Merge branch 'xisco' into nestor, related to #10 and #14

Source/CarlaServer/source/carla/CarlaServer.cpp

@@ -48,6 +48,7 @@ namespace carla {
     if (!worldConnected())
       return false;
     readed = _pimpl->communication.tryReadEpisodeStart(startIndex, endIndex);
+    std::cout << "Episode Start: " << readed << std::endl;
     return true;
   }
 
@@ -62,6 +63,7 @@ namespace carla {
     if (!worldConnected())
       return false;
     newEpisode = _pimpl->communication.tryReadRequestNewEpisode();
+    std::cout << "New Episode Request: " << newEpisode << std::endl;
     return true;
   }
 
@@ -77,6 +79,8 @@ namespace carla {
     if (!worldConnected())
       return false;
     _pimpl->communication.sendScene(values);
+
+    std::cout << "Send scene values" << std::endl;
     return true;
   }
 
@@ -84,6 +88,9 @@ namespace carla {
     if (!worldConnected())
       return false;
     _pimpl->communication.sendReset();
+
+    std::cout << "Send end reset" << std::endl;
+
     return true;
   }
 

Source/CarlaServer/source/carla/CarlaServer.h

@@ -44,7 +44,8 @@ namespace carla {
     Reward_Values();
     ~Reward_Values();
     /// Time-stamp of the current frame.
-    int32_t timestamp;
+    int32_t platform_timestamp;
+    int32_t game_timestamp;
     /// World location of the player.
     Vector2D player_location;
     /// Orientation of the player.

Source/CarlaServer/source/carla/server/CarlaCommunication.cpp

@@ -221,16 +221,12 @@ namespace server {
   }
 
   void CarlaCommunication::sendScene(const Scene_Values &values) {
-    // Protobuf produces a segmentation fault in the destructor of the Scene
+    Scene scene;
-    // when called from Unreal Engine in Linux. As a workaround, we added this
+    _proto->LoadScene(scene, values);
-    // cute memory leak.
-    /// @todo #10 Fix the memory leak!
-    Scene *scene = new Scene;
-    _proto->LoadScene(*scene, values);
 
     auto message = std::make_unique<std::string>();
 
-    if (scene->SerializeToString(message.get())) {
+    if (scene.SerializeToString(message.get())) {
       _worldThread.push(std::move(message));
     }
   }

Source/CarlaServer/source/carla/server/Protocol.cpp

@@ -241,11 +241,6 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
 
     }
 
-    std::cout << "send depth size: " << depth_size_data.size() <<
-    " send image size: " << image_size_data.size()<<
-    " send image: " << image_data.size()<<
-    " send depth: " << depth_data.size() << std::endl;
-
     rwd.set_depth_sizes(depth_size_data);
     rwd.set_image_sizes(image_size_data);
     rwd.set_images(image_data);
@@ -280,7 +275,8 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
     reward.set_player_y(values.player_location.y);
     reward.set_player_x(values.player_location.x);
     reward.set_speed(values.forward_speed);
-    reward.set_timestamp(values.timestamp);
+    reward.set_platform_timestamp(values.platform_timestamp);
+    reward.set_game_timestamp(values.game_timestamp);
 
 #ifdef CARLA_WITH_PNG_COMPRESSION
     if (!getPNGImages(values.images, reward)) {

Source/CarlaServer/source/carla/server/TCPServer.cpp

@@ -36,7 +36,12 @@ namespace carla {
             port(port),
             _service(),
             _socket(_service),
-            _connected(false){}
+            _connected(false){
+
+              //int32_t timeout = 500;
+              //setsockopt(_socket.native(), SOL_SOCKET, SO_SNDTIMEO, (const char*)&timeout, sizeof(timeout));
+
+            }
 
         TCPServer::~TCPServer() {}
 
@@ -60,7 +65,6 @@ namespace carla {
         void TCPServer::writeString(const std::string &message, error_code &error) {
             const int messageSize = static_cast<int>(message.length());
             std::string outMessage(GetBytes(messageSize) + message);
-
             boost::asio::write(_socket, boost::asio::buffer(outMessage), error);
 
             if (error)

Source/CarlaServer/source/carla/server/carla_protocol.proto

@@ -78,13 +78,14 @@ message Reward {
   optional float acceleration_x = 9;
   optional float acceleration_y = 10;
   optional float acceleration_z = 11;
-  optional int32 timestamp = 12;
+  optional int32 platform_timestamp = 12;
-  optional float ori_x = 13;
+  optional int32 game_timestamp = 13;
-  optional float ori_y = 14;
+  optional float ori_x = 14;
-  optional float ori_z = 15;
+  optional float ori_y = 15;
-  optional bytes image_sizes = 16;
+  optional float ori_z = 16;
-  optional bytes depth_sizes = 17;
+  optional bytes image_sizes = 17;
-  optional bytes images = 18;
+  optional bytes depth_sizes = 18;
-  optional bytes depths = 19;
+  optional bytes images = 19;
+  optional bytes depths = 20;
 
 }

Source/CarlaServer/source/test/async_server.cpp

@@ -58,6 +58,7 @@ std::unique_ptr<carla::Reward_Values> makeReward() {
   reward->collision_car = 10.0f;
   reward->intersect_other_lane = 0.5f;
   reward->intersect_offroad = 0.5f;
+  reward->game_timestamp = 0u;
 
   for (int i = 0; i < 4; ++i) {
     carla::Image img;
@@ -74,8 +75,9 @@ std::unique_ptr<carla::Reward_Values> makeReward() {
   reward->image_depth_0 = makeImage(imageWidth, imageHeight);
   reward->image_depth_1 = makeImage(imageWidth, imageHeight);
 */
-  static decltype(carla::Reward_Values::timestamp) timestamp = 0u;
+  static decltype(carla::Reward_Values::platform_timestamp) timestamp = 0u;
-  reward->timestamp = timestamp++;
+
+  reward->platform_timestamp = timestamp++;
 
   return reward;
 }
@@ -162,7 +164,11 @@ int main(int argc, char *argv[]) {
             uint32_t startPoint, endPoint;
             bool error = false, readed = false;
             do {
+              
+              std::cout << "Try read episode Start: ";
               error = !server.tryReadEpisodeStart(startPoint, endPoint, readed);
+              std::cout << error << std::endl; 
+
             } while (!readed && !error);
 
             if (error) {
@@ -181,12 +187,13 @@ int main(int argc, char *argv[]) {
               break;
             } else if (readed) {
               std::cout << "CONTROL -->  gas: " << gas << " steer: " << steer << std::endl;
-            }
+            }      
+
+              if (!server.sendReward(makeReward().release())) {
+                std::cerr << "ERROR while sending Reward" << std::endl;
+                break;
+              }
 
-            if (!server.sendReward(makeReward().release())) {
-              std::cerr << "ERROR while sending Reward" << std::endl;
-              break;
-            }
           }
         }
         std::cout << " -----  RESTARTING -----" <<  std::endl;