notation fixes

PythonClient/carla/client.py

@@ -50,11 +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()
@@ -73,20 +75,20 @@ class CarlaClient(object):
             raise RuntimeError("received 0 player start spots")
         self._is_episode_requested =True
         return pb_message
-    def load_carla_settings(self, carla_settings):
+    def load_settings(self, carla_settings):
         """ Abstraction to new episode request. carla_settings object must be convertible to
-        a str holding a CarlaSettings.ini.
+        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)
+        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.
         """
@@ -94,26 +96,28 @@ class CarlaClient(object):
         if self._current_settings == None:
             raise RuntimeError('no settings loaded, cannot start episode')
 
-        if not self._is_episode_requested:
-            self.request_new_episode(self._current_settings)
+        # if no new settings are loaded, request new episode with previous
+        if not self._is_episode_requested: 
+            self._request_new_episode(self._current_settings)
 
-
-        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
-        self._is_episode_requested = False
+        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/client_example.py

@@ -75,7 +75,7 @@ def run_carla_client(host, port, autopilot_on, save_images_to_disk, image_filena
                 # 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_carla_settings(settings)
+                scene = client.load_settings(settings)
 
             # Choose one player start at random.
             number_of_player_starts = len(scene.player_start_spots)

PythonClient/manual_control.py

@@ -135,7 +135,7 @@ class CarlaGame(object):
 
     def _on_new_episode(self):
         print('Requesting new episode...')
-        scene = self.client.load_carla_settings(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)
         self.client.start_episode(player_start)