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Fix #313 include map name in scene description message

This commit is contained in:
nsubiron 2018-04-14 17:55:18 +02:00
parent 6458981ffe
commit 951694aa91
18 changed files with 111 additions and 77 deletions
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2
.travis.yml
View File

@ -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:

37
PythonClient/carla/carla_server_pb2.py
View File

@ -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

2
PythonClient/client_example.py
View File

@ -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.

31
PythonClient/manual_control.py
View File

@ -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

18
PythonClient/view_start_positions.py
View File

@ -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)

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
View File

@ -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();

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Lidar.h
View File

@ -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;

26
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.cpp
View File

@ -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)

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaEncoder.h
View File

@ -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);

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -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);

1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.h
View File

@ -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);

3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/ServerGameController.cpp
View File

@ -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;
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettings.cpp
View File

@ -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
View 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;
/// @}
// ===========================================================================

2
Util/CarlaServer/include/carla/carla_server.h
View File

@ -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;

1
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
View File

@ -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);
}

2
Util/CarlaServer/source/test/Test_CarlaServer.cpp
View File

@ -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,

1
Util/Proto/carla_server.proto
View File

@ -103,6 +103,7 @@ message RequestNewEpisode {
}
message SceneDescription {
string map_name = 3;
repeated Transform player_start_spots = 1;
repeated Sensor sensors = 2;
}