Merge pull request #38 from carla-simulator/new_client_api_felipemod

Adding load settings and modification on settings.py (issue #32)

PythonClient/carla/client.py

@@ -34,6 +34,10 @@ class CarlaClient(object):
         self._world_client = tcp.TCPClient(host, world_port, timeout)
         self._stream_client = tcp.TCPClient(host, world_port + 1, timeout)
         self._control_client = tcp.TCPClient(host, world_port + 2, timeout)
+        self._current_settings = None
+        # Controls the state, if an episode is already started.
+        self._is_episode_requested = False
+        # Variable to control the latest episode where the it started
 
     def connect(self):
         self._world_client.connect()
@@ -46,11 +50,13 @@ class CarlaClient(object):
     def connected(self):
         return self._world_client.connected()
 
-    def request_new_episode(self, carla_settings):
-        """Request a new episode. carla_settings object must be convertible to
-        a str holding a CarlaSettings.ini.
+    def _request_new_episode(self, carla_settings):
+        """Request a new episode. Internal function to 
+        request information about a new episode episode that
+        is going to start. It also prepare the client for
+        reset by disconnecting stream and control clients.
+
 
-        Returns a protobuf object holding the scene description.
         """
         # Disconnect agent clients.
         self._stream_client.disconnect()
@@ -67,29 +73,51 @@ class CarlaClient(object):
         pb_message.ParseFromString(data)
         if len(pb_message.player_start_spots) < 1:
             raise RuntimeError("received 0 player start spots")
+        self._is_episode_requested =True
         return pb_message
+    def load_settings(self, carla_settings):
+        """ Abstraction to new episode request. carla_settings object must be convertible to
+        a str holding a CarlaSettings.ini. Loads new settings to the server.
+
+        Returns a protobuf object holding the scene description.
+        """
+        self._current_settings = carla_settings
+        return self._request_new_episode(carla_settings)
+
 
     def start_episode(self, player_start_index):
         """Start the new episode at the player start given by the
         player_start_index. The list of player starts is retrieved by
-        request_new_episode().
+        load_settings().
 
         This function waits until the server answers with an EpisodeReady.
         """
-        pb_message = carla_protocol.EpisodeStart()
-        pb_message.player_start_spot_index = player_start_index
-        self._world_client.write(pb_message.SerializeToString())
-        # Wait for EpisodeReady.
-        data = self._world_client.read()
-        if not data:
-            raise RuntimeError('failed to read data from server')
-        pb_message = carla_protocol.EpisodeReady()
-        pb_message.ParseFromString(data)
-        if not pb_message.ready:
-            raise RuntimeError('cannot start episode: server failed to start episode')
-        # We can start the agent clients now.
-        self._stream_client.connect()
-        self._control_client.connect()
+
+        if self._current_settings == None:
+            raise RuntimeError('no settings loaded, cannot start episode')
+
+        # if no new settings are loaded, request new episode with previous
+        if not self._is_episode_requested: 
+            self._request_new_episode(self._current_settings)
+
+        try:
+            pb_message = carla_protocol.EpisodeStart()
+            pb_message.player_start_spot_index = player_start_index
+            self._world_client.write(pb_message.SerializeToString())
+            # Wait for EpisodeReady.
+            data = self._world_client.read()
+            if not data:
+                raise RuntimeError('failed to read data from server')
+            pb_message = carla_protocol.EpisodeReady()
+            pb_message.ParseFromString(data)
+            if not pb_message.ready:
+                raise RuntimeError('cannot start episode: server failed to start episode')
+            # We can start the agent clients now.
+            self._stream_client.connect()
+            self._control_client.connect()
+            # Set again the status for no episode requested
+        finally:
+            self._is_episode_requested = False
 
     def read_measurements(self):
         """Read measuremnts of current frame. The episode must be started.

PythonClient/carla/settings.py

@@ -9,15 +9,16 @@
 import io
 import random
 import sys
-
-try:
-
-    from configparser import ConfigParser
-
-except ImportError:
+import sys
+is_py2 = sys.version[0] == '2'
+if is_py2:
 
     from ConfigParser import RawConfigParser as ConfigParser
 
+else:
+    
+    from configparser import ConfigParser
+
 
 MAX_NUMBER_OF_WEATHER_IDS = 14
 
@@ -143,5 +144,6 @@ class CarlaSettings(object):
             text = io.StringIO()
         else:
             text = io.BytesIO()
+
         ini.write(text)
         return text.getvalue().replace(' = ', '=')

PythonClient/client_example.py

@@ -69,13 +69,13 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 camera1.set_position(30, 0, 130)
                 settings.add_camera(camera1)
 
-            print('Requesting new episode...')
+                print('Loading the new settings ...')
 
-            # Now we request a new episode with these settings. The server
-            # replies with a scene description containing the available start
-            # spots for the player. Here instead of a CarlaSettings object we
-            # can also provide a CarlaSettings.ini file as string.
-            scene = client.request_new_episode(settings)
+                # Now we load these new settings. The server
+                # replies with a scene description containing the available start
+                # spots for the player. Here instead of a CarlaSettings object we
+                # can also provide a CarlaSettings.ini file as string.
+                scene = client.load_settings(settings)
 
             # Choose one player start at random.
             number_of_player_starts = len(scene.player_start_spots)

PythonClient/manual_control.py

@@ -134,10 +134,11 @@ class CarlaGame(object):
         self._on_new_episode()
 
     def _on_new_episode(self):
-        print('Requesting new episode...')
-        scene = self.client.request_new_episode(make_carla_settings())
+        
+        scene = self.client.load_settings(make_carla_settings())
         number_of_player_starts = len(scene.player_start_spots)
         player_start = np.random.randint(number_of_player_starts)
+        print('Starting new episode...')
         self.client.start_episode(player_start)
         self._timer = Timer()
         self._is_on_reverse = False