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Fixes from PR

This commit is contained in:
bernatx 2019-07-01 16:23:47 +02:00 committed by Néstor Subirón
parent b41efd90cf
commit b652e67295
18 changed files with 134 additions and 94 deletions
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33
LibCarla/cmake/client/CMakeLists.txt
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@ -17,7 +17,7 @@ install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include/system)
file(GLOB boost_libraries "${BOOST_LIB_PATH}/*.*")
install(FILES ${boost_libraries} DESTINATION lib)
# Windows need libpng alongside with zlib to be installed, and also recast&detour libs
# Windows need libpng alongside with zlib to be installed
if (WIN32)
# Install zlib headers.
file(GLOB zlib_includes "${ZLIB_INCLUDE_PATH}/*")
@ -211,15 +211,16 @@ if (LIBCARLA_BUILD_RELEASE)
if (NOT DEFINED CMAKE_CXX_FLAGS_RELEASE_CLIENT)
set(CMAKE_CXX_FLAGS_RELEASE_CLIENT ${CMAKE_CXX_FLAGS_RELEASE})
endif()
set_target_properties(carla_client PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE_CLIENT}")
endif (WIN32)
set_target_properties(carla_client PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_RELEASE_CLIENT}")
target_link_libraries(carla_client "${RECAST_LIB_PATH}/libRecast.a")
target_link_libraries(carla_client "${RECAST_LIB_PATH}/libDetour.a")
target_link_libraries(carla_client "${RECAST_LIB_PATH}/libDetourCrowd.a")
endif()
endif (WIN32)
endif()
if (LIBCARLA_BUILD_DEBUG)
@ -232,11 +233,25 @@ if (LIBCARLA_BUILD_DEBUG)
install(TARGETS carla_client_debug DESTINATION lib)
set_target_properties(carla_client_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
if (WIN32) # @todo Fix PythonAPI build on Windows.
set_target_properties(carla_client_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG}")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/Recast.lib")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/Detour.lib")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/DetourCrowd.lib")
else ()
if (NOT DEFINED CMAKE_CXX_FLAGS_DEBUG_CLIENT)
set(CMAKE_CXX_FLAGS_DEBUG_CLIENT ${CMAKE_CXX_FLAGS_DEBUG})
endif()
set_target_properties(carla_client_debug PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS_DEBUG_CLIENT}")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libRecast.a")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libDetour.a")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libDetourCrowd.a")
endif (WIN32)
target_compile_definitions(carla_client_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_DEBUGGING)
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libRecast.a")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libDetour.a")
target_link_libraries(carla_client_debug "${RECAST_LIB_PATH}/libDetourCrowd.a")
endif()

22
LibCarla/source/carla/client/WalkerAIController.cpp
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@ -40,19 +40,24 @@ namespace client {
}
}
geom::Location WalkerAIController::GetRandomLocation() {
boost::optional<geom::Location> WalkerAIController::GetRandomLocation() {
auto nav = GetEpisode().Lock()->GetNavigation();
if (nav != nullptr) {
return nav->GetRandomLocation();
}
return geom::Location(0, 0, 0);
return {};
}
void WalkerAIController::GoToLocation(const carla::geom::Location &destination) {
auto nav = GetEpisode().Lock()->GetNavigation();
if (nav != nullptr) {
if (!nav->SetWalkerTarget(GetParent()->GetId(), destination)) {
logging::log("NAV: Failed to set request to go to ", destination.x, destination.y, destination.z);
auto walker = GetParent();
if (walker != nullptr) {
if (!nav->SetWalkerTarget(walker->GetId(), destination)) {
log_warning("NAV: Failed to set request to go to ", destination.x, destination.y, destination.z);
}
} else {
log_warning("NAV: Failed to set request to go to ", destination.x, destination.y, destination.z, "(parent does not exist)");
}
}
}
@ -60,8 +65,13 @@ namespace client {
void WalkerAIController::SetMaxSpeed(const float max_speed) {
auto nav = GetEpisode().Lock()->GetNavigation();
if (nav != nullptr) {
if (!nav->SetWalkerMaxSpeed(GetParent()->GetId(), max_speed)) {
logging::log("NAV: failed to set max speed");
auto walker = GetParent();
if (walker != nullptr) {
if (!nav->SetWalkerMaxSpeed(walker->GetId(), max_speed)) {
log_warning("NAV: failed to set max speed");
}
} else {
log_warning("NAV: failed to set max speed (parent does not exist)");
}
}
}

4
LibCarla/source/carla/client/WalkerAIController.h
View File

@ -10,6 +10,8 @@
#include "carla/client/detail/WalkerNavigation.h"
#include "carla/geom/Vector3D.h"
#include <optional>
namespace carla {
namespace client {
@ -22,7 +24,7 @@ namespace client {
void Stop();
geom::Location GetRandomLocation();
boost::optional<geom::Location> GetRandomLocation();
void GoToLocation(const carla::geom::Location &destination);

2
LibCarla/source/carla/client/World.cpp
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@ -25,7 +25,7 @@ namespace client {
return _episode.Lock()->GetBlueprintLibrary();
}
geom::Location World::GetRandomLocationFromNavigation() const {
boost::optional<geom::Location> World::GetRandomLocationFromNavigation() const {
return _episode.Lock()->GetRandomLocationFromNavigation();
}

4
LibCarla/source/carla/client/World.h
View File

@ -19,6 +19,8 @@
#include "carla/rpc/VehiclePhysicsControl.h"
#include "carla/rpc/WeatherParameters.h"
#include <optional>
namespace carla {
namespace client {
@ -52,7 +54,7 @@ namespace client {
SharedPtr<BlueprintLibrary> GetBlueprintLibrary() const;
/// Get a random location from the pedestrians navigation mesh
geom::Location GetRandomLocationFromNavigation() const;
boost::optional<geom::Location> GetRandomLocationFromNavigation() const;
/// Return the spectator actor. The spectator controls the view in the
/// simulator window.

1
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -9,7 +9,6 @@
#include "carla/Exception.h"
#include "carla/Version.h"
#include "carla/client/TimeoutException.h"
#include "carla/nav/Navigation.h"
#include "carla/rpc/ActorDescription.h"
#include "carla/rpc/BoneTransformData.h"
#include "carla/rpc/Client.h"

1
LibCarla/source/carla/client/detail/Episode.cpp
View File

@ -8,6 +8,7 @@
#include "carla/Logging.h"
#include "carla/client/detail/Client.h"
#include "carla/client/detail/WalkerNavigation.h"
#include "carla/sensor/Deserializer.h"
#include <exception>

1
LibCarla/source/carla/client/detail/Episode.h
View File

@ -14,7 +14,6 @@
#include "carla/client/detail/CachedActorList.h"
#include "carla/client/detail/CallbackList.h"
#include "carla/client/detail/EpisodeState.h"
#include "carla/client/detail/WalkerNavigation.h"
#include "carla/rpc/EpisodeInfo.h"
#include <vector>

2
LibCarla/source/carla/client/detail/Simulator.cpp
View File

@ -169,7 +169,7 @@ namespace detail {
navigation->UnregisterWalker(walker->GetId(), controller.GetId());
}
geom::Location Simulator::GetRandomLocationFromNavigation() {
boost::optional<geom::Location> Simulator::GetRandomLocationFromNavigation() {
DEBUG_ASSERT(_episode != nullptr);
auto navigation = _episode->CreateNavigationIfMissing();
DEBUG_ASSERT(navigation != nullptr);

9
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -24,6 +24,7 @@
#include "carla/rpc/TrafficLightState.h"
#include <memory>
#include <optional>
namespace carla {
namespace client {
@ -184,7 +185,7 @@ namespace detail {
void UnregisterAIController(const WalkerAIController &controller);
geom::Location GetRandomLocationFromNavigation();
boost::optional<geom::Location> GetRandomLocationFromNavigation();
std::shared_ptr<WalkerNavigation> GetNavigation() {
return _episode->GetNavigation();
@ -351,12 +352,6 @@ namespace detail {
_client.SetReplayerTimeFactor(time_factor);
}
/// @}
// =========================================================================
/// @name Operations with walkers
// =========================================================================
/// @{
/// @}
// =========================================================================
/// @name Operations with sensors

9
LibCarla/source/carla/client/detail/WalkerNavigation.h
View File

@ -10,7 +10,6 @@
#include "carla/nav/Navigation.h"
#include "carla/NonCopyable.h"
#include "carla/client/Timestamp.h"
#include "carla/client/detail/Client.h"
#include "carla/client/detail/EpisodeProxy.h"
#include "carla/rpc/ActorId.h"
@ -62,10 +61,12 @@ namespace detail {
void Tick(const EpisodeState &episode_state);
// Get Random location in nav mesh
geom::Location GetRandomLocation() {
boost::optional<geom::Location> GetRandomLocation() {
geom::Location random_location(0, 0, 0);
_nav.GetRandomLocation(random_location, 1.0f);
return random_location;
if (_nav.GetRandomLocation(random_location, 1.0f))
return boost::optional<geom::Location>(random_location);
else
return {};
}
// set a new target point to go

87
LibCarla/source/carla/nav/Navigation.cpp
View File

@ -13,6 +13,7 @@
#include <iterator>
#include <fstream>
#include <mutex>
namespace carla {
namespace nav {
@ -55,7 +56,7 @@ namespace nav {
static const float AGENT_RADIUS = 0.3f;
// return a random float
float frand() {
static float frand() {
return static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
}
@ -70,7 +71,7 @@ namespace nav {
}
// load navigation data
bool Navigation::Load(const std::string filename) {
bool Navigation::Load(const std::string &filename) {
std::ifstream f;
std::istream_iterator<uint8_t> start(f), end;
@ -83,14 +84,15 @@ namespace nav {
f.close();
// parse the content
return Load(content);
return Load(std::move(content));
}
// load navigation data from memory
bool Navigation::Load(const std::vector<uint8_t> content) {
bool Navigation::Load( std::vector<uint8_t> content) {
const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'MSET';
const int NAVMESHSET_VERSION = 1;
#pragma pack(push, 1)
struct NavMeshSetHeader {
int magic;
int version;
@ -155,7 +157,6 @@ namespace nav {
}
// read the tile
memset(data, 0, static_cast<size_t>(tileHeader.dataSize));
memcpy(data, &content[pos], static_cast<size_t>(tileHeader.dataSize));
pos += static_cast<unsigned long>(tileHeader.dataSize);
if (pos > content.size()) {
@ -179,7 +180,7 @@ namespace nav {
_navQuery->init(_navMesh, MAX_QUERY_SEARCH_NODES);
// copy
_binaryMesh = content;
_binaryMesh = std::move(content);
_ready = true;
// create and init the crowd manager
@ -243,7 +244,7 @@ namespace nav {
}
// return the path points to go from one position to another
bool Navigation::GetPath(const carla::geom::Location from, const carla::geom::Location to,
bool Navigation::GetPath(carla::geom::Location from, carla::geom::Location to,
dtQueryFilter * filter, std::vector<carla::geom::Location> &path) {
// path found
float m_straightPath[MAX_POLYS * 3];
@ -255,6 +256,9 @@ namespace nav {
dtPolyRef m_polys[MAX_POLYS];
int m_npolys;
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return false;
@ -262,9 +266,6 @@ namespace nav {
DEBUG_ASSERT(_navQuery != nullptr);
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// point extension
float m_polyPickExt[3];
m_polyPickExt[0] = 2;
@ -327,6 +328,9 @@ namespace nav {
bool Navigation::AddWalker(ActorId id, carla::geom::Location from) {
dtCrowdAgentParams params;
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return false;
@ -353,9 +357,6 @@ namespace nav {
params.obstacleAvoidanceType = 3;
params.separationWeight = 0.5f;
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// from Unreal coordinates (subtract half height to move pivot from center (unreal) to bottom (recast))
float PointFrom[3] = { from.x, from.z - (AGENT_HEIGHT / 2.0f), from.y };
// add walker
@ -375,6 +376,9 @@ namespace nav {
// remove a walker
bool Navigation::RemoveWalker(ActorId id) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return false;
@ -388,9 +392,6 @@ namespace nav {
return false;
}
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// remove from crowd
_crowd->removeAgent(it->second);
@ -403,6 +404,9 @@ namespace nav {
// set new max speed
bool Navigation::SetWalkerMaxSpeed(ActorId id, float max_speed) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return false;
@ -416,9 +420,6 @@ namespace nav {
return false;
}
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// get the agent
dtCrowdAgent *agent = _crowd->getEditableAgent(it->second);
if (agent) {
@ -461,9 +462,9 @@ namespace nav {
return false;
}
// lock mutex
if (use_lock) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
_mutex.lock();
}
// set target position
@ -473,15 +474,29 @@ namespace nav {
dtPolyRef targetRef;
_navQuery->findNearestPoly(pointTo, _crowd->getQueryHalfExtents(), filter, &targetRef, nearest);
if (!targetRef) {
// unlock mutex
if (use_lock) {
_mutex.unlock();
}
return false;
}
return _crowd->requestMoveTarget(index, targetRef, pointTo);
bool res = _crowd->requestMoveTarget(index, targetRef, pointTo);
// unlock mutex
if (use_lock) {
_mutex.unlock();
}
return res;
}
// update all walkers in crowd
void Navigation::UpdateCrowd(const client::detail::EpisodeState &state) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return;
@ -489,9 +504,6 @@ namespace nav {
DEBUG_ASSERT(_crowd != nullptr);
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// update all
_delta_seconds = state.GetTimestamp().delta_seconds;
_crowd->update(static_cast<float>(_delta_seconds), nullptr);
@ -518,6 +530,9 @@ namespace nav {
// get the walker current transform
bool Navigation::GetWalkerTransform(ActorId id, carla::geom::Transform &trans) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return false;
@ -537,9 +552,6 @@ namespace nav {
return false;
}
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// get the walker
const dtCrowdAgent *agent = _crowd->getAgent(index);
@ -566,6 +578,9 @@ namespace nav {
float Navigation::GetWalkerSpeed(ActorId id) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// check if all is ready
if (!_ready) {
return 0.0f;
@ -585,9 +600,6 @@ namespace nav {
return 0.0f;
}
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
// get the walker
const dtCrowdAgent *agent = _crowd->getAgent(index);
return sqrt(agent->vel[0] * agent->vel[0] + agent->vel[1] * agent->vel[1] + agent->vel[2] *
@ -613,9 +625,9 @@ namespace nav {
filter = &filter2;
}
// lock mutex
if (use_lock) {
// force single thread running this
std::lock_guard<std::mutex> lock(_mutex);
_mutex.lock();
}
// search
@ -633,11 +645,20 @@ namespace nav {
break;
}
} else {
// unlock mutex
if (use_lock) {
_mutex.unlock();
}
throw_exception(std::runtime_error(
"no valid random point from navigation could be found, check filter or mesh."));
}
} while (1);
// unlock mutex
if (use_lock) {
_mutex.unlock();
}
return true;
}

8
LibCarla/source/carla/nav/Navigation.h
View File

@ -21,7 +21,7 @@
namespace carla {
namespace nav {
class Navigation {
class Navigation : private NonCopyable {
public:
@ -29,11 +29,11 @@ namespace nav {
~Navigation();
// load navigation data
bool Load(const std::string filename);
bool Load(const std::string &filename);
// load navigation data from memory
bool Load(const std::vector<uint8_t> content);
bool Load(std::vector<uint8_t> content);
// return the path points to go from one position to another
bool GetPath(const carla::geom::Location from, const carla::geom::Location to, dtQueryFilter * filter,
bool GetPath(carla::geom::Location from, carla::geom::Location to, dtQueryFilter * filter,
std::vector<carla::geom::Location> &path);
// create the crowd object

2
PythonAPI/carla/source/libcarla/World.cpp
View File

@ -131,7 +131,7 @@ void export_world() {
.add_property("debug", &cc::World::MakeDebugHelper)
.def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
.def("get_map", CONST_CALL_WITHOUT_GIL(cc::World, GetMap))
.def("get_random_location_from_navigation", &cc::World::GetRandomLocationFromNavigation)
.def("get_random_location_from_navigation", CALL_RETURNING_OPTIONAL_WITHOUT_GIL(cc::World, GetRandomLocationFromNavigation))
.def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
.def("get_settings", CONST_CALL_WITHOUT_GIL(cc::World, GetSettings))
.def("apply_settings", CALL_WITHOUT_GIL_1(cc::World, ApplySettings, cr::EpisodeSettings), arg("settings"))

6
PythonAPI/carla/source/libcarla/libcarla.cpp
View File

@ -96,6 +96,12 @@
return optional.has_value() ? boost::python::object(*optional) : boost::python::object(); \
}
#define CALL_RETURNING_OPTIONAL_WITHOUT_GIL(cls, fn) +[](const cls &self) { \
carla::PythonUtil::ReleaseGIL unlock; \
auto optional = self.fn(); \
return optional.has_value() ? boost::python::object(*optional) : boost::python::object(); \
}
template <typename T>
static void PrintListItem_(std::ostream &out, const T &item) {
out << item;

28
PythonAPI/examples/spawn_npc.py
View File

@ -53,33 +53,35 @@ def main():
default=50,
type=int,
help='number of walkers (default: 50)')
argparser.add_argument(
'-d', '--delay',
metavar='D',
default=2.0,
type=float,
help='delay in seconds between spawns (default: 2.0)')
argparser.add_argument(
'--safe',
action='store_true',
help='avoid spawning vehicles prone to accidents')
argparser.add_argument(
'--filter',
'--filterv',
metavar='PATTERN',
default='vehicle.*',
help='actor filter (default: "vehicle.*")')
help='vehicles filter (default: "vehicle.*")')
argparser.add_argument(
'--filterw',
metavar='PATTERN',
default='walker.pedestrian.*',
help='pedestrians filter (default: "walker.pedestrian.*")')
args = argparser.parse_args()
logging.basicConfig(format='%(levelname)s: %(message)s', level=logging.INFO)
vehicles_list = []
walkers_list = []
all_id = []
client = carla.Client(args.host, args.port)
client.set_timeout(2.0)
try:
world = client.get_world()
blueprints = world.get_blueprint_library().filter(args.filter)
blueprints = world.get_blueprint_library().filter(args.filterv)
blueprintsWalkers = world.get_blueprint_library().filter(args.filterw)
if args.safe:
blueprints = [x for x in blueprints if int(x.get_attribute('number_of_wheels')) == 4]
@ -129,18 +131,15 @@ def main():
# -------------
# 1. take all the random locations to spawn
spawn_points = []
location_error = carla.Location(0, 0, 0)
for i in range(args.number_of_walkers):
spawn_point = carla.Transform()
spawn_point.location = world.get_random_location_from_navigation()
# if the returned location is at (0,0,0) we can consider a problem
if (spawn_point.location != location_error):
if (spawn_point.location != None):
spawn_points.append(spawn_point)
batch = []
walkers_list = []
# 2. we spawn the walker object
for spawn_point in spawn_points:
walker_bp = random.choice(world.get_blueprint_library().filter('walker.pedestrian.*'))
walker_bp = random.choice(blueprintsWalkers)
# set as not invencible
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
@ -163,7 +162,6 @@ def main():
else:
walkers_list[i]["con"] = results[i].actor_id
# 4. we put altogether the walkers and controllers id to get the objects from their id
all_id = []
for i in range(len(walkers_list)):
all_id.append(walkers_list[i]["con"])
all_id.append(walkers_list[i]["id"])

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/AIControllerFactory.cpp
View File

@ -32,13 +32,6 @@ FActorSpawnResult AAIControllerFactory::SpawnActor(
return {};
}
UCarlaGameInstance *GameInstance = UCarlaStatics::GetGameInstance(World);
if (GameInstance == nullptr)
{
UE_LOG(LogCarla, Error, TEXT("AAIControllerFactory: cannot spawn controller, incompatible game instance."));
return {};
}
FActorSpawnParameters SpawnParameters;
SpawnParameters.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AlwaysSpawn;
auto *Controller = World->SpawnActor<AActor>(Description.Class, Transform, SpawnParameters);

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -39,8 +39,6 @@
#include <carla/streaming/Server.h>
#include <compiler/enable-ue4-macros.h>
#include "Components/CapsuleComponent.h"
#include <vector>
template <typename T>