new protocol with CarlaSettings.ini

Source/CarlaServer/source/carla/CarlaServer.cpp

@@ -30,6 +30,7 @@ namespace carla {
 
   CarlaServer::~CarlaServer() {}
 
+/*
   bool CarlaServer::init(uint32_t levelCount) {
     if (!worldConnected() && !clientConnected() && !serverConnected())
       return false;
@@ -43,6 +44,7 @@ namespace carla {
     readed = _pimpl->communication.tryReadSceneInit(scene);
     return true;
   }
+*/
 
   bool CarlaServer::tryReadEpisodeStart(uint32_t &startIndex, uint32_t &endIndex, bool &readed) {
     if (!worldConnected())
@@ -58,10 +60,12 @@ namespace carla {
     return true;
   }
 
-  bool CarlaServer::newEpisodeRequested(bool &newEpisode) {
+  bool CarlaServer::newEpisodeRequested(std::string &init_file, bool &readed) {
     if (!worldConnected())
       return false;
-    newEpisode = _pimpl->communication.tryReadRequestNewEpisode();
+    
+    readed = _pimpl->communication.tryReadRequestNewEpisode(init_file);
+
     return true;
   }
 

Source/CarlaServer/source/carla/CarlaServer.h

@@ -78,7 +78,7 @@ namespace carla {
     /// Possible world positions to spawn the player.
     std::vector<Vector2D> possible_positions;
     /// Projection matrices of the cameras.
-    std::vector<std::array<float, 16u>> projection_matrices;
+    //std::vector<std::array<float, 16u>> projection_matrices;
   };
 
   /// Asynchronous TCP server. Uses three ports, one for sending messages
@@ -102,11 +102,11 @@ namespace carla {
     /// Initialize the server.
     ///
     /// @param LevelCount Number of levels available.
-    bool init(uint32_t levelCount);
+    //bool init(uint32_t levelCount);
 
     /// Try to read if the client has selected an scene and mode. Return false
     /// if the queue is empty.
-    bool tryReadSceneInit(uint32_t &scene, bool &readed);
+    //bool tryReadSceneInit(uint32_t &scene, bool &readed);
 
     /// Try to read if the client has selected an end & start point. Return
     /// false if the queue is empty.
@@ -116,7 +116,7 @@ namespace carla {
     /// is empty.
     bool tryReadControl(float &steer, float &throttle, bool &readed);
 
-    bool newEpisodeRequested(bool &newEpisode);
+    bool newEpisodeRequested(std::string &init_file, bool &readed);
 
     /// Send values of the current player status.
     ///

Source/CarlaServer/source/carla/server/CarlaCommunication.cpp

@@ -81,7 +81,6 @@ namespace server {
   static std::unique_ptr<std::string> worldReceiveThread(TCPServer &server, thread::AsyncReadWriteJobQueue<std::string, std::string> &thr) {
     auto message = std::make_unique<std::string>();
     bool success = false;
-
     do {
 
       if (!thr.getRestart()) {
@@ -201,7 +200,7 @@ namespace server {
 
     return true;
   }
-
+/*
   void CarlaCommunication::sendWorld(const uint32_t scenes) {
     //ClearThreads
     _worldThread.clear();
@@ -217,7 +216,7 @@ namespace server {
       _worldThread.push(std::move(message));
     }
   }
-
+*/
   void CarlaCommunication::sendScene(const Scene_Values &values) {
 
     Scene scene;
@@ -240,6 +239,7 @@ namespace server {
     }
   }
 
+/*
   bool CarlaCommunication::tryReadSceneInit(uint32_t &scene) {
     scene = 0u;
 
@@ -253,6 +253,7 @@ namespace server {
     scene = sceneInit.scene();
     return true;
   }
+*/
 
   bool CarlaCommunication::tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index) {
     start_index = 0;
@@ -270,17 +271,29 @@ namespace server {
     return true;
   }
 
-  bool CarlaCommunication::tryReadRequestNewEpisode() {
+  bool CarlaCommunication::tryReadRequestNewEpisode(std::string &init_file) {
     std::unique_ptr<std::string> request = _worldThread.tryPop();
 
-    if (request == nullptr) { return false; }
+    if (request == nullptr) { 
+      std::cout << "NO NEW EPISODE " << std::endl;
+      return false; 
+    }
 
     RequestNewEpisode reqEpisode;
 
     if (!reqEpisode.ParseFromString(*request)) {
+
       _worldThread.undoPop(std::move(request));
+
       return false;
-    } else { return true; }
+    } else { 
+      
+      init_file = reqEpisode.init_file();
+
+      std::cout << init_file << std::endl;
+
+      return true; 
+    }
   }
 
   void CarlaCommunication::restartServer() {

Source/CarlaServer/source/carla/server/CarlaCommunication.h

@@ -36,13 +36,13 @@ namespace server {
 
     void sendReset();
 
-    void sendWorld(const uint32_t scenes);
+    //void sendWorld(const uint32_t scenes);
 
-    bool tryReadSceneInit(uint32_t &scene);
+    //bool tryReadSceneInit(uint32_t &scene);
 
     bool tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index);
 
-    bool tryReadRequestNewEpisode();
+    bool tryReadRequestNewEpisode(std::string &init_file);
 
     void restartServer();
 

Source/CarlaServer/source/carla/server/Protocol.cpp

@@ -294,7 +294,7 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
 
   void Protocol::LoadScene(Scene &scene, const Scene_Values &values) {
 
-    scene.set_number_of_cameras(values.projection_matrices.size());
+    //scene.set_number_of_cameras(values.projection_matrices.size());
 
     std::string positions_bytes = "";
 
@@ -318,7 +318,7 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
 
     scene.set_positions(positions_bytes);
 
-    std::string matrices;
+   /* std::string matrices;
 
     for (auto i = 0u; i < values.projection_matrices.size(); ++i) {
       for (auto e = 0u; e < 16u; ++e){
@@ -332,14 +332,15 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
       }
     }
 
-    scene.set_projection_matrices(matrices);
+    scene.set_projection_matrices(matrices);*/
 
   }
 
+/*
   void Protocol::LoadWorld(World &world, const int modes, const int scenes) {
     world.set_modes(modes);
     world.set_scenes(scenes);
   }
-
+*/
 }
 }

Source/CarlaServer/source/carla/server/carla_protocol.proto

@@ -6,8 +6,7 @@ syntax = "proto2";
 message RequestNewEpisode {
 
 
-  optional bool request =1;
+  optional bytes init_file = 1;
-
 
 }
 
@@ -20,12 +19,6 @@ message EpisodeStart {
 
 }
 
-message SceneInit {
-
-  optional int32 scene =2;
-
-
-}
 
 message Control {
 
@@ -38,19 +31,13 @@ message Control {
 
 // Server messages
 
-message World {
 
-  optional int32 modes = 1; // the number of modes
-  optional int32 scenes = 2;
-
-
-}
 
 message Scene {
 
-  optional int32 number_of_cameras = 1;
+  //optional int32 number_of_cameras = 1;
-  optional bytes positions = 2;
+  optional bytes positions = 1;
-  optional bytes projection_matrices = 3;
+  //optional bytes projection_matrices = 3;
 
 }
 
@@ -63,6 +50,7 @@ message EpisodeReady{
 
 
 
+
 message Reward {
 
   optional float player_x = 1;

Source/CarlaServer/source/carla/thread/AsyncReadWriteJobQueue.h

@@ -84,14 +84,15 @@ namespace thread {
         _restart = false; 
         _readQueue.canWait(true);
         while (!_restart && !_done) {
-          auto value = _readQueue.wait_and_pop();
+
-          if (value != nullptr) {
-            _readJob(*value);
-          }
           if (!_restart){
             _writeQueue.push(std::move(_writeJob()));
           }
 
+          auto value = _readQueue.wait_and_pop();
+          if (value != nullptr) {
+            _readJob(*value);
+          }
         }
       }
     }

Source/CarlaServer/source/test/async_server.cpp

@@ -97,9 +97,14 @@ int main(int argc, char *argv[]) {
     carla::CarlaServer server(writePort, readPort, worldPort);
 
     // Let's simulate the game loop.
-    for (;;) {
+    std::string file;
-      if (server.init(1u)) {
+    bool read;
 
+    for (;;) {
+      if (server.newEpisodeRequested(file, read) && read) {
+
+        std::cout << "Entra" << std::endl;
+/*
         {
           uint32_t scene;
           bool error = false, readed = false;
@@ -112,7 +117,7 @@ int main(int argc, char *argv[]) {
           }
           else std::cout << "Received: scene = " << scene << std::endl;
         }
-
+*/
         carla::Scene_Values sceneValues;
 
         for (int i = 0; i < 1; ++i){
@@ -121,8 +126,8 @@ int main(int argc, char *argv[]) {
           sceneValues.possible_positions.push_back({3.0f, 4.0f});
         }
 
-        const std::array<float, 16u> pMatrix = {{ 10.0 }};
+        //const std::array<float, 16u> pMatrix = {{ 10.0 }};
-        for (int i = 0; i < 100; ++i) sceneValues.projection_matrices.push_back(pMatrix);
+        //for (int i = 0; i < 100; ++i) sceneValues.projection_matrices.push_back(pMatrix);
 
         if (!server.sendSceneValues(sceneValues)) {
           std::cerr << "ERROR while sending SceneValues" << std::endl;
@@ -149,13 +154,14 @@ int main(int argc, char *argv[]) {
 
         while (true) {
           float steer, gas;
-          bool newEpisode = false;
+          bool readed = false;
-          if (!server.newEpisodeRequested(newEpisode)){
+          std::string newConfigFile;
+          if (!server.newEpisodeRequested(newConfigFile, readed)){
             std::cerr << "ERROR while checking for newEpisode request" << std::endl;
             break;
           }
 
-          if (newEpisode){
+          if (readed){
             std::cout << "-------- NEW EPISODE --------" << std::endl;
             if (!server.sendSceneValues(sceneValues)){
               std::cerr << "ERROR while sending SceneValues" << std::endl;