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Add autopilot mode to protocol

This commit is contained in:
nsubiron 2017-09-05 11:43:22 +01:00
parent 41c07f7300
commit cd1db62a97
7 changed files with 40 additions and 33 deletions
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3
Source/Carla/Game/CarlaGameController.cpp
View File

@ -123,8 +123,7 @@ void CarlaGameController::Tick(float DeltaSeconds)
// Read control, block if the settings say so.
if (Server != nullptr) {
const bool bShouldBlock = CarlaSettings->bSynchronousMode;
check(Player->IsPossessingAVehicle());
if (Errc::Error == Server->ReadControl(*Player->GetPossessedVehicle(), bShouldBlock)) {
if (Errc::Error == Server->ReadControl(*Player, bShouldBlock)) {
Server = nullptr;
}
}

49
Source/Carla/Game/CarlaServer.cpp
View File

@ -6,6 +6,7 @@
#include "GameFramework/PlayerStart.h"
#include "CarlaPlayerState.h"
#include "CarlaVehicleController.h"
#include "CarlaWheeledVehicle.h"
#include "SceneCaptureCamera.h"
#include "Settings/CarlaSettings.h"
@ -62,17 +63,8 @@ static void Set(carla_image &cImage, const FCapturedImage &uImage)
#ifdef CARLA_SERVER_EXTRA_LOG
{
auto GetImageType = [](carla::ImageType Type) {
switch (Type) {
case carla::IMAGE: return TEXT("IMAGE");
case carla::SCENE_FINAL: return TEXT("SCENE_FINAL");
case carla::DEPTH: return TEXT("DEPTH");
case carla::SEMANTIC_SEG: return TEXT("SEMANTIC_SEG");
default: return TEXT("ERROR!");
}
};
const auto Size = uImage.BitMap.Num();
UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) %s"), cImage.width, cImage.height, Size, GetImageType(cImage.type()));
UE_LOG(LogCarlaServer, Log, TEXT("Sending image %dx%d (%d) type %d"), cImage.width, cImage.height, Size, cImage.type);
}
} else {
UE_LOG(LogCarlaServer, Warning, TEXT("Sending empty image"));
@ -154,27 +146,34 @@ CarlaServer::ErrorCode CarlaServer::SendEpisodeReady(const bool bBlocking)
return ParseErrorCode(carla_write_episode_ready(Server, values, GetTimeOut(TimeOut, bBlocking)));
}
CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaWheeledVehicle &Player, const bool bBlocking)
CarlaServer::ErrorCode CarlaServer::ReadControl(ACarlaVehicleController &Player, const bool bBlocking)
{
carla_control values;
auto ec = ParseErrorCode(carla_read_control(Server, values, GetTimeOut(TimeOut, bBlocking)));
if (Success == ec) {
Player.SetSteeringInput(values.steer);
Player.SetThrottleInput(values.throttle);
Player.SetBrakeInput(values.brake);
Player.SetHandbrakeInput(values.hand_brake);
Player.SetReverse(values.reverse);
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);
#ifdef CARLA_SERVER_EXTRA_LOG
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control: { Steer = %f, Throttle = %f, Brake = %f, Handbrake = %s, Reverse = %s }"),
values.steer,
values.throttle,
values.brake,
(values.hand_brake ? TEXT("True") : TEXT("False")),
(values.reverse ? TEXT("True") : TEXT("False")));
UE_LOG(
LogCarlaServer,
Log,
TEXT("Read control: { Steer = %f, Throttle = %f, Brake = %f, Handbrake = %s, Reverse = %s }"),
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: { Autopilot = On }"));
#endif // CARLA_SERVER_EXTRA_LOG
}
} else if ((!bBlocking) && (TryAgain == ec)) {
UE_LOG(LogCarlaServer, Warning, TEXT("No control received from the client this frame!"));
}

4
Source/Carla/Game/CarlaServer.h
View File

@ -3,7 +3,7 @@
#pragma once
class ACarlaGameState;
class ACarlaWheeledVehicle;
class ACarlaVehicleController;
class APlayerStart;
class UCarlaSettings;
@ -36,7 +36,7 @@ public:
ErrorCode SendEpisodeReady(bool bBlocking);
ErrorCode ReadControl(ACarlaWheeledVehicle &Player, bool bBlocking);
ErrorCode ReadControl(ACarlaVehicleController &Player, bool bBlocking);
ErrorCode SendMeasurements(
const ACarlaGameState &GameState,

1
Util/CarlaServer/include/carla/carla_server.h
View File

@ -99,6 +99,7 @@ extern "C" {
float brake;
bool hand_brake;
bool reverse;
bool autopilot;
};
/* ======================================================================== */

1
Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
View File

@ -134,6 +134,7 @@ 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");

1
Util/Proto/carla_server.proto
View File

@ -66,6 +66,7 @@ message Control {
float brake = 3;
bool hand_brake = 4;
bool reverse = 5;
bool autopilot = 6;
}
message Measurements {

14
Util/PythonClient/carla_client.py
View File

@ -115,6 +115,7 @@ 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())
@ -175,8 +176,8 @@ def test_carla_client():
data = client.read_scene_description()
number_of_start_spots = len(data.player_start_spots)
logging.info('received %d player start locations', number_of_start_spots)
for spot in data.player_start_spots:
logging.info(spot)
# for spot in data.player_start_spots:
# logging.info(spot)
logging.info('sending episode start')
client.write_episode_start(random.randint(0, max(0, number_of_start_spots - 1)))
@ -191,6 +192,8 @@ def test_carla_client():
logging.info('connecting secondary clients')
client.connect_secondary_clients()
autopilot = random.choice([True, False])
for x in xrange(0, 1000):
logging.info('waiting for measurements')
data = client.read_measurements()
@ -207,12 +210,15 @@ def test_carla_client():
data = client.read_images()
logging.info('received %d bytes of images', len(data) if data is not None else 0)
# if (x+1) % 10 == 0:
# if (x+1) % 100 == 0:
# logging.info('Taking a nap...')
# time.sleep(2)
logging.info('sending control')
client.write_control(steer=random.uniform(-1.0, 1.0), throttle=0.5, reverse=False)
if autopilot:
client.write_control(autopilot=True)
else:
client.write_control(steer=random.uniform(-1.0, 1.0), throttle=0.3, reverse=False)
if os.path.isfile(args.ini_file):
logging.info('sending file %s', args.ini_file)