Add config file

README.md

@@ -3,6 +3,11 @@ CARLA UE4 Plugin
 
 Plugin for Unreal Engine 4.
 
+Settings
+--------
+
+See [Resources/Example.CarlaSettings.ini](Resources/Example.CarlaSettings.ini).
+
 Compiling a UE4 project with CARLA plugin
 -----------------------------------------
 

Resources/Example.CarlaSettings.ini

@@ -0,0 +1,22 @@
+; Example of settings file for CARLA.
+;
+; Either provide through command-line `-carla-settings=<path-to-ini-file>`, or
+; make a copy at `{ProjectFolder}/Config/CarlaSettings.ini`.
+
+[CARLA/Server]
+; If set to false, a mock controller will be used instead of waiting for a
+; client to connect.
+UseNetworking=true
+; Ports to use for the server-client communication. This can be overriden by the
+; command-line switch `-world-port=N`, write and read ports will be set to N+1
+; and N+2 respectively.
+WorldPort=2000
+WritePort=2001
+ReadPort=2002
+
+[CARLA/SceneCapture]
+; Valid values: Mono, Stereo, NoCapture.
+Mode=Mono
+; Size of the captured image in pixels.
+ImageSizeX=720
+ImageSizeY=512

Resources/RELEASE.README.md

@@ -0,0 +1,11 @@
+CARLA UE4
+=========
+
+To run the game at fixed time-step, e.g. 30 FPS
+
+    $ CarlaUE4.sh -benchmark -fps=30
+
+Other CARLA related command-line options
+
+  * `-carla-settings=<ini-file-path>` Load settings from the given INI file. See Example.CarlaSettings.ini.
+  * `-world-port=<port-number>` Listen for client connections at <port-number>, write and read ports are set to <port-number>+1 and <port-number>+2 respectively.

Source/Carla/Game/CarlaGameController.cpp

@@ -191,24 +191,9 @@ static bool TryReadControl(carla::CarlaServer &Server, ACarlaVehicleController &
 // -- CarlaGameController ------------------------------------------------------
 // =============================================================================
 
-CarlaGameController::CarlaGameController() :
-  Server(nullptr),
-  Player(nullptr) {
-  uint32 WorldPort;
-  if (!FParse::Value(FCommandLine::Get(), TEXT("-world-port="), WorldPort)) {
-    WorldPort = 2000u;
-  }
-  const uint32 WritePort = WorldPort + 1u;
-  const uint32 ReadPort = WorldPort + 2u;
-  UE_LOG(
-      LogCarlaServer,
-      Log,
-      TEXT("Creating CarlaServer with ports: world %d, write %d, read %d"),
-      WorldPort,
-      WritePort,
-      ReadPort);
-  Server = MakeUnique<carla::CarlaServer>(WritePort, ReadPort, WorldPort);
-}
+CarlaGameController::CarlaGameController(uint32 WorldPort, uint32 WritePort, uint32 ReadPort) :
+  Server(MakeUnique<carla::CarlaServer>(WritePort, ReadPort, WorldPort)),
+  Player(nullptr) {}
 
 CarlaGameController::~CarlaGameController()
 {

Source/Carla/Game/CarlaGameController.h

@@ -15,7 +15,7 @@ class CARLA_API CarlaGameController : public CarlaGameControllerBase
 {
 public:
 
-  CarlaGameController();
+  CarlaGameController(uint32 WorldPort, uint32 WritePort, uint32 ReadPort);
 
   ~CarlaGameController();
 

Source/Carla/Game/CarlaGameInstance.cpp

@@ -4,18 +4,29 @@
 #include "CarlaGameInstance.h"
 
 #include "CarlaGameController.h"
+#include "CarlaSettings.h"
 #include "MockGameController.h"
 
+UCarlaGameInstance::UCarlaGameInstance() {
+  CarlaSettings = CreateDefaultSubobject<UCarlaSettings>(TEXT("CarlaSettings"));
+  check(CarlaSettings != nullptr);
+  CarlaSettings->LoadSettings();
+  CarlaSettings->LogSettings();
+}
+
 UCarlaGameInstance::~UCarlaGameInstance() {}
 
-void UCarlaGameInstance::InitializeGameControllerIfNotPresent(bool bUseMockController)
+void UCarlaGameInstance::InitializeGameControllerIfNotPresent()
 {
   if (GameController == nullptr) {
-    if (bUseMockController) {
+    if (CarlaSettings->bUseNetworking) {
+      GameController = MakeUnique<CarlaGameController>(
+          CarlaSettings->WorldPort,
+          CarlaSettings->WritePort,
+          CarlaSettings->ReadPort);
+    } else {
       GameController = MakeUnique<MockGameController>();
       UE_LOG(LogCarla, Warning, TEXT("Using mock CARLA controller"));
-    } else {
-      GameController = MakeUnique<CarlaGameController>();
     }
   }
 }

Source/Carla/Game/CarlaGameInstance.h

@@ -6,6 +6,8 @@
 #include "CarlaGameControllerBase.h"
 #include "CarlaGameInstance.generated.h"
 
+class UCarlaSettings;
+
 /**
  *
  */
@@ -16,9 +18,11 @@ class CARLA_API UCarlaGameInstance : public UGameInstance
 
 public:
 
+  UCarlaGameInstance();
+
   ~UCarlaGameInstance();
 
-  void InitializeGameControllerIfNotPresent(bool bUseMockController);
+  void InitializeGameControllerIfNotPresent();
 
   CarlaGameControllerBase &GetGameController()
   {
@@ -26,7 +30,16 @@ public:
     return *GameController;
   }
 
+  const UCarlaSettings &GetCarlaSettings() const
+  {
+    check(CarlaSettings != nullptr);
+    return *CarlaSettings;
+  }
+
 private:
 
+  UPROPERTY(Category = "CARLA Settings", EditAnywhere)
+  UCarlaSettings *CarlaSettings;
+
   TUniquePtr<CarlaGameControllerBase> GameController;
 };

Source/Carla/Game/CarlaGameMode.cpp

@@ -40,7 +40,7 @@ void ACarlaGameMode::InitGame(
   checkf(
       GameInstance != nullptr,
       TEXT("GameInstance is not a UCarlaGameInstance, did you forget to set it in the project settings?"));
-  GameInstance->InitializeGameControllerIfNotPresent(bUseMockController);
+  GameInstance->InitializeGameControllerIfNotPresent();
   GameController = &GameInstance->GetGameController();
   GameController->Initialize();
 }

Source/Carla/Game/CarlaGameMode.h

@@ -17,10 +17,6 @@ class CARLA_API ACarlaGameMode : public AGameModeBase
 {
   GENERATED_BODY()
 
-  /** Use a mock controller instead of connecting to a client */
-  UPROPERTY(Category = "CARLA Game Controller", EditAnywhere)
-  bool bUseMockController = false;
-
 public:
 
   ACarlaGameMode();

Source/Carla/Game/CarlaSettings.cpp

@@ -0,0 +1,147 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#include "Carla.h"
+#include "CarlaSettings.h"
+
+#include "CommandLine.h"
+#include "ConfigCacheIni.h"
+
+#include <limits>
+
+template <typename TARGET, typename SOURCE>
+static void SafeCastTo(SOURCE source, TARGET &target)
+{
+  if ((source >= std::numeric_limits<TARGET>::min()) &&
+      (source <= std::numeric_limits<TARGET>::max())) {
+    target = static_cast<TARGET>(source);
+  }
+}
+
+class INIFile {
+public:
+
+  explicit INIFile(const FString &FileName)
+  {
+    ConfigFile.Read(FileName);
+  }
+
+  void GetBool(const TCHAR* Section, const TCHAR* Key, bool &Target) const
+  {
+    bool Value;
+    if (ConfigFile.GetBool(Section, Key, Value)) {
+      Target = Value;
+    }
+  }
+
+  template <typename T>
+  void GetInt(const TCHAR* Section, const TCHAR* Key, T &Target) const
+  {
+    int64 Value;
+    if (ConfigFile.GetInt64(Section, Key, Value)) {
+      SafeCastTo<T>(Value, Target);
+    }
+  }
+
+  void GetString(const TCHAR* Section, const TCHAR* Key, FString &Target) const
+  {
+    FString Value;
+    if (ConfigFile.GetString(Section, Key, Value)) {
+      Target = Value;
+    }
+  }
+
+  void GetSceneCaptureMode(const TCHAR* Section, const TCHAR* Key, ESceneCaptureMode &Target) const
+  {
+    FString ModeString;
+    if (ConfigFile.GetString(Section, Key, ModeString)) {
+      if (ModeString == "Stereo") {
+        Target = ESceneCaptureMode::Stereo;
+      } else if (ModeString == "Mono") {
+        Target = ESceneCaptureMode::Mono;
+      } else if (ModeString == "NoCapture") {
+        Target = ESceneCaptureMode::NoCapture;
+      }
+    }
+  }
+
+private:
+
+  FConfigFile ConfigFile;
+};
+
+#define CARLA_SERVER_SECTION       TEXT("CARLA/Server")
+#define CARLA_SCENECAPTURE_SECTION TEXT("CARLA/SceneCapture")
+static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settings)
+{
+  UE_LOG(LogCarla, Log, TEXT("Loading settings from \"%s\""), *FileName);
+  INIFile ConfigFile(FileName);
+  ConfigFile.GetBool(CARLA_SERVER_SECTION, TEXT("UseNetworking"), Settings.bUseNetworking);
+  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("WorldPort"), Settings.WorldPort);
+  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("WritePort"), Settings.WritePort);
+  ConfigFile.GetInt(CARLA_SERVER_SECTION, TEXT("ReadPort"), Settings.ReadPort);
+  ConfigFile.GetSceneCaptureMode(CARLA_SCENECAPTURE_SECTION, TEXT("Mode"), Settings.SceneCaptureMode);
+  ConfigFile.GetInt(CARLA_SCENECAPTURE_SECTION, TEXT("ImageSizeX"), Settings.ImageSizeX);
+  ConfigFile.GetInt(CARLA_SCENECAPTURE_SECTION, TEXT("ImageSizeY"), Settings.ImageSizeY);
+}
+
+static bool GetSettingsFileName(FString &Value)
+{
+  // Try to get it from the command-line arguments.
+  if (FParse::Value(FCommandLine::Get(), TEXT("-carla-settings="), Value)) {
+    if (FPaths::FileExists(Value)) {
+      return true;
+    }
+    UE_LOG(LogCarla, Error, TEXT("Unable to find settings file \"%s\", falling back to default values"), *Value);
+  }
+  // If fails, check if there is one in the config folder.
+  Value = FPaths::Combine(FPaths::GameConfigDir(), TEXT("CarlaSettings.ini"));
+  if (FPaths::FileExists(Value)) {
+    return true;
+  }
+  return false;
+}
+
+void UCarlaSettings::LoadSettings()
+{
+  FString FileName;
+  if (GetSettingsFileName(FileName)) {
+    LoadSettingsFromFile(FileName, *this);
+    CurrentFileName = FileName;
+  } else {
+    CurrentFileName = TEXT("");
+  }
+  // Override settings from command-line.
+  uint32 Value;
+  if (FParse::Value(FCommandLine::Get(), TEXT("-world-port="), Value)) {
+    WorldPort = Value;
+    WritePort = Value + 1u;
+    ReadPort = Value + 2u;
+  }
+}
+
+void UCarlaSettings::LogSettings()
+{
+  auto ModeAsString = [](ESceneCaptureMode Mode) {
+    switch (Mode) {
+      case ESceneCaptureMode::Mono:      return TEXT("Mono");
+      case ESceneCaptureMode::Stereo:    return TEXT("Stereo");
+      case ESceneCaptureMode::NoCapture: return TEXT("NoCapture");
+      default:                           return TEXT("INVALID");
+    };
+  };
+  UE_LOG(LogCarla, Log, TEXT("== CARLA Settings =============================================================="));
+  UE_LOG(LogCarla, Log, TEXT("Settings file: %s"), *CurrentFileName);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), CARLA_SERVER_SECTION);
+  UE_LOG(LogCarla, Log, TEXT("UseNetworking=%s"), (bUseNetworking ? TEXT("true") : TEXT("false")));
+  UE_LOG(LogCarla, Log, TEXT("WorldPort=%d"), WorldPort);
+  UE_LOG(LogCarla, Log, TEXT("WritePort=%d"), WritePort);
+  UE_LOG(LogCarla, Log, TEXT("ReadPort=%d"), ReadPort);
+  UE_LOG(LogCarla, Log, TEXT("[%s]"), CARLA_SCENECAPTURE_SECTION);
+  UE_LOG(LogCarla, Log, TEXT("Mode=%s"), ModeAsString(SceneCaptureMode));
+  UE_LOG(LogCarla, Log, TEXT("ImageSizeX=%d"), ImageSizeX);
+  UE_LOG(LogCarla, Log, TEXT("ImageSizeY=%d"), ImageSizeY);
+  UE_LOG(LogCarla, Log, TEXT("================================================================================"));
+}
+
+#undef CARLA_SERVER_SECTION
+#undef CARLA_SCENECAPTURE_SECTION

Source/Carla/Game/CarlaSettings.h

@@ -0,0 +1,82 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "UObject/NoExportTypes.h"
+#include "CarlaSettings.generated.h"
+
+UENUM(BlueprintType)
+enum class ESceneCaptureMode : uint8
+{
+  Mono       UMETA(DisplayName = "Mono: Single RGB capture"),
+  Stereo     UMETA(DisplayName = "Stereo: Stereo RGB captures and Depth maps"),
+  NoCapture  UMETA(DisplayName = "No capture")
+};
+
+/// Global settings for CARLA.
+UCLASS()
+class CARLA_API UCarlaSettings : public UObject
+{
+  GENERATED_BODY()
+
+private:
+
+  /** File name of the settings file used to load this settings. Empty if none used. */
+  UPROPERTY(Category = "CARLA Settings|Debug", VisibleAnywhere)
+  FString CurrentFileName;
+
+  // ===========================================================================
+  /// @name CARLA Server
+  // ===========================================================================
+  /// @{
+public:
+
+  /** If active, wait for the client to connect and control the pawn. */
+  UPROPERTY(Category = "CARLA Server", EditDefaultsOnly)
+  bool bUseNetworking = true;
+
+  /** World port to listen for client connections. */
+  UPROPERTY(Category = "CARLA Server", EditDefaultsOnly, meta = (EditCondition = bUseNetworking))
+  uint32 WorldPort = 2000u;
+
+  /** If networking is active, rewards are sent to this port. */
+  UPROPERTY(Category = "CARLA Server", EditDefaultsOnly, meta = (EditCondition = bUseNetworking))
+  uint32 WritePort = 2001u;
+
+  /** If networking is active, controls are read from this port. */
+  UPROPERTY(Category = "CARLA Server", EditDefaultsOnly, meta = (EditCondition = bUseNetworking))
+  uint32 ReadPort = 2002u;
+
+  /// @}
+  // ===========================================================================
+  /// @name Scene Capture
+  // ===========================================================================
+  /// @{
+public:
+
+  /** Controls the number and type of scene capture cameras that are added to the player. */
+  UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
+  ESceneCaptureMode SceneCaptureMode = ESceneCaptureMode::Mono;
+
+  /** X size in pixels of the captured image. */
+  UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
+  uint32 ImageSizeX = 720u;
+
+  /** Y size in pixels of the captured image. */
+  UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
+  uint32 ImageSizeY = 512u;
+
+  /// @}
+
+  // ===========================================================================
+  // -- Other ------------------------------------------------------------------
+  // ===========================================================================
+
+public:
+
+  /** Load the settings based on the command-line arguments and the INI file if provided . */
+  void LoadSettings();
+
+  /** Log settings values . */
+  void LogSettings();
+};