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Change protocol: remove autopilot option, always send AI control and let the client decide

This commit is contained in:
nsubiron 2017-09-26 18:20:50 +02:00
parent d8d9d991dd
commit c82c015d14
13 changed files with 189 additions and 63 deletions
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16
Source/Carla/AI/WheeledVehicleAIController.cpp
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@ -91,8 +91,12 @@ void AWheeledVehicleAIController::Tick(const float DeltaTime)
{
Super::Tick(DeltaTime);
TickAutopilotController();
if (bAutopilotEnabled) {
TickAutopilotController();
Vehicle->SetThrottleInput(AutopilotControl.Throttle);
Vehicle->SetSteeringInput(AutopilotControl.Steer);
Vehicle->SetBrakeInput(AutopilotControl.Brake);
}
}
@ -164,13 +168,13 @@ void AWheeledVehicleAIController::TickAutopilotController()
}
if (Throttle < 0.001f) {
Vehicle->SetBrakeInput(1.0f);
Vehicle->SetThrottleInput(0.0f);
AutopilotControl.Brake = 1.0f;
AutopilotControl.Throttle = 0.0f;
} else {
Vehicle->SetBrakeInput(0.0f);
Vehicle->SetThrottleInput(Throttle);
AutopilotControl.Brake = 0.0f;
AutopilotControl.Throttle = Throttle;
}
Vehicle->SetSteeringInput(Steering);
AutopilotControl.Steer = Steering;
}
float AWheeledVehicleAIController::GoToNextTargetLocation(FVector &Direction)

16
Source/Carla/AI/WheeledVehicleAIController.h
View File

@ -180,6 +180,20 @@ public:
/// @name AI
// ===========================================================================
/// @{
protected:
struct FAutopilotControl {
float Throttle = 0.0f;
float Steer = 0.0f;
float Brake = 0.0f;
float HandBrake = false;
};
const FAutopilotControl &GetAutopilotControl() const
{
return AutopilotControl;
}
private:
void TickAutopilotController();
@ -223,5 +237,7 @@ private:
UPROPERTY(VisibleAnywhere)
float MaximumSteerAngle = -1.0f;
FAutopilotControl AutopilotControl;
std::queue<FVector> TargetLocations;
};

10
Source/Carla/Game/CarlaPlayerState.cpp
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@ -22,11 +22,19 @@ void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)
ACarlaPlayerState *Other = Cast<ACarlaPlayerState>(PlayerState);
if (Other != nullptr)
{
FramesPerSecond = Other->FramesPerSecond;
PlatformTimeStamp = Other->PlatformTimeStamp;
GameTimeStamp = Other->GameTimeStamp;
Transform = Other->Transform;
Acceleration = Other->Acceleration;
ForwardSpeed = Other->ForwardSpeed;
Acceleration = Other->Acceleration;
Throttle = Other->Throttle;
Steer = Other->Steer;
Brake = Other->Brake;
bHandBrake = Other->bHandBrake;
CurrentGear = Other->CurrentGear;
SpeedLimit = Other->SpeedLimit;
TrafficLightState = Other->TrafficLightState;
CollisionIntensityCars = Other->CollisionIntensityCars;
CollisionIntensityPedestrians = Other->CollisionIntensityPedestrians;
CollisionIntensityOther = Other->CollisionIntensityOther;

88
Source/Carla/Game/CarlaPlayerState.h
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@ -30,6 +30,11 @@ public:
// ===========================================================================
public:
// ===========================================================================
/// @name Timing
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
float GetFramesPerSecond() const
{
@ -48,6 +53,12 @@ public:
return GameTimeStamp;
}
/// @}
// ===========================================================================
/// @name Transform and dynamics
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
const FTransform &GetTransform() const
{
@ -66,24 +77,54 @@ public:
return Transform.GetRotation().GetForwardVector();
}
UFUNCTION(BlueprintCallable)
float GetForwardSpeed() const
{
return ForwardSpeed;
}
UFUNCTION(BlueprintCallable)
const FVector &GetAcceleration() const
{
return Acceleration;
}
/// @}
// ===========================================================================
/// @name Vehicle control
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
float GetThrottle() const
{
return Throttle;
}
UFUNCTION(BlueprintCallable)
float GetSteer() const
{
return Steer;
}
UFUNCTION(BlueprintCallable)
float GetBrake() const
{
return Brake;
}
UFUNCTION(BlueprintCallable)
bool GetHandBrake() const
{
return bHandBrake;
}
UFUNCTION(BlueprintCallable)
int32 GetCurrentGear() const
{
return CurrentGear;
}
UFUNCTION(BlueprintCallable)
float GetForwardSpeed() const
{
return ForwardSpeed;
}
UFUNCTION(BlueprintCallable)
float GetSpeedLimit() const
{
@ -96,6 +137,12 @@ public:
return TrafficLightState;
}
/// @}
// ===========================================================================
/// @name Collision
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
float GetCollisionIntensityCars() const
{
@ -114,6 +161,12 @@ public:
return CollisionIntensityOther;
}
/// @}
// ===========================================================================
/// @name Road intersection
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
float GetOtherLaneIntersectionFactor() const
{
@ -126,6 +179,12 @@ public:
return OffRoadIntersectionFactor;
}
/// @}
// ===========================================================================
/// @name Images
// ===========================================================================
/// @{
UFUNCTION(BlueprintCallable)
int32 GetNumberOfImages() const
{
@ -143,6 +202,7 @@ public:
return Images;
}
/// @}
// ===========================================================================
// -- Modifiers --------------------------------------------------------------
// ===========================================================================
@ -178,14 +238,26 @@ private:
UPROPERTY(VisibleAnywhere)
FTransform Transform;
UPROPERTY(VisibleAnywhere)
float ForwardSpeed = 0.0f;
UPROPERTY(VisibleAnywhere)
FVector Acceleration;
UPROPERTY(VisibleAnywhere)
int32 CurrentGear;
float Throttle = 0.0f;
UPROPERTY(VisibleAnywhere)
float ForwardSpeed = 0.0f;
float Steer = 0.0f;
UPROPERTY(VisibleAnywhere)
float Brake = 0.0f;
UPROPERTY(VisibleAnywhere)
bool bHandBrake = false;
UPROPERTY(VisibleAnywhere)
int32 CurrentGear;
UPROPERTY(VisibleAnywhere)
float SpeedLimit = -1.0f;

53
Source/Carla/Game/CarlaServer.cpp
View File

@ -37,6 +37,11 @@ static int32 GetTimeOut(uint32 TimeOut, const bool bBlocking)
// -- Set functions ------------------------------------------------------------
// =============================================================================
static inline void Set(bool &lhs, bool rhs)
{
lhs = rhs;
}
static inline void Set(float &lhs, float rhs)
{
lhs = rhs;
@ -154,34 +159,25 @@ CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaVehicleController &Player,
carla_control values;
auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
Player.SetAutopilot(values.autopilot);
if (!values.autopilot) {
check(Player.IsPossessingAVehicle());
auto Vehicle = Player.GetPossessedVehicle();
Vehicle->SetSteeringInput(values.steer);
Vehicle->SetThrottleInput(values.throttle);
Vehicle->SetBrakeInput(values.brake);
Vehicle->SetHandbrakeInput(values.hand_brake);
Vehicle->SetReverse(values.reverse);
check(Player.IsPossessingAVehicle());
auto Vehicle = Player.GetPossessedVehicle();
Vehicle->SetSteeringInput(values.steer);
Vehicle->SetThrottleInput(values.throttle);
Vehicle->SetBrakeInput(values.brake);
Vehicle->SetHandbrakeInput(values.hand_brake);
Vehicle->SetReverse(values.reverse);
#ifdef CARLA_SERVER_EXTRA_LOG
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control (%s): { Steer = %f, Throttle = %f, Brake = %f, Handbrake = %s, Reverse = %s }"),
(bBlocking ? TEXT("Sync") : TEXT("Async")),
values.steer,
values.throttle,
values.brake,
(values.hand_brake ? TEXT("True") : TEXT("False")),
(values.reverse ? TEXT("True") : TEXT("False")));
} else {
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control (%s): { Autopilot = On }"),
(bBlocking ? TEXT("Sync") : TEXT("Async")));
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control (%s): { Steer = %f, Throttle = %f, Brake = %f, Handbrake = %s, Reverse = %s }"),
(bBlocking ? TEXT("Sync") : TEXT("Async")),
values.steer,
values.throttle,
values.brake,
(values.hand_brake ? TEXT("True") : TEXT("False")),
(values.reverse ? TEXT("True") : TEXT("False")));
#endif // CARLA_SERVER_EXTRA_LOG
}
} else if ((!bBlocking) && (TryAgain == ec)) {
UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
}
@ -311,6 +307,11 @@ CarlaServer::ErrorCode CarlaServer::SendMeasurements(
Set(player.collision_other, PlayerState.GetCollisionIntensityOther());
Set(player.intersection_otherlane, PlayerState.GetOtherLaneIntersectionFactor());
Set(player.intersection_offroad, PlayerState.GetOffRoadIntersectionFactor());
Set(player.ai_control.steer, PlayerState.GetSteer());
Set(player.ai_control.throttle, PlayerState.GetThrottle());
Set(player.ai_control.brake, PlayerState.GetBrake());
Set(player.ai_control.hand_brake, PlayerState.GetHandBrake());
Set(player.ai_control.reverse, PlayerState.GetCurrentGear() < 0);
TArray<carla_agent> Agents;
if (bSendNonPlayerAgentsInfo) {

5
Source/Carla/Game/CarlaVehicleController.cpp
View File

@ -84,6 +84,11 @@ void ACarlaVehicleController::Tick(float DeltaTime)
CarlaPlayerState->ForwardSpeed = Vehicle->GetVehicleForwardSpeed();
const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
const auto &AutopilotControl = GetAutopilotControl();
CarlaPlayerState->Steer = AutopilotControl.Steer;
CarlaPlayerState->Throttle = AutopilotControl.Throttle;
CarlaPlayerState->Brake = AutopilotControl.Brake;
CarlaPlayerState->bHandBrake = AutopilotControl.HandBrake;
CarlaPlayerState->CurrentGear = Vehicle->GetVehicleCurrentGear();
CarlaPlayerState->SpeedLimit = GetSpeedLimit();
CarlaPlayerState->TrafficLightState = GetTrafficLightState();

3
Util/CarlaServer/include/carla/carla_server.h
View File

@ -110,7 +110,6 @@ extern "C" {
float brake;
bool hand_brake;
bool reverse;
bool autopilot;
};
/* ======================================================================== */
@ -134,6 +133,8 @@ extern "C" {
float intersection_otherlane;
/** Percentage of the car off-road. */
float intersection_offroad;
/** Vehicle's AI control that would apply this frame. */
struct carla_control ai_control;
};
/* ======================================================================== */

11
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
View File

@ -36,6 +36,15 @@ namespace server {
Set(lhs->mutable_orientation(), rhs.orientation);
}
static void Set(cs::Control *lhs, const carla_control &rhs) {
DEBUG_ASSERT(lhs != nullptr);
lhs->set_steer(rhs.steer);
lhs->set_throttle(rhs.throttle);
lhs->set_brake(rhs.brake);
lhs->set_hand_brake(rhs.hand_brake);
lhs->set_reverse(rhs.reverse);
}
static void SetVehicle(cs::Vehicle *lhs, const carla_agent &rhs) {
DEBUG_ASSERT(lhs != nullptr);
Set(lhs->mutable_transform(), rhs.transform);
@ -113,6 +122,7 @@ namespace server {
player->set_collision_other(values.player_measurements.collision_other);
player->set_intersection_otherlane(values.player_measurements.intersection_otherlane);
player->set_intersection_offroad(values.player_measurements.intersection_offroad);
Set(player->mutable_ai_control(), values.player_measurements.ai_control);
// Non-player agents.
message->clear_non_player_agents(); // we need to clear as we cache the message.
for (auto &agent : agents(values)) {
@ -162,7 +172,6 @@ namespace server {
values.brake = message->brake();
values.hand_brake = message->hand_brake();
values.reverse = message->reverse();
values.autopilot = message->autopilot();
return true;
} else {
log_error("invalid protobuf message: control");

3
Util/Proto/carla_server.proto
View File

@ -89,7 +89,6 @@ message Control {
float brake = 3;
bool hand_brake = 4;
bool reverse = 5;
bool autopilot = 6;
}
message Measurements {
@ -105,6 +104,8 @@ message Measurements {
float intersection_otherlane = 8;
float intersection_offroad = 9;
Control ai_control = 10;
}
uint32 platform_timestamp = 1;

1
Util/PythonClient/carla/client.py
View File

@ -95,7 +95,6 @@ class CarlaClient(object):
pb_message.brake = kwargs.get('brake', 0.0)
pb_message.hand_brake = kwargs.get('hand_brake', False)
pb_message.reverse = kwargs.get('reverse', False)
pb_message.autopilot = kwargs.get('autopilot', False)
self._control_client.write(pb_message.SerializeToString())

1
Util/PythonClient/carla/console.py
View File

@ -22,7 +22,6 @@ class _Control(object):
self.c_brake = 0.0
self.c_hand_brake = False
self.c_reverse = False
self.c_autopilot = False
def action_list(self):
return [x[2:] for x in dir(self) if x.startswith('c_')]

17
Util/PythonClient/client_test.py
View File

@ -48,7 +48,7 @@ def run_carla_server(args):
client.start_episode(player_start)
autopilot = (random.random() < 0.5)
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for frame in range(0, frames_per_episode):
@ -63,11 +63,18 @@ def run_carla_server(args):
images[0].save_to_disk(filename.format(episode, frame))
logging.debug('sending control...')
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=random.uniform(-1.0, 1.0),
throttle=0.3,
reverse=reverse,
autopilot=autopilot)
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
def main():

28
Util/PythonClient/test/Basic.py
View File

@ -11,7 +11,7 @@ from carla.util import make_connection
class _BasicTestBase(test.CarlaServerTest):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, control=None):
def run_carla_client(self, carla_settings, number_of_episodes, number_of_frames, use_ai_control=None):
with make_connection(CarlaClient, self.args.host, self.args.port, timeout=15) as client:
logging.info('CarlaClient connected, running %d episodes', number_of_episodes)
for _ in range(0, number_of_episodes):
@ -28,26 +28,30 @@ class _BasicTestBase(test.CarlaServerTest):
number_of_player_starts,
number_of_frames)
client.start_episode(player_start)
autopilot = (random.random() < 0.5)
if use_ai_control is None:
use_ai_control = (random.random() < 0.5)
reverse = (random.random() < 0.2)
for _ in range(0, number_of_frames):
logging.debug('reading measurements...')
measurements, images = client.read_measurements()
number_of_agents = len(measurements.non_player_agents)
expected_number_of_agents = carla_settings.get_number_of_agents()
logging.debug('received data of %d agents', number_of_agents)
logging.debug('received %d images', len(images))
if len(images) != len(carla_settings._cameras):
raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
logging.debug('sending control...')
if control is not None:
client.send_control(**control)
else:
client.send_control(
steer=random.uniform(-1.0, 1.0),
throttle=0.3,
reverse=reverse,
autopilot=autopilot)
control = measurements.player_measurements.ai_control
if not use_ai_control:
control.steer = random.uniform(-1.0, 1.0)
control.throttle = 0.3
control.hand_brake = False
control.reverse = reverse
client.send_control(
steer=control.steer,
throttle=control.throttle,
brake=control.brake,
hand_brake=control.hand_brake,
reverse=control.reverse)
class UseCase(_BasicTestBase):
@ -97,4 +101,4 @@ class LongEpisode(_BasicTestBase):
def run(self):
settings = CarlaSettings()
settings.add_camera(Camera('DefaultCamera'))
self.run_carla_client(settings, 1, 2000, {'autopilot': True})
self.run_carla_client(settings, 1, 2000, use_ai_control=True)