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carla
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Merge branch 'nestor' into xisco

This commit is contained in:
nsubiron 2017-03-22 16:03:35 +01:00
parent 197462939f 04c7e85012
commit 9ecf48aa2b
4 changed files with 72 additions and 81 deletions
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2
Source/Carla/CityMapGenerator.cpp
View File

@ -27,7 +27,7 @@ ACityMapGenerator::~ACityMapGenerator() {}
void ACityMapGenerator::OnConstruction(const FTransform &Transform)
{
Super::OnConstruction(Transform);
UpdateMap();
// UpdateMap(); /// @todo Do we need to update the map here?
}
#if WITH_EDITOR

142
Source/Carla/Game/CarlaGameController.cpp
View File

@ -12,7 +12,7 @@
#include <carla/CarlaServer.h>
// =============================================================================
// -- static local methods -----------------------------------------------------
// -- Set functions ------------------------------------------------------------
// =============================================================================
static inline void Set(float &lhs, float rhs)
@ -44,46 +44,53 @@ static void Set(std::vector<carla::Color> &cImage, const ASceneCaptureCamera *Ca
}
}
static void ReadSceneInit(carla::CarlaServer &Server)
// =============================================================================
// -- Other static methods -----------------------------------------------------
// =============================================================================
static bool ReadSceneInit(carla::CarlaServer &Server)
{
carla::Mode mode;
uint32 scene;
UE_LOG(LogCarla, Log, TEXT("Waiting for tryReadSceneInit..."));
while (!Server.tryReadSceneInit(mode, scene)) {
// wait.
if (Server.needsRestart())
return false;
}
return true;
}
static void SendSceneValues(carla::CarlaServer &Server, const TArray<FTransform> &Transforms)
static bool SendAndReadSceneValues(
carla::CarlaServer &Server,
const TArray<APlayerStart *> &AvailableStartSpots,
uint32 &StartIndex)
{
check(AvailableStartSpots.Num() > 0);
carla::Scene_Values sceneValues;
sceneValues.possible_positions.reserve(Transforms.Num());
for (const FTransform &Transform : Transforms) {
const FVector &Location = Transform.GetLocation();
UE_LOG(LogCarla, Log, TEXT("Start position {%f, %f}"), Location.X, Location.Y);
sceneValues.possible_positions.reserve(AvailableStartSpots.Num());
for (APlayerStart *StartSpot : AvailableStartSpots) {
const FVector &Location = StartSpot->GetActorLocation();
UE_LOG(LogCarla, Log, TEXT("Found start position {%f, %f}"), Location.X, Location.Y);
sceneValues.possible_positions.push_back({Location.X, Location.Y});
}
UE_LOG(LogCarla, Log, TEXT("Send scene values"));
// Send scene values.
UE_LOG(LogCarla, Log, TEXT("Send scene values: %d positions"), sceneValues.possible_positions.size());
Server.sendSceneValues(sceneValues);
}
static uint32 ReadEpisodeStart(carla::CarlaServer &Server)
{
uint32 StartIndex;
// Wait till we receive the answer.
uint32 EndIndex;
UE_LOG(LogCarla, Log, TEXT("Waiting for tryReadEpisodeStart..."));
UE_LOG(LogCarla, Log, TEXT("Waiting for episode start..."));
while (!Server.tryReadEpisodeStart(StartIndex, EndIndex)) {
// wait.
if (Server.needsRestart())
return false;
}
UE_LOG(LogCarla, Log, TEXT("tryReadEpisodeStart received: %d - %d"), StartIndex, EndIndex);
return StartIndex;
}
static bool TryReadEpisodeStart(carla::CarlaServer &Server, uint32 &StartIndex)
{
uint32 EndIndex;
UE_LOG(LogCarla, Log, TEXT("tryReadEpisodeStart"));
return Server.tryReadEpisodeStart(StartIndex, EndIndex);
UE_LOG(LogCarla, Log, TEXT("Episode start received: %d -> %d"), StartIndex, EndIndex);
// Make sure the index is in range.
if (StartIndex >= AvailableStartSpots.Num()) {
UE_LOG(LogCarla, Warning, TEXT("Received invalid start index, using zero instead"));
StartIndex = 0u;
}
return true;
}
static void SendReward(
@ -92,7 +99,7 @@ static void SendReward(
const std::array<const ASceneCaptureCamera *, 2u> &Cameras)
{
carla::Reward_Values reward;
reward.timestamp = FMath::RoundHalfToZero(FPlatformTime::Seconds());
reward.timestamp = FMath::RoundHalfToZero(1000.0 * FPlatformTime::Seconds());
Set(reward.player_location, PlayerState.GetLocation());
Set(reward.player_orientation, PlayerState.GetOrientation());
Set(reward.player_acceleration, PlayerState.GetAcceleration());
@ -107,39 +114,24 @@ static void SendReward(
reward.image_height = Cameras[0u]->GetImageSizeY();
}
Set(reward.image_rgb_0, Cameras[0u]);
// Set(reward.image_rgb_1, Cameras[1u]);
Set(reward.image_rgb_1, Cameras[1u]);
// Set(reward.image_depth_0, );
// Set(reward.image_depth_1, );
UE_LOG(LogCarla, Log, TEXT("Send reward"));
UE_LOG(LogCarla, Log, TEXT("Sending reward"));
Server.sendReward(reward);
}
static void ReadControl(carla::CarlaServer &Server, ACarlaVehicleController &Player)
static void TryReadControl(carla::CarlaServer &Server, ACarlaVehicleController &Player)
{
float steer;
float throttle;
UE_LOG(LogCarla, Log, TEXT("Read control"));
if (Server.tryReadControl(steer, throttle)) {
Player.SetSteeringInput(steer);
Player.SetThrottleInput(throttle);
#ifdef WITH_EDITOR
UE_LOG(LogCarla, Log, TEXT("Read control: steer = %f, throttle = %f"), steer, throttle);
#endif // WITH_EDITOR
}
}
static void SetActorTransform(
ACarlaVehicleController &Player,
const TArray<FTransform> &AvailableStartTransforms,
uint32 Index)
{
if (Index >= AvailableStartTransforms.Num()) {
Index = 0u;
}
check(AvailableStartTransforms.Num() > 0);
Player.SetActorTransform(AvailableStartTransforms[Index]);
}
// =============================================================================
// -- CarlaGameController ------------------------------------------------------
// =============================================================================
@ -152,13 +144,21 @@ CarlaGameController::CarlaGameController() :
APlayerStart *CarlaGameController::ChoosePlayerStart(
const TArray<APlayerStart *> &AvailableStartSpots)
{
if (AvailableStartTransforms.Num() == 0) {
AvailableStartTransforms.Reserve(AvailableStartSpots.Num());
for (APlayerStart *StartSpot : AvailableStartSpots) {
AvailableStartTransforms.Add(StartSpot->GetActorTransform());
if (bServerNeedsRestart) {
UE_LOG(LogCarla, Log, TEXT("Initializing CarlaServer"));
Server->init(1u);
if (ReadSceneInit(*Server)) {
bServerNeedsRestart = false;
} else {
RestartLevel(true);
}
}
return AvailableStartSpots[0u];
uint32 StartIndex;
if (SendAndReadSceneValues(*Server, AvailableStartSpots, StartIndex)) {
return AvailableStartSpots[StartIndex];
} else {
RestartLevel(true);
}
}
void CarlaGameController::RegisterPlayer(AController &NewPlayer)
@ -186,32 +186,24 @@ void CarlaGameController::RegisterCaptureCamera(const ASceneCaptureCamera &Captu
void CarlaGameController::Tick(float DeltaSeconds)
{
check(Player != nullptr);
if (!Server->clientConnected() || !Server->serverConnected() || !Server->worldConnected())
if (Server->needsRestart()) {
RestartLevel(true);
return;
uint32 StartIndex;
if (bIsResetting || Server->needRestart()) {
UE_LOG(LogCarla, Log, TEXT("Initializing CarlaServer"));
Server->init(1u);
UE_LOG(LogCarla, Log, TEXT("Resetting the world"));
// Resetting the world.
ReadSceneInit(*Server);
SendSceneValues(*Server, AvailableStartTransforms);
StartIndex = ReadEpisodeStart(*Server);
SetActorTransform(*Player, AvailableStartTransforms, StartIndex);
Player->ResetPlayerState();
Server->sendEndReset();
bIsResetting = false;
} else if (TryReadEpisodeStart(*Server, StartIndex)) {
// Handle request for resetting the world.
UE_LOG(LogCarla, Log, TEXT("Handle request for resetting the world"));
SetActorTransform(*Player, AvailableStartTransforms, StartIndex);
Player->ResetPlayerState();
Server->sendEndReset();
} else {
// Regular tick.
UE_LOG(LogCarla, Log, TEXT("Tick!"));
SendReward(*Server, Player->GetPlayerState(), Cameras);
ReadControl(*Server, *Player);
}
if (Server->newEpisodeRequested()) {
UE_LOG(LogCarla, Log, TEXT("New episode requested"));
RestartLevel(false);
return;
}
SendReward(*Server, Player->GetPlayerState(), Cameras);
TryReadControl(*Server, *Player);
}
void CarlaGameController::RestartLevel(bool ServerNeedsRestart)
{
UE_LOG(LogCarla, Log, TEXT("Restarting..."));
bServerNeedsRestart = ServerNeedsRestart;
Player->RestartLevel();
}

6
Source/Carla/Game/CarlaGameController.h
View File

@ -27,13 +27,13 @@ public:
private:
void RestartLevel(bool ServerNeedsRestart);
TUniquePtr<carla::CarlaServer> Server;
ACarlaVehicleController *Player;
std::array<const ASceneCaptureCamera *, 2u> Cameras;
TArray<FTransform> AvailableStartTransforms;
bool bIsResetting = true;
bool bServerNeedsRestart = true;
};

3
Source/Carla/Game/MockGameController.cpp
View File

@ -13,8 +13,7 @@ void MockGameController::RegisterPlayer(AController &NewPlayer)
{
ACarlaVehicleController *VehicleController = Cast<ACarlaVehicleController>(&NewPlayer);
if (VehicleController != nullptr) {
if (!VehicleController->IsInManualMode())
VehicleController->SetManualMode(true);
VehicleController->SetManualMode(true);
} else {
UE_LOG(LogCarla, Warning, TEXT("Player is not a ACarlaVehicleController"));
}