Merge branch 'xisco' of https://bitbucket.org/carla-cvc/carla-ue4-plugin into xisco

Source/Carla/Game/CarlaGameController.cpp

@@ -153,12 +153,11 @@ APlayerStart *CarlaGameController::ChoosePlayerStart(
       RestartLevel(true);
     }
   }
-  uint32 StartIndex;
-  if (SendAndReadSceneValues(*Server, AvailableStartSpots, StartIndex)) {
-    return AvailableStartSpots[StartIndex];
-  } else {
+  uint32 StartIndex = 0u;
+  if (!SendAndReadSceneValues(*Server, AvailableStartSpots, StartIndex)) {
     RestartLevel(true);
   }
+  return AvailableStartSpots[StartIndex];
 }
 
 void CarlaGameController::RegisterPlayer(AController &NewPlayer)

Source/CarlaServer/source/carla/CarlaServer.cpp

@@ -14,7 +14,7 @@ namespace carla {
     _pimpl(std::make_unique<Pimpl>(worldPort, writePort, readPort)) {}
 
   CarlaServer::~CarlaServer() {}
-  
+
   void CarlaServer::init(uint32_t LevelCount) {
     _pimpl->sendWorld(static_cast<uint32_t>(Mode::NUMBER_OF_MODES), LevelCount);
   }
@@ -30,8 +30,8 @@ namespace carla {
   bool CarlaServer::tryReadControl(float &steer, float &throttle) {
     return _pimpl->tryReadControl(steer, throttle);
   }
-  
-  bool CarlaServer::tryReadRequestNewEpisode(){
+
+  bool CarlaServer::newEpisodeRequested() {
     return _pimpl->tryReadRequestNewEpisode();
   }
 
@@ -45,7 +45,7 @@ namespace carla {
     if (needsRestart()) return false;
     _pimpl->sendSceneValues(values);
     return true;
-  }  
+  }
 
   bool CarlaServer::sendEndReset() {
     if (needsRestart()) return false;

Source/CarlaServer/source/carla/CarlaServer.h

@@ -108,7 +108,7 @@ namespace carla {
     /// is empty.
     bool tryReadControl(float &steer, float &throttle);
 
-    bool tryReadRequestNewEpisode();
+    bool newEpisodeRequested();
 
     /// Send values of the current player status.
     bool sendReward(const Reward_Values &values);

Source/CarlaServer/source/test/async_server.cpp

@@ -38,7 +38,7 @@ static std::vector<carla::Color> makeImage(uint32_t width, uint32_t height) {
      img[4 * width * i + 4 * e + 3] = 255;
    }
   }
-  
+
   std::vector<carla::Color> image(width * height);
   size_t i = 0u;
   for (carla::Color &color : image) {
@@ -96,7 +96,7 @@ int main(int argc, char *argv[]) {
         {
           carla::Mode mode;
           uint32_t scene;
-          
+
           while(!server.needsRestart() && !server.tryReadSceneInit(mode, scene));
 
           std::cout << "Received: mode = "
@@ -107,7 +107,7 @@ int main(int argc, char *argv[]) {
 
           carla::Scene_Values sceneValues;
 
-        
+
           sceneValues.possible_positions.push_back({0.0f, 0.0f});
           sceneValues.possible_positions.push_back({1.0f, 2.0f});
           sceneValues.possible_positions.push_back({3.0f, 4.0f});
@@ -127,13 +127,13 @@ int main(int argc, char *argv[]) {
           while (!server.needsRestart() && !server.tryReadEpisodeStart(start, end));
           std::cout << "Received: startIndex = " << start
                     << ", endIndex = " << end << std::endl;
-        
+
 
         server.sendEndReset();
         while (!server.needsRestart()) {
           float steer, gas;
           uint32_t startPoint, endPoint;
-          if (server.tryReadRequestNewEpisode()){
+          if (server.newEpisodeRequested()){
             std::cout << "-------- RESET --------" << std::endl;
             server.sendSceneValues(sceneValues);
             while (!server.needsRestart() && !server.tryReadEpisodeStart(startPoint, endPoint));