Added timeout to World Tick (#2556)

* Added timeout to World Tick

* Updated Changelog

* Fixed timeout on SetEpisodeSettings

Co-authored-by: bernat <bernatx@gmail.com>
Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com>
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>

CHANGELOG.md

@@ -14,6 +14,7 @@
   * Added landmark class for signal-related queries.
   * Added support to parse OpenDRIVE signals.
   * Added junction class as queryable object from waypoint
+  * Added timeout to World Tick
   * Added simple physical map generation from standalone OpenDRIVE data
   * Added support for generating walker navigation on server-side
   * Added support for new geometry: `spiral`, `poly3`, and `paramPoly3`

LibCarla/source/carla/client/World.cpp

@@ -105,8 +105,8 @@ namespace client {
     _episode.Lock()->RemoveOnTickEvent(callback_id);
   }
 
-  uint64_t World::Tick() {
-    return _episode.Lock()->Tick();
+  uint64_t World::Tick(time_duration timeout) {
+    return _episode.Lock()->Tick(timeout);
   }
 
   void World::SetPedestriansCrossFactor(float percentage) {

LibCarla/source/carla/client/World.h

@@ -117,7 +117,7 @@ namespace client {
     /// synchronous mode).
     ///
     /// @return The id of the frame that this call started.
-    uint64_t Tick();
+    uint64_t Tick(time_duration timeout);
 
     /// set the probability that an agent could cross the roads in its path following
     /// percentage of 0.0f means no pedestrian can cross roads

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -44,13 +44,25 @@ namespace detail {
     }
   }
 
-  static void SynchronizeFrame(uint64_t frame, const Episode &episode) {
+  static bool SynchronizeFrame(uint64_t frame, const Episode &episode, time_duration timeout) {
+    bool result = true;
+    auto start = std::chrono::system_clock::now();
     while (frame > episode.GetState()->GetTimestamp().frame) {
       std::this_thread::yield();
+      auto end = std::chrono::system_clock::now();
+      auto diff = std::chrono::duration_cast<std::chrono::milliseconds>(end-start);
+      if(timeout.to_chrono() < diff) {
+        result = false;
+        break;
       }
+    }
+    if(result) {
       carla::traffic_manager::TrafficManager::Tick();
     }
 
+    return result;
+  }
+
   // ===========================================================================
   // -- Constructor ------------------------------------------------------------
   // ===========================================================================
@@ -126,10 +138,13 @@ namespace detail {
     return *result;
   }
 
-  uint64_t Simulator::Tick() {
+  uint64_t Simulator::Tick(time_duration timeout) {
     DEBUG_ASSERT(_episode != nullptr);
     const auto frame = _client.SendTickCue();
-    SynchronizeFrame(frame, *_episode);
+    bool result = SynchronizeFrame(frame, *_episode, timeout);
+    if (!result) {
+      throw_exception(TimeoutException(_client.GetEndpoint(), timeout));
+    }
     return frame;
   }
 
@@ -153,7 +168,8 @@ namespace detail {
           "recommended to set 'fixed_delta_seconds' when running on synchronous mode.");
     }
     const auto frame = _client.SetEpisodeSettings(settings);
-    SynchronizeFrame(frame, *_episode);
+    using namespace std::literals::chrono_literals;
+    SynchronizeFrame(frame, *_episode, 10s);
     return frame;
   }
 

LibCarla/source/carla/client/detail/Simulator.h

@@ -156,7 +156,7 @@ namespace detail {
       _episode->RemoveOnTickEvent(id);
     }
 
-    uint64_t Tick();
+    uint64_t Tick(time_duration timeout);
 
     /// @}
     // =========================================================================

PythonAPI/carla/source/libcarla/World.cpp

@@ -56,6 +56,11 @@ static size_t OnTick(carla::client::World &self, boost::python::object callback)
   return self.OnTick(MakeCallback(std::move(callback)));
 }
 
+static auto Tick(carla::client::World &world, double seconds) {
+  carla::PythonUtil::ReleaseGIL unlock;
+  return world.Tick(TimeDurationFromSeconds(seconds));
+}
+
 static auto GetActorsById(carla::client::World &self, const boost::python::list &actor_ids) {
   std::vector<carla::ActorId> ids{
       boost::python::stl_input_iterator<carla::ActorId>(actor_ids),
@@ -155,7 +160,7 @@ void export_world() {
     .def("wait_for_tick", &WaitForTick, (arg("seconds")=10.0))
     .def("on_tick", &OnTick, (arg("callback")))
     .def("remove_on_tick", &cc::World::RemoveOnTick, (arg("callback_id")))
-    .def("tick", CALL_WITHOUT_GIL(cc::World, Tick))
+    .def("tick", &Tick, (arg("seconds")=10.0))
     .def("set_pedestrians_cross_factor", CALL_WITHOUT_GIL_1(cc::World, SetPedestriansCrossFactor, float), (arg("percentage")))
     .def(self_ns::str(self_ns::self))
   ;