIEPrefix = TEXT("UEDPIE_0_");
|
||||
CorrectedMapName.RemoveFromStart(PIEPrefix);
|
||||
UE_LOG(LogCarla, Log, TEXT("Corrected map name from %s to %s"), *MapName, *CorrectedMapName);
|
||||
CarlaSettings.LoadWeatherDescriptions(CorrectedMapName);
|
||||
CarlaSettings.MapName = CorrectedMapName;
|
||||
CarlaSettings.LoadWeatherDescriptions();
|
||||
}
|
||||
#else
|
||||
CarlaSettings.LoadWeatherDescriptions(MapName);
|
||||
CarlaSettings.MapName = MapName;
|
||||
CarlaSettings.LoadWeatherDescriptions();
|
||||
#endif // WITH_EDITOR
|
||||
GameController->Initialize(CarlaSettings);
|
||||
CarlaSettings.ValidateWeatherId();
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ private:
|
|||
bool ShootLaser(uint32 Channel, float HorizontalAngle, FVector &Point) const;
|
||||
|
||||
UPROPERTY(Category = "Lidar", VisibleAnywhere)
|
||||
const ULidarDescription *Description;
|
||||
const ULidarDescription *Description = nullptr;
|
||||
|
||||
TArray<float> LaserAngles;
|
||||
|
||||
|
|
|
|||
|
|
@ -24,18 +24,6 @@ static constexpr float TO_METERS = 1e-2;
|
|||
// -- Static local methods -----------------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
static auto MakeCharBuffer(const FString &String)
|
||||
{
|
||||
const char *Ptr = TCHAR_TO_UTF8(*String);
|
||||
auto Buffer = MakeUnique<char[]>(std::strlen(Ptr) + 1u); // + null terminator.
|
||||
#if defined(_WIN32)
|
||||
strcpy_s(Buffer.Get(),String.Len()+1, Ptr);
|
||||
#else
|
||||
std::strcpy(Buffer.Get(), Ptr);
|
||||
#endif
|
||||
return TUniquePtr<const char[]>(Buffer.Release());
|
||||
}
|
||||
|
||||
static void Encode(const FVector &Vector, carla_vector3d &Data)
|
||||
{
|
||||
Data = {Vector.X, Vector.Y, Vector.Z};
|
||||
|
|
@ -67,7 +55,7 @@ static TUniquePtr<const char[]> Encode(
|
|||
else return CARLA_SERVER_SENSOR_UNKNOWN;
|
||||
#undef CARLA_CHECK_TYPE
|
||||
}(SensorDescription.Type);
|
||||
auto Memory = MakeCharBuffer(SensorDescription.Name);
|
||||
auto Memory = FCarlaEncoder::Encode(SensorDescription.Name);
|
||||
Data.name = Memory.Get();
|
||||
return Memory;
|
||||
}
|
||||
|
|
@ -76,6 +64,18 @@ static TUniquePtr<const char[]> Encode(
|
|||
// -- FCarlaEncoder static methods ---------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
TUniquePtr<const char[]> FCarlaEncoder::Encode(const FString &String)
|
||||
{
|
||||
const char *Ptr = TCHAR_TO_UTF8(*String);
|
||||
auto Buffer = MakeUnique<char[]>(std::strlen(Ptr) + 1u); // + null terminator.
|
||||
#if defined(_WIN32)
|
||||
strcpy_s(Buffer.Get(),String.Len()+1, Ptr);
|
||||
#else
|
||||
std::strcpy(Buffer.Get(), Ptr);
|
||||
#endif
|
||||
return TUniquePtr<const char[]>(Buffer.Release());
|
||||
}
|
||||
|
||||
void FCarlaEncoder::Encode(
|
||||
const TArray<APlayerStart *> &AvailableStartSpots,
|
||||
TArray<carla_transform> &Data)
|
||||
|
|
|
|||
|
|
@ -18,6 +18,8 @@ class FCarlaEncoder : private IAgentComponentVisitor
|
|||
{
|
||||
public:
|
||||
|
||||
static TUniquePtr<const char[]> Encode(const FString &String);
|
||||
|
||||
static void Encode(
|
||||
const TArray<APlayerStart *> &AvailableStartSpots,
|
||||
TArray<carla_transform> &Data);
|
||||
|
|
|
|||
|
|
@ -71,11 +71,15 @@ FCarlaServer::ErrorCode FCarlaServer::ReadNewEpisode(FString &IniFile, const boo
|
|||
}
|
||||
|
||||
FCarlaServer::ErrorCode FCarlaServer::SendSceneDescription(
|
||||
const FString &MapName,
|
||||
const TArray<APlayerStart *> &AvailableStartSpots,
|
||||
const TArray<USensorDescription *> &SensorDescriptions,
|
||||
const bool bBlocking)
|
||||
{
|
||||
carla_scene_description scene;
|
||||
// Encode map name.
|
||||
const auto MapNameBuffer = FCarlaEncoder::Encode(MapName);
|
||||
scene.map_name = MapNameBuffer.Get();
|
||||
// Encode start spots.
|
||||
TArray<carla_transform> Transforms;
|
||||
FCarlaEncoder::Encode(AvailableStartSpots, Transforms);
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@ public:
|
|||
ErrorCode ReadNewEpisode(FString &IniFile, bool bBlocking);
|
||||
|
||||
ErrorCode SendSceneDescription(
|
||||
const FString &MapName,
|
||||
const TArray<APlayerStart *> &AvailableStartSpots,
|
||||
const TArray<USensorDescription *> &SensorDescriptions,
|
||||
bool bBlocking);
|
||||
|
|
|
|||
|
|
@ -54,7 +54,8 @@ APlayerStart *FServerGameController::ChoosePlayerStart(
|
|||
if (Server.IsValid()) {
|
||||
TArray<USensorDescription *> Sensors;
|
||||
CarlaSettings->SensorDescriptions.GenerateValueArray(Sensors);
|
||||
if (Errc::Success != Server->SendSceneDescription(AvailableStartSpots, Sensors, BLOCKING)) {
|
||||
const auto &MapName = CarlaSettings->MapName;
|
||||
if (Errc::Success != Server->SendSceneDescription(MapName, AvailableStartSpots, Sensors, BLOCKING)) {
|
||||
UE_LOG(LogCarlaServer, Warning, TEXT("Failed to send scene description, server needs restart"));
|
||||
Server = nullptr;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -218,7 +218,7 @@ void UCarlaSettings::LoadSettingsFromString(const FString &INIFileContents)
|
|||
CurrentFileName = TEXT("<string-provided-by-client>");
|
||||
}
|
||||
|
||||
void UCarlaSettings::LoadWeatherDescriptions(const FString &MapName)
|
||||
void UCarlaSettings::LoadWeatherDescriptions()
|
||||
{
|
||||
WeatherDescriptions.Empty();
|
||||
ADynamicWeather::LoadWeatherDescriptionsFromFile(MapName, WeatherDescriptions);
|
||||
|
|
|
|||
46
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
Executable file → Normal file
46
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.h
Executable file → Normal file
|
|
@ -9,7 +9,6 @@
|
|||
#include "WeatherDescription.h"
|
||||
#include "CarlaSettings.generated.h"
|
||||
|
||||
|
||||
UENUM(BlueprintType)
|
||||
enum class EQualitySettingsLevel : uint8
|
||||
{
|
||||
|
|
@ -17,8 +16,7 @@ enum class EQualitySettingsLevel : uint8
|
|||
Low UMETA(DisplayName = "Low"),
|
||||
Medium UMETA(DisplayName = "Medium"),
|
||||
High UMETA(DisplayName = "High"),
|
||||
Epic UMETA(DisplayName = "Epic")
|
||||
|
||||
Epic UMETA(DisplayName = "Epic")
|
||||
};
|
||||
|
||||
UCLASS(BlueprintType)
|
||||
|
|
@ -27,12 +25,13 @@ class CARLA_API UQualitySettings : public UObject
|
|||
GENERATED_BODY()
|
||||
|
||||
public:
|
||||
|
||||
using uint_type = typename std::underlying_type<EQualitySettingsLevel>::type;
|
||||
UFUNCTION(BlueprintCallable)
|
||||
static EQualitySettingsLevel FromString(const FString &SQualitySettingsLevel);
|
||||
UFUNCTION(BlueprintCallable)
|
||||
static FString ToString(EQualitySettingsLevel QualitySettingsLevel);
|
||||
|
||||
|
||||
static constexpr uint_type ToUInt(EQualitySettingsLevel quality_settings_level)
|
||||
{
|
||||
return static_cast<uint_type>(quality_settings_level);
|
||||
|
|
@ -52,11 +51,11 @@ class CARLA_API UCarlaSettings : public UObject
|
|||
GENERATED_BODY()
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* Sets the new quality settings level and make changes in the game related to it.
|
||||
|
||||
/**
|
||||
* Sets the new quality settings level and make changes in the game related to it.
|
||||
* @note This will not apply the quality settings. Use ApplyQualitySettings functions instead
|
||||
* @param newQualityLevel Store the new quality
|
||||
* @param newQualityLevel Store the new quality
|
||||
*/
|
||||
UFUNCTION(BlueprintCallable, Category="CARLA Settings")
|
||||
void SetQualitySettingsLevel(EQualitySettingsLevel newQualityLevel);
|
||||
|
|
@ -64,7 +63,7 @@ public:
|
|||
/** @return current quality settings level (could not be applied yet) */
|
||||
UFUNCTION(BlueprintCallable, Category="CARLA Settings")
|
||||
EQualitySettingsLevel GetQualitySettingsLevel() const { return QualitySettingsLevel; }
|
||||
|
||||
|
||||
/** Load the settings based on the command-line arguments and the INI file if provided. */
|
||||
void LoadSettings();
|
||||
|
||||
|
|
@ -72,7 +71,7 @@ public:
|
|||
void LoadSettingsFromString(const FString &INIFileContents);
|
||||
|
||||
/** Load weather description from config files. (There may be overrides for each map). */
|
||||
void LoadWeatherDescriptions(const FString &MapName);
|
||||
void LoadWeatherDescriptions();
|
||||
|
||||
/** Check if requested weather id is present in WeatherDescriptions. */
|
||||
void ValidateWeatherId();
|
||||
|
|
@ -97,6 +96,7 @@ public:
|
|||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
const FWeatherDescription &GetWeatherDescriptionByIndex(int32 Index);
|
||||
|
||||
///----------- constants ------------------
|
||||
public:
|
||||
/**
|
||||
|
|
@ -104,11 +104,12 @@ public:
|
|||
*/
|
||||
static const FName CARLA_ROAD_TAG;
|
||||
/**
|
||||
* CARLA_SKY name to tag the sky sphere (BPS) actors in the scenes
|
||||
* CARLA_SKY name to tag the sky sphere (BPS) actors in the scenes
|
||||
*/
|
||||
static const FName CARLA_SKY_TAG;
|
||||
|
||||
private:
|
||||
|
||||
/***/
|
||||
void LoadSettingsFromFile(const FString &FilePath, bool bLogOnFailure);
|
||||
|
||||
|
|
@ -155,6 +156,10 @@ public:
|
|||
/// @{
|
||||
public:
|
||||
|
||||
/** Display name of the current map. */
|
||||
UPROPERTY(Category = "Level Settings", VisibleAnywhere)
|
||||
FString MapName;
|
||||
|
||||
/** Path to the pawn class of the player. */
|
||||
UPROPERTY(Category = "Level Settings", VisibleAnywhere)
|
||||
FString PlayerVehicle;
|
||||
|
|
@ -183,7 +188,6 @@ public:
|
|||
UPROPERTY(Category = "Level Settings", VisibleAnywhere)
|
||||
int32 SeedVehicles = 123456789;
|
||||
|
||||
|
||||
/// @}
|
||||
|
||||
// ===========================================================================
|
||||
|
|
@ -191,14 +195,16 @@ public:
|
|||
// ===========================================================================
|
||||
/// @{
|
||||
private:
|
||||
|
||||
/** Quality Settings level. */
|
||||
UPROPERTY(Category = "Quality Settings", VisibleAnywhere, meta =(AllowPrivateAccess="true"))
|
||||
EQualitySettingsLevel QualitySettingsLevel = EQualitySettingsLevel::Epic;
|
||||
|
||||
public:
|
||||
|
||||
public:
|
||||
|
||||
/** @TODO : Move Low quality vars to a generic map of structs with the quality level as key*/
|
||||
|
||||
/** Low quality Road Materials.
|
||||
/** Low quality Road Materials.
|
||||
* Uses slots name to set material for each part of the road for low quality
|
||||
*/
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config, DisplayName="Road Materials List for Low Quality")
|
||||
|
|
@ -206,7 +212,7 @@ private:
|
|||
|
||||
//distances
|
||||
/**
|
||||
* Distance at which the light function should be completely faded to DisabledBrightness.
|
||||
* Distance at which the light function should be completely faded to DisabledBrightness.
|
||||
* This is useful for hiding aliasing from light functions applied in the distance.
|
||||
*/
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config)
|
||||
|
|
@ -215,22 +221,22 @@ private:
|
|||
/**
|
||||
* Default low distance for all primitive components
|
||||
*/
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config, meta = (ClampMin = "5000.0", ClampMax = "20000.0", UIMin = "5000.0", UIMax = "20000.0"))
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config, meta = (ClampMin = "5000.0", ClampMax = "20000.0", UIMin = "5000.0", UIMax = "20000.0"))
|
||||
float LowStaticMeshMaxDrawDistance = 10000.0f;
|
||||
|
||||
/**
|
||||
* Default low distance for roads meshes
|
||||
*/
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config, meta = (ClampMin = "5000.0", ClampMax = "20000.0", UIMin = "5000.0", UIMax = "20000.0"))
|
||||
UPROPERTY(Category = "Quality Settings/Low", BlueprintReadOnly, EditAnywhere, config, meta = (ClampMin = "5000.0", ClampMax = "20000.0", UIMin = "5000.0", UIMax = "20000.0"))
|
||||
float LowRoadPieceMeshMaxDrawDistance = 15000.0f;
|
||||
|
||||
|
||||
/** EPIC quality Road Materials.
|
||||
/** EPIC quality Road Materials.
|
||||
* Uses slots name to set material for each part of the road for Epic quality
|
||||
*/
|
||||
UPROPERTY(Category = "Quality Settings/Epic", BlueprintReadOnly, EditAnywhere, config, DisplayName="Road Materials List for EPIC Quality")
|
||||
TArray<FStaticMaterial> EpicRoadMaterials;
|
||||
|
||||
|
||||
/// @}
|
||||
|
||||
// ===========================================================================
|
||||
|
|
|
|||
|
|
@ -9,8 +9,9 @@
|
|||
#include "Engine/DirectionalLight.h"
|
||||
#include "Engine/StaticMesh.h"
|
||||
#include "Engine/PostProcessVolume.h"
|
||||
#include "UObjectIterator.h"
|
||||
#include "Async.h"
|
||||
#include "Landscape.h"
|
||||
#include "InstancedFoliageActor.h"
|
||||
|
||||
///quality settings configuration between runs
|
||||
EQualitySettingsLevel UCarlaSettingsDelegate::AppliedLowPostResetQualitySettingsLevel = EQualitySettingsLevel::Epic;
|
||||
|
|
@ -34,10 +35,12 @@ void UCarlaSettingsDelegate::RegisterSpawnHandler(UWorld *InWorld)
|
|||
void UCarlaSettingsDelegate::OnActorSpawned(AActor* InActor)
|
||||
{
|
||||
check(CarlaSettings!=nullptr);
|
||||
if (InActor != nullptr && IsValid(InActor) && !InActor->IsPendingKill() &&
|
||||
if (InActor != nullptr && IsValid(InActor) && !InActor->IsPendingKill() &&
|
||||
!InActor->IsA<AInstancedFoliageActor>() && //foliage culling is controlled per instance
|
||||
!InActor->IsA<ALandscape>() && //dont touch landscapes nor roads
|
||||
!InActor->ActorHasTag(UCarlaSettings::CARLA_ROAD_TAG) &&
|
||||
!InActor->ActorHasTag(UCarlaSettings::CARLA_SKY_TAG)
|
||||
){
|
||||
){
|
||||
TArray<UActorComponent*> components = InActor->GetComponentsByClass(UPrimitiveComponent::StaticClass());
|
||||
switch(CarlaSettings->GetQualitySettingsLevel())
|
||||
{
|
||||
|
|
@ -63,7 +66,7 @@ void UCarlaSettingsDelegate::ApplyQualitySettingsLevelPostRestart()
|
|||
CheckCarlaSettings(nullptr);
|
||||
UWorld *InWorld = CarlaSettings->GetWorld();
|
||||
|
||||
EQualitySettingsLevel QualitySettingsLevel = CarlaSettings->GetQualitySettingsLevel();
|
||||
const EQualitySettingsLevel QualitySettingsLevel = CarlaSettings->GetQualitySettingsLevel();
|
||||
if(AppliedLowPostResetQualitySettingsLevel==QualitySettingsLevel) return;
|
||||
|
||||
switch(QualitySettingsLevel)
|
||||
|
|
@ -190,8 +193,9 @@ void UCarlaSettingsDelegate::SetAllRoads(UWorld* world, const float max_draw_dis
|
|||
|
||||
for(int32 i=0; i<actors.Num(); i++)
|
||||
{
|
||||
if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
|
||||
TArray<UActorComponent*> components = actors[i]->GetComponentsByClass(UStaticMeshComponent::StaticClass());
|
||||
AActor* actor = actors[i];
|
||||
if(!IsValid(actor) || actor->IsPendingKill()) continue;
|
||||
TArray<UActorComponent*> components = actor->GetComponentsByClass(UStaticMeshComponent::StaticClass());
|
||||
for(int32 j=0; j<components.Num(); j++)
|
||||
{
|
||||
UStaticMeshComponent* staticmeshcomponent = Cast<UStaticMeshComponent>(components[j]);
|
||||
|
|
@ -257,13 +261,16 @@ void UCarlaSettingsDelegate::SetAllActorsDrawDistance(UWorld* world, const float
|
|||
UGameplayStatics::GetAllActorsOfClass(world, AActor::StaticClass(),actors);
|
||||
for(int32 i=0; i<actors.Num(); i++)
|
||||
{
|
||||
if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending() ||
|
||||
actors[i]->ActorHasTag(UCarlaSettings::CARLA_ROAD_TAG) ||
|
||||
actors[i]->ActorHasTag(UCarlaSettings::CARLA_SKY_TAG)
|
||||
AActor* actor = actors[i];
|
||||
if(!IsValid(actor) || actor->IsPendingKill() ||
|
||||
actor->IsA<AInstancedFoliageActor>() || //foliage culling is controlled per instance
|
||||
actor->IsA<ALandscape>() || //dont touch landscapes nor roads
|
||||
actor->ActorHasTag(UCarlaSettings::CARLA_ROAD_TAG) ||
|
||||
actor->ActorHasTag(UCarlaSettings::CARLA_SKY_TAG)
|
||||
){
|
||||
continue;
|
||||
}
|
||||
SetActorComponentsDrawDistance(actors[i], max_draw_distance);
|
||||
SetActorComponentsDrawDistance(actor, max_draw_distance);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
|
@ -275,8 +282,9 @@ void UCarlaSettingsDelegate::SetPostProcessEffectsEnabled(UWorld* world, const b
|
|||
UGameplayStatics::GetAllActorsOfClass(world, APostProcessVolume::StaticClass(), actors);
|
||||
for(int32 i=0; i<actors.Num(); i++)
|
||||
{
|
||||
if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
|
||||
APostProcessVolume* postprocessvolume = Cast<APostProcessVolume>(actors[i]);
|
||||
AActor* actor = actors[i];
|
||||
if(!IsValid(actor) || actor->IsPendingKill()) continue;
|
||||
APostProcessVolume* postprocessvolume = Cast<APostProcessVolume>(actor);
|
||||
if(postprocessvolume)
|
||||
{
|
||||
postprocessvolume->bEnabled = enabled;
|
||||
|
|
@ -334,7 +342,7 @@ void UCarlaSettingsDelegate::SetAllLights(UWorld* world, const float max_distanc
|
|||
UGameplayStatics::GetAllActorsOfClass(world, ALight::StaticClass(), actors);
|
||||
for(int32 i=0;i<actors.Num();i++)
|
||||
{
|
||||
if(!IsValid(actors[i]) || actors[i]->IsPendingKillPending()) continue;
|
||||
if(!IsValid(actors[i]) || actors[i]->IsPendingKill()) continue;
|
||||
//tweak directional lights
|
||||
ADirectionalLight* directionallight = Cast<ADirectionalLight>(actors[i]);
|
||||
if(directionallight)
|
||||
|
|
|
|||
|
|
@ -79,35 +79,42 @@ void AVehicleSpawnerBase::BeginPlay()
|
|||
|
||||
if (bSpawnVehicles)
|
||||
{
|
||||
GetRandomEngine()->Shuffle(SpawnPoints);
|
||||
const int32 MaximumNumberOfAttempts = SpawnPoints.Num();
|
||||
int32 NumberOfAttempts = 0;
|
||||
|
||||
GetRandomEngine()->Shuffle(SpawnPoints); //to get a random spawn point from the map
|
||||
const int32 MaximumNumberOfAttempts = SpawnPoints.Num();
|
||||
int32 NumberOfAttempts = 0;
|
||||
int32 SpawnIndexCount = 0;
|
||||
while ((NumberOfVehicles > Vehicles.Num()) && (NumberOfAttempts < MaximumNumberOfAttempts))
|
||||
{
|
||||
SpawnVehicleAtSpawnPoint(*SpawnPoints[NumberOfAttempts]);
|
||||
++NumberOfAttempts;
|
||||
if(SpawnPoints.IsValidIndex(SpawnIndexCount))
|
||||
{
|
||||
if(SpawnVehicleAtSpawnPoint(*SpawnPoints[SpawnIndexCount])){
|
||||
SpawnIndexCount++;
|
||||
}
|
||||
}
|
||||
NumberOfAttempts++;
|
||||
}
|
||||
|
||||
if (NumberOfAttempts > NumberOfVehicles)
|
||||
bool bAllSpawned = false;
|
||||
if (NumberOfVehicles > SpawnIndexCount)
|
||||
{
|
||||
UE_LOG(LogCarla, Error, TEXT("Requested %d vehicles, but we were only able to spawn %d"), NumberOfVehicles, Vehicles.Num());
|
||||
UE_LOG(LogCarla, Warning, TEXT("Requested %d vehicles, but we were only able to spawn %d"), NumberOfVehicles, SpawnIndexCount);
|
||||
} else
|
||||
{
|
||||
if(NumberOfAttempts == NumberOfVehicles)
|
||||
if(SpawnIndexCount == NumberOfVehicles)
|
||||
{
|
||||
UE_LOG(LogCarla, Log, TEXT("Spawned all %d vehicles"), NumberOfAttempts);
|
||||
} else
|
||||
{
|
||||
UE_LOG(LogCarla, Log,
|
||||
TEXT("Starting the timer to spawn the other %d vehicles, one per %f seconds"),
|
||||
NumberOfVehicles - NumberOfAttempts,
|
||||
TimeBetweenSpawnAttemptsAfterBegin
|
||||
);
|
||||
GetWorld()->GetTimerManager().SetTimer(AttemptTimerHandle,this, &AVehicleSpawnerBase::SpawnVehicleAttempt, TimeBetweenSpawnAttemptsAfterBegin,false,-1);
|
||||
|
||||
}
|
||||
|
||||
bAllSpawned = true;
|
||||
}
|
||||
}
|
||||
if(!bAllSpawned)
|
||||
{
|
||||
UE_LOG(LogCarla, Log,
|
||||
TEXT("Starting the timer to spawn the other %d vehicles, one per %f seconds"),
|
||||
NumberOfVehicles - SpawnIndexCount,
|
||||
TimeBetweenSpawnAttemptsAfterBegin
|
||||
);
|
||||
GetWorld()->GetTimerManager().SetTimer(AttemptTimerHandle,this, &AVehicleSpawnerBase::SpawnVehicleAttempt, TimeBetweenSpawnAttemptsAfterBegin,false,-1);
|
||||
} else
|
||||
{
|
||||
UE_LOG(LogCarla, Log, TEXT("Spawned all %d requested vehicles"), NumberOfVehicles);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -139,7 +146,7 @@ void AVehicleSpawnerBase::TryToSpawnRandomVehicle()
|
|||
}
|
||||
}
|
||||
|
||||
void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
|
||||
ACarlaWheeledVehicle* AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
|
||||
const APlayerStart &SpawnPoint)
|
||||
{
|
||||
ACarlaWheeledVehicle *Vehicle;
|
||||
|
|
@ -156,10 +163,12 @@ void AVehicleSpawnerBase::SpawnVehicleAtSpawnPoint(
|
|||
Controller->SetAutopilot(true);
|
||||
Vehicles.Add(Vehicle);
|
||||
} else {
|
||||
|
||||
UE_LOG(LogCarla, Error, TEXT("Something went wrong creating the controller for the new vehicle"));
|
||||
Vehicle->Destroy();
|
||||
}
|
||||
}
|
||||
return Vehicle;
|
||||
}
|
||||
|
||||
void AVehicleSpawnerBase::SpawnVehicleAttempt()
|
||||
|
|
@ -176,7 +185,10 @@ void AVehicleSpawnerBase::SpawnVehicleAttempt()
|
|||
float NextTime = TimeBetweenSpawnAttemptsAfterBegin;
|
||||
if(DistanceToPlayer>DistanceToPlayerBetweenSpawnAttemptsAfterBegin)
|
||||
{
|
||||
SpawnVehicleAtSpawnPoint(*spawnpoint);
|
||||
if(SpawnVehicleAtSpawnPoint(*spawnpoint)!=nullptr)
|
||||
{
|
||||
UE_LOG(LogCarla, Log, TEXT("Vehicle %d/%d late spawned"), Vehicles.Num(), NumberOfVehicles);
|
||||
}
|
||||
} else
|
||||
{
|
||||
NextTime /= 2.0f;
|
||||
|
|
@ -189,7 +201,7 @@ void AVehicleSpawnerBase::SpawnVehicleAttempt()
|
|||
timemanager.SetTimer(AttemptTimerHandle,this, &AVehicleSpawnerBase::SpawnVehicleAttempt,NextTime,false,-1);
|
||||
} else
|
||||
{
|
||||
UE_LOG(LogCarla, Log, TEXT("Last vehicle spawned correctly"));
|
||||
UE_LOG(LogCarla, Log, TEXT("All vehicles spawned correctly"));
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -68,7 +68,7 @@ protected:
|
|||
|
||||
APlayerStart* GetRandomSpawnPoint();
|
||||
|
||||
void SpawnVehicleAtSpawnPoint(const APlayerStart &SpawnPoint);
|
||||
ACarlaWheeledVehicle* SpawnVehicleAtSpawnPoint(const APlayerStart &SpawnPoint);
|
||||
|
||||
UPROPERTY()
|
||||
URoadMap *RoadMap = nullptr;
|
||||
|
|
|
|||
|
|
@ -121,6 +121,8 @@ extern "C" {
|
|||
/* ======================================================================== */
|
||||
|
||||
struct carla_scene_description {
|
||||
/** Display name of the current map. */
|
||||
const char *map_name;
|
||||
/** Collection of the initial player start locations. */
|
||||
const struct carla_transform *player_start_spots;
|
||||
uint32_t number_of_player_start_spots;
|
||||
|
|
|
|||
|
|
@ -132,6 +132,7 @@ namespace server {
|
|||
std::string CarlaEncoder::Encode(const carla_scene_description &values) {
|
||||
auto *message = _protobuf.CreateMessage<cs::SceneDescription>();
|
||||
DEBUG_ASSERT(message != nullptr);
|
||||
message->set_map_name(std::string(values.map_name));
|
||||
for (auto &spot : start_spots(values)) {
|
||||
Set(message->add_player_start_spots(), spot);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -84,6 +84,8 @@ TEST(CarlaServerAPI, SimBlocking) {
|
|||
{
|
||||
test_log("sending scene description...");
|
||||
const carla_scene_description values{
|
||||
// cppcheck-suppress constStatement
|
||||
"TestTown01",
|
||||
start_locations,
|
||||
SIZE_OF_ARRAY(start_locations),
|
||||
sensor_definitions,
|
||||
|
|
|
|||
|
|
@ -103,6 +103,7 @@ message RequestNewEpisode {
|
|||
}
|
||||
|
||||
message SceneDescription {
|
||||
string map_name = 3;
|
||||
repeated Transform player_start_spots = 1;
|
||||
repeated Sensor sensors = 2;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue