memory leak test

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/server/CarlaCommunication.cpp

@@ -233,6 +233,8 @@ namespace server {
     if (scene->SerializeToString(message.get())) {
       _worldThread.push(std::move(message));
     }
+
+    free(scene);
   }
 
   void CarlaCommunication::sendReset() {

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

@@ -193,7 +193,7 @@ namespace server {
   }
 
 
-static bool getJPEGImages(const std::vector<Image> &images, Reward &rwd){
+static bool getPNGImages(const std::vector<Image> &images, Reward &rwd){
     std::string image_data;
     std::string depth_data;
     std::string image_size_data;
@@ -236,11 +236,6 @@ static bool getJPEGImages(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);
@@ -273,10 +268,8 @@ static bool getJPEGImages(const std::vector<Image> &images, Reward &rwd){
 
 #ifdef WITH_TURBOJPEG
 
-    //constexpr int JPEG_QUALITY = 75;
-
-    if (!getJPEGImages(values.images, reward)) {
-        std::cerr << "Error compressing image to JPEG" << std::endl;
+    if (!getPNGImages(values.images, reward)) {
+        std::cerr << "Error compressing image to PNG" << std::endl;
     }
 
 #endif // WITH_TURBOJPEG

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/test/async_server.cpp

@@ -162,7 +162,11 @@ 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 +185,13 @@ 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;